+ python -m lidar_slam --no-model /working/1f219b02-5278-45ed-9747-10bbed87cf76 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/1f219b02-5278-45ed-9747-10bbed87cf76 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 0.013201008 Adjusted end_distance from 9.223372036854776e+18 to 154.573201008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.013201008 meters Centerline goodness : 0.851412 Centerline is valid? [0, False] SLAMing on 0.043201008 meters Centerline goodness : 0.848113 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 9.99999402e-01 -2.08092767e-04 1.07365852e-03 2.06404939e-02] [ 2.15242844e-04 9.99977774e-01 -6.66373289e-03 1.30768578e-02] [-1.07224798e-03 6.66396000e-03 9.99977221e-01 -2.50347722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.073201008 meters Centerline goodness : 0.847612 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 9.99998407e-01 -8.23442445e-06 1.78506201e-03 4.34199382e-02] [ 3.08158008e-05 9.99919978e-01 -1.26505332e-02 2.76276802e-02] [-1.78481500e-03 1.26505680e-02 9.99918385e-01 -6.59682199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.103201008 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99999598 0.00116197 -0.00258465 0.09680264] [-0.00119745 0.99990448 -0.01376937 0.05599585] [ 0.00256841 0.01377241 0.99990186 -0.00836221] [ 0. 0. 0. 1. ]] SLAMing on 0.133201008 meters Centerline goodness : 0.821746 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.01 [[ 0.99999516 0.00276958 -0.00141746 0.11912283] [-0.00279094 0.99987914 -0.0152945 0.06988412] [ 0.00137493 0.01529838 0.99988203 -0.01029193] [ 0. 0. 0. 1. ]] SLAMing on 0.16320100799999998 meters Centerline goodness : 0.819351 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.01 [[ 0.99998869 0.00442108 0.00175437 0.13851876] [-0.00439107 0.99984994 -0.01675741 0.08263152] [-0.00182819 0.01674952 0.99985805 -0.0111776 ] [ 0. 0. 0. 1. ]] SLAMing on 0.193201008 meters Centerline goodness : 0.163004 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-0.01 [[ 0.9999687 0.00575102 0.0054328 0.15755549] [-0.00565119 0.99981811 -0.01821546 0.09433051] [-0.00553657 0.01818419 0.99981932 -0.01194807] [ 0. 0. 0. 1. ]] SLAMing on 0.22320100799999998 meters Centerline goodness : 0.163355 Centerline is valid? [False, False] Translation: X:0.20, Y:0.12, Z:-0.01 [[ 0.99995996 0.00587107 0.00675303 0.19686569] [-0.00571718 0.99972854 -0.02258679 0.11616601] [-0.00688381 0.02254727 0.99972208 -0.01055974] [ 0. 0. 0. 1. ]] SLAMing on 0.253201008 meters Centerline goodness : 0.163030 Centerline is valid? [False, False] Translation: X:0.22, Y:0.13, Z:-0.01 [[ 0.99995698 0.00642749 0.00668776 0.21932123] [-0.00627069 0.99971097 -0.02320908 0.12543216] [-0.006835 0.02316614 0.99970826 -0.01249998] [ 0. 0. 0. 1. ]] SLAMing on 0.28320100800000003 meters Centerline goodness : 0.162281 Centerline is valid? [False, False] Translation: X:0.23, Y:0.14, Z:-0.01 [[ 0.99998249 0.004903 0.00331257 0.22945912] [-0.00483156 0.99976268 -0.0212424 0.13555681] [-0.00341593 0.02122603 0.99976887 -0.01326198] [ 0. 0. 0. 1. ]] SLAMing on 0.313201008 meters Centerline goodness : 0.163472 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.01 [[ 0.99999125 0.00393442 0.00141837 0.2352525 ] [-0.00390287 0.99975912 -0.02159776 0.14528014] [-0.001503 0.02159204 0.99976574 -0.0143126 ] [ 0. 0. 0. 1. ]] SLAMing on 0.343201008 meters Centerline goodness : 0.162894 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.02 [[ 9.99995800e-01 2.89577025e-03 -1.23503311e-04 2.40110534e-01] [-2.89779604e-03 9.99750221e-01 -2.21607301e-02 1.53941039e-01] [ 5.93000799e-05 2.21609949e-02 9.99754413e-01 -1.51299693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.373201008 meters Centerline goodness : 0.164541 Centerline is valid? [False, False] Translation: X:0.27, Y:0.17, Z:-0.02 [[ 0.99998425 -0.00318091 0.00462384 0.26790617] [ 0.00327194 0.99979833 -0.01981412 0.16908141] [-0.00455988 0.01982893 0.99979299 -0.01531554] [ 0. 0. 0. 1. ]] SLAMing on 0.403201008 meters Centerline goodness : 0.164525 Centerline is valid? [False, False] Translation: X:0.29, Y:0.17, Z:-0.02 [[ 0.99995897 -0.00328522 0.00844146 0.28648758] [ 0.00343547 0.99983484 -0.01784623 0.17404363] [-0.00838144 0.0178745 0.99980511 -0.01552276] [ 0. 0. 0. 1. ]] SLAMing on 0.433201008 meters Centerline goodness : 0.138160 Centerline is valid? [False, False] Translation: X:0.30, Y:0.18, Z:-0.01 [[ 0.99997039 -0.00620586 0.00454993 0.29537006] [ 0.00627919 0.99984766 -0.01628558 0.18160325] [-0.00444817 0.01631367 0.99985703 -0.01374866] [ 0. 0. 0. 1. ]] SLAMing on 0.46320100799999997 meters Centerline goodness : 0.141270 Centerline is valid? [False, False] Translation: X:0.30, Y:0.19, Z:-0.01 [[ 0.99996751 -0.00777077 0.00214173 0.30216113] [ 0.00780468 0.99983654 -0.01630866 0.1897206 ] [-0.00201465 0.01632485 0.99986471 -0.01454862] [ 0. 0. 0. 1. ]] SLAMing on 0.493201008 meters Centerline goodness : 0.170631 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:-0.02 [[ 9.99965745e-01 -8.25954555e-03 5.37494226e-04 3.08428342e-01] [ 8.26719014e-03 9.99833782e-01 -1.62500001e-02 1.96915816e-01] [-4.03187269e-04 1.62538870e-02 9.99867816e-01 -1.68574794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.523201008 meters Centerline goodness : 0.142398 Centerline is valid? [False, False] Translation: X:0.34, Y:0.21, Z:-0.02 [[ 0.99996022 -0.00873842 -0.00178851 0.33839127] [ 0.00870611 0.99981173 -0.01734108 0.20803712] [ 0.0019397 0.01732482 0.99984803 -0.02341068] [ 0. 0. 0. 1. ]] SLAMing on 0.553201008 meters Centerline goodness : 0.143702 Centerline is valid? [False, False] Translation: X:0.35, Y:0.21, Z:-0.03 [[ 0.99995493 -0.00904911 -0.00287089 0.34527479] [ 0.00899733 0.99980528 -0.01756287 0.21397176] [ 0.00302926 0.01753625 0.99984164 -0.02743445] [ 0. 0. 0. 1. ]] SLAMing on 0.583201008 meters Centerline goodness : 0.147136 Centerline is valid? [False, False] Translation: X:0.35, Y:0.22, Z:-0.03 [[ 0.99996903 -0.00684208 -0.00388916 0.34990221] [ 0.00678573 0.99987442 -0.01432103 0.21837289] [ 0.00398666 0.01429419 0.99988989 -0.02941008] [ 0. 0. 0. 1. ]] SLAMing on 0.613201008 meters Centerline goodness : 0.153729 Centerline is valid? [False, False] Translation: X:0.39, Y:0.23, Z:-0.03 [[ 0.99995794 -0.00893286 0.00208067 0.38659183] [ 0.00894413 0.99994504 -0.00547065 0.22923053] [-0.00203169 0.00548903 0.99998287 -0.03419287] [ 0. 0. 0. 1. ]] SLAMing on 0.643201008 meters Centerline goodness : 0.153753 Centerline is valid? [False, False] Translation: X:0.39, Y:0.24, Z:-0.03 [[ 9.99949008e-01 -1.00962049e-02 2.18361258e-04 3.92138728e-01] [ 1.00970932e-02 9.99938696e-01 -4.54445528e-03 2.35113829e-01] [-1.72466120e-04 4.54642836e-03 9.99989650e-01 -3.43800394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6732010079999999 meters Centerline goodness : 0.159610 Centerline is valid? [False, False] Translation: X:0.40, Y:0.24, Z:-0.04 [[ 9.99931572e-01 -1.16859796e-02 -5.36990572e-04 3.96297001e-01] [ 1.16831398e-02 9.99919159e-01 -5.01798053e-03 2.39223883e-01] [ 5.95587180e-04 5.01136342e-03 9.99987266e-01 -3.55033089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.703201008 meters Centerline goodness : 0.157492 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-0.04 [[ 0.99982393 -0.01858697 -0.00257369 0.40798323] [ 0.01856318 0.99978736 -0.00898047 0.24651571] [ 0.00274006 0.00893111 0.99995636 -0.03940474] [ 0. 0. 0. 1. ]] SLAMing on 0.733201008 meters Centerline goodness : 0.126039 Centerline is valid? [False, False] Translation: X:0.41, Y:0.25, Z:-0.04 [[ 0.99979971 -0.01972621 -0.00337946 0.41398625] [ 0.01969334 0.99976096 -0.00949701 0.24943266] [ 0.003566 0.00942856 0.99994919 -0.04332313] [ 0. 0. 0. 1. ]] SLAMing on 0.763201008 meters Centerline goodness : 0.169023 Centerline is valid? [False, False] Translation: X:0.42, Y:0.25, Z:-0.05 [[ 0.99978103 -0.0204791 -0.0043019 0.42012167] [ 0.02043638 0.99974363 -0.00974872 0.2534311 ] [ 0.00450044 0.00965867 0.99994323 -0.04714661] [ 0. 0. 0. 1. ]] SLAMing on 0.793201008 meters Centerline goodness : 0.169317 Centerline is valid? [False, False] Translation: X:0.43, Y:0.26, Z:-0.05 [[ 0.99976379 -0.02109537 -0.00522968 0.42626531] [ 0.0210426 0.99972908 -0.00994835 0.25778252] [ 0.00543812 0.00983596 0.99993684 -0.05105512] [ 0. 0. 0. 1. ]] SLAMing on 0.823201008 meters Centerline goodness : 0.310391 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-0.05 [[ 0.99964804 -0.0248141 -0.00938347 0.44137039] [ 0.02474643 0.9996674 -0.00726006 0.26525397] [ 0.00956051 0.0070253 0.99992962 -0.05391185] [ 0. 0. 0. 1. ]] SLAMing on 0.853201008 meters Centerline goodness : 0.341324 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:-0.06 [[ 0.99963181 -0.02519913 -0.01006182 0.44515476] [ 0.02513186 0.99966131 -0.00675674 0.26815273] [ 0.01022868 0.00650138 0.99992655 -0.05540226] [ 0. 0. 0. 1. ]] SLAMing on 0.883201008 meters Centerline goodness : 0.344062 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:-0.06 [[ 0.99961 -0.02582898 -0.01061635 0.44823615] [ 0.02576183 0.99964753 -0.00641378 0.27116189] [ 0.01077827 0.00613778 0.99992308 -0.05624335] [ 0. 0. 0. 1. ]] SLAMing on 0.9132010079999999 meters Centerline goodness : 0.249618 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:-0.06 [[ 0.99957091 -0.02716147 -0.01096585 0.44996866] [ 0.0270849 0.99960812 -0.00707196 0.274186 ] [ 0.01115364 0.00677192 0.99991487 -0.05580878] [ 0. 0. 0. 1. ]] SLAMing on 0.943201008 meters Centerline goodness : 0.249618 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:-0.06 [[ 0.99957091 -0.02716147 -0.01096585 0.44996866] [ 0.0270849 0.99960812 -0.00707196 0.274186 ] [ 0.01115364 0.00677192 0.99991487 -0.05580878] [ 0. 0. 0. 1. ]] SLAMing on 0.973201008 meters Centerline goodness : 0.119947 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:-0.06 [[ 0.99953359 -0.02840851 -0.01120526 0.45168111] [ 0.02832419 0.99956979 -0.00761354 0.27640538] [ 0.01141673 0.00729261 0.99990823 -0.05570007] [ 0. 0. 0. 1. ]] SLAMing on 1.003201008 meters Centerline goodness : 0.119518 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-0.06 [[ 0.99943654 -0.03143527 -0.01176523 0.45859612] [ 0.03132924 0.99946778 -0.00908989 0.27962608] [ 0.01204471 0.00871618 0.99988947 -0.05949949] [ 0. 0. 0. 1. ]] SLAMing on 1.033201008 meters Centerline goodness : 0.108873 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-0.06 [[ 0.99941389 -0.03195882 -0.01226826 0.46341664] [ 0.03184591 0.99944961 -0.00929106 0.28128394] [ 0.01255844 0.00889492 0.99988158 -0.06308073] [ 0. 0. 0. 1. ]] SLAMing on 1.063201008 meters Centerline goodness : 0.109001 Centerline is valid? [False, False] Translation: X:0.47, Y:0.28, Z:-0.07 [[ 0.99940518 -0.03195747 -0.01296143 0.46807755] [ 0.03184326 0.99945303 -0.00892413 0.2836125 ] [ 0.01323953 0.00850609 0.99987617 -0.0660461 ] [ 0. 0. 0. 1. ]] SLAMing on 1.093201008 meters Centerline goodness : 0.108588 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:-0.07 [[ 0.99945273 -0.03002591 -0.01388081 0.47370117] [ 0.02994167 0.99953218 -0.00623771 0.28544424] [ 0.01406161 0.00581868 0.9998842 -0.06951206] [ 0. 0. 0. 1. ]] SLAMing on 1.123201008 meters Centerline goodness : 0.109045 Centerline is valid? [False, False] Translation: X:0.48, Y:0.29, Z:-0.07 [[ 0.99952806 -0.02716867 -0.01433601 0.47854499] [ 0.0271302 0.99962778 -0.00287129 0.28712668] [ 0.01440868 0.002481 0.99989311 -0.07271194] [ 0. 0. 0. 1. ]] SLAMing on 1.153201008 meters Centerline goodness : 0.109092 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:-0.08 [[ 0.99971222 -0.021772 -0.01007224 0.50034295] [ 0.02179237 0.99976068 0.00191776 0.29315562] [ 0.01002808 -0.00213671 0.99994743 -0.07576626] [ 0. 0. 0. 1. ]] SLAMing on 1.183201008 meters Centerline goodness : 0.112104 Centerline is valid? [False, False] Translation: X:0.51, Y:0.30, Z:-0.08 [[ 0.99978015 -0.01790398 -0.01091345 0.50593632] [ 0.0179671 0.99982225 0.00571388 0.29568124] [ 0.01080921 -0.00590871 0.99992412 -0.07920267] [ 0. 0. 0. 1. ]] SLAMing on 1.213201008 meters Centerline goodness : 0.830757 Centerline is valid? [False, False] Translation: X:0.51, Y:0.30, Z:-0.08 [[ 0.99982694 -0.01421648 -0.01199952 0.51228253] [ 0.01432876 0.99985387 0.00932327 0.29741276] [ 0.01186523 -0.0094936 0.99988454 -0.0833543 ] [ 0. 0. 0. 1. ]] SLAMing on 1.243201008 meters Centerline goodness : 0.608697 Centerline is valid? [False, False] Translation: X:0.54, Y:0.30, Z:-0.09 [[ 0.99990917 -0.00552211 -0.01229464 0.54048019] [ 0.00558791 0.99997021 0.00532473 0.2986975 ] [ 0.01226487 -0.00539294 0.99991024 -0.08798054] [ 0. 0. 0. 1. ]] SLAMing on 1.273201008 meters Centerline goodness : 0.620281 Centerline is valid? [False, False] Translation: X:0.54, Y:0.30, Z:-0.09 [[ 0.99990411 -0.00561933 -0.0126565 0.54487261] [ 0.005689 0.99996883 0.00547514 0.29766701] [ 0.01262534 -0.00554662 0.99990491 -0.0910842 ] [ 0. 0. 0. 1. ]] SLAMing on 1.303201008 meters Centerline goodness : 0.840467 Centerline is valid? [False, False] Translation: X:0.55, Y:0.29, Z:-0.09 [[ 0.99989412 -0.00639748 -0.01306971 0.54980847] [ 0.00647126 0.99996332 0.0056105 0.29482153] [ 0.01303334 -0.00569448 0.99989885 -0.0946039 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3332010079999999 meters Centerline goodness : 0.796427 Centerline is valid? [False, False] Translation: X:0.55, Y:0.29, Z:-0.10 [[ 0.99987412 -0.0083812 -0.01347208 0.55393371] [ 0.0084464 0.99995286 0.00478977 0.29133813] [ 0.0134313 -0.00490296 0.99989778 -0.09716093] [ 0. 0. 0. 1. ]] SLAMing on 1.3632010079999999 meters Centerline goodness : 0.781274 Centerline is valid? [False, False] Translation: X:0.56, Y:0.28, Z:-0.10 [[ 0.99982925 -0.01244322 -0.01366187 0.56045645] [ 0.01250169 0.99991302 0.00420258 0.2825089 ] [ 0.01360839 -0.00437266 0.99989784 -0.10011935] [ 0. 0. 0. 1. ]] SLAMing on 1.393201008 meters Centerline goodness : 0.802448 Centerline is valid? [False, False] Translation: X:0.57, Y:0.28, Z:-0.10 [[ 0.99985982 -0.01521822 -0.0069815 0.57287907] [ 0.01528655 0.99983473 0.00984049 0.27545738] [ 0.00683059 -0.00994583 0.99992721 -0.10340377] [ 0. 0. 0. 1. ]] SLAMing on 1.423201008 meters Centerline goodness : 0.802490 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.11 [[ 0.99983796 -0.01634511 -0.00754281 0.57730157] [ 0.01642056 0.99981464 0.01005227 0.27061435] [ 0.00737711 -0.0101745 0.99992103 -0.10591063] [ 0. 0. 0. 1. ]] SLAMing on 1.453201008 meters Centerline goodness : 0.794247 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.11 [[ 0.99980531 -0.01801156 -0.00805764 0.58048352] [ 0.01808585 0.9997937 0.00924404 0.26624924] [ 0.00788948 -0.00938797 0.99992481 -0.10741332] [ 0. 0. 0. 1. ]] SLAMing on 1.483201008 meters Centerline goodness : 0.798866 Centerline is valid? [False, False] Translation: X:0.59, Y:0.25, Z:-0.11 [[ 0.99982333 -0.01620829 -0.00951853 0.58974433] [ 0.01632577 0.99978986 0.0123976 0.25410434] [ 0.00931559 -0.0125508 0.99987784 -0.11005842] [ 0. 0. 0. 1. ]] SLAMing on 1.513201008 meters Centerline goodness : 0.806356 Centerline is valid? [False, False] Translation: X:0.60, Y:0.25, Z:-0.11 [[ 0.99989056 -0.01401115 -0.00474921 0.60025471] [ 0.01404224 0.99987977 0.0065775 0.24934613] [ 0.00465648 -0.00664347 0.99996709 -0.11200999] [ 0. 0. 0. 1. ]] SLAMing on 1.543201008 meters Centerline goodness : 0.797819 Centerline is valid? [False, False] Translation: X:0.60, Y:0.24, Z:-0.11 [[ 0.99986383 -0.01567197 -0.00516827 0.60383994] [ 0.01570383 0.99985757 0.00618258 0.24438292] [ 0.00507064 -0.00626289 0.99996753 -0.11387722] [ 0. 0. 0. 1. ]] SLAMing on 1.573201008 meters Centerline goodness : 0.801339 Centerline is valid? [False, False] Translation: X:0.61, Y:0.24, Z:-0.12 [[ 0.99982722 -0.01781176 -0.0053173 0.60686738] [ 0.01784054 0.99982618 0.0054145 0.23955993] [ 0.00521993 -0.00550843 0.9999712 -0.11570515] [ 0. 0. 0. 1. ]] SLAMing on 1.6032010079999999 meters Centerline goodness : 0.834911 Centerline is valid? [False, False] Translation: X:0.61, Y:0.23, Z:-0.12 [[ 0.99976844 -0.02081934 -0.00544286 0.60914593] [ 0.02084018 0.9997756 0.00380049 0.23496362] [ 0.00536251 -0.00391304 0.99997797 -0.11693141] [ 0. 0. 0. 1. ]] SLAMing on 1.633201008 meters Centerline goodness : 0.799061 Centerline is valid? [False, False] Translation: X:0.63, Y:0.22, Z:-0.12 [[ 9.99687577e-01 -2.49939898e-02 -2.20089169e-04 6.27939764e-01] [ 2.49949567e-02 9.99645047e-01 9.22131310e-03 2.23590160e-01] [-1.04663581e-05 -9.22393327e-03 9.99957459e-01 -1.23078211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.663201008 meters Centerline goodness : 0.784617 Centerline is valid? [False, False] Translation: X:0.63, Y:0.22, Z:-0.13 [[ 9.99627969e-01 -2.72559935e-02 -1.01682715e-03 6.32592540e-01] [ 2.72633132e-02 9.99595809e-01 8.05791663e-03 2.20070369e-01] [ 7.96789634e-04 -8.08264091e-03 9.99967017e-01 -1.26108099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.693201008 meters Centerline goodness : 0.773198 Centerline is valid? [False, False] Translation: X:0.64, Y:0.22, Z:-0.13 [[ 0.99955683 -0.02970837 -0.00188827 0.6371072 ] [ 0.02972008 0.99953708 0.00650674 0.21616304] [ 0.00169409 -0.00655998 0.99997705 -0.12902862] [ 0. 0. 0. 1. ]] SLAMing on 1.723201008 meters Centerline goodness : 0.767465 Centerline is valid? [False, False] Translation: X:0.66, Y:0.20, Z:-0.13 [[ 0.99943863 -0.03343668 -0.00209992 0.66277031] [ 0.03345075 0.99941539 0.00706575 0.20291075] [ 0.00186244 -0.00713203 0.99997283 -0.13411619] [ 0. 0. 0. 1. ]] SLAMing on 1.753201008 meters Centerline goodness : 0.705752 Centerline is valid? [False, False] Translation: X:0.67, Y:0.20, Z:-0.14 [[ 0.9993616 -0.03559947 -0.00301041 0.6670888 ] [ 0.03561662 0.99934841 0.00584903 0.19692014] [ 0.00280023 -0.00595252 0.99997836 -0.13660917] [ 0. 0. 0. 1. ]] SLAMing on 1.783201008 meters Centerline goodness : 0.708957 Centerline is valid? [False, False] Translation: X:0.67, Y:0.19, Z:-0.14 [[ 0.99931469 -0.03679611 -0.00402438 0.67212012] [ 0.03681804 0.99930675 0.00551792 0.19194625] [ 0.00381855 -0.00566231 0.99997668 -0.1396863 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8132010079999998 meters Centerline goodness : 0.709741 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.14 [[ 0.99930168 -0.03701743 -0.00508568 0.67735243] [ 0.0370481 0.99929501 0.00607553 0.18796507] [ 0.00485719 -0.0062597 0.99996861 -0.14305543] [ 0. 0. 0. 1. ]] SLAMing on 1.8432010079999999 meters Centerline goodness : 0.711610 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.15 [[ 0.99934855 -0.03562361 -0.00578302 0.70294901] [ 0.03569005 0.99929298 0.01182246 0.17786816] [ 0.00535777 -0.01202116 0.99991339 -0.14837083] [ 0. 0. 0. 1. ]] SLAMing on 1.873201008 meters Centerline goodness : 0.711750 Centerline is valid? [False, False] Translation: X:0.72, Y:0.17, Z:-0.15 [[ 0.99944092 -0.03196052 -0.0098167 0.71501616] [ 0.03207459 0.99941709 0.01169167 0.1721832 ] [ 0.00943731 -0.012 0.99988346 -0.1504675 ] [ 0. 0. 0. 1. ]] SLAMing on 1.903201008 meters Centerline goodness : 0.710947 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:-0.15 [[ 0.9995164 -0.02783172 -0.01386925 0.72777306] [ 0.02799224 0.99954179 0.01151677 0.16580677] [ 0.01354237 -0.01189943 0.99983749 -0.15252401] [ 0. 0. 0. 1. ]] SLAMing on 1.933201008 meters Centerline goodness : 0.738677 Centerline is valid? [False, False] Translation: X:0.74, Y:0.16, Z:-0.15 [[ 0.99956348 -0.02335672 -0.01809206 0.74052244] [ 0.02355786 0.99966212 0.01098542 0.15901734] [ 0.01782936 -0.01140683 0.99977597 -0.15369815] [ 0. 0. 0. 1. ]] SLAMing on 1.963201008 meters Centerline goodness : 0.804912 Centerline is valid? [False, False] Translation: X:0.75, Y:0.15, Z:-0.15 [[ 0.99957208 -0.01892714 -0.02230285 0.75298379] [ 0.01916116 0.99976308 0.01032636 0.15161742] [ 0.02210212 -0.01074929 0.99969793 -0.15435948] [ 0. 0. 0. 1. ]] SLAMing on 1.993201008 meters Centerline goodness : 0.838625 Centerline is valid? [False, False] Translation: X:0.77, Y:0.15, Z:-0.16 [[ 0.99972146 -0.01462263 -0.01852537 0.76638179] [ 0.01473041 0.99987528 0.00569504 0.14623972] [ 0.01843979 -0.00596634 0.99981217 -0.1587215 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0232010079999996 meters Centerline goodness : 0.797348 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.16 [[ 0.99983514 -0.00952053 -0.01546163 0.78864418] [ 0.00971433 0.99987459 0.0125076 0.13484214] [ 0.01534061 -0.01265574 0.99980223 -0.16259326] [ 0. 0. 0. 1. ]] SLAMing on 2.053201008 meters Centerline goodness : 0.803889 Centerline is valid? [False, False] Translation: X:0.80, Y:0.13, Z:-0.17 [[ 0.99992463 -0.00658626 -0.01036132 0.79922117] [ 0.0066437 0.9999627 0.0055186 0.13204499] [ 0.01032458 -0.00558702 0.99993109 -0.16575163] [ 0. 0. 0. 1. ]] SLAMing on 2.0832010079999996 meters Centerline goodness : 0.618465 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:-0.17 [[ 0.99989229 -0.00195549 -0.0145462 0.81084366] [ 0.0020363 0.99998256 0.00554321 0.12420405] [ 0.01453511 -0.00557223 0.99987883 -0.16631593] [ 0. 0. 0. 1. ]] SLAMing on 2.113201008 meters Centerline goodness : 0.156819 Centerline is valid? [False, False] Translation: X:0.82, Y:0.11, Z:-0.17 [[ 0.99996452 -0.00274773 -0.00796269 0.82313128] [ 0.00284402 0.99992268 0.01210591 0.11321353] [ 0.00792881 -0.01212813 0.99989502 -0.17043803] [ 0. 0. 0. 1. ]] SLAMing on 2.1432010079999997 meters Centerline goodness : 0.163140 Centerline is valid? [False, False] Translation: X:0.84, Y:0.09, Z:-0.18 [[ 0.99997993 -0.00299881 -0.00558105 0.84468049] [ 0.0030964 0.99984101 0.01756041 0.09289118] [ 0.0055275 -0.01757734 0.99983023 -0.17530777] [ 0. 0. 0. 1. ]] SLAMing on 2.173201008 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.2032010079999997 meters Centerline goodness : 0.707824 Centerline is valid? [False, False] Translation: X:0.86, Y:0.08, Z:-0.18 [[ 0.99997252 -0.00510681 -0.0053738 0.85807718] [ 0.00516773 0.99992184 0.01138476 0.08008648] [ 0.00531524 -0.01141221 0.99992075 -0.17938776] [ 0. 0. 0. 1. ]] SLAMing on 2.2332010079999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.263201008 meters Centerline goodness : 0.623869 Centerline is valid? [False, False] Translation: X:0.88, Y:0.06, Z:-0.18 [[ 0.99993461 -0.010781 -0.00381453 0.88132944] [ 0.01081951 0.99988921 0.01022259 0.05637581] [ 0.0037039 -0.01026319 0.99994047 -0.18454676] [ 0. 0. 0. 1. ]] SLAMing on 2.2932010079999996 meters Centerline goodness : 0.584608 Centerline is valid? [False, False] Translation: X:0.89, Y:0.05, Z:-0.18 [[ 0.99991952 -0.00947169 -0.00844046 0.89369728] [ 0.00952174 0.9999372 0.00590971 0.04897829] [ 0.00838396 -0.0059896 0.99994692 -0.18470334] [ 0. 0. 0. 1. ]] SLAMing on 2.323201008 meters Centerline goodness : 0.572991 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.18 [[ 0.99988861 -0.0074867 -0.01291165 0.90624061] [ 0.0075105 0.99997018 0.00179617 0.04164904] [ 0.01289782 -0.00189294 0.99991503 -0.18469328] [ 0. 0. 0. 1. ]] SLAMing on 2.3532010079999996 meters Centerline goodness : 0.127972 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.19 [[ 9.99870275e-01 -9.30928915e-03 -1.31442229e-02 9.07915662e-01] [ 9.31969440e-03 9.99956304e-01 7.30589943e-04 3.51524957e-02] [ 1.31368472e-02 -8.52995307e-04 9.99913344e-01 -1.85751207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.383201008 meters Centerline goodness : 0.883125 Centerline is valid? [False, False] Translation: X:0.93, Y:0.02, Z:-0.19 [[ 0.99993411 -0.00869734 -0.00749246 0.9252394 ] [ 0.00871913 0.99995784 0.00288042 0.02232162] [ 0.00746709 -0.00294556 0.99996778 -0.18801206] [ 0. 0. 0. 1. ]] SLAMing on 2.4132010079999997 meters Centerline goodness : 0.543205 Centerline is valid? [False, False] Translation: X:0.93, Y:0.02, Z:-0.19 [[ 0.99993432 -0.00823212 -0.00797462 0.92851363] [ 0.0082638 0.99995806 0.00394702 0.0180816 ] [ 0.00794179 -0.00401266 0.99996041 -0.19054085] [ 0. 0. 0. 1. ]] SLAMing on 2.4432010079999995 meters Centerline goodness : 0.886570 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.19 [[ 0.99993377 -0.00775327 -0.00850528 0.93167628] [ 0.00779662 0.99995672 0.00507618 0.01352765] [ 0.00846556 -0.00514215 0.99995095 -0.19298702] [ 0. 0. 0. 1. ]] SLAMing on 2.4732010079999998 meters Centerline goodness : 0.881621 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.20 [[ 0.99993276 -0.00679982 -0.00939326 0.93696448] [ 0.00686228 0.99995445 0.00663363 0.0086916 ] [ 0.00934773 -0.00669764 0.99993388 -0.19704237] [ 0. 0. 0. 1. ]] SLAMing on 2.5032010079999996 meters Centerline goodness : 0.883718 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.00, Z:-0.20 [[ 0.99992243 -0.00669065 -0.0105055 0.94342554] [ 0.00677239 0.99994692 0.00776433 -0.00172674] [ 0.010453 -0.00783488 0.99991467 -0.2016195 ] [ 0. 0. 0. 1. ]] SLAMing on 2.533201008 meters Centerline goodness : 0.851420 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.20 [[ 0.99989983 -0.00898633 -0.01093511 0.94551421] [ 0.00905227 0.99994105 0.00599637 -0.00643857] [ 0.01088058 -0.00609476 0.99992223 -0.20292332] [ 0. 0. 0. 1. ]] SLAMing on 2.5632010079999996 meters Centerline goodness : 0.852040 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.20 [[ 0.99988344 -0.00979466 -0.01171159 0.9488879 ] [ 0.009866 0.99993303 0.00604983 -0.01287818] [ 0.01165155 -0.00616467 0.99991312 -0.20473709] [ 0. 0. 0. 1. ]] SLAMing on 2.593201008 meters Centerline goodness : 0.862503 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.21 [[ 0.99985212 -0.01186514 -0.01244841 0.95208278] [ 0.01192668 0.99991696 0.00488106 -0.01891684] [ 0.01238946 -0.00502881 0.9999106 -0.20641163] [ 0. 0. 0. 1. ]] SLAMing on 2.6232010079999997 meters Centerline goodness : 0.867534 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.03, Z:-0.21 [[ 0.9998182 -0.01442072 -0.01247425 0.95522844] [ 0.01448288 0.99988308 0.00490691 -0.03113404] [ 0.01240203 -0.00508668 0.99991015 -0.20807379] [ 0. 0. 0. 1. ]] SLAMing on 2.6532010079999995 meters Centerline goodness : 0.863847 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:-0.21 [[ 0.99986911 -0.01282038 -0.00986955 0.96854079] [ 0.01279023 0.99991336 -0.00311237 -0.03524971] [ 0.00990859 0.00298573 0.99994645 -0.21133626] [ 0. 0. 0. 1. ]] SLAMing on 2.6832010079999997 meters Centerline goodness : 0.847889 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:-0.21 [[ 9.99872357e-01 -1.21242599e-02 -1.04053550e-02 9.69592908e-01] [ 1.21146044e-02 9.99926125e-01 -9.90462490e-04 -4.26202049e-02] [ 1.04165950e-02 8.64279305e-04 9.99945372e-01 -2.10748851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7132010079999995 meters Centerline goodness : 0.868110 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.21 [[ 0.99982903 -0.01486086 -0.01100326 0.97154169] [ 0.01482873 0.99988556 -0.00299561 -0.04776333] [ 0.01104652 0.00283193 0.99993498 -0.21132782] [ 0. 0. 0. 1. ]] SLAMing on 2.7432010079999998 meters Centerline goodness : 0.868778 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.21 [[ 0.99977031 -0.01795241 -0.01170675 0.9758145 ] [ 0.01790678 0.99983169 -0.00399128 -0.05885798] [ 0.01177643 0.00378073 0.99992351 -0.21353988] [ 0. 0. 0. 1. ]] SLAMing on 2.7732010079999996 meters Centerline goodness : 0.869934 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.22 [[ 0.99973868 -0.01913694 -0.01250435 0.97964798] [ 0.01908485 0.99980874 -0.00427152 -0.06339858] [ 0.0125837 0.00403176 0.99991269 -0.21586423] [ 0. 0. 0. 1. ]] SLAMing on 2.803201008 meters Centerline goodness : 0.849113 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:-0.22 [[ 0.99966311 -0.02222106 -0.01341206 0.9845315 ] [ 0.02213274 0.99973261 -0.00669747 -0.0660747 ] [ 0.0135573 0.00639837 0.99988762 -0.21916082] [ 0. 0. 0. 1. ]] SLAMing on 2.8332010079999996 meters Centerline goodness : 0.845342 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.22 [[ 0.99963178 -0.02310467 -0.01422963 0.98808152] [ 0.02301412 0.99971404 -0.00649452 -0.0699746 ] [ 0.01437561 0.00616465 0.99987766 -0.22115609] [ 0. 0. 0. 1. ]] SLAMing on 2.863201008 meters Centerline goodness : 0.845342 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.22 [[ 0.99963178 -0.02310467 -0.01422963 0.98808152] [ 0.02301412 0.99971404 -0.00649452 -0.0699746 ] [ 0.01437561 0.00616465 0.99987766 -0.22115609] [ 0. 0. 0. 1. ]] SLAMing on 2.8932010079999997 meters Centerline goodness : 0.849449 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.22 [[ 0.99956146 -0.02555832 -0.01495503 0.99197199] [ 0.02543839 0.99964312 -0.00815574 -0.07326293] [ 0.01515814 0.00777173 0.9998549 -0.22364496] [ 0. 0. 0. 1. ]] SLAMing on 2.9232010079999995 meters Centerline goodness : 0.851199 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:-0.23 [[ 0.99933464 -0.03282679 -0.01589602 0.99714867] [ 0.03260325 0.99936858 -0.01412326 -0.0787884 ] [ 0.01634961 0.0135956 0.9997739 -0.22667391] [ 0. 0. 0. 1. ]] SLAMing on 2.9532010079999997 meters Centerline goodness : 0.850018 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:-0.23 [[ 0.99918579 -0.03688076 -0.01635774 0.99931441] [ 0.03659114 0.99917418 -0.01766467 -0.08109068] [ 0.01699571 0.01705174 0.99971015 -0.22772257] [ 0. 0. 0. 1. ]] SLAMing on 2.9832010079999995 meters Centerline goodness : 0.851880 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:-0.23 [[ 0.99913039 -0.0380237 -0.01710763 1.00270468] [ 0.03771713 0.99912813 -0.01789939 -0.08467075] [ 0.01777331 0.01723858 0.99969342 -0.22955181] [ 0. 0. 0. 1. ]] SLAMing on 3.013201008 meters Centerline goodness : 0.880080 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.23 [[ 0.99908806 -0.0388133 -0.01779276 1.00610026] [ 0.03849935 0.99910256 -0.0176602 -0.08834955] [ 0.01846224 0.01695908 0.99968572 -0.23142876] [ 0. 0. 0. 1. ]] SLAMing on 3.0432010079999996 meters Centerline goodness : 0.881232 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.09, Z:-0.23 [[ 0.99918943 -0.03709485 -0.0156352 1.02548643] [ 0.03676837 0.99910991 -0.02067566 -0.08631587] [ 0.01638824 0.02008402 0.99966397 -0.2326862 ] [ 0. 0. 0. 1. ]] SLAMing on 3.073201008 meters Centerline goodness : 0.879808 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.09, Z:-0.23 [[ 0.99928433 -0.03401092 -0.01655533 1.0282345 ] [ 0.03372621 0.99928338 -0.01718317 -0.08666874] [ 0.01712788 0.01661252 0.99971529 -0.2337283 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1032010079999996 meters Centerline goodness : 0.883155 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.09, Z:-0.24 [[ 0.99931954 -0.03248391 -0.01747169 1.03181223] [ 0.0322096 0.99935689 -0.01575928 -0.08650121] [ 0.01797237 0.0151858 0.99972315 -0.23563467] [ 0. 0. 0. 1. ]] SLAMing on 3.133201008 meters Centerline goodness : 0.884731 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:-0.24 [[ 0.99939252 -0.02571754 -0.02352029 1.04477228] [ 0.0253461 0.99955138 -0.01595634 -0.08649336] [ 0.02392009 0.0153505 0.99959601 -0.23519632] [ 0. 0. 0. 1. ]] SLAMing on 3.1632010079999997 meters Centerline goodness : 0.884705 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.09, Z:-0.24 [[ 0.99943919 -0.02287295 -0.02445683 1.04862612] [ 0.02255221 0.99965705 -0.01331068 -0.08630625] [ 0.0247529 0.01275166 0.99961227 -0.2374085 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1932010079999995 meters Centerline goodness : 0.884819 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.09, Z:-0.24 [[ 0.99944501 -0.02144698 -0.02548925 1.0531293 ] [ 0.02113667 0.99969992 -0.01238206 -0.08577153] [ 0.02574716 0.01183643 0.99959841 -0.24012066] [ 0. 0. 0. 1. ]] SLAMing on 3.2232010079999998 meters Centerline goodness : 0.887886 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.08, Z:-0.24 [[ 0.99944329 -0.0209912 -0.02593231 1.05462131] [ 0.02067295 0.9997084 -0.01248009 -0.08474522] [ 0.02618672 0.01193704 0.9995858 -0.2408887 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2532010079999996 meters Centerline goodness : 0.886202 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.24 [[ 0.9994377 -0.01983187 -0.02703667 1.05791784] [ 0.01951407 0.99973795 -0.01196803 -0.0839965 ] [ 0.02726693 0.01143371 0.9995628 -0.2421998 ] [ 0. 0. 0. 1. ]] SLAMing on 3.283201008 meters Centerline goodness : 0.886455 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.25 [[ 0.99957987 -0.01672295 -0.0236732 1.07489587] [ 0.01628922 0.99969806 -0.018397 -0.0797092 ] [ 0.02397371 0.01800365 0.99955046 -0.24675784] [ 0. 0. 0. 1. ]] SLAMing on 3.3132010079999996 meters Centerline goodness : 0.889627 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.25 [[ 0.99957456 -0.01637563 -0.02413583 1.0758417 ] [ 0.01594026 0.99970871 -0.01812178 -0.07957593] [ 0.02442555 0.01772934 0.99954443 -0.24665764] [ 0. 0. 0. 1. ]] SLAMing on 3.343201008 meters Centerline goodness : 0.887911 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.25 [[ 0.999567 -0.01619349 -0.02456785 1.07701471] [ 0.01574972 0.99971121 -0.01815057 -0.0786332 ] [ 0.02485467 0.01775577 0.99953338 -0.24690665] [ 0. 0. 0. 1. ]] SLAMing on 3.3732010079999997 meters Centerline goodness : 0.886317 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.25 [[ 0.99958087 -0.01389249 -0.0253986 1.08024194] [ 0.01350499 0.99979074 -0.01536525 -0.07852471] [ 0.02560674 0.01501581 0.99955931 -0.24847565] [ 0. 0. 0. 1. ]] SLAMing on 3.4032010079999995 meters Centerline goodness : 0.887216 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.25 [[ 0.99955894 -0.01444 -0.02595029 1.08211452] [ 0.01403019 0.99977506 -0.01590536 -0.0769121 ] [ 0.02617412 0.01553426 0.99953669 -0.24927324] [ 0. 0. 0. 1. ]] SLAMing on 3.4332010079999997 meters Centerline goodness : 0.887130 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.25 [[ 0.99935662 -0.01978239 -0.02991655 1.09618574] [ 0.01931857 0.99968988 -0.01571406 -0.0740499 ] [ 0.03021814 0.015126 0.99942887 -0.25065407] [ 0. 0. 0. 1. ]] SLAMing on 3.4632010079999995 meters Centerline goodness : 0.887610 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.25 [[ 0.9993156 -0.02103952 -0.03042485 1.09783254] [ 0.02054845 0.99965493 -0.01636398 -0.07411259] [ 0.03075864 0.01572759 0.9994031 -0.25108395] [ 0. 0. 0. 1. ]] SLAMing on 3.4932010079999998 meters Centerline goodness : 0.887933 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.25 [[ 0.99924465 -0.02326822 -0.0311243 1.10056035] [ 0.02271657 0.99958057 -0.01796195 -0.07412615] [ 0.03152919 0.01724135 0.99935411 -0.25212648] [ 0. 0. 0. 1. ]] SLAMing on 3.5232010079999996 meters Centerline goodness : 0.888440 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.25 [[ 0.99904517 -0.03011583 -0.03165086 1.10283306] [ 0.02934875 0.99927071 -0.02442723 -0.07175871] [ 0.03236343 0.023475 0.99920045 -0.25267745] [ 0. 0. 0. 1. ]] SLAMing on 3.553201008 meters Centerline goodness : 0.890353 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:-0.25 [[ 0.99895487 -0.03206721 -0.03257079 1.10599722] [ 0.03122708 0.99917453 -0.02598308 -0.07058158] [ 0.03337711 0.02493884 0.99913163 -0.25376253] [ 0. 0. 0. 1. ]] SLAMing on 3.5832010079999996 meters Centerline goodness : 0.889576 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:-0.26 [[ 0.99887145 -0.03386787 -0.03329861 1.10890072] [ 0.03295119 0.99907296 -0.02770286 -0.06778812] [ 0.03420598 0.02657436 0.99906144 -0.25509777] [ 0. 0. 0. 1. ]] SLAMing on 3.6132010079999994 meters Centerline goodness : 0.891699 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.06, Z:-0.26 [[ 0.99879912 -0.03547641 -0.03378973 1.11120341] [ 0.03448523 0.99897037 -0.02947828 -0.06375309] [ 0.03480072 0.02827763 0.99899414 -0.25639434] [ 0. 0. 0. 1. ]] SLAMing on 3.6432010079999997 meters Centerline goodness : 0.891810 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.06, Z:-0.25 [[ 0.998435 -0.04045886 -0.03860859 1.12504373] [ 0.03944086 0.99886313 -0.02677453 -0.05636634] [ 0.03964797 0.02520987 0.99889564 -0.2527169 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6732010079999995 meters Centerline goodness : 0.892308 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.25 [[ 0.99835272 -0.04179002 -0.03931204 1.12780459] [ 0.04069947 0.99877498 -0.0281441 -0.05426919] [ 0.04044003 0.02649776 0.99883055 -0.25405901] [ 0. 0. 0. 1. ]] SLAMing on 3.7032010079999997 meters Centerline goodness : 0.891291 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.26 [[ 0.99825087 -0.0433975 -0.04014786 1.13158935] [ 0.04222246 0.99866767 -0.02966725 -0.05317727] [ 0.04138185 0.02792022 0.99875322 -0.25624499] [ 0. 0. 0. 1. ]] SLAMing on 3.7332010079999995 meters Centerline goodness : 0.892229 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.26 [[ 0.99816191 -0.04473856 -0.0408811 1.13498044] [ 0.04348882 0.99857393 -0.03096502 -0.05251438] [ 0.04220813 0.02913023 0.99868409 -0.25824144] [ 0. 0. 0. 1. ]] SLAMing on 3.763201008 meters Centerline goodness : 0.888517 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:-0.26 [[ 0.99812947 -0.04451528 -0.04190417 1.14027015] [ 0.04322296 0.99857638 -0.03125698 -0.04824458] [ 0.04323593 0.02938729 0.99863259 -0.26192801] [ 0. 0. 0. 1. ]] SLAMing on 3.7932010079999996 meters Centerline goodness : 0.888222 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:-0.26 [[ 0.99823783 -0.04120283 -0.04270324 1.14203339] [ 0.04001018 0.9987951 -0.02841728 -0.04542577] [ 0.04382266 0.02665864 0.99868358 -0.26232107] [ 0. 0. 0. 1. ]] SLAMing on 3.823201008 meters Centerline goodness : 0.889464 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.04, Z:-0.26 [[ 0.99853985 -0.03555192 -0.0406722 1.16219885] [ 0.03444633 0.99902624 -0.02756859 -0.04131987] [ 0.04161271 0.02612733 0.99879214 -0.26266734] [ 0. 0. 0. 1. ]] SLAMing on 3.8532010079999996 meters Centerline goodness : 0.888411 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.04, Z:-0.26 [[ 0.99885977 -0.02982375 -0.03727871 1.1804208 ] [ 0.02885468 0.9992384 -0.0262685 -0.0378094 ] [ 0.03803375 0.02516288 0.99895959 -0.2620928 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8832010079999995 meters Centerline goodness : 0.894388 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.04, Z:-0.26 [[ 0.99916431 -0.02436918 -0.03281506 1.19632829] [ 0.02359789 0.99944081 -0.02368986 -0.03651121] [ 0.03337402 0.0228957 0.99918065 -0.25950189] [ 0. 0. 0. 1. ]] SLAMing on 3.9132010079999997 meters Centerline goodness : 0.896847 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.26 [[ 0.99942893 -0.01786063 -0.02868473 1.23076444] [ 0.01715679 0.99955018 -0.02459832 -0.03236793] [ 0.02911117 0.02409213 0.9992858 -0.25568878] [ 0. 0. 0. 1. ]] SLAMing on 3.9432010079999995 meters Centerline goodness : 0.893832 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.25 [[ 0.99963788 -0.01315518 -0.02347433 1.24649489] [ 0.01262033 0.99966063 -0.02278917 -0.03200952] [ 0.02376616 0.02248467 0.99946466 -0.25399104] [ 0. 0. 0. 1. ]] SLAMing on 3.9732010079999998 meters Centerline goodness : 0.901088 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.03, Z:-0.25 [[ 0.99974694 -0.00998756 -0.020157 1.2654817 ] [ 0.00950825 0.99967305 -0.02373593 -0.02992417] [ 0.02038748 0.02353827 0.99951503 -0.25484435] [ 0. 0. 0. 1. ]] SLAMing on 4.003201008 meters Centerline goodness : 0.900058 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.03, Z:-0.26 [[ 0.99984724 -0.00558697 -0.01656129 1.28433106] [ 0.00519882 0.99971294 -0.02338838 -0.02876891] [ 0.01668721 0.02329871 0.99958927 -0.25578988] [ 0. 0. 0. 1. ]] SLAMing on 4.033201008 meters Centerline goodness : 0.900420 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.02, Z:-0.26 [[ 0.99990117 0.00240727 -0.01385112 1.32053885] [-0.00279051 0.99961195 -0.02771582 -0.02483951] [ 0.01377903 0.02775174 0.99951987 -0.25924703] [ 0. 0. 0. 1. ]] SLAMing on 4.063201008 meters Centerline goodness : 0.901339 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:-0.26 [[ 0.99987952 0.00632425 -0.01417568 1.34329799] [-0.00672025 0.99958354 -0.02806395 -0.02369749] [ 0.01399229 0.02815583 0.99950561 -0.261573 ] [ 0. 0. 0. 1. ]] SLAMing on 4.093201008 meters Centerline goodness : 0.901622 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.02, Z:-0.26 [[ 0.9998397 0.01013528 -0.01475993 1.34556751] [-0.01048841 0.9996558 -0.02404716 -0.02466235] [ 0.01451112 0.02419812 0.99960186 -0.26275694] [ 0. 0. 0. 1. ]] SLAMing on 4.123201008 meters Centerline goodness : 0.898888 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.26 [[ 0.99981295 0.01242753 -0.0148196 1.36843314] [-0.01280175 0.99959462 -0.02543046 -0.02454919] [ 0.01449756 0.02561542 0.99956674 -0.26469012] [ 0. 0. 0. 1. ]] SLAMing on 4.153201008 meters Centerline goodness : 0.899814 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.27 [[ 0.99980541 0.01255838 -0.01521311 1.3695431 ] [-0.01293487 0.99960608 -0.02490731 -0.02586246] [ 0.01489432 0.02509924 0.999574 -0.26507194] [ 0. 0. 0. 1. ]] SLAMing on 4.183201008 meters Centerline goodness : 0.899714 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.27 [[ 0.9997967 0.0125134 -0.01581052 1.3712361 ] [-0.01289641 0.99962006 -0.0243602 -0.02843021] [ 0.01549969 0.02455915 0.99957822 -0.26563002] [ 0. 0. 0. 1. ]] SLAMing on 4.213201008 meters Centerline goodness : 0.897473 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.27 [[ 0.99978932 0.01230763 -0.01642658 1.37324023] [-0.01269552 0.99963799 -0.02372168 -0.03300303] [ 0.01612867 0.02392522 0.99958364 -0.26649582] [ 0. 0. 0. 1. ]] SLAMing on 4.243201008 meters Centerline goodness : 0.894922 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.27 [[ 0.9998067 0.01018489 -0.01681762 1.37422157] [-0.01060108 0.99963508 -0.02484591 -0.0407571 ] [ 0.01655843 0.0250194 0.99954982 -0.26689104] [ 0. 0. 0. 1. ]] SLAMing on 4.273201008 meters Centerline goodness : 0.892285 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.27 [[ 0.99979535 0.01068251 -0.01717987 1.37536464] [-0.01108997 0.99965524 -0.02379957 -0.04366609] [ 0.01691971 0.02398522 0.99956912 -0.26745532] [ 0. 0. 0. 1. ]] SLAMing on 4.303201008 meters Centerline goodness : 0.895602 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:-0.27 [[ 0.99978522 0.01120234 -0.01743637 1.3764268 ] [-0.01160068 0.99967012 -0.02291455 -0.0459315 ] [ 0.01717392 0.0231119 0.99958536 -0.26817209] [ 0. 0. 0. 1. ]] SLAMing on 4.3332010080000005 meters Centerline goodness : 0.893223 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:-0.27 [[ 0.99977252 0.01191941 -0.01768724 1.37747238] [-0.01230435 0.99968626 -0.02181698 -0.04867074] [ 0.01742164 0.02202965 0.99960551 -0.26887897] [ 0. 0. 0. 1. ]] SLAMing on 4.363201008 meters Centerline goodness : 0.896620 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:-0.27 [[ 0.99974546 0.01390457 -0.01776709 1.37800693] [-0.01424242 0.99971741 -0.01903292 -0.05500113] [ 0.01749743 0.01928112 0.99966098 -0.26933236] [ 0. 0. 0. 1. ]] SLAMing on 4.393201008 meters Centerline goodness : 0.900653 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:-0.27 [[ 0.99972975 0.01483807 -0.01789565 1.3778956 ] [-0.0151527 0.9997307 -0.01757601 -0.05840711] [ 0.01763004 0.01784243 0.99968537 -0.26884773] [ 0. 0. 0. 1. ]] SLAMing on 4.423201008 meters Centerline goodness : 0.900109 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:-0.27 [[ 0.99971477 0.01562285 -0.01806385 1.37761873] [-0.01591293 0.99974491 -0.01602795 -0.06234392] [ 0.01780884 0.01631083 0.99970836 -0.267946 ] [ 0. 0. 0. 1. ]] SLAMing on 4.453201008 meters Centerline goodness : 0.900866 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:-0.27 [[ 0.99975434 0.01282424 -0.01807732 1.37645912] [-0.01314148 0.99975977 -0.01754121 -0.0688014 ] [ 0.01784802 0.01777447 0.99968271 -0.26647871] [ 0. 0. 0. 1. ]] SLAMing on 4.483201008 meters Centerline goodness : 0.898579 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:-0.27 [[ 0.99975177 0.01232814 -0.01855845 1.37838863] [-0.01264396 0.99977558 -0.01699766 -0.07264854] [ 0.01834474 0.0172281 0.99968328 -0.26750344] [ 0. 0. 0. 1. ]] SLAMing on 4.513201008 meters Centerline goodness : 0.900238 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:-0.27 [[ 0.99975133 0.01175084 -0.01895248 1.37999126] [-0.01206141 0.99979347 -0.01635642 -0.07701678] [ 0.01875636 0.01658095 0.99968659 -0.26828528] [ 0. 0. 0. 1. ]] SLAMing on 4.5432010080000005 meters Centerline goodness : 0.900296 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:-0.27 [[ 0.99975073 0.01147586 -0.01915144 1.38078536] [-0.0117705 0.99981299 -0.01534388 -0.08201528] [ 0.01897177 0.01556548 0.99969885 -0.26851733] [ 0. 0. 0. 1. ]] SLAMing on 4.573201008 meters Centerline goodness : 0.903923 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.09, Z:-0.27 [[ 0.99977353 0.00778879 -0.01980445 1.38433108] [-0.00813943 0.99981045 -0.01768666 -0.08846464] [ 0.01966293 0.01784385 0.99964742 -0.27129303] [ 0. 0. 0. 1. ]] SLAMing on 4.603201008 meters Centerline goodness : 0.904137 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.09, Z:-0.27 [[ 0.99976215 0.00729863 -0.02055194 1.38755913] [-0.00765814 0.99981808 -0.01746869 -0.09203112] [ 0.0204207 0.01762192 0.99963617 -0.27336369] [ 0. 0. 0. 1. ]] SLAMing on 4.633201008 meters Centerline goodness : 0.893196 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:-0.27 [[ 0.99975257 0.00707238 -0.02108976 1.3897897 ] [-0.00742909 0.99982985 -0.01688415 -0.09628844] [ 0.02096676 0.01703665 0.99963501 -0.27466365] [ 0. 0. 0. 1. ]] SLAMing on 4.663201008 meters Centerline goodness : 0.903749 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:-0.27 [[ 0.99974737 0.00752299 -0.02118 1.38966679] [-0.00784998 0.99985063 -0.01539768 -0.10132718] [ 0.021061 0.01556005 0.9996571 -0.27409566] [ 0. 0. 0. 1. ]] SLAMing on 4.693201008 meters Centerline goodness : 0.907689 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.11, Z:-0.27 [[ 0.99974116 0.00822976 -0.02121047 1.38869735] [-0.00851951 0.99987113 -0.01360688 -0.10630208] [ 0.02109576 0.01378406 0.99968243 -0.27246781] [ 0. 0. 0. 1. ]] SLAMing on 4.723201008 meters Centerline goodness : 0.910448 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.11, Z:-0.26 [[ 0.99974823 0.00811553 -0.02091912 1.38706914] [-0.00827129 0.99993863 -0.00736989 -0.11463972] [ 0.02085802 0.00754106 0.99975401 -0.26444112] [ 0. 0. 0. 1. ]] SLAMing on 4.7532010080000004 meters Centerline goodness : 0.911910 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:-0.26 [[ 0.99974655 0.00824049 -0.02095079 1.38699447] [-0.00838062 0.99994304 -0.00660947 -0.11634104] [ 0.02089513 0.00678337 0.99975866 -0.26411104] [ 0. 0. 0. 1. ]] SLAMing on 4.783201008 meters Centerline goodness : 0.911910 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:-0.26 [[ 0.99974655 0.00824049 -0.02095079 1.38699447] [-0.00838062 0.99994304 -0.00660947 -0.11634104] [ 0.02089513 0.00678337 0.99975866 -0.26411104] [ 0. 0. 0. 1. ]] SLAMing on 4.813201008 meters Centerline goodness : 0.909730 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:-0.26 [[ 0.99974326 0.00834072 -0.02106777 1.38722163] [-0.00846654 0.99994681 -0.00589013 -0.11853384] [ 0.02101752 0.00606699 0.9997607 -0.26403215] [ 0. 0. 0. 1. ]] SLAMing on 4.843201008 meters Centerline goodness : 0.909665 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:-0.26 [[ 0.9997358 0.00851258 -0.02135102 1.38804437] [-0.00862464 0.99994949 -0.0051616 -0.1213111 ] [ 0.02130601 0.00534438 0.99975872 -0.26427368] [ 0. 0. 0. 1. ]] SLAMing on 4.873201008 meters Centerline goodness : 0.912098 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:-0.26 [[ 0.99972554 0.0103121 -0.0210357 1.38625059] [-0.01037336 0.99994226 -0.00280515 -0.12699123] [ 0.02100556 0.00302259 0.99977479 -0.26266505] [ 0. 0. 0. 1. ]] SLAMing on 4.903201008 meters Centerline goodness : 0.913475 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.27 [[ 0.99977995 0.01458424 -0.0150781 1.39874139] [-0.01470635 0.99985969 -0.00801989 -0.12751794] [ 0.01495902 0.00823987 0.99985416 -0.26679158] [ 0. 0. 0. 1. ]] SLAMing on 4.933201008 meters Centerline goodness : 0.910948 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.27 [[ 0.99976326 0.01577096 -0.01499005 1.39834939] [-0.01588235 0.99984692 -0.00734116 -0.12752654] [ 0.01487198 0.0075775 0.99986069 -0.26665507] [ 0. 0. 0. 1. ]] SLAMing on 4.963201008 meters Centerline goodness : 0.912274 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.27 [[ 0.99965057 0.02165454 -0.01515983 1.39857443] [-0.0216926 0.99976193 -0.00235025 -0.127628 ] [ 0.01510533 0.00267829 0.99988232 -0.26673861] [ 0. 0. 0. 1. ]] SLAMing on 4.993201008 meters Centerline goodness : 0.911033 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.27 [[ 0.99962949 0.02257202 -0.01521156 1.39830231] [-0.02260306 0.99974277 -0.00187161 -0.12790799] [ 0.0151654 0.00221475 0.99988255 -0.26637517] [ 0. 0. 0. 1. ]] SLAMing on 5.023201008 meters Centerline goodness : 0.911579 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.27 [[ 9.99615581e-01 2.32414985e-02 -1.51170032e-02 1.39737801e+00] [-2.32618088e-02 9.99728724e-01 -1.16907025e-03 -1.29432899e-01] [ 1.50857314e-02 1.52026968e-03 9.99885048e-01 -2.65378269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.053201008 meters Centerline goodness : 0.914865 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.26 [[ 0.99954674 0.02600878 -0.01516093 1.39639694] [-0.02597427 0.99965956 0.0024686 -0.13445516] [ 0.01521998 -0.00207369 0.99988202 -0.26359246] [ 0. 0. 0. 1. ]] SLAMing on 5.083201008 meters Centerline goodness : 0.913369 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.14, Z:-0.26 [[ 9.99629297e-01 2.28938513e-02 -1.47356728e-02 1.39458499e+00] [-2.28889268e-02 9.99737888e-01 5.02771126e-04 -1.39976678e-01] [ 1.47433208e-02 -1.65301010e-04 9.99891298e-01 -2.62331001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.113201008 meters Centerline goodness : 0.913432 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.14, Z:-0.26 [[ 0.99970717 0.01905002 -0.01492199 1.39496897] [-0.01909415 0.99981371 -0.00282061 -0.14256316] [ 0.01486548 0.00310471 0.99988468 -0.26260741] [ 0. 0. 0. 1. ]] SLAMing on 5.143201008 meters Centerline goodness : 0.913559 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.26 [[ 0.99976798 0.01537248 -0.01508894 1.39525465] [-0.01546033 0.99986411 -0.00572252 -0.14617719] [ 0.01499892 0.00595447 0.99986978 -0.2627078 ] [ 0. 0. 0. 1. ]] SLAMing on 5.173201008 meters Centerline goodness : 0.915999 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.26 [[ 0.99981655 0.01157833 -0.01525808 1.39583046] [-0.01171318 0.99989287 -0.00877803 -0.14964589] [ 0.01515481 0.00895514 0.99984506 -0.2631853 ] [ 0. 0. 0. 1. ]] SLAMing on 5.203201008 meters Centerline goodness : 0.918036 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.16, Z:-0.27 [[ 0.99984762 0.00705175 -0.01596923 1.39968809] [-0.00723479 0.99990846 -0.01143368 -0.15794472] [ 0.01588714 0.01154747 0.99980711 -0.26625609] [ 0. 0. 0. 1. ]] SLAMing on 5.233201008 meters Centerline goodness : 0.920941 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.16, Z:-0.27 [[ 0.99984497 0.00604107 -0.01653922 1.40242825] [-0.00622984 0.99991577 -0.01138628 -0.16250932] [ 0.01646905 0.01148755 0.99979838 -0.26805181] [ 0. 0. 0. 1. ]] SLAMing on 5.263201008 meters Centerline goodness : 0.918539 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.17, Z:-0.27 [[ 0.99984132 0.00617067 -0.01671075 1.40295058] [-0.00634008 0.99992886 -0.01010378 -0.16741895] [ 0.01664721 0.01020812 0.99980931 -0.26803914] [ 0. 0. 0. 1. ]] SLAMing on 5.293201008 meters Centerline goodness : 0.921164 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.17, Z:-0.27 [[ 0.99983696 0.00654468 -0.01682901 1.40321087] [-0.00669344 0.99993889 -0.00879815 -0.17184292] [ 0.0167704 0.00890936 0.99981967 -0.26789105] [ 0. 0. 0. 1. ]] SLAMing on 5.323201008 meters Centerline goodness : 0.920904 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.27 [[ 0.99982885 0.00695201 -0.0171449 1.40375381] [-0.0070844 0.99994546 -0.00767354 -0.17562744] [ 0.01709061 0.00779369 0.99982357 -0.26763108] [ 0. 0. 0. 1. ]] SLAMing on 5.353201008 meters Centerline goodness : 0.922588 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.27 [[ 0.99981683 0.00833587 -0.01722847 1.40336886] [-0.00842984 0.99994995 -0.00538892 -0.18154983] [ 0.01718269 0.00553317 0.99983706 -0.26682476] [ 0. 0. 0. 1. ]] SLAMing on 5.383201008 meters Centerline goodness : 0.921942 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.27 [[ 0.99981382 0.00894133 -0.01709911 1.40312871] [-0.00901979 0.99994912 -0.00451697 -0.18369842] [ 0.01705785 0.00467036 0.9998436 -0.26678082] [ 0. 0. 0. 1. ]] SLAMing on 5.413201008 meters Centerline goodness : 0.922732 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.27 [[ 0.99980648 0.00945923 -0.01724911 1.40325025] [-0.00952383 0.99994792 -0.00366682 -0.18586023] [ 0.01721352 0.00383039 0.9998445 -0.266544 ] [ 0. 0. 0. 1. ]] SLAMing on 5.443201008 meters Centerline goodness : 0.921197 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.26 [[ 0.99980114 0.01040376 -0.01701271 1.4017606 ] [-0.01043138 0.99994441 -0.00153568 -0.19208701] [ 0.01699579 0.00171284 0.99985409 -0.26493099] [ 0. 0. 0. 1. ]] SLAMing on 5.473201008 meters Centerline goodness : 0.920903 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.26 [[ 9.99798963e-01 1.04481622e-02 -1.71134227e-02 1.40188582e+00] [-1.04622296e-02 9.99945001e-01 -7.32684698e-04 -1.95686469e-01] [ 1.71048262e-02 9.11581960e-04 9.99853286e-01 -2.64621466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5032010080000004 meters Centerline goodness : 0.921354 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.27 [[ 9.99801315e-01 9.63983447e-03 -1.74471627e-02 1.40350804e+00] [-9.65533733e-03 9.99953062e-01 -8.04540824e-04 -1.98887475e-01] [ 1.74385882e-02 9.72839216e-04 9.99847463e-01 -2.65577812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.533201008 meters Centerline goodness : 0.921980 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.20, Z:-0.27 [[ 9.99801890e-01 8.92537846e-03 -1.77909633e-02 1.40511390e+00] [-8.93885781e-03 9.99959818e-01 -6.78272446e-04 -2.02434402e-01] [ 1.77841945e-02 8.37168964e-04 9.99841498e-01 -2.66483885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.563201008 meters Centerline goodness : 0.922911 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.21, Z:-0.27 [[ 0.99982435 0.00438781 -0.01822128 1.4066014 ] [-0.00445543 0.99998333 -0.0036723 -0.20812014] [ 0.01820486 0.00375284 0.99982723 -0.26695497] [ 0. 0. 0. 1. ]] SLAMing on 5.593201008 meters Centerline goodness : 0.922498 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.21, Z:-0.27 [[ 0.99982582 0.00406276 -0.01821615 1.40680075] [-0.00411465 0.99998758 -0.00281211 -0.21175853] [ 0.0182045 0.00288657 0.99983012 -0.26673056] [ 0. 0. 0. 1. ]] SLAMing on 5.623201008 meters Centerline goodness : 0.924560 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.21, Z:-0.27 [[ 0.99981953 0.00355566 -0.01866181 1.40811871] [-0.00360176 0.99999054 -0.00243693 -0.21455937] [ 0.01865297 0.0025037 0.99982288 -0.26699267] [ 0. 0. 0. 1. ]] SLAMing on 5.653201008 meters Centerline goodness : 0.924442 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 0.99981993 0.00357794 -0.01863597 1.40785137] [-0.00360674 0.99999235 -0.00151199 -0.21775326] [ 0.01863041 0.00157893 0.99982519 -0.26634855] [ 0. 0. 0. 1. ]] SLAMing on 5.683201008 meters Centerline goodness : 0.924633 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.26 [[ 9.99832951e-01 7.78678129e-04 -1.82609907e-02 1.40562216e+00] [-8.43610713e-04 9.99993349e-01 -3.54837479e-03 -2.22123963e-01] [ 1.82581062e-02 3.56318720e-03 9.99826958e-01 -2.64280583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.713201008 meters Centerline goodness : 0.927328 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.26 [[ 9.99830640e-01 9.99469833e-04 -1.83764302e-02 1.40607577e+00] [-1.05807631e-03 9.99994385e-01 -3.17977380e-03 -2.23256106e-01] [ 1.83731490e-02 3.19867893e-03 9.99826083e-01 -2.64541178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.743201008 meters Centerline goodness : 0.929339 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 9.99814544e-01 3.51326865e-03 -1.89350186e-02 1.40903882e+00] [-3.51949657e-03 9.99993763e-01 -2.95596529e-04 -2.24115538e-01] [ 1.89338620e-02 3.62183442e-04 9.99820673e-01 -2.66558392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.773201008 meters Centerline goodness : 0.926653 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 9.99810477e-01 3.53737930e-03 -1.91440999e-02 1.41070933e+00] [-3.55841682e-03 9.99993102e-01 -1.06495023e-03 -2.21349665e-01] [ 1.91402007e-02 1.13287109e-03 9.99816168e-01 -2.68690419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.803201008 meters Centerline goodness : 0.925100 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 0.99980224 0.003306 -0.01961007 1.4123947 ] [-0.00333805 0.99999315 -0.00160164 -0.22046612] [ 0.01960464 0.00166678 0.99980642 -0.26982956] [ 0. 0. 0. 1. ]] SLAMing on 5.833201008 meters Centerline goodness : 0.923933 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 0.99979743 0.0035084 -0.01981906 1.41296679] [-0.00353715 0.99999274 -0.00141585 -0.22113929] [ 0.01981395 0.00148567 0.99980258 -0.27010542] [ 0. 0. 0. 1. ]] SLAMing on 5.863201008 meters Centerline goodness : 0.926696 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 9.99790000e-01 3.47914785e-03 -2.01953310e-02 1.41392866e+00] [-3.50702097e-03 9.99992946e-01 -1.34492398e-03 -2.22271880e-01] [ 2.01905093e-02 1.41546700e-03 9.99795149e-01 -2.70348903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.893201008 meters Centerline goodness : 0.925447 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 9.99785075e-01 4.04233400e-03 -2.03338081e-02 1.41421200e+00] [-4.06067600e-03 9.99991385e-01 -8.60836486e-04 -2.23521136e-01] [ 2.03301531e-02 9.43220477e-04 9.99792876e-01 -2.70499633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.923201008 meters Centerline goodness : 0.927206 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.27 [[ 9.99784219e-01 4.45389557e-03 -2.02898742e-02 1.41421994e+00] [-4.47212330e-03 9.99989636e-01 -8.53080291e-04 -2.22600654e-01] [ 2.02858644e-02 9.43635032e-04 9.99793775e-01 -2.70868041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.953201008 meters Centerline goodness : 0.924277 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.22, Z:-0.28 [[ 0.99984819 0.00872137 -0.01508414 1.4278771 ] [-0.00882436 0.99993812 -0.00677444 -0.22079083] [ 0.01502413 0.00690652 0.99986328 -0.27607546] [ 0. 0. 0. 1. ]] SLAMing on 5.983201008 meters Centerline goodness : 0.926815 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.22, Z:-0.28 [[ 0.99984169 0.00939431 -0.0151107 1.42770483] [-0.00949208 0.9999344 -0.00641116 -0.22036925] [ 0.01504948 0.00655358 0.99986527 -0.27595727] [ 0. 0. 0. 1. ]] SLAMing on 6.013201008 meters Centerline goodness : 0.926292 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.22, Z:-0.28 [[ 0.99979364 0.013223 -0.01542202 1.42838685] [-0.01325457 0.99991026 -0.00194623 -0.22275448] [ 0.0153949 0.00215024 0.99987918 -0.27553442] [ 0. 0. 0. 1. ]] SLAMing on 6.043201008 meters Centerline goodness : 0.926917 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.22, Z:-0.28 [[ 0.99978995 0.01330463 -0.01559001 1.42866892] [-0.01333341 0.99990959 -0.00174303 -0.22391394] [ 0.01556541 0.00195053 0.99987695 -0.27540881] [ 0. 0. 0. 1. ]] SLAMing on 6.073201008 meters Centerline goodness : 0.927813 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.23, Z:-0.27 [[ 0.99982758 0.01048489 -0.01532566 1.4264642 ] [-0.01054979 0.9999357 -0.00415993 -0.22695396] [ 0.01528106 0.0043209 0.9998739 -0.27332387] [ 0. 0. 0. 1. ]] SLAMing on 6.103201008 meters Centerline goodness : 0.926951 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.23, Z:-0.27 [[ 0.99982835 0.0104299 -0.01531315 1.42623051] [-0.01048687 0.99993837 -0.00364443 -0.22885378] [ 0.01527419 0.00380439 0.99987611 -0.27279893] [ 0. 0. 0. 1. ]] SLAMing on 6.133201008 meters Centerline goodness : 0.928295 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.23, Z:-0.27 [[ 0.9998256 0.00986629 -0.01585671 1.42774702] [-0.00992496 0.99994417 -0.00362554 -0.2302716 ] [ 0.01582005 0.00378228 0.9998677 -0.27319513] [ 0. 0. 0. 1. ]] SLAMing on 6.163201008 meters Centerline goodness : 0.930575 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.23, Z:-0.27 [[ 0.9998561 0.0060726 -0.01584014 1.42707689] [-0.00617648 0.99995969 -0.00651729 -0.23385326] [ 0.01579993 0.00661419 0.9998533 -0.27217616] [ 0. 0. 0. 1. ]] SLAMing on 6.193201008 meters Centerline goodness : 0.933342 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.27 [[ 0.99985234 0.0060502 -0.01608381 1.42726224] [-0.00614314 0.99996468 -0.00573521 -0.23707489] [ 0.01604854 0.00583317 0.9998542 -0.27145941] [ 0. 0. 0. 1. ]] SLAMing on 6.223201008 meters Centerline goodness : 0.929851 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.27 [[ 0.99985008 0.00619502 -0.01616923 1.42711785] [-0.0062773 0.99996758 -0.00504239 -0.23917185] [ 0.01613747 0.00514313 0.99985655 -0.27084472] [ 0. 0. 0. 1. ]] SLAMing on 6.2532010080000004 meters Centerline goodness : 0.929581 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.27 [[ 0.99984737 0.00590653 -0.01644241 1.42833465] [-0.00599244 0.99996863 -0.00518045 -0.23939928] [ 0.0164113 0.00527819 0.99985139 -0.2717366 ] [ 0. 0. 0. 1. ]] SLAMing on 6.283201008 meters Centerline goodness : 0.929878 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.27 [[ 0.999841 0.00547804 -0.01696938 1.43102773] [-0.00557089 0.99996974 -0.00542915 -0.24020641] [ 0.01693912 0.00552282 0.99984127 -0.2740546 ] [ 0. 0. 0. 1. ]] SLAMing on 6.313201008 meters Centerline goodness : 0.927514 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.27 [[ 0.99983624 0.00571865 -0.01716974 1.43178212] [-0.00580277 0.99997139 -0.00485356 -0.24237267] [ 0.01714149 0.00495239 0.99984081 -0.27453344] [ 0. 0. 0. 1. ]] SLAMing on 6.343201008 meters Centerline goodness : 0.929371 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.24, Z:-0.28 [[ 0.99982977 0.00579563 -0.01751706 1.43308044] [-0.00587659 0.99997227 -0.00457399 -0.2441274 ] [ 0.01749006 0.00467615 0.9998361 -0.27534882] [ 0. 0. 0. 1. ]] SLAMing on 6.373201008 meters Centerline goodness : 0.929385 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.25, Z:-0.28 [[ 0.99982681 0.00614073 -0.0175682 1.43330553] [-0.00621323 0.99997239 -0.00407563 -0.24540466] [ 0.01754269 0.00418408 0.99983736 -0.27558552] [ 0. 0. 0. 1. ]] SLAMing on 6.403201008 meters Centerline goodness : 0.927845 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.25, Z:-0.28 [[ 0.9998207 0.00656076 -0.01776303 1.43390037] [-0.00662622 0.99997146 -0.00362913 -0.24635976] [ 0.01773872 0.00374618 0.99983564 -0.2760245 ] [ 0. 0. 0. 1. ]] SLAMing on 6.433201008 meters Centerline goodness : 0.928330 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.25, Z:-0.28 [[ 0.99981713 0.006562 -0.01796261 1.4345868 ] [-0.0066293 0.99997122 -0.00368953 -0.24647242] [ 0.01793788 0.00380794 0.99983185 -0.27642231] [ 0. 0. 0. 1. ]] SLAMing on 6.463201008 meters Centerline goodness : 0.926855 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99996372 0.00512166 -0.00680602 1.44057687] [-0.00513748 0.99998414 -0.002308 -0.24650099] [ 0.00679409 0.00234288 0.99997418 -0.28195324] [ 0. 0. 0. 1. ]] SLAMing on 6.493201008 meters Centerline goodness : 0.926438 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99996171 0.00574691 -0.00659916 1.43899031] [-0.00575728 0.99998222 -0.0015536 -0.24749697] [ 0.00659012 0.00159153 0.99997702 -0.28023063] [ 0. 0. 0. 1. ]] SLAMing on 6.523201008 meters Centerline goodness : 0.929671 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 9.99960756e-01 6.05866534e-03 -6.46362766e-03 1.43744322e+00] [-6.06368308e-03 9.99981329e-01 -7.56990713e-04 -2.50066848e-01] [ 6.45892062e-03 7.96154396e-04 9.99978824e-01 -2.77973687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.553201008 meters Centerline goodness : 0.930477 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 9.99960108e-01 5.93047525e-03 -6.67919827e-03 1.43767523e+00] [-5.93362304e-03 9.99982294e-01 -4.51564436e-04 -2.51913227e-01] [ 6.67640201e-03 4.91178267e-04 9.99977592e-01 -2.77435213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.583201008 meters Centerline goodness : 0.930938 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 9.99961602e-01 5.06916353e-03 -7.14835378e-03 1.43958623e+00] [-5.07685142e-03 9.99986553e-01 -1.05774214e-03 -2.52418654e-01] [ 7.14289579e-03 1.09399265e-03 9.99973891e-01 -2.78573310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.613201008 meters Centerline goodness : 0.927109 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99996253 0.00426132 -0.00753501 1.44165788] [-0.00427512 0.99998921 -0.00181618 -0.25188183] [ 0.00752718 0.00184832 0.99996996 -0.28026534] [ 0. 0. 0. 1. ]] SLAMing on 6.643201008 meters Centerline goodness : 0.928071 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99996171 0.00345083 -0.00804201 1.44426841] [-0.00347297 0.99999021 -0.00274146 -0.25101311] [ 0.00803247 0.00276929 0.9999639 -0.28244402] [ 0. 0. 0. 1. ]] SLAMing on 6.673201008 meters Centerline goodness : 0.931444 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99995977 0.00398823 -0.00803463 1.44446312] [-0.00400684 0.99998932 -0.0023014 -0.25198985] [ 0.00802537 0.0023335 0.99996507 -0.28293916] [ 0. 0. 0. 1. ]] SLAMing on 6.703201008 meters Centerline goodness : 0.931444 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.28 [[ 0.99995977 0.00398823 -0.00803463 1.44446312] [-0.00400684 0.99998932 -0.0023014 -0.25198985] [ 0.00802537 0.0023335 0.99996507 -0.28293916] [ 0. 0. 0. 1. ]] SLAMing on 6.733201008 meters Centerline goodness : 0.927443 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.28 [[ 0.99995711 0.00408686 -0.00831109 1.44529366] [-0.00410657 0.99998879 -0.00235564 -0.25217798] [ 0.00830137 0.00238967 0.99996269 -0.28340016] [ 0. 0. 0. 1. ]] SLAMing on 6.763201008 meters Centerline goodness : 0.927887 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.28 [[ 0.99995549 0.00419418 -0.00845154 1.44594422] [-0.00421501 0.99998812 -0.00244846 -0.25231814] [ 0.00844117 0.00248397 0.99996129 -0.28399218] [ 0. 0. 0. 1. ]] SLAMing on 6.793201008 meters Centerline goodness : 0.927837 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.28 [[ 0.99995348 0.00423359 -0.00866687 1.44689158] [-0.00425678 0.99998741 -0.00265876 -0.25191309] [ 0.0086555 0.00269553 0.99995891 -0.28480434] [ 0. 0. 0. 1. ]] SLAMing on 6.823201008 meters Centerline goodness : 0.926291 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.29 [[ 0.99994356 0.00554156 -0.00906475 1.44749654] [-0.00556403 0.99998151 -0.00245575 -0.25052392] [ 0.00905098 0.00250605 0.9999559 -0.28560938] [ 0. 0. 0. 1. ]] SLAMing on 6.853201008 meters Centerline goodness : 0.924889 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.29 [[ 0.99993819 0.00587744 -0.00943727 1.44864856] [-0.00590321 0.99997892 -0.00270526 -0.24969114] [ 0.00942117 0.00276081 0.99995181 -0.28653497] [ 0. 0. 0. 1. ]] SLAMing on 6.883201008 meters Centerline goodness : 0.926545 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.29 [[ 0.99992354 0.00765746 -0.00970951 1.44825953] [-0.00767429 0.99996911 -0.00169729 -0.25093604] [ 0.00969621 0.00177168 0.99995142 -0.2860651 ] [ 0. 0. 0. 1. ]] SLAMing on 6.913201008 meters Centerline goodness : 0.928783 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.25, Z:-0.29 [[ 9.99976379e-01 6.85478395e-03 5.03496118e-04 1.45508503e+00] [-6.85583341e-03 9.99974266e-01 2.11306584e-03 -2.53078599e-01] [-4.88998551e-04 -2.11646782e-03 9.99997641e-01 -2.89374469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.943201008 meters Centerline goodness : 0.928755 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.29 [[ 9.99988899e-01 4.67540815e-03 5.85604351e-04 1.45323898e+00] [-4.67490743e-03 9.99988708e-01 -8.53518575e-04 -2.52444912e-01] [-5.89588287e-04 8.50771453e-04 9.99999464e-01 -2.87860534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.973201008 meters Centerline goodness : 0.925633 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:-0.29 [[ 9.99988660e-01 4.74541693e-03 4.00653491e-04 1.45339033e+00] [-4.74522241e-03 9.99988624e-01 -4.85085877e-04 -2.53918475e-01] [-4.02950868e-04 4.83179186e-04 9.99999802e-01 -2.87422598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.003201008 meters Centerline goodness : 0.928099 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.26, Z:-0.29 [[ 9.99988889e-01 4.70894401e-03 2.17603886e-04 1.45382377e+00] [-4.70895755e-03 9.99988911e-01 6.17578939e-05 -2.56426868e-01] [-2.17310658e-04 -6.27818952e-05 9.99999974e-01 -2.87230979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.033201008 meters Centerline goodness : 0.931226 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.26, Z:-0.29 [[ 9.99999560e-01 9.35904116e-04 7.02561178e-05 1.45407910e+00] [-9.35700642e-04 9.99995523e-01 -2.84239831e-03 -2.61536605e-01] [-7.29160156e-05 2.84233132e-03 9.99995958e-01 -2.87046595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.063201008 meters Centerline goodness : 0.929840 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.27, Z:-0.29 [[ 9.99999863e-01 1.52510956e-04 -5.00415447e-04 1.45606822e+00] [-1.53866902e-04 9.99996314e-01 -2.71072191e-03 -2.65156773e-01] [ 5.00000188e-04 2.71079854e-03 9.99996201e-01 -2.87717468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.093201008 meters Centerline goodness : 0.929290 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.27, Z:-0.29 [[ 9.99999053e-01 -6.77939811e-04 -1.19740703e-03 1.45858041e+00] [ 6.74851649e-04 9.99996450e-01 -2.57756492e-03 -2.69218033e-01] [ 1.19915021e-03 2.57675441e-03 9.99995961e-01 -2.88745885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.123201008 meters Centerline goodness : 0.927610 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.28, Z:-0.29 [[ 0.99998476 -0.00525095 -0.00170629 1.46110612] [ 0.00524142 0.99997088 -0.00554657 -0.27577121] [ 0.00173536 0.00553754 0.99998316 -0.29014734] [ 0. 0. 0. 1. ]] SLAMing on 7.153201008 meters Centerline goodness : 0.927484 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.28, Z:-0.29 [[ 0.99997794 -0.00626458 -0.00220916 1.46362629] [ 0.00625304 0.99996699 -0.00518915 -0.28038784] [ 0.0022416 0.00517522 0.9999841 -0.29147836] [ 0. 0. 0. 1. ]] SLAMing on 7.183201008 meters Centerline goodness : 0.923833 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.29, Z:-0.29 [[ 0.99996995 -0.00729217 -0.0026317 1.46592095] [ 0.0072797 0.99996237 -0.00471856 -0.28508936] [ 0.00266601 0.00469926 0.9999854 -0.29262235] [ 0. 0. 0. 1. ]] SLAMing on 7.2132010079999995 meters Centerline goodness : 0.923122 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.29, Z:-0.30 [[ 0.99987883 -0.01521507 -0.0032898 1.47137072] [ 0.01517744 0.99982233 -0.01117832 -0.29220728] [ 0.0034593 0.01112703 0.99993211 -0.29732027] [ 0. 0. 0. 1. ]] SLAMing on 7.243201008 meters Centerline goodness : 0.918330 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.30, Z:-0.30 [[ 0.99986063 -0.01622657 -0.00392616 1.47446725] [ 0.01618308 0.99980999 -0.01086726 -0.2976744 ] [ 0.00410175 0.01080221 0.99993324 -0.29914492] [ 0. 0. 0. 1. ]] SLAMing on 7.273201008 meters Centerline goodness : 0.913918 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.30, Z:-0.30 [[ 0.99984332 -0.01705336 -0.00474573 1.47807803] [ 0.01700166 0.99979789 -0.01072943 -0.3019556 ] [ 0.00492774 0.01064706 0.99993118 -0.30135537] [ 0. 0. 0. 1. ]] SLAMing on 7.303201008 meters Centerline goodness : 0.914294 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.31, Z:-0.30 [[ 0.99983414 -0.01737262 -0.00546589 1.48075409] [ 0.01731635 0.99979825 -0.01017815 -0.30590129] [ 0.0056416 0.01008181 0.99993326 -0.30270131] [ 0. 0. 0. 1. ]] SLAMing on 7.333201008 meters Centerline goodness : 0.910165 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.31, Z:-0.31 [[ 0.99982627 -0.01758902 -0.00616881 1.48410161] [ 0.01753006 0.99980133 -0.00948623 -0.31075304] [ 0.00633444 0.00937644 0.99993598 -0.30504926] [ 0. 0. 0. 1. ]] SLAMing on 7.363201008 meters Centerline goodness : 0.906658 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.32, Z:-0.30 [[ 0.99987664 -0.01417192 -0.00677238 1.48581162] [ 0.01414066 0.99988925 -0.00464095 -0.31522045] [ 0.0068374 0.00454462 0.9999663 -0.30487527] [ 0. 0. 0. 1. ]] SLAMing on 7.393201008 meters Centerline goodness : 0.906631 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.32, Z:-0.31 [[ 9.99906893e-01 -1.13805202e-02 -7.52916065e-03 1.48805107e+00] [ 1.13745749e-02 9.99934961e-01 -8.31988109e-04 -3.18969741e-01] [ 7.53813942e-03 7.46269643e-04 9.99971309e-01 -3.05086045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.423201008 meters Centerline goodness : 0.905139 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.32, Z:-0.31 [[ 0.99994289 -0.01050147 -0.00198173 1.50114044] [ 0.01048548 0.99991372 -0.00791241 -0.32207683] [ 0.00206465 0.00789118 0.99996673 -0.30679007] [ 0. 0. 0. 1. ]] SLAMing on 7.453201008 meters Centerline goodness : 0.904627 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.33, Z:-0.31 [[ 0.99994686 -0.01007181 -0.00220024 1.50078702] [ 0.01005768 0.99992931 -0.00634152 -0.32637376] [ 0.00226395 0.00631905 0.99997747 -0.30501529] [ 0. 0. 0. 1. ]] SLAMing on 7.483201008 meters Centerline goodness : 0.902120 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.33, Z:-0.30 [[ 0.99994892 -0.0098158 -0.00240905 1.50055979] [ 0.00980329 0.9999387 -0.00514749 -0.32991308] [ 0.00245943 0.00512361 0.99998385 -0.30352398] [ 0. 0. 0. 1. ]] SLAMing on 7.513201008 meters Centerline goodness : 0.905027 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.33, Z:-0.30 [[ 0.99995126 -0.00954113 -0.00254017 1.50042867] [ 0.00953041 0.99994577 -0.00419884 -0.33249131] [ 0.0025801 0.00417442 0.99998796 -0.30260461] [ 0. 0. 0. 1. ]] SLAMing on 7.543201008 meters Centerline goodness : 0.906376 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.34, Z:-0.30 [[ 0.99994822 -0.00974878 -0.00291951 1.50174295] [ 0.00973805 0.99994586 -0.00366612 -0.33547299] [ 0.0029551 0.0036375 0.99998902 -0.30295171] [ 0. 0. 0. 1. ]] SLAMing on 7.573201008 meters Centerline goodness : 0.901707 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.34, Z:-0.30 [[ 0.99994556 -0.00990146 -0.00329089 1.50311112] [ 0.00988988 0.99994491 -0.00351748 -0.33671707] [ 0.00332554 0.00348475 0.9999884 -0.30368786] [ 0. 0. 0. 1. ]] SLAMing on 7.603201008 meters Centerline goodness : 0.900881 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.34, Z:-0.31 [[ 9.99964693e-01 -7.35988179e-03 -4.05514172e-03 1.50644871e+00] [ 7.35974883e-03 9.99972916e-01 -4.77105252e-05 -3.39856300e-01] [ 4.05538303e-03 1.78640161e-05 9.99991777e-01 -3.05403166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.633201008 meters Centerline goodness : 0.898173 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.34, Z:-0.31 [[ 9.99963476e-01 -7.36343659e-03 -4.33885599e-03 1.50766825e+00] [ 7.36348615e-03 9.99972889e-01 -4.55364805e-06 -3.40486539e-01] [ 4.33877189e-03 -2.73956242e-05 9.99990587e-01 -3.06358657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.663201008 meters Centerline goodness : 0.895791 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.34, Z:-0.31 [[ 9.99964465e-01 -6.98399512e-03 -4.72140703e-03 1.50903420e+00] [ 6.98707138e-03 9.99975388e-01 6.35376252e-04 -3.44017293e-01] [ 4.71685336e-03 -6.68342482e-04 9.99988652e-01 -3.07357051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.693201008 meters Centerline goodness : 0.894941 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.35, Z:-0.31 [[ 9.99962394e-01 -6.98223500e-03 -5.14384062e-03 1.51035862e+00] [ 6.98636903e-03 9.99975286e-01 7.86157045e-04 -3.45877097e-01] [ 5.13822437e-03 -8.22064249e-04 9.99986461e-01 -3.07979232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.723201008 meters Centerline goodness : 0.893867 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.35, Z:-0.31 [[ 9.99962310e-01 -6.81432204e-03 -5.37990220e-03 1.51099432e+00] [ 6.82032588e-03 9.99976138e-01 1.09841789e-03 -3.47402088e-01] [ 5.37228885e-03 -1.13506918e-03 9.99984925e-01 -3.08177942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.753201008 meters Centerline goodness : 0.891081 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.35, Z:-0.31 [[ 9.99963106e-01 -6.62511825e-03 -5.46749596e-03 1.51126340e+00] [ 6.63183204e-03 9.99977276e-01 1.21073046e-03 -3.47800132e-01] [ 5.45935049e-03 -1.24694531e-03 9.99984320e-01 -3.08405060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.783201008 meters Centerline goodness : 0.890455 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.35, Z:-0.31 [[ 9.99999657e-01 4.33762909e-04 -7.05912582e-04 1.51910670e+00] [-4.38093540e-04 9.99981016e-01 -6.14624988e-03 -3.47055779e-01] [ 7.03233166e-04 6.14655703e-03 9.99980862e-01 -3.13201979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.813201008 meters Centerline goodness : 0.889844 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.35, Z:-0.32 [[ 0.99998684 0.00410249 0.00308006 1.53542268] [-0.00406748 0.99992804 -0.01128606 -0.34682567] [-0.00312614 0.01127339 0.99993157 -0.31649538] [ 0. 0. 0. 1. ]] SLAMing on 7.843201008 meters Centerline goodness : 0.887911 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.35, Z:-0.32 [[ 0.99993736 0.00861277 0.00714761 1.55087023] [-0.00850579 0.99985333 -0.01486482 -0.34861015] [-0.00727459 0.01480309 0.99986397 -0.31839293] [ 0. 0. 0. 1. ]] SLAMing on 7.873201008 meters Centerline goodness : 0.885496 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.35, Z:-0.32 [[ 0.99987156 0.01215248 0.01044938 1.56819686] [-0.0119559 0.99975414 -0.01867367 -0.35043044] [-0.01067374 0.01854634 0.99977103 -0.32093617] [ 0. 0. 0. 1. ]] SLAMing on 7.903201008 meters Centerline goodness : 0.886047 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.35, Z:-0.32 [[ 0.9998079 0.01784745 0.00810145 1.60728211] [-0.01763707 0.99952339 -0.02533622 -0.35451265] [-0.00854977 0.02518847 0.99964616 -0.32275639] [ 0. 0. 0. 1. ]] SLAMing on 7.933201008 meters Centerline goodness : 0.884758 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.36, Z:-0.32 [[ 0.99975007 0.02114725 0.00725206 1.60988676] [-0.02099587 0.99957243 -0.02035028 -0.3587241 ] [-0.00767932 0.02019293 0.99976661 -0.32290337] [ 0. 0. 0. 1. ]] SLAMing on 7.9632010079999995 meters Centerline goodness : 0.883437 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.36, Z:-0.32 [[ 0.99968775 0.02413278 0.00648216 1.61295531] [-0.02402598 0.99958205 -0.01607737 -0.36238446] [-0.00686744 0.01591661 0.99984974 -0.32408634] [ 0. 0. 0. 1. ]] SLAMing on 7.993201008 meters Centerline goodness : 0.885276 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.36, Z:-0.33 [[ 0.99967882 0.02401928 0.00808292 1.63641422] [-0.02384468 0.99949413 -0.02104562 -0.36296654] [-0.00858433 0.02084613 0.99974584 -0.32743599] [ 0. 0. 0. 1. ]] SLAMing on 8.023201008 meters Centerline goodness : 0.881992 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.36, Z:-0.33 [[ 0.99968192 0.02328973 0.00967748 1.65904357] [-0.0230257 0.99938221 -0.02655207 -0.36460361] [-0.01028989 0.0263208 0.99960059 -0.32999477] [ 0. 0. 0. 1. ]] SLAMing on 8.053201007999998 meters Centerline goodness : 0.880503 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.37, Z:-0.33 [[ 0.99975635 0.0200091 0.00932093 1.65884121] [-0.01973702 0.99940117 -0.02842083 -0.3721528 ] [-0.00988402 0.02822994 0.99955259 -0.32847104] [ 0. 0. 0. 1. ]] SLAMing on 8.083201008 meters Centerline goodness : 0.880687 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.37, Z:-0.33 [[ 0.99981039 0.01762832 0.00827263 1.66018395] [-0.0173576 0.99934579 -0.0317286 -0.37410683] [-0.00882654 0.03157899 0.99946229 -0.32759367] [ 0. 0. 0. 1. ]] SLAMing on 8.113201007999999 meters Centerline goodness : 0.880048 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.38, Z:-0.33 [[ 0.99985062 0.01541558 0.00781631 1.6606622 ] [-0.01514381 0.99931687 -0.03371126 -0.3757417 ] [-0.00833065 0.03358786 0.99940105 -0.32727192] [ 0. 0. 0. 1. ]] SLAMing on 8.143201007999998 meters Centerline goodness : 0.877786 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.38, Z:-0.33 [[ 0.99989816 0.01225397 0.00731523 1.66204449] [-0.01199632 0.99934018 -0.03428261 -0.38005393] [-0.0077305 0.03419136 0.99938541 -0.32906419] [ 0. 0. 0. 1. ]] SLAMing on 8.173201008 meters Centerline goodness : 0.877864 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.38, Z:-0.33 [[ 0.99991658 0.01135738 0.00615115 1.66464675] [-0.01114355 0.99936823 -0.03374851 -0.3829667 ] [-0.00653056 0.03367715 0.99941143 -0.33031477] [ 0. 0. 0. 1. ]] SLAMing on 8.203201007999999 meters Centerline goodness : 0.878786 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.33 [[ 0.99992353 0.0110136 0.0056251 1.6663445 ] [-0.01082102 0.99939047 -0.0331904 -0.38611504] [-0.00598722 0.03312699 0.99943322 -0.3307562 ] [ 0. 0. 0. 1. ]] SLAMing on 8.233201007999998 meters Centerline goodness : 0.877382 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.33 [[ 0.99994575 0.00904996 0.00515673 1.66723084] [-0.00887405 0.99941028 -0.03317153 -0.38894702] [-0.00545389 0.03312397 0.99943637 -0.33138988] [ 0. 0. 0. 1. ]] SLAMing on 8.263201008 meters Centerline goodness : 0.874330 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.33 [[ 0.99998373 0.00387971 0.00418261 1.66954696] [-0.00372788 0.99935505 -0.03571533 -0.39374269] [-0.00431848 0.03569916 0.99935325 -0.33315069] [ 0. 0. 0. 1. ]] SLAMing on 8.293201007999999 meters Centerline goodness : 0.875545 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.33 [[ 0.99998729 0.00347233 0.00365556 1.67098103] [-0.00334308 0.9993891 -0.03478856 -0.39726746] [-0.00377412 0.03477589 0.99938801 -0.33272216] [ 0. 0. 0. 1. ]] SLAMing on 8.323201008 meters Centerline goodness : 0.875092 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.33 [[ 9.99993521e-01 1.30887595e-03 3.35343247e-03 1.67099911e+00] [-1.19212791e-03 9.99401117e-01 -3.45830412e-02 -3.99121470e-01] [-3.39668907e-03 3.45788194e-02 9.99396202e-01 -3.32527885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.353201008 meters Centerline goodness : 0.873724 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.33 [[ 0.99999218 -0.00258446 0.00299337 1.67150738] [ 0.00268974 0.99935824 -0.03571924 -0.40279556] [-0.00289913 0.03572701 0.99935738 -0.33322132] [ 0. 0. 0. 1. ]] SLAMing on 8.383201007999999 meters Centerline goodness : 0.874247 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.33 [[ 0.99998796 -0.00402336 0.00280909 1.67155989] [ 0.00411932 0.99937771 -0.03503164 -0.40428573] [-0.00266639 0.03504279 0.99938226 -0.3332348 ] [ 0. 0. 0. 1. ]] SLAMing on 8.413201008 meters Centerline goodness : 0.876230 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:-0.33 [[ 9.99986545e-01 -4.85251751e-03 1.83396868e-03 1.67447410e+00] [ 4.91370466e-03 9.99375994e-01 -3.49782600e-02 -4.05726153e-01] [-1.66309165e-03 3.49868009e-02 9.99386391e-01 -3.33783393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.443201007999999 meters Centerline goodness : 0.874205 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.41, Z:-0.33 [[ 0.99999487 -0.00270064 -0.00172386 1.70093034] [ 0.00263959 0.99940179 -0.03448321 -0.40964364] [ 0.00181596 0.03447849 0.99940379 -0.332806 ] [ 0. 0. 0. 1. ]] SLAMing on 8.473201007999998 meters Centerline goodness : 0.877942 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.41, Z:-0.33 [[ 0.99998966 -0.0034956 -0.00290732 1.70491843] [ 0.00339273 0.9993932 -0.03466599 -0.41119073] [ 0.00302673 0.03465577 0.99939473 -0.33480543] [ 0. 0. 0. 1. ]] SLAMing on 8.503201008 meters Centerline goodness : 0.879780 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.41, Z:-0.33 [[ 9.99991773e-01 -5.10686692e-04 -4.02410849e-03 1.70802551e+00] [ 3.89504214e-04 9.99548093e-01 -3.00575645e-02 -4.14247699e-01] [ 4.03763997e-03 3.00557498e-02 9.99540069e-01 -3.34408605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.533201007999999 meters Centerline goodness : 0.879897 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.41, Z:-0.33 [[ 9.99988902e-01 -5.47364519e-05 -4.71087885e-03 1.70954083e+00] [-8.60328897e-05 9.99553598e-01 -2.98763685e-02 -4.14130440e-01] [ 4.71041123e-03 2.98764422e-02 9.99542500e-01 -3.34486223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.563201007999998 meters Centerline goodness : 0.879897 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.42, Z:-0.33 [[ 0.99995249 -0.00306783 -0.00925283 1.70524791] [ 0.00292073 0.99986981 -0.01586938 -0.41688055] [ 0.00930031 0.0158416 0.99983126 -0.32814083] [ 0. 0. 0. 1. ]] SLAMing on 8.593201008 meters Centerline goodness : 0.882175 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.42, Z:-0.32 [[ 9.99937670e-01 4.12284235e-04 -1.11573593e-02 1.71390983e+00] [-4.53775165e-04 9.99992991e-01 -3.71642920e-03 -4.21012952e-01] [ 1.11557488e-02 3.72126048e-03 9.99930848e-01 -3.20237560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.623201007999999 meters Centerline goodness : 0.884856 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.42, Z:-0.33 [[ 0.99997369 0.00244614 -0.00682945 1.72848225] [-0.00252927 0.99992248 -0.01219145 -0.41892291] [ 0.0067991 0.0122084 0.99990236 -0.32507408] [ 0. 0. 0. 1. ]] SLAMing on 8.653201008 meters Centerline goodness : 0.882985 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.42, Z:-0.32 [[ 0.99997247 0.00269256 -0.00691373 1.7281088 ] [-0.00277367 0.99992713 -0.01174899 -0.41924655] [ 0.00688159 0.01176784 0.99990708 -0.32407311] [ 0. 0. 0. 1. ]] SLAMing on 8.683201008 meters Centerline goodness : 0.887030 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.43, Z:-0.32 [[ 0.99995672 0.00595216 -0.00715093 1.72869247] [-0.00597819 0.99997556 -0.00362383 -0.42526987] [ 0.00712918 0.00366642 0.99996787 -0.31728051] [ 0. 0. 0. 1. ]] SLAMing on 8.713201007999999 meters Centerline goodness : 0.888872 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.43, Z:-0.32 [[ 0.99995615 0.00571745 -0.00741642 1.72902631] [-0.00573978 0.99997905 -0.00299305 -0.42671172] [ 0.00739915 0.00303549 0.99996802 -0.31618821] [ 0. 0. 0. 1. ]] SLAMing on 8.743201008 meters Centerline goodness : 0.888402 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.43, Z:-0.31 [[ 0.99995578 0.00534758 -0.00773549 1.7294207 ] [-0.0053621 0.9999839 -0.00185816 -0.42890048] [ 0.00772543 0.00189955 0.99996835 -0.31418129] [ 0. 0. 0. 1. ]] SLAMing on 8.773201008 meters Centerline goodness : 0.889953 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.43, Z:-0.30 [[ 0.99996363 0.00391022 -0.00757919 1.73752516] [-0.00384829 0.99995923 0.0081684 -0.43346222] [ 0.00761082 -0.00813893 0.99993791 -0.30429046] [ 0. 0. 0. 1. ]] SLAMing on 8.803201007999998 meters Centerline goodness : 0.888523 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.44, Z:-0.30 [[ 0.9999667 -0.00237396 -0.00780741 1.7462415 ] [ 0.00247134 0.99991899 0.01248656 -0.43810307] [ 0.00777713 -0.01250544 0.99989156 -0.2966537 ] [ 0. 0. 0. 1. ]] SLAMing on 8.833201008 meters Centerline goodness : 0.887643 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.44, Z:-0.30 [[ 0.99994144 -0.01027308 -0.00340283 1.71807737] [ 0.0103477 0.99968899 0.02269012 -0.44061766] [ 0.00316867 -0.022724 0.99973675 -0.29547823] [ 0. 0. 0. 1. ]] SLAMing on 8.863201007999999 meters Centerline goodness : 0.887495 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.29 [[ 0.99983699 -0.01631916 -0.00772564 1.70331813] [ 0.01651744 0.99951662 0.02633808 -0.442138 ] [ 0.00729209 -0.0264614 0.99962324 -0.29234758] [ 0. 0. 0. 1. ]] SLAMing on 8.893201007999998 meters Centerline goodness : 0.886020 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.29 [[ 0.99978089 -0.01969358 -0.00709528 1.70239201] [ 0.01987689 0.99944416 0.02676328 -0.4427941 ] [ 0.00656427 -0.02689845 0.99961662 -0.29323946] [ 0. 0. 0. 1. ]] SLAMing on 8.923201008 meters Centerline goodness : 0.886323 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.30 [[ 0.99969774 -0.02405176 -0.00509379 1.69947226] [ 0.02418889 0.99929158 0.02883132 -0.4409575 ] [ 0.00439674 -0.02894582 0.99957131 -0.29545498] [ 0. 0. 0. 1. ]] SLAMing on 8.953201007999999 meters Centerline goodness : 0.883506 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.30 [[ 0.99968015 -0.02477948 -0.00505669 1.69968581] [ 0.02491414 0.99928104 0.02857793 -0.43903581] [ 0.00434491 -0.02869478 0.99957878 -0.29587346] [ 0. 0. 0. 1. ]] SLAMing on 8.983201007999998 meters Centerline goodness : 0.888141 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.30 [[ 0.99968964 -0.02423636 -0.00576453 1.70080125] [ 0.02438672 0.99932083 0.02762533 -0.43670851] [ 0.00509108 -0.02775733 0.99960173 -0.2951843 ] [ 0. 0. 0. 1. ]] SLAMing on 9.013201008 meters Centerline goodness : 0.886755 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.43, Z:-0.29 [[ 0.99979174 -0.01944794 -0.00618504 1.70016255] [ 0.01961272 0.99942102 0.02780227 -0.43021027] [ 0.00564077 -0.02791779 0.99959431 -0.29221562] [ 0. 0. 0. 1. ]] SLAMing on 9.043201007999999 meters Centerline goodness : 0.888145 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.42, Z:-0.30 [[ 9.99866057e-01 -1.62872246e-02 -1.61082159e-03 1.71237605e+00] [ 1.63114232e-02 9.99733015e-01 1.63657226e-02 -4.22656526e-01] [ 1.34383932e-03 -1.63898053e-02 9.99864775e-01 -3.00950862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.073201008 meters Centerline goodness : 0.890938 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.42, Z:-0.31 [[ 0.99991153 -0.01290701 0.00321509 1.72485631] [ 0.0128864 0.9998968 0.00635093 -0.41502782] [-0.00329673 -0.00630894 0.99997466 -0.3081427 ] [ 0. 0. 0. 1. ]] SLAMing on 9.103201008 meters Centerline goodness : 0.890127 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.41, Z:-0.31 [[ 0.99995003 -0.00964864 0.00261649 1.72612755] [ 0.00962433 0.99991182 0.00914989 -0.41035697] [-0.00270454 -0.00912426 0.99995472 -0.3083109 ] [ 0. 0. 0. 1. ]] SLAMing on 9.133201007999999 meters Centerline goodness : 0.890742 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.40, Z:-0.31 [[ 9.99973676e-01 -7.05953921e-03 1.67608392e-03 1.72946310e+00] [ 7.04319051e-03 9.99929426e-01 9.56747131e-03 -3.99751633e-01] [-1.74350757e-03 -9.55541448e-03 9.99952826e-01 -3.11880586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.163201008 meters Centerline goodness : 0.891910 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.39, Z:-0.31 [[ 9.99972253e-01 -7.34537244e-03 1.24040225e-03 1.73070515e+00] [ 7.33523370e-03 9.99941179e-01 7.98951661e-03 -3.94419469e-01] [-1.29901527e-03 -7.98019628e-03 9.99967314e-01 -3.13307702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.193201007999999 meters Centerline goodness : 0.889739 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.32 [[ 9.99998542e-01 -1.63450063e-03 4.94882014e-04 1.74054756e+00] [ 1.63537092e-03 9.99997108e-01 -1.76331843e-03 -3.89591740e-01] [-4.91998438e-04 1.76412517e-03 9.99998323e-01 -3.16054207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.223201007999998 meters Centerline goodness : 0.891388 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.32 [[ 9.99998634e-01 1.62570463e-03 -2.96989648e-04 1.74259241e+00] [-1.62532008e-03 9.99997846e-01 1.29050069e-03 -3.87169729e-01] [ 2.99086981e-04 -1.29001623e-03 9.99999123e-01 -3.16475903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.253201008 meters Centerline goodness : 0.894870 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.38, Z:-0.32 [[ 9.99984270e-01 5.55474318e-03 -7.77830375e-04 1.74345559e+00] [-5.55233830e-03 9.99979902e-01 3.06053470e-03 -3.78469572e-01] [ 7.94815226e-04 -3.05616778e-03 9.99995014e-01 -3.17628384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.283201007999999 meters Centerline goodness : 0.893886 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.32 [[ 9.99983758e-01 5.58503371e-03 -1.13652706e-03 1.74421394e+00] [-5.58326129e-03 9.99983202e-01 1.55675082e-03 -3.73027003e-01] [ 1.14520247e-03 -1.55038001e-03 9.99998142e-01 -3.18667000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.313201007999998 meters Centerline goodness : 0.894873 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.37, Z:-0.32 [[ 9.99983598e-01 5.50644890e-03 -1.57580114e-03 1.74504716e+00] [-5.50602185e-03 9.99984804e-01 2.75216553e-04 -3.68504488e-01] [ 1.57729266e-03 -2.66535643e-04 9.99998721e-01 -3.19239349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.343201008 meters Centerline goodness : 0.891757 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.32 [[ 9.99977301e-01 6.44150615e-03 -1.97583617e-03 1.74405683e+00] [-6.44151463e-03 9.99979253e-01 2.07202510e-06 -3.64824213e-01] [ 1.97580852e-03 1.06553995e-05 9.99998048e-01 -3.17472948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.373201007999999 meters Centerline goodness : 0.892847 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.32 [[ 9.99977011e-01 6.38639374e-03 -2.27855480e-03 1.74433362e+00] [-6.38724673e-03 9.99979534e-01 -3.67272597e-04 -3.63728391e-01] [ 2.27616262e-03 3.81817846e-04 9.99997337e-01 -3.17023188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.403201007999998 meters Centerline goodness : 0.893681 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.32 [[ 9.99977631e-01 6.21059499e-03 -2.48313681e-03 1.74476133e+00] [-6.21274108e-03 9.99980333e-01 -8.57486947e-04 -3.62527652e-01] [ 2.47776247e-03 8.72894852e-04 9.99996549e-01 -3.17135514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.433201008 meters Centerline goodness : 0.893733 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.32 [[ 0.99995345 0.00905825 -0.00332441 1.74759966] [-0.00904924 0.99995537 0.0027154 -0.36350013] [ 0.00334886 -0.00268519 0.99999079 -0.31786981] [ 0. 0. 0. 1. ]] SLAMing on 9.463201007999999 meters Centerline goodness : 0.892582 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.32 [[ 9.99959400e-01 8.21019972e-03 -3.71363251e-03 1.74965100e+00] [-8.20446518e-03 9.99965131e-01 1.55679305e-03 -3.61297339e-01] [ 3.72628460e-03 -1.52626148e-03 9.99991893e-01 -3.19724648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.493201008 meters Centerline goodness : 0.892440 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.32 [[ 9.99968755e-01 6.73767872e-03 -4.13445343e-03 1.75246235e+00] [-6.73634123e-03 9.99977254e-01 3.37339069e-04 -3.60003785e-01] [ 4.13663227e-03 -3.09477440e-04 9.99991396e-01 -3.22123860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.523201008 meters Centerline goodness : 0.892893 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.32 [[ 9.99970959e-01 5.99012847e-03 -4.71162892e-03 1.75422005e+00] [-5.98969148e-03 9.99982056e-01 1.06854229e-04 -3.61087682e-01] [ 4.71218444e-03 -7.86299224e-05 9.99988895e-01 -3.22485237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.553201007999998 meters Centerline goodness : 0.892868 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.32 [[ 9.99972106e-01 5.25801304e-03 -5.30479077e-03 1.75606321e+00] [-5.25906625e-03 9.99986154e-01 -1.84608673e-04 -3.62130476e-01] [ 5.30374665e-03 2.12501769e-04 9.99985912e-01 -3.23004643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.583201008 meters Centerline goodness : 0.893777 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.32 [[ 9.99971541e-01 4.39034723e-03 -6.13527859e-03 1.75858307e+00] [-4.39486477e-03 9.99990081e-01 -7.23034177e-04 -3.62394261e-01] [ 6.13204337e-03 7.49977320e-04 9.99980918e-01 -3.23841522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.613201007999999 meters Centerline goodness : 0.897648 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.32 [[ 9.99971074e-01 3.04021077e-03 -6.97198326e-03 1.76118203e+00] [-3.05136730e-03 9.99994080e-01 -1.59011573e-03 -3.62479741e-01] [ 6.96710770e-03 1.61134382e-03 9.99974431e-01 -3.24508856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.643201007999998 meters Centerline goodness : 0.897599 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.33 [[ 0.99996809 0.00193511 -0.00775026 1.7636871 ] [-0.00195305 0.99999543 -0.00230726 -0.36243538] [ 0.00774576 0.00232232 0.9999673 -0.32537853] [ 0. 0. 0. 1. ]] SLAMing on 9.673201008 meters Centerline goodness : 0.897990 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.36, Z:-0.33 [[ 9.99963777e-01 8.75125572e-04 -8.46630530e-03 1.76608634e+00] [-8.98833929e-04 9.99995685e-01 -2.79691959e-03 -3.62906739e-01] [ 8.46382111e-03 2.80442808e-03 9.99960249e-01 -3.26156498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.703201007999999 meters Centerline goodness : 0.897516 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.36, Z:-0.33 [[ 9.99958330e-01 -3.61574037e-04 -9.12186675e-03 1.76858157e+00] [ 3.30639180e-04 9.99994191e-01 -3.39256590e-03 -3.63357160e-01] [ 9.12304042e-03 3.38940848e-03 9.99952640e-01 -3.27180225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.733201007999998 meters Centerline goodness : 0.901160 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.36, Z:-0.33 [[ 0.99994626 -0.00268866 -0.01001196 1.77238204] [ 0.00264416 0.99998658 -0.00445587 -0.36327531] [ 0.0100238 0.00442916 0.99993995 -0.32858124] [ 0. 0. 0. 1. ]] SLAMing on 9.763201008 meters Centerline goodness : 0.902195 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.36, Z:-0.33 [[ 0.99993551 -0.00346852 -0.01081407 1.77469447] [ 0.0034194 0.99998377 -0.00455706 -0.36424885] [ 0.0108297 0.00451978 0.99993114 -0.32908105] [ 0. 0. 0. 1. ]] SLAMing on 9.793201007999999 meters Centerline goodness : 0.901904 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.37, Z:-0.33 [[ 0.99991561 -0.00493602 -0.01201732 1.77873837] [ 0.00487383 0.99997461 -0.00519908 -0.36613313] [ 0.01204268 0.00514007 0.99991427 -0.33068393] [ 0. 0. 0. 1. ]] SLAMing on 9.823201008 meters Centerline goodness : 0.902139 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.37, Z:-0.33 [[ 0.99985834 -0.01046081 -0.01318568 1.78322787] [ 0.01032634 0.9998944 -0.01022525 -0.36752725] [ 0.01329125 0.01008764 0.99986078 -0.33333493] [ 0. 0. 0. 1. ]] SLAMing on 9.853201008 meters Centerline goodness : 0.904088 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.34 [[ 0.99983789 -0.0113869 -0.01394726 1.78630489] [ 0.01123654 0.99987841 -0.01081192 -0.36744662] [ 0.01406868 0.01065345 0.99984428 -0.33520001] [ 0. 0. 0. 1. ]] SLAMing on 9.883201007999999 meters Centerline goodness : 0.901784 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.34 [[ 0.99984364 -0.00934962 -0.01500908 1.79051311] [ 0.00923943 0.99992997 -0.00739454 -0.36880378] [ 0.01507716 0.0072547 0.99986001 -0.33665394] [ 0. 0. 0. 1. ]] SLAMing on 9.913201008 meters Centerline goodness : 0.900694 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.34 [[ 0.99983192 -0.00990581 -0.01542727 1.79155449] [ 0.00979394 0.99992532 -0.00731042 -0.3687099 ] [ 0.01549853 0.0071581 0.99985427 -0.33636214] [ 0. 0. 0. 1. ]] SLAMing on 9.943201007999999 meters Centerline goodness : 0.904752 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 0.99982435 -0.0099524 -0.01588138 1.79180477] [ 0.009849 0.99992988 -0.00657568 -0.37044405] [ 0.01594571 0.00641811 0.99985226 -0.33488883] [ 0. 0. 0. 1. ]] SLAMing on 9.973201007999998 meters Centerline goodness : 0.902685 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 0.9998209 -0.00988948 -0.01613565 1.79155812] [ 0.00979599 0.99993483 -0.0058629 -0.37184976] [ 0.01619258 0.00570378 0.99985262 -0.33334092] [ 0. 0. 0. 1. ]] SLAMing on 10.003201008 meters Centerline goodness : 0.899390 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 0.99981315 -0.01041318 -0.01628599 1.79101747] [ 0.01032773 0.9999325 -0.00532268 -0.37272947] [ 0.01634032 0.00515348 0.99985321 -0.33089801] [ 0. 0. 0. 1. ]] SLAMing on 10.033201007999999 meters Centerline goodness : 0.901776 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 9.99842560e-01 -7.14936420e-03 -1.62401057e-02 1.79084535e+00] [ 7.13692683e-03 9.99974193e-01 -8.23670443e-04 -3.74527367e-01] [ 1.62455753e-02 7.07636318e-04 9.99867782e-01 -3.29370958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.063201007999998 meters Centerline goodness : 0.905047 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 0.99984568 -0.00434471 -0.01702203 1.79313016] [ 0.00439156 0.99998667 0.00271585 -0.37465028] [ 0.01701001 -0.00279018 0.99985143 -0.32949225] [ 0. 0. 0. 1. ]] SLAMing on 10.093201008 meters Centerline goodness : 0.910317 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.33 [[ 0.99985826 -0.00307041 -0.01655375 1.79204372] [ 0.00313104 0.99998848 0.00363817 -0.36814428] [ 0.01654239 -0.00368948 0.99985636 -0.32887445] [ 0. 0. 0. 1. ]] SLAMing on 10.123201007999999 meters Centerline goodness : 0.913134 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.36, Z:-0.33 [[ 9.99845640e-01 -4.42189781e-04 -1.75642132e-02 1.79437317e+00] [ 5.45564444e-04 9.99982557e-01 5.88117222e-03 -3.63011012e-01] [ 1.75613063e-02 -5.88984681e-03 9.99828440e-01 -3.28947392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.153201007999998 meters Centerline goodness : 0.913518 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.36, Z:-0.33 [[ 9.99844404e-01 -3.27231794e-04 -1.76369316e-02 1.79394417e+00] [ 4.17381103e-04 9.99986867e-01 5.10795562e-03 -3.58916599e-01] [ 1.76350285e-02 -5.11452216e-03 9.99831410e-01 -3.28548831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.183201008 meters Centerline goodness : 0.918131 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.35, Z:-0.33 [[ 0.99990193 0.00324803 -0.0136225 1.80936851] [-0.00327487 0.99999274 -0.00194868 -0.35404727] [ 0.01361607 0.0019931 0.99990531 -0.33353739] [ 0. 0. 0. 1. ]] SLAMing on 10.213201007999999 meters Centerline goodness : 0.918131 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.35, Z:-0.33 [[ 0.99990193 0.00324803 -0.0136225 1.80936851] [-0.00327487 0.99999274 -0.00194868 -0.35404727] [ 0.01361607 0.0019931 0.99990531 -0.33353739] [ 0. 0. 0. 1. ]] SLAMing on 10.243201008 meters Centerline goodness : 0.925293 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.34, Z:-0.33 [[ 9.99878048e-01 8.32453881e-03 -1.32133195e-02 1.80846478e+00] [-8.30110353e-03 9.99963875e-01 1.82746590e-03 -3.44069074e-01] [ 1.32280550e-02 -1.71755791e-03 9.99911030e-01 -3.33233112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.273201008 meters Centerline goodness : 0.925718 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.34, Z:-0.33 [[ 9.99878716e-01 7.99907325e-03 -1.33629327e-02 1.80885744e+00] [-7.99602478e-03 9.99967992e-01 2.81541147e-04 -3.37599858e-01] [ 1.33647570e-02 -1.74656660e-04 9.99910672e-01 -3.33763641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.303201007999998 meters Centerline goodness : 0.927088 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.33 [[ 9.99878713e-01 8.34311252e-03 -1.31511121e-02 1.80765463e+00] [-8.34730988e-03 9.99965126e-01 -2.64304758e-04 -3.32613992e-01] [ 1.31484483e-02 3.74049109e-04 9.99913485e-01 -3.32935122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.333201008 meters Centerline goodness : 0.924176 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.33 [[ 0.99987887 0.00750825 -0.01363347 1.80919234] [-0.00753533 0.99996974 -0.00193591 -0.32818494] [ 0.01361852 0.00203841 0.99990519 -0.33392371] [ 0. 0. 0. 1. ]] SLAMing on 10.363201007999999 meters Centerline goodness : 0.927871 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.33 [[ 0.99987816 0.00707332 -0.01391503 1.80987999] [-0.0071147 0.99997041 -0.00292637 -0.32513674] [ 0.01389392 0.00302501 0.9998989 -0.33418283] [ 0. 0. 0. 1. ]] SLAMing on 10.393201007999998 meters Centerline goodness : 0.923864 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.34 [[ 0.99987904 0.00578369 -0.01443787 1.81219362] [-0.00585743 0.99996999 -0.0050705 -0.31966537] [ 0.01440811 0.00515445 0.99988291 -0.33609444] [ 0. 0. 0. 1. ]] SLAMing on 10.423201008 meters Centerline goodness : 0.922776 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.34 [[ 0.99987667 0.00510827 -0.01485124 1.813901 ] [-0.00519981 0.99996768 -0.00613151 -0.31697875] [ 0.01481944 0.00620797 0.99987091 -0.33741311] [ 0. 0. 0. 1. ]] SLAMing on 10.453201007999999 meters Centerline goodness : 0.925461 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.34 [[ 0.99985302 0.00669476 -0.01578324 1.81844634] [-0.00675956 0.99996893 -0.00405642 -0.31628877] [ 0.01575559 0.00416252 0.99986721 -0.34025774] [ 0. 0. 0. 1. ]] SLAMing on 10.483201007999998 meters Centerline goodness : 0.925461 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.34 [[ 0.99985302 0.00669476 -0.01578324 1.81844634] [-0.00675956 0.99996893 -0.00405642 -0.31628877] [ 0.01575559 0.00416252 0.99986721 -0.34025774] [ 0. 0. 0. 1. ]] SLAMing on 10.513201008 meters Centerline goodness : 0.919389 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.34 [[ 0.99985223 0.0060537 -0.01608923 1.81938417] [-0.00614356 0.99996577 -0.00554131 -0.31085563] [ 0.01605513 0.00563933 0.9998552 -0.34092352] [ 0. 0. 0. 1. ]] SLAMing on 10.543201007999999 meters Centerline goodness : 0.919830 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.34 [[ 0.99985079 0.00649127 -0.0160084 1.81798921] [-0.00658195 0.99996256 -0.00561822 -0.3077279 ] [ 0.01597133 0.00572275 0.99985607 -0.33936657] [ 0. 0. 0. 1. ]] SLAMing on 10.573201007999998 meters Centerline goodness : 0.922622 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.34 [[ 9.99814437e-01 1.01062572e-02 -1.63998815e-02 1.81809376e+00] [-1.01351060e-02 9.99947232e-01 -1.67692524e-03 -3.07070587e-01] [ 1.63820687e-02 1.84282860e-03 9.99864107e-01 -3.37816537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.603201008 meters Centerline goodness : 0.920479 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.30, Z:-0.34 [[ 0.99984505 0.01404282 -0.01061526 1.82919056] [-0.01410867 0.99988153 -0.00615387 -0.30220513] [ 0.01052759 0.00630268 0.99992472 -0.33648147] [ 0. 0. 0. 1. ]] SLAMing on 10.633201007999999 meters Centerline goodness : 0.921095 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.30, Z:-0.34 [[ 0.99983802 0.01463093 -0.01048161 1.82818107] [-0.01469699 0.99987244 -0.00625366 -0.29945471] [ 0.01038877 0.0064067 0.99992551 -0.33564293] [ 0. 0. 0. 1. ]] SLAMing on 10.663201008 meters Centerline goodness : 0.921507 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.30, Z:-0.34 [[ 0.99978126 0.01772536 -0.01110164 1.83046001] [-0.01776223 0.99983702 -0.003232 -0.29811255] [ 0.01104254 0.00342848 0.99993315 -0.33666485] [ 0. 0. 0. 1. ]] SLAMing on 10.693201007999999 meters Centerline goodness : 0.922975 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.34 [[ 0.99977637 0.01814674 -0.01085848 1.82973212] [-0.01818751 0.99982786 -0.0036684 -0.29393186] [ 0.01079004 0.00386507 0.99993432 -0.33652956] [ 0. 0. 0. 1. ]] SLAMing on 10.723201007999998 meters Centerline goodness : 0.922287 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.34 [[ 9.99706941e-01 2.15318519e-02 -1.10639484e-02 1.83033648e+00] [-2.15457345e-02 9.99767217e-01 -1.13708808e-03 -2.89003624e-01] [ 1.10368892e-02 1.37513574e-03 9.99938146e-01 -3.36547434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.753201008 meters Centerline goodness : 0.923048 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.34 [[ 0.99971016 0.02118059 -0.01144475 1.83086579] [-0.0212038 0.99977335 -0.00191036 -0.28695269] [ 0.01140169 0.00215248 0.99993268 -0.33626185] [ 0. 0. 0. 1. ]] SLAMing on 10.783201007999999 meters Centerline goodness : 0.923358 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.34 [[ 0.99971244 0.02092844 -0.01170613 1.83116608] [-0.02095822 0.99977741 -0.00242684 -0.28555917] [ 0.01165273 0.00267148 0.99992854 -0.3359188 ] [ 0. 0. 0. 1. ]] SLAMing on 10.813201007999998 meters Centerline goodness : 0.925544 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.34 [[ 0.99971928 0.02046614 -0.01193707 1.83188842] [-0.0205078 0.99978399 -0.00337801 -0.28329526] [ 0.01186536 0.00362186 0.99992304 -0.33634595] [ 0. 0. 0. 1. ]] SLAMing on 10.843201008 meters Centerline goodness : 0.925804 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.34 [[ 0.99973279 0.01943483 -0.01251533 1.83393509] [-0.01950864 0.99979285 -0.00580282 -0.27567617] [ 0.01239996 0.00604543 0.99990484 -0.33792405] [ 0. 0. 0. 1. ]] SLAMing on 10.873201007999999 meters Centerline goodness : 0.920956 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.34 [[ 0.99973705 0.01912814 -0.01264683 1.83425962] [-0.01921734 0.99979104 -0.00696982 -0.27131545] [ 0.01251087 0.00721102 0.99989573 -0.33811103] [ 0. 0. 0. 1. ]] SLAMing on 10.903201007999998 meters Centerline goodness : 0.918663 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.34 [[ 0.99973307 0.01929054 -0.01271486 1.83389095] [-0.0193913 0.99978116 -0.00784977 -0.26653697] [ 0.01256065 0.00809423 0.99988835 -0.33763085] [ 0. 0. 0. 1. ]] SLAMing on 10.933201008 meters Centerline goodness : 0.920518 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.26, Z:-0.34 [[ 0.99964596 0.02325318 -0.01293223 1.83347397] [-0.02332314 0.99971401 -0.00528571 -0.26152719] [ 0.01280563 0.00558546 0.9999024 -0.33633544] [ 0. 0. 0. 1. ]] SLAMing on 10.963201007999999 meters Centerline goodness : 0.919826 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.26, Z:-0.34 [[ 0.99963437 0.0235284 -0.01332452 1.83354106] [-0.02361154 0.9997025 -0.00611666 -0.25829248] [ 0.01317664 0.00642903 0.99989252 -0.33567133] [ 0. 0. 0. 1. ]] SLAMing on 10.993201008 meters Centerline goodness : 0.918378 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.34 [[ 0.99962795 0.02360969 -0.01365841 1.8340552 ] [-0.02371056 0.99969242 -0.00727115 -0.25426944] [ 0.01348253 0.00759229 0.99988028 -0.33581245] [ 0. 0. 0. 1. ]] SLAMing on 11.023201008 meters Centerline goodness : 0.920203 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.25, Z:-0.34 [[ 0.99960852 0.02426531 -0.01392848 1.83399395] [-0.02437514 0.99967268 -0.00777069 -0.24998746] [ 0.01373536 0.00810716 0.9998728 -0.33538737] [ 0. 0. 0. 1. ]] SLAMing on 11.053201007999998 meters Centerline goodness : 0.914935 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:-0.33 [[ 0.9994766 0.02941532 -0.01346358 1.83212065] [-0.02947192 0.9995575 -0.00402502 -0.24386781] [ 0.01333922 0.00441971 0.99990126 -0.33391391] [ 0. 0. 0. 1. ]] SLAMing on 11.083201008 meters Centerline goodness : 0.916639 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:-0.33 [[ 9.99354052e-01 3.32577844e-02 -1.36161376e-02 1.83278940e+00] [-3.32673110e-02 9.99446378e-01 -4.73694926e-04 -2.42039630e-01] [ 1.35928454e-02 9.26361229e-04 9.99907184e-01 -3.33968281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.113201007999999 meters Centerline goodness : 0.915614 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:-0.33 [[ 9.99344223e-01 3.35629643e-02 -1.35886494e-02 1.83286811e+00] [-3.35814179e-02 9.99435344e-01 -1.13206014e-03 -2.38825700e-01] [ 1.35429812e-02 1.58764387e-03 9.99907029e-01 -3.34437809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.143201007999998 meters Centerline goodness : 0.915194 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:-0.34 [[ 9.99221566e-01 3.68673762e-02 -1.40377807e-02 1.83491117e+00] [-3.68384525e-02 9.99318556e-01 2.31353532e-03 -2.39258403e-01] [ 1.41135087e-02 -1.79460427e-03 9.99898789e-01 -3.35487597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.173201008 meters Centerline goodness : 0.912669 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:-0.34 [[ 9.99318615e-01 3.41198836e-02 -1.40762226e-02 1.83403794e+00] [-3.41437258e-02 9.99415871e-01 -1.45689423e-03 -2.37422954e-01] [ 1.40182912e-02 1.93651620e-03 9.99899864e-01 -3.35219680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.203201007999999 meters Centerline goodness : 0.914987 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.24, Z:-0.34 [[ 0.99933191 0.0334541 -0.01471555 1.83591612] [-0.03348489 0.99943751 -0.00185051 -0.23859192] [ 0.01464536 0.00234202 0.99989001 -0.3359532 ] [ 0. 0. 0. 1. ]] SLAMing on 11.233201007999998 meters Centerline goodness : 0.912854 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.24, Z:-0.34 [[ 0.99944663 0.02976234 -0.01485416 1.83594249] [-0.02985293 0.9995368 -0.00591481 -0.23786315] [ 0.01467124 0.00635498 0.99987218 -0.33625058] [ 0. 0. 0. 1. ]] SLAMing on 11.263201008 meters Centerline goodness : 0.918388 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.24, Z:-0.34 [[ 0.99944837 0.02952229 -0.01521154 1.83673383] [-0.02961129 0.99954547 -0.00565894 -0.23969388] [ 0.01503756 0.00610625 0.99986828 -0.33625128] [ 0. 0. 0. 1. ]] SLAMing on 11.293201007999999 meters Centerline goodness : 0.918808 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.24, Z:-0.34 [[ 0.99945052 0.02926872 -0.0155561 1.83756069] [-0.0293533 0.99955538 -0.00523677 -0.24211955] [ 0.01539591 0.00569052 0.99986528 -0.33628662] [ 0. 0. 0. 1. ]] SLAMing on 11.323201007999998 meters Centerline goodness : 0.919949 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.25, Z:-0.34 [[ 0.99946624 0.02837432 -0.01619042 1.84013173] [-0.02846139 0.99958151 -0.00517322 -0.24556666] [ 0.01603686 0.00563126 0.99985554 -0.33783031] [ 0. 0. 0. 1. ]] SLAMing on 11.353201008 meters Centerline goodness : 0.921619 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.25, Z:-0.34 [[ 0.99946792 0.02816511 -0.01644999 1.84123353] [-0.02825292 0.99958764 -0.00512985 -0.246589 ] [ 0.01629873 0.00559188 0.99985153 -0.33859404] [ 0. 0. 0. 1. ]] SLAMing on 11.383201007999999 meters Centerline goodness : 0.915736 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.25, Z:-0.34 [[ 0.99946478 0.02822127 -0.01654416 1.84168653] [-0.02830472 0.99958766 -0.00483181 -0.24781255] [ 0.01640097 0.0052975 0.99985146 -0.33893898] [ 0. 0. 0. 1. ]] SLAMing on 11.413201008 meters Centerline goodness : 0.916457 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.25, Z:-0.34 [[ 0.99945747 0.02818405 -0.01704174 1.84389555] [-0.02826805 0.99958929 -0.0047081 -0.24976662] [ 0.01690205 0.00518729 0.99984369 -0.34077129] [ 0. 0. 0. 1. ]] SLAMing on 11.443201007999999 meters Centerline goodness : 0.918234 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.25, Z:-0.34 [[ 0.99945527 0.02808755 -0.01732788 1.84533019] [-0.02817293 0.999592 -0.00470291 -0.25137782] [ 0.01718872 0.00518852 0.9998388 -0.34197451] [ 0. 0. 0. 1. ]] SLAMing on 11.473201007999998 meters Centerline goodness : 0.917732 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.25, Z:-0.34 [[ 0.99944277 0.02840436 -0.01753109 1.84577048] [-0.02847896 0.99958631 -0.00402071 -0.25417412] [ 0.01740963 0.00451774 0.99983823 -0.34201425] [ 0. 0. 0. 1. ]] SLAMing on 11.503201008 meters Centerline goodness : 0.916213 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.26, Z:-0.34 [[ 0.99943361 0.02861094 -0.01771653 1.84641962] [-0.02867767 0.9995825 -0.00352403 -0.25666227] [ 0.01760831 0.00403011 0.99983684 -0.34240577] [ 0. 0. 0. 1. ]] SLAMing on 11.533201007999999 meters Centerline goodness : 0.917621 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.26, Z:-0.34 [[ 0.99940233 0.02969154 -0.0177032 1.84568258] [-0.02973682 0.99955512 -0.0023003 -0.2596425 ] [ 0.01762703 0.00282536 0.99984064 -0.34158596] [ 0. 0. 0. 1. ]] SLAMing on 11.563201007999998 meters Centerline goodness : 0.918863 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.26, Z:-0.34 [[ 0.99939169 0.03002088 -0.01774802 1.84550099] [-0.03006246 0.99954586 -0.00208099 -0.25991641] [ 0.01767748 0.00261328 0.99984033 -0.34128639] [ 0. 0. 0. 1. ]] SLAMing on 11.593201008 meters Centerline goodness : 0.920307 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.26, Z:-0.34 [[ 9.99377124e-01 3.04933895e-02 -1.77627780e-02 1.84499250e+00] [-3.05289148e-02 9.99532383e-01 -1.73220763e-03 -2.60187057e-01] [ 1.77016510e-02 2.27340701e-03 9.99840729e-01 -3.40593804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.623201007999999 meters Centerline goodness : 0.920344 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.26, Z:-0.34 [[ 9.99356362e-01 3.12209838e-02 -1.76666733e-02 1.84394896e+00] [-3.12442070e-02 9.99511240e-01 -1.03996977e-03 -2.61247802e-01] [ 1.76255696e-02 1.59128160e-03 9.99843391e-01 -3.39481696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.653201007999998 meters Centerline goodness : 0.922119 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.34 [[ 9.99302730e-01 3.30950960e-02 -1.72849221e-02 1.84143257e+00] [-3.30781109e-02 9.99451966e-01 1.26770595e-03 -2.66844824e-01] [ 1.73174042e-02 -6.95069441e-04 9.99849801e-01 -3.37223154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.683201008 meters Centerline goodness : 0.922559 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.34 [[ 9.99392767e-01 3.01981306e-02 -1.73830374e-02 1.84062172e+00] [-3.02336940e-02 9.99541261e-01 -1.78665512e-03 -2.69110257e-01] [ 1.73211095e-02 2.31112363e-03 9.99847307e-01 -3.36621995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.713201007999999 meters Centerline goodness : 0.924148 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.34 [[ 0.99947374 0.02728373 -0.01754516 1.84020174] [-0.02736961 0.99961446 -0.00467302 -0.27185436] [ 0.0174109 0.00515076 0.99983515 -0.33633655] [ 0. 0. 0. 1. ]] SLAMing on 11.743201008 meters Centerline goodness : 0.924658 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.34 [[ 0.99948484 0.02668719 -0.01782838 1.84083403] [-0.02676657 0.99963277 -0.00422827 -0.27983798] [ 0.01770899 0.0047033 0.99983212 -0.33661784] [ 0. 0. 0. 1. ]] SLAMing on 11.773201008 meters Centerline goodness : 0.925777 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.34 [[ 0.99948721 0.02625152 -0.01833524 1.84292919] [-0.0263264 0.99964597 -0.00385452 -0.28357339] [ 0.01822757 0.00433524 0.99982447 -0.33793504] [ 0. 0. 0. 1. ]] SLAMing on 11.803201007999998 meters Centerline goodness : 0.925537 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:-0.34 [[ 0.99948691 0.02572181 -0.01908655 1.84560125] [-0.02579084 0.99966165 -0.00337932 -0.28846292] [ 0.01899317 0.00386984 0.99981212 -0.33935956] [ 0. 0. 0. 1. ]] SLAMing on 11.833201008 meters Centerline goodness : 0.924991 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:-0.34 [[ 0.99949437 0.0247464 -0.0199654 1.84850685] [-0.02481811 0.99968636 -0.00335175 -0.29465751] [ 0.0198762 0.00384556 0.99979505 -0.34089784] [ 0. 0. 0. 1. ]] SLAMing on 11.863201007999999 meters Centerline goodness : 0.925751 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.31, Z:-0.34 [[ 0.99954982 0.02138546 -0.02104348 1.85040192] [-0.02147316 0.99976162 -0.00395082 -0.30891375] [ 0.02095398 0.00440091 0.99977076 -0.34001439] [ 0. 0. 0. 1. ]] SLAMing on 11.893201007999998 meters Centerline goodness : 0.922317 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.31, Z:-0.34 [[ 0.99961681 0.01782859 -0.02117509 1.85089478] [-0.01797697 0.99981502 -0.00683777 -0.31343862] [ 0.02104926 0.00721581 0.9997524 -0.34063183] [ 0. 0. 0. 1. ]] SLAMing on 11.923201008 meters Centerline goodness : 0.919673 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.32, Z:-0.34 [[ 0.99960621 0.01753557 -0.02190747 1.85327549] [-0.01766793 0.99982672 -0.00586286 -0.31898017] [ 0.02180087 0.00624761 0.99974281 -0.3415673 ] [ 0. 0. 0. 1. ]] SLAMing on 11.953201007999999 meters Centerline goodness : 0.913122 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.35 [[ 0.99959536 0.01723371 -0.02263005 1.85800465] [-0.01734346 0.99983872 -0.00466246 -0.32743552] [ 0.02254605 0.00505305 0.99973304 -0.3455669 ] [ 0. 0. 0. 1. ]] SLAMing on 11.983201007999998 meters Centerline goodness : 0.908110 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.35 [[ 0.99958856 0.01696071 -0.02313083 1.86023077] [-0.01706164 0.99984573 -0.00417336 -0.33192546] [ 0.02305648 0.0045663 0.99972374 -0.3470593 ] [ 0. 0. 0. 1. ]] SLAMing on 12.013201008 meters Centerline goodness : 0.907138 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.35 [[ 0.9995766 0.01667973 -0.02384132 1.86250366] [-0.01676906 0.99985308 -0.00355184 -0.337673 ] [ 0.02377857 0.00395013 0.99970945 -0.34801459] [ 0. 0. 0. 1. ]] SLAMing on 12.043201007999999 meters Centerline goodness : 0.904322 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.35 [[ 0.99956587 0.01633823 -0.02451784 1.86462429] [-0.01641598 0.99986083 -0.00297292 -0.3436375 ] [ 0.02446586 0.00337412 0.99969497 -0.34884375] [ 0. 0. 0. 1. ]] SLAMing on 12.073201007999998 meters Centerline goodness : 0.896082 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.35 [[ 9.99549430e-01 1.65086270e-02 -2.50679512e-02 1.86569466e+00] [-1.65379751e-02 9.99862774e-01 -9.63858630e-04 -3.53680843e-01] [ 2.50485993e-02 1.37799750e-03 9.99685285e-01 -3.48158098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.103201008 meters Centerline goodness : 0.895685 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.36, Z:-0.35 [[ 9.99543040e-01 1.66341710e-02 -2.52391851e-02 1.86613782e+00] [-1.66460951e-02 9.99861410e-01 -2.62400007e-04 -3.56477480e-01] [ 2.52313224e-02 6.82413976e-04 9.99681407e-01 -3.48092745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.133201007999999 meters Centerline goodness : 0.894859 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.36, Z:-0.36 [[ 0.99982146 0.01458312 -0.01201584 1.8698815 ] [-0.01462887 0.99988604 -0.00372895 -0.35707999] [ 0.01196009 0.00390407 0.99992085 -0.35672079] [ 0. 0. 0. 1. ]] SLAMing on 12.163201008 meters Centerline goodness : 0.888404 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.36 [[ 0.99984714 0.0157744 -0.00754139 1.88463047] [-0.01585591 0.99981516 -0.01087397 -0.35887188] [ 0.00736847 0.01099188 0.99991244 -0.35959196] [ 0. 0. 0. 1. ]] SLAMing on 12.193201007999999 meters Centerline goodness : 0.884531 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:-0.35 [[ 0.99982664 0.01701657 -0.00755782 1.8831044 ] [-0.01706619 0.99983291 -0.00654908 -0.3692445 ] [ 0.00744511 0.00667693 0.99994999 -0.35499963] [ 0. 0. 0. 1. ]] SLAMing on 12.223201007999998 meters Centerline goodness : 0.884209 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:-0.36 [[ 0.99982746 0.01688064 -0.00775247 1.88409985] [-0.01692804 0.99983816 -0.00608981 -0.37214644] [ 0.00764841 0.00621999 0.99995141 -0.35570862] [ 0. 0. 0. 1. ]] SLAMing on 12.253201008 meters Centerline goodness : 0.881387 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.37, Z:-0.36 [[ 0.99983204 0.01650092 -0.00797607 1.88578457] [-0.01655007 0.99984421 -0.0061358 -0.37400638] [ 0.00787359 0.00626677 0.99994937 -0.35735111] [ 0. 0. 0. 1. ]] SLAMing on 12.283201007999999 meters Centerline goodness : 0.876596 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:-0.36 [[ 0.99985683 0.01457125 -0.00860182 1.89002294] [-0.01463516 0.99986541 -0.00741455 -0.37982393] [ 0.00849262 0.00753938 0.99993551 -0.36142985] [ 0. 0. 0. 1. ]] SLAMing on 12.313201007999998 meters Centerline goodness : 0.873373 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:-0.36 [[ 0.99985749 0.01394952 -0.00950809 1.8927133 ] [-0.01401491 0.99987835 -0.00684548 -0.38483629] [ 0.00941144 0.00697776 0.99993137 -0.36233686] [ 0. 0. 0. 1. ]] SLAMing on 12.343201008 meters Centerline goodness : 0.870948 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.39, Z:-0.36 [[ 0.99985435 0.01377984 -0.01006967 1.89421954] [-0.01384047 0.99988635 -0.0059768 -0.39008849] [ 0.00998616 0.0061153 0.99993144 -0.3623761 ] [ 0. 0. 0. 1. ]] SLAMing on 12.373201007999999 meters Centerline goodness : 0.870948 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.39, Z:-0.36 [[ 0.99985435 0.01377984 -0.01006967 1.89421954] [-0.01384047 0.99988635 -0.0059768 -0.39008849] [ 0.00998616 0.0061153 0.99993144 -0.3623761 ] [ 0. 0. 0. 1. ]] SLAMing on 12.403201007999998 meters Centerline goodness : 0.868185 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.40, Z:-0.36 [[ 0.99985172 0.01345505 -0.0107468 1.89572795] [-0.01350774 0.99989703 -0.00484564 -0.39506544] [ 0.01068049 0.00499009 0.99993051 -0.36189699] [ 0. 0. 0. 1. ]] SLAMing on 12.433201008 meters Centerline goodness : 0.867795 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.40, Z:-0.36 [[ 0.99985297 0.01264692 -0.0115795 1.89795698] [-0.01267816 0.99991617 -0.00262861 -0.40340466] [ 0.01154528 0.00277503 0.9999295 -0.36042679] [ 0. 0. 0. 1. ]] SLAMing on 12.463201007999999 meters Centerline goodness : 0.865376 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.40, Z:-0.37 [[ 0.99989999 0.01118081 -0.00865965 1.91646996] [-0.01128787 0.99985923 -0.01241422 -0.40442465] [ 0.00851963 0.01251073 0.99988544 -0.36567608] [ 0. 0. 0. 1. ]] SLAMing on 12.493201008 meters Centerline goodness : 0.864195 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.41, Z:-0.37 [[ 0.99991477 0.00841249 -0.0099837 1.92006154] [-0.00857086 0.99983643 -0.01592678 -0.40715904] [ 0.00984808 0.01601099 0.99982332 -0.36738173] [ 0. 0. 0. 1. ]] SLAMing on 12.523201008 meters Centerline goodness : 0.861712 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.42, Z:-0.36 [[ 9.99887151e-01 6.38161945e-03 -1.35999967e-02 1.90708518e+00] [-6.39820959e-03 9.99978839e-01 -1.17670271e-03 -4.19736942e-01] [ 1.35921996e-02 1.26358555e-03 9.99906823e-01 -3.56592269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.553201007999998 meters Centerline goodness : 0.861175 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.43, Z:-0.35 [[ 0.99981611 0.00475698 -0.01857736 1.90082291] [-0.00446823 0.99986905 0.01555378 -0.42678022] [ 0.01864891 -0.01546791 0.99970644 -0.34683755] [ 0. 0. 0. 1. ]] SLAMing on 12.583201008 meters Centerline goodness : 0.861400 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.43, Z:-0.34 [[ 0.99974287 0.00397352 -0.02232512 1.89363643] [-0.00321991 0.9994271 0.03369137 -0.43311915] [ 0.02244621 -0.03361082 0.99918291 -0.33659709] [ 0. 0. 0. 1. ]] SLAMing on 12.613201007999999 meters Centerline goodness : 0.861485 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:-0.34 [[ 0.99971966 0.0073077 -0.02252127 1.89500269] [-0.00643569 0.99923589 0.03855156 -0.4359634 ] [ 0.02278578 -0.03839581 0.99900279 -0.33601787] [ 0. 0. 0. 1. ]] SLAMing on 12.643201007999998 meters Centerline goodness : 0.863636 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.44, Z:-0.33 [[ 0.9997175 0.00963096 -0.02172923 1.89367617] [-0.00871674 0.99908869 0.04178282 -0.4372177 ] [ 0.02211184 -0.04158161 0.9988904 -0.33494427] [ 0. 0. 0. 1. ]] SLAMing on 12.673201008 meters Centerline goodness : 0.861088 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.43, Z:-0.34 [[ 0.99980997 0.01067952 -0.01630869 1.9011545 ] [-0.01022691 0.99956706 0.02758825 -0.43440515] [ 0.01659625 -0.02741622 0.99948633 -0.34156868] [ 0. 0. 0. 1. ]] SLAMing on 12.703201007999999 meters Centerline goodness : 0.860908 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.43, Z:-0.35 [[ 0.99989026 0.01056535 -0.01038508 1.91147108] [-0.01039915 0.99981904 0.01592943 -0.43222156] [ 0.0105515 -0.01581968 0.99981919 -0.34540733] [ 0. 0. 0. 1. ]] SLAMing on 12.733201007999998 meters Centerline goodness : 0.861383 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.44, Z:-0.34 [[ 0.99987768 0.01146221 -0.01064127 1.91600056] [-0.01118993 0.99961717 0.02530397 -0.43829526] [ 0.01092723 -0.0251818 0.99962317 -0.33606053] [ 0. 0. 0. 1. ]] SLAMing on 12.763201008 meters Centerline goodness : 0.858356 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.44, Z:-0.34 [[ 0.99993722 0.00948976 -0.00595821 1.93151724] [-0.00940108 0.99984716 0.01474046 -0.43770191] [ 0.00609719 -0.01468352 0.9998736 -0.33958993] [ 0. 0. 0. 1. ]] SLAMing on 12.793201007999999 meters Centerline goodness : 0.859319 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.44, Z:-0.33 [[ 0.99997651 0.00397674 -0.00558203 1.94557015] [-0.00384229 0.99970709 0.02389497 -0.44390072] [ 0.00567542 -0.02387296 0.99969889 -0.33114642] [ 0. 0. 0. 1. ]] SLAMing on 12.823201007999998 meters Centerline goodness : 0.855535 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.45, Z:-0.33 [[ 0.99995353 0.00555878 -0.00787615 1.97197493] [-0.00534742 0.99963168 0.02660654 -0.44741139] [ 0.00802115 -0.02656319 0.99961495 -0.32747914] [ 0. 0. 0. 1. ]] SLAMing on 12.853201008 meters Centerline goodness : 0.859127 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.45, Z:-0.33 [[ 0.99995412 0.00497075 -0.00818806 1.97351005] [-0.00475448 0.99964477 0.02622442 -0.44685989] [ 0.00831551 -0.02618428 0.99962255 -0.32843028] [ 0. 0. 0. 1. ]] SLAMing on 12.883201007999999 meters Centerline goodness : 0.856527 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:-0.33 [[ 9.99967633e-01 1.26742531e-03 -7.94527542e-03 1.97326753e+00] [-1.09787245e-03 9.99772351e-01 2.13082438e-02 -4.43104724e-01] [ 7.97047329e-03 -2.12988312e-02 9.99741382e-01 -3.30025853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.913201008 meters Centerline goodness : 0.856141 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:-0.33 [[ 9.99964682e-01 -1.91377709e-03 -8.18362477e-03 1.97325143e+00] [ 2.04165309e-03 9.99875507e-01 1.56461404e-02 -4.37910882e-01] [ 8.15266274e-03 -1.56622960e-02 9.99844101e-01 -3.32197261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.943201007999999 meters Centerline goodness : 0.857452 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:-0.33 [[ 9.99967287e-01 -1.41477884e-03 -7.96390866e-03 1.97197362e+00] [ 1.53616096e-03 9.99882439e-01 1.52561000e-02 -4.35587030e-01] [ 7.94138841e-03 -1.52678348e-02 9.99851903e-01 -3.31712694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.973201007999998 meters Centerline goodness : 0.858250 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.43, Z:-0.33 [[ 9.99970424e-01 -2.37552170e-04 -7.68736281e-03 1.96966136e+00] [ 3.55741818e-04 9.99881706e-01 1.53768243e-02 -4.32679284e-01] [ 7.68280065e-03 -1.53791043e-02 9.99852218e-01 -3.30102990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.003201008 meters Centerline goodness : 0.856262 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.43, Z:-0.33 [[ 0.99996068 0.00488292 -0.00740288 1.96729502] [-0.00473719 0.99979711 0.01957775 -0.4294601 ] [ 0.00749698 -0.01954191 0.99978093 -0.32803837] [ 0. 0. 0. 1. ]] SLAMing on 13.033201007999999 meters Centerline goodness : 0.854969 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.43, Z:-0.33 [[ 0.9999613 0.00496712 -0.00726127 1.96731965] [-0.00483065 0.9998136 0.01869287 -0.42594039] [ 0.00735277 -0.01865707 0.99979891 -0.32923292] [ 0. 0. 0. 1. ]] SLAMing on 13.063201007999998 meters Centerline goodness : 0.855254 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.42, Z:-0.34 [[ 0.99997188 0.00669668 -0.00337499 1.98060429] [-0.00667697 0.99996079 0.00581731 -0.41993901] [ 0.00341381 -0.00579461 0.99997738 -0.3388696 ] [ 0. 0. 0. 1. ]] SLAMing on 13.093201008 meters Centerline goodness : 0.852873 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.42, Z:-0.33 [[ 0.99995674 0.00595561 -0.00714517 1.96456094] [-0.00584737 0.99986928 0.0150743 -0.42027826] [ 0.00723401 -0.01503186 0.99986085 -0.33411775] [ 0. 0. 0. 1. ]] SLAMing on 13.123201007999999 meters Centerline goodness : 0.854099 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.42, Z:-0.33 [[ 0.99992836 0.00387313 -0.01132542 1.94979664] [-0.00361893 0.99974298 0.02238022 -0.41970332] [ 0.01140919 -0.02233763 0.99968538 -0.3307435 ] [ 0. 0. 0. 1. ]] SLAMing on 13.153201007999998 meters Centerline goodness : 0.850844 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.42, Z:-0.33 [[ 9.99944753e-01 4.88006447e-04 -1.05001497e-02 1.92558846e+00] [-2.73131272e-04 9.99790723e-01 2.04557213e-02 -4.15478359e-01] [ 1.05079348e-02 -2.04517233e-02 9.99735620e-01 -3.33988007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.183201008 meters Centerline goodness : 0.850986 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.41, Z:-0.33 [[ 0.9999449 -0.00285382 -0.01010184 1.92428477] [ 0.00301245 0.99987184 0.01572366 -0.41151592] [ 0.01005567 -0.01575322 0.99982534 -0.3346783 ] [ 0. 0. 0. 1. ]] SLAMing on 13.213201007999999 meters Centerline goodness : 0.849228 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.41, Z:-0.33 [[ 0.99996311 -0.00622491 -0.00591862 1.90094698] [ 0.00633955 0.99978874 0.0195523 -0.41065075] [ 0.00579566 -0.0195891 0.99979132 -0.33185751] [ 0. 0. 0. 1. ]] SLAMing on 13.243201007999998 meters Centerline goodness : 0.847577 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.41, Z:-0.32 [[ 0.99993869 -0.0069698 -0.00860458 1.88565769] [ 0.00724818 0.99943706 0.03275698 -0.41444564] [ 0.00837143 -0.03281734 0.99942631 -0.32252614] [ 0. 0. 0. 1. ]] SLAMing on 13.273201008 meters Centerline goodness : 0.845016 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.42, Z:-0.32 [[ 0.99994336 -0.00651081 -0.00841938 1.88443984] [ 0.00678924 0.99941648 0.03347556 -0.41505402] [ 0.00819652 -0.03353083 0.99940407 -0.32098703] [ 0. 0. 0. 1. ]] SLAMing on 13.303201007999998 meters Centerline goodness : 0.843348 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.41, Z:-0.32 [[ 0.99992386 -0.00950025 -0.00787511 1.88256359] [ 0.00972623 0.99952708 0.0291723 -0.41269337] [ 0.00759425 -0.02924667 0.99954338 -0.32131654] [ 0. 0. 0. 1. ]] SLAMing on 13.333201008 meters Centerline goodness : 0.843268 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.41, Z:-0.32 [[ 0.99994578 -0.00623573 -0.00833999 1.88566645] [ 0.00650818 0.99943249 0.03305047 -0.41499658] [ 0.00812916 -0.03310295 0.99941889 -0.32317924] [ 0. 0. 0. 1. ]] SLAMing on 13.363201007999999 meters Centerline goodness : 0.840151 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.41, Z:-0.33 [[ 0.9999437 -0.00644091 -0.00843286 1.8873228 ] [ 0.00671024 0.99945541 0.03230879 -0.41420096] [ 0.00822017 -0.03236356 0.99944236 -0.32545259] [ 0. 0. 0. 1. ]] SLAMing on 13.393201007999998 meters Centerline goodness : 0.839538 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.41, Z:-0.33 [[ 9.99966279e-01 -1.25287814e-03 -8.11605207e-03 1.89820869e+00] [ 1.43583518e-03 9.99744095e-01 2.25761535e-02 -4.13421658e-01] [ 8.08568996e-03 -2.25870456e-02 9.99712182e-01 -3.30855361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.423201008 meters Centerline goodness : 0.838405 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.41, Z:-0.34 [[ 0.99998369 0.00271679 -0.00502344 1.90880564] [-0.00266407 0.99994164 0.01046993 -0.41080392] [ 0.00505159 -0.01045638 0.99993257 -0.339584 ] [ 0. 0. 0. 1. ]] SLAMing on 13.453201007999999 meters Centerline goodness : 0.835778 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.41, Z:-0.34 [[ 0.99998174 0.00364108 -0.00482368 1.90772572] [-0.00358617 0.99992924 0.01134274 -0.41323063] [ 0.00486464 -0.01132523 0.99992403 -0.33900481] [ 0. 0. 0. 1. ]] SLAMing on 13.483201007999998 meters Centerline goodness : 0.836032 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.41, Z:-0.34 [[ 9.99989499e-01 6.24257553e-04 -4.54011948e-03 1.90583660e+00] [-5.89311620e-04 9.99970224e-01 7.69440848e-03 -4.13708579e-01] [ 4.54478759e-03 -7.69165213e-03 9.99960091e-01 -3.38051069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.513201008 meters Centerline goodness : 0.835448 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.42, Z:-0.34 [[ 9.99997898e-01 1.94427906e-03 6.50982545e-04 1.91924594e+00] [-1.94551231e-03 9.99996304e-01 1.89920939e-03 -4.16891060e-01] [-6.47287546e-04 -1.90047189e-03 9.99997985e-01 -3.37600867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.543201007999999 meters Centerline goodness : 0.835288 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.42, Z:-0.34 [[ 0.99997753 0.00234135 0.00628188 1.93208133] [-0.00231463 0.99998826 -0.00425669 -0.42365684] [-0.00629177 0.00424205 0.99997121 -0.33693349] [ 0. 0. 0. 1. ]] SLAMing on 13.573201007999998 meters Centerline goodness : 0.834910 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.43, Z:-0.34 [[ 0.99997859 0.00233111 0.0061143 1.93319398] [-0.00230863 0.99999055 -0.00368259 -0.42632637] [-0.00612283 0.0036684 0.99997453 -0.33776266] [ 0. 0. 0. 1. ]] SLAMing on 13.603201008 meters Centerline goodness : 0.833390 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.43, Z:-0.34 [[ 9.99976308e-01 3.95066950e-03 5.63693719e-03 1.93756045e+00] [-3.94777495e-03 9.99992070e-01 -5.24531347e-04 -4.29946515e-01] [-5.63896474e-03 5.02265561e-04 9.99983975e-01 -3.40734538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.633201007999999 meters Centerline goodness : 0.834174 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.43, Z:-0.34 [[ 9.99982365e-01 3.14152609e-03 5.03979436e-03 1.94100453e+00] [-3.13677026e-03 9.99994628e-01 -9.51283411e-04 -4.31657730e-01] [-5.04275577e-03 9.35457959e-04 9.99986848e-01 -3.43741321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.663201008 meters Centerline goodness : 0.831883 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.44, Z:-0.35 [[ 9.99987047e-01 2.69851511e-03 4.31553918e-03 1.94435801e+00] [-2.69808637e-03 9.99996355e-01 -1.05168428e-04 -4.39884922e-01] [-4.31580724e-03 9.35233685e-05 9.99990682e-01 -3.45727834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.693201007999999 meters Centerline goodness : 0.833356 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.44, Z:-0.34 [[ 9.99989038e-01 -1.13077117e-04 4.68090059e-03 1.94243963e+00] [ 1.27008232e-04 9.99995564e-01 -2.97597105e-03 -4.43186985e-01] [-4.68054331e-03 2.97653294e-03 9.99984616e-01 -3.44612278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.723201007999998 meters Centerline goodness : 0.834317 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.45, Z:-0.34 [[ 9.99991459e-01 1.37053654e-04 4.13070311e-03 1.94300109e+00] [-1.30231401e-04 9.99998627e-01 -1.65181990e-03 -4.48847677e-01] [-4.13092383e-03 1.65126784e-03 9.99990104e-01 -3.43182927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.753201008 meters Centerline goodness : 0.836698 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.45, Z:-0.34 [[ 9.99993135e-01 5.03845835e-04 3.67100421e-03 1.94357547e+00] [-5.03118259e-04 9.99999854e-01 -1.99116238e-04 -4.53747265e-01] [-3.67110399e-03 1.97267922e-04 9.99993242e-01 -3.41908052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.783201007999999 meters Centerline goodness : 0.834669 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.34 [[ 9.99993075e-01 1.08438068e-03 3.56001775e-03 1.94427503e+00] [-1.08854550e-03 9.99998725e-01 1.16815637e-03 -4.60329215e-01] [-3.55874648e-03 -1.17202352e-03 9.99992981e-01 -3.42397291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.813201007999998 meters Centerline goodness : 0.834860 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.46, Z:-0.34 [[ 9.99993865e-01 9.51297199e-04 3.37114952e-03 1.94553499e+00] [-9.55657368e-04 9.99998709e-01 1.29200259e-03 -4.62244991e-01] [-3.36991609e-03 -1.29521633e-03 9.99993483e-01 -3.43614438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.843201008 meters Centerline goodness : 0.832567 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.47, Z:-0.35 [[ 9.99993433e-01 7.80835723e-04 3.53898727e-03 1.94707762e+00] [-7.89471301e-04 9.99996713e-01 2.43938713e-03 -4.67540194e-01] [-3.53707087e-03 -2.44216503e-03 9.99990762e-01 -3.45267220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.873201007999999 meters Centerline goodness : 0.831213 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.47, Z:-0.34 [[ 9.99995195e-01 1.92512096e-04 3.09411201e-03 1.94883266e+00] [-2.02861974e-04 9.99994385e-01 3.34505802e-03 -4.71449126e-01] [-3.09345067e-03 -3.34566962e-03 9.99989618e-01 -3.44943142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.903201007999998 meters Centerline goodness : 0.832683 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.48, Z:-0.34 [[ 9.99996470e-01 -2.41854741e-04 2.64611073e-03 1.94994289e+00] [ 2.27449307e-04 9.99985161e-01 5.44294961e-03 -4.77840018e-01] [-2.64738787e-03 -5.44232854e-03 9.99981686e-01 -3.42438325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.933201008 meters Centerline goodness : 0.834633 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.49, Z:-0.34 [[ 9.99997091e-01 -1.63213566e-03 1.77571961e-03 1.95232011e+00] [ 1.61658972e-03 9.99960663e-01 8.72121616e-03 -4.85914236e-01] [-1.78988397e-03 -8.71832018e-03 9.99960393e-01 -3.36940256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.963201007999999 meters Centerline goodness : 0.833352 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.49, Z:-0.33 [[ 9.99997080e-01 -2.30311892e-03 7.32089220e-04 1.97477886e+00] [ 2.29748260e-03 9.99968414e-01 7.60874932e-03 -4.93894935e-01] [-7.49589950e-04 -7.60704514e-03 9.99970785e-01 -3.30507831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.993201007999998 meters Centerline goodness : 0.837073 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.33 [[ 9.99982088e-01 -5.96980924e-03 4.30338819e-04 1.97455248e+00] [ 5.96674147e-03 9.99959020e-01 6.80859323e-03 -5.01373045e-01] [-4.70967186e-04 -6.80590355e-03 9.99976729e-01 -3.25803462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.023201008 meters Centerline goodness : 0.836491 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.33 [[ 9.99981007e-01 -6.16268150e-03 8.06304305e-05 1.97586802e+00] [ 6.16196899e-03 9.99956676e-01 6.97685963e-03 -5.02538087e-01] [-1.23623101e-04 -6.97623028e-03 9.99975658e-01 -3.26319447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.053201007999998 meters Centerline goodness : 0.836016 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.33 [[ 9.99994213e-01 -3.28418552e-03 -8.87327639e-04 1.97961100e+00] [ 3.29364449e-03 9.99935412e-01 1.08776430e-02 -5.04442187e-01] [ 8.51546130e-04 -1.08805026e-02 9.99940443e-01 -3.27550123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.083201008 meters Centerline goodness : 0.836532 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.33 [[ 9.99994232e-01 -3.28807045e-03 -8.51006986e-04 1.98063056e+00] [ 3.29635507e-03 9.99945323e-01 9.92398653e-03 -5.02422166e-01] [ 8.18329688e-04 -9.92673452e-03 9.99950394e-01 -3.30217685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.113201007999999 meters Centerline goodness : 0.836119 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.33 [[ 9.99995630e-01 -2.92175975e-03 -4.50550848e-04 1.98061170e+00] [ 2.92570468e-03 9.99955049e-01 9.01891392e-03 -5.00798438e-01] [ 4.24179495e-04 -9.02019268e-03 9.99959227e-01 -3.32808046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.143201007999998 meters Centerline goodness : 0.836886 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.34 [[ 9.99982174e-01 5.44177405e-03 2.45750784e-03 1.98702446e+00] [-5.43687588e-03 9.99983229e-01 -1.99544769e-03 -4.98367581e-01] [-2.46832540e-03 1.98205095e-03 9.99994989e-01 -3.42555106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.173201008 meters Centerline goodness : 0.837248 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.34 [[ 0.99997521 0.00644567 0.00283358 1.98559565] [-0.00643938 0.99997679 -0.00222386 -0.49724911] [-0.00284785 0.00220556 0.99999351 -0.3431332 ] [ 0. 0. 0. 1. ]] SLAMing on 14.203201007999999 meters Centerline goodness : 0.837805 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.34 [[ 0.9999678 0.00744104 0.00300605 1.98432371] [-0.00743387 0.99996951 -0.00239029 -0.49594195] [-0.00302374 0.00236787 0.99999263 -0.34328205] [ 0. 0. 0. 1. ]] SLAMing on 14.233201007999998 meters Centerline goodness : 0.840510 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.34 [[ 9.99928535e-01 1.14047142e-02 3.58577192e-03 1.97872755e+00] [-1.14017000e-02 9.99934629e-01 -8.59934165e-04 -4.96454579e-01] [-3.59534482e-03 8.18988814e-04 9.99993201e-01 -3.41025244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.263201008 meters Centerline goodness : 0.841306 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.34 [[ 9.99910014e-01 1.28220608e-02 3.94455836e-03 1.97587787e+00] [-1.28234938e-02 9.99917718e-01 3.38201267e-04 -4.98673516e-01] [-3.93989736e-03 -3.88753853e-04 9.99992163e-01 -3.38653941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.293201007999999 meters Centerline goodness : 0.841306 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.34 [[ 9.99910014e-01 1.28220608e-02 3.94455836e-03 1.97587787e+00] [-1.28234938e-02 9.99917718e-01 3.38201267e-04 -4.98673516e-01] [-3.93989736e-03 -3.88753853e-04 9.99992163e-01 -3.38653941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.323201007999998 meters Centerline goodness : 0.844667 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.34 [[ 0.99993008 0.01094481 0.00447688 1.9722939 ] [-0.01093118 0.99993558 -0.00305644 -0.49867801] [-0.00451005 0.00300729 0.99998531 -0.33756328] [ 0. 0. 0. 1. ]] SLAMing on 14.353201008 meters Centerline goodness : 0.845268 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.34 [[ 0.99992293 0.01148751 0.00470838 1.97119513] [-0.01147737 0.99993177 -0.00217518 -0.50101686] [-0.00473304 0.00212097 0.99998655 -0.33656194] [ 0. 0. 0. 1. ]] SLAMing on 14.383201007999999 meters Centerline goodness : 0.843325 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.34 [[ 9.99927263e-01 1.10266041e-02 4.88708891e-03 1.97225892e+00] [-1.10197731e-02 9.99938269e-01 -1.42250596e-03 -5.04584777e-01] [-4.90247263e-03 1.36854788e-03 9.99987046e-01 -3.37391570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.413201007999998 meters Centerline goodness : 0.841242 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.51, Z:-0.34 [[ 9.99937610e-01 1.02593697e-02 4.41833636e-03 1.97465534e+00] [-1.02537728e-02 9.99946600e-01 -1.28754923e-03 -5.06558243e-01] [-4.43130986e-03 1.24216429e-03 9.99989410e-01 -3.38498292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.443201007999999 meters Centerline goodness : 0.841281 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.51, Z:-0.34 [[ 9.99949241e-01 9.32306469e-03 3.82057646e-03 1.97745812e+00] [-9.31857123e-03 9.99955870e-01 -1.19223799e-03 -5.09196405e-01] [-3.83152317e-03 1.15657516e-03 9.99991991e-01 -3.39696768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.473201007999998 meters Centerline goodness : 0.838856 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.51, Z:-0.34 [[ 9.99963561e-01 8.06208762e-03 2.80710901e-03 1.98129513e+00] [-8.05916070e-03 9.99966971e-01 -1.05243459e-03 -5.12425109e-01] [-2.81550111e-03 1.02977330e-03 9.99995506e-01 -3.40644080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.503201008 meters Centerline goodness : 0.842953 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.34 [[ 9.99998176e-01 8.47136598e-04 1.71180245e-03 1.98698009e+00] [-8.35317649e-04 9.99975892e-01 -6.89334812e-03 -5.18079366e-01] [-1.71760079e-03 6.89190565e-03 9.99974775e-01 -3.43959210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.533201007999999 meters Centerline goodness : 0.843413 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.34 [[ 9.99999699e-01 -2.08763151e-04 7.47002444e-04 1.98973321e+00] [ 2.13009405e-04 9.99983796e-01 -5.68883370e-03 -5.23993800e-01] [-7.45802720e-04 5.68899110e-03 9.99983539e-01 -3.42547413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.563201007999998 meters Centerline goodness : 0.847153 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.53, Z:-0.34 [[ 9.99998839e-01 -1.52003525e-03 -1.05256705e-04 1.99294728e+00] [ 1.51951899e-03 9.99987600e-01 -4.74245701e-03 -5.28801459e-01] [ 1.12464102e-04 4.74229157e-03 9.99988749e-01 -3.41788107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.593201008 meters Centerline goodness : 0.846918 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.53, Z:-0.34 [[ 9.99995145e-01 -2.96983246e-03 -9.43311972e-04 1.99659303e+00] [ 2.96583772e-03 9.99986747e-01 -4.20833766e-03 -5.32121331e-01] [ 9.55797527e-04 4.20551951e-03 9.99990700e-01 -3.41765857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.623201007999999 meters Centerline goodness : 0.847292 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.54, Z:-0.34 [[ 9.99946843e-01 -1.01209403e-02 -1.96924412e-03 2.01573413e+00] [ 1.01236711e-02 9.99947800e-01 1.38176188e-03 -5.37082990e-01] [ 1.95515660e-03 -1.40162441e-03 9.99997106e-01 -3.38697554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.653201007999998 meters Centerline goodness : 0.846940 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.54, Z:-0.34 [[ 9.99929074e-01 -1.14830859e-02 -3.16016017e-03 2.02011565e+00] [ 1.14877809e-02 9.99932930e-01 1.47155821e-03 -5.39285794e-01] [ 3.14305019e-03 -1.50775706e-03 9.99993924e-01 -3.39460544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.683201008 meters Centerline goodness : 0.845341 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.54, Z:-0.34 [[ 0.99992311 -0.01171077 -0.00407758 2.02710387] [ 0.01173993 0.99990514 0.00720272 -0.54273098] [ 0.00399284 -0.00725003 0.99996575 -0.33598891] [ 0. 0. 0. 1. ]] SLAMing on 14.713201007999999 meters Centerline goodness : 0.845196 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 0.99994292 -0.00976914 -0.00432605 2.02944729] [ 0.00982625 0.99986217 0.01338218 -0.54771575] [ 0.00419472 -0.01342392 0.9999011 -0.33206071] [ 0. 0. 0. 1. ]] SLAMing on 14.743201007999998 meters Centerline goodness : 0.845420 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 0.99990817 -0.0130765 -0.00355798 2.02651202] [ 0.0131132 0.99985895 0.01049432 -0.54921016] [ 0.00342024 -0.01054002 0.9999386 -0.32951756] [ 0. 0. 0. 1. ]] SLAMing on 14.773201008 meters Centerline goodness : 0.848255 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 0.99990945 -0.01295411 -0.00364363 2.02637679] [ 0.01299334 0.99985553 0.01095905 -0.550247 ] [ 0.00350114 -0.0110054 0.99993331 -0.32869693] [ 0. 0. 0. 1. ]] SLAMing on 14.803201007999998 meters Centerline goodness : 0.846783 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 0.99994696 -0.00927767 -0.0044718 2.02803628] [ 0.00934893 0.99982527 0.01618739 -0.55313564] [ 0.00432084 -0.01622834 0.99985898 -0.32683628] [ 0. 0. 0. 1. ]] SLAMing on 14.833201008 meters Centerline goodness : 0.844074 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 9.99982650e-01 -1.94174121e-03 -5.56141228e-03 2.03110876e+00] [ 2.07905262e-03 9.99690479e-01 2.47916078e-02 -5.53959533e-01] [ 5.51155202e-03 -2.48027402e-02 9.99677171e-01 -3.25979480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.863201007999999 meters Centerline goodness : 0.847557 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.55, Z:-0.33 [[ 9.99985651e-01 -1.48850606e-03 -5.14599410e-03 2.03028701e+00] [ 1.60869906e-03 9.99724140e-01 2.34319235e-02 -5.50375368e-01] [ 5.10969597e-03 -2.34398656e-02 9.99712190e-01 -3.28202181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.893201007999998 meters Centerline goodness : 0.846948 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.55, Z:-0.34 [[ 9.99997373e-01 1.89756360e-03 -1.28576126e-03 2.04364548e+00] [-1.88180355e-03 9.99924419e-01 1.21496654e-02 -5.45292789e-01] [ 1.30871885e-03 -1.21472139e-02 9.99925363e-01 -3.37213361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.923201008 meters Centerline goodness : 0.846992 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99996467e-01 2.53040319e-03 -8.13752561e-04 2.04249581e+00] [-2.52128901e-03 9.99936180e-01 1.10126837e-02 -5.42319391e-01] [ 8.41567158e-04 -1.10105931e-02 9.99939027e-01 -3.39096752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.953201007999999 meters Centerline goodness : 0.847142 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99989174e-01 4.59843009e-03 -7.11295238e-04 2.04034556e+00] [-4.59089352e-03 9.99936855e-01 1.02572153e-02 -5.38764626e-01] [ 7.58417410e-04 -1.02538388e-02 9.99947140e-01 -3.40510404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.983201007999998 meters Centerline goodness : 0.850466 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99988845e-01 4.67827377e-03 -6.50961876e-04 2.04041114e+00] [-4.67187515e-03 9.99943900e-01 9.50636793e-03 -5.37210317e-01] [ 6.95398748e-04 -9.50322068e-03 9.99954602e-01 -3.41694383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.013201008 meters Centerline goodness : 0.848834 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99988496e-01 4.76477464e-03 -5.52851468e-04 2.04046171e+00] [-4.75962287e-03 9.99948414e-01 8.97299532e-03 -5.36295746e-01] [ 5.95577249e-04 -8.97026073e-03 9.99959589e-01 -3.42714066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.043201007999999 meters Centerline goodness : 0.853062 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99988864e-01 4.66159290e-03 -7.35618485e-04 2.04094226e+00] [-4.65502914e-03 9.99951445e-01 8.68554873e-03 -5.35986469e-01] [ 7.76071260e-04 -8.68202768e-03 9.99962009e-01 -3.42967840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.073201007999998 meters Centerline goodness : 0.857172 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.53, Z:-0.35 [[ 9.99999311e-01 1.17371359e-03 -3.59165458e-05 2.03955432e+00] [-1.17358624e-03 9.99993663e-01 3.36111243e-03 -5.32859022e-01] [ 3.98613015e-05 -3.36106796e-03 9.99994351e-01 -3.45334267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.103201008 meters Centerline goodness : 0.854755 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.53, Z:-0.35 [[ 9.99999499e-01 9.29727474e-04 -3.70465378e-04 2.04040256e+00] [-9.28421176e-04 9.99993406e-01 3.51080801e-03 -5.33642517e-01] [ 3.73727029e-04 -3.51046231e-03 9.99993768e-01 -3.45024788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.133201007999999 meters Centerline goodness : 0.855850 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99999444e-01 8.14408705e-04 -6.69557179e-04 2.04089242e+00] [-8.11714587e-04 9.99991614e-01 4.01420405e-03 -5.35140907e-01] [ 6.72820767e-04 -4.01365833e-03 9.99991719e-01 -3.44100262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.163201007999998 meters Centerline goodness : 0.858732 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99999247e-01 7.27908646e-04 -9.88481293e-04 2.04123129e+00] [-7.23216761e-04 9.99988511e-01 4.73865054e-03 -5.37193216e-01] [ 9.91919241e-04 -4.73793209e-03 9.99988284e-01 -3.42747801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.193201007999999 meters Centerline goodness : 0.856317 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99999361e-01 4.02614780e-04 -1.05593225e-03 2.04097725e+00] [-3.95988598e-04 9.99980278e-01 6.26791630e-03 -5.41185454e-01] [ 1.05843498e-03 -6.26749416e-03 9.99979799e-01 -3.39771552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.223201007999998 meters Centerline goodness : 0.857028 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99998999e-01 -2.08104909e-04 -1.39969206e-03 2.04245551e+00] [ 2.16502693e-04 9.99981963e-01 6.00226371e-03 -5.41599784e-01] [ 1.39841772e-03 -6.00256074e-03 9.99981007e-01 -3.40373300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.253201008 meters Centerline goodness : 0.853616 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.34 [[ 9.99998533e-01 -6.35559029e-04 -1.59077511e-03 2.04363132e+00] [ 6.44537585e-04 9.99983831e-01 5.65000474e-03 -5.41280978e-01] [ 1.58715848e-03 -5.65102176e-03 9.99982773e-01 -3.41273687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.283201007999999 meters Centerline goodness : 0.859344 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.34 [[ 9.99995449e-01 -1.74892194e-03 -2.45844681e-03 2.04696813e+00] [ 1.76132946e-03 9.99985678e-01 5.05382245e-03 -5.41008827e-01] [ 2.44957286e-03 -5.05812958e-03 9.99984207e-01 -3.42538392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.313201007999998 meters Centerline goodness : 0.861425 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.54, Z:-0.34 [[ 9.99975996e-01 3.53053891e-04 -6.91974607e-03 2.07254948e+00] [-3.28279104e-04 9.99993534e-01 3.58111173e-03 -5.44147447e-01] [ 6.92096565e-03 -3.57875416e-03 9.99969646e-01 -3.39778251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.343201008 meters Centerline goodness : 0.862159 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.55, Z:-0.34 [[ 9.99972598e-01 6.12300475e-05 -7.40266296e-03 2.07390756e+00] [-3.18197263e-05 9.99992107e-01 3.97299053e-03 -5.45796651e-01] [ 7.40284779e-03 -3.97264611e-03 9.99964707e-01 -3.39511270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.373201007999999 meters Centerline goodness : 0.861454 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.55, Z:-0.34 [[ 9.99968506e-01 -4.94422335e-04 -7.92096064e-03 2.07589179e+00] [ 5.24964439e-04 9.99992435e-01 3.85424345e-03 -5.46117784e-01] [ 7.91899510e-03 -3.85828029e-03 9.99961201e-01 -3.40126170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.403201007999998 meters Centerline goodness : 0.861328 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.55, Z:-0.34 [[ 9.99952138e-01 5.64220904e-04 -9.76744185e-03 2.08326363e+00] [-4.74563416e-04 9.99957759e-01 9.17910437e-03 -5.48314112e-01] [ 9.77220830e-03 -9.17402977e-03 9.99910167e-01 -3.37807337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.433201008 meters Centerline goodness : 0.860274 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.55, Z:-0.34 [[ 9.99931728e-01 -1.37306671e-03 -1.16040321e-02 2.09445950e+00] [ 1.52693484e-03 9.99910897e-01 1.32614443e-02 -5.49293568e-01] [ 1.15847893e-02 -1.32782575e-02 9.99844728e-01 -3.36402202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.463201007999999 meters Centerline goodness : 0.862295 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.55, Z:-0.33 [[ 9.99911020e-01 -1.15182417e-03 -1.32900685e-02 2.10258701e+00] [ 1.41755673e-03 9.99798920e-01 2.00027591e-02 -5.52374732e-01] [ 1.32643565e-02 -2.00198186e-02 9.99711590e-01 -3.30838444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.493201007999998 meters Centerline goodness : 0.860691 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.55, Z:-0.33 [[ 0.99990259 -0.0053882 -0.01287525 2.10226961] [ 0.00557697 0.99987683 0.01467047 -0.54978533] [ 0.01279461 -0.01474084 0.99980948 -0.33288041] [ 0. 0. 0. 1. ]] SLAMing on 15.523201008 meters Centerline goodness : 0.864600 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.55, Z:-0.33 [[ 0.99985902 -0.00854202 -0.01445572 2.10875744] [ 0.00878238 0.99982286 0.0166469 -0.5510929 ] [ 0.01431096 -0.01677151 0.99975693 -0.32793947] [ 0. 0. 0. 1. ]] SLAMing on 15.553201007999998 meters Centerline goodness : 0.861055 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.55, Z:-0.33 [[ 0.99985188 -0.00897602 -0.01468533 2.10921321] [ 0.00922463 0.99981379 0.01694983 -0.55135903] [ 0.01453045 -0.01708278 0.99974849 -0.3267524 ] [ 0. 0. 0. 1. ]] SLAMing on 15.583201008 meters Centerline goodness : 0.861273 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.55, Z:-0.32 [[ 0.99980178 -0.01059868 -0.01685406 2.08671979] [ 0.01098863 0.9996701 0.023215 -0.55120152] [ 0.01660245 -0.0233956 0.99958842 -0.32176676] [ 0. 0. 0. 1. ]] SLAMing on 15.613201007999999 meters Centerline goodness : 0.859107 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.54, Z:-0.33 [[ 0.99976291 -0.0146826 -0.01607919 2.08557176] [ 0.01495348 0.99974606 0.0168583 -0.5448472 ] [ 0.01582758 -0.01709474 0.99972859 -0.32501003] [ 0. 0. 0. 1. ]] SLAMing on 15.643201007999998 meters Centerline goodness : 0.859712 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.54, Z:-0.32 [[ 0.99972674 -0.01365228 -0.01897509 2.06491012] [ 0.01415622 0.99954373 0.02668215 -0.54497112] [ 0.01860216 -0.02694347 0.99946386 -0.31865624] [ 0. 0. 0. 1. ]] SLAMing on 15.673201008 meters Centerline goodness : 0.856821 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.54, Z:-0.32 [[ 0.99975929 -0.01543847 -0.01558909 2.03698996] [ 0.01583467 0.99954634 0.02561995 -0.53895341] [ 0.01518648 -0.02586063 0.9995502 -0.32253872] [ 0. 0. 0. 1. ]] SLAMing on 15.703201007999999 meters Centerline goodness : 0.855412 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.53, Z:-0.32 [[ 0.9997688 -0.01503114 -0.01537555 2.0354728 ] [ 0.01538786 0.99960889 0.02335138 -0.53032143] [ 0.01501854 -0.02358257 0.99960908 -0.32406161] [ 0. 0. 0. 1. ]] SLAMing on 15.733201007999998 meters Centerline goodness : 0.856270 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.52, Z:-0.33 [[ 0.99984489 -0.0134655 -0.01135246 2.05057961] [ 0.01358887 0.99984868 0.01086063 -0.52203879] [ 0.0112045 -0.01101321 0.99987658 -0.33382536] [ 0. 0. 0. 1. ]] SLAMing on 15.763201008 meters Centerline goodness : 0.855873 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.52, Z:-0.33 [[ 0.99987581 -0.01007252 -0.01212041 2.0523308 ] [ 0.01024967 0.99984025 0.01464308 -0.52000293] [ 0.01197098 -0.01476549 0.99981932 -0.33324699] [ 0. 0. 0. 1. ]] SLAMing on 15.793201007999999 meters Centerline goodness : 0.857812 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.52, Z:-0.33 [[ 0.99989348 -0.00440739 -0.01391427 2.05789092] [ 0.00471168 0.99974879 0.02191255 -0.51639307] [ 0.0138142 -0.02197577 0.99966306 -0.33268372] [ 0. 0. 0. 1. ]] SLAMing on 15.823201007999998 meters Centerline goodness : 0.855416 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.33 [[ 0.99989172 -0.00485126 -0.01389264 2.05850404] [ 0.00513396 0.999779 0.02038595 -0.51108811] [ 0.01379068 -0.02045507 0.99969566 -0.33437743] [ 0. 0. 0. 1. ]] SLAMing on 15.853201008 meters Centerline goodness : 0.857659 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.33 [[ 0.99988687 -0.00527218 -0.01408724 2.05907735] [ 0.00554401 0.99979784 0.01932736 -0.50728735] [ 0.01398249 -0.01940328 0.99971396 -0.33494967] [ 0. 0. 0. 1. ]] SLAMing on 15.883201007999999 meters Centerline goodness : 0.855045 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.33 [[ 0.9998809 -0.00554517 -0.01440263 2.05919403] [ 0.00582045 0.99979984 0.01914184 -0.50550545] [ 0.0142936 -0.01922339 0.99971304 -0.33374468] [ 0. 0. 0. 1. ]] SLAMing on 15.913201007999998 meters Centerline goodness : 0.857752 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.50, Z:-0.33 [[ 0.99988512 -0.00493305 -0.01433206 2.0566163 ] [ 0.00522331 0.99978057 0.02028625 -0.50432759] [ 0.01422885 -0.02035878 0.99969148 -0.32915896] [ 0. 0. 0. 1. ]] SLAMing on 15.943201007999999 meters Centerline goodness : 0.856386 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.50, Z:-0.33 [[ 0.99986659 -0.00807388 -0.01419878 2.05544219] [ 0.00829035 0.99984929 0.01525324 -0.49862079] [ 0.01407349 -0.01536891 0.99978284 -0.33008742] [ 0. 0. 0. 1. ]] SLAMing on 15.973201007999998 meters Centerline goodness : 0.858137 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.50, Z:-0.33 [[ 0.99988497 -0.00435667 -0.01452817 2.05607625] [ 0.00464279 0.99979477 0.01971961 -0.49745778] [ 0.01443928 -0.01978479 0.99969999 -0.32839395] [ 0. 0. 0. 1. ]] SLAMing on 16.003201008 meters Centerline goodness : 0.857400 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.49, Z:-0.33 [[ 0.99988844 -0.00439192 -0.01427654 2.05560896] [ 0.00465941 0.99981322 0.01875699 -0.49229032] [ 0.0141915 -0.01882142 0.99972214 -0.32909503] [ 0. 0. 0. 1. ]] SLAMing on 16.033201008 meters Centerline goodness : 0.856389 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.49, Z:-0.34 [[ 0.99998873 -0.00414531 -0.00231288 2.06356353] [ 0.00418303 0.99985427 0.01655105 -0.48699829] [ 0.00224393 -0.01656054 0.99986035 -0.33766015] [ 0. 0. 0. 1. ]] SLAMing on 16.063201008 meters Centerline goodness : 0.858778 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.34 [[ 9.99996124e-01 -1.92784401e-03 -2.00876171e-03 2.06042689e+00] [ 1.96247350e-03 9.99846991e-01 1.73822838e-02 -4.81873419e-01] [ 1.97494402e-03 -1.73861586e-02 9.99846899e-01 -3.35737587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.093201007999998 meters Centerline goodness : 0.860431 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.33 [[ 9.99994919e-01 1.63711734e-03 -2.73547138e-03 2.06164478e+00] [-1.57734759e-03 9.99763044e-01 2.17110080e-02 -4.82067922e-01] [ 2.77036666e-03 -2.17065829e-02 9.99760546e-01 -3.33979577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.123201008 meters Centerline goodness : 0.858266 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.33 [[ 0.99997962 0.00525747 -0.00362225 2.06301555] [-0.00516039 0.99964058 0.02630739 -0.48222286] [ 0.00375925 -0.02628816 0.99964734 -0.33170998] [ 0. 0. 0. 1. ]] SLAMing on 16.153201008 meters Centerline goodness : 0.860401 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.33 [[ 0.99998023 0.00485376 -0.00399674 2.06397517] [-0.00475176 0.99967248 0.02514683 -0.4790108 ] [ 0.00411749 -0.02512734 0.99967578 -0.33248893] [ 0. 0. 0. 1. ]] SLAMing on 16.183201007999998 meters Centerline goodness : 0.860401 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.33 [[ 0.99998021 0.00487319 -0.00397766 2.06392933] [-0.00477173 0.99967284 0.0251287 -0.478977 ] [ 0.00409882 -0.02510922 0.99967631 -0.33250898] [ 0. 0. 0. 1. ]] SLAMing on 16.213201008 meters Centerline goodness : 0.859265 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.47, Z:-0.33 [[ 0.99997987 0.00479104 -0.00416112 2.06384825] [-0.00469116 0.99970831 0.02369135 -0.47367497] [ 0.00427342 -0.02367135 0.99971066 -0.33301141] [ 0. 0. 0. 1. ]] SLAMing on 16.243201008 meters Centerline goodness : 0.859624 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.47, Z:-0.34 [[ 9.99984531e-01 5.55954291e-03 1.73154501e-04 2.07484058e+00] [-5.56093291e-03 9.99939738e-01 9.46550794e-03 -4.67810606e-01] [-1.20520169e-04 -9.46632441e-03 9.99955186e-01 -3.40989101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.273201007999997 meters Centerline goodness : 0.861170 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.34 [[ 9.99958124e-01 9.13635430e-03 -5.26946365e-04 2.07616133e+00] [-9.12768234e-03 9.99851612e-01 1.46095729e-02 -4.69713254e-01] [ 6.60346407e-04 -1.46041513e-02 9.99893136e-01 -3.38728223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.303201008 meters Centerline goodness : 0.860611 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.34 [[ 9.99961407e-01 8.75651299e-03 -7.13160965e-04 2.07696514e+00] [-8.74577593e-03 9.99865462e-01 1.38769619e-02 -4.67823479e-01] [ 8.34578815e-04 -1.38701892e-02 9.99903456e-01 -3.39504467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.333201008 meters Centerline goodness : 0.859505 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 9.99968354e-01 7.88163596e-03 -1.08179598e-03 2.07952357e+00] [-7.86813517e-03 9.99897482e-01 1.19632274e-02 -4.63199443e-01] [ 1.17597488e-03 -1.19543371e-02 9.99927853e-01 -3.42954374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.363201007999997 meters Centerline goodness : 0.859466 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 9.99972929e-01 7.19805947e-03 -1.52601871e-03 2.08132463e+00] [-7.18114886e-03 9.99915767e-01 1.08115916e-02 -4.60359007e-01] [ 1.60371265e-03 -1.08003403e-02 9.99940389e-01 -3.44429072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.393201008 meters Centerline goodness : 0.859062 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99994203 0.01047153 -0.00250864 2.08365739] [-0.0104314 0.99982533 0.01550793 -0.46171212] [ 0.0026706 -0.01548086 0.9998766 -0.34285111] [ 0. 0. 0. 1. ]] SLAMing on 16.423201008 meters Centerline goodness : 0.858723 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99993057 0.01151848 -0.00248792 2.08130668] [-0.01147677 0.99980331 0.01617466 -0.46132789] [ 0.00267373 -0.01614499 0.99986609 -0.3400135 ] [ 0. 0. 0. 1. ]] SLAMing on 16.453201007999997 meters Centerline goodness : 0.861392 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99995986 0.00857157 -0.00260708 2.0802391 ] [-0.00854087 0.99989662 0.0115674 -0.45835714] [ 0.00270597 -0.01154467 0.9999297 -0.34019186] [ 0. 0. 0. 1. ]] SLAMing on 16.483201007999998 meters Centerline goodness : 0.862562 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99995786 0.00870921 -0.00290437 2.08039207] [-0.00867564 0.99989762 0.01137918 -0.45777911] [ 0.00300318 -0.01135351 0.99993104 -0.33983407] [ 0. 0. 0. 1. ]] SLAMing on 16.513201008 meters Centerline goodness : 0.861843 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99992071 0.01197339 -0.00389931 2.08312459] [-0.01191191 0.99981008 0.01542447 -0.45892786] [ 0.00408325 -0.0153768 0.99987343 -0.33957567] [ 0. 0. 0. 1. ]] SLAMing on 16.543201008 meters Centerline goodness : 0.861851 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.46, Z:-0.34 [[ 0.99992378 0.01167752 -0.00400797 2.08427029] [-0.01161976 0.99983243 0.01414571 -0.45602027] [ 0.00417248 -0.01409806 0.99989191 -0.34165226] [ 0. 0. 0. 1. ]] SLAMing on 16.573201007999998 meters Centerline goodness : 0.862104 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.45, Z:-0.35 [[ 0.99992587 0.0114607 -0.00411212 2.08567183] [-0.01140977 0.99986046 0.01220179 -0.45120272] [ 0.00425138 -0.01215397 0.9999171 -0.34512888] [ 0. 0. 0. 1. ]] SLAMing on 16.603201008 meters Centerline goodness : 0.861525 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.46, Z:-0.34 [[ 0.99987873 0.01437588 -0.00598864 2.11676813] [-0.01425074 0.99968952 0.02043957 -0.45567107] [ 0.00628062 -0.02035175 0.99977315 -0.33694246] [ 0. 0. 0. 1. ]] SLAMing on 16.633201008 meters Centerline goodness : 0.862348 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.45, Z:-0.34 [[ 0.99992823 0.01054989 -0.00567796 2.11635586] [-0.01046103 0.99982579 0.0154579 -0.45342648] [ 0.00584005 -0.0153974 0.9998644 -0.33858677] [ 0. 0. 0. 1. ]] SLAMing on 16.663201007999998 meters Centerline goodness : 0.862281 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.46, Z:-0.34 [[ 0.99992865 0.01019416 -0.00622721 2.11767953] [-0.01009494 0.9998248 0.0157624 -0.45529754] [ 0.0063868 -0.01569841 0.99985637 -0.33811374] [ 0. 0. 0. 1. ]] SLAMing on 16.693201008 meters Centerline goodness : 0.863042 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.46, Z:-0.34 [[ 0.99992842 0.0097775 -0.00689663 2.11913854] [-0.00966521 0.99982315 0.01613263 -0.45743908] [ 0.00705315 -0.01606482 0.99984608 -0.33744164] [ 0. 0. 0. 1. ]] SLAMing on 16.723201008 meters Centerline goodness : 0.863719 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.46, Z:-0.34 [[ 0.99996065 0.00503175 -0.00730578 2.12045465] [-0.00494522 0.99991798 0.0118141 -0.45786861] [ 0.00736463 -0.01177751 0.99990352 -0.33774778] [ 0. 0. 0. 1. ]] SLAMing on 16.753201007999998 meters Centerline goodness : 0.863222 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.46, Z:-0.33 [[ 0.99995709 0.00416961 -0.00827276 2.12802531] [-0.00402051 0.99983065 0.01795852 -0.46142263] [ 0.00834623 -0.01792449 0.99980451 -0.33312546] [ 0. 0. 0. 1. ]] SLAMing on 16.783201008 meters Centerline goodness : 0.865072 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.46, Z:-0.33 [[ 9.99967091e-01 8.63564627e-05 -8.11229299e-03 2.12792795e+00] [ 2.33583050e-05 9.99908554e-01 1.35234393e-02 -4.60481948e-01] [ 8.11271899e-03 -1.35231838e-02 9.99875646e-01 -3.33827223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.813201008 meters Centerline goodness : 0.863686 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.46, Z:-0.33 [[ 9.99962060e-01 -2.14822557e-04 -8.70817473e-03 2.12905646e+00] [ 3.44366279e-04 9.99889267e-01 1.48773364e-02 -4.64174804e-01] [ 8.70401446e-03 -1.48797708e-02 9.99851405e-01 -3.31803967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.843201007999998 meters Centerline goodness : 0.866630 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.47, Z:-0.32 [[ 0.99995564 -0.0055602 -0.00760325 2.14505142] [ 0.0057772 0.99956784 0.02882302 -0.47223198] [ 0.0074397 -0.02886567 0.99955561 -0.31679675] [ 0. 0. 0. 1. ]] SLAMing on 16.873201008 meters Centerline goodness : 0.864873 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.47, Z:-0.32 [[ 0.99994222 -0.00677202 -0.00834893 2.14792919] [ 0.00701127 0.99955574 0.02896837 -0.4736971 ] [ 0.00814905 -0.02902523 0.99954546 -0.31692338] [ 0. 0. 0. 1. ]] SLAMing on 16.903201008 meters Centerline goodness : 0.865593 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.47, Z:-0.32 [[ 0.99990371 -0.01122049 -0.00816538 2.14847111] [ 0.0114154 0.99964127 0.02422846 -0.47235911] [ 0.00789059 -0.02431934 0.9996731 -0.31842096] [ 0. 0. 0. 1. ]] SLAMing on 16.933201007999998 meters Centerline goodness : 0.866371 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.48, Z:-0.31 [[ 0.99980692 -0.01604039 -0.01135063 2.12780844] [ 0.01636843 0.99943299 0.02942407 -0.47618236] [ 0.01087222 -0.02960418 0.99950257 -0.31054848] [ 0. 0. 0. 1. ]] SLAMing on 16.963201008 meters Centerline goodness : 0.866534 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.31 [[ 0.99972718 -0.01831556 -0.01449521 2.10416292] [ 0.01878187 0.99928821 0.03271553 -0.47812962] [ 0.01388569 -0.03297885 0.99935959 -0.30672505] [ 0. 0. 0. 1. ]] SLAMing on 16.993201008 meters Centerline goodness : 0.865837 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.48, Z:-0.31 [[ 0.9996663 -0.01925692 -0.01721816 2.07128999] [ 0.01975384 0.9993792 0.02917187 -0.47744465] [ 0.01664571 -0.02950226 0.9994261 -0.30814671] [ 0. 0. 0. 1. ]] SLAMing on 17.023201007999997 meters Centerline goodness : 0.867888 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.48, Z:-0.31 [[ 0.99965286 -0.01920637 -0.01803547 2.07391471] [ 0.01970842 0.99941125 0.02808446 -0.47729246] [ 0.01748545 -0.02843016 0.99944284 -0.30942124] [ 0. 0. 0. 1. ]] SLAMing on 17.053201008 meters Centerline goodness : 0.866167 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.47, Z:-0.31 [[ 0.99958732 -0.02270435 -0.01759858 2.073416 ] [ 0.02308757 0.99949383 0.0218873 -0.47149306] [ 0.01709273 -0.02228458 0.99960554 -0.31300353] [ 0. 0. 0. 1. ]] SLAMing on 17.083201008 meters Centerline goodness : 0.870464 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.31 [[ 0.999695 -0.01644036 -0.01842881 2.07593114] [ 0.01689127 0.99955503 0.02458504 -0.46682668] [ 0.01801643 -0.02488883 0.99952787 -0.31453381] [ 0. 0. 0. 1. ]] SLAMing on 17.113201007999997 meters Centerline goodness : 0.866905 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.46, Z:-0.32 [[ 0.9997072 -0.01595317 -0.01819381 2.07487145] [ 0.01637727 0.99959192 0.02340446 -0.46150644] [ 0.01781301 -0.02369557 0.99956051 -0.31521838] [ 0. 0. 0. 1. ]] SLAMing on 17.143201008 meters Centerline goodness : 0.872556 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.46, Z:-0.31 [[ 0.99972344 -0.01515424 -0.01798331 2.07299555] [ 0.01556352 0.99961796 0.02284113 -0.45714149] [ 0.0176303 -0.0231147 0.99957735 -0.314586 ] [ 0. 0. 0. 1. ]] SLAMing on 17.173201008 meters Centerline goodness : 0.874794 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.45, Z:-0.31 [[ 0.99974513 -0.01411602 -0.01761879 2.07051609] [ 0.01451376 0.999638 0.02265443 -0.45379486] [ 0.01729262 -0.02290437 0.99958809 -0.31331711] [ 0. 0. 0. 1. ]] SLAMing on 17.203201007999997 meters Centerline goodness : 0.878014 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.45, Z:-0.31 [[ 0.9997928 -0.00980755 -0.01783727 2.06942657] [ 0.01026867 0.99961059 0.02594667 -0.44849843] [ 0.01757585 -0.02612446 0.99950418 -0.31193358] [ 0. 0. 0. 1. ]] SLAMing on 17.233201007999998 meters Centerline goodness : 0.878533 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.45, Z:-0.31 [[ 0.99981473 -0.00608282 -0.01826214 2.07019559] [ 0.00661924 0.99954409 0.02945845 -0.44607415] [ 0.01807462 -0.02957388 0.99939917 -0.31163124] [ 0. 0. 0. 1. ]] SLAMing on 17.263201008 meters Centerline goodness : 0.879354 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.44, Z:-0.31 [[ 0.99982422 -0.00548725 -0.0179284 2.06906552] [ 0.00599573 0.99957774 0.02843228 -0.44078162] [ 0.01776482 -0.02853477 0.99943493 -0.31248999] [ 0. 0. 0. 1. ]] SLAMing on 17.293201008 meters Centerline goodness : 0.881172 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.44, Z:-0.31 [[ 9.99834925e-01 -1.18334128e-03 -1.81307086e-02 2.06861670e+00] [ 1.77545726e-03 9.99464388e-01 3.26769747e-02 -4.39335149e-01] [ 1.80823295e-02 -3.27037708e-02 9.99301502e-01 -3.10848724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.323201007999998 meters Centerline goodness : 0.883742 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.43, Z:-0.32 [[ 0.99988705 0.00643664 -0.01358182 2.07138716] [-0.00615341 0.99976485 0.02079398 -0.43096208] [ 0.01371247 -0.02070806 0.99969152 -0.31719195] [ 0. 0. 0. 1. ]] SLAMing on 17.353201008 meters Centerline goodness : 0.884421 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.43, Z:-0.32 [[ 0.99991394 0.01008159 -0.00839474 2.08355529] [-0.00997781 0.9998744 0.01231396 -0.42593178] [ 0.00851783 -0.01222914 0.99988894 -0.32230719] [ 0. 0. 0. 1. ]] SLAMing on 17.383201008 meters Centerline goodness : 0.885769 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:-0.33 [[ 0.99989261 0.01414937 -0.00381636 2.09819692] [-0.01412747 0.99988393 0.00570411 -0.42269552] [ 0.00389662 -0.00564958 0.99997645 -0.32704061] [ 0. 0. 0. 1. ]] SLAMing on 17.413201007999998 meters Centerline goodness : 0.888190 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:-0.33 [[ 0.99988802 0.01443605 -0.00394211 2.09812992] [-0.01441413 0.9998808 0.00553279 -0.42109801] [ 0.00402151 -0.00547535 0.99997692 -0.32688125] [ 0. 0. 0. 1. ]] SLAMing on 17.443201008 meters Centerline goodness : 0.887750 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:-0.33 [[ 0.9998921 0.01404915 -0.00429066 2.09948958] [-0.01402808 0.99988959 0.004902 -0.41986379] [ 0.00435905 -0.00484128 0.99997878 -0.32786004] [ 0. 0. 0. 1. ]] SLAMing on 17.473201008 meters Centerline goodness : 0.886236 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.42, Z:-0.32 [[ 0.99991198 0.01219558 -0.00522487 2.11671478] [-0.01211043 0.99979818 0.01602927 -0.42448423] [ 0.0054193 -0.01596458 0.99985787 -0.32254635] [ 0. 0. 0. 1. ]] SLAMing on 17.503201007999998 meters Centerline goodness : 0.886304 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.42, Z:-0.33 [[ 0.99995577 0.00773423 -0.00535117 2.11815649] [-0.00767566 0.99991136 0.0108796 -0.42341286] [ 0.00543484 -0.01083804 0.9999265 -0.32504679] [ 0. 0. 0. 1. ]] SLAMing on 17.533201008 meters Centerline goodness : 0.888734 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.43, Z:-0.32 [[ 0.99995601 0.00720517 -0.00600479 2.12037877] [-0.00713535 0.99990763 0.01156795 -0.42672018] [ 0.00608759 -0.01152459 0.99991506 -0.32492924] [ 0. 0. 0. 1. ]] SLAMing on 17.563201008 meters Centerline goodness : 0.885756 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:-0.31 [[ 0.999976 0.00570667 -0.00392972 2.13641139] [-0.00558756 0.99954378 0.02968175 -0.43477627] [ 0.00409731 -0.02965908 0.99955168 -0.31089736] [ 0. 0. 0. 1. ]] SLAMing on 17.593201007999998 meters Centerline goodness : 0.883673 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.44, Z:-0.31 [[ 9.99991608e-01 1.52124998e-03 -3.80393968e-03 2.13774989e+00] [-1.42280848e-03 9.99667428e-01 2.57489667e-02 -4.38067526e-01] [ 3.84184521e-03 -2.57433383e-02 9.99661203e-01 -3.13012703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.623201008 meters Centerline goodness : 0.881004 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.44, Z:-0.32 [[ 9.99999155e-01 1.29173843e-03 1.47569056e-04 2.15069131e+00] [-1.29353195e-03 9.99916216e-01 1.28797804e-02 -4.36823035e-01] [-1.30919385e-04 -1.28799604e-02 9.99917041e-01 -3.19783327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.653201008 meters Centerline goodness : 0.883850 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.44, Z:-0.32 [[ 0.99998861 0.0038225 -0.00285765 2.17322947] [-0.00378727 0.99991797 0.01223597 -0.4419942 ] [ 0.00290419 -0.01222501 0.99992105 -0.31684469] [ 0. 0. 0. 1. ]] SLAMing on 17.683201007999998 meters Centerline goodness : 0.880872 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.46, Z:-0.30 [[ 0.99996758 0.00610874 -0.0052459 2.19923566] [-0.00598708 0.99971978 0.02290249 -0.4569966 ] [ 0.00538434 -0.02287034 0.99972394 -0.30142823] [ 0. 0. 0. 1. ]] SLAMing on 17.713201008 meters Centerline goodness : 0.881786 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.46, Z:-0.31 [[ 9.99982736e-01 5.85684417e-03 -4.74589169e-04 2.20992203e+00] [-5.85289396e-03 9.99951378e-01 7.93630111e-03 -4.55543479e-01] [ 5.21047772e-04 -7.93338637e-03 9.99968394e-01 -3.10022724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.743201008 meters Centerline goodness : 0.881498 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.46, Z:-0.31 [[ 9.99956561e-01 9.28048743e-03 -8.65321666e-04 2.21181801e+00] [-9.26850469e-03 9.99873154e-01 1.29525977e-02 -4.59324128e-01] [ 9.85418324e-04 -1.29440148e-02 9.99915737e-01 -3.09619020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.773201007999997 meters Centerline goodness : 0.878035 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.46, Z:-0.31 [[ 9.99959782e-01 8.94526824e-03 -6.44725672e-04 2.21285488e+00] [-8.93686548e-03 9.99887674e-01 1.20320793e-02 -4.58086853e-01] [ 7.52283429e-04 -1.20258335e-02 9.99927404e-01 -3.12236992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.803201008 meters Centerline goodness : 0.877708 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.46, Z:-0.31 [[ 9.99925046e-01 1.21848451e-02 -1.19658132e-03 2.21610972e+00] [-1.21644055e-02 9.99800916e-01 1.58163021e-02 -4.60605971e-01] [ 1.38906229e-03 -1.58005609e-02 9.99874198e-01 -3.14501976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.833201008 meters Centerline goodness : 0.877057 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.46, Z:-0.32 [[ 0.99990484 0.01359311 0.00235393 2.23287069] [-0.01361025 0.99987982 0.00742394 -0.4605586 ] [-0.00225273 -0.00745527 0.99996967 -0.3192127 ] [ 0. 0. 0. 1. ]] SLAMing on 17.863201007999997 meters Centerline goodness : 0.878237 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.46, Z:-0.32 [[ 0.99994138 0.01052024 0.00256146 2.23144188] [-0.01052894 0.99993877 0.00340494 -0.4610184 ] [-0.00252548 -0.00343171 0.99999092 -0.31919035] [ 0. 0. 0. 1. ]] SLAMing on 17.893201008 meters Centerline goodness : 0.881414 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.46, Z:-0.32 [[ 9.99944918e-01 1.03025209e-02 2.00496375e-03 2.23282322e+00] [-1.03101163e-02 9.99939570e-01 3.81557211e-03 -4.64074922e-01] [-1.96553258e-03 -3.83603335e-03 9.99990711e-01 -3.18929533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.923201008 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.31 [[ 9.99942390e-01 1.07331351e-02 1.26370301e-04 2.24094120e+00] [-1.07338705e-02 9.99887107e-01 1.05146410e-02 -4.68766101e-01] [-1.35009727e-05 -1.05153917e-02 9.99944712e-01 -3.14523120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.953201007999997 meters Centerline goodness : 0.879429 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.32 [[ 9.99953248e-01 9.65695165e-03 -4.94412930e-04 2.24423853e+00] [-9.65163660e-03 9.99905274e-01 9.81269324e-03 -4.69641343e-01] [ 5.89126801e-04 -9.80746258e-03 9.99951732e-01 -3.16915877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.983201007999998 meters Centerline goodness : 0.874504 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.48, Z:-0.31 [[ 9.99990635e-01 4.29896262e-03 -4.98272730e-04 2.26725814e+00] [-4.28749602e-03 9.99768299e-01 2.10942256e-02 -4.76269952e-01] [ 5.88840566e-04 -2.10918917e-02 9.99777368e-01 -3.12195172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.013201008 meters Centerline goodness : 0.871611 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.48, Z:-0.31 [[ 9.99994160e-01 3.17739053e-03 -1.25899439e-03 2.27069086e+00] [-3.14862771e-03 9.99748045e-01 2.22246023e-02 -4.80016651e-01] [ 1.32929342e-03 -2.22205084e-02 9.99752210e-01 -3.11365224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.043201007999997 meters Centerline goodness : 0.874828 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.48, Z:-0.31 [[ 9.99996632e-01 1.86068156e-03 -1.80924960e-03 2.27376366e+00] [-1.81841656e-03 9.99731782e-01 2.30880552e-02 -4.83889263e-01] [ 1.85172384e-03 -2.30846874e-02 9.99731798e-01 -3.10760302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.073201007999998 meters Centerline goodness : 0.872606 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.49, Z:-0.31 [[ 9.99997595e-01 8.84359402e-04 -2.00698186e-03 2.27569091e+00] [-8.35600046e-04 9.99707586e-01 2.41670177e-02 -4.88547374e-01] [ 2.02776732e-03 -2.41652825e-02 9.99705920e-01 -3.09861564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.103201008 meters Centerline goodness : 0.872606 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.49, Z:-0.31 [[ 9.99997986e-01 9.00869348e-04 -1.79349198e-03 2.27543728e+00] [-8.57735904e-04 9.99713814e-01 2.39071913e-02 -4.87991453e-01] [ 1.81451596e-03 -2.39056048e-02 9.99712573e-01 -3.10177208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.133201008 meters Centerline goodness : 0.870048 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.30 [[ 0.99998139 -0.00463185 -0.00397088 2.2600971 ] [ 0.00476346 0.99941726 0.03380019 -0.49623514] [ 0.00381201 -0.03381848 0.99942072 -0.3002903 ] [ 0. 0. 0. 1. ]] SLAMing on 18.163201007999998 meters Centerline goodness : 0.870837 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.30 [[ 0.99996531 -0.00775882 -0.00303039 2.25761382] [ 0.0078452 0.99953058 0.02961546 -0.4958474 ] [ 0.00279918 -0.0296382 0.99955677 -0.30075677] [ 0. 0. 0. 1. ]] SLAMing on 18.193201008 meters Centerline goodness : 0.870770 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.29 [[ 0.99998836 -0.0036269 -0.00318143 2.25729622] [ 0.00374329 0.99929429 0.03737528 -0.50202467] [ 0.00304362 -0.03738675 0.99929624 -0.29454824] [ 0. 0. 0. 1. ]] SLAMing on 18.223201008 meters Centerline goodness : 0.866807 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.30 [[ 9.99992772e-01 1.23929835e-03 3.59447495e-03 2.25906865e+00] [-1.32900550e-03 9.99684993e-01 2.50628920e-02 -5.01965899e-01] [-3.56228226e-03 -2.50674879e-02 9.99679414e-01 -3.00209584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.253201007999998 meters Centerline goodness : 0.867434 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.30 [[ 0.99998767 0.002594 0.00423402 2.25642344] [-0.00270047 0.99967531 0.02533724 -0.50108334] [-0.00416692 -0.02534836 0.99966999 -0.29971424] [ 0. 0. 0. 1. ]] SLAMing on 18.283201008 meters Centerline goodness : 0.866715 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.30 [[ 0.99997986 0.00392825 0.00498501 2.25405777] [-0.00405186 0.99967842 0.02503291 -0.49941013] [-0.00488507 -0.02505261 0.9996742 -0.3006312 ] [ 0. 0. 0. 1. ]] SLAMing on 18.313201008 meters Centerline goodness : 0.864148 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.30 [[ 0.99997248 0.00490239 0.00556755 2.25264042] [-0.00503608 0.99969304 0.02425825 -0.49729939] [-0.00544692 -0.02428562 0.99969022 -0.30250512] [ 0. 0. 0. 1. ]] SLAMing on 18.343201007999998 meters Centerline goodness : 0.865011 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.49, Z:-0.32 [[ 0.99987688 0.01187143 0.01026135 2.25984433] [-0.01199431 0.99985608 0.01199795 -0.49440181] [-0.01011744 -0.01211955 0.99987537 -0.31525615] [ 0. 0. 0. 1. ]] SLAMing on 18.373201008 meters Centerline goodness : 0.864360 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.50, Z:-0.32 [[ 0.99985967 0.01273017 0.01088984 2.2581456 ] [-0.01286325 0.99984236 0.01223896 -0.49519525] [-0.01073231 -0.01237732 0.9998658 -0.31555416] [ 0. 0. 0. 1. ]] SLAMing on 18.403201008 meters Centerline goodness : 0.865381 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.49, Z:-0.32 [[ 0.99987951 0.01028714 0.01162539 2.25554546] [-0.01037954 0.9999148 0.00791607 -0.494154 ] [-0.01154297 -0.00803578 0.99990109 -0.31661793] [ 0. 0. 0. 1. ]] SLAMing on 18.433201007999998 meters Centerline goodness : 0.863053 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.32 [[ 0.99987284 0.01084658 0.01169011 2.25476403] [-0.01095133 0.99990012 0.00893402 -0.49731456] [-0.01159204 -0.0090609 0.99989176 -0.31540667] [ 0. 0. 0. 1. ]] SLAMing on 18.463201008 meters Centerline goodness : 0.863920 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.32 [[ 0.9998943 0.00769885 0.01233328 2.25305647] [-0.00775535 0.99995962 0.00453992 -0.49767579] [-0.01229783 -0.00463509 0.99991364 -0.31663187] [ 0. 0. 0. 1. ]] SLAMing on 18.493201008 meters Centerline goodness : 0.865708 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.32 [[ 9.99912860e-01 4.00258124e-03 1.25798081e-02 2.25311273e+00] [-4.02012147e-03 9.99990982e-01 1.36933853e-03 -5.02793580e-01] [-1.25742137e-02 -1.41979157e-03 9.99919933e-01 -3.17246822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.523201007999997 meters Centerline goodness : 0.860588 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.51, Z:-0.32 [[ 9.99923818e-01 3.07338562e-03 1.19546316e-02 2.25596737e+00] [-3.09403726e-03 9.99993752e-01 1.70939003e-03 -5.06039925e-01] [-1.19493033e-02 -1.74624788e-03 9.99927080e-01 -3.17966939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.553201008 meters Centerline goodness : 0.858901 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.51, Z:-0.32 [[ 9.99935779e-01 1.97657494e-03 1.11593443e-02 2.25953623e+00] [-1.99693321e-03 9.99996362e-01 1.81347723e-03 -5.08961676e-01] [-1.11557192e-02 -1.83564524e-03 9.99936088e-01 -3.19295213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.583201008 meters Centerline goodness : 0.858129 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.51, Z:-0.32 [[ 9.99948831e-01 5.77591258e-04 1.00995518e-02 2.26419579e+00] [-5.92653525e-04 9.99998717e-01 1.48845051e-03 -5.11155374e-01] [-1.00986792e-02 -1.49435989e-03 9.99947890e-01 -3.21474523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.613201007999997 meters Centerline goodness : 0.855479 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.51, Z:-0.32 [[ 9.99958987e-01 -7.73265723e-04 9.02364733e-03 2.26867502e+00] [ 7.61457892e-04 9.99998850e-01 1.31190535e-03 -5.13747771e-01] [-9.02465140e-03 -1.30498041e-03 9.99958425e-01 -3.23203668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.643201008 meters Centerline goodness : 0.860045 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.52, Z:-0.32 [[ 9.99964832e-01 -1.20580103e-03 8.29939244e-03 2.27098715e+00] [ 1.18891597e-03 9.99997214e-01 2.03912597e-03 -5.18158228e-01] [-8.30182810e-03 -2.02918698e-03 9.99963480e-01 -3.23016800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.673201008 meters Centerline goodness : 0.856840 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.52, Z:-0.32 [[ 9.99966965e-01 -1.41790856e-03 8.00366182e-03 2.27188074e+00] [ 1.40264888e-03 9.99997189e-01 1.91187821e-03 -5.18211362e-01] [-8.00635019e-03 -1.90058872e-03 9.99966142e-01 -3.23185939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.703201007999997 meters Centerline goodness : 0.862612 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.52, Z:-0.32 [[ 9.99974992e-01 1.06234801e-03 6.99188506e-03 2.27571156e+00] [-1.10651057e-03 9.99979445e-01 6.31542411e-03 -5.20745935e-01] [-6.98503216e-03 -6.32300277e-03 9.99955613e-01 -3.22873365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.733201007999998 meters Centerline goodness : 0.859624 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.52, Z:-0.33 [[ 9.99977355e-01 2.76790076e-04 6.72407667e-03 2.27794160e+00] [-3.10962172e-04 9.99987041e-01 5.08153662e-03 -5.19112328e-01] [-6.72258301e-03 -5.08351248e-03 9.99964482e-01 -3.25553481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.763201008 meters Centerline goodness : 0.854486 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.52, Z:-0.33 [[ 9.99979277e-01 -6.97244058e-04 6.39989717e-03 2.28052444e+00] [ 6.75249428e-04 9.99993861e-01 3.43823379e-03 -5.15626285e-01] [-6.40225517e-03 -3.43384101e-03 9.99973610e-01 -3.28629780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.793201007999997 meters Centerline goodness : 0.855333 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.51, Z:-0.33 [[ 9.99979619e-01 -9.76798140e-04 6.30937204e-03 2.28116812e+00] [ 9.58417247e-04 9.99995290e-01 2.91563508e-03 -5.13779198e-01] [-6.31219031e-03 -2.90952865e-03 9.99975845e-01 -3.29295797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.823201007999998 meters Centerline goodness : 0.855351 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.51, Z:-0.33 [[ 9.99979891e-01 -1.30406371e-03 6.20624640e-03 2.28205138e+00] [ 1.29121045e-03 9.99997014e-01 2.07457526e-03 -5.11801973e-01] [-6.20893325e-03 -2.06651997e-03 9.99978589e-01 -3.30619614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.853201008 meters Centerline goodness : 0.852619 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99994726e-01 2.94055964e-03 1.37857554e-03 2.30567162e+00] [-2.94201448e-03 9.99995116e-01 1.05448385e-03 -5.13240036e-01] [-1.37546803e-03 -1.05853407e-03 9.99998494e-01 -3.28106295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.883201008 meters Centerline goodness : 0.851499 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.51, Z:-0.33 [[ 9.99992793e-01 3.51952540e-03 1.42384462e-03 2.30459363e+00] [-3.52189822e-03 9.99992408e-01 1.66743177e-03 -5.13944591e-01] [-1.41796524e-03 -1.67243438e-03 9.99997596e-01 -3.26646166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.913201007999998 meters Centerline goodness : 0.853600 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.51, Z:-0.33 [[ 9.99993456e-01 3.36063172e-03 1.33980606e-03 2.30489594e+00] [-3.36267379e-03 9.99993184e-01 1.52482253e-03 -5.13666775e-01] [-1.33467256e-03 -1.52931788e-03 9.99997940e-01 -3.26686307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.943201008 meters Centerline goodness : 0.854540 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99994422e-01 3.06560366e-03 1.32613889e-03 2.30551601e+00] [-3.06726774e-03 9.99994509e-01 1.25462666e-03 -5.13166363e-01] [-1.32228542e-03 -1.25868728e-03 9.99998334e-01 -3.27299203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.973201008 meters Centerline goodness : 0.849729 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99995070e-01 2.81115107e-03 1.39885093e-03 2.30585435e+00] [-2.81277012e-03 9.99995375e-01 1.15679827e-03 -5.12827960e-01] [-1.39559253e-03 -1.16072721e-03 9.99998353e-01 -3.27656399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.003201007999998 meters Centerline goodness : 0.849706 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99994486e-01 2.74014599e-03 1.87587592e-03 2.30526054e+00] [-2.74203844e-03 9.99995734e-01 1.00700859e-03 -5.10832576e-01] [-1.87310856e-03 -1.01214676e-03 9.99997734e-01 -3.27894313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.033201008 meters Centerline goodness : 0.849865 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99994427e-01 2.72142096e-03 1.93361409e-03 2.30502499e+00] [-2.72302515e-03 9.99995950e-01 8.27486643e-04 -5.09701382e-01] [-1.93135432e-03 -8.32747311e-04 9.99997788e-01 -3.27695205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.063201008 meters Centerline goodness : 0.850887 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.51, Z:-0.33 [[ 9.99993803e-01 2.93847149e-03 1.93897855e-03 2.30435218e+00] [-2.94097169e-03 9.99994846e-01 1.28785371e-03 -5.10317485e-01] [-1.93518424e-03 -1.29354821e-03 9.99997291e-01 -3.26416200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.093201007999998 meters Centerline goodness : 0.851657 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.51, Z:-0.32 [[ 9.99993456e-01 3.20532680e-03 1.67722538e-03 2.30398694e+00] [-3.20861486e-03 9.99992929e-01 1.96141355e-03 -5.11995442e-01] [-1.67092655e-03 -1.96678229e-03 9.99996670e-01 -3.24772185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.123201008 meters Centerline goodness : 0.854698 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.52, Z:-0.32 [[ 9.99992781e-01 3.55481063e-03 1.34212978e-03 2.30372168e+00] [-3.55892223e-03 9.99988943e-01 3.07362822e-03 -5.15160293e-01] [-1.33118877e-03 -3.07838256e-03 9.99994376e-01 -3.22591061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.153201008 meters Centerline goodness : 0.853446 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.32 [[ 9.99994812e-01 3.02776676e-03 1.09894182e-03 2.30520437e+00] [-3.03042321e-03 9.99992471e-01 2.42371691e-03 -5.14484608e-01] [-1.09159510e-03 -2.42703460e-03 9.99996459e-01 -3.23953880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.183201007999998 meters Centerline goodness : 0.851196 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99996928e-01 2.30240531e-03 9.17629715e-04 2.30719418e+00] [-2.30353036e-03 9.99996594e-01 1.22687982e-03 -5.12023728e-01] [-9.14801815e-04 -1.22898984e-03 9.99998826e-01 -3.26464586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.213201008 meters Centerline goodness : 0.846892 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.51, Z:-0.33 [[ 9.99999910e-01 3.04500808e-04 2.94052605e-04 2.31277401e+00] [-3.04163822e-04 9.99999298e-01 -1.14537051e-03 -5.08220202e-01] [-2.94401165e-04 1.14528097e-03 9.99999301e-01 -3.32314485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.243201008 meters Centerline goodness : 0.845630 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99999487e-01 -7.67119219e-04 -6.61021867e-04 2.31640010e+00] [ 7.66285049e-04 9.99998911e-01 -1.26127035e-03 -5.09535488e-01] [ 6.61988692e-04 1.26076318e-03 9.99998986e-01 -3.33344895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.273201007999997 meters Centerline goodness : 0.844716 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99997157e-01 -1.70355562e-03 -1.66854380e-03 2.31970828e+00] [ 1.70233612e-03 9.99998283e-01 -7.32029961e-04 -5.12784516e-01] [ 1.66978799e-03 7.29187457e-04 9.99998340e-01 -3.33266860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.303201008 meters Centerline goodness : 0.848042 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99993200e-01 -2.46345900e-03 -2.74446285e-03 2.32259885e+00] [ 2.46439107e-03 9.99996907e-01 3.36288682e-04 -5.17080241e-01] [ 2.74362592e-03 -3.43049824e-04 9.99996177e-01 -3.31932450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.333201008 meters Centerline goodness : 0.847318 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99991358e-01 -2.59285846e-03 -3.24982520e-03 2.32336374e+00] [ 2.59826685e-03 9.99995245e-01 1.66109393e-03 -5.20646770e-01] [ 3.24550277e-03 -1.66952349e-03 9.99993340e-01 -3.29793082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.363201007999997 meters Centerline goodness : 0.849413 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99989425e-01 -2.78805637e-03 -3.65753983e-03 2.32418425e+00] [ 2.79633326e-03 9.99993537e-01 2.25980669e-03 -5.22192591e-01] [ 3.65121573e-03 -2.27001049e-03 9.99990758e-01 -3.28681362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.393201008 meters Centerline goodness : 0.844886 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99991070e-01 -2.63159318e-03 -3.30669617e-03 2.32346344e+00] [ 2.63891299e-03 9.99994073e-01 2.21122277e-03 -5.21008615e-01] [ 3.30085753e-03 -2.21992911e-03 9.99992088e-01 -3.28803030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.423201008 meters Centerline goodness : 0.844678 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99991480e-01 -2.64176626e-03 -3.17181472e-03 2.32345852e+00] [ 2.64682174e-03 9.99995232e-01 1.59073679e-03 -5.18688797e-01] [ 3.16759724e-03 -1.59911847e-03 9.99993705e-01 -3.29728465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.453201007999997 meters Centerline goodness : 0.841540 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99994638e-01 -2.04041213e-03 -2.56121048e-03 2.32178025e+00] [ 2.04341243e-03 9.99997229e-01 1.16937049e-03 -5.16160315e-01] [ 2.55881739e-03 -1.17459783e-03 9.99996036e-01 -3.30283894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.483201007999998 meters Centerline goodness : 0.842965 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99992884e-01 3.20927605e-03 -1.98282410e-03 2.31874458e+00] [-3.19692608e-03 9.99975666e-01 6.20056521e-03 -5.15738440e-01] [ 2.00267517e-03 -6.19418215e-03 9.99978810e-01 -3.27818026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.513201008 meters Centerline goodness : 0.842201 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99990728e-01 3.96790220e-03 -1.67313430e-03 2.31705827e+00] [-3.95734226e-03 9.99972524e-01 6.26823884e-03 -5.14949185e-01] [ 1.69796009e-03 -6.26155956e-03 9.99978955e-01 -3.27240403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.543201007999997 meters Centerline goodness : 0.841490 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99988759e-01 4.45758488e-03 -1.61582309e-03 2.31626491e+00] [-4.44746758e-03 9.99970816e-01 6.21182056e-03 -5.14603552e-01] [ 1.64346565e-03 -6.20456442e-03 9.99979401e-01 -3.26997727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.573201007999998 meters Centerline goodness : 0.841903 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99986631e-01 4.94119631e-03 -1.52401483e-03 2.31535594e+00] [-4.93143681e-03 9.99967727e-01 6.34243079e-03 -5.14840366e-01] [ 1.55530484e-03 -6.33483041e-03 9.99978725e-01 -3.26528659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.603201008 meters Centerline goodness : 0.844005 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99985016e-01 5.19523071e-03 -1.72548515e-03 2.31521676e+00] [-5.18307169e-03 9.99962221e-01 6.97798670e-03 -5.16760928e-01] [ 1.76167221e-03 -6.96893883e-03 9.99974165e-01 -3.25413039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.633201008 meters Centerline goodness : 0.842828 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 9.99987534e-01 4.45686049e-03 -2.25136896e-03 2.31762136e+00] [-4.44219867e-03 9.99969164e-01 6.47595731e-03 -5.16947427e-01] [ 2.28016198e-03 -6.46587555e-03 9.99976496e-01 -3.26884263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.663201007999998 meters Centerline goodness : 0.839512 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 0.99998934 0.00357108 -0.00292751 2.32040654] [-0.00355273 0.99997416 0.00624932 -0.51794668] [ 0.00294975 -0.00623885 0.99997619 -0.32795553] [ 0. 0. 0. 1. ]] SLAMing on 19.693201008 meters Centerline goodness : 0.838645 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.52, Z:-0.33 [[ 0.9999901 0.00287609 -0.00339579 2.32249088] [-0.00285705 0.99998024 0.00559915 -0.51716229] [ 0.00341182 -0.00558939 0.99997856 -0.32928776] [ 0. 0. 0. 1. ]] SLAMing on 19.723201008 meters Centerline goodness : 0.836516 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.51, Z:-0.33 [[ 9.99991061e-01 2.19798979e-03 -3.61206861e-03 2.32442207e+00] [-2.18327796e-03 9.99989327e-01 4.07187277e-03 -5.14456126e-01] [ 3.62098000e-03 -4.06395022e-03 9.99985186e-01 -3.32201150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.753201007999998 meters Centerline goodness : 0.837870 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99991109e-01 1.60935923e-03 -3.89770594e-03 2.32604363e+00] [-1.59645191e-03 9.99993240e-01 3.31236723e-03 -5.13177851e-01] [ 3.90301038e-03 -3.30611528e-03 9.99986918e-01 -3.33620973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.783201008 meters Centerline goodness : 0.839187 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99991280e-01 1.66007826e-03 -3.83188373e-03 2.32580338e+00] [-1.64758654e-03 9.99993326e-01 3.26079878e-03 -5.12619088e-01] [ 3.83727134e-03 -3.25445699e-03 9.99987342e-01 -3.33539256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.813201008 meters Centerline goodness : 0.838823 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99991209e-01 1.51981012e-03 -3.90800958e-03 2.32606532e+00] [-1.50817041e-03 9.99994424e-01 2.97964719e-03 -5.12079609e-01] [ 3.91251629e-03 -2.97372705e-03 9.99987925e-01 -3.33791026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.843201007999998 meters Centerline goodness : 0.839364 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99990494e-01 1.32992091e-03 -4.15247547e-03 2.32660946e+00] [-1.31821740e-03 9.99995155e-01 2.81990834e-03 -5.11771767e-01] [ 4.15620561e-03 -2.81440767e-03 9.99987402e-01 -3.33681453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.873201008 meters Centerline goodness : 0.837093 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99989662e-01 1.92353536e-03 -4.12006309e-03 2.32557675e+00] [-1.91061392e-03 9.99993252e-01 3.13786553e-03 -5.12394491e-01] [ 4.12607108e-03 -3.12996125e-03 9.99986589e-01 -3.32887397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.903201008 meters Centerline goodness : 0.841211 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99989765e-01 2.17237564e-03 -3.96872761e-03 2.32504247e+00] [-2.15996283e-03 9.99992771e-01 3.12926889e-03 -5.12520402e-01] [ 3.97549687e-03 -3.12066456e-03 9.99987228e-01 -3.32928141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.933201007999998 meters Centerline goodness : 0.838680 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.33 [[ 9.99989607e-01 1.75616651e-03 -4.20729718e-03 2.32626287e+00] [-1.74476258e-03 9.99994799e-01 2.71265137e-03 -5.12349752e-01] [ 4.21203917e-03 -2.70528244e-03 9.99987470e-01 -3.33810038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.963201008 meters Centerline goodness : 0.837025 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.34 [[ 9.99986795e-01 -1.15543639e-03 -5.00741055e-03 2.33208236e+00] [ 1.16679740e-03 9.99996751e-01 2.26651258e-03 -5.14873408e-01] [ 5.00477547e-03 -2.27232528e-03 9.99984894e-01 -3.35681717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.993201008 meters Centerline goodness : 0.837025 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.51, Z:-0.34 [[ 9.99986795e-01 -1.15543639e-03 -5.00741055e-03 2.33208236e+00] [ 1.16679740e-03 9.99996751e-01 2.26651258e-03 -5.14873408e-01] [ 5.00477547e-03 -2.27232528e-03 9.99984894e-01 -3.35681717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.023201007999997 meters Centerline goodness : 0.835969 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.34 [[ 9.99981447e-01 -2.19422289e-03 -5.68247017e-03 2.33543855e+00] [ 2.20395049e-03 9.99996116e-01 1.70616663e-03 -5.15171410e-01] [ 5.67870438e-03 -1.71865886e-03 9.99982399e-01 -3.37677193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.053201008 meters Centerline goodness : 0.833242 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.34 [[ 9.99975389e-01 -3.10255767e-03 -6.29255272e-03 2.33841591e+00] [ 3.10997279e-03 9.99994481e-01 1.16895344e-03 -5.15253866e-01] [ 6.28889124e-03 -1.18849434e-03 9.99979518e-01 -3.39455592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.083201008 meters Centerline goodness : 0.834102 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.34 [[ 9.99969066e-01 -1.56454920e-03 -7.70843737e-03 2.34437954e+00] [ 1.60720533e-03 9.99983414e-01 5.53061026e-03 -5.17373509e-01] [ 7.69965661e-03 -5.54282822e-03 9.99954995e-01 -3.39067414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.113201007999997 meters Centerline goodness : 0.833891 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.34 [[ 9.99958705e-01 -5.37306720e-03 -7.32932420e-03 2.34339459e+00] [ 5.38107212e-03 9.99984946e-01 1.07289392e-03 -5.16470784e-01] [ 7.32344913e-03 -1.11228924e-03 9.99972565e-01 -3.39718552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.143201008 meters Centerline goodness : 0.833891 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.34 [[ 0.99995251 -0.00565317 -0.00793896 2.34443209] [ 0.00567214 0.99998111 0.00236913 -0.51914985] [ 0.00792541 -0.00241405 0.99996568 -0.33733982] [ 0. 0. 0. 1. ]] SLAMing on 20.173201008 meters Centerline goodness : 0.840618 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.52, Z:-0.33 [[ 9.99934425e-01 -4.66509165e-03 -1.04586123e-02 2.37011179e+00] [ 4.66916420e-03 9.99989033e-01 3.65013470e-04 -5.21900054e-01] [ 1.04567948e-02 -4.13822512e-04 9.99945241e-01 -3.34380529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.203201007999997 meters Centerline goodness : 0.837586 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.52, Z:-0.33 [[ 9.99925393e-01 -5.22237667e-03 -1.10424398e-02 2.37161946e+00] [ 5.23336857e-03 9.99985839e-01 9.66762250e-04 -5.23187760e-01] [ 1.10372347e-02 -1.02447928e-03 9.99938563e-01 -3.33221883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.233201007999998 meters Centerline goodness : 0.833869 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.52, Z:-0.33 [[ 9.99915804e-01 -5.75176319e-03 -1.16319228e-02 2.37312705e+00] [ 5.77087916e-03 9.99982051e-01 1.61050997e-03 -5.24303389e-01] [ 1.16224508e-02 -1.67750079e-03 9.99931050e-01 -3.32054623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.263201008 meters Centerline goodness : 0.835975 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.33 [[ 0.99988175 -0.0077083 -0.01330678 2.38333219] [ 0.0077811 0.99995499 0.00542818 -0.52549429] [ 0.01326434 -0.00553108 0.99989673 -0.33058978] [ 0. 0. 0. 1. ]] SLAMing on 20.293201007999997 meters Centerline goodness : 0.834814 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.33 [[ 0.99985438 -0.0073987 -0.01537774 2.39203419] [ 0.00755314 0.99992138 0.01000935 -0.52653144] [ 0.01530248 -0.01012405 0.99983165 -0.32916549] [ 0. 0. 0. 1. ]] SLAMing on 20.323201007999998 meters Centerline goodness : 0.832098 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.53, Z:-0.32 [[ 0.99981905 -0.00954442 -0.01645485 2.40970306] [ 0.00986912 0.99975593 0.01976575 -0.52676957] [ 0.01626218 -0.01992457 0.99966922 -0.32398044] [ 0. 0. 0. 1. ]] SLAMing on 20.353201008 meters Centerline goodness : 0.829957 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.33 [[ 0.99978138 -0.01362746 -0.01585795 2.40874663] [ 0.01385252 0.99980364 0.01417023 -0.52259087] [ 0.01566174 -0.01438681 0.99977384 -0.32610273] [ 0. 0. 0. 1. ]] SLAMing on 20.383201008 meters Centerline goodness : 0.831868 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.33 [[ 0.99976991 -0.01399673 -0.0162549 2.40950724] [ 0.0142295 0.99979658 0.01429407 -0.52257515] [ 0.01605152 -0.01452208 0.9997657 -0.3252629 ] [ 0. 0. 0. 1. ]] SLAMing on 20.413201007999998 meters Centerline goodness : 0.831409 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.32 [[ 0.99976225 -0.01405522 -0.01667025 2.40977636] [ 0.01430303 0.99978756 0.01484096 -0.52271082] [ 0.01645812 -0.01507587 0.99975089 -0.32349554] [ 0. 0. 0. 1. ]] SLAMing on 20.443201008 meters Centerline goodness : 0.832532 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.32 [[ 0.99977471 -0.01096556 -0.01817362 2.41243361] [ 0.01134053 0.99972225 0.0206593 -0.52299402] [ 0.01794203 -0.02086074 0.99962138 -0.31837319] [ 0. 0. 0. 1. ]] SLAMing on 20.473201008 meters Centerline goodness : 0.832806 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.32 [[ 0.99978228 -0.01067107 -0.01793127 2.41156681] [ 0.01102371 0.99974548 0.01968386 -0.51919254] [ 0.01771665 -0.01987724 0.99964544 -0.31925276] [ 0. 0. 0. 1. ]] SLAMing on 20.503201007999998 meters Centerline goodness : 0.831452 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.33 [[ 0.9998788 -0.00784712 -0.01344673 2.42621681] [ 0.00797801 0.99992105 0.0097083 -0.51308305] [ 0.01336949 -0.00981441 0.99986246 -0.32736244] [ 0. 0. 0. 1. ]] SLAMing on 20.533201008 meters Centerline goodness : 0.831541 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.33 [[ 0.99989506 -0.00408746 -0.01389853 2.42722089] [ 0.00427419 0.99990064 0.01343276 -0.51109743] [ 0.01384224 -0.01349076 0.99981318 -0.32717685] [ 0. 0. 0. 1. ]] SLAMing on 20.563201008 meters Centerline goodness : 0.831219 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.33 [[ 9.99955614e-01 -1.59613773e-04 -9.42038152e-03 2.44364216e+00] [ 2.15689101e-04 9.99982264e-01 5.95183802e-03 -5.05080249e-01] [ 9.41926444e-03 -5.95360572e-03 9.99937914e-01 -3.34526444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.593201007999998 meters Centerline goodness : 0.827856 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.33 [[ 0.99994559 0.00380365 -0.00971363 2.44393244] [-0.00370775 0.9999444 0.00987135 -0.50355064] [ 0.00975064 -0.0098348 0.9999041 -0.33379709] [ 0. 0. 0. 1. ]] SLAMing on 20.623201008 meters Centerline goodness : 0.835998 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.33 [[ 0.99993286 0.00682878 -0.00936188 2.4389187 ] [-0.00672975 0.9999215 0.01056906 -0.50023991] [ 0.00943331 -0.01050535 0.99990032 -0.33115923] [ 0. 0. 0. 1. ]] SLAMing on 20.653201008 meters Centerline goodness : 0.836175 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.33 [[ 0.99993086 0.00711941 -0.00935894 2.43817868] [-0.0070255 0.99992503 0.01002863 -0.49815876] [ 0.00942964 -0.00996219 0.99990591 -0.33100642] [ 0. 0. 0. 1. ]] SLAMing on 20.683201007999998 meters Centerline goodness : 0.835008 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.33 [[ 0.99993039 0.0071789 -0.00936367 2.43791483] [-0.00709183 0.99993162 0.00929885 -0.49561639] [ 0.00942978 -0.0092318 0.99991292 -0.33134763] [ 0. 0. 0. 1. ]] SLAMing on 20.713201008 meters Centerline goodness : 0.833459 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.33 [[ 0.99993267 0.00697185 -0.0092766 2.43801244] [-0.00689492 0.99994179 0.00829929 -0.49274579] [ 0.00933393 -0.00823477 0.99992253 -0.33239036] [ 0. 0. 0. 1. ]] SLAMing on 20.743201008 meters Centerline goodness : 0.833817 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.33 [[ 0.99995265 0.00372936 -0.00898868 2.43693014] [-0.00370016 0.99998783 0.00326304 -0.48833657] [ 0.00900074 -0.00322962 0.99995428 -0.33402242] [ 0. 0. 0. 1. ]] SLAMing on 20.773201007999997 meters Centerline goodness : 0.831648 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.33 [[ 0.99994677 0.00288903 -0.00990462 2.43970903] [-0.00285709 0.99999068 0.00323781 -0.48879631] [ 0.00991388 -0.00320934 0.99994571 -0.33399183] [ 0. 0. 0. 1. ]] SLAMing on 20.803201008 meters Centerline goodness : 0.835759 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.33 [[ 9.99937676e-01 1.71383798e-03 -1.10320537e-02 2.44346248e+00] [-1.67954533e-03 9.99993732e-01 3.11696995e-03 -4.89584982e-01] [ 1.10373265e-02 -3.09824685e-03 9.99934287e-01 -3.34335640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.833201008 meters Centerline goodness : 0.834387 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.49, Z:-0.33 [[ 0.9999183 -0.003222 -0.01236993 2.45964363] [ 0.00334499 0.99994505 0.00993477 -0.49341967] [ 0.01233724 -0.00997534 0.99987413 -0.32855354] [ 0. 0. 0. 1. ]] SLAMing on 20.863201007999997 meters Centerline goodness : 0.835447 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.49, Z:-0.33 [[ 0.99990097 -0.0043948 -0.01336899 2.46331869] [ 0.00452947 0.99993914 0.01005987 -0.49472898] [ 0.01332396 -0.01011943 0.99986002 -0.328597 ] [ 0. 0. 0. 1. ]] SLAMing on 20.893201008 meters Centerline goodness : 0.831321 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.50, Z:-0.33 [[ 0.99988243 -0.00557056 -0.01428585 2.46714618] [ 0.00571003 0.99993626 0.00974066 -0.49554319] [ 0.01423068 -0.00982109 0.99985051 -0.32957061] [ 0. 0. 0. 1. ]] SLAMing on 20.923201008 meters Centerline goodness : 0.833138 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.50, Z:-0.33 [[ 0.99987798 -0.00397515 -0.01510676 2.47175352] [ 0.00419092 0.99988928 0.01427836 -0.49853512] [ 0.01504833 -0.01433993 0.99978393 -0.32869961] [ 0. 0. 0. 1. ]] SLAMing on 20.953201007999997 meters Centerline goodness : 0.834553 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.50, Z:-0.33 [[ 9.99871004e-01 -1.00392448e-03 -1.60301910e-02 2.47477882e+00] [ 1.31673148e-03 9.99808697e-01 1.95150011e-02 -5.01201973e-01] [ 1.60075328e-02 -1.95335912e-02 9.99681048e-01 -3.26678450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.983201007999998 meters Centerline goodness : 0.832826 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.33 [[ 9.99848765e-01 2.10982837e-03 -1.72625282e-02 2.47809414e+00] [-1.69472834e-03 9.99709905e-01 2.40256980e-02 -5.02040572e-01] [ 1.73082105e-02 -2.39928092e-02 9.99562290e-01 -3.25330741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.013201008 meters Centerline goodness : 0.836940 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.32 [[ 0.99982068 0.00562166 -0.01808337 2.48007224] [-0.00507776 0.99953748 0.02998393 -0.50467524] [ 0.01824356 -0.02988673 0.99938679 -0.32151754] [ 0. 0. 0. 1. ]] SLAMing on 21.043201007999997 meters Centerline goodness : 0.832699 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.32 [[ 9.99844084e-01 2.49735421e-03 -1.74805594e-02 2.47796354e+00] [-2.06360730e-03 9.99690618e-01 2.47873087e-02 -5.01329723e-01] [ 1.75370539e-02 -2.47473709e-02 9.99539904e-01 -3.23201649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.073201007999998 meters Centerline goodness : 0.834730 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.33 [[ 0.99991537 0.00312098 -0.01263014 2.49264288] [-0.0029423 0.99989568 0.01414146 -0.49855843] [ 0.01267295 -0.01410311 0.99982023 -0.32952913] [ 0. 0. 0. 1. ]] SLAMing on 21.103201008 meters Centerline goodness : 0.832018 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.33 [[ 9.99930784e-01 4.58580616e-04 -1.17565963e-02 2.48877734e+00] [-3.32705132e-04 9.99942628e-01 1.07065174e-02 -4.96786649e-01] [ 1.17608316e-02 -1.07018649e-02 9.99873568e-01 -3.27800581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.133201007999997 meters Centerline goodness : 0.832575 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.32 [[ 0.99991308 0.00343583 -0.01272864 2.49140238] [-0.00322561 0.99985867 0.01649943 -0.49928909] [ 0.01278353 -0.01645694 0.99978285 -0.32420223] [ 0. 0. 0. 1. ]] SLAMing on 21.163201007999998 meters Centerline goodness : 0.833625 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.32 [[ 0.99991261 0.00327515 -0.0128082 2.49168532] [-0.0030656 0.9998617 0.01634594 -0.4978616 ] [ 0.01285996 -0.01630525 0.99978436 -0.32403274] [ 0. 0. 0. 1. ]] SLAMing on 21.193201008 meters Centerline goodness : 0.834620 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.32 [[ 0.99988473 0.00628835 -0.01381998 2.49438536] [-0.00598661 0.99974512 0.0217681 -0.50006985] [ 0.01395334 -0.02168285 0.99966752 -0.32105261] [ 0. 0. 0. 1. ]] SLAMing on 21.223201008 meters Centerline goodness : 0.833859 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.32 [[ 0.99988011 0.0058596 -0.01433253 2.49518929] [-0.00553755 0.99973359 0.02240719 -0.50093986] [ 0.01446 -0.02232514 0.99964619 -0.31897841] [ 0. 0. 0. 1. ]] SLAMing on 21.253201007999998 meters Centerline goodness : 0.836794 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.31 [[ 0.9998487 0.00726748 -0.0158036 2.50099836] [-0.00681589 0.99957215 0.02844387 -0.50332579] [ 0.01600356 -0.02833186 0.99947046 -0.3146655 ] [ 0. 0. 0. 1. ]] SLAMing on 21.283201008 meters Centerline goodness : 0.837437 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.32 [[ 0.99984266 0.00589946 -0.01672855 2.50478903] [-0.00544662 0.99962094 0.02698721 -0.5015242 ] [ 0.01688142 -0.02689185 0.9994958 -0.31706092] [ 0. 0. 0. 1. ]] SLAMing on 21.313201008 meters Centerline goodness : 0.835124 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.32 [[ 0.99983817 0.00513205 -0.0172423 2.5071803 ] [-0.00468298 0.99965137 0.02598478 -0.49944974] [ 0.01736964 -0.02589983 0.99951363 -0.31875609] [ 0. 0. 0. 1. ]] SLAMing on 21.343201007999998 meters Centerline goodness : 0.837096 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.32 [[ 9.99760090e-01 2.45571779e-03 -2.17653855e-02 2.48915352e+00] [-1.81952476e-03 9.99571894e-01 2.92013322e-02 -4.96856383e-01] [ 2.18277778e-02 -2.91547238e-02 9.99336555e-01 -3.18656946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.373201008 meters Centerline goodness : 0.836539 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.49, Z:-0.32 [[ 9.99770493e-01 -1.87232280e-03 -2.13414255e-02 2.48925044e+00] [ 2.36086884e-03 9.99735208e-01 2.28897538e-02 -4.92279613e-01] [ 2.12929175e-02 -2.29348847e-02 9.99510181e-01 -3.22357377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.403201008 meters Centerline goodness : 0.837820 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.49, Z:-0.32 [[ 0.99968408 -0.00465451 -0.02469977 2.46982646] [ 0.00533304 0.99960821 0.02747682 -0.49122353] [ 0.0245622 -0.02759986 0.99931724 -0.31943102] [ 0. 0. 0. 1. ]] SLAMing on 21.433201007999998 meters Centerline goodness : 0.837782 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.32 [[ 0.99972035 -0.00935597 -0.02171854 2.44303888] [ 0.00987724 0.9996627 0.02401932 -0.48592179] [ 0.02148649 -0.02422712 0.99947555 -0.3243973 ] [ 0. 0. 0. 1. ]] SLAMing on 21.463201008 meters Centerline goodness : 0.840414 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.48, Z:-0.33 [[ 0.99969062 -0.0131993 -0.02108201 2.44170576] [ 0.01359135 0.99973532 0.01856237 -0.48160707] [ 0.02083142 -0.01884316 0.99960542 -0.32613746] [ 0. 0. 0. 1. ]] SLAMing on 21.493201008 meters Centerline goodness : 0.842596 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.48, Z:-0.33 [[ 0.99965129 -0.01675954 -0.02040634 2.43989261] [ 0.0170362 0.99976427 0.01346038 -0.47739259] [ 0.02017594 -0.01380334 0.99970116 -0.32723111] [ 0. 0. 0. 1. ]] SLAMing on 21.523201007999997 meters Centerline goodness : 0.843705 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.47, Z:-0.33 [[ 0.99965645 -0.01669632 -0.02020432 2.43854568] [ 0.01696126 0.99977145 0.01301377 -0.47417895] [ 0.01998242 -0.01335199 0.99971117 -0.3262777 ] [ 0. 0. 0. 1. ]] SLAMing on 21.553201008 meters Centerline goodness : 0.843745 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.47, Z:-0.33 [[ 0.99967094 -0.0162851 -0.01981924 2.43675392] [ 0.01654513 0.99977825 0.01302749 -0.47254164] [ 0.01960269 -0.01335112 0.9997187 -0.32518559] [ 0. 0. 0. 1. ]] SLAMing on 21.583201008 meters Centerline goodness : 0.843576 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.47, Z:-0.32 [[ 0.9997026 -0.01511554 -0.01913725 2.43305716] [ 0.01536952 0.99979482 0.01319454 -0.46845269] [ 0.01893388 -0.01348474 0.9997298 -0.32290317] [ 0. 0. 0. 1. ]] SLAMing on 21.613201007999997 meters Centerline goodness : 0.846412 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.47, Z:-0.32 [[ 0.99971201 -0.01494514 -0.01877594 2.43229742] [ 0.01518041 0.99980724 0.01245109 -0.46525795] [ 0.01858624 -0.01273253 0.99974618 -0.32361038] [ 0. 0. 0. 1. ]] SLAMing on 21.643201008 meters Centerline goodness : 0.847127 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.46, Z:-0.33 [[ 0.99970951 -0.015304 -0.01861957 2.4327044 ] [ 0.01551122 0.99981879 0.01103584 -0.46153325] [ 0.0184473 -0.01132145 0.99976573 -0.32553315] [ 0. 0. 0. 1. ]] SLAMing on 21.673201008 meters Centerline goodness : 0.847199 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.46, Z:-0.33 [[ 0.99970605 -0.01549918 -0.01864375 2.43305629] [ 0.01569039 0.99982534 0.0101539 -0.45848879] [ 0.01848312 -0.01044345 0.99977463 -0.32639016] [ 0. 0. 0. 1. ]] SLAMing on 21.703201007999997 meters Centerline goodness : 0.850072 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.45, Z:-0.33 [[ 0.99971887 -0.01491819 -0.01842916 2.43115304] [ 0.01509917 0.99983875 0.0097205 -0.4541464 ] [ 0.01828118 -0.00999604 0.99978292 -0.32535532] [ 0. 0. 0. 1. ]] SLAMing on 21.733201007999998 meters Centerline goodness : 0.851857 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.45, Z:-0.32 [[ 0.99974347 -0.01144364 -0.01954573 2.43308863] [ 0.01172885 0.9998255 0.0145397 -0.4545946 ] [ 0.01937593 -0.01476522 0.99970324 -0.3229167 ] [ 0. 0. 0. 1. ]] SLAMing on 21.763201008 meters Centerline goodness : 0.851906 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.45, Z:-0.32 [[ 0.99973713 -0.01160403 -0.01977407 2.43351958] [ 0.01188248 0.99983107 0.01402302 -0.45215521] [ 0.01960801 -0.0142543 0.99970613 -0.32286619] [ 0. 0. 0. 1. ]] SLAMing on 21.793201007999997 meters Centerline goodness : 0.850175 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.45, Z:-0.32 [[ 0.99972204 -0.01203601 -0.02027249 2.43491651] [ 0.01230982 0.99983396 0.01343616 -0.45068016] [ 0.0201074 -0.01368198 0.9997042 -0.32330444] [ 0. 0. 0. 1. ]] SLAMing on 21.823201007999998 meters Centerline goodness : 0.851686 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.32 [[ 0.99972585 -0.00915276 -0.02155114 2.43827016] [ 0.00954172 0.99979219 0.01801499 -0.4524104 ] [ 0.02138177 -0.01821568 0.99960543 -0.32196398] [ 0. 0. 0. 1. ]] SLAMing on 21.853201008 meters Centerline goodness : 0.851814 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.45, Z:-0.32 [[ 0.99971718 -0.0095892 -0.02176231 2.43941986] [ 0.0099629 0.99980366 0.01712854 -0.44976376] [ 0.02159379 -0.01734052 0.99961643 -0.32319955] [ 0. 0. 0. 1. ]] SLAMing on 21.883201007999997 meters Centerline goodness : 0.849188 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.44, Z:-0.33 [[ 0.99972775 -0.00977064 -0.02118886 2.43975571] [ 0.01005639 0.99985935 0.01342168 -0.43973203] [ 0.02105474 -0.01363111 0.9996854 -0.32944199] [ 0. 0. 0. 1. ]] SLAMing on 21.913201007999998 meters Centerline goodness : 0.849188 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.44, Z:-0.33 [[ 0.99972872 -0.0097442 -0.02115498 2.43968654] [ 0.01002871 0.99986013 0.01338451 -0.43964632] [ 0.0210216 -0.01359303 0.99968661 -0.32947038] [ 0. 0. 0. 1. ]] SLAMing on 21.943201008 meters Centerline goodness : 0.845906 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.44, Z:-0.33 [[ 0.99973697 -0.00632435 -0.02204519 2.4416247 ] [ 0.00669919 0.99983354 0.01697103 -0.4376376 ] [ 0.02193419 -0.01711425 0.99961292 -0.32893619] [ 0. 0. 0. 1. ]] SLAMing on 21.973201008 meters Centerline goodness : 0.846286 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.43, Z:-0.33 [[ 0.99984283 -0.00251214 -0.01754997 2.4565905 ] [ 0.00270275 0.99993753 0.01084547 -0.43453577] [ 0.01752163 -0.0108912 0.99978716 -0.33221597] [ 0. 0. 0. 1. ]] SLAMing on 22.003201007999998 meters Centerline goodness : 0.850322 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.43, Z:-0.33 [[ 9.99919060e-01 8.57555014e-04 -1.26940217e-02 2.46904392e+00] [-8.17652674e-04 9.99994710e-01 3.14825239e-03 -4.31847200e-01] [ 1.26966544e-02 -3.13761827e-03 9.99914472e-01 -3.34941149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.033201008 meters Centerline goodness : 0.848780 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.43, Z:-0.33 [[ 0.99989514 0.00700986 -0.01267202 2.46493227] [-0.00689818 0.99993717 0.00883572 -0.43148893] [ 0.01273316 -0.00874738 0.99988067 -0.32969026] [ 0. 0. 0. 1. ]] SLAMing on 22.063201008 meters Centerline goodness : 0.849153 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.43, Z:-0.33 [[ 0.99985666 0.01098056 -0.01288733 2.46538333] [-0.0108195 0.99986332 0.01250112 -0.42955567] [ 0.01302283 -0.01235989 0.99983881 -0.32959029] [ 0. 0. 0. 1. ]] SLAMing on 22.093201007999998 meters Centerline goodness : 0.846927 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.42, Z:-0.33 [[ 0.99985068 0.01183094 -0.01259579 2.46466786] [-0.01169096 0.99986972 0.01112941 -0.4238902 ] [ 0.01272582 -0.01098049 0.99985873 -0.33177182] [ 0. 0. 0. 1. ]] SLAMing on 22.123201008 meters Centerline goodness : 0.846741 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.42, Z:-0.34 [[ 0.99977831 0.01927159 -0.00848187 2.4775662 ] [-0.01924484 0.9998096 0.00322436 -0.41669003] [ 0.00854239 -0.00306041 0.99995883 -0.3414439 ] [ 0. 0. 0. 1. ]] SLAMing on 22.153201008 meters Centerline goodness : 0.846677 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.42, Z:-0.34 [[ 0.99976327 0.02018349 -0.00812571 2.47584554] [-0.02015759 0.99979151 0.0032567 -0.41564449] [ 0.00818975 -0.00309213 0.99996168 -0.34101289] [ 0. 0. 0. 1. ]] SLAMing on 22.183201007999998 meters Centerline goodness : 0.843700 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.42, Z:-0.34 [[ 0.99974541 0.02123321 -0.00763299 2.4733231 ] [-0.02120322 0.99976723 0.00398849 -0.41627801] [ 0.0077159 -0.00382563 0.99996291 -0.33934948] [ 0. 0. 0. 1. ]] SLAMing on 22.213201008 meters Centerline goodness : 0.848613 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.34 [[ 9.99787502e-01 1.91723427e-02 -7.57437990e-03 2.47113413e+00] [-1.91686122e-02 9.99816106e-01 5.64813466e-04 -4.14713459e-01] [ 7.58381581e-03 -4.19503093e-04 9.99971154e-01 -3.38558197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.243201008 meters Centerline goodness : 0.849603 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.34 [[ 9.99787886e-01 1.90919530e-02 -7.72536472e-03 2.47164693e+00] [-1.90886943e-02 9.99817672e-01 4.95336504e-04 -4.14859811e-01] [ 7.73341311e-03 -3.47764311e-04 9.99970036e-01 -3.38778190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.273201007999997 meters Centerline goodness : 0.844566 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.42, Z:-0.34 [[ 9.99791455e-01 1.87969196e-02 -7.98261603e-03 2.47295621e+00] [-1.87928884e-02 9.99823230e-01 5.79718694e-04 -4.16362811e-01] [ 7.99210187e-03 -4.29581384e-04 9.99967970e-01 -3.39596955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.303201008 meters Centerline goodness : 0.844877 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.42, Z:-0.34 [[ 9.99794817e-01 1.84171617e-02 -8.43397843e-03 2.47464319e+00] [-1.84113825e-02 9.99830205e-01 7.62363199e-04 -4.18792641e-01] [ 8.44658696e-03 -6.06925572e-04 9.99964143e-01 -3.40228174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.333201008 meters Centerline goodness : 0.845403 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.42, Z:-0.34 [[ 9.99798366e-01 1.78753932e-02 -9.14861668e-03 2.47713116e+00] [-1.78672703e-02 9.99839898e-01 9.68852127e-04 -4.21759112e-01] [ 9.16447058e-03 -8.05195967e-04 9.99957681e-01 -3.41084545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.363201007999997 meters Centerline goodness : 0.845642 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.42, Z:-0.34 [[ 9.99805450e-01 1.70497753e-02 -9.91803210e-03 2.48029062e+00] [-1.70417082e-02 9.99854377e-01 8.97325860e-04 -4.24448473e-01] [ 9.93188701e-03 -7.28131076e-04 9.99950412e-01 -3.42624435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.393201008 meters Centerline goodness : 0.845698 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.43, Z:-0.34 [[ 9.99812888e-01 1.61084261e-02 -1.07101736e-02 2.48363720e+00] [-1.61007932e-02 9.99870055e-01 7.98528867e-04 -4.27097803e-01] [ 1.07216449e-02 -6.25937162e-04 9.99942326e-01 -3.44211960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.423201008 meters Centerline goodness : 0.845326 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.43, Z:-0.35 [[ 0.99987321 0.01134342 -0.01117572 2.48634878] [-0.01137641 0.9999311 -0.00289264 -0.43155664] [ 0.01114214 0.00301942 0.99993337 -0.34604106] [ 0. 0. 0. 1. ]] SLAMing on 22.453201007999997 meters Centerline goodness : 0.848006 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.44, Z:-0.35 [[ 9.99870389e-01 1.07869353e-02 -1.19518494e-02 2.48859865e+00] [-1.08093570e-02 9.99939934e-01 -1.81299566e-03 -4.36044525e-01] [ 1.19315749e-02 1.94195249e-03 9.99926931e-01 -3.45327636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.483201007999998 meters Centerline goodness : 0.850383 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.44, Z:-0.34 [[ 9.99863377e-01 1.05974551e-02 -1.26854493e-02 2.49000937e+00] [-1.06026288e-02 9.99943733e-01 -3.40658868e-04 -4.41122341e-01] [ 1.26811254e-02 4.75111437e-04 9.99919478e-01 -3.43598462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.513201008 meters Centerline goodness : 0.852639 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.45, Z:-0.34 [[ 0.99985945 0.0108108 -0.01281394 2.4895054 ] [-0.01074587 0.99992912 0.00512587 -0.45353067] [ 0.01286845 -0.00498746 0.99990476 -0.3357551 ] [ 0. 0. 0. 1. ]] SLAMing on 22.543201007999997 meters Centerline goodness : 0.858520 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.34 [[ 0.99985425 0.01081826 -0.01320804 2.49062287] [-0.01073975 0.99992432 0.00600023 -0.45698593] [ 0.01327196 -0.0058575 0.99989477 -0.33542547] [ 0. 0. 0. 1. ]] SLAMing on 22.573201007999998 meters Centerline goodness : 0.858711 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.34 [[ 0.99985488 0.01034217 -0.01353763 2.49290856] [-0.01026749 0.99993175 0.00557407 -0.45817698] [ 0.01359435 -0.00543427 0.99989283 -0.33770507] [ 0. 0. 0. 1. ]] SLAMing on 22.603201008 meters Centerline goodness : 0.859377 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.34 [[ 0.9998602 0.00974647 -0.01358622 2.49499831] [-0.00968207 0.99994162 0.0047977 -0.45820626] [ 0.01363219 -0.00466549 0.99989619 -0.34061041] [ 0. 0. 0. 1. ]] SLAMing on 22.633201007999997 meters Centerline goodness : 0.854880 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.34 [[ 0.99982023 0.01335757 -0.01345657 2.49592637] [-0.01320736 0.99985015 0.01119088 -0.46497489] [ 0.01360404 -0.01101115 0.99984683 -0.33861663] [ 0. 0. 0. 1. ]] SLAMing on 22.663201007999998 meters Centerline goodness : 0.857299 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.34 [[ 0.99986552 0.01026652 -0.01278845 2.49357535] [-0.01017515 0.99992239 0.00718889 -0.46529144] [ 0.01286126 -0.00705779 0.99989238 -0.33881319] [ 0. 0. 0. 1. ]] SLAMing on 22.693201008 meters Centerline goodness : 0.858712 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.34 [[ 0.99989908 0.00695841 -0.01238602 2.49197814] [-0.00692122 0.99997142 0.0030431 -0.46548607] [ 0.01240684 -0.00295707 0.99991866 -0.33909651] [ 0. 0. 0. 1. ]] SLAMing on 22.723201008 meters Centerline goodness : 0.860130 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.34 [[ 0.999892 0.00703966 -0.01290098 2.49256518] [-0.00698903 0.99996772 0.00396496 -0.46901818] [ 0.01292848 -0.00387436 0.99990892 -0.3376911 ] [ 0. 0. 0. 1. ]] SLAMing on 22.753201007999998 meters Centerline goodness : 0.863104 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.34 [[ 0.99988475 0.00690611 -0.01351997 2.49367602] [-0.00684308 0.99996553 0.00470254 -0.47197045] [ 0.01355198 -0.00460948 0.99989754 -0.33652583] [ 0. 0. 0. 1. ]] SLAMing on 22.783201008 meters Centerline goodness : 0.862914 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.48, Z:-0.33 [[ 0.99987967 0.00711042 -0.01378709 2.49350704] [-0.00701696 0.99995216 0.00681532 -0.47658477] [ 0.01383489 -0.00671776 0.99988173 -0.33326623] [ 0. 0. 0. 1. ]] SLAMing on 22.813201008 meters Centerline goodness : 0.863610 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.48, Z:-0.33 [[ 0.99987816 0.00642389 -0.01422635 2.49554413] [-0.00632869 0.99995735 0.00672617 -0.47762789] [ 0.01426895 -0.00663531 0.99987618 -0.33401945] [ 0. 0. 0. 1. ]] SLAMing on 22.843201007999998 meters Centerline goodness : 0.865178 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.48, Z:-0.34 [[ 0.99987096 0.00510236 -0.01523273 2.49975534] [-0.00500446 0.99996663 0.00645771 -0.47861786] [ 0.01526517 -0.00638065 0.99986312 -0.33539099] [ 0. 0. 0. 1. ]] SLAMing on 22.873201008 meters Centerline goodness : 0.863411 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.48, Z:-0.34 [[ 0.99986608 0.00375725 -0.01592784 2.50384092] [-0.0036674 0.99997722 0.00566636 -0.47948334] [ 0.01594877 -0.00560718 0.99985709 -0.33828219] [ 0. 0. 0. 1. ]] SLAMing on 22.903201008 meters Centerline goodness : 0.860823 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.48, Z:-0.34 [[ 9.99829406e-01 -2.18641092e-03 -1.83406219e-02 2.52342351e+00] [ 2.35018793e-03 9.99957517e-01 8.91294552e-03 -4.81524887e-01] [ 1.83203553e-02 -8.95452893e-03 9.99792069e-01 -3.39593023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.933201007999998 meters Centerline goodness : 0.863331 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.34 [[ 0.99980498 -0.00339479 -0.01945468 2.52708043] [ 0.00357984 0.99994861 0.00948455 -0.48409707] [ 0.01942148 -0.00955235 0.99976575 -0.33901349] [ 0. 0. 0. 1. ]] SLAMing on 22.963201008 meters Centerline goodness : 0.863456 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.48, Z:-0.34 [[ 0.99979077 -0.00724476 -0.0191295 2.52612219] [ 0.00735299 0.99995732 0.00559327 -0.48494387] [ 0.01908816 -0.00573276 0.99980137 -0.3387807 ] [ 0. 0. 0. 1. ]] SLAMing on 22.993201008 meters Centerline goodness : 0.872539 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.49, Z:-0.33 [[ 0.99976246 -0.01026274 -0.01922743 2.52389799] [ 0.01036521 0.99993257 0.00523716 -0.49221673] [ 0.01917239 -0.00543522 0.99980142 -0.33220561] [ 0. 0. 0. 1. ]] SLAMing on 23.023201007999997 meters Centerline goodness : 0.872526 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.32 [[ 0.99968774 -0.00989207 -0.02294693 2.50991424] [ 0.01040593 0.99969531 0.02238306 -0.49986565] [ 0.02271853 -0.02261486 0.99948609 -0.31875048] [ 0. 0. 0. 1. ]] SLAMing on 23.053201008 meters Centerline goodness : 0.874445 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.32 [[ 0.99969043 -0.01004615 -0.02276225 2.51040927] [ 0.01053196 0.99971713 0.02132447 -0.4981204 ] [ 0.02254158 -0.0215576 0.99951346 -0.32098093] [ 0. 0. 0. 1. ]] SLAMing on 23.083201008 meters Centerline goodness : 0.870193 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.49, Z:-0.32 [[ 0.99970585 -0.00991053 -0.02213573 2.50997121] [ 0.0103389 0.99975986 0.01932183 -0.49356898] [ 0.02193893 -0.019545 0.99956824 -0.32476847] [ 0. 0. 0. 1. ]] SLAMing on 23.113201007999997 meters Centerline goodness : 0.871598 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.49, Z:-0.33 [[ 9.99859199e-01 -1.48575665e-03 -1.67145141e-02 2.52103773e+00] [ 1.69788130e-03 9.99918113e-01 1.26840216e-02 -4.86982745e-01] [ 1.66943000e-02 -1.27106149e-02 9.99779846e-01 -3.34118652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.143201008 meters Centerline goodness : 0.874288 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.48, Z:-0.34 [[ 0.99992926 0.00320858 -0.01145342 2.53514837] [-0.00312566 0.99996883 0.00725025 -0.48499448] [ 0.01147633 -0.00721394 0.99990812 -0.33787965] [ 0. 0. 0. 1. ]] SLAMing on 23.173201008 meters Centerline goodness : 0.874066 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.33 [[ 0.99989859 0.00795534 -0.01181161 2.53447097] [-0.00780523 0.99988888 0.01270078 -0.48745429] [ 0.01191133 -0.0126073 0.99984958 -0.33496908] [ 0. 0. 0. 1. ]] SLAMing on 23.203201007999997 meters Centerline goodness : 0.877509 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.49, Z:-0.34 [[ 0.99989253 0.00893395 -0.01162353 2.5330571 ] [-0.00879095 0.99988576 0.01229544 -0.48626038] [ 0.01173205 -0.01219194 0.99985685 -0.33542675] [ 0. 0. 0. 1. ]] SLAMing on 23.233201007999998 meters Centerline goodness : 0.874208 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.48, Z:-0.34 [[ 9.99885981e-01 1.34856681e-02 -6.79417533e-03 2.54328303e+00] [-1.34755222e-02 9.99908020e-01 1.53689682e-03 -4.82493643e-01] [ 6.81427648e-03 -1.44516652e-03 9.99975738e-01 -3.43360137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.263201008 meters Centerline goodness : 0.874532 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.48, Z:-0.34 [[ 9.99884347e-01 1.36593489e-02 -6.68691897e-03 2.54301856e+00] [-1.36490511e-02 9.99905594e-01 1.58321564e-03 -4.83046268e-01] [ 6.70791338e-03 -1.49176243e-03 9.99976389e-01 -3.43462918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.293201007999997 meters Centerline goodness : 0.874243 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.48, Z:-0.34 [[ 9.99886105e-01 1.34335037e-02 -6.87873994e-03 2.54380653e+00] [-1.34208731e-02 9.99908170e-01 1.87906410e-03 -4.84435574e-01] [ 6.90335068e-03 -1.78653139e-03 9.99974576e-01 -3.43412318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.323201007999998 meters Centerline goodness : 0.873089 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.34 [[ 9.99897191e-01 1.20595680e-02 -7.75726357e-03 2.54736895e+00] [-1.20420380e-02 9.99924841e-01 2.30256777e-03 -4.86975588e-01] [ 7.78444852e-03 -2.20891778e-03 9.99967261e-01 -3.43341338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.353201008 meters Centerline goodness : 0.874046 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.34 [[ 0.9999098 0.01017204 -0.00877099 2.55192725] [-0.01014774 0.99994456 0.00281023 -0.49051578] [ 0.00879909 -0.00272097 0.99995759 -0.34338169] [ 0. 0. 0. 1. ]] SLAMing on 23.383201007999997 meters Centerline goodness : 0.873808 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.50, Z:-0.34 [[ 9.99946100e-01 -5.16634400e-04 -1.03696501e-02 2.57765729e+00] [ 6.14377293e-04 9.99955396e-01 9.42489101e-03 -4.98205086e-01] [ 1.03643183e-02 -9.43075389e-03 9.99901816e-01 -3.37982663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.413201007999998 meters Centerline goodness : 0.874013 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.50, Z:-0.34 [[ 9.99932098e-01 -1.87721222e-03 -1.15011217e-02 2.58179243e+00] [ 1.98262635e-03 9.99956072e-01 9.16101651e-03 -4.99936546e-01] [ 1.14834193e-02 -9.18319688e-03 9.99891894e-01 -3.38883612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.443201008 meters Centerline goodness : 0.874955 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.50, Z:-0.34 [[ 0.99991895 -0.00285382 -0.01240771 2.58480604] [ 0.00296056 0.9999587 0.00859303 -0.50003488] [ 0.01238268 -0.00862907 0.9998861 -0.33979213] [ 0. 0. 0. 1. ]] SLAMing on 23.473201008 meters Centerline goodness : 0.871814 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.50, Z:-0.34 [[ 0.99990199 -0.00403224 -0.01340743 2.58843442] [ 0.00414122 0.99995853 0.00811088 -0.49976902] [ 0.01337417 -0.00816561 0.99987722 -0.34059708] [ 0. 0. 0. 1. ]] SLAMing on 23.503201007999998 meters Centerline goodness : 0.872455 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.50, Z:-0.34 [[ 9.99851607e-01 -9.86204961e-03 -1.41246122e-02 2.59276607e+00] [ 9.88808483e-03 9.99949537e-01 1.77460225e-03 -4.96120703e-01] [ 1.41063982e-02 -1.91400427e-03 9.99898668e-01 -3.44751819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.533201008 meters Centerline goodness : 0.872333 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.34 [[ 0.9997943 -0.0151857 -0.01344423 2.55263618] [ 0.01537004 0.9997878 0.01371541 -0.49637349] [ 0.0132331 -0.01391922 0.99981555 -0.33822062] [ 0. 0. 0. 1. ]] SLAMing on 23.563201008 meters Centerline goodness : 0.873963 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.33 [[ 0.9997299 -0.0198719 -0.01205092 2.51037176] [ 0.02017044 0.99947942 0.02518005 -0.49575453] [ 0.01154427 -0.02541633 0.99961029 -0.33190332] [ 0. 0. 0. 1. ]] SLAMing on 23.593201007999998 meters Centerline goodness : 0.871817 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.49, Z:-0.33 [[ 0.99971608 -0.02110494 -0.01106076 2.50922008] [ 0.02137676 0.99945732 0.02506206 -0.49416148] [ 0.01052582 -0.02529138 0.99962471 -0.3325489 ] [ 0. 0. 0. 1. ]] SLAMing on 23.623201008 meters Centerline goodness : 0.872363 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.49, Z:-0.34 [[ 0.99984008 -0.01764605 0.00290501 2.50625493] [ 0.01757992 0.99961636 0.02140292 -0.49468835] [-0.00328157 -0.02134843 0.99976671 -0.33860472] [ 0. 0. 0. 1. ]] SLAMing on 23.653201008 meters Centerline goodness : 0.872736 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.49, Z:-0.34 [[ 0.99978544 -0.01938691 0.00729595 2.47278183] [ 0.01923395 0.99960519 0.02048202 -0.49167239] [-0.00769015 -0.0203373 0.9997636 -0.337737 ] [ 0. 0. 0. 1. ]] SLAMing on 23.683201007999998 meters Centerline goodness : 0.873709 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.49, Z:-0.34 [[ 0.99980378 -0.01878353 0.00629051 2.47517268] [ 0.01867191 0.99967501 0.01735611 -0.48942017] [-0.00661447 -0.01723525 0.99982958 -0.33819603] [ 0. 0. 0. 1. ]] SLAMing on 23.713201008 meters Centerline goodness : 0.877501 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.48, Z:-0.34 [[ 0.99988326 -0.01463788 0.00438096 2.48024561] [ 0.0145806 0.99981136 0.01283148 -0.48326189] [-0.00456796 -0.0127661 0.99990808 -0.34148661] [ 0. 0. 0. 1. ]] SLAMing on 23.743201008 meters Centerline goodness : 0.876265 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.48, Z:-0.34 [[ 0.99993427 -0.01073897 0.0040162 2.48072799] [ 0.01067028 0.99980276 0.01675044 -0.48160453] [-0.00419529 -0.01670649 0.99985164 -0.34092128] [ 0. 0. 0. 1. ]] SLAMing on 23.773201007999997 meters Centerline goodness : 0.876306 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.48, Z:-0.34 [[ 0.99996975 -0.0067607 0.00384513 2.48087746] [ 0.00668104 0.99977025 0.02036681 -0.47967145] [-0.00398194 -0.0203405 0.99978518 -0.34094829] [ 0. 0. 0. 1. ]] SLAMing on 23.803201008 meters Centerline goodness : 0.876306 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.48, Z:-0.34 [[ 0.99996962 -0.00675298 0.0038938 2.48080525] [ 0.00667272 0.9997723 0.0202689 -0.47946715] [-0.00402979 -0.0202423 0.99978698 -0.34104583] [ 0. 0. 0. 1. ]] SLAMing on 23.833201008 meters Centerline goodness : 0.877586 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.48, Z:-0.34 [[ 0.9999897 -0.00315822 0.0032594 2.48228411] [ 0.00307948 0.99970994 0.02388633 -0.47754334] [-0.0033339 -0.02387605 0.99970937 -0.34096697] [ 0. 0. 0. 1. ]] SLAMing on 23.863201007999997 meters Centerline goodness : 0.874934 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.47, Z:-0.34 [[ 0.99999109 -0.0030468 0.00292028 2.48291694] [ 0.0029799 0.99973908 0.02264729 -0.47382998] [-0.00298851 -0.02263838 0.99973925 -0.34237055] [ 0. 0. 0. 1. ]] SLAMing on 23.893201008 meters Centerline goodness : 0.876492 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.35 [[ 0.99999034 0.00352728 0.00262128 2.49071926] [-0.00355336 0.99994358 0.01001047 -0.46899984] [-0.00258583 -0.01001969 0.99994646 -0.34881761] [ 0. 0. 0. 1. ]] SLAMing on 23.923201008 meters Centerline goodness : 0.876323 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.47, Z:-0.35 [[ 9.99991687e-01 3.29131504e-03 2.40675567e-03 2.49132837e+00] [-3.31303974e-03 9.99953297e-01 9.07897516e-03 -4.66441069e-01] [-2.37676150e-03 -9.08687336e-03 9.99955889e-01 -3.49625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.953201007999997 meters Centerline goodness : 0.879299 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.35 [[ 9.99993591e-01 2.91160791e-03 2.08351152e-03 2.49239852e+00] [-2.92896028e-03 9.99960644e-01 8.37441559e-03 -4.64368399e-01] [-2.05904651e-03 -8.38046444e-03 9.99962763e-01 -3.50306309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.983201007999998 meters Centerline goodness : 0.876256 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.35 [[ 9.99995475e-01 2.50013475e-03 1.67334346e-03 2.49346339e+00] [-2.51357736e-03 9.99964196e-01 8.08008120e-03 -4.63397333e-01] [-1.65308226e-03 -8.08425072e-03 9.99965956e-01 -3.50223219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.013201008 meters Centerline goodness : 0.878589 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.35 [[ 9.99997328e-01 2.02984191e-03 1.10653215e-03 2.49480832e+00] [-2.03864086e-03 9.99965845e-01 8.00955444e-03 -4.63459433e-01] [-1.09023623e-03 -8.01178885e-03 9.99967311e-01 -3.49796139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.043201007999997 meters Centerline goodness : 0.876399 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.46, Z:-0.35 [[ 9.99998107e-01 -1.56201150e-03 1.16050876e-03 2.49377257e+00] [ 1.55758428e-03 9.99991544e-01 3.80605869e-03 -4.61248485e-01] [-1.16644406e-03 -3.80424390e-03 9.99992084e-01 -3.49165917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.073201007999998 meters Centerline goodness : 0.876957 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99999846e-01 4.70476882e-04 -2.95398893e-04 2.49841108e+00] [-4.67669991e-04 9.99955415e-01 9.43127120e-03 -4.64188351e-01] [ 2.99822918e-04 -9.43113159e-03 9.99955481e-01 -3.45961943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.103201008 meters Centerline goodness : 0.880905 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99999694e-01 -7.87263022e-06 -7.82698100e-04 2.49988004e+00] [ 1.48591201e-05 9.99960157e-01 8.92655675e-03 -4.63457372e-01] [ 7.82596640e-04 -8.92656565e-03 9.99959851e-01 -3.46494056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.133201007999997 meters Centerline goodness : 0.877511 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99999576e-01 1.04218640e-04 -9.15061003e-04 2.50011281e+00] [-9.68708322e-05 9.99967785e-01 8.02623187e-03 -4.61048483e-01] [ 9.15868007e-04 -8.02613982e-03 9.99967371e-01 -3.47473674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.163201007999998 meters Centerline goodness : 0.876106 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99999491e-01 8.91218285e-05 -1.00477056e-03 2.50046916e+00] [-8.20176717e-05 9.99975016e-01 7.06825243e-03 -4.58538941e-01] [ 1.00537539e-03 -7.06816642e-03 9.99974515e-01 -3.48648163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.193201008 meters Centerline goodness : 0.877388 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99999536e-01 3.81128322e-04 -8.84782890e-04 2.49992077e+00] [-3.75390668e-04 9.99978960e-01 6.47595004e-03 -4.56435281e-01] [ 8.87232443e-04 -6.47561490e-03 9.99978639e-01 -3.49129098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.223201008 meters Centerline goodness : 0.878531 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.45, Z:-0.35 [[ 9.99998971e-01 1.31829961e-03 -5.65733669e-04 2.49768534e+00] [-1.31452860e-03 9.99977256e-01 6.61508711e-03 -4.54589348e-01] [ 5.74441469e-04 -6.61433663e-03 9.99977960e-01 -3.47775455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.253201007999998 meters Centerline goodness : 0.882032 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.45, Z:-0.35 [[ 9.99998791e-01 1.39636466e-03 -6.83980056e-04 2.49756363e+00] [-1.39171488e-03 9.99976236e-01 6.75206419e-03 -4.54754592e-01] [ 6.93392146e-04 -6.75110412e-03 9.99976971e-01 -3.47104781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.283201008 meters Centerline goodness : 0.881595 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99998572e-01 1.53550069e-03 -7.05586471e-04 2.49737394e+00] [-1.53053075e-03 9.99974391e-01 6.99105824e-03 -4.55346329e-01] [ 7.16303177e-04 -6.98996833e-03 9.99975313e-01 -3.46614069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.313201008 meters Centerline goodness : 0.881120 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99998759e-01 1.21819610e-03 -9.98773135e-04 2.49838711e+00] [-1.21149109e-03 9.99976911e-01 6.68659551e-03 -4.55237019e-01] [ 1.00689566e-03 -6.68537721e-03 9.99977146e-01 -3.47051751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.343201007999998 meters Centerline goodness : 0.881218 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.45, Z:-0.35 [[ 9.99998382e-01 1.83926424e-04 -1.78918465e-03 2.50155978e+00] [-1.73411567e-04 9.99982725e-01 5.87527953e-03 -4.54898109e-01] [ 1.79023436e-03 -5.87495976e-03 9.99981140e-01 -3.48726687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.373201008 meters Centerline goodness : 0.882124 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.46, Z:-0.35 [[ 9.99997257e-01 -2.96109937e-04 -2.32358095e-03 2.50317337e+00] [ 3.10096798e-04 9.99981823e-01 6.02147831e-03 -4.56271737e-01] [ 2.32175569e-03 -6.02218233e-03 9.99979171e-01 -3.48679465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.403201008 meters Centerline goodness : 0.881765 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.46, Z:-0.35 [[ 9.99994930e-01 -9.46183696e-04 -3.04035914e-03 2.50527382e+00] [ 9.65870650e-04 9.99978536e-01 6.48027586e-03 -4.58651747e-01] [ 3.03416235e-03 -6.48317960e-03 9.99974381e-01 -3.48149939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.433201007999998 meters Centerline goodness : 0.880444 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.46, Z:-0.34 [[ 0.99997529 -0.00607139 -0.0035445 2.51972744] [ 0.00611904 0.99988893 0.01359022 -0.46449135] [ 0.00346159 -0.01361157 0.99990137 -0.34132838] [ 0. 0. 0. 1. ]] SLAMing on 24.463201008 meters Centerline goodness : 0.878939 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.47, Z:-0.34 [[ 0.99996306 -0.00733992 -0.00447328 2.52330052] [ 0.00739902 0.9998836 0.01334324 -0.46589879] [ 0.00437482 -0.01337584 0.99990097 -0.34221893] [ 0. 0. 0. 1. ]] SLAMing on 24.493201008 meters Centerline goodness : 0.875652 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.47, Z:-0.34 [[ 0.99994901 -0.00844179 -0.00554158 2.52692138] [ 0.00851586 0.99987284 0.01348259 -0.4671868 ] [ 0.00542706 -0.0135291 0.99989375 -0.34250107] [ 0. 0. 0. 1. ]] SLAMing on 24.523201007999997 meters Centerline goodness : 0.875392 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.47, Z:-0.34 [[ 0.99990138 -0.00687648 -0.01224482 2.55241444] [ 0.00702961 0.99989708 0.01250692 -0.47063003] [ 0.01215756 -0.01259176 0.99984681 -0.33882647] [ 0. 0. 0. 1. ]] SLAMing on 24.553201008 meters Centerline goodness : 0.871595 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.47, Z:-0.34 [[ 0.99987962 -0.00836806 -0.01306632 2.55649801] [ 0.00852372 0.99989282 0.01190325 -0.47259023] [ 0.01296531 -0.01201319 0.99984378 -0.34088747] [ 0. 0. 0. 1. ]] SLAMing on 24.583201008 meters Centerline goodness : 0.871154 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.47, Z:-0.34 [[ 0.99987907 -0.00569631 -0.01447032 2.56074858] [ 0.00594578 0.99983343 0.01725598 -0.474954 ] [ 0.01436961 -0.01733993 0.99974639 -0.33838719] [ 0. 0. 0. 1. ]] SLAMing on 24.613201007999997 meters Centerline goodness : 0.870911 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.47, Z:-0.34 [[ 0.99987286 -0.00594744 -0.01479523 2.56185193] [ 0.00619198 0.99984406 0.01653825 -0.47393576] [ 0.01469456 -0.01662776 0.99975376 -0.3394029 ] [ 0. 0. 0. 1. ]] SLAMing on 24.643201008 meters Centerline goodness : 0.868845 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.47, Z:-0.35 [[ 0.99993832 -0.00406398 -0.01033655 2.57531878] [ 0.00412385 0.99997481 0.00577695 -0.47085284] [ 0.01031281 -0.00581922 0.99992989 -0.34609883] [ 0. 0. 0. 1. ]] SLAMing on 24.673201008 meters Centerline goodness : 0.870228 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.47, Z:-0.35 [[ 9.99990874e-01 -1.35098564e-04 -4.27015629e-03 2.58536524e+00] [ 1.36976724e-04 9.99999894e-01 4.39544568e-04 -4.71197636e-01] [ 4.27009645e-03 -4.40125469e-04 9.99990786e-01 -3.45287418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.703201007999997 meters Centerline goodness : 0.870788 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.47, Z:-0.34 [[ 0.99998184 0.00357778 -0.00484895 2.58619762] [-0.00354253 0.99996738 0.00725866 -0.4747957 ] [ 0.00487476 -0.00724135 0.9999619 -0.34020181] [ 0. 0. 0. 1. ]] SLAMing on 24.733201007999998 meters Centerline goodness : 0.870254 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.47, Z:-0.34 [[ 0.99998312 0.00336041 -0.00473965 2.58659687] [-0.0033287 0.99997213 0.00668333 -0.47252604] [ 0.00476198 -0.00666744 0.99996643 -0.34122562] [ 0. 0. 0. 1. ]] SLAMing on 24.763201008 meters Centerline goodness : 0.868600 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.47, Z:-0.34 [[ 0.99998473 0.00285708 -0.00473054 2.58759764] [-0.0028299 0.9999795 0.00574415 -0.46990367] [ 0.00474685 -0.00573067 0.99997231 -0.34284637] [ 0. 0. 0. 1. ]] SLAMing on 24.793201007999997 meters Centerline goodness : 0.863983 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.47, Z:-0.34 [[ 9.99992942e-01 -3.49903810e-04 -3.74067321e-03 2.58466636e+00] [ 3.55457133e-04 9.99998836e-01 1.48401684e-03 -4.68305896e-01] [ 3.74014959e-03 -1.48533602e-03 9.99991902e-01 -3.42918520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.823201007999998 meters Centerline goodness : 0.870061 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.34 [[ 9.99989096e-01 6.38420530e-04 -4.62598709e-03 2.61117561e+00] [-6.22194066e-04 9.99993652e-01 3.50826646e-03 -4.73714860e-01] [ 4.62819748e-03 -3.50534994e-03 9.99983146e-01 -3.36180365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.853201008 meters Centerline goodness : 0.870919 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.48, Z:-0.33 [[ 9.99986163e-01 4.38670730e-04 -5.24231013e-03 2.61170056e+00] [-4.04488106e-04 9.99978664e-01 6.51980915e-03 -4.78775713e-01] [ 5.24505833e-03 -6.51759848e-03 9.99965005e-01 -3.30633169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.883201007999997 meters Centerline goodness : 0.869476 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.48, Z:-0.33 [[ 9.99982934e-01 3.67215901e-05 -5.84218133e-03 2.61255201e+00] [ 1.31631211e-05 9.99963547e-01 8.53844567e-03 -4.82669004e-01] [ 5.84228191e-03 -8.53837685e-03 9.99946480e-01 -3.26787419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.913201007999998 meters Centerline goodness : 0.870087 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.33 [[ 9.99978596e-01 -2.32577717e-03 -6.11545428e-03 2.61632650e+00] [ 2.37413213e-03 9.99965884e-01 7.91167573e-03 -4.84465637e-01] [ 6.09684485e-03 -7.92602528e-03 9.99950002e-01 -3.28512275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.943201008 meters Centerline goodness : 0.865853 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.49, Z:-0.33 [[ 9.99970723e-01 -1.64036492e-03 -7.47407597e-03 2.62379549e+00] [ 1.72565360e-03 9.99933310e-01 1.14191454e-02 -4.85555094e-01] [ 7.45484596e-03 -1.14317087e-02 9.99906866e-01 -3.30199363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.973201008 meters Centerline goodness : 0.862814 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.33 [[ 9.99955770e-01 -1.84347147e-03 -9.22279165e-03 2.63878883e+00] [ 2.02278194e-03 9.99808382e-01 1.94707033e-02 -4.86791903e-01] [ 9.18513071e-03 -1.94884978e-02 9.99767889e-01 -3.28962836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.003201007999998 meters Centerline goodness : 0.860431 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.33 [[ 0.99994574 -0.00306321 -0.00995697 2.64291352] [ 0.00323746 0.99984107 0.01753134 -0.4840547 ] [ 0.00990169 -0.01756263 0.99979673 -0.33314788] [ 0. 0. 0. 1. ]] SLAMing on 25.033201008 meters Centerline goodness : 0.855070 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.48, Z:-0.33 [[ 9.99925839e-01 -1.66899711e-03 -1.20636507e-02 2.65048424e+00] [ 1.92749518e-03 9.99768105e-01 2.14480805e-02 -4.83984015e-01] [ 1.20250564e-02 -2.14697425e-02 9.99697178e-01 -3.33058289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.063201008 meters Centerline goodness : 0.858277 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.48, Z:-0.33 [[ 9.99913242e-01 -1.86716600e-03 -1.30392879e-02 2.65177248e+00] [ 2.14945224e-03 9.99762899e-01 2.16685495e-02 -4.84036906e-01] [ 1.29957375e-02 -2.16946969e-02 9.99680174e-01 -3.31200143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.093201007999998 meters Centerline goodness : 0.857890 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.48, Z:-0.33 [[ 9.99912412e-01 -1.43442252e-03 -1.31571408e-02 2.65068491e+00] [ 1.73396924e-03 9.99738912e-01 2.27837761e-02 -4.84741013e-01] [ 1.31210241e-02 -2.28045945e-02 9.99653835e-01 -3.27895932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.123201008 meters Centerline goodness : 0.857572 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.48, Z:-0.33 [[ 9.99912766e-01 -9.72616836e-04 -1.31724783e-02 2.64950531e+00] [ 1.27983691e-03 9.99726893e-01 2.33345652e-02 -4.84291113e-01] [ 1.31461853e-02 -2.33493883e-02 9.99640927e-01 -3.25851175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.153201008 meters Centerline goodness : 0.856588 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.48, Z:-0.33 [[ 9.99911147e-01 2.73192282e-03 -1.30474234e-02 2.64952749e+00] [-2.38448835e-03 9.99644103e-01 2.65703079e-02 -4.79499655e-01] [ 1.31153679e-02 -2.65368356e-02 9.99561796e-01 -3.26173220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.183201007999998 meters Centerline goodness : 0.852293 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.47, Z:-0.33 [[ 0.99994931 0.00628033 -0.00786962 2.66515464] [-0.00612581 0.99979094 0.01950758 -0.47434388] [ 0.00799049 -0.01945839 0.99977874 -0.33275668] [ 0. 0. 0. 1. ]] SLAMing on 25.213201008 meters Centerline goodness : 0.847930 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.48, Z:-0.33 [[ 0.99988588 0.0124923 -0.00849572 2.66811112] [-0.01222696 0.99945698 0.03059801 -0.47694786] [ 0.00887335 -0.03049064 0.99949567 -0.32648256] [ 0. 0. 0. 1. ]] SLAMing on 25.243201008 meters Centerline goodness : 0.847650 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.47, Z:-0.32 [[ 0.99980758 0.01807383 -0.00762551 2.66357436] [-0.01779291 0.99921393 0.03542493 -0.47318723] [ 0.00825978 -0.03528243 0.99934325 -0.32281302] [ 0. 0. 0. 1. ]] SLAMing on 25.273201007999997 meters Centerline goodness : 0.845586 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.47, Z:-0.33 [[ 0.99977207 0.02111613 -0.00314756 2.6764676 ] [-0.02103096 0.9994662 0.02500024 -0.46744837] [ 0.00367379 -0.02492835 0.99968249 -0.32977122] [ 0. 0. 0. 1. ]] SLAMing on 25.303201008 meters Centerline goodness : 0.850367 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.46, Z:-0.34 [[ 9.99704328e-01 2.42914245e-02 1.08744096e-03 2.68946266e+00] [-2.43045438e-02 9.99601488e-01 1.43580926e-02 -4.61568716e-01] [-7.38229079e-04 -1.43802771e-02 9.99896326e-01 -3.37011969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.333201008 meters Centerline goodness : 0.847412 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.46, Z:-0.34 [[ 9.99688252e-01 2.49453869e-02 1.06147593e-03 2.68834615e+00] [-2.49574798e-02 9.99596858e-01 1.35367915e-02 -4.57609511e-01] [-7.23367500e-04 -1.35590632e-02 9.99907810e-01 -3.36819592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.363201007999997 meters Centerline goodness : 0.848909 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.45, Z:-0.34 [[ 9.99635212e-01 2.69827835e-02 1.17170867e-03 2.68526405e+00] [-2.69957579e-02 9.99550864e-01 1.30114703e-02 -4.53100222e-01] [-8.20096730e-04 -1.30383550e-02 9.99914661e-01 -3.35825116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.393201008 meters Centerline goodness : 0.848951 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.45, Z:-0.34 [[ 9.99636492e-01 2.69346578e-02 1.18692254e-03 2.68541202e+00] [-2.69470315e-02 9.99564050e-01 1.20651415e-02 -4.50576740e-01] [-8.61434647e-04 -1.20927397e-02 9.99926509e-01 -3.36866596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.423201008 meters Centerline goodness : 0.847155 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.45, Z:-0.34 [[ 9.99651694e-01 2.63692017e-02 1.07505200e-03 2.68676012e+00] [-2.63792110e-02 9.99594680e-01 1.07057629e-02 -4.47797167e-01] [-7.92313842e-04 -1.07303931e-02 9.99942114e-01 -3.39071048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.453201007999997 meters Centerline goodness : 0.842535 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.34 [[ 9.99676177e-01 2.54380634e-02 6.68140576e-04 2.68940523e+00] [-2.54430578e-02 9.99635600e-01 9.01761337e-03 -4.44864727e-01] [-4.38506485e-04 -9.03169280e-03 9.99959117e-01 -3.42228494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.483201007999998 meters Centerline goodness : 0.841246 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99711110e-01 2.40321100e-02 -3.91636420e-04 2.69468336e+00] [-2.40301425e-02 9.99701427e-01 4.42829387e-03 -4.39701562e-01] [ 4.97940734e-04 -4.41760351e-03 9.99990118e-01 -3.51325347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.513201008 meters Centerline goodness : 0.840692 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.44, Z:-0.36 [[ 9.99729231e-01 2.32507750e-02 -9.31024226e-04 2.69779590e+00] [-2.32483401e-02 9.99726479e-01 2.54593545e-03 -4.36910400e-01] [ 9.89964544e-04 -2.52360133e-03 9.99996326e-01 -3.55266160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.543201007999997 meters Centerline goodness : 0.838597 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.43, Z:-0.36 [[ 9.99733394e-01 2.30602455e-02 -1.16855823e-03 2.69915699e+00] [-2.30586980e-02 9.99733240e-01 1.32088880e-03 -4.34495188e-01] [ 1.19870653e-03 -1.29359121e-03 9.99998445e-01 -3.57531414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.573201007999998 meters Centerline goodness : 0.841746 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.43, Z:-0.36 [[ 9.99667976e-01 2.57527637e-02 -8.56217266e-04 2.69513977e+00] [-2.57507781e-02 9.99665852e-01 2.25439063e-03 -4.34019299e-01] [ 9.13987951e-04 -2.23159385e-03 9.99997092e-01 -3.55331804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.603201008 meters Centerline goodness : 0.839934 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99629329e-01 2.72216169e-02 -4.34858910e-04 2.69204851e+00] [-2.72200576e-02 9.99624149e-01 3.26026279e-03 -4.35271935e-01] [ 5.23445093e-04 -3.24721742e-03 9.99994591e-01 -3.52932797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.633201007999997 meters Centerline goodness : 0.843991 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.43, Z:-0.35 [[ 9.99654606e-01 2.62793474e-02 -2.54959307e-04 2.68815620e+00] [-2.62792325e-02 9.99654543e-01 4.44087829e-04 -4.34956300e-01] [ 2.66541568e-04 -4.37234308e-04 9.99999869e-01 -3.51230790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.663201007999998 meters Centerline goodness : 0.843450 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99637087e-01 2.69387124e-02 3.00430150e-05 2.68681925e+00] [-2.69387290e-02 9.99636576e-01 1.01039833e-03 -4.36102859e-01] [-2.81326681e-06 -1.01084096e-03 9.99999489e-01 -3.50426846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.693201008 meters Centerline goodness : 0.845334 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99626727e-01 2.73177697e-02 3.82912237e-04 2.68610937e+00] [-2.73182250e-02 9.99626020e-01 1.23895876e-03 -4.36925537e-01] [-3.48923446e-04 -1.24895677e-03 9.99999159e-01 -3.50778723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.723201007999997 meters Centerline goodness : 0.845334 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99626727e-01 2.73177697e-02 3.82912237e-04 2.68610937e+00] [-2.73182250e-02 9.99626020e-01 1.23895876e-03 -4.36925537e-01] [-3.48923446e-04 -1.24895677e-03 9.99999159e-01 -3.50778723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.753201007999998 meters Centerline goodness : 0.837396 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99610210e-01 2.78988021e-02 1.04169846e-03 2.68525418e+00] [-2.79009870e-02 9.99608389e-01 2.14542175e-03 -4.40331081e-01] [-9.81435822e-04 -2.17364990e-03 9.99997156e-01 -3.51614370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.783201008 meters Centerline goodness : 0.837829 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.44, Z:-0.35 [[ 9.99602284e-01 2.81790636e-02 1.10188062e-03 2.68522413e+00] [-2.81821625e-02 9.99598580e-01 2.90602156e-03 -4.43203897e-01] [-1.01954934e-03 -2.93591917e-03 9.99995170e-01 -3.51527795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.813201008 meters Centerline goodness : 0.842149 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.45, Z:-0.35 [[ 9.99594404e-01 2.84562189e-02 1.12720764e-03 2.68519827e+00] [-2.84601385e-02 9.99588341e-01 3.62894698e-03 -4.46159769e-01] [-1.02347751e-03 -3.65955558e-03 9.99992780e-01 -3.51370484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.843201007999998 meters Centerline goodness : 0.841690 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.45, Z:-0.35 [[ 9.99580361e-01 2.89398105e-02 1.26068054e-03 2.68477498e+00] [-2.89449545e-02 9.99571872e-01 4.27352940e-03 -4.48722708e-01] [-1.13646567e-03 -4.30822640e-03 9.99990074e-01 -3.51326086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.873201008 meters Centerline goodness : 0.845733 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.45, Z:-0.35 [[ 9.99562181e-01 2.95622365e-02 1.23299524e-03 2.68433399e+00] [-2.95690979e-02 9.99544865e-01 5.97753298e-03 -4.54782451e-01] [-1.05572482e-03 -6.01137446e-03 9.99981374e-01 -3.49942699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.903201008 meters Centerline goodness : 0.844145 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.46, Z:-0.35 [[ 9.99672423e-01 2.55561364e-02 1.38943093e-03 2.68444829e+00] [-2.55582429e-02 9.99672179e-01 1.52007513e-03 -4.56068632e-01] [-1.35012820e-03 -1.55508860e-03 9.99997879e-01 -3.51646616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.933201007999998 meters Centerline goodness : 0.844275 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.46, Z:-0.35 [[ 9.99777792e-01 2.10475468e-02 1.16946170e-03 2.68615193e+00] [-2.10437701e-02 9.99773584e-01 -3.15297935e-03 -4.57557199e-01] [-1.23555940e-03 3.12766885e-03 9.99994346e-01 -3.54126341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.963201008 meters Centerline goodness : 0.843257 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.46, Z:-0.36 [[ 9.99825602e-01 1.86740997e-02 2.08046791e-04 2.69138298e+00] [-1.86732295e-02 9.99819148e-01 -3.60295088e-03 -4.61320945e-01] [-2.75291029e-04 3.59843763e-03 9.99993488e-01 -3.56162287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.993201008 meters Centerline goodness : 0.843366 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.47, Z:-0.36 [[ 9.99942130e-01 1.06645012e-02 -1.41623468e-03 2.70535628e+00] [-1.06723875e-02 9.99926900e-01 -5.68280250e-03 -4.65937129e-01] [ 1.35552690e-03 5.69758823e-03 9.99982850e-01 -3.59843004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.023201007999997 meters Centerline goodness : 0.839824 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.47, Z:-0.36 [[ 9.99952389e-01 9.51183763e-03 -2.17829221e-03 2.70873954e+00] [-9.52357307e-03 9.99939841e-01 -5.44198437e-03 -4.69171942e-01] [ 2.12639790e-03 5.46247040e-03 9.99982820e-01 -3.60802264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.053201008 meters Centerline goodness : 0.837181 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.47, Z:-0.36 [[ 0.99995905 0.00849153 -0.00313059 2.71229415] [-0.00850692 0.99995165 -0.0049331 -0.47261632] [ 0.00308855 0.00495953 0.99998293 -0.36130161] [ 0. 0. 0. 1. ]] SLAMing on 26.083201008 meters Centerline goodness : 0.834730 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.48, Z:-0.36 [[ 0.99996125 0.00793769 -0.00380698 2.71449045] [-0.00795365 0.99995957 -0.00419473 -0.47686482] [ 0.00377353 0.00422484 0.99998396 -0.36118095] [ 0. 0. 0. 1. ]] SLAMing on 26.113201007999997 meters Centerline goodness : 0.843205 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.49, Z:-0.36 [[ 9.99966173e-01 6.89690603e-03 -4.48166589e-03 2.71625967e+00] [-6.89871189e-03 9.99976128e-01 -3.87609746e-04 -4.87104787e-01] [ 4.47888559e-03 4.18514356e-04 9.99989882e-01 -3.55142519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.143201008 meters Centerline goodness : 0.845515 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.49, Z:-0.36 [[ 0.9999859 0.00348654 -0.00400496 2.71447441] [-0.0035049 0.99998335 -0.00458527 -0.48646902] [ 0.00398891 0.00459924 0.99998147 -0.35518819] [ 0. 0. 0. 1. ]] SLAMing on 26.173201008 meters Centerline goodness : 0.847175 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.49, Z:-0.36 [[ 0.99998631 0.00318035 -0.00415582 2.71513834] [-0.00319911 0.99998468 -0.00451759 -0.48620922] [ 0.00414139 0.00453083 0.99998116 -0.35505643] [ 0. 0. 0. 1. ]] SLAMing on 26.203201007999997 meters Centerline goodness : 0.838423 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.48, Z:-0.36 [[ 9.99974721e-01 5.05229678e-03 -5.00316212e-03 2.72042480e+00] [-5.06255454e-03 9.99985105e-01 -2.03971890e-03 -4.81960205e-01] [ 4.99278233e-03 2.06499612e-03 9.99985404e-01 -3.58220919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.233201007999998 meters Centerline goodness : 0.836357 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.48, Z:-0.36 [[ 0.99997777 0.00387693 -0.00542472 2.72335929] [-0.00389751 0.99998523 -0.00378773 -0.47779152] [ 0.00540996 0.00380879 0.99997811 -0.36125707] [ 0. 0. 0. 1. ]] SLAMing on 26.263201008 meters Centerline goodness : 0.840651 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.48, Z:-0.36 [[ 0.99997844 0.00333019 -0.0056597 2.72488546] [-0.00335556 0.99998434 -0.00447958 -0.4761388 ] [ 0.00564469 0.00449848 0.99997395 -0.36261995] [ 0. 0. 0. 1. ]] SLAMing on 26.293201007999997 meters Centerline goodness : 0.838065 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.36 [[ 0.99997608 0.00308832 -0.00618882 2.72573557] [-0.0031125 0.99998755 -0.00390134 -0.47733062] [ 0.0061767 0.00392051 0.99997324 -0.36124472] [ 0. 0. 0. 1. ]] SLAMing on 26.323201007999998 meters Centerline goodness : 0.842235 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.35 [[ 9.99977218e-01 1.84646781e-03 -6.49268952e-03 2.72727639e+00] [-1.82346933e-03 9.99992049e-01 3.54634880e-03 -4.87133407e-01] [ 6.49918612e-03 -3.53442878e-03 9.99972634e-01 -3.47143145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.353201008 meters Centerline goodness : 0.843813 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.49, Z:-0.35 [[ 9.99981455e-01 -1.21344098e-03 -5.96793285e-03 2.72442060e+00] [ 1.21567070e-03 9.99999193e-01 3.70004590e-04 -4.87794332e-01] [ 5.96747905e-03 -3.77252770e-04 9.99982123e-01 -3.45017212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.383201007999997 meters Centerline goodness : 0.842339 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.34 [[ 9.99973831e-01 1.02223511e-03 -7.16187279e-03 2.72844310e+00] [-9.65591581e-04 9.99968265e-01 7.90803688e-03 -4.92303435e-01] [ 7.16972938e-03 -7.90091449e-03 9.99943084e-01 -3.38583700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.413201007999998 meters Centerline goodness : 0.840988 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.34 [[ 9.99975927e-01 5.14051755e-04 -6.91957660e-03 2.72926522e+00] [-4.66607083e-04 9.99976385e-01 6.85645500e-03 -4.89797728e-01] [ 6.92293777e-03 -6.85306122e-03 9.99952553e-01 -3.40822508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.443201008 meters Centerline goodness : 0.835343 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.35 [[ 9.99970147e-01 2.57631747e-03 -7.28477171e-03 2.73402853e+00] [-2.51864720e-03 9.99965507e-01 7.91467425e-03 -4.83730292e-01] [ 7.30491115e-03 -7.89609020e-03 9.99942143e-01 -3.46986422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.473201007999997 meters Centerline goodness : 0.834604 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.48, Z:-0.35 [[ 9.99970719e-01 2.05821398e-03 -7.37055929e-03 2.73525930e+00] [-2.01009069e-03 9.99976655e-01 6.53059003e-03 -4.80502497e-01] [ 7.38382857e-03 -6.51558331e-03 9.99951512e-01 -3.49179710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.503201007999998 meters Centerline goodness : 0.836817 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.35 [[ 0.99996902 0.00322243 -0.00718143 2.73231229] [-0.00316885 0.99996715 0.00746084 -0.48094963] [ 0.00720524 -0.00743785 0.99994638 -0.34586929] [ 0. 0. 0. 1. ]] SLAMing on 26.533201008 meters Centerline goodness : 0.836642 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.34 [[ 0.99996559 0.00366317 -0.00744285 2.73143994] [-0.00360219 0.99995997 0.00819007 -0.48242387] [ 0.00747255 -0.00816298 0.99993876 -0.34362169] [ 0. 0. 0. 1. ]] SLAMing on 26.563201008 meters Centerline goodness : 0.840562 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.34 [[ 9.99974377e-01 4.91837676e-04 -7.14167988e-03 2.72983025e+00] [-4.68256419e-04 9.99994435e-01 3.30321702e-03 -4.79981345e-01] [ 7.14326478e-03 -3.29978824e-03 9.99969042e-01 -3.44583621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.593201007999998 meters Centerline goodness : 0.843408 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.35 [[ 9.99972887e-01 1.10281209e-04 -7.36299276e-03 2.73108793e+00] [-9.12250510e-05 9.99996646e-01 2.58838515e-03 -4.78767415e-01] [ 7.36325352e-03 -2.58764328e-03 9.99969543e-01 -3.45938835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.623201008 meters Centerline goodness : 0.841374 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.48, Z:-0.35 [[ 9.99973737e-01 -3.04898898e-04 -7.24102412e-03 2.73220791e+00] [ 3.14589088e-04 9.99999057e-01 1.33713348e-03 -4.75478801e-01] [ 7.24060960e-03 -1.33937631e-03 9.99972889e-01 -3.48506483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.653201008 meters Centerline goodness : 0.838790 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.35 [[ 9.99969881e-01 2.49989637e-03 -7.34766849e-03 2.73564586e+00] [-2.48176818e-03 9.99993857e-01 2.47528632e-03 -4.69675075e-01] [ 7.35381131e-03 -2.45697656e-03 9.99969942e-01 -3.54551130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.683201007999998 meters Centerline goodness : 0.836853 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 0.99994909 0.00574623 -0.00829474 2.73865678] [-0.00569393 0.99996385 0.00631441 -0.46994875] [ 0.00833072 -0.00626686 0.99994566 -0.35504617] [ 0. 0. 0. 1. ]] SLAMing on 26.713201008 meters Centerline goodness : 0.838335 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 0.99994779 0.00569552 -0.00848437 2.73930497] [-0.00564731 0.99996784 0.00569499 -0.46900913] [ 0.00851653 -0.00564678 0.99994779 -0.35598116] [ 0. 0. 0. 1. ]] SLAMing on 26.743201008 meters Centerline goodness : 0.845502 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.35 [[ 0.99993506 0.00778142 -0.00832626 2.73533044] [-0.00771696 0.99994022 0.00774692 -0.47266503] [ 0.00838605 -0.00768217 0.99993533 -0.35150294] [ 0. 0. 0. 1. ]] SLAMing on 26.773201007999997 meters Centerline goodness : 0.847138 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.47, Z:-0.35 [[ 0.9999538 0.00554006 -0.00785551 2.73223131] [-0.00551327 0.99997893 0.00342827 -0.47084843] [ 0.00787433 -0.0033848 0.99996327 -0.35166532] [ 0. 0. 0. 1. ]] SLAMing on 26.803201008 meters Centerline goodness : 0.848591 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.47, Z:-0.35 [[ 0.9999532 0.00594457 -0.00763259 2.73153363] [-0.00591998 0.99997723 0.00324024 -0.47034193] [ 0.00765168 -0.0031949 0.99996562 -0.35206176] [ 0. 0. 0. 1. ]] SLAMing on 26.833201008 meters Centerline goodness : 0.848467 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.47, Z:-0.35 [[ 9.99956222e-01 5.90326330e-03 -7.25982891e-03 2.73175966e+00] [-5.88751882e-03 9.99980274e-01 2.18817413e-03 -4.68181712e-01] [ 7.27260307e-03 -2.14533596e-03 9.99971253e-01 -3.54490218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.863201007999997 meters Centerline goodness : 0.847866 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.35 [[ 0.9999289 0.00853011 -0.00833248 2.73605883] [-0.008477 0.99994367 0.00638792 -0.46949054] [ 0.0083865 -0.00631683 0.99994488 -0.35496612] [ 0. 0. 0. 1. ]] SLAMing on 26.893201008 meters Centerline goodness : 0.846677 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 0.99993536 0.00767306 -0.00839053 2.73824516] [-0.00762933 0.99995722 0.00523048 -0.46782937] [ 0.00843031 -0.00516613 0.99995112 -0.35796626] [ 0. 0. 0. 1. ]] SLAMing on 26.923201008 meters Centerline goodness : 0.847962 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 0.99993327 0.00724256 -0.00899986 2.73992067] [-0.0071969 0.99996112 0.00509576 -0.46838885] [ 0.00903641 -0.00503064 0.99994652 -0.35815947] [ 0. 0. 0. 1. ]] SLAMing on 26.953201007999997 meters Centerline goodness : 0.849219 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 9.99953613e-01 3.82133324e-03 -8.84130768e-03 2.73922622e+00] [-3.81780767e-03 9.99992626e-01 4.15604131e-04 -4.67203870e-01] [ 8.84283064e-03 -3.81830440e-04 9.99960829e-01 -3.59427865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.983201007999998 meters Centerline goodness : 0.854403 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 9.99946816e-01 3.85623347e-03 -9.56528312e-03 2.74039955e+00] [-3.84357038e-03 9.99991713e-01 1.34188846e-03 -4.70923873e-01] [ 9.57037849e-03 -1.30505226e-03 9.99953351e-01 -3.58069236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.013201008 meters Centerline goodness : 0.856645 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 9.99945052e-01 3.64004984e-03 -9.83074201e-03 2.74140173e+00] [-3.62594124e-03 9.99992371e-01 1.45259299e-03 -4.71650051e-01] [ 9.83595453e-03 -1.41686748e-03 9.99950622e-01 -3.58358515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.043201007999997 meters Centerline goodness : 0.855430 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 9.99944028e-01 2.99287582e-03 -1.01480939e-02 2.74337462e+00] [-2.98214390e-03 9.99994978e-01 1.07249832e-03 -4.71451612e-01] [ 1.01512528e-02 -1.04217521e-03 9.99947932e-01 -3.59678691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.073201007999998 meters Centerline goodness : 0.855600 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.47, Z:-0.36 [[ 9.99942281e-01 2.43933992e-03 -1.04634774e-02 2.74486234e+00] [-2.43083569e-03 9.99996705e-01 8.25394805e-04 -4.71141689e-01] [ 1.04654563e-02 -7.99912170e-04 9.99944916e-01 -3.60324365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.103201008 meters Centerline goodness : 0.854141 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.47, Z:-0.36 [[ 9.99937098e-01 1.35949018e-03 -1.11333905e-02 2.74764115e+00] [-1.35095752e-03 9.99998788e-01 7.73887306e-04 -4.71485674e-01] [ 1.11344291e-02 -7.58797889e-04 9.99937722e-01 -3.60738715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.133201007999997 meters Centerline goodness : 0.852995 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.47, Z:-0.36 [[ 9.99932100e-01 9.36940985e-04 -1.16154052e-02 2.74908431e+00] [-9.26512681e-04 9.99999163e-01 9.03147940e-04 -4.72573539e-01] [ 1.16162417e-02 -8.92324796e-04 9.99932131e-01 -3.60679045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.163201007999998 meters Centerline goodness : 0.857284 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.47, Z:-0.36 [[ 9.99927354e-01 7.81596473e-04 -1.20281091e-02 2.74985197e+00] [-7.64963335e-04 9.99998745e-01 1.38739414e-03 -4.74235243e-01] [ 1.20291784e-02 -1.37809229e-03 9.99926697e-01 -3.59885045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.193201008 meters Centerline goodness : 0.854755 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.48, Z:-0.36 [[ 9.99918021e-01 -9.95948232e-06 -1.28043251e-02 2.75202435e+00] [ 3.71447964e-05 9.99997746e-01 2.12289919e-03 -4.77868558e-01] [ 1.28042751e-02 -2.12320077e-03 9.99915768e-01 -3.58801608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.223201007999997 meters Centerline goodness : 0.858555 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.48, Z:-0.36 [[ 9.99913808e-01 -1.87414718e-04 -1.31279040e-02 2.75292309e+00] [ 2.18732241e-04 9.99997134e-01 2.38417398e-03 -4.78621968e-01] [ 1.31274195e-02 -2.38683998e-03 9.99910983e-01 -3.58543207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.253201007999998 meters Centerline goodness : 0.859206 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.48, Z:-0.36 [[ 9.99912017e-01 -4.20747970e-04 -1.32582654e-02 2.75368679e+00] [ 4.46665120e-04 9.99997995e-01 1.95189143e-03 -4.77733306e-01] [ 1.32574176e-02 -1.95764170e-03 9.99910200e-01 -3.59307243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.283201008 meters Centerline goodness : 0.861579 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99895883e-01 2.62127733e-03 -1.41898257e-02 2.75638310e+00] [-2.52688646e-03 9.99974590e-01 6.66585772e-03 -4.79795522e-01] [ 1.42069382e-02 -6.62930761e-03 9.99877100e-01 -3.57896275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.313201008 meters Centerline goodness : 0.860202 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99894086e-01 2.39134494e-03 -1.43561252e-02 2.75709024e+00] [-2.30102686e-03 9.99977479e-01 6.30448232e-03 -4.79086358e-01] [ 1.43708780e-02 -6.27078076e-03 9.99877070e-01 -3.58437825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.343201007999998 meters Centerline goodness : 0.864080 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99893189e-01 2.22635101e-03 -1.44448628e-02 2.75747533e+00] [-2.14108318e-03 9.99980210e-01 5.91576827e-03 -4.78317254e-01] [ 1.44577475e-02 -5.88420875e-03 9.99878167e-01 -3.58917980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.373201008 meters Centerline goodness : 0.862730 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99893109e-01 1.91178158e-03 -1.44953458e-02 2.75807623e+00] [-1.83214326e-03 9.99983167e-01 5.50535199e-03 -4.77692299e-01] [ 1.45056269e-02 -5.47820597e-03 9.99879781e-01 -3.59567046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.403201008 meters Centerline goodness : 0.863329 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99888293e-01 1.58227449e-03 -1.48626686e-02 2.75906820e+00] [-1.49681306e-03 9.99982294e-01 5.75943794e-03 -4.77771123e-01] [ 1.48715184e-02 -5.73654793e-03 9.99872957e-01 -3.58960608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.433201007999998 meters Centerline goodness : 0.864369 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99881470e-01 8.45690384e-04 -1.53730490e-02 2.76068358e+00] [-7.50505165e-04 9.99980520e-01 6.19640923e-03 -4.79073010e-01] [ 1.53779897e-02 -6.18413722e-03 9.99862628e-01 -3.58044528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.463201008 meters Centerline goodness : 0.868814 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99874109e-01 4.28511619e-04 -1.58613467e-02 2.76210492e+00] [-3.27962780e-04 9.99979840e-01 6.34129557e-03 -4.80048235e-01] [ 1.58637442e-02 -6.33529533e-03 9.99854092e-01 -3.57909259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.493201008 meters Centerline goodness : 0.872426 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.48, Z:-0.36 [[ 9.99862212e-01 -3.41118322e-04 -1.65963844e-02 2.76452647e+00] [ 4.51251681e-04 9.99977902e-01 6.63269287e-03 -4.81046678e-01] [ 1.65937551e-02 -6.63926811e-03 9.99840271e-01 -3.57545583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.523201007999997 meters Centerline goodness : 0.871162 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.48, Z:-0.35 [[ 9.99836477e-01 -1.30699519e-03 -1.80363760e-02 2.77490709e+00] [ 1.57060631e-03 9.99892048e-01 1.46091087e-02 -4.84333605e-01] [ 1.80153349e-02 -1.46350479e-02 9.99730595e-01 -3.50299058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.553201008 meters Centerline goodness : 0.871683 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.35 [[ 9.99818572e-01 -2.56989557e-03 -1.88737565e-02 2.77792575e+00] [ 2.84840457e-03 9.99887238e-01 1.47443893e-02 -4.84552413e-01] [ 1.88337367e-02 -1.47954744e-02 9.99713151e-01 -3.49819123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.583201008 meters Centerline goodness : 0.875670 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.36 [[ 9.99888617e-01 -2.73732301e-03 -1.46717549e-02 2.79553311e+00] [ 2.79984808e-03 9.99987080e-01 4.24274975e-03 -4.80807632e-01] [ 1.46599515e-02 -4.28335586e-03 9.99883363e-01 -3.56495284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.613201007999997 meters Centerline goodness : 0.875670 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.36 [[ 9.99888617e-01 -2.73732301e-03 -1.46717549e-02 2.79553311e+00] [ 2.79984808e-03 9.99987080e-01 4.24274975e-03 -4.80807632e-01] [ 1.46599515e-02 -4.28335586e-03 9.99883363e-01 -3.56495284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.643201008 meters Centerline goodness : 0.878988 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.35 [[ 0.99988863 -0.00303819 -0.01461149 2.80897339] [ 0.00328802 0.9998483 0.01710462 -0.48449638] [ 0.01455731 -0.01715075 0.99974694 -0.3463079 ] [ 0. 0. 0. 1. ]] SLAMing on 27.673201008 meters Centerline goodness : 0.877478 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.48, Z:-0.35 [[ 9.99984013e-01 -5.07714562e-03 -2.48913238e-03 2.81566392e+00] [ 5.11313193e-03 9.99879306e-01 1.46707130e-02 -4.82128887e-01] [ 2.41434661e-03 -1.46832058e-02 9.99889281e-01 -3.54164977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.703201007999997 meters Centerline goodness : 0.877669 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.48, Z:-0.35 [[ 9.99994093e-01 -1.20206965e-03 -3.21996545e-03 2.81670699e+00] [ 1.26439641e-03 9.99810522e-01 1.94247601e-02 -4.83297360e-01] [ 3.19600543e-03 -1.94287167e-02 9.99806136e-01 -3.52300833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.733201007999998 meters Centerline goodness : 0.879468 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.48, Z:-0.36 [[ 9.99999142e-01 8.96874541e-04 9.54725090e-04 2.83075070e+00] [-9.04475680e-04 9.99967661e-01 7.99116604e-03 -4.78564106e-01] [-9.47527141e-04 -7.99202271e-03 9.99967614e-01 -3.60609019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.763201008 meters Centerline goodness : 0.879524 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.48, Z:-0.36 [[ 9.99998332e-01 1.39514842e-03 1.17863133e-03 2.82979194e+00] [-1.40397979e-03 9.99970697e-01 7.52559704e-03 -4.76789760e-01] [-1.16809747e-03 -7.52723927e-03 9.99970988e-01 -3.61069431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.793201007999997 meters Centerline goodness : 0.877972 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.36 [[ 9.99993692e-01 3.37223773e-03 1.11515752e-03 2.82807695e+00] [-3.38012678e-03 9.99968727e-01 7.14982928e-03 -4.73391640e-01] [-1.09101172e-03 -7.15355355e-03 9.99973818e-01 -3.61919665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.823201007999998 meters Centerline goodness : 0.878603 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.36 [[ 9.99991946e-01 3.80551495e-03 1.27485799e-03 2.82755206e+00] [-3.81375054e-03 9.99971465e-01 6.52109244e-03 -4.71625682e-01] [-1.25000550e-03 -6.52590191e-03 9.99977925e-01 -3.62918638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.853201008 meters Centerline goodness : 0.878624 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.36 [[ 9.99989625e-01 4.32028786e-03 1.44390439e-03 2.82675384e+00] [-4.32932115e-03 9.99970703e-01 6.31270632e-03 -4.70994533e-01] [-1.41658938e-03 -6.31889195e-03 9.99979032e-01 -3.63214390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.883201007999997 meters Centerline goodness : 0.878708 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.36 [[ 9.99986897e-01 4.82922357e-03 1.69830205e-03 2.82559884e+00] [-4.84026725e-03 9.99966769e-01 6.55993061e-03 -4.71472450e-01] [-1.66656624e-03 -6.56806489e-03 9.99977041e-01 -3.62748493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.913201007999998 meters Centerline goodness : 0.878067 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.36 [[ 9.99985017e-01 5.23481478e-03 1.60056012e-03 2.82469070e+00] [-5.24823899e-03 9.99950091e-01 8.50130276e-03 -4.74624965e-01] [-1.55597749e-03 -8.50957551e-03 9.99962582e-01 -3.59145344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.943201008 meters Centerline goodness : 0.881931 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.36 [[ 9.99995815e-01 1.84608682e-03 2.22757073e-03 2.82324255e+00] [-1.85366401e-03 9.99992487e-01 3.40429139e-03 -4.71406178e-01] [-2.22126938e-03 -3.40840631e-03 9.99991724e-01 -3.61037068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.973201007999997 meters Centerline goodness : 0.882813 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.36 [[ 9.99997087e-01 1.53138563e-03 1.86581646e-03 2.82443607e+00] [-1.53756604e-03 9.99993322e-01 3.31552564e-03 -4.71418073e-01] [-1.86072665e-03 -3.31838479e-03 9.99992763e-01 -3.61232111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.003201007999998 meters Centerline goodness : 0.882416 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.36 [[ 9.99992990e-01 3.62196015e-03 9.49709274e-04 2.82811440e+00] [-3.62880705e-03 9.99966700e-01 7.30967567e-03 -4.74397933e-01] [-9.23202294e-04 -7.31307074e-03 9.99972833e-01 -3.60816737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.033201008 meters Centerline goodness : 0.881424 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.48, Z:-0.36 [[ 9.99996163e-01 2.76916534e-03 -8.07464431e-05 2.83176420e+00] [-2.76856089e-03 9.99973634e-01 6.71316786e-03 -4.76104023e-01] [ 9.93341859e-05 -6.71291855e-03 9.99977463e-01 -3.62684937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.063201008 meters Centerline goodness : 0.880690 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.48, Z:-0.36 [[ 9.99997646e-01 2.07592371e-03 -6.31200718e-04 2.83411037e+00] [-2.07201679e-03 9.99979074e-01 6.12856335e-03 -4.76218295e-01] [ 6.43909939e-04 -6.12724107e-03 9.99981021e-01 -3.64094044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.093201007999998 meters Centerline goodness : 0.881466 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.48, Z:-0.37 [[ 9.99998343e-01 1.44749857e-03 -1.10359119e-03 2.83608159e+00] [-1.44133558e-03 9.99983477e-01 5.56497843e-03 -4.75869060e-01] [ 1.11162825e-03 -5.56337856e-03 9.99983906e-01 -3.65293117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.123201008 meters Centerline goodness : 0.880066 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.37 [[ 9.99998587e-01 6.89978740e-04 -1.53274829e-03 2.83821687e+00] [-6.82848030e-04 9.99988965e-01 4.64790048e-03 -4.74752901e-01] [ 1.53593833e-03 -4.64684728e-03 9.99988024e-01 -3.67013912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.153201008 meters Centerline goodness : 0.876135 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.37 [[ 9.99997952e-01 -1.80754539e-04 -2.01556450e-03 2.84089821e+00] [ 1.86753046e-04 9.99995553e-01 2.97630196e-03 -4.71807046e-01] [ 2.01501755e-03 -2.97667228e-03 9.99993540e-01 -3.70072707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.183201007999998 meters Centerline goodness : 0.877621 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.37 [[ 9.99996879e-01 -7.19054516e-04 -2.39263759e-03 2.84255062e+00] [ 7.24255748e-04 9.99997375e-01 2.17369277e-03 -4.70450550e-01] [ 2.39106831e-03 -2.17541886e-03 9.99994775e-01 -3.71402310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.213201008 meters Centerline goodness : 0.877602 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.37 [[ 9.99995745e-01 -8.65418886e-04 -2.78603200e-03 2.84339582e+00] [ 8.71746523e-04 9.99997042e-01 2.27078784e-03 -4.70532651e-01] [ 2.78405857e-03 -2.27320689e-03 9.99993541e-01 -3.71045441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.243201008 meters Centerline goodness : 0.877322 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.37 [[ 9.99994443e-01 -9.99276955e-04 -3.18056707e-03 2.84402378e+00] [ 1.00783227e-03 9.99995876e-01 2.68940566e-03 -4.71764441e-01] [ 3.17786649e-03 -2.69259619e-03 9.99991326e-01 -3.70014693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.273201007999997 meters Centerline goodness : 0.877413 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.48, Z:-0.37 [[ 9.99993073e-01 -8.37933061e-04 -3.62661552e-03 2.84360803e+00] [ 8.54092748e-04 9.99989705e-01 4.45660627e-03 -4.75066493e-01] [ 3.62284385e-03 -4.45967286e-03 9.99983493e-01 -3.66217316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.303201008 meters Centerline goodness : 0.880197 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.48, Z:-0.37 [[ 9.99991999e-01 -9.25250712e-04 -3.89168673e-03 2.84397243e+00] [ 9.44473626e-04 9.99987349e-01 4.94054719e-03 -4.75589370e-01] [ 3.88706625e-03 -4.94418326e-03 9.99980223e-01 -3.65210793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.333201008 meters Centerline goodness : 0.879690 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.48, Z:-0.37 [[ 9.99989484e-01 -1.46064212e-03 -4.34712515e-03 2.84548670e+00] [ 1.48061331e-03 9.99988349e-01 4.59444883e-03 -4.75361450e-01] [ 4.34036366e-03 -4.60083693e-03 9.99979997e-01 -3.65629287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.363201007999997 meters Centerline goodness : 0.878286 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.48, Z:-0.36 [[ 9.99982442e-01 3.87573072e-04 -5.91323125e-03 2.85084395e+00] [-3.32402070e-04 9.99956436e-01 9.32822541e-03 -4.77726740e-01] [ 5.91658902e-03 -9.32609605e-03 9.99939007e-01 -3.64091481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.393201008 meters Centerline goodness : 0.875621 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.36 [[ 9.99964596e-01 -5.87102935e-04 -8.39421377e-03 2.86254566e+00] [ 7.11170339e-04 9.99890446e-01 1.47847729e-02 -4.78487333e-01] [ 8.38461397e-03 -1.47902192e-02 9.99855463e-01 -3.61015081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.423201008 meters Centerline goodness : 0.873681 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.36 [[ 9.99959274e-01 -1.30051628e-03 -8.93074307e-03 2.86473491e+00] [ 1.42861354e-03 9.99895984e-01 1.43520371e-02 -4.78051412e-01] [ 8.91114907e-03 -1.43642112e-02 9.99857120e-01 -3.61936616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.453201007999997 meters Centerline goodness : 0.875838 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.36 [[ 9.99952006e-01 -2.01296436e-03 -9.58817087e-03 2.86686140e+00] [ 2.14695144e-03 9.99899908e-01 1.39844732e-02 -4.78011069e-01] [ 9.55906092e-03 -1.40043874e-02 9.99856240e-01 -3.62386153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.483201007999998 meters Centerline goodness : 0.873196 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.36 [[ 9.99944760e-01 -2.35443754e-03 -1.02437372e-02 2.86825433e+00] [ 2.50108179e-03 9.99894245e-01 1.43263226e-02 -4.78932744e-01] [ 1.02089234e-02 -1.43511517e-02 9.99844899e-01 -3.61457589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.513201008 meters Centerline goodness : 0.878041 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 9.99918270e-01 -2.05717451e-03 -1.26183128e-02 2.89645127e+00] [ 2.24512370e-03 9.99886484e-01 1.48989181e-02 -4.82734145e-01] [ 1.25862307e-02 -1.49260301e-02 9.99809382e-01 -3.54992594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.543201007999997 meters Centerline goodness : 0.877528 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 9.99911093e-01 -2.51480003e-03 -1.30951437e-02 2.89780500e+00] [ 2.71235754e-03 9.99882453e-01 1.50904776e-02 -4.83454431e-01] [ 1.30556549e-02 -1.51246547e-02 9.99800377e-01 -3.54520521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.573201007999998 meters Centerline goodness : 0.879285 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.49, Z:-0.35 [[ 9.99892568e-01 -1.39476242e-03 -1.45913664e-02 2.90455147e+00] [ 1.71793320e-03 9.99752982e-01 2.21590450e-02 -4.85925063e-01] [ 1.45568555e-02 -2.21817314e-02 9.99647972e-01 -3.48523722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.603201008 meters Centerline goodness : 0.881405 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.35 [[ 9.99887897e-01 -2.08571293e-03 -1.48271115e-02 2.90561244e+00] [ 2.40616340e-03 9.99763201e-01 2.16275858e-02 -4.84103816e-01] [ 1.47784915e-02 -2.16608378e-02 9.99656143e-01 -3.48680217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.633201007999997 meters Centerline goodness : 0.878419 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.9998851 -0.00572775 -0.0140352 2.90403509] [ 0.00594845 0.99985852 0.01573396 -0.47982885] [ 0.01394309 -0.01581564 0.9997777 -0.35162767] [ 0. 0. 0. 1. ]] SLAMing on 28.663201007999998 meters Centerline goodness : 0.880419 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.99988292 -0.00567465 -0.01421073 2.90385665] [ 0.00590515 0.99985083 0.01623123 -0.47975589] [ 0.0141165 -0.01631324 0.99976727 -0.35011678] [ 0. 0. 0. 1. ]] SLAMing on 28.693201008 meters Centerline goodness : 0.882664 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.99988411 -0.00545408 -0.01421315 2.90298872] [ 0.00569387 0.99984122 0.01688521 -0.47976352] [ 0.0141188 -0.01696418 0.99975641 -0.3482269 ] [ 0. 0. 0. 1. ]] SLAMing on 28.723201007999997 meters Centerline goodness : 0.885054 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.99989134 -0.00482893 -0.0139279 2.90095647] [ 0.0050786 0.99982604 0.01794693 -0.47984508] [ 0.01383881 -0.01801571 0.99974193 -0.3454739 ] [ 0. 0. 0. 1. ]] SLAMing on 28.753201007999998 meters Centerline goodness : 0.884899 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.99989302 -0.0047117 -0.01384742 2.90062713] [ 0.00495799 0.99982918 0.01780516 -0.47858212] [ 0.01376116 -0.01787191 0.99974558 -0.3454361 ] [ 0. 0. 0. 1. ]] SLAMing on 28.783201008 meters Centerline goodness : 0.883806 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 0.99989312 -0.00477962 -0.01381675 2.90076253] [ 0.00501428 0.99984293 0.0169991 -0.47622154] [ 0.01373333 -0.01706656 0.99976004 -0.34632662] [ 0. 0. 0. 1. ]] SLAMing on 28.813201007999997 meters Centerline goodness : 0.883336 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.35 [[ 9.99888757e-01 -1.25715878e-03 -1.48624419e-02 2.90303708e+00] [ 1.57639093e-03 9.99767886e-01 2.14869533e-02 -4.77577622e-01] [ 1.48319796e-02 -2.15079921e-02 9.99658651e-01 -3.45070588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.843201007999998 meters Centerline goodness : 0.884520 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.47, Z:-0.36 [[ 9.99941477e-01 1.12340316e-03 -1.07601727e-02 2.91233779e+00] [-1.05656836e-03 9.99980129e-01 6.21498451e-03 -4.71605475e-01] [ 1.07669408e-02 -6.20325193e-03 9.99922793e-01 -3.55585073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.873201008 meters Centerline goodness : 0.881871 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.47, Z:-0.35 [[ 0.99992022 0.00451141 -0.01179851 2.91496374] [-0.00438273 0.99993088 0.01090963 -0.47367741] [ 0.01184691 -0.01085705 0.99987088 -0.35432321] [ 0. 0. 0. 1. ]] SLAMing on 28.903201008 meters Centerline goodness : 0.884068 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.35 [[ 0.99988748 0.00766691 -0.0128933 2.91807885] [-0.00746744 0.99985279 0.01544799 -0.47526488] [ 0.01300984 -0.01534997 0.99979754 -0.35333647] [ 0. 0. 0. 1. ]] SLAMing on 28.933201007999998 meters Centerline goodness : 0.883200 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.47, Z:-0.36 [[ 0.99988922 0.00780212 -0.01267614 2.91843557] [-0.00762934 0.99987811 0.01362211 -0.47173499] [ 0.01278088 -0.0135239 0.99982686 -0.35692036] [ 0. 0. 0. 1. ]] SLAMing on 28.963201008 meters Centerline goodness : 0.880357 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.47, Z:-0.36 [[ 0.99988898 0.00775127 -0.0127255 2.91904461] [-0.00758868 0.99988959 0.01277567 -0.47009871] [ 0.01282312 -0.01267768 0.99983741 -0.35852506] [ 0. 0. 0. 1. ]] SLAMing on 28.993201008 meters Centerline goodness : 0.881599 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.47, Z:-0.36 [[ 0.99988708 0.00781986 -0.0128323 2.91948579] [-0.00766472 0.99989748 0.01209496 -0.46895139] [ 0.01292557 -0.01199524 0.99984451 -0.35969884] [ 0. 0. 0. 1. ]] SLAMing on 29.023201007999997 meters Centerline goodness : 0.880294 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.37 [[ 9.99895876e-01 1.11571742e-02 -9.15170446e-03 2.93209301e+00] [-1.11457713e-02 9.99937044e-01 1.29603848e-03 -4.66867446e-01] [ 9.16558843e-03 -1.19390072e-03 9.99957282e-01 -3.66678665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.053201008 meters Centerline goodness : 0.880668 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.37 [[ 9.99889503e-01 1.17065224e-02 -9.16187406e-03 2.93139515e+00] [-1.16896988e-02 9.99929891e-01 1.88766397e-03 -4.67730127e-01] [ 9.18332971e-03 -1.78035584e-03 9.99956247e-01 -3.65698637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.083201008 meters Centerline goodness : 0.881975 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.37 [[ 9.99887630e-01 1.17666895e-02 -9.28828789e-03 2.93162012e+00] [-1.17442227e-02 9.99927984e-01 2.46967953e-03 -4.69712271e-01] [ 9.31667894e-03 -2.36031829e-03 9.99953813e-01 -3.65146196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.113201007999997 meters Centerline goodness : 0.883999 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.36 [[ 9.99889692e-01 1.12529768e-02 -9.69402324e-03 2.93310512e+00] [-1.12249262e-02 9.99932667e-01 2.94316307e-03 -4.71544460e-01] [ 9.72648985e-03 -2.83402372e-03 9.99948681e-01 -3.64780239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.143201008 meters Centerline goodness : 0.884008 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99989519 0.01011372 -0.01035992 2.93599907] [-0.01008133 0.99994415 0.00317365 -0.47306236] [ 0.01039144 -0.00306887 0.9999413 -0.36490024] [ 0. 0. 0. 1. ]] SLAMing on 29.173201008 meters Centerline goodness : 0.882998 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99989865 0.00926275 -0.010812 2.93794426] [-0.00922564 0.9999514 0.00347713 -0.47398011] [ 0.01084368 -0.00337703 0.9999355 -0.36448933] [ 0. 0. 0. 1. ]] SLAMing on 29.203201007999997 meters Centerline goodness : 0.886183 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99989642 0.00904757 -0.01119342 2.938677 ] [-0.00900259 0.99995122 0.00406222 -0.47488571] [ 0.01122963 -0.00396103 0.9999291 -0.36325539] [ 0. 0. 0. 1. ]] SLAMing on 29.233201007999998 meters Centerline goodness : 0.885461 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.36 [[ 0.99989368 0.00852108 -0.01183316 2.94027893] [-0.00847013 0.99995467 0.00434841 -0.47623158] [ 0.01186968 -0.00424772 0.99992053 -0.36257407] [ 0. 0. 0. 1. ]] SLAMing on 29.263201008 meters Centerline goodness : 0.886735 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.36 [[ 9.99922176e-01 4.61339587e-03 -1.15912711e-02 2.93976390e+00] [-4.61618886e-03 9.99989322e-01 -2.14212974e-04 -4.75012184e-01] [ 1.15901591e-02 2.67703799e-04 9.99932796e-01 -3.63471182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.293201007999997 meters Centerline goodness : 0.885640 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.48, Z:-0.36 [[ 9.99911395e-01 1.18633135e-03 -1.32587417e-02 2.94719719e+00] [-1.17025312e-03 9.99998571e-01 1.22034432e-03 -4.78467164e-01] [ 1.32601705e-02 -1.20472011e-03 9.99911354e-01 -3.60758516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.323201007999998 meters Centerline goodness : 0.884946 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.48, Z:-0.36 [[ 9.99886071e-01 1.75419280e-03 -1.49922873e-02 2.95486510e+00] [-1.63690561e-03 9.99967991e-01 7.83186264e-03 -4.81641475e-01] [ 1.50055460e-02 -7.80642940e-03 9.99856936e-01 -3.55710240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.353201008 meters Centerline goodness : 0.882890 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.48, Z:-0.35 [[ 9.99851876e-01 2.46640676e-03 -1.70335937e-02 2.96305278e+00] [-2.23569167e-03 9.99905688e-01 1.35504955e-02 -4.83742576e-01] [ 1.70654082e-02 -1.35104065e-02 9.99763092e-01 -3.52234305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.383201007999997 meters Centerline goodness : 0.881528 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.35 [[ 9.99840700e-01 1.60570667e-03 -1.77763047e-02 2.96585590e+00] [-1.37738899e-03 9.99916503e-01 1.28487348e-02 -4.82709348e-01] [ 1.77954518e-02 -1.28222031e-02 9.99759428e-01 -3.53445777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.413201007999998 meters Centerline goodness : 0.882962 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.36 [[ 9.99846822e-01 -2.67774881e-03 -1.72962939e-02 2.96619608e+00] [ 2.79380346e-03 9.99973725e-01 6.68912389e-03 -4.78172776e-01] [ 1.72779276e-02 -6.73642171e-03 9.99828032e-01 -3.57567052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.443201008 meters Centerline goodness : 0.881870 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.36 [[ 0.99983089 -0.00447825 -0.01783619 2.97006361] [ 0.00456931 0.99997672 0.00506766 -0.4757101 ] [ 0.01781308 -0.0051483 0.99982808 -0.36056036] [ 0. 0. 0. 1. ]] SLAMing on 29.473201007999997 meters Centerline goodness : 0.879885 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.36 [[ 0.99982566 -0.00484939 -0.01803135 2.97056037] [ 0.00494679 0.99997339 0.00536091 -0.47581475] [ 0.01800487 -0.00544917 0.99982305 -0.35972163] [ 0. 0. 0. 1. ]] SLAMing on 29.503201007999998 meters Centerline goodness : 0.880739 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.36 [[ 9.99812546e-01 -8.60132725e-03 -1.73462076e-02 2.96871145e+00] [ 8.61700536e-03 9.99962529e-01 8.29294080e-04 -4.73446143e-01] [ 1.73384245e-02 -9.78610988e-04 9.99849199e-01 -3.59988001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.533201008 meters Centerline goodness : 0.880739 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.36 [[ 9.99812546e-01 -8.60132725e-03 -1.73462076e-02 2.96871145e+00] [ 8.61700536e-03 9.99962529e-01 8.29294080e-04 -4.73446143e-01] [ 1.73384245e-02 -9.78610988e-04 9.99849199e-01 -3.59988001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.563201007999997 meters Centerline goodness : 0.881080 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.36 [[ 9.99800764e-01 -1.13024849e-02 -1.64525462e-02 2.96399125e+00] [ 1.12714616e-02 9.99934520e-01 -1.97713735e-03 -4.72932074e-01] [ 1.64738154e-02 1.79129919e-03 9.99862693e-01 -3.56152600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.593201007999998 meters Centerline goodness : 0.883059 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.35 [[ 9.99807979e-01 -1.07685330e-02 -1.63720598e-02 2.96238680e+00] [ 1.07541956e-02 9.99941708e-01 -9.63516881e-04 -4.73380745e-01] [ 1.63814811e-02 7.87263532e-04 9.99865505e-01 -3.53560032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.623201008 meters Centerline goodness : 0.882293 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.48, Z:-0.34 [[ 0.99978787 -0.01072099 -0.01758627 2.94683907] [ 0.01096581 0.99984348 0.01388425 -0.4759495 ] [ 0.01743467 -0.01407415 0.99974894 -0.34353495] [ 0. 0. 0. 1. ]] SLAMing on 29.653201008 meters Centerline goodness : 0.882143 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.34 [[ 0.99982118 -0.00672171 -0.01767568 2.94721602] [ 0.00702618 0.99982704 0.01721973 -0.47244024] [ 0.01755688 -0.01734085 0.99969548 -0.34422199] [ 0. 0. 0. 1. ]] SLAMing on 29.683201007999998 meters Centerline goodness : 0.879886 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.34 [[ 9.99844224e-01 -8.36908228e-04 -1.76303124e-02 2.94943159e+00] [ 1.27797938e-03 9.99686099e-01 2.50213816e-02 -4.73114519e-01] [ 1.76038377e-02 -2.50400150e-02 9.99531442e-01 -3.43855740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.713201008 meters Centerline goodness : 0.879910 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.35 [[ 9.99852244e-01 -4.16913855e-04 -1.71847959e-02 2.94861789e+00] [ 8.24722809e-04 9.99718051e-01 2.37305492e-02 -4.69027227e-01] [ 1.71700570e-02 -2.37412156e-02 9.99570680e-01 -3.45778207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.743201008 meters Centerline goodness : 0.877919 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.35 [[ 9.99856718e-01 -1.47881102e-05 -1.69275614e-02 2.94768464e+00] [ 4.06776909e-04 9.99731836e-01 2.31536293e-02 -4.67404439e-01] [ 1.69226796e-02 -2.31571975e-02 9.99588599e-01 -3.46333497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.773201007999997 meters Centerline goodness : 0.877481 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.35 [[ 9.99915590e-01 2.41077635e-03 -1.27672195e-02 2.96270926e+00] [-2.21349833e-03 9.99878291e-01 1.54435697e-02 -4.65695004e-01] [ 1.28028966e-02 -1.54140059e-02 9.99799227e-01 -3.49498857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.803201008 meters Centerline goodness : 0.881943 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.35 [[ 9.99914218e-01 2.96942124e-03 -1.27569352e-02 2.96136191e+00] [-2.76700388e-03 9.99870462e-01 1.58556945e-02 -4.66032171e-01] [ 1.28023649e-02 -1.58190358e-02 9.99792907e-01 -3.47846118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.833201008 meters Centerline goodness : 0.877780 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.34 [[ 0.9999019 0.00335193 -0.0135995 2.97485224] [-0.00298448 0.99963231 0.02695078 -0.46852192] [ 0.01368484 -0.02690755 0.99954425 -0.34129337] [ 0. 0. 0. 1. ]] SLAMing on 29.863201007999997 meters Centerline goodness : 0.871465 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.33 [[ 9.99901525e-01 1.65136220e-06 -1.40335237e-02 2.99641565e+00] [ 5.66587652e-04 9.99179886e-01 4.04874696e-02 -4.70382709e-01] [ 1.40220815e-02 -4.04914338e-02 9.99081491e-01 -3.32746126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.893201008 meters Centerline goodness : 0.871191 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.33 [[ 9.99889383e-01 -1.14179841e-03 -1.48296136e-02 2.99956889e+00] [ 1.73687248e-03 9.99191079e-01 4.01767426e-02 -4.71428252e-01] [ 1.47717439e-02 -4.01980555e-02 9.99082535e-01 -3.33717386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.923201008 meters Centerline goodness : 0.873455 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.34 [[ 0.99987634 -0.0056343 -0.01468209 2.99993059] [ 0.00614909 0.99935937 0.03525665 -0.47042417] [ 0.01447404 -0.03534257 0.99927044 -0.33513458] [ 0. 0. 0. 1. ]] SLAMing on 29.953201007999997 meters Centerline goodness : 0.874985 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.48, Z:-0.32 [[ 0.99982341 -0.00936191 -0.01629425 2.99188072] [ 0.0102279 0.99849389 0.05390123 -0.47819362] [ 0.01576509 -0.05405837 0.99841332 -0.32016152] [ 0. 0. 0. 1. ]] SLAMing on 29.983201007999998 meters Centerline goodness : 0.880864 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.48, Z:-0.32 [[ 0.9997516 -0.01634984 -0.01514697 2.98765386] [ 0.01704258 0.99875915 0.0467944 -0.4793464 ] [ 0.01436309 -0.04704092 0.99878969 -0.31765701] [ 0. 0. 0. 1. ]] SLAMing on 30.013201008 meters Centerline goodness : 0.881872 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.31 [[ 0.99970349 -0.02069729 -0.01282783 2.94033215] [ 0.02140466 0.99810403 0.05770783 -0.48204208] [ 0.01160912 -0.05796529 0.9982511 -0.30953246] [ 0. 0. 0. 1. ]] SLAMing on 30.043201007999997 meters Centerline goodness : 0.881559 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.31 [[ 0.99963881 -0.02374779 -0.01258161 2.94177191] [ 0.02441822 0.99812514 0.05612454 -0.4825939 ] [ 0.01122519 -0.05641149 0.9983445 -0.31203452] [ 0. 0. 0. 1. ]] SLAMing on 30.073201007999998 meters Centerline goodness : 0.881344 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.32 [[ 0.99953112 -0.02823681 -0.0118419 2.94190325] [ 0.02879468 0.99833733 0.04993429 -0.47902848] [ 0.01041222 -0.05025186 0.9986823 -0.31610023] [ 0. 0. 0. 1. ]] SLAMing on 30.103201008 meters Centerline goodness : 0.877419 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.32 [[ 0.99945501 -0.02950243 -0.01480818 2.91900793] [ 0.03025186 0.9981237 0.05323446 -0.47862822] [ 0.01320985 -0.05365342 0.99847224 -0.31595751] [ 0. 0. 0. 1. ]] SLAMing on 30.133201007999997 meters Centerline goodness : 0.875223 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.32 [[ 0.99942542 -0.02981889 -0.01611392 2.92250448] [ 0.03061599 0.99819224 0.0517196 -0.478095 ] [ 0.01454257 -0.05218323 0.99853163 -0.31762881] [ 0. 0. 0. 1. ]] SLAMing on 30.163201007999998 meters Centerline goodness : 0.875645 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.47, Z:-0.32 [[ 0.99931331 -0.03359145 -0.0156375 2.92190533] [ 0.03427318 0.99837221 0.04558809 -0.47394067] [ 0.01408067 -0.04609273 0.99883792 -0.32089431] [ 0. 0. 0. 1. ]] SLAMing on 30.193201008 meters Centerline goodness : 0.877838 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.32 [[ 0.99930609 -0.03209827 -0.01889552 2.89207375] [ 0.03298745 0.99826389 0.04879575 -0.47582536] [ 0.01729646 -0.0493852 0.99863003 -0.31733857] [ 0. 0. 0. 1. ]] SLAMing on 30.223201007999997 meters Centerline goodness : 0.879958 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.32 [[ 0.99934724 -0.02956923 -0.02075474 2.89592128] [ 0.03052696 0.99840679 0.047455 -0.47488339] [ 0.01931847 -0.0480576 0.99865773 -0.31805648] [ 0. 0. 0. 1. ]] SLAMing on 30.253201007999998 meters Centerline goodness : 0.878088 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.32 [[ 0.99935202 -0.02853457 -0.02193885 2.89966998] [ 0.02953602 0.99846911 0.04676597 -0.47420975] [ 0.02057082 -0.04738365 0.99866492 -0.32030179] [ 0. 0. 0. 1. ]] SLAMing on 30.283201008 meters Centerline goodness : 0.877988 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.32 [[ 0.9993366 -0.02900718 -0.02202142 2.90069452] [ 0.02998564 0.99851489 0.04548498 -0.47167349] [ 0.02066932 -0.04611513 0.99872227 -0.32229477] [ 0. 0. 0. 1. ]] SLAMing on 30.313201007999997 meters Centerline goodness : 0.875285 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.47, Z:-0.33 [[ 0.99945291 -0.02751639 -0.01835004 2.91076415] [ 0.02804186 0.99918537 0.02902157 -0.46522178] [ 0.01753652 -0.02952026 0.99941034 -0.33453845] [ 0. 0. 0. 1. ]] SLAMing on 30.343201007999998 meters Centerline goodness : 0.881938 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.46, Z:-0.34 [[ 0.99952144 -0.02437941 -0.01904054 2.91348415] [ 0.02497103 0.99919246 0.03147829 -0.46139687] [ 0.01825775 -0.03193869 0.99932306 -0.33695298] [ 0. 0. 0. 1. ]] SLAMing on 30.373201008 meters Centerline goodness : 0.873590 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.46, Z:-0.34 [[ 0.99952134 -0.02435084 -0.01908197 2.91377279] [ 0.02492294 0.99922887 0.03034007 -0.45834494] [ 0.01832845 -0.03080112 0.99935747 -0.338488 ] [ 0. 0. 0. 1. ]] SLAMing on 30.403201008 meters Centerline goodness : 0.875791 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.45, Z:-0.35 [[ 0.99965197 -0.02155012 -0.01521588 2.92589476] [ 0.02182542 0.99959676 0.01816525 -0.45355736] [ 0.01481828 -0.01849102 0.99971921 -0.34669429] [ 0. 0. 0. 1. ]] SLAMing on 30.433201007999998 meters Centerline goodness : 0.877661 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.45, Z:-0.35 [[ 0.99979948 -0.01647417 -0.01138464 2.94128009] [ 0.01662277 0.99977622 0.0130839 -0.4514997 ] [ 0.01116654 -0.01327052 0.99984959 -0.34982073] [ 0. 0. 0. 1. ]] SLAMing on 30.463201008 meters Centerline goodness : 0.877222 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.45, Z:-0.35 [[ 0.99991445 -0.0084192 -0.01001007 2.92842487] [ 0.0085811 0.99983126 0.01624241 -0.44918049] [ 0.00987163 -0.01632692 0.99981797 -0.34540002] [ 0. 0. 0. 1. ]] SLAMing on 30.493201008 meters Centerline goodness : 0.880545 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.45, Z:-0.34 [[ 0.99993316 -0.00667792 -0.0094387 2.92509091] [ 0.00683083 0.99984442 0.01626264 -0.44627685] [ 0.00932863 -0.01632603 0.9998232 -0.34467772] [ 0. 0. 0. 1. ]] SLAMing on 30.523201007999997 meters Centerline goodness : 0.877815 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.44, Z:-0.35 [[ 9.99984463e-01 -2.42975021e-03 -5.01699648e-03 2.93640035e+00] [ 2.45807146e-03 9.99981037e-01 5.64663256e-03 -4.41461383e-01] [ 5.00318144e-03 -5.65887696e-03 9.99971472e-01 -3.52908818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.553201008 meters Centerline goodness : 0.877778 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.44, Z:-0.35 [[ 9.99983755e-01 1.41120156e-03 -5.52246785e-03 2.93771893e+00] [-1.35634214e-03 9.99949826e-01 9.92502778e-03 -4.41911757e-01] [ 5.53619698e-03 -9.91737620e-03 9.99935496e-01 -3.52639810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.583201008 meters Centerline goodness : 0.872413 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.44, Z:-0.35 [[ 9.99985472e-01 2.56074721e-03 -4.74331619e-03 2.93566169e+00] [-2.51604440e-03 9.99952593e-01 9.40649100e-03 -4.40015102e-01] [ 4.76717897e-03 -9.39441994e-03 9.99944508e-01 -3.54132921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.613201007999997 meters Centerline goodness : 0.870565 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.44, Z:-0.35 [[ 9.99985155e-01 2.78196443e-03 -4.68523390e-03 2.93530266e+00] [-2.73735851e-03 9.99951125e-01 9.50018503e-03 -4.40452956e-01] [ 4.71143409e-03 -9.48721883e-03 9.99943896e-01 -3.54007629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.643201008 meters Centerline goodness : 0.867085 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.44, Z:-0.36 [[ 9.99991351e-01 -3.94579178e-04 -4.14035761e-03 2.93378428e+00] [ 4.14374010e-04 9.99988484e-01 4.78117929e-03 -4.38596504e-01] [ 4.13842338e-03 -4.78285360e-03 9.99979999e-01 -3.55453519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.673201008 meters Centerline goodness : 0.868594 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.44, Z:-0.36 [[ 9.99991077e-01 -3.49380747e-04 -4.20992749e-03 2.93405338e+00] [ 3.70630094e-04 9.99987192e-01 5.04771511e-03 -4.39771231e-01] [ 4.20811000e-03 -5.04923039e-03 9.99978398e-01 -3.55401904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.703201007999997 meters Centerline goodness : 0.871366 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.44, Z:-0.35 [[ 9.99990379e-01 -1.25902006e-04 -4.38472070e-03 2.93413457e+00] [ 1.52150191e-04 9.99982069e-01 5.98646529e-03 -4.43414349e-01] [ 4.38388837e-03 -5.98707484e-03 9.99972468e-01 -3.54422475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.733201007999998 meters Centerline goodness : 0.870426 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.45, Z:-0.35 [[ 9.99989159e-01 2.45140165e-05 -4.65640750e-03 2.93438391e+00] [ 6.99734066e-06 9.99977102e-01 6.76717405e-03 -4.46346466e-01] [ 4.65646677e-03 -6.76713326e-03 9.99966261e-01 -3.53449362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.763201008 meters Centerline goodness : 0.869000 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.45, Z:-0.35 [[ 9.99988125e-01 3.73001292e-05 -4.87314348e-03 2.93493767e+00] [-2.30907283e-06 9.99974222e-01 7.18019536e-03 -4.48462796e-01] [ 4.87328569e-03 -7.18009885e-03 9.99962348e-01 -3.53288905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.793201007999997 meters Centerline goodness : 0.869546 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.45, Z:-0.36 [[ 9.99986625e-01 -2.02875746e-04 -5.16800777e-03 2.93699047e+00] [ 2.40680071e-04 9.99973212e-01 7.31549605e-03 -4.52112200e-01] [ 5.16638519e-03 -7.31664204e-03 9.99959887e-01 -3.55175823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.823201007999998 meters Centerline goodness : 0.867782 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.45, Z:-0.36 [[ 9.99985745e-01 -3.59076843e-04 -5.32736138e-03 2.93841875e+00] [ 3.97412526e-04 9.99974025e-01 7.19668566e-03 -4.54026994e-01] [ 5.32463884e-03 -7.19870023e-03 9.99959913e-01 -3.56813219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.853201008 meters Centerline goodness : 0.864694 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.46, Z:-0.36 [[ 9.99981211e-01 -1.12589326e-03 -6.02579226e-03 2.94103761e+00] [ 1.17300762e-03 9.99968728e-01 7.82096846e-03 -4.58506816e-01] [ 6.01679824e-03 -7.82788981e-03 9.99951260e-01 -3.56881646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.883201007999997 meters Centerline goodness : 0.871818 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.9999623 -0.0057974 -0.00646429 2.94314289] [ 0.00583118 0.99996937 0.00521994 -0.46589079] [ 0.00643383 -0.00525743 0.99996548 -0.3562453 ] [ 0. 0. 0. 1. ]] SLAMing on 30.913201007999998 meters Centerline goodness : 0.869818 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99996209 -0.00552356 -0.00673135 2.94307717] [ 0.00556365 0.99996682 0.00595075 -0.46827161] [ 0.00669825 -0.00598797 0.99995964 -0.35504255] [ 0. 0. 0. 1. ]] SLAMing on 30.943201008 meters Centerline goodness : 0.868769 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99996225 -0.00539949 -0.00680693 2.94312472] [ 0.00543937 0.99996808 0.00585332 -0.46819324] [ 0.00677511 -0.00589013 0.9999597 -0.35518086] [ 0. 0. 0. 1. ]] SLAMing on 30.973201007999997 meters Centerline goodness : 0.866266 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.47, Z:-0.36 [[ 0.99995889 -0.00579089 -0.006978 2.94428194] [ 0.00582604 0.99997039 0.00502736 -0.46705586] [ 0.00694868 -0.0050678 0.99996302 -0.35668164] [ 0. 0. 0. 1. ]] SLAMing on 31.003201007999998 meters Centerline goodness : 0.868279 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.36 [[ 0.99995592 -0.00617108 -0.00707665 2.94552813] [ 0.00620047 0.99997221 0.00413816 -0.46511331] [ 0.00705092 -0.00418185 0.9999664 -0.35851437] [ 0. 0. 0. 1. ]] SLAMing on 31.033201008 meters Centerline goodness : 0.861273 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.36 [[ 0.99995796 -0.00402659 -0.00823814 2.95105416] [ 0.00407855 0.99997184 0.00629992 -0.46157609] [ 0.00821255 -0.00633326 0.99994622 -0.36213439] [ 0. 0. 0. 1. ]] SLAMing on 31.063201007999997 meters Centerline goodness : 0.858737 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.37 [[ 0.99995433 -0.00464631 -0.00835213 2.95275789] [ 0.00468533 0.99997818 0.00465776 -0.45790507] [ 0.00833031 -0.00469668 0.99995427 -0.3650509 ] [ 0. 0. 0. 1. ]] SLAMing on 31.093201007999998 meters Centerline goodness : 0.861190 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.37 [[ 0.99995383 -0.00481523 -0.00831576 2.95326695] [ 0.00484662 0.99998119 0.00375871 -0.45505574] [ 0.0082975 -0.00379884 0.99995836 -0.36651229] [ 0. 0. 0. 1. ]] SLAMing on 31.123201008 meters Centerline goodness : 0.857258 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.37 [[ 0.99995661 -0.00439357 -0.00821376 2.95204212] [ 0.00442562 0.99998265 0.00388864 -0.45364561] [ 0.00819653 -0.00392482 0.99995871 -0.36530322] [ 0. 0. 0. 1. ]] SLAMing on 31.153201008 meters Centerline goodness : 0.862683 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 0.99995518 -0.00440581 -0.00837996 2.95189541] [ 0.00443752 0.99998305 0.0037693 -0.45301712] [ 0.00836321 -0.00380632 0.99995778 -0.36464008] [ 0. 0. 0. 1. ]] SLAMing on 31.183201007999998 meters Centerline goodness : 0.858095 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 0.99996003 -0.00389758 -0.00804625 2.9502601 ] [ 0.00392902 0.9999847 0.00389482 -0.45206955] [ 0.00803094 -0.00392628 0.99996004 -0.36372993] [ 0. 0. 0. 1. ]] SLAMing on 31.213201008 meters Centerline goodness : 0.862691 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 9.99966862e-01 -2.93341085e-03 -7.59411451e-03 2.94689430e+00] [ 2.97295032e-03 9.99982058e-01 5.20055125e-03 -4.53113249e-01] [ 7.57872290e-03 -5.22295584e-03 9.99957641e-01 -3.60021425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.243201008 meters Centerline goodness : 0.862136 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 9.99968841e-01 -2.44701904e-03 -7.50527628e-03 2.94570619e+00] [ 2.49183426e-03 9.99979089e-01 5.96763497e-03 -4.54555643e-01] [ 7.49051642e-03 -5.98615092e-03 9.99954028e-01 -3.58438128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.273201007999997 meters Centerline goodness : 0.859947 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 9.99967353e-01 -2.70205841e-03 -7.61520422e-03 2.94640665e+00] [ 2.74493944e-03 9.99980406e-01 5.62616107e-03 -4.54344098e-01] [ 7.59985279e-03 -5.64688067e-03 9.99955176e-01 -3.59134706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.303201008 meters Centerline goodness : 0.859346 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 0.99996662 -0.00313635 -0.00754516 2.94736669] [ 0.00317321 0.99998307 0.00487753 -0.45301882] [ 0.00752973 -0.00490131 0.99995964 -0.36089799] [ 0. 0. 0. 1. ]] SLAMing on 31.333201008 meters Centerline goodness : 0.856065 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 0.99996537 -0.00368376 -0.00746182 2.94854522] [ 0.00371386 0.99998501 0.00402343 -0.45145381] [ 0.00744688 -0.00405101 0.99996407 -0.36295192] [ 0. 0. 0. 1. ]] SLAMing on 31.363201007999997 meters Centerline goodness : 0.856640 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.45, Z:-0.36 [[ 0.99995857 -0.00448421 -0.00792184 2.95056685] [ 0.00451908 0.99998016 0.00438889 -0.45436966] [ 0.007902 -0.00442451 0.99995899 -0.36307239] [ 0. 0. 0. 1. ]] SLAMing on 31.393201008 meters Centerline goodness : 0.862546 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.36 [[ 0.99995335 -0.00476212 -0.00840316 2.951608 ] [ 0.00480576 0.99997504 0.00518011 -0.45755936] [ 0.00837829 -0.00522026 0.99995128 -0.36199776] [ 0. 0. 0. 1. ]] SLAMing on 31.423201008 meters Centerline goodness : 0.862546 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.36 [[ 0.99995335 -0.00476212 -0.00840316 2.951608 ] [ 0.00480576 0.99997504 0.00518011 -0.45755936] [ 0.00837829 -0.00522026 0.99995128 -0.36199776] [ 0. 0. 0. 1. ]] SLAMing on 31.453201007999997 meters Centerline goodness : 0.860506 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.46, Z:-0.36 [[ 0.99994467 -0.00630051 -0.00842366 2.95340182] [ 0.00635882 0.99995588 0.0069143 -0.46275638] [ 0.00837972 -0.00696749 0.99994062 -0.35967901] [ 0. 0. 0. 1. ]] SLAMing on 31.483201007999998 meters Centerline goodness : 0.861431 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.47, Z:-0.36 [[ 0.99993688 -0.00687959 -0.00888301 2.95486893] [ 0.00694763 0.99994659 0.00765146 -0.4657222 ] [ 0.00882989 -0.00771269 0.99993127 -0.35879431] [ 0. 0. 0. 1. ]] SLAMing on 31.513201008 meters Centerline goodness : 0.859018 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.36 [[ 0.99992399 -0.00751359 -0.00977509 2.95695564] [ 0.00759942 0.99993264 0.00877327 -0.46887073] [ 0.00970851 -0.00884689 0.99991373 -0.35681547] [ 0. 0. 0. 1. ]] SLAMing on 31.543201007999997 meters Centerline goodness : 0.863757 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.47, Z:-0.35 [[ 0.99988107 -0.00587519 -0.0142592 2.97841636] [ 0.00593142 0.99997479 0.00390427 -0.47159001] [ 0.0142359 -0.00398838 0.99989071 -0.35497989] [ 0. 0. 0. 1. ]] SLAMing on 31.573201007999998 meters Centerline goodness : 0.866213 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.47, Z:-0.35 [[ 0.99987261 -0.00634935 -0.0146442 2.97938819] [ 0.00641805 0.99996859 0.00464954 -0.47338341] [ 0.01461421 -0.00474293 0.99988196 -0.3536002 ] [ 0. 0. 0. 1. ]] SLAMing on 31.603201008 meters Centerline goodness : 0.865378 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.48, Z:-0.35 [[ 0.99985267 -0.00525422 -0.01634102 2.98643272] [ 0.00544012 0.99992076 0.01135275 -0.47606775] [ 0.01628008 -0.01143997 0.99980202 -0.34857138] [ 0. 0. 0. 1. ]] SLAMing on 31.633201007999997 meters Centerline goodness : 0.864157 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.48, Z:-0.35 [[ 0.9998419 -0.00366954 -0.01739869 2.99152989] [ 0.0039379 0.99987343 0.01541489 -0.47724951] [ 0.01733992 -0.01548097 0.9997298 -0.34830948] [ 0. 0. 0. 1. ]] SLAMing on 31.663201007999998 meters Centerline goodness : 0.860323 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.48, Z:-0.35 [[ 0.9998371 -0.00430244 -0.01752875 2.99301914] [ 0.00455761 0.99988386 0.01454319 -0.475073 ] [ 0.01746414 -0.01462071 0.99974059 -0.35000673] [ 0. 0. 0. 1. ]] SLAMing on 31.693201008 meters Centerline goodness : 0.860483 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.35 [[ 0.99982099 -0.00569892 -0.01804193 2.99633016] [ 0.00592324 0.99990552 0.01240432 -0.47145785] [ 0.01796954 -0.01250897 0.99976028 -0.35362975] [ 0. 0. 0. 1. ]] SLAMing on 31.723201007999997 meters Centerline goodness : 0.859865 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.48, Z:-0.35 [[ 0.99979478 -0.00461757 -0.01972494 3.00280116] [ 0.00500797 0.99979164 0.01978903 -0.47544199] [ 0.01962945 -0.01988375 0.99960958 -0.34649103] [ 0. 0. 0. 1. ]] SLAMing on 31.753201007999998 meters Centerline goodness : 0.861541 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.47, Z:-0.35 [[ 0.99986016 -0.00530698 -0.01585842 3.0197893 ] [ 0.00546932 0.99993291 0.01021099 -0.47436333] [ 0.01580317 -0.0102963 0.99982211 -0.34945325] [ 0. 0. 0. 1. ]] SLAMing on 31.783201008 meters Centerline goodness : 0.864037 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-0.34 [[ 0.99984827 -0.00395954 -0.01696317 3.02484706] [ 0.00427286 0.9998202 0.01847437 -0.47938603] [ 0.01688697 -0.01854405 0.99968542 -0.34112295] [ 0. 0. 0. 1. ]] SLAMing on 31.813201007999997 meters Centerline goodness : 0.866105 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-0.34 [[ 0.99981852 -0.00453116 -0.01850407 3.0337839 ] [ 0.0049487 0.99973275 0.02258184 -0.4789363 ] [ 0.0183968 -0.02266932 0.99957374 -0.34006134] [ 0. 0. 0. 1. ]] SLAMing on 31.843201007999998 meters Centerline goodness : 0.861911 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.47, Z:-0.35 [[ 0.99981259 -0.00834497 -0.01746872 3.03298019] [ 0.00860707 0.9998507 0.01498301 -0.47215272] [ 0.01734108 -0.01513055 0.99973514 -0.34704519] [ 0. 0. 0. 1. ]] SLAMing on 31.873201008 meters Centerline goodness : 0.860587 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.47, Z:-0.35 [[ 0.99980924 -0.00894088 -0.01736496 3.03404621] [ 0.00917593 0.99986672 0.01350369 -0.46907713] [ 0.01724192 -0.01366045 0.99975802 -0.34957593] [ 0. 0. 0. 1. ]] SLAMing on 31.903201008 meters Centerline goodness : 0.860932 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.35 [[ 0.99982166 -0.0052788 -0.01813253 3.03562756] [ 0.0056099 0.99981758 0.01825773 -0.470049 ] [ 0.01803284 -0.0183562 0.99966888 -0.34799944] [ 0. 0. 0. 1. ]] SLAMing on 31.933201007999998 meters Centerline goodness : 0.860582 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.35 [[ 9.99889352e-01 -1.78232330e-03 -1.47684180e-02 3.04976606e+00] [ 1.91374707e-03 9.99958655e-01 8.88962552e-03 -4.65834294e-01] [ 1.47519632e-02 -8.91690493e-03 9.99851423e-01 -3.53651843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.963201008 meters Centerline goodness : 0.860422 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.35 [[ 9.99885578e-01 -1.47735320e-03 -1.50548232e-02 3.04978937e+00] [ 1.60415381e-03 9.99963315e-01 8.41399821e-03 -4.64045321e-01] [ 1.50418405e-02 -8.43718571e-03 9.99851267e-01 -3.53717151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.993201008 meters Centerline goodness : 0.862299 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.35 [[ 9.99889085e-01 -9.06994396e-04 -1.48658909e-02 3.04887302e+00] [ 1.02582589e-03 9.99967570e-01 7.98789180e-03 -4.62221463e-01] [ 1.48581638e-02 -8.00225564e-03 9.99857589e-01 -3.54130126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.023201008 meters Centerline goodness : 0.861987 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.36 [[ 9.99913002e-01 4.96027556e-03 -1.22222537e-02 3.06458579e+00] [-4.96908681e-03 9.99987416e-01 -6.90655998e-04 -4.56222107e-01] [ 1.22186741e-02 7.51329352e-04 9.99925067e-01 -3.63559408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.053201008 meters Centerline goodness : 0.860929 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.46, Z:-0.36 [[ 0.99988222 0.00896156 -0.0124593 3.06521364] [-0.00892049 0.99995461 0.00334771 -0.45576963] [ 0.01248873 -0.00323617 0.99991678 -0.36343072] [ 0. 0. 0. 1. ]] SLAMing on 32.083201008 meters Centerline goodness : 0.860652 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.45, Z:-0.36 [[ 9.99877000e-01 9.98272443e-03 -1.20966561e-02 3.06351459e+00] [-9.94592275e-03 9.99945737e-01 3.09865246e-03 -4.52650667e-01] [ 1.21269327e-02 -2.97795892e-03 9.99922032e-01 -3.63584550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.113201008000004 meters Centerline goodness : 0.861655 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.45, Z:-0.36 [[ 9.99872184e-01 1.08662205e-02 -1.17277896e-02 3.06177750e+00] [-1.08350759e-02 9.99937611e-01 2.71590133e-03 -4.49933381e-01] [ 1.17565695e-02 -2.58848271e-03 9.99927539e-01 -3.63715475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.143201008 meters Centerline goodness : 0.861282 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.37 [[ 0.99984714 0.016449 -0.00592755 3.07164187] [-0.01647201 0.9998569 -0.00385444 -0.44759079] [ 0.0058633 0.00395149 0.999975 -0.3669037 ] [ 0. 0. 0. 1. ]] SLAMing on 32.173201008 meters Centerline goodness : 0.861563 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.36 [[ 9.99823451e-01 1.79358919e-02 -5.60101795e-03 3.06832427e+00] [-1.79501838e-02 9.99835727e-01 -2.51188762e-03 -4.48887279e-01] [ 5.55504491e-03 2.61198344e-03 9.99981159e-01 -3.63659302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.203201008 meters Centerline goodness : 0.864155 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.45, Z:-0.36 [[ 9.99796705e-01 1.95707238e-02 -4.85124188e-03 3.06416690e+00] [-1.95771453e-02 9.99807530e-01 -1.27975614e-03 -4.50230702e-01] [ 4.82526241e-03 1.37446944e-03 9.99987414e-01 -3.60824005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.233201008 meters Centerline goodness : 0.869811 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.37 [[ 9.99705406e-01 2.42485752e-02 1.05218806e-03 3.07681507e+00] [-2.42398600e-02 9.99677073e-01 -7.62757260e-03 -4.48710839e-01] [-1.23680605e-03 7.59982068e-03 9.99970356e-01 -3.65976233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.263201008 meters Centerline goodness : 0.868541 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.37 [[ 9.99693704e-01 2.46931748e-02 1.65698437e-03 3.07594667e+00] [-2.46797239e-02 9.99665764e-01 -7.69884829e-03 -4.48018770e-01] [-1.84653955e-03 7.65559625e-03 9.99968991e-01 -3.67097214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.293201008000004 meters Centerline goodness : 0.867201 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.37 [[ 9.99698758e-01 2.44896103e-02 1.62864230e-03 3.07679334e+00] [-2.44763467e-02 9.99670614e-01 -7.71828638e-03 -4.48723631e-01] [-1.81712367e-03 7.67609810e-03 9.99968887e-01 -3.68073708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.323201008000005 meters Centerline goodness : 0.862251 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.37 [[ 9.99708609e-01 2.40991321e-02 1.38863799e-03 3.07825320e+00] [-2.40876649e-02 9.99679771e-01 -7.75499229e-03 -4.49633357e-01] [-1.57508189e-03 7.71928351e-03 9.99968965e-01 -3.69040990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.353201008 meters Centerline goodness : 0.864312 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.37 [[ 9.99723773e-01 2.34912812e-02 7.32757548e-04 3.08051859e+00] [-2.34854125e-02 9.99698319e-01 -7.19070827e-03 -4.54246298e-01] [-9.01455439e-04 7.17151289e-03 9.99973878e-01 -3.69309734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.383201008 meters Centerline goodness : 0.864377 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.37 [[ 9.99739886e-01 2.28046843e-02 -3.25526657e-04 3.08334209e+00] [-2.28063089e-02 9.99719145e-01 -6.44238189e-03 -4.58199495e-01] [ 1.78518746e-04 6.44813020e-03 9.99979195e-01 -3.68734321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.413201008 meters Centerline goodness : 0.866375 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.46, Z:-0.37 [[ 9.99758080e-01 2.19636379e-02 -1.17481847e-03 3.08615130e+00] [-2.19704227e-02 9.99739931e-01 -6.11313878e-03 -4.61919975e-01] [ 1.04024617e-03 6.13747115e-03 9.99980624e-01 -3.69065260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.443201008 meters Centerline goodness : 0.865256 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.46, Z:-0.37 [[ 9.99782610e-01 2.07147375e-02 -2.37326559e-03 3.09038933e+00] [-2.07289377e-02 9.99766378e-01 -6.12380951e-03 -4.64190129e-01] [ 2.24585803e-03 6.17167353e-03 9.99978433e-01 -3.70055691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.473201008000004 meters Centerline goodness : 0.862498 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.46, Z:-0.38 [[ 0.99983599 0.01779477 -0.00336698 3.09767501] [-0.01782062 0.99981069 -0.00781081 -0.46461543] [ 0.00322735 0.00786953 0.99996383 -0.37515326] [ 0. 0. 0. 1. ]] SLAMing on 32.503201008000005 meters Centerline goodness : 0.861606 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.47, Z:-0.38 [[ 0.99985033 0.01680709 -0.00410337 3.10096487] [-0.01684009 0.99982502 -0.00814536 -0.46511795] [ 0.00396575 0.00821324 0.99995841 -0.37674668] [ 0. 0. 0. 1. ]] SLAMing on 32.533201008 meters Centerline goodness : 0.861890 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.47, Z:-0.38 [[ 0.99985699 0.01626374 -0.0046352 3.10299698] [-0.01630081 0.99983452 -0.0080761 -0.46646254] [ 0.00450308 0.00815051 0.99995664 -0.37736867] [ 0. 0. 0. 1. ]] SLAMing on 32.563201008 meters Centerline goodness : 0.860691 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.47, Z:-0.37 [[ 0.99985509 0.01608729 -0.00556749 3.10418908] [-0.01611799 0.99985489 -0.00551371 -0.47230584] [ 0.00547798 0.00560265 0.9999693 -0.37306503] [ 0. 0. 0. 1. ]] SLAMing on 32.593201008 meters Centerline goodness : 0.862927 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 0.99981174 0.01829538 -0.00646201 3.10806106] [-0.01827204 0.99982638 0.00365235 -0.47915815] [ 0.00652771 -0.00353358 0.99997245 -0.36386513] [ 0. 0. 0. 1. ]] SLAMing on 32.623201008 meters Centerline goodness : 0.865563 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 0.99980609 0.01853092 -0.0066624 3.1074816 ] [-0.01849946 0.99981757 0.00475442 -0.48124919] [ 0.00674929 -0.00463025 0.9999665 -0.36151712] [ 0. 0. 0. 1. ]] SLAMing on 32.653201008 meters Centerline goodness : 0.868887 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 0.99980454 0.01857387 -0.00677429 3.10724314] [-0.01853723 0.99981342 0.0054313 -0.48247554] [ 0.00687391 -0.00530466 0.9999623 -0.36008958] [ 0. 0. 0. 1. ]] SLAMing on 32.683201008000005 meters Centerline goodness : 0.860922 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 0.99981322 0.01809393 -0.0067921 3.10822833] [-0.01806225 0.99982584 0.00469622 -0.48103649] [ 0.00687589 -0.00457266 0.99996591 -0.36152364] [ 0. 0. 0. 1. ]] SLAMing on 32.713201008 meters Centerline goodness : 0.860590 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 0.99982092 0.01758205 -0.00700023 3.10956542] [-0.0175565 0.99983905 0.00369407 -0.47867773] [ 0.00706405 -0.00357051 0.99996867 -0.36310856] [ 0. 0. 0. 1. ]] SLAMing on 32.743201008 meters Centerline goodness : 0.861537 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 9.99825814e-01 1.72132062e-02 -7.21440648e-03 3.11068818e+00] [-1.71923420e-02 9.99847866e-01 2.94412863e-03 -4.76871260e-01] [ 7.26398682e-03 -2.81958326e-03 9.99969642e-01 -3.64294667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.773201008 meters Centerline goodness : 0.857584 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.37 [[ 9.99828501e-01 1.68762881e-02 -7.62628012e-03 3.11193536e+00] [-1.68590980e-02 9.99855201e-01 2.31275116e-03 -4.75839591e-01] [ 7.66420649e-03 -2.18378232e-03 9.99968245e-01 -3.65071962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.803201008 meters Centerline goodness : 0.858013 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 9.99828902e-01 1.66567411e-02 -8.04485192e-03 3.11290490e+00] [-1.66384337e-02 9.99858840e-01 2.33726492e-03 -4.76173965e-01] [ 8.08264752e-03 -2.20301128e-03 9.99964908e-01 -3.64851676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.833201008 meters Centerline goodness : 0.862201 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 9.99827491e-01 1.65271721e-02 -8.47587813e-03 3.11373353e+00] [-1.65045138e-02 9.99860047e-01 2.73628269e-03 -4.77073032e-01] [ 8.51991492e-03 -2.59592041e-03 9.99960335e-01 -3.64053193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.863201008000004 meters Centerline goodness : 0.865600 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.48, Z:-0.36 [[ 9.99828344e-01 1.62574290e-02 -8.88702806e-03 3.11477595e+00] [-1.62330705e-02 9.99864297e-01 2.80620629e-03 -4.77520582e-01] [ 8.93144376e-03 -2.66146084e-03 9.99956572e-01 -3.63847603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.893201008 meters Centerline goodness : 0.860168 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.48, Z:-0.37 [[ 9.99836692e-01 1.55703688e-02 -9.17351756e-03 3.11646058e+00] [-1.55522641e-02 9.99876972e-01 2.04162179e-03 -4.76170340e-01] [ 9.20417777e-03 -1.89861941e-03 9.99955838e-01 -3.65243178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.923201008 meters Centerline goodness : 0.868485 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.37 [[ 9.99841688e-01 1.50592627e-02 -9.47720846e-03 3.11792692e+00] [-1.50468618e-02 9.99885839e-01 1.37844892e-03 -4.74539069e-01] [ 9.49688496e-03 -1.23562845e-03 9.99954140e-01 -3.66339266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.953201008 meters Centerline goodness : 0.863902 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.37 [[ 9.99845581e-01 1.46458867e-02 -9.71140272e-03 3.11907893e+00] [-1.46399439e-02 9.99892597e-01 6.82754478e-04 -4.72959200e-01] [ 9.72035924e-03 -5.40474657e-04 9.99952610e-01 -3.67409527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.983201008 meters Centerline goodness : 0.863758 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.37 [[ 9.99846136e-01 1.44670570e-02 -9.92009233e-03 3.11961144e+00] [-1.44628137e-02 9.99895283e-01 4.99356693e-04 -4.72177825e-01] [ 9.92627775e-03 -3.55807413e-04 9.99950670e-01 -3.67395795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.013201008 meters Centerline goodness : 0.864036 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.37 [[ 9.99839921e-01 1.47337323e-02 -1.01513199e-02 3.11894391e+00] [-1.47230271e-02 9.99890974e-01 1.12848863e-03 -4.72982318e-01] [ 1.01668400e-02 -9.78849821e-04 9.99947837e-01 -3.65352628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.043201008000004 meters Centerline goodness : 0.865331 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.36 [[ 9.99836463e-01 1.47559584e-02 -1.04550649e-02 3.11913357e+00] [-1.47407119e-02 9.99890173e-01 1.53385574e-03 -4.73758636e-01] [ 1.04765501e-02 -1.37948980e-03 9.99944168e-01 -3.64272621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.073201008000005 meters Centerline goodness : 0.868846 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.36 [[ 9.99834700e-01 1.48444103e-02 -1.04983813e-02 3.11888758e+00] [-1.48270024e-02 9.99888570e-01 1.73404730e-03 -4.74095835e-01] [ 1.05229524e-02 -1.57810114e-03 9.99943387e-01 -3.63652799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.103201008 meters Centerline goodness : 0.866822 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.36 [[ 9.99834569e-01 1.46783796e-02 -1.07415178e-02 3.11938961e+00] [-1.46598675e-02 9.99890918e-01 1.80013972e-03 -4.74239444e-01] [ 1.07667692e-02 -1.64237269e-03 9.99940688e-01 -3.63300357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.133201008 meters Centerline goodness : 0.866840 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.36 [[ 9.99839313e-01 1.38953376e-02 -1.13255483e-02 3.12180683e+00] [-1.38826341e-02 9.99902912e-01 1.19951906e-03 -4.73988147e-01] [ 1.13411165e-02 -1.04209787e-03 9.99935144e-01 -3.64585293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.163201008 meters Centerline goodness : 0.866189 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.47, Z:-0.37 [[ 9.99843764e-01 1.29317658e-02 -1.20506390e-02 3.12472748e+00] [-1.29267214e-02 9.99916323e-01 4.96405158e-04 -4.73511904e-01] [ 1.20560501e-02 -3.40552348e-04 9.99927265e-01 -3.66042503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.193201008 meters Centerline goodness : 0.867224 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.47, Z:-0.37 [[ 9.99847861e-01 1.21227484e-02 -1.25416713e-02 3.12701094e+00] [-1.21238452e-02 9.99926503e-01 -1.14281160e-05 -4.73279203e-01] [ 1.25406110e-02 1.63479659e-04 9.99921350e-01 -3.67258620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.223201008000004 meters Centerline goodness : 0.867043 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.47, Z:-0.37 [[ 9.99851226e-01 9.99458476e-03 -1.40582088e-02 3.13208789e+00] [-9.98905187e-03 9.99950001e-01 4.63734902e-04 -4.74909393e-01] [ 1.40621408e-02 -3.23237734e-04 9.99901071e-01 -3.65915374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.253201008000005 meters Centerline goodness : 0.867799 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.48, Z:-0.36 [[ 9.99847050e-01 9.18509862e-03 -1.48832113e-02 3.13431927e+00] [-9.17155626e-03 9.99957462e-01 9.77909180e-04 -4.76678196e-01] [ 1.48915604e-02 -8.41257399e-04 9.99888761e-01 -3.64882182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.283201008 meters Centerline goodness : 0.868387 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.48, Z:-0.36 [[ 9.99840246e-01 8.55641299e-03 -1.56930130e-02 3.13606456e+00] [-8.52871259e-03 9.99961953e-01 1.83121989e-03 -4.78198047e-01] [ 1.57080846e-02 -1.69708614e-03 9.99875180e-01 -3.62958291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.313201008 meters Centerline goodness : 0.872446 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-0.35 [[ 0.99984874 0.00621837 -0.01624267 3.14714681] [-0.00604722 0.9999259 0.01056524 -0.48044129] [ 0.01630716 -0.01046542 0.99981226 -0.35335513] [ 0. 0. 0. 1. ]] SLAMing on 33.343201008 meters Centerline goodness : 0.874882 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-0.35 [[ 0.99980786 0.00753848 -0.01809472 3.15377733] [-0.00725244 0.99984852 0.01582209 -0.48184827] [ 0.01821125 -0.01568781 0.99971108 -0.35037362] [ 0. 0. 0. 1. ]] SLAMing on 33.373201008 meters Centerline goodness : 0.874882 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-0.35 [[ 0.99980786 0.00753848 -0.01809472 3.15377733] [-0.00725244 0.99984852 0.01582209 -0.48184827] [ 0.01821125 -0.01568781 0.99971108 -0.35037362] [ 0. 0. 0. 1. ]] SLAMing on 33.403201008 meters Centerline goodness : 0.875383 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-0.35 [[ 0.99976452 0.00954565 -0.01948833 3.15886164] [-0.0091542 0.99975651 0.02007776 -0.48228829] [ 0.01967524 -0.01989463 0.99960847 -0.34937102] [ 0. 0. 0. 1. ]] SLAMing on 33.433201008000005 meters Centerline goodness : 0.879040 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-0.35 [[ 0.99976406 0.00872627 -0.01989139 3.16051963] [-0.00835385 0.99978969 0.01872959 -0.47905445] [ 0.02005064 -0.018559 0.9996267 -0.35067925] [ 0. 0. 0. 1. ]] SLAMing on 33.463201008 meters Centerline goodness : 0.879416 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-0.34 [[ 0.99970568 0.01169418 -0.02125536 3.16380244] [-0.01112963 0.99958718 0.02648766 -0.48298322] [ 0.02155634 -0.0262433 0.99942314 -0.34318362] [ 0. 0. 0. 1. ]] SLAMing on 33.493201008 meters Centerline goodness : 0.882814 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.48, Z:-0.35 [[ 0.99976906 0.01255613 -0.01744034 3.18133214] [-0.01224835 0.99976931 0.01764371 -0.48043387] [ 0.01765786 -0.01742602 0.99969222 -0.34799819] [ 0. 0. 0. 1. ]] SLAMing on 33.523201008 meters Centerline goodness : 0.885000 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.48, Z:-0.35 [[ 0.99976831 0.01205322 -0.01783412 3.18279198] [-0.01175919 0.99979469 0.01650125 -0.47782033] [ 0.01802935 -0.01628771 0.99970478 -0.34938805] [ 0. 0. 0. 1. ]] SLAMing on 33.553201008 meters Centerline goodness : 0.881459 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.47, Z:-0.36 [[ 0.99972133 0.01467637 -0.01848958 3.18704561] [-0.01437992 0.99976753 0.01606537 -0.46961741] [ 0.01872107 -0.01579501 0.99969997 -0.3567064 ] [ 0. 0. 0. 1. ]] SLAMing on 33.583201008 meters Centerline goodness : 0.880119 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.46, Z:-0.36 [[ 0.99972399 0.01472917 -0.01830303 3.18739913] [-0.01447803 0.99980025 0.01377866 -0.46448293] [ 0.01850233 -0.01350987 0.99973754 -0.36047001] [ 0. 0. 0. 1. ]] SLAMing on 33.613201008000004 meters Centerline goodness : 0.880087 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.46, Z:-0.36 [[ 0.99971678 0.014959 -0.01850894 3.18780104] [-0.0147282 0.99981284 0.01254416 -0.46091214] [ 0.01869312 -0.01226801 0.99975 -0.36200186] [ 0. 0. 0. 1. ]] SLAMing on 33.643201008 meters Centerline goodness : 0.880969 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.46, Z:-0.37 [[ 9.99750777e-01 1.70763568e-02 -1.43799307e-02 3.20112479e+00] [-1.70580732e-02 9.99853530e-01 1.39316862e-03 -4.56887315e-01] [ 1.44016147e-02 -1.14752750e-03 9.99895633e-01 -3.68780418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.673201008 meters Centerline goodness : 0.886999 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.37 [[ 0.99975609 0.02030166 -0.00869475 3.21016367] [-0.02035459 0.99977456 -0.00604358 -0.45641894] [ 0.00857009 0.00621909 0.99994394 -0.36804188] [ 0. 0. 0. 1. ]] SLAMing on 33.703201008 meters Centerline goodness : 0.892212 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.37 [[ 0.99973806 0.0212957 -0.00838498 3.20755875] [-0.02133643 0.99976084 -0.00479744 -0.45711888] [ 0.00828081 0.00497509 0.99995334 -0.36505651] [ 0. 0. 0. 1. ]] SLAMing on 33.733201008 meters Centerline goodness : 0.894105 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.36 [[ 9.99638337e-01 2.53693557e-02 -8.92132541e-03 3.20828552e+00] [-2.53631780e-02 9.99677979e-01 8.04939944e-04 -4.59882365e-01] [ 8.93887336e-03 -5.78375663e-04 9.99959880e-01 -3.62340088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.763201008 meters Centerline goodness : 0.893471 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.36 [[ 9.99630541e-01 2.57911056e-02 -8.57908074e-03 3.20778512e+00] [-2.57891350e-02 9.99667347e-01 3.40264850e-04 -4.57882062e-01] [ 8.58500269e-03 -1.18892065e-04 9.99963141e-01 -3.63539912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.793201008000004 meters Centerline goodness : 0.894766 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.45, Z:-0.37 [[ 9.99504707e-01 3.05344931e-02 -7.61478663e-03 3.20689766e+00] [-3.05116956e-02 9.99529626e-01 3.09228744e-03 -4.54287856e-01] [ 7.70562627e-03 -2.85841580e-03 9.99966226e-01 -3.67027263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.823201008000005 meters Centerline goodness : 0.891851 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.45, Z:-0.37 [[ 9.99479410e-01 3.14600781e-02 -7.15350385e-03 3.20584479e+00] [-3.14448618e-02 9.99503001e-01 2.22975933e-03 -4.50905261e-01] [ 7.22009697e-03 -2.00365760e-03 9.99971927e-01 -3.68932726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.853201008 meters Centerline goodness : 0.893102 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.45, Z:-0.37 [[ 9.99474555e-01 3.16125794e-02 -7.15945731e-03 3.20559304e+00] [-3.15970673e-02 9.99498111e-01 2.26953287e-03 -4.51147441e-01] [ 7.22760985e-03 -2.04212250e-03 9.99971795e-01 -3.68702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.883201008 meters Centerline goodness : 0.893491 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.45, Z:-0.37 [[ 9.99550021e-01 2.91898324e-02 -6.90712427e-03 3.20220380e+00] [-2.91955244e-02 9.99573457e-01 -7.24655297e-04 -4.52456882e-01] [ 6.88302552e-03 9.25986332e-04 9.99975883e-01 -3.66130507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.913201008 meters Centerline goodness : 0.895494 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.45, Z:-0.37 [[ 9.99548839e-01 2.91228182e-02 -7.34715977e-03 3.20282663e+00] [-2.91258171e-02 9.99575708e-01 -3.01484584e-04 -4.54215905e-01] [ 7.33526235e-03 5.15340598e-04 9.99972964e-01 -3.65256637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.943201008 meters Centerline goodness : 0.893759 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.46, Z:-0.37 [[ 9.99554803e-01 2.87702498e-02 -7.90369020e-03 3.20435772e+00] [-2.87717725e-02 9.99586004e-01 -7.89953913e-05 -4.56139843e-01] [ 7.89814538e-03 3.06363399e-04 9.99968762e-01 -3.65217045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.973201008000004 meters Centerline goodness : 0.894765 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.37 [[ 9.99567723e-01 2.81178191e-02 -8.58805461e-03 3.20667193e+00] [-2.81176529e-02 9.99604611e-01 1.40123378e-04 -4.58105831e-01] [ 8.58859895e-03 1.01413133e-04 9.99963112e-01 -3.65463019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.003201008000005 meters Centerline goodness : 0.893376 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:-0.37 [[ 9.99588446e-01 2.71544481e-02 -9.25069167e-03 3.20960359e+00] [-2.71544503e-02 9.99631242e-01 1.25381830e-04 -4.60242972e-01] [ 9.25068507e-03 1.25867219e-04 9.99957204e-01 -3.66524247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.033201008 meters Centerline goodness : 0.889689 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.46, Z:-0.37 [[ 9.99700458e-01 2.25167276e-02 -9.59121864e-03 3.21742731e+00] [-2.25356494e-02 9.99744292e-01 -1.86933179e-03 -4.62027757e-01] [ 9.54667486e-03 2.08491618e-03 9.99952256e-01 -3.71463215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.063201008 meters Centerline goodness : 0.890687 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.46, Z:-0.37 [[ 9.99717921e-01 2.13369534e-02 -1.04313637e-02 3.22118666e+00] [-2.13591270e-02 9.99769829e-01 -2.01889589e-03 -4.63652528e-01] [ 1.03858856e-02 2.24113123e-03 9.99943554e-01 -3.72885144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.093201008 meters Centerline goodness : 0.890523 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.47, Z:-0.37 [[ 9.99727765e-01 2.04522537e-02 -1.12295137e-02 3.22419223e+00] [-2.04720436e-02 9.99789064e-01 -1.65019066e-03 -4.66260881e-01] [ 1.11933949e-02 1.87963251e-03 9.99935585e-01 -3.73178356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.123201008 meters Centerline goodness : 0.892995 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.37 [[ 9.99724058e-01 2.00942159e-02 -1.21667580e-02 3.22583348e+00] [-2.00912396e-02 9.99798083e-01 3.66817394e-04 -4.71457651e-01] [ 1.21716723e-02 -1.22270923e-04 9.99925915e-01 -3.69646725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.153201008 meters Centerline goodness : 0.895594 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.47, Z:-0.37 [[ 0.99977869 0.01734746 -0.01190092 3.22331805] [-0.01739146 0.99984226 -0.00360362 -0.46995995] [ 0.01183653 0.0038098 0.99992269 -0.36891684] [ 0. 0. 0. 1. ]] SLAMing on 34.183201008000005 meters Centerline goodness : 0.896549 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.47, Z:-0.37 [[ 9.99770954e-01 1.78481965e-02 -1.18102342e-02 3.22207778e+00] [-1.78806720e-02 9.99836616e-01 -2.64991310e-03 -4.71154462e-01] [ 1.17610084e-02 2.86048107e-03 9.99926745e-01 -3.66861254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.213201008 meters Centerline goodness : 0.899440 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.47, Z:-0.37 [[ 9.99766811e-01 1.81800951e-02 -1.16536262e-02 3.22099986e+00] [-1.82037453e-02 9.99832442e-01 -1.92656367e-03 -4.71179035e-01] [ 1.16166485e-02 2.13825406e-03 9.99930238e-01 -3.65137548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.243201008 meters Centerline goodness : 0.899997 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.47, Z:-0.37 [[ 9.99770767e-01 1.78062365e-02 -1.18890887e-02 3.22210819e+00] [-1.78302131e-02 9.99839198e-01 -1.91374311e-03 -4.70609910e-01] [ 1.18531003e-02 2.12528940e-03 9.99927491e-01 -3.65198668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.273201008 meters Centerline goodness : 0.899801 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.99970892 0.02030687 -0.01302685 3.22609172] [-0.02026084 0.99978804 0.00365568 -0.47307781] [ 0.01309832 -0.00339068 0.99990846 -0.36237673] [ 0. 0. 0. 1. ]] SLAMing on 34.303201008 meters Centerline goodness : 0.901103 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 9.99714678e-01 2.01029120e-02 -1.29009876e-02 3.22633009e+00] [-2.00642984e-02 9.99793837e-01 3.11557408e-03 -4.71518567e-01] [ 1.29609600e-02 -2.85583588e-03 9.99911925e-01 -3.63187695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.333201008 meters Centerline goodness : 0.898946 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.99964702 0.02260883 -0.01395237 3.2308139 ] [-0.02252328 0.99972673 0.00625803 -0.46932294] [ 0.01409005 -0.00594157 0.99988308 -0.36448808] [ 0. 0. 0. 1. ]] SLAMing on 34.363201008000004 meters Centerline goodness : 0.897430 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.9995608 0.02553456 -0.01503953 3.23447365] [-0.02538258 0.99962566 0.01021113 -0.46961496] [ 0.01529463 -0.0098249 0.99983476 -0.36438675] [ 0. 0. 0. 1. ]] SLAMing on 34.393201008 meters Centerline goodness : 0.900057 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99955878 0.02543119 -0.01534616 3.23505003] [-0.02528415 0.99963324 0.00970052 -0.46854298] [ 0.01558723 -0.00930822 0.99983518 -0.36463882] [ 0. 0. 0. 1. ]] SLAMing on 34.423201008 meters Centerline goodness : 0.900370 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.9996264 0.02256615 -0.01542167 3.23342394] [-0.02249083 0.99973434 0.00504025 -0.46611259] [ 0.01553132 -0.00469152 0.99986838 -0.36497515] [ 0. 0. 0. 1. ]] SLAMing on 34.453201008 meters Centerline goodness : 0.905268 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.99961649 0.02290266 -0.01556714 3.2325815 ] [-0.02281588 0.99972327 0.00572941 -0.46676721] [ 0.01569405 -0.00537204 0.99986241 -0.36267776] [ 0. 0. 0. 1. ]] SLAMing on 34.483201008 meters Centerline goodness : 0.904443 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.47, Z:-0.36 [[ 0.9996257 0.02230748 -0.01583803 3.23419174] [-0.02222983 0.99974007 0.00506184 -0.46550205] [ 0.01594683 -0.00470787 0.99986176 -0.36386664] [ 0. 0. 0. 1. ]] SLAMing on 34.513201008 meters Centerline goodness : 0.905646 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.46, Z:-0.37 [[ 0.99963809 0.02173258 -0.01585541 3.23549086] [-0.02166206 0.99975474 0.00460601 -0.46449241] [ 0.01595162 -0.00426089 0.99986369 -0.365073 ] [ 0. 0. 0. 1. ]] SLAMing on 34.543201008000004 meters Centerline goodness : 0.906301 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.37 [[ 0.99957853 0.02389185 -0.01649069 3.23962571] [-0.02374756 0.99967845 0.008891 -0.46579208] [ 0.01669781 -0.00849564 0.99982449 -0.36503783] [ 0. 0. 0. 1. ]] SLAMing on 34.573201008000005 meters Centerline goodness : 0.901890 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.46, Z:-0.37 [[ 0.99960458 0.02281667 -0.01643408 3.24160166] [-0.02268877 0.99971115 0.00792706 -0.46427363] [ 0.0166102 -0.00755106 0.99983353 -0.36737518] [ 0. 0. 0. 1. ]] SLAMing on 34.603201008 meters Centerline goodness : 0.905281 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.46, Z:-0.37 [[ 0.99960388 0.02250195 -0.01690395 3.24264664] [-0.02236246 0.99971467 0.00839634 -0.46493834] [ 0.01708806 -0.008015 0.99982186 -0.3661971 ] [ 0. 0. 0. 1. ]] SLAMing on 34.633201008 meters Centerline goodness : 0.907362 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99959624 0.0226225 -0.01719219 3.24245661] [-0.02246497 0.99970436 0.00930185 -0.46671703] [ 0.01739754 -0.00891187 0.99980893 -0.36400016] [ 0. 0. 0. 1. ]] SLAMing on 34.663201008 meters Centerline goodness : 0.908435 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99966446 0.01975619 -0.01675267 3.23975204] [-0.01967279 0.99979332 0.00512862 -0.46591014] [ 0.01685053 -0.00479733 0.99984651 -0.3636444 ] [ 0. 0. 0. 1. ]] SLAMing on 34.693201008 meters Centerline goodness : 0.913349 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99965215 0.0202531 -0.0168936 3.2390472 ] [-0.02015496 0.99977911 0.00595918 -0.46767182] [ 0.01701056 -0.00561661 0.99983953 -0.36173963] [ 0. 0. 0. 1. ]] SLAMing on 34.723201008000004 meters Centerline goodness : 0.912056 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99965771 0.02008172 -0.01676856 3.23979657] [-0.01999965 0.99978724 0.00504767 -0.46646839] [ 0.01686635 -0.00471058 0.99984666 -0.36391122] [ 0. 0. 0. 1. ]] SLAMing on 34.753201008000005 meters Centerline goodness : 0.911457 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.47, Z:-0.36 [[ 0.99958038 0.02307806 -0.01750647 3.24315928] [-0.02291985 0.99969511 0.00918488 -0.4677369 ] [ 0.0177131 -0.00877978 0.99980456 -0.36435306] [ 0. 0. 0. 1. ]] SLAMing on 34.783201008 meters Centerline goodness : 0.912060 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.47, Z:-0.37 [[ 0.9995946 0.02227618 -0.01773146 3.24528507] [-0.02213266 0.99972101 0.00824931 -0.46687227] [ 0.01791027 -0.00785352 0.99980875 -0.36659844] [ 0. 0. 0. 1. ]] SLAMing on 34.813201008 meters Centerline goodness : 0.908338 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.47, Z:-0.37 [[ 0.99962249 0.0202014 -0.01862225 3.24977242] [-0.02005256 0.99976575 0.00814505 -0.46912107] [ 0.01878243 -0.00776856 0.99979341 -0.36725644] [ 0. 0. 0. 1. ]] SLAMing on 34.843201008 meters Centerline goodness : 0.910797 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.47, Z:-0.37 [[ 0.99962328 0.01958857 -0.01922486 3.25191236] [-0.01944663 0.99978245 0.00754207 -0.46871042] [ 0.01936842 -0.00716537 0.99978674 -0.36827029] [ 0. 0. 0. 1. ]] SLAMing on 34.873201008 meters Centerline goodness : 0.907986 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.47, Z:-0.37 [[ 0.99962851 0.0189907 -0.01954957 3.25384967] [-0.01887077 0.99980208 0.00630104 -0.46720773] [ 0.01966536 -0.00592978 0.99978903 -0.3706008 ] [ 0. 0. 0. 1. ]] SLAMing on 34.903201008 meters Centerline goodness : 0.904365 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 9.99633700e-01 1.84444205e-02 -1.98057988e-02 3.25667187e+00] [-1.83782881e-02 9.99824923e-01 3.51590070e-03 -4.62480977e-01] [ 1.98671800e-02 -3.15061615e-03 9.99797664e-01 -3.76437160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.933201008000005 meters Centerline goodness : 0.904165 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 0.99955247 0.02152254 -0.02077593 3.25995942] [-0.02136564 0.99974173 0.00774443 -0.46401243] [ 0.02093724 -0.00729707 0.99975416 -0.37611794] [ 0. 0. 0. 1. ]] SLAMing on 34.963201008 meters Centerline goodness : 0.903130 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 0.99954944 0.02158222 -0.02085944 3.25996501] [-0.0214272 0.99974132 0.00762695 -0.46390356] [ 0.02101865 -0.00717656 0.99975333 -0.37607041] [ 0. 0. 0. 1. ]] SLAMing on 34.993201008 meters Centerline goodness : 0.908864 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.47, Z:-0.37 [[ 0.9995401 0.02173932 -0.021142 3.25991318] [-0.02156834 0.99973307 0.00828208 -0.4653393 ] [ 0.0213164 -0.00782228 0.99974218 -0.37456213] [ 0. 0. 0. 1. ]] SLAMing on 35.023201008 meters Centerline goodness : 0.908178 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961573 0.01867006 -0.0204896 3.25737214] [-0.0185861 0.9998181 0.00428076 -0.46460757] [ 0.02056579 -0.0038983 0.9997809 -0.37449336] [ 0. 0. 0. 1. ]] SLAMing on 35.053201008 meters Centerline goodness : 0.913648 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.47, Z:-0.37 [[ 0.99961586 0.01847922 -0.0206557 3.25793888] [-0.01836909 0.9998161 0.00550852 -0.46703787] [ 0.02075369 -0.00512698 0.99977147 -0.37280206] [ 0. 0. 0. 1. ]] SLAMing on 35.083201008 meters Centerline goodness : 0.912412 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.47, Z:-0.37 [[ 0.99962416 0.01813205 -0.0205612 3.25889883] [-0.01803272 0.99982486 0.00500659 -0.4658009 ] [ 0.02064837 -0.00463394 0.99977606 -0.37425537] [ 0. 0. 0. 1. ]] SLAMing on 35.113201008000004 meters Centerline goodness : 0.908530 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 0.99963469 0.01787358 -0.02027369 3.25918835] [-0.01779324 0.99983313 0.00413629 -0.46320656] [ 0.02034424 -0.00377404 0.99978591 -0.37590703] [ 0. 0. 0. 1. ]] SLAMing on 35.143201008 meters Centerline goodness : 0.907368 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 0.9996346 0.01826702 -0.01992459 3.25788736] [-0.01819022 0.99982643 0.0040287 -0.46074981] [ 0.01999473 -0.00366479 0.99979337 -0.37540971] [ 0. 0. 0. 1. ]] SLAMing on 35.173201008 meters Centerline goodness : 0.908504 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99962984 0.01850282 -0.01994571 3.25737929] [-0.01842432 0.9998218 0.00411257 -0.460493 ] [ 0.02001825 -0.00374356 0.99979261 -0.37477641] [ 0. 0. 0. 1. ]] SLAMing on 35.203201008 meters Centerline goodness : 0.910411 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99962435 0.0185009 -0.02022092 3.25764368] [-0.01842127 0.99982184 0.00411722 -0.46024723] [ 0.02029349 -0.00374318 0.99978706 -0.37424721] [ 0. 0. 0. 1. ]] SLAMing on 35.233201008 meters Centerline goodness : 0.913680 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961982 0.01845833 -0.02048205 3.25798666] [-0.01837331 0.99982181 0.0043313 -0.46022447] [ 0.02055835 -0.00395333 0.99978084 -0.37347189] [ 0. 0. 0. 1. ]] SLAMing on 35.263201008 meters Centerline goodness : 0.913680 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961982 0.01845833 -0.02048205 3.25798666] [-0.01837331 0.99982181 0.0043313 -0.46022447] [ 0.02055835 -0.00395333 0.99978084 -0.37347189] [ 0. 0. 0. 1. ]] SLAMing on 35.293201008000004 meters Centerline goodness : 0.913194 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961907 0.01811438 -0.02082252 3.25883599] [-0.01802655 0.99982784 0.00439803 -0.46118543] [ 0.0208986 -0.00402099 0.99977351 -0.37311017] [ 0. 0. 0. 1. ]] SLAMing on 35.323201008 meters Centerline goodness : 0.910412 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961585 0.01750658 -0.02148656 3.26087106] [-0.01741666 0.99983879 0.00436473 -0.4616525 ] [ 0.02155951 -0.00398883 0.99975961 -0.37312385] [ 0. 0. 0. 1. ]] SLAMing on 35.353201008 meters Centerline goodness : 0.908698 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.37 [[ 0.99961656 0.0169415 -0.02190228 3.26278815] [-0.01685985 0.99985023 0.00390717 -0.46129543] [ 0.02196519 -0.00353641 0.99975248 -0.3742553 ] [ 0. 0. 0. 1. ]] SLAMing on 35.383201008 meters Centerline goodness : 0.908528 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.38 [[ 9.99623991e-01 1.63581529e-02 -2.20065342e-02 3.26463762e+00] [-1.62990759e-02 9.99863067e-01 2.86122380e-03 -4.59889750e-01] [ 2.20503251e-02 -2.50146178e-03 9.99753733e-01 -3.76858939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.413201008 meters Centerline goodness : 0.902430 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.46, Z:-0.38 [[ 0.99957371 0.01812894 -0.0228855 3.27064112] [-0.01800484 0.99982212 0.00561695 -0.45895533] [ 0.02298326 -0.0052025 0.99972231 -0.38016889] [ 0. 0. 0. 1. ]] SLAMing on 35.443201008 meters Centerline goodness : 0.906446 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.46, Z:-0.38 [[ 0.99957361 0.01779205 -0.02315247 3.27157694] [-0.017673 0.99982958 0.00533618 -0.45878653] [ 0.02324347 -0.00492474 0.9997177 -0.38050856] [ 0. 0. 0. 1. ]] SLAMing on 35.473201008000004 meters Centerline goodness : 0.907578 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.46, Z:-0.38 [[ 0.9995631 0.01803158 -0.02341947 3.27110408] [-0.01788758 0.99981988 0.00634366 -0.46129431] [ 0.02352964 -0.00592197 0.9997056 -0.37830704] [ 0. 0. 0. 1. ]] SLAMing on 35.503201008000005 meters Centerline goodness : 0.910019 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.47, Z:-0.37 [[ 0.99954621 0.01856024 -0.02372539 3.27007825] [-0.01837297 0.9997985 0.00808701 -0.46511513] [ 0.0238707 -0.00764744 0.9996858 -0.37470386] [ 0. 0. 0. 1. ]] SLAMing on 35.533201008 meters Centerline goodness : 0.910980 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.46, Z:-0.38 [[ 0.9996428 0.01863059 -0.01916175 3.28380455] [-0.01870085 0.99981902 -0.00349406 -0.46364358] [ 0.01909319 0.00385116 0.99981029 -0.3799669 ] [ 0. 0. 0. 1. ]] SLAMing on 35.563201008 meters Centerline goodness : 0.913955 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.46, Z:-0.38 [[ 0.99964518 0.01874935 -0.01892034 3.28368246] [-0.01882592 0.99981526 -0.00387676 -0.46224016] [ 0.01884415 0.00423158 0.99981348 -0.38091826] [ 0. 0. 0. 1. ]] SLAMing on 35.593201008 meters Centerline goodness : 0.911244 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.46, Z:-0.38 [[ 0.99965273 0.01843688 -0.01882813 3.28470378] [-0.01852601 0.99981793 -0.00457068 -0.46035155] [ 0.01874043 0.0049179 0.99981229 -0.38270098] [ 0. 0. 0. 1. ]] SLAMing on 35.623201008 meters Centerline goodness : 0.906988 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99966038 0.01788862 -0.01895037 3.2862576 ] [-0.01798968 0.99982478 -0.00517576 -0.45912446] [ 0.01885446 0.00551491 0.99980703 -0.38427057] [ 0. 0. 0. 1. ]] SLAMing on 35.653201008 meters Centerline goodness : 0.901493 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.39 [[ 0.99966471 0.01664573 -0.01983418 3.29028946] [-0.01676209 0.99984317 -0.00571502 -0.45979523] [ 0.01973594 0.00604557 0.99978695 -0.38620522] [ 0. 0. 0. 1. ]] SLAMing on 35.683201008000005 meters Centerline goodness : 0.903122 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.39 [[ 0.99965969 0.01660335 -0.02012063 3.29095744] [-0.01670946 0.99984729 -0.00511702 -0.46184181] [ 0.0200326 0.00545148 0.99978446 -0.38568866] [ 0. 0. 0. 1. ]] SLAMing on 35.713201008 meters Centerline goodness : 0.900333 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99965205 0.0165064 -0.02057452 3.29181911] [-0.01659783 0.99985308 -0.00428096 -0.46376155] [ 0.02050083 0.00462097 0.99977916 -0.38442051] [ 0. 0. 0. 1. ]] SLAMing on 35.743201008 meters Centerline goodness : 0.905373 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 0.99964421 0.01649951 -0.02095745 3.2922618 ] [-0.0165725 0.99985717 -0.00331391 -0.46575554] [ 0.02089978 0.00366005 0.99977488 -0.38279417] [ 0. 0. 0. 1. ]] SLAMing on 35.773201008 meters Centerline goodness : 0.907078 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 9.99632157e-01 1.66450264e-02 -2.14124832e-02 3.29245695e+00] [-1.66799510e-02 9.99859824e-01 -1.45346514e-03 -4.69490898e-01] [ 2.13852887e-02 1.81008966e-03 9.99769670e-01 -3.79585519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.803201008 meters Centerline goodness : 0.907188 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 9.99633073e-01 1.66802772e-02 -2.13421358e-02 3.29244786e+00] [-1.67182080e-02 9.99858961e-01 -1.60007609e-03 -4.68764888e-01] [ 2.13124360e-02 1.95629124e-03 9.99770950e-01 -3.79867786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.833201008 meters Centerline goodness : 0.904459 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 9.99639585e-01 1.64347056e-02 -2.12273409e-02 3.29318312e+00] [-1.64914180e-02 9.99860883e-01 -2.49936846e-03 -4.66036616e-01] [ 2.11833114e-02 2.84853660e-03 9.99771550e-01 -3.81654174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.863201008000004 meters Centerline goodness : 0.902713 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99964769 0.01620515 -0.02102093 3.29381831] [-0.01628472 0.99986084 -0.00361961 -0.46252215] [ 0.02095935 0.00396065 0.99977248 -0.38377802] [ 0. 0. 0. 1. ]] SLAMing on 35.893201008 meters Centerline goodness : 0.898919 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.39 [[ 0.99964814 0.0163096 -0.02091887 3.29420834] [-0.01640907 0.99985482 -0.00459241 -0.45892056] [ 0.02084094 0.00493405 0.99977063 -0.38562035] [ 0. 0. 0. 1. ]] SLAMing on 35.923201008 meters Centerline goodness : 0.903915 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99964302 0.01651093 -0.02100545 3.2939654 ] [-0.01660118 0.99985366 -0.00412949 -0.45932043] [ 0.0209342 0.00447673 0.99977083 -0.38470084] [ 0. 0. 0. 1. ]] SLAMing on 35.953201008 meters Centerline goodness : 0.899755 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99964013 0.01691364 -0.02082139 3.29301529] [-0.0169933 0.99984892 -0.00365482 -0.46001742] [ 0.02075643 0.00400733 0.99977653 -0.38391172] [ 0. 0. 0. 1. ]] SLAMing on 35.983201008 meters Centerline goodness : 0.899547 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 0.99964239 0.01720053 -0.02047511 3.29198487] [-0.01727215 0.99984529 -0.00332626 -0.4597935 ] [ 0.02041472 0.00367872 0.99978483 -0.38331146] [ 0. 0. 0. 1. ]] SLAMing on 36.013201008 meters Centerline goodness : 0.905025 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 9.99640885e-01 1.72125432e-02 -2.05385090e-02 3.29185457e+00] [-1.72762882e-02 9.99846460e-01 -2.93028200e-03 -4.59928875e-01] [ 2.04849179e-02 3.28405889e-03 9.99784768e-01 -3.82343993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.043201008000004 meters Centerline goodness : 0.901604 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 9.99637077e-01 1.75587108e-02 -2.04305002e-02 3.29092204e+00] [-1.76079415e-02 9.99842476e-01 -2.23226181e-03 -4.60876483e-01] [ 2.03880863e-02 2.59119073e-03 9.99788784e-01 -3.80981897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.073201008 meters Centerline goodness : 0.907052 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 9.99632254e-01 1.76982196e-02 -2.05458109e-02 3.29074649e+00] [-1.77337608e-02 9.99841545e-01 -1.54893526e-03 -4.62296172e-01] [ 2.05151420e-02 1.91272015e-03 9.99787713e-01 -3.79783104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.103201008 meters Centerline goodness : 0.905737 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 9.99626984e-01 1.78344767e-02 -2.06839183e-02 3.29076398e+00] [-1.78467918e-02 9.99840649e-01 -4.10943910e-04 -4.65591099e-01] [ 2.06732933e-02 7.79932205e-04 9.99785980e-01 -3.78336417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.133201008 meters Centerline goodness : 0.902774 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-0.38 [[ 9.99627246e-01 1.75359740e-02 -2.09250760e-02 3.29198243e+00] [-1.75509938e-02 9.99845827e-01 -5.34343230e-04 -4.65857091e-01] [ 2.09124797e-02 9.01399931e-04 9.99780904e-01 -3.79049639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.163201008 meters Centerline goodness : 0.901654 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 9.99630640e-01 1.73676068e-02 -2.09033207e-02 3.29265080e+00] [-1.73948570e-02 9.99848068e-01 -1.12249667e-03 -4.64406274e-01] [ 2.08806497e-02 1.48569234e-03 9.99780872e-01 -3.80338929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.193201008 meters Centerline goodness : 0.900381 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-0.38 [[ 9.99634327e-01 1.71120020e-02 -2.09377946e-02 3.29358007e+00] [-1.71554863e-02 9.99851031e-01 -1.89896677e-03 -4.62456203e-01] [ 2.09021804e-02 2.25747042e-03 9.99778977e-01 -3.81930251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.223201008000004 meters Centerline goodness : 0.902672 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-0.38 [[ 9.99570260e-01 1.87943857e-02 -2.24959393e-02 3.30004342e+00] [-1.87610386e-02 9.99822564e-01 1.69250965e-03 -4.63605622e-01] [ 2.25237574e-02 -1.26973512e-03 9.99745502e-01 -3.82936313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.253201008000005 meters Centerline goodness : 0.901870 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-0.38 [[ 9.99560961e-01 1.82906366e-02 -2.33095885e-02 3.30233187e+00] [-1.82585481e-02 9.99832037e-01 1.58872786e-03 -4.64473115e-01] [ 2.33347322e-02 -1.16243110e-03 9.99727032e-01 -3.83303817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.283201008 meters Centerline goodness : 0.903670 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-0.38 [[ 9.99551890e-01 1.79893672e-02 -2.39249135e-02 3.30372896e+00] [-1.79516248e-02 9.99837252e-01 1.79139405e-03 -4.65888608e-01] [ 2.39532458e-02 -1.36110024e-03 9.99712153e-01 -3.82931426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.313201008 meters Centerline goodness : 0.903874 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-0.38 [[ 9.99547738e-01 1.70858237e-02 -2.47465961e-02 3.30624416e+00] [-1.70386755e-02 9.99852595e-01 2.11485831e-03 -4.67323585e-01] [ 2.47790825e-02 -1.69225261e-03 9.99691519e-01 -3.82299411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.343201008 meters Centerline goodness : 0.902778 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-0.38 [[ 9.99555252e-01 1.63906104e-02 -2.49127698e-02 3.30794446e+00] [-1.63632199e-02 9.99865265e-01 1.30293056e-03 -4.65738967e-01] [ 2.49307690e-02 -8.94697955e-04 9.99688780e-01 -3.83998152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.373201008 meters Centerline goodness : 0.903078 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-0.38 [[ 0.99948673 0.0187448 -0.02597892 3.31224798] [-0.01862564 0.9998149 0.00482136 -0.46509223] [ 0.02606449 -0.00433501 0.99965086 -0.38450879] [ 0. 0. 0. 1. ]] SLAMing on 36.403201008 meters Centerline goodness : 0.898805 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.46, Z:-0.39 [[ 9.99496695e-01 1.70317034e-02 -2.67633686e-02 3.31598279e+00] [-1.69401558e-02 9.99849866e-01 3.64366134e-03 -4.62062925e-01] [ 2.68214083e-02 -3.18845183e-03 9.99635156e-01 -3.85921521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.433201008000005 meters Centerline goodness : 0.895760 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.46, Z:-0.39 [[ 9.99489693e-01 1.62365935e-02 -2.75086587e-02 3.31791437e+00] [-1.61436257e-02 9.99863208e-01 3.59831771e-03 -4.62434614e-01] [ 2.75633202e-02 -3.15239197e-03 9.99615089e-01 -3.85414446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.463201008 meters Centerline goodness : 0.902876 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.47, Z:-0.38 [[ 0.99948026 0.01475726 -0.02866065 3.32708347] [-0.01447942 0.99984638 0.00987766 -0.46516172] [ 0.02880201 -0.00945753 0.99954039 -0.37936538] [ 0. 0. 0. 1. ]] SLAMing on 36.493201008 meters Centerline goodness : 0.904102 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.46, Z:-0.38 [[ 0.99953141 0.01026257 -0.0288381 3.32755712] [-0.0101261 0.99993685 0.00487431 -0.46324744] [ 0.02888631 -0.00458001 0.99957221 -0.38028012] [ 0. 0. 0. 1. ]] SLAMing on 36.523201008 meters Centerline goodness : 0.903145 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-0.37 [[ 0.99949636 0.00617022 -0.03112806 3.33691128] [-0.00592251 0.99995011 0.00804351 -0.46622056] [ 0.03117613 -0.00785511 0.99948304 -0.37312165] [ 0. 0. 0. 1. ]] SLAMing on 36.553201008 meters Centerline goodness : 0.907835 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-0.37 [[ 0.99948805 0.00550031 -0.03151813 3.33845488] [-0.00525523 0.99995535 0.00785335 -0.46577425] [ 0.03155992 -0.0076837 0.99947233 -0.37326918] [ 0. 0. 0. 1. ]] SLAMing on 36.583201008 meters Centerline goodness : 0.905064 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-0.37 [[ 0.99943283 0.00751786 -0.03282524 3.34333135] [-0.00709748 0.99989155 0.01290437 -0.46768654] [ 0.03291869 -0.01266408 0.9993778 -0.37116942] [ 0. 0. 0. 1. ]] SLAMing on 36.613201008000004 meters Centerline goodness : 0.900252 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-0.37 [[ 0.99942997 0.00665197 -0.0330981 3.34518741] [-0.00625412 0.99990712 0.01210952 -0.46597266] [ 0.03317558 -0.01189562 0.99937874 -0.37248369] [ 0. 0. 0. 1. ]] SLAMing on 36.643201008 meters Centerline goodness : 0.903502 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.46, Z:-0.37 [[ 0.99942495 0.00589965 -0.03339104 3.34701362] [-0.00552569 0.9999211 0.0112808 -0.46416771] [ 0.03345496 -0.01108981 0.9993787 -0.37390706] [ 0. 0. 0. 1. ]] SLAMing on 36.673201008 meters Centerline goodness : 0.900110 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.46, Z:-0.38 [[ 0.99936948 0.0078993 -0.03461568 3.3525834 ] [-0.00740452 0.99986892 0.0143985 -0.4626303 ] [ 0.03472488 -0.01413311 0.99929697 -0.37546393] [ 0. 0. 0. 1. ]] SLAMing on 36.703201008 meters Centerline goodness : 0.899183 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.46, Z:-0.38 [[ 0.9993682 0.00756632 -0.03472669 3.35331667] [-0.00710551 0.99988532 0.01337393 -0.46040835] [ 0.0348239 -0.01311873 0.99930736 -0.37673002] [ 0. 0. 0. 1. ]] SLAMing on 36.733201008 meters Centerline goodness : 0.901752 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.46, Z:-0.38 [[ 9.99499388e-01 9.04479657e-03 -3.03177383e-02 3.36735934e+00] [-8.95005702e-03 9.99954636e-01 3.25913965e-03 -4.57420687e-01] [ 3.03458412e-02 -2.98616260e-03 9.99534998e-01 -3.81661179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.763201008 meters Centerline goodness : 0.907323 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.46, Z:-0.38 [[ 9.99595175e-01 1.33092191e-02 -2.51465942e-02 3.37763381e+00] [-1.33903527e-02 9.99905661e-01 -3.06079209e-03 -4.56302695e-01] [ 2.51034852e-02 3.39627477e-03 9.99679089e-01 -3.81184686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.793201008000004 meters Centerline goodness : 0.910321 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.46, Z:-0.38 [[ 9.99514370e-01 1.72980587e-02 -2.59191168e-02 3.37889587e+00] [-1.72599335e-02 9.99849601e-01 1.69394199e-03 -4.57301337e-01] [ 2.59445205e-02 -1.24575713e-03 9.99662608e-01 -3.79373181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.823201008 meters Centerline goodness : 0.905692 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.46, Z:-0.38 [[ 0.99943081 0.02069189 -0.0266438 3.38157131] [-0.02056411 0.99977573 0.00506092 -0.4557161 ] [ 0.02674255 -0.00451013 0.99963218 -0.38027405] [ 0. 0. 0. 1. ]] SLAMing on 36.853201008 meters Centerline goodness : 0.905147 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.45, Z:-0.38 [[ 0.9993422 0.02417249 -0.02703454 3.38382494] [-0.02396433 0.99968082 0.00799758 -0.45325564] [ 0.02721923 -0.00734445 0.99960251 -0.38216839] [ 0. 0. 0. 1. ]] SLAMing on 36.883201008 meters Centerline goodness : 0.900012 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.45, Z:-0.38 [[ 0.99924142 0.02755026 -0.02752381 3.38640453] [-0.02725445 0.99956728 0.01106539 -0.45096212] [ 0.02781676 -0.01030685 0.9995599 -0.38380084] [ 0. 0. 0. 1. ]] SLAMing on 36.913201008 meters Centerline goodness : 0.901787 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.45, Z:-0.38 [[ 0.99911909 0.03153245 -0.02769037 3.38751689] [-0.03114387 0.99941184 0.01435393 -0.44897806] [ 0.0281267 -0.0134789 0.99951349 -0.38493272] [ 0. 0. 0. 1. ]] SLAMing on 36.943201008 meters Centerline goodness : 0.904647 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.45, Z:-0.39 [[ 0.99920942 0.02852526 -0.02769178 3.38626374] [-0.02826958 0.99955442 0.00958081 -0.44586592] [ 0.02795274 -0.0087904 0.99957059 -0.38590431] [ 0. 0. 0. 1. ]] SLAMing on 36.973201008000004 meters Centerline goodness : 0.899620 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.45, Z:-0.38 [[ 0.99919731 0.02873903 -0.02790704 3.38594589] [-0.0284743 0.99954611 0.00983807 -0.44652873] [ 0.02817711 -0.00903554 0.99956211 -0.3848402 ] [ 0. 0. 0. 1. ]] SLAMing on 37.003201008000005 meters Centerline goodness : 0.902170 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99302192e-01 2.89576086e-02 -2.35920862e-02 3.39925227e+00] [-2.89998245e-02 9.99578366e-01 -1.44917634e-03 -4.45516352e-01] [ 2.35401743e-02 2.13233145e-03 9.99720618e-01 -3.89159419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.033201008 meters Centerline goodness : 0.906077 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99304152e-01 2.85564361e-02 -2.39946379e-02 3.40078710e+00] [-2.86068052e-02 9.99589195e-01 -1.75848648e-03 -4.45733847e-01] [ 2.39345647e-02 2.44367277e-03 9.99710541e-01 -3.89978185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.063201008 meters Centerline goodness : 0.900053 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99312277e-01 2.82151741e-02 -2.40598645e-02 3.40214479e+00] [-2.82765250e-02 9.99597688e-01 -2.21346911e-03 -4.45519268e-01] [ 2.39877316e-02 2.89227622e-03 9.99708069e-01 -3.91696014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.093201008 meters Centerline goodness : 0.902605 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.39 [[ 9.99323235e-01 2.77877846e-02 -2.41020873e-02 3.40343965e+00] [-2.78612675e-02 9.99608103e-01 -2.71832393e-03 -4.44943431e-01] [ 2.40171056e-02 3.38799897e-03 9.99705807e-01 -3.93344597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.123201008 meters Centerline goodness : 0.900293 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99327094e-01 2.77016875e-02 -2.40411249e-02 3.40369368e+00] [-2.77692520e-02 9.99611281e-01 -2.48102165e-03 -4.45309301e-01] [ 2.39630512e-02 3.14695621e-03 9.99707892e-01 -3.93416137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.153201008 meters Centerline goodness : 0.897234 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99322364e-01 2.78460831e-02 -2.40708912e-02 3.40321638e+00] [-2.78729037e-02 9.99611171e-01 -7.79374182e-04 -4.48692207e-01] [ 2.40398292e-02 1.44977168e-03 9.99709950e-01 -3.90836944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.183201008000005 meters Centerline goodness : 0.897234 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99322364e-01 2.78460831e-02 -2.40708912e-02 3.40321638e+00] [-2.78729037e-02 9.99611171e-01 -7.79374182e-04 -4.48692207e-01] [ 2.40398292e-02 1.44977168e-03 9.99709950e-01 -3.90836944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.213201008 meters Centerline goodness : 0.897887 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99318716e-01 2.77640840e-02 -2.43158378e-02 3.40390602e+00] [-2.77801490e-02 9.99614005e-01 -3.23067509e-04 -4.50799574e-01] [ 2.42974823e-02 9.98345005e-04 9.99704274e-01 -3.90604551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.243201008 meters Centerline goodness : 0.900493 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 0.99941326 0.024254 -0.02418431 3.40301091] [-0.02436438 0.99969398 -0.0042803 -0.4520299 ] [ 0.02407309 0.00486702 0.99969835 -0.39101131] [ 0. 0. 0. 1. ]] SLAMing on 37.273201008 meters Centerline goodness : 0.900172 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99401948e-01 2.42972958e-02 -2.46046327e-02 3.40359400e+00] [-2.43802585e-02 9.99698021e-01 -3.07744083e-03 -4.54939963e-01] [ 2.45224291e-02 3.67546766e-03 9.99692523e-01 -3.89232280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.303201008 meters Centerline goodness : 0.900531 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-0.39 [[ 9.99394572e-01 2.43123275e-02 -2.48877404e-02 3.40420125e+00] [-2.43728777e-02 9.99700663e-01 -2.13244749e-03 -4.57819828e-01] [ 2.48284458e-02 2.73774231e-03 9.99687978e-01 -3.88294718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.333201008 meters Centerline goodness : 0.903849 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.39 [[ 9.99394308e-01 2.40447886e-02 -2.51567942e-02 3.40531536e+00] [-2.40913945e-02 9.99708557e-01 -1.55113889e-03 -4.60224223e-01] [ 2.51121656e-02 2.15626163e-03 9.99682314e-01 -3.88165804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.363201008000004 meters Centerline goodness : 0.897220 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.39 [[ 9.99413021e-01 2.23745542e-02 -2.59420935e-02 3.41057515e+00] [-2.24355334e-02 9.99746166e-01 -2.06187793e-03 -4.62844356e-01] [ 2.58893749e-02 2.64269236e-03 9.99661321e-01 -3.91581765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.393201008 meters Centerline goodness : 0.898673 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.39 [[ 9.99415004e-01 2.18258416e-02 -2.63302377e-02 3.41278021e+00] [-2.18956030e-02 9.99757467e-01 -2.36405313e-03 -4.63488259e-01] [ 2.62722543e-02 2.93918660e-03 9.99650504e-01 -3.93102641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.423201008 meters Centerline goodness : 0.899994 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.39 [[ 9.99410504e-01 2.20962370e-02 -2.62754624e-02 3.41271757e+00] [-2.21642934e-02 9.99751692e-01 -2.30166821e-03 -4.64221536e-01] [ 2.62180798e-02 2.88268844e-03 9.99652091e-01 -3.93526708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.453201008 meters Centerline goodness : 0.900474 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-0.39 [[ 9.99400355e-01 2.23635650e-02 -2.64348585e-02 3.41261465e+00] [-2.24222189e-02 9.99746738e-01 -1.92444173e-03 -4.65072874e-01] [ 2.63851261e-02 2.51601593e-03 9.99648686e-01 -3.92845943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.483201008 meters Centerline goodness : 0.903875 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-0.39 [[ 9.99379590e-01 2.30713131e-02 -2.66110849e-02 3.41165144e+00] [-2.31146198e-02 9.99731949e-01 -1.32089406e-03 -4.66131219e-01] [ 2.65734770e-02 1.93517967e-03 9.99644990e-01 -3.91318858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.513201008 meters Centerline goodness : 0.903064 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-0.39 [[ 9.99378940e-01 2.31212020e-02 -2.65921725e-02 3.41184648e+00] [-2.31765681e-02 9.99729810e-01 -1.77568011e-03 -4.65265959e-01] [ 2.65439317e-02 2.39089260e-03 9.99644789e-01 -3.92158046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.543201008000004 meters Centerline goodness : 0.903063 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.39 [[ 9.99382259e-01 2.29706902e-02 -2.65978986e-02 3.41262161e+00] [-2.30418487e-02 9.99731688e-01 -2.37191504e-03 -4.63908228e-01] [ 2.65362775e-02 2.98331456e-03 9.99643399e-01 -3.93529666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.573201008 meters Centerline goodness : 0.900784 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.40 [[ 9.99387547e-01 2.28257820e-02 -2.65238453e-02 3.41333046e+00] [-2.29186395e-02 9.99732205e-01 -3.20215786e-03 -4.61363881e-01] [ 2.64436506e-02 3.80808714e-03 9.99643052e-01 -3.95267925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.603201008 meters Centerline goodness : 0.897910 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.40 [[ 0.99939204 0.02263656 -0.02651677 3.41372439] [-0.02273757 0.99973529 -0.00351396 -0.46015955] [ 0.02643021 0.00411475 0.99964219 -0.39572173] [ 0. 0. 0. 1. ]] SLAMing on 37.633201008 meters Centerline goodness : 0.895144 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.40 [[ 9.99392486e-01 2.23857944e-02 -2.67120706e-02 3.41444107e+00] [-2.24847845e-02 9.99741366e-01 -3.41119305e-03 -4.59938913e-01] [ 2.66287997e-02 4.00973585e-03 9.99637349e-01 -3.95518131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.663201008 meters Centerline goodness : 0.893592 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.46, Z:-0.39 [[ 9.99346407e-01 2.29001026e-02 -2.79704240e-02 3.42115178e+00] [-2.28510446e-02 9.99736733e-01 2.07234983e-03 -4.62880352e-01] [ 2.80105174e-02 -1.43184195e-03 9.99606603e-01 -3.92105454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.693201008 meters Centerline goodness : 0.893198 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.46, Z:-0.39 [[ 9.99348381e-01 2.21434498e-02 -2.85040420e-02 3.42300511e+00] [-2.20916943e-02 9.99753681e-01 2.12939865e-03 -4.63830327e-01] [ 2.85441732e-02 -1.49830851e-03 9.99591409e-01 -3.91997075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.723201008000004 meters Centerline goodness : 0.888537 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.47, Z:-0.38 [[ 0.9994333 0.01741907 -0.0288037 3.4397362 ] [-0.01710803 0.99979302 0.01101018 -0.46610022] [ 0.02898953 -0.01051117 0.99952445 -0.38314426] [ 0. 0. 0. 1. ]] SLAMing on 37.753201008000005 meters Centerline goodness : 0.886828 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.47, Z:-0.38 [[ 0.99942708 0.01622056 -0.02970518 3.44291488] [-0.01591254 0.99981745 0.01057647 -0.4658147 ] [ 0.02987131 -0.01009773 0.99950275 -0.38356257] [ 0. 0. 0. 1. ]] SLAMing on 37.783201008 meters Centerline goodness : 0.888510 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.47, Z:-0.38 [[ 0.99941657 0.01489701 -0.03073419 3.44662873] [-0.01458751 0.99984085 0.01026993 -0.46575023] [ 0.03088229 -0.00981561 0.99947483 -0.38378922] [ 0. 0. 0. 1. ]] SLAMing on 37.813201008 meters Centerline goodness : 0.887523 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.47, Z:-0.38 [[ 0.99942016 0.01195344 -0.03188205 3.46014066] [-0.01138064 0.99977163 0.01808755 -0.46810772] [ 0.03209098 -0.01771423 0.99932796 -0.3758938 ] [ 0. 0. 0. 1. ]] SLAMing on 37.843201008 meters Centerline goodness : 0.887105 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.47, Z:-0.37 [[ 0.99940931 0.00739594 -0.03356094 3.46932192] [-0.00672157 0.99977413 0.02016218 -0.46915735] [ 0.03370248 -0.01992469 0.99923328 -0.37068052] [ 0. 0. 0. 1. ]] SLAMing on 37.873201008 meters Centerline goodness : 0.888293 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.47, Z:-0.37 [[ 9.99440766e-01 2.90284886e-03 -3.33125776e-02 3.46964879e+00] [-2.40697728e-03 9.99885855e-01 1.49158764e-02 -4.66130428e-01] [ 3.33520737e-02 -1.48273523e-02 9.99333672e-01 -3.72732029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.903201008 meters Centerline goodness : 0.879261 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.46, Z:-0.37 [[ 9.99424051e-01 1.67721151e-03 -3.38932745e-02 3.47261297e+00] [-1.20188491e-03 9.99900716e-01 1.40397266e-02 -4.64992600e-01] [ 3.39134571e-02 -1.39909046e-02 9.99326839e-01 -3.74291875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.933201008000005 meters Centerline goodness : 0.880876 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.46, Z:-0.38 [[ 9.99412356e-01 5.86533391e-04 -3.42724256e-02 3.47512685e+00] [-1.44237410e-04 9.99916699e-01 1.29063489e-02 -4.62660648e-01] [ 3.42771407e-02 -1.28938212e-02 9.99329189e-01 -3.76266758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.963201008 meters Centerline goodness : 0.878904 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.46, Z:-0.37 [[ 0.999429 -0.00356271 -0.03360045 3.43706683] [ 0.00446666 0.99962905 0.02686647 -0.46153075] [ 0.03349227 -0.02700121 0.99907417 -0.37035875] [ 0. 0. 0. 1. ]] SLAMing on 37.993201008 meters Centerline goodness : 0.876513 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-0.38 [[ 0.9995123 -0.00832294 -0.03009812 3.40806436] [ 0.00900003 0.99970788 0.02243103 -0.45700504] [ 0.02990263 -0.02269097 0.99929523 -0.37526815] [ 0. 0. 0. 1. ]] SLAMing on 38.023201008 meters Centerline goodness : 0.879599 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.46, Z:-0.38 [[ 0.99958633 -0.01083689 -0.02664087 3.37514125] [ 0.01138578 0.99972423 0.0205386 -0.45523373] [ 0.02641095 -0.02083343 0.99943405 -0.37639233] [ 0. 0. 0. 1. ]] SLAMing on 38.053201008 meters Centerline goodness : 0.882411 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.45, Z:-0.38 [[ 0.99956603 -0.01390162 -0.02597118 3.37268424] [ 0.01431368 0.99977354 0.01574788 -0.45179166] [ 0.02574638 -0.01611279 0.99953864 -0.37704447] [ 0. 0. 0. 1. ]] SLAMing on 38.083201008 meters Centerline goodness : 0.879508 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.45, Z:-0.38 [[ 0.99962781 -0.01059003 -0.02514135 3.34104027] [ 0.01104098 0.99977943 0.01786604 -0.44645828] [ 0.0249466 -0.01813697 0.99952425 -0.38001173] [ 0. 0. 0. 1. ]] SLAMing on 38.113201008000004 meters Centerline goodness : 0.874900 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.38 [[ 0.9996438 -0.01028728 -0.02462609 3.34030996] [ 0.01069204 0.99980898 0.01636128 -0.44197344] [ 0.02445307 -0.01661875 0.99956284 -0.38255837] [ 0. 0. 0. 1. ]] SLAMing on 38.143201008 meters Centerline goodness : 0.871208 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.39 [[ 0.99966663 -0.0096394 -0.02395237 3.33905857] [ 0.01000052 0.99983744 0.01500258 -0.43804759] [ 0.02380386 -0.01523712 0.99960052 -0.3851438 ] [ 0. 0. 0. 1. ]] SLAMing on 38.173201008 meters Centerline goodness : 0.871437 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.38 [[ 0.9997032 -0.0044643 -0.02394968 3.33762059] [ 0.00491765 0.99980921 0.01890372 -0.43597718] [ 0.02386072 -0.01901588 0.99953442 -0.38464534] [ 0. 0. 0. 1. ]] SLAMing on 38.203201008 meters Centerline goodness : 0.872387 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.43, Z:-0.39 [[ 0.99972005 -0.00351633 -0.0233979 3.33563725] [ 0.00394897 0.99982162 0.0184698 -0.4340402 ] [ 0.02332878 -0.01855702 0.9995556 -0.38525913] [ 0. 0. 0. 1. ]] SLAMing on 38.233201008 meters Centerline goodness : 0.870773 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.43, Z:-0.39 [[ 9.99822163e-01 -4.87241422e-04 -1.88521863e-02 3.34846532e+00] [ 6.32540115e-04 9.99970139e-01 7.70206443e-03 -4.29506183e-01] [ 1.88478706e-02 -7.71261948e-03 9.99792615e-01 -3.93285858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.263201008 meters Centerline goodness : 0.871607 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.40 [[ 9.99893740e-01 4.75598960e-03 -1.37800497e-02 3.35898352e+00] [-4.77455995e-03 9.99987737e-01 -1.31504047e-03 -4.25788040e-01] [ 1.37736264e-02 1.38069441e-03 9.99904186e-01 -4.00201825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.293201008000004 meters Centerline goodness : 0.869687 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.40 [[ 0.99985775 0.00848829 -0.01457464 3.36074688] [-0.00843763 0.99995816 0.00353397 -0.42884767] [ 0.01460402 -0.00341049 0.99988754 -0.39886443] [ 0. 0. 0. 1. ]] SLAMing on 38.323201008 meters Centerline goodness : 0.868362 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.40 [[ 0.99985475 0.00848631 -0.01478045 3.3613687 ] [-0.00843347 0.99995784 0.00363342 -0.42932706] [ 0.01481066 -0.00350824 0.99988416 -0.39895285] [ 0. 0. 0. 1. ]] SLAMing on 38.353201008 meters Centerline goodness : 0.870302 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.40 [[ 9.99853185e-01 8.14059287e-03 -1.50777912e-02 3.36287184e+00] [-8.09021317e-03 9.99961496e-01 3.39930554e-03 -4.29778302e-01] [ 1.51048830e-02 -3.27682392e-03 9.99880545e-01 -4.00026585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.383201008 meters Centerline goodness : 0.865207 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.40 [[ 9.99850982e-01 7.30668218e-03 -1.56405486e-02 3.36557553e+00] [-7.26173006e-03 9.99969344e-01 2.92894205e-03 -4.30092437e-01] [ 1.56614700e-02 -2.81492814e-03 9.99873389e-01 -4.01615615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.413201008 meters Centerline goodness : 0.863003 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.40 [[ 9.99873610e-01 2.82583329e-03 -1.56454352e-02 3.36723192e+00] [-2.84966865e-03 9.99994813e-01 -1.50138681e-03 -4.31728895e-01] [ 1.56411113e-02 1.54578136e-03 9.99876475e-01 -4.04121113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.443201008 meters Centerline goodness : 0.863908 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.44, Z:-0.40 [[ 9.99862532e-01 2.35783940e-03 -1.64121076e-02 3.36894868e+00] [-2.35799114e-03 9.99997220e-01 1.01056347e-05 -4.35803895e-01] [ 1.64120858e-02 2.85953587e-05 9.99865312e-01 -4.01934952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.473201008000004 meters Centerline goodness : 0.867458 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.44, Z:-0.40 [[ 9.99851598e-01 1.78041989e-03 -1.71350867e-02 3.37095136e+00] [-1.75654310e-03 9.99997465e-01 1.40839348e-03 -4.39753846e-01] [ 1.71375508e-02 -1.37808595e-03 9.99852192e-01 -4.00094709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.503201008000005 meters Centerline goodness : 0.869722 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.45, Z:-0.39 [[ 9.99846192e-01 -2.99808094e-03 -1.72801811e-02 3.38472253e+00] [ 3.13575079e-03 9.99963519e-01 7.94534029e-03 -4.45710467e-01] [ 1.72557299e-02 -7.99830457e-03 9.99819117e-01 -3.94207195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.533201008 meters Centerline goodness : 0.868155 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.45, Z:-0.39 [[ 9.99827156e-01 -2.87321791e-03 -1.83685524e-02 3.39174740e+00] [ 3.13984219e-03 9.99889897e-01 1.45029350e-02 -4.50015707e-01] [ 1.83248599e-02 -1.45581026e-02 9.99726093e-01 -3.89221989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.563201008 meters Centerline goodness : 0.865853 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.45, Z:-0.39 [[ 9.99817997e-01 -9.43077623e-04 -1.90547559e-02 3.39541848e+00] [ 1.33127618e-03 9.99791616e-01 2.03703889e-02 -4.54423618e-01] [ 1.90315743e-02 -2.03920485e-02 9.99610906e-01 -3.85802909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.593201008 meters Centerline goodness : 0.867145 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-0.39 [[ 9.99810252e-01 -1.27621991e-03 -1.94378784e-02 3.39669194e+00] [ 1.67111352e-03 9.99792273e-01 2.03130002e-02 -4.55321723e-01] [ 1.94079167e-02 -2.03416287e-02 9.99604697e-01 -3.86085616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.623201008 meters Centerline goodness : 0.864753 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 9.99889802e-01 3.56954474e-04 -1.48410099e-02 3.41016665e+00] [-2.35068658e-04 9.99966239e-01 8.21370445e-03 -4.51336158e-01] [ 1.48434407e-02 -8.20931066e-03 9.99856129e-01 -3.94894154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.653201008 meters Centerline goodness : 0.866612 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 0.99987035 0.00426375 -0.01552732 3.4112652 ] [-0.00404994 0.99989692 0.01377523 -0.45338196] [ 0.01558446 -0.01371056 0.99978455 -0.39180912] [ 0. 0. 0. 1. ]] SLAMing on 38.683201008000005 meters Centerline goodness : 0.863679 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 0.99987138 0.00463225 -0.01535488 3.41070201] [-0.00442468 0.99989875 0.01352458 -0.45173728] [ 0.01541597 -0.0134549 0.99979063 -0.39211723] [ 0. 0. 0. 1. ]] SLAMing on 38.713201008 meters Centerline goodness : 0.863849 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 0.99987224 0.00497321 -0.01519111 3.41029084] [-0.00477693 0.999905 0.01292969 -0.44965477] [ 0.01525397 -0.01285547 0.99980101 -0.3930543 ] [ 0. 0. 0. 1. ]] SLAMing on 38.743201008 meters Centerline goodness : 0.862373 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 0.99983788 0.00873901 -0.01574332 3.41178504] [-0.00846024 0.99980776 0.01768793 -0.45057494] [ 0.01589487 -0.01755187 0.9997196 -0.39172752] [ 0. 0. 0. 1. ]] SLAMing on 38.773201008 meters Centerline goodness : 0.860007 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.39 [[ 0.99984057 0.00941538 -0.01517194 3.4103269 ] [-0.00915575 0.99981201 0.01709155 -0.44916362] [ 0.01533001 -0.01694992 0.99973881 -0.39300896] [ 0. 0. 0. 1. ]] SLAMing on 38.803201008 meters Centerline goodness : 0.862063 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.45, Z:-0.40 [[ 0.99987546 0.00615607 -0.01453162 3.4086806 ] [-0.00598459 0.9999123 0.01181439 -0.4467103 ] [ 0.01460308 -0.01172595 0.99982461 -0.39536989] [ 0. 0. 0. 1. ]] SLAMing on 38.833201008 meters Centerline goodness : 0.868391 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.45, Z:-0.40 [[ 0.99991703 0.00745317 -0.01050658 3.42632799] [-0.00740762 0.99996303 0.00436702 -0.4460352 ] [ 0.01053874 -0.00428882 0.99993527 -0.39923165] [ 0. 0. 0. 1. ]] SLAMing on 38.863201008000004 meters Centerline goodness : 0.866891 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.45, Z:-0.39 [[ 0.99987818 0.010577 -0.0114785 3.42905764] [-0.01045181 0.99988583 0.01091223 -0.45066542] [ 0.01159261 -0.01079093 0.99987458 -0.39495054] [ 0. 0. 0. 1. ]] SLAMing on 38.893201008 meters Centerline goodness : 0.864973 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.45, Z:-0.40 [[ 0.999837 0.01293304 -0.01259763 3.43412101] [-0.01274766 0.99981089 0.01468633 -0.45255943] [ 0.01278518 -0.01452334 0.99981279 -0.39635245] [ 0. 0. 0. 1. ]] SLAMing on 38.923201008 meters Centerline goodness : 0.866017 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99984131 0.01210926 -0.01306639 3.43703363] [-0.0119383 0.99984314 0.01308328 -0.45080616] [ 0.01322277 -0.01292522 0.99982903 -0.39985669] [ 0. 0. 0. 1. ]] SLAMing on 38.953201008 meters Centerline goodness : 0.863661 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.9998432 0.0114229 -0.013531 3.43948439] [-0.01126 0.99986394 0.01205477 -0.44998736] [ 0.01366686 -0.01190052 0.99983578 -0.40217043] [ 0. 0. 0. 1. ]] SLAMing on 38.983201008 meters Centerline goodness : 0.869329 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99987536 0.00856835 -0.01326063 3.43741437] [-0.00846907 0.99993582 0.00752475 -0.44857018] [ 0.01332425 -0.00741151 0.99988376 -0.40269391] [ 0. 0. 0. 1. ]] SLAMing on 39.013201008 meters Centerline goodness : 0.868182 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99987141 0.0084914 -0.0136035 3.43779327] [-0.00838637 0.99993473 0.00775919 -0.44909506] [ 0.0136685 -0.00764411 0.99987736 -0.40180468] [ 0. 0. 0. 1. ]] SLAMing on 39.043201008000004 meters Centerline goodness : 0.865892 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99983599 0.01117179 -0.01425409 3.44057172] [-0.01099521 0.99986258 0.0124071 -0.45168789] [ 0.01439074 -0.01224833 0.99982143 -0.40058181] [ 0. 0. 0. 1. ]] SLAMing on 39.073201008 meters Centerline goodness : 0.865892 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99983599 0.01117383 -0.01425264 3.44056788] [-0.01099729 0.99986257 0.0124058 -0.45168524] [ 0.01438931 -0.01224702 0.99982146 -0.40058304] [ 0. 0. 0. 1. ]] SLAMing on 39.103201008 meters Centerline goodness : 0.865739 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.45, Z:-0.40 [[ 0.99983783 0.01042858 -0.01468171 3.44262022] [-0.01025754 0.9998792 0.01167746 -0.45058982] [ 0.01480171 -0.01152496 0.99982403 -0.40196888] [ 0. 0. 0. 1. ]] SLAMing on 39.133201008 meters Centerline goodness : 0.865886 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.45, Z:-0.40 [[ 0.99984079 0.00900133 -0.01540679 3.44636489] [-0.00883048 0.99989916 0.01112165 -0.45006369] [ 0.01550535 -0.01098383 0.99981945 -0.40339598] [ 0. 0. 0. 1. ]] SLAMing on 39.163201008 meters Centerline goodness : 0.864300 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.45, Z:-0.40 [[ 0.9998337 0.00850102 -0.01613385 3.44808144] [-0.00831277 0.99989701 0.01169939 -0.45131982] [ 0.01623165 -0.01156332 0.99980139 -0.40209322] [ 0. 0. 0. 1. ]] SLAMing on 39.193201008 meters Centerline goodness : 0.864603 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.46, Z:-0.39 [[ 0.99981813 0.00761171 -0.01748637 3.45812935] [-0.00725131 0.99976187 0.02058225 -0.45554434] [ 0.01763888 -0.02045171 0.99963523 -0.39257943] [ 0. 0. 0. 1. ]] SLAMing on 39.223201008000004 meters Centerline goodness : 0.865220 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.45, Z:-0.39 [[ 0.99984731 0.00384569 -0.01704575 3.45685122] [-0.00357824 0.99987045 0.01569315 -0.45379519] [ 0.0171039 -0.01562976 0.99973155 -0.39367189] [ 0. 0. 0. 1. ]] SLAMing on 39.253201008000005 meters Centerline goodness : 0.867552 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.45, Z:-0.39 [[ 9.99839901e-01 3.47680739e-03 -1.75523262e-02 3.45806849e+00] [-3.19408997e-03 9.99865131e-01 1.61095387e-02 -4.54566553e-01] [ 1.76059687e-02 -1.60508959e-02 9.99716159e-01 -3.92617191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.283201008 meters Centerline goodness : 0.867064 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.46, Z:-0.39 [[ 9.99805248e-01 2.42208469e-03 -1.95856746e-02 3.46907611e+00] [-2.01519562e-03 9.99782292e-01 2.07679455e-02 -4.55039027e-01] [ 1.96317123e-02 -2.07244319e-02 9.99592464e-01 -3.90591838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.313201008 meters Centerline goodness : 0.861953 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.45, Z:-0.39 [[ 9.99798949e-01 1.43270897e-03 -2.00002049e-02 3.47185118e+00] [-1.05136885e-03 9.99817707e-01 1.90643208e-02 -4.52547548e-01] [ 2.00238726e-02 -1.90394603e-02 9.99618199e-01 -3.93877177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.343201008 meters Centerline goodness : 0.866073 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.45, Z:-0.39 [[ 9.99768050e-01 3.93824200e-03 -2.11739726e-02 3.47625899e+00] [-3.45993379e-03 9.99739079e-01 2.25788134e-02 -4.52644730e-01] [ 2.12573687e-02 -2.25003157e-02 9.99520815e-01 -3.94720836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.373201008 meters Centerline goodness : 0.857036 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.45, Z:-0.40 [[ 9.99955071e-01 2.10831514e-03 -9.24182694e-03 3.48336378e+00] [-1.93388215e-03 9.99820589e-01 1.88427709e-02 -4.48583673e-01] [ 9.27989536e-03 -1.88240517e-02 9.99779745e-01 -4.04565205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.403201008 meters Centerline goodness : 0.857710 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.45, Z:-0.40 [[ 9.99956086e-01 2.99570559e-03 -8.87984647e-03 3.48117562e+00] [-2.82730033e-03 9.99817057e-01 1.89171486e-02 -4.47368629e-01] [ 8.93489217e-03 -1.88912119e-02 9.99781621e-01 -4.03546442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.433201008000005 meters Centerline goodness : 0.858547 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-0.41 [[ 0.99997691 0.00464566 -0.0049592 3.50050177] [-0.0045797 0.99990198 0.01323087 -0.44590721] [ 0.00502018 -0.01320785 0.99990017 -0.40606631] [ 0. 0. 0. 1. ]] SLAMing on 39.463201008 meters Centerline goodness : 0.854661 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-0.41 [[ 0.99997688 0.00452043 -0.00507901 3.50092314] [-0.00445604 0.99991047 0.01261707 -0.44452583] [ 0.00513559 -0.01259415 0.9999075 -0.40675147] [ 0. 0. 0. 1. ]] SLAMing on 39.493201008 meters Centerline goodness : 0.855425 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-0.41 [[ 0.99997603 0.00474327 -0.00504367 3.50117266] [-0.00468352 0.9999195 0.01179261 -0.44209822] [ 0.0050992 -0.01176871 0.99991774 -0.40830098] [ 0. 0. 0. 1. ]] SLAMing on 39.523201008 meters Centerline goodness : 0.858117 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-0.41 [[ 0.99994908 0.00811136 -0.00600351 3.50353691] [-0.00800442 0.99981258 0.01762764 -0.44537089] [ 0.00614536 -0.01757869 0.9998266 -0.40500933] [ 0. 0. 0. 1. ]] SLAMing on 39.553201008 meters Centerline goodness : 0.859050 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-0.41 [[ 0.99997304 0.0046598 -0.00567477 3.50253617] [-0.00458875 0.99991174 0.01246846 -0.44281668] [ 0.00573237 -0.01244209 0.99990616 -0.40693792] [ 0. 0. 0. 1. ]] SLAMing on 39.583201008 meters Centerline goodness : 0.857841 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-0.41 [[ 0.99997188 0.00450226 -0.0059974 3.50333499] [-0.00442547 0.99990885 0.01275555 -0.44402968] [ 0.00605428 -0.01272865 0.99990066 -0.40661467] [ 0. 0. 0. 1. ]] SLAMing on 39.613201008000004 meters Centerline goodness : 0.855726 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-0.41 [[ 0.99997077 0.00417326 -0.00640583 3.50452461] [-0.00408885 0.99990538 0.01313402 -0.44502244] [ 0.00646003 -0.01310744 0.99989323 -0.40608303] [ 0. 0. 0. 1. ]] SLAMing on 39.643201008 meters Centerline goodness : 0.859398 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-0.40 [[ 0.99994784 0.00682851 -0.00759472 3.50826942] [-0.0066913 0.99981655 0.01794671 -0.44684166] [ 0.00771587 -0.01789496 0.9998101 -0.40444262] [ 0. 0. 0. 1. ]] SLAMing on 39.673201008 meters Centerline goodness : 0.857198 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-0.41 [[ 9.99969674e-01 2.81657346e-03 -7.26073795e-03 3.50841780e+00] [-2.73524064e-03 9.99933678e-01 1.11874264e-02 -4.41685517e-01] [ 7.29176661e-03 -1.11672273e-02 9.99911058e-01 -4.09294655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.703201008 meters Centerline goodness : 0.855333 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-0.41 [[ 9.99966062e-01 1.85101515e-03 -8.02803702e-03 3.51123289e+00] [-1.76656988e-03 9.99943175e-01 1.05131602e-02 -4.40730594e-01] [ 8.04704084e-03 -1.04986213e-02 9.99912508e-01 -4.10377424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.733201008 meters Centerline goodness : 0.858646 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.44, Z:-0.40 [[ 9.99948703e-01 7.12499035e-04 -1.01036445e-02 3.52281006e+00] [-5.19085191e-04 9.99816818e-01 1.91326956e-02 -4.43398170e-01] [ 1.01154257e-02 -1.91264695e-02 9.99765901e-01 -4.01657881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.763201008 meters Centerline goodness : 0.858873 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.44, Z:-0.40 [[ 9.99919247e-01 -2.64878957e-03 -1.24290958e-02 3.53097230e+00] [ 2.89832973e-03 9.99793729e-01 2.01022252e-02 -4.44031289e-01] [ 1.23732855e-02 -2.01366256e-02 9.99720670e-01 -3.98701913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.793201008000004 meters Centerline goodness : 0.862152 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.44, Z:-0.40 [[ 0.99989489 -0.00727714 -0.01253989 3.53197906] [ 0.00746146 0.99986389 0.0147152 -0.44206914] [ 0.01243109 -0.01480722 0.99981309 -0.40056468] [ 0. 0. 0. 1. ]] SLAMing on 39.823201008 meters Centerline goodness : 0.859751 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-0.39 [[ 0.99981963 -0.00998077 -0.01615809 3.52058642] [ 0.01045619 0.99950681 0.02961077 -0.44674926] [ 0.01585458 -0.02977438 0.9994309 -0.388125 ] [ 0. 0. 0. 1. ]] SLAMing on 39.853201008 meters Centerline goodness : 0.860815 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.45, Z:-0.38 [[ 0.99977196 -0.01530885 -0.01488874 3.47780561] [ 0.01589347 0.99907431 0.03997412 -0.44676013] [ 0.014263 -0.04020164 0.99908978 -0.38273866] [ 0. 0. 0. 1. ]] SLAMing on 39.883201008 meters Centerline goodness : 0.862012 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.44, Z:-0.38 [[ 0.99969199 -0.02082054 -0.01350702 3.4321542 ] [ 0.02141604 0.9987323 0.0455538 -0.44333151] [ 0.01254144 -0.04582903 0.99887057 -0.38260408] [ 0. 0. 0. 1. ]] SLAMing on 39.913201008 meters Centerline goodness : 0.859506 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.44, Z:-0.38 [[ 0.99967804 -0.02185606 -0.01288922 3.43239661] [ 0.02242188 0.99871158 0.04552404 -0.44198469] [ 0.01187763 -0.04579838 0.99888009 -0.38450195] [ 0. 0. 0. 1. ]] SLAMing on 39.943201008 meters Centerline goodness : 0.860469 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.44, Z:-0.39 [[ 0.99965493 -0.0225251 -0.01351483 3.4341969 ] [ 0.02309709 0.99877433 0.04377634 -0.44067872] [ 0.01251219 -0.04407339 0.99894994 -0.38526264] [ 0. 0. 0. 1. ]] SLAMing on 39.973201008000004 meters Centerline goodness : 0.863192 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.44, Z:-0.39 [[ 0.99958477 -0.02584421 -0.01274233 3.43208484] [ 0.02631777 0.99891139 0.03851507 -0.43700745] [ 0.01173307 -0.03883443 0.99917677 -0.38669188] [ 0. 0. 0. 1. ]] SLAMing on 40.003201008000005 meters Centerline goodness : 0.863845 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.39 [[ 0.99959635 -0.0254027 -0.01272157 3.43104141] [ 0.02586284 0.99896505 0.03741587 -0.43302974] [ 0.01175794 -0.03772979 0.9992188 -0.38702493] [ 0. 0. 0. 1. ]] SLAMing on 40.033201008 meters Centerline goodness : 0.861462 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.39 [[ 0.99958948 -0.02567272 -0.01271927 3.43189113] [ 0.02610737 0.99903658 0.03527476 -0.42833171] [ 0.01180141 -0.03559235 0.99929671 -0.39023568] [ 0. 0. 0. 1. ]] SLAMing on 40.063201008 meters Centerline goodness : 0.859564 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.39 [[ 0.99957912 -0.02594541 -0.01297747 3.433167 ] [ 0.02636636 0.99909448 0.03339225 -0.42397197] [ 0.01209934 -0.03372037 0.99935807 -0.3930422 ] [ 0. 0. 0. 1. ]] SLAMing on 40.093201008 meters Centerline goodness : 0.858417 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.39 [[ 0.99966629 -0.0218375 -0.01380002 3.4340239 ] [ 0.02234666 0.99903213 0.03788713 -0.42425984] [ 0.0129593 -0.03818287 0.99918673 -0.39144762] [ 0. 0. 0. 1. ]] SLAMing on 40.123201008 meters Centerline goodness : 0.856628 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.42, Z:-0.40 [[ 0.99976005 -0.01587483 -0.01509406 3.43844085] [ 0.01621011 0.99961865 0.02235587 -0.41687927] [ 0.01473341 -0.02259518 0.99963613 -0.39864364] [ 0. 0. 0. 1. ]] SLAMing on 40.153201008 meters Centerline goodness : 0.858962 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.42, Z:-0.40 [[ 0.9997863 -0.01283608 -0.0162049 3.441442 ] [ 0.01326416 0.99955838 0.02659138 -0.41671044] [ 0.01585641 -0.02680064 0.99951503 -0.39764334] [ 0. 0. 0. 1. ]] SLAMing on 40.183201008000005 meters Centerline goodness : 0.850832 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.40 [[ 0.99978956 -0.01045338 -0.01765107 3.44590423] [ 0.01098965 0.99947242 0.03056315 -0.41710116] [ 0.01732227 -0.0307507 0.99937697 -0.39719615] [ 0. 0. 0. 1. ]] SLAMing on 40.213201008 meters Centerline goodness : 0.852970 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.41, Z:-0.40 [[ 0.9998401 -0.00994921 -0.01485888 3.46453419] [ 0.01027337 0.99970735 0.02190126 -0.41425229] [ 0.01463663 -0.02205041 0.99964971 -0.40172929] [ 0. 0. 0. 1. ]] SLAMing on 40.243201008 meters Centerline goodness : 0.852965 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.42, Z:-0.40 [[ 0.99981725 -0.010789 -0.01578191 3.46628064] [ 0.01116503 0.99965116 0.02393527 -0.41700188] [ 0.01551816 -0.0241071 0.99958893 -0.39721111] [ 0. 0. 0. 1. ]] SLAMing on 40.273201008 meters Centerline goodness : 0.858922 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.41, Z:-0.40 [[ 0.99978061 -0.01446861 -0.01514592 3.46491456] [ 0.0147526 0.99971425 0.01880923 -0.41370657] [ 0.01486944 -0.01902855 0.99970836 -0.39877825] [ 0. 0. 0. 1. ]] SLAMing on 40.303201008 meters Centerline goodness : 0.856554 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.41, Z:-0.40 [[ 0.99978049 -0.01452214 -0.01510236 3.4649256 ] [ 0.01479951 0.99972081 0.01841925 -0.41237702] [ 0.01483065 -0.01863871 0.99971628 -0.39921557] [ 0. 0. 0. 1. ]] SLAMing on 40.333201008 meters Centerline goodness : 0.856420 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.41, Z:-0.40 [[ 0.99978091 -0.01458795 -0.01501069 3.46495391] [ 0.01485477 0.99973085 0.01782007 -0.40982997] [ 0.01474669 -0.01803915 0.99972853 -0.39983584] [ 0. 0. 0. 1. ]] SLAMing on 40.363201008000004 meters Centerline goodness : 0.859191 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.41, Z:-0.40 [[ 0.9998238 -0.01065993 -0.01545135 3.46549852] [ 0.01100494 0.99968811 0.02241824 -0.41077092] [ 0.01520755 -0.02258433 0.99962927 -0.39847943] [ 0. 0. 0. 1. ]] SLAMing on 40.393201008 meters Centerline goodness : 0.858921 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.41, Z:-0.40 [[ 0.99993679 -0.00573818 -0.00966891 3.47467476] [ 0.00587166 0.99988706 0.01383411 -0.40654643] [ 0.00958844 -0.01389001 0.99985755 -0.40321173] [ 0. 0. 0. 1. ]] SLAMing on 40.423201008 meters Centerline goodness : 0.856242 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 9.99983332e-01 -3.04170375e-03 -4.90750428e-03 3.48716451e+00] [ 3.05809378e-03 9.99989760e-01 3.33574805e-03 -4.02552842e-01] [ 4.89730768e-03 -3.35070006e-03 9.99982394e-01 -4.09760031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.453201008 meters Centerline goodness : 0.857188 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 9.99983217e-01 7.88406531e-04 -5.73972276e-03 3.48871401e+00] [-7.43855124e-04 9.99969615e-01 7.75994526e-03 -4.03357101e-01] [ 5.74566635e-03 -7.75554550e-03 9.99953418e-01 -4.08662618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.483201008 meters Centerline goodness : 0.856743 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 0.99996821 0.00457867 -0.00652788 3.4904903 ] [-0.00450097 0.99991943 0.01186902 -0.40357688] [ 0.0065817 -0.01183926 0.99990825 -0.40828131] [ 0. 0. 0. 1. ]] SLAMing on 40.513201008 meters Centerline goodness : 0.860583 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 0.99993562 0.00943077 -0.0063101 3.4891143 ] [-0.00933042 0.99983246 0.01574766 -0.40143415] [ 0.00645756 -0.01568777 0.99985609 -0.40783315] [ 0. 0. 0. 1. ]] SLAMing on 40.543201008000004 meters Centerline goodness : 0.866295 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 0.99988515 0.01354501 -0.00679921 3.48990814] [-0.01340437 0.99970364 0.02032134 -0.40275855] [ 0.00707245 -0.02022786 0.99977038 -0.40681123] [ 0. 0. 0. 1. ]] SLAMing on 40.573201008 meters Centerline goodness : 0.864161 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 0.99988002 0.01400341 -0.00662127 3.4892414 ] [-0.01386877 0.99970458 0.01996002 -0.40156944] [ 0.00689882 -0.01986579 0.99977885 -0.40726272] [ 0. 0. 0. 1. ]] SLAMing on 40.603201008 meters Centerline goodness : 0.864139 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.41 [[ 0.99991839 0.01117705 -0.00618719 3.48784878] [-0.01108797 0.99983701 0.01424798 -0.39813534] [ 0.00634543 -0.01417821 0.99987935 -0.41056641] [ 0. 0. 0. 1. ]] SLAMing on 40.633201008 meters Centerline goodness : 0.865932 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.40, Z:-0.42 [[ 9.99922626e-01 1.21553346e-02 -2.64376416e-03 3.50586405e+00] [-1.21440927e-02 9.99917321e-01 4.22750668e-03 -3.95585889e-01] [ 2.69493233e-03 -4.19507347e-03 9.99987569e-01 -4.18744288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.663201008 meters Centerline goodness : 0.864419 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.39, Z:-0.42 [[ 9.99962369e-01 8.40083742e-03 -2.16462030e-03 3.50551940e+00] [-8.40288187e-03 9.99964256e-01 -9.37127190e-04 -3.93375985e-01] [ 2.15667027e-03 9.55280974e-04 9.99997218e-01 -4.21368419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.693201008 meters Centerline goodness : 0.861318 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.40, Z:-0.42 [[ 9.99961326e-01 8.44537310e-03 -2.45399678e-03 3.50628865e+00] [-8.44560042e-03 9.99964332e-01 -8.22837947e-05 -3.96106158e-01] [ 2.45321434e-03 1.03006089e-04 9.99996986e-01 -4.20780749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.723201008000004 meters Centerline goodness : 0.865938 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.40, Z:-0.42 [[ 9.99962034e-01 8.17843815e-03 -3.00724617e-03 3.50785442e+00] [-8.17262063e-03 9.99964718e-01 1.94172826e-03 -4.03798385e-01] [ 3.02302037e-03 -1.91707745e-03 9.99993593e-01 -4.18953321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.753201008000005 meters Centerline goodness : 0.868074 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.40, Z:-0.42 [[ 9.99986277e-01 4.54498590e-03 -2.60563653e-03 3.50745029e+00] [-4.55113816e-03 9.99986858e-01 -2.36008703e-03 -4.04608793e-01] [ 2.59487573e-03 2.37191325e-03 9.99993820e-01 -4.20623577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.783201008 meters Centerline goodness : 0.869045 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.41, Z:-0.42 [[ 9.99984894e-01 4.70195694e-03 -2.84676263e-03 3.50816680e+00] [-4.70613343e-03 9.99987857e-01 -1.46218604e-03 -4.07968182e-01] [ 2.83985292e-03 1.47556119e-03 9.99994879e-01 -4.20306689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.813201008 meters Centerline goodness : 0.867245 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.41, Z:-0.42 [[ 9.99983377e-01 4.97692646e-03 -2.91146897e-03 3.50857669e+00] [-4.98005669e-03 9.99987028e-01 -1.06887631e-03 -4.10290732e-01] [ 2.90611149e-03 1.08335782e-03 9.99995190e-01 -4.20765920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.843201008 meters Centerline goodness : 0.868496 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.41, Z:-0.42 [[ 9.99980291e-01 5.62598301e-03 -2.78670188e-03 3.50798467e+00] [-5.62663818e-03 9.99984145e-01 -2.27322042e-04 -4.12923096e-01] [ 2.78537878e-03 2.42997325e-04 9.99996091e-01 -4.20379356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.873201008 meters Centerline goodness : 0.868538 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.42, Z:-0.42 [[ 9.99975282e-01 6.60571248e-03 -2.40825418e-03 3.50662070e+00] [-6.60396416e-03 9.99977925e-01 7.33201678e-04 -4.15600135e-01] [ 2.41304434e-03 -7.17279530e-04 9.99996831e-01 -4.19972040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.903201008 meters Centerline goodness : 0.867787 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.42, Z:-0.42 [[ 9.99970301e-01 7.45136043e-03 -1.96845653e-03 3.50616432e+00] [-7.44836677e-03 9.99971100e-01 1.52379517e-03 -4.20144191e-01] [ 1.97975399e-03 -1.50908813e-03 9.99996902e-01 -4.21298998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.933201008000005 meters Centerline goodness : 0.870003 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.42, Z:-0.42 [[ 9.99992065e-01 3.44263068e-03 -2.00475064e-03 3.50641343e+00] [-3.44636503e-03 9.99992327e-01 -1.86228285e-03 -4.22981126e-01] [ 1.99832411e-03 1.86917717e-03 9.99996256e-01 -4.21081547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.963201008 meters Centerline goodness : 0.870003 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.42, Z:-0.42 [[ 9.99992065e-01 3.44263068e-03 -2.00475064e-03 3.50641343e+00] [-3.44636503e-03 9.99992327e-01 -1.86228285e-03 -4.22981126e-01] [ 1.99832411e-03 1.86917717e-03 9.99996256e-01 -4.21081547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.993201008 meters Centerline goodness : 0.872506 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.43, Z:-0.42 [[ 9.99995644e-01 1.33768364e-03 -2.63103466e-03 3.50988932e+00] [-1.33598557e-03 9.99998898e-01 6.47051742e-04 -4.30511709e-01] [ 2.63189732e-03 -6.43533899e-04 9.99996329e-01 -4.17109566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.023201008 meters Centerline goodness : 0.873962 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.43, Z:-0.42 [[ 9.99995449e-01 1.35523899e-03 -2.69533881e-03 3.51016627e+00] [-1.35290070e-03 9.99998707e-01 8.69164169e-04 -4.30553594e-01] [ 2.69651325e-03 -8.65513688e-04 9.99995990e-01 -4.16919206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.053201008 meters Centerline goodness : 0.871437 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.43, Z:-0.42 [[ 9.99995618e-01 1.08246436e-03 -2.75527201e-03 3.51106577e+00] [-1.08147019e-03 9.99999350e-01 3.62290082e-04 -4.29116600e-01] [ 2.75566239e-03 -3.59308750e-04 9.99996139e-01 -4.18070469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.083201008 meters Centerline goodness : 0.866565 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.43, Z:-0.42 [[ 0.99998471 0.00407582 -0.00373611 3.5142323 ] [-0.00405774 0.99998009 0.00483365 -0.43004518] [ 0.00375574 -0.00481842 0.99998134 -0.41736104] [ 0. 0. 0. 1. ]] SLAMing on 41.113201008000004 meters Centerline goodness : 0.865541 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.43, Z:-0.42 [[ 0.99996625 0.00700315 -0.00429691 3.51718679] [-0.0069685 0.99994351 0.0080257 -0.42795466] [ 0.00435288 -0.00799549 0.99995856 -0.41893187] [ 0. 0. 0. 1. ]] SLAMing on 41.143201008 meters Centerline goodness : 0.863838 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.43, Z:-0.42 [[ 0.99996726 0.00679769 -0.00438987 3.51785969] [-0.00676631 0.99995173 0.00712359 -0.42593307] [ 0.00443809 -0.00709365 0.99996499 -0.42030787] [ 0. 0. 0. 1. ]] SLAMing on 41.173201008 meters Centerline goodness : 0.861913 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.43, Z:-0.42 [[ 0.99996792 0.00640271 -0.00481292 3.51916755] [-0.00636982 0.99995647 0.00681792 -0.42538279] [ 0.00485636 -0.00678704 0.99996518 -0.42058989] [ 0. 0. 0. 1. ]] SLAMing on 41.203201008 meters Centerline goodness : 0.863504 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.43, Z:-0.42 [[ 0.99996773 0.00574672 -0.00561316 3.52122663] [-0.00570711 0.99995889 0.00704679 -0.42667529] [ 0.00565343 -0.00701452 0.99995942 -0.41994787] [ 0. 0. 0. 1. ]] SLAMing on 41.233201008 meters Centerline goodness : 0.860286 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.43, Z:-0.42 [[ 0.99996714 0.00508944 -0.00630946 3.52326823] [-0.0050447 0.99996217 0.00708637 -0.42767596] [ 0.00634529 -0.00705431 0.99995499 -0.41979634] [ 0. 0. 0. 1. ]] SLAMing on 41.263201008 meters Centerline goodness : 0.862624 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.43, Z:-0.42 [[ 0.99996718 0.00439775 -0.00680463 3.52508258] [-0.00434982 0.99996574 0.00704188 -0.42895948] [ 0.00683537 -0.00701205 0.99995205 -0.41997628] [ 0. 0. 0. 1. ]] SLAMing on 41.293201008000004 meters Centerline goodness : 0.863948 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.43, Z:-0.42 [[ 0.99995344 0.00564347 -0.00782803 3.53008867] [-0.00554876 0.99991177 0.0120687 -0.43221155] [ 0.00789545 -0.0120247 0.99989653 -0.41760227] [ 0. 0. 0. 1. ]] SLAMing on 41.323201008 meters Centerline goodness : 0.864239 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.43, Z:-0.42 [[ 0.99995314 0.00495691 -0.0083154 3.53221943] [-0.00486154 0.99992262 0.01145047 -0.43187685] [ 0.00837151 -0.01140951 0.99989987 -0.4188981 ] [ 0. 0. 0. 1. ]] SLAMing on 41.353201008 meters Centerline goodness : 0.863052 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.43, Z:-0.42 [[ 0.99995543 0.00395856 -0.00857121 3.53495474] [-0.00387228 0.99994191 0.01005906 -0.4306078 ] [ 0.00861053 -0.01002542 0.99991267 -0.42227614] [ 0. 0. 0. 1. ]] SLAMing on 41.383201008 meters Centerline goodness : 0.863313 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 0.99997303 0.00458062 -0.0057403 3.55729399] [-0.00455911 0.99998256 0.0037546 -0.42856946] [ 0.0057574 -0.00372833 0.99997648 -0.42668068] [ 0. 0. 0. 1. ]] SLAMing on 41.413201008 meters Centerline goodness : 0.860609 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 9.99972254e-01 4.40463671e-03 -6.00749495e-03 3.55823562e+00] [-4.38319884e-03 9.99983996e-01 3.57702946e-03 -4.28920661e-01] [ 6.02315433e-03 -3.55059817e-03 9.99975557e-01 -4.27246892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.443201008 meters Centerline goodness : 0.863864 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 9.99970287e-01 4.17907283e-03 -6.47765323e-03 3.55937595e+00] [-4.15593688e-03 9.99984952e-01 3.58101176e-03 -4.29650059e-01] [ 6.49252107e-03 -3.55398464e-03 9.99972608e-01 -4.27166255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.473201008000004 meters Centerline goodness : 0.866378 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 0.99996795 0.00401742 -0.00692582 3.56020424] [-0.00399111 0.99998478 0.00380863 -0.43071157] [ 0.00694101 -0.00378087 0.99996876 -0.42650948] [ 0. 0. 0. 1. ]] SLAMing on 41.503201008000005 meters Centerline goodness : 0.867565 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 0.99996738 0.00383581 -0.00710765 3.56071643] [-0.00380653 0.99998423 0.00412886 -0.4319916 ] [ 0.00712337 -0.00410167 0.99996622 -0.42601523] [ 0. 0. 0. 1. ]] SLAMing on 41.533201008 meters Centerline goodness : 0.869213 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 9.99967555e-01 3.56758749e-03 -7.22220934e-03 3.56134520e+00] [-3.53817845e-03 9.99985414e-01 4.08071846e-03 -4.32022885e-01] [ 7.23666232e-03 -4.05503260e-03 9.99965593e-01 -4.26216067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.563201008 meters Centerline goodness : 0.865804 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 9.99968538e-01 3.28744268e-03 -7.21906650e-03 3.56176498e+00] [-3.26130555e-03 9.99988096e-01 3.62936183e-03 -4.31131731e-01] [ 7.23091188e-03 -3.60570406e-03 9.99967356e-01 -4.26851173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.593201008 meters Centerline goodness : 0.864922 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.43, Z:-0.43 [[ 9.99967350e-01 2.83379369e-03 -7.56753622e-03 3.56290362e+00] [-2.80857701e-03 9.99990476e-01 3.34076899e-03 -4.30562995e-01] [ 7.57693119e-03 -3.31940591e-03 9.99965785e-01 -4.27034706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.623201008 meters Centerline goodness : 0.866312 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.44, Z:-0.41 [[ 9.99975461e-01 -1.60216601e-03 -6.81987402e-03 3.58747986e+00] [ 1.74286552e-03 9.99784728e-01 2.06751100e-02 -4.35568730e-01] [ 6.78528093e-03 -2.06864887e-02 9.99762986e-01 -4.12150619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.653201008 meters Centerline goodness : 0.866635 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.43, Z:-0.41 [[ 0.99996334 -0.00575731 -0.00633739 3.58708648] [ 0.00585315 0.99986719 0.01521022 -0.43298154] [ 0.00624898 -0.01524675 0.99986423 -0.41458756] [ 0. 0. 0. 1. ]] SLAMing on 41.683201008000005 meters Centerline goodness : 0.866448 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.43, Z:-0.41 [[ 0.99994431 -0.0051342 -0.00922098 3.6138061 ] [ 0.00524906 0.9999084 0.01247545 -0.43426929] [ 0.00915608 -0.01252316 0.99987966 -0.41300903] [ 0. 0. 0. 1. ]] SLAMing on 41.713201008 meters Centerline goodness : 0.868421 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.44, Z:-0.41 [[ 9.99921080e-01 -3.15951753e-03 -1.21594024e-02 3.64312290e+00] [ 3.35438133e-03 9.99865742e-01 1.60388852e-02 -4.37535090e-01] [ 1.21070947e-02 -1.60784067e-02 9.99797431e-01 -4.06430843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.743201008 meters Centerline goodness : 0.867628 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.44, Z:-0.41 [[ 0.99990752 -0.00428514 -0.01290697 3.64588738] [ 0.00448247 0.99987292 0.0152985 -0.43587335] [ 0.01283977 -0.01535494 0.99979966 -0.40724179] [ 0. 0. 0. 1. ]] SLAMing on 41.773201008 meters Centerline goodness : 0.863798 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.43, Z:-0.41 [[ 0.99989673 -0.00506468 -0.01344935 3.64801207] [ 0.00526046 0.99988014 0.01456144 -0.4345042 ] [ 0.01337399 -0.01463069 0.99980352 -0.408233 ] [ 0. 0. 0. 1. ]] SLAMing on 41.803201008 meters Centerline goodness : 0.867600 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.43, Z:-0.41 [[ 0.9999381 -0.0039254 -0.01041071 3.66757196] [ 0.0039974 0.99996818 0.00690394 -0.4315159 ] [ 0.01038327 -0.00694513 0.99992197 -0.41291662] [ 0. 0. 0. 1. ]] SLAMing on 41.833201008 meters Centerline goodness : 0.872154 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.41 [[ 9.99913257e-01 -3.37827354e-03 -1.27304981e-02 3.67675295e+00] [ 3.56290789e-03 9.99888396e-01 1.45086485e-02 -4.32214585e-01] [ 1.26800631e-02 -1.45527475e-02 9.99813699e-01 -4.05505977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.863201008000004 meters Centerline goodness : 0.869106 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.40 [[ 9.99909363e-01 -3.36553853e-03 -1.30360335e-02 3.67707714e+00] [ 3.55597060e-03 9.99886907e-01 1.46126031e-02 -4.31625048e-01] [ 1.29853800e-02 -1.46576344e-02 9.99808248e-01 -4.04828578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.893201008 meters Centerline goodness : 0.871961 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.40 [[ 9.99883727e-01 -1.75899401e-03 -1.51471920e-02 3.68392819e+00] [ 2.08933085e-03 9.99759725e-01 2.18203182e-02 -4.34107841e-01] [ 1.51051708e-02 -2.18494285e-02 9.99647156e-01 -3.98203828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.923201008 meters Centerline goodness : 0.874337 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.40 [[ 9.99879447e-01 -1.96781404e-03 -1.54019177e-02 3.68459014e+00] [ 2.29409068e-03 9.99772724e-01 2.11952380e-02 -4.32712311e-01] [ 1.53567089e-02 -2.12280163e-02 9.99656712e-01 -3.98761700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.953201008 meters Centerline goodness : 0.876971 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.40 [[ 9.99883946e-01 -1.44211347e-03 -1.51662456e-02 3.68320546e+00] [ 1.76510445e-03 9.99771466e-01 2.13049238e-02 -4.30441078e-01] [ 1.51320555e-02 -2.13292213e-02 9.99657984e-01 -3.97783089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.983201008 meters Centerline goodness : 0.876373 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.40 [[ 9.99884061e-01 -1.38301276e-03 -1.51641762e-02 3.68296076e+00] [ 1.70305689e-03 9.99775651e-01 2.11127166e-02 -4.28683315e-01] [ 1.51315750e-02 -2.11360943e-02 9.99662093e-01 -3.97578112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.013201008 meters Centerline goodness : 0.878088 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.42, Z:-0.40 [[ 0.99988484 -0.00430464 -0.01455277 3.68111719] [ 0.00453581 0.99986347 0.01588894 -0.42430946] [ 0.01448239 -0.01595312 0.99976785 -0.39984804] [ 0. 0. 0. 1. ]] SLAMing on 42.043201008000004 meters Centerline goodness : 0.878196 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.42, Z:-0.41 [[ 9.99949042e-01 -3.08874036e-03 -9.61113669e-03 3.69562060e+00] [ 3.14184230e-03 9.99979857e-01 5.51485766e-03 -4.20581333e-01] [ 9.59390914e-03 -5.54477331e-03 9.99938604e-01 -4.06407991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.073201008 meters Centerline goodness : 0.880023 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.43, Z:-0.40 [[ 9.99944000e-01 -1.41778119e-03 -1.04874439e-02 3.70033379e+00] [ 1.57944123e-03 9.99879820e-01 1.54224403e-02 -4.25132235e-01] [ 1.04643179e-02 -1.54381409e-02 9.99826066e-01 -3.95074109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.103201008 meters Centerline goodness : 0.883780 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.42, Z:-0.40 [[ 0.99993825 -0.00506257 -0.00989256 3.69869191] [ 0.0051686 0.99992915 0.01072269 -0.42276183] [ 0.00983758 -0.01077315 0.99989357 -0.39577271] [ 0. 0. 0. 1. ]] SLAMing on 42.133201008 meters Centerline goodness : 0.883881 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.43, Z:-0.39 [[ 0.99992676 -0.00463731 -0.0111787 3.7062186 ] [ 0.00485265 0.99980168 0.01931451 -0.42650917] [ 0.01108692 -0.01936735 0.99975096 -0.3872317 ] [ 0. 0. 0. 1. ]] SLAMing on 42.163201008 meters Centerline goodness : 0.882598 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.43, Z:-0.39 [[ 0.99991343 -0.00550636 -0.01195075 3.70870415] [ 0.00573499 0.99979957 0.01918125 -0.42659458] [ 0.01184273 -0.01924813 0.9997446 -0.38726918] [ 0. 0. 0. 1. ]] SLAMing on 42.193201008 meters Centerline goodness : 0.884419 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.43, Z:-0.38 [[ 0.99982378 -0.00831285 -0.0168314 3.69456321] [ 0.00877054 0.9995887 0.02730412 -0.42805797] [ 0.0165975 -0.02744693 0.99948546 -0.38186381] [ 0. 0. 0. 1. ]] SLAMing on 42.223201008000004 meters Centerline goodness : 0.878787 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:-0.38 [[ 0.99967083 -0.01295296 -0.02214615 3.68031153] [ 0.01362148 0.99944782 0.03030695 -0.42534338] [ 0.02174136 -0.03059864 0.99929527 -0.38140039] [ 0. 0. 0. 1. ]] SLAMing on 42.253201008 meters Centerline goodness : 0.880123 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.42, Z:-0.38 [[ 0.99956808 -0.01506309 -0.02523389 3.65820807] [ 0.01586807 0.99936156 0.03201048 -0.42220347] [ 0.0247356 -0.03239706 0.99916894 -0.38210686] [ 0. 0. 0. 1. ]] SLAMing on 42.283201008 meters Centerline goodness : 0.880754 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.42, Z:-0.39 [[ 0.9995215 -0.01847029 -0.02481167 3.65740777] [ 0.0190689 0.99952743 0.02411019 -0.41535047] [ 0.02435462 -0.02457179 0.99940136 -0.3885164 ] [ 0. 0. 0. 1. ]] SLAMing on 42.313201008 meters Centerline goodness : 0.880533 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.42, Z:-0.40 [[ 0.99988606 -0.00900735 -0.01211365 3.6570589 ] [ 0.00929909 0.99966275 0.02424688 -0.41800598] [ 0.01189117 -0.02435677 0.99963261 -0.39632829] [ 0. 0. 0. 1. ]] SLAMing on 42.343201008 meters Centerline goodness : 0.883418 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.41, Z:-0.40 [[ 0.99989775 -0.0069776 -0.01248204 3.65515677] [ 0.00727395 0.99968893 0.02385663 -0.41230868] [ 0.0123117 -0.02394498 0.99963746 -0.39588202] [ 0. 0. 0. 1. ]] SLAMing on 42.373201008 meters Centerline goodness : 0.882964 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.41, Z:-0.40 [[ 0.99989912 -0.0065851 -0.01258517 3.65456882] [ 0.00687816 0.99970284 0.02338657 -0.4100363 ] [ 0.01242742 -0.02347077 0.99964728 -0.39567715] [ 0. 0. 0. 1. ]] SLAMing on 42.403201008 meters Centerline goodness : 0.882932 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:-0.40 [[ 0.99995434 -0.00491079 -0.00819822 3.66768677] [ 0.00499997 0.99992817 0.01089313 -0.40515524] [ 0.00814413 -0.01093362 0.99990706 -0.40420083] [ 0. 0. 0. 1. ]] SLAMing on 42.433201008000005 meters Centerline goodness : 0.884120 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.40, Z:-0.40 [[ 0.9999627 -0.00382428 -0.00774463 3.66566507] [ 0.00390541 0.99993737 0.01048834 -0.40162627] [ 0.00770403 -0.01051819 0.999915 -0.40450835] [ 0. 0. 0. 1. ]] SLAMing on 42.463201008 meters Centerline goodness : 0.885163 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.40, Z:-0.40 [[ 9.99969227e-01 -3.08554138e-03 -7.21275608e-03 3.66383566e+00] [ 3.16269543e-03 9.99937644e-01 1.07100715e-02 -3.99514372e-01] [ 7.17925995e-03 -1.07325537e-02 9.99916632e-01 -4.03886845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.493201008 meters Centerline goodness : 0.885160 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.40, Z:-0.40 [[ 9.99973432e-01 -2.68770663e-03 -6.77576125e-03 3.66264705e+00] [ 2.75727298e-03 9.99943372e-01 1.02785930e-02 -3.97533666e-01] [ 6.74775171e-03 -1.02970025e-02 9.99924217e-01 -4.04297678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.523201008 meters Centerline goodness : 0.888424 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.39, Z:-0.41 [[ 9.99998446e-01 2.15504391e-04 -1.74950345e-03 3.67669242e+00] [-2.10371885e-04 9.99995676e-01 2.93334746e-03 -3.94985352e-01] [ 1.75012803e-03 -2.93297485e-03 9.99994167e-01 -4.08247583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.553201008 meters Centerline goodness : 0.886147 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.40, Z:-0.41 [[ 9.99997588e-01 1.27938996e-03 -1.78504051e-03 3.67486301e+00] [-1.27302198e-03 9.99992839e-01 3.56400331e-03 -3.95584048e-01] [ 1.78958748e-03 -3.56172232e-03 9.99992056e-01 -4.06134663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.583201008 meters Centerline goodness : 0.888133 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99996691e-01 1.35399104e-03 -2.18742402e-03 3.67522762e+00] [-1.34598320e-03 9.99992403e-01 3.65818480e-03 -3.95958667e-01] [ 2.19236055e-03 -3.65522846e-03 9.99990916e-01 -4.05321717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.613201008000004 meters Centerline goodness : 0.888892 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99996203e-01 1.55850047e-03 -2.27282607e-03 3.67503679e+00] [-1.55012004e-03 9.99992011e-01 3.68434123e-03 -3.96492273e-01] [ 2.27854996e-03 -3.68080408e-03 9.99990630e-01 -4.05038542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.643201008 meters Centerline goodness : 0.889410 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.40 [[ 9.99995454e-01 1.54531765e-03 -2.58913886e-03 3.67571351e+00] [-1.53584930e-03 9.99992141e-01 3.65495346e-03 -3.96754449e-01] [ 2.59476658e-03 -3.65096032e-03 9.99989969e-01 -4.04976915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.673201008 meters Centerline goodness : 0.889050 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99995098e-01 7.27166180e-04 -3.04556328e-03 3.67900612e+00] [-7.19766954e-04 9.99996789e-01 2.42990177e-03 -3.96343947e-01] [ 3.04732044e-03 -2.42769776e-03 9.99992410e-01 -4.08557512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.703201008 meters Centerline goodness : 0.888724 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99994943e-01 2.62955494e-04 -3.16933733e-03 3.68087675e+00] [-2.57579361e-04 9.99998528e-01 1.69658441e-03 -3.96068841e-01] [ 3.16977878e-03 -1.69575947e-03 9.99993538e-01 -4.11027181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.733201008 meters Centerline goodness : 0.886764 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99992776e-01 -3.60955293e-04 -3.78389103e-03 3.68391825e+00] [ 3.67111425e-04 9.99998610e-01 1.62636334e-03 -3.97796538e-01] [ 3.78329872e-03 -1.62774070e-03 9.99991519e-01 -4.12812667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.763201008 meters Centerline goodness : 0.885613 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.41 [[ 9.99990743e-01 -2.54556339e-04 -4.29514343e-03 3.68460356e+00] [ 2.66078763e-04 9.99996367e-01 2.68230512e-03 -4.00865826e-01] [ 4.29444503e-03 -2.68342314e-03 9.99987178e-01 -4.11281805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.793201008000004 meters Centerline goodness : 0.887558 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.41, Z:-0.40 [[ 9.99984370e-01 3.95945136e-04 -5.57701971e-03 3.69165039e+00] [-3.28427897e-04 9.99926714e-01 1.21020470e-02 -4.08075549e-01] [ 5.58140274e-03 -1.21000262e-02 9.99911215e-01 -4.01684010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.823201008 meters Centerline goodness : 0.889666 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.41, Z:-0.40 [[ 9.99982142e-01 -3.07541702e-03 -5.12415582e-03 3.69039208e+00] [ 3.11615832e-03 9.99963448e-01 7.96191044e-03 -4.08562592e-01] [ 5.09948232e-03 -7.97773594e-03 9.99955174e-01 -4.02133986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.853201008 meters Centerline goodness : 0.889666 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.41, Z:-0.40 [[ 9.99982142e-01 -3.07541702e-03 -5.12415582e-03 3.69039208e+00] [ 3.11615832e-03 9.99963448e-01 7.96191044e-03 -4.08562592e-01] [ 5.09948232e-03 -7.97773594e-03 9.99955174e-01 -4.02133986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.883201008 meters Centerline goodness : 0.890944 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.41, Z:-0.40 [[ 9.99976992e-01 -3.48481015e-03 -5.81998127e-03 3.69206739e+00] [ 3.54529685e-03 9.99939476e-01 1.04151623e-02 -4.14743605e-01] [ 5.78333416e-03 -1.04355563e-02 9.99928824e-01 -3.98586249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.913201008 meters Centerline goodness : 0.890811 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.42, Z:-0.40 [[ 9.99968049e-01 -2.08887729e-03 -7.71611114e-03 3.71759447e+00] [ 2.15711996e-03 9.99958543e-01 8.84646987e-03 -4.17930548e-01] [ 7.69731206e-03 -8.86283179e-03 9.99931098e-01 -3.96652350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.943201008 meters Centerline goodness : 0.890533 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.42, Z:-0.40 [[ 9.99964834e-01 -2.31303415e-03 -8.06101539e-03 3.71870173e+00] [ 2.39044961e-03 9.99950991e-01 9.60732069e-03 -4.21324906e-01] [ 8.03839827e-03 -9.62625229e-03 9.99921357e-01 -3.96097828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.973201008000004 meters Centerline goodness : 0.892303 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.43, Z:-0.39 [[ 9.99939996e-01 -6.49371682e-04 -1.09353897e-02 3.74400810e+00] [ 7.45402907e-04 9.99961178e-01 8.77990734e-03 -4.25784002e-01] [ 1.09292638e-02 -8.78753178e-03 9.99901660e-01 -3.93142976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.003201008 meters Centerline goodness : 0.891176 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.43, Z:-0.39 [[ 9.99934770e-01 -1.16549666e-03 -1.13620867e-02 3.74600046e+00] [ 1.26442391e-03 9.99961324e-01 8.70349340e-03 -4.26286109e-01] [ 1.13515034e-02 -8.71729217e-03 9.99897571e-01 -3.93889993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.033201008 meters Centerline goodness : 0.893029 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.43, Z:-0.39 [[ 9.99913431e-01 2.00539694e-04 -1.31564125e-02 3.75295965e+00] [ 2.16727206e-06 9.99881326e-01 1.54056419e-02 -4.28478616e-01] [ 1.31579406e-02 -1.54043368e-02 9.99794766e-01 -3.88584371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.063201008 meters Centerline goodness : 0.894206 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.43, Z:-0.39 [[ 9.99902165e-01 1.49710418e-03 -1.39075345e-02 3.75685651e+00] [-1.23567599e-03 9.99822741e-01 1.87872049e-02 -4.30389724e-01] [ 1.39331957e-02 -1.87681816e-02 9.99726773e-01 -3.88131361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.093201008 meters Centerline goodness : 0.896632 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.43, Z:-0.38 [[ 9.99878686e-01 -3.35732385e-03 -1.52098917e-02 3.77189543e+00] [ 3.73090795e-03 9.99690400e-01 2.46004979e-02 -4.32640077e-01] [ 1.51225909e-02 -2.46542603e-02 9.99581650e-01 -3.82107528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.123201008 meters Centerline goodness : 0.896390 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.43, Z:-0.38 [[ 0.9998523 -0.00471118 -0.01652801 3.77601105] [ 0.00511922 0.99968098 0.02473312 -0.43368093] [ 0.01640621 -0.02481408 0.99955745 -0.38150411] [ 0. 0. 0. 1. ]] SLAMing on 43.153201008 meters Centerline goodness : 0.894765 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.43, Z:-0.38 [[ 0.9998243 -0.00620986 -0.01768648 3.78040484] [ 0.00664414 0.99967523 0.02460283 -0.43389882] [ 0.01752796 -0.02471602 0.99954084 -0.38161677] [ 0. 0. 0. 1. ]] SLAMing on 43.183201008000005 meters Centerline goodness : 0.895522 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.43, Z:-0.38 [[ 0.99980479 -0.00721055 -0.01839532 3.78349151] [ 0.00765567 0.99967678 0.02424298 -0.4329572 ] [ 0.01821457 -0.02437908 0.99953684 -0.38231153] [ 0. 0. 0. 1. ]] SLAMing on 43.213201008 meters Centerline goodness : 0.894471 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.43, Z:-0.39 [[ 0.99976419 -0.00980307 -0.0193767 3.7889432 ] [ 0.01023267 0.99970123 0.02219785 -0.42896122] [ 0.0191533 -0.0223909 0.99956581 -0.38516143] [ 0. 0. 0. 1. ]] SLAMing on 43.243201008 meters Centerline goodness : 0.895885 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.43, Z:-0.38 [[ 0.99975347 -0.01032537 -0.01965675 3.78986255] [ 0.01075737 0.99970009 0.02200004 -0.42805515] [ 0.01942369 -0.02220607 0.99956471 -0.38493937] [ 0. 0. 0. 1. ]] SLAMing on 43.273201008 meters Centerline goodness : 0.897440 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.43, Z:-0.38 [[ 0.99975248 -0.01042024 -0.01965696 3.78944842] [ 0.01085597 0.99969479 0.02219166 -0.42673506] [ 0.01941972 -0.02239957 0.99956047 -0.38355214] [ 0. 0. 0. 1. ]] SLAMing on 43.303201008 meters Centerline goodness : 0.897853 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.42, Z:-0.38 [[ 0.99981646 -0.01361047 -0.01348369 3.76534693] [ 0.01394047 0.99959794 0.02469046 -0.4229209 ] [ 0.01314222 -0.02487389 0.99960421 -0.38363662] [ 0. 0. 0. 1. ]] SLAMing on 43.333201008 meters Centerline goodness : 0.898406 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.42, Z:-0.38 [[ 0.99979048 -0.01579048 -0.01302503 3.76246842] [ 0.01605942 0.99965449 0.02080847 -0.41846299] [ 0.01269195 -0.02101328 0.99969863 -0.38315614] [ 0. 0. 0. 1. ]] SLAMing on 43.363201008000004 meters Centerline goodness : 0.899174 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.42, Z:-0.38 [[ 0.99980536 -0.01520518 -0.01257154 3.76050067] [ 0.01546507 0.9996632 0.0208404 -0.41557603] [ 0.01225042 -0.02103077 0.99970377 -0.38171531] [ 0. 0. 0. 1. ]] SLAMing on 43.393201008 meters Centerline goodness : 0.899347 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.41, Z:-0.39 [[ 0.99992012 -0.00991134 -0.00784323 3.77136575] [ 0.00999479 0.99989309 0.01067314 -0.40636397] [ 0.0077366 -0.01075067 0.99991228 -0.38953955] [ 0. 0. 0. 1. ]] SLAMing on 43.423201008 meters Centerline goodness : 0.900868 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.41, Z:-0.38 [[ 9.99956915e-01 -3.02561263e-03 -8.77576300e-03 3.77387571e+00] [ 3.22549050e-03 9.99733653e-01 2.28521167e-02 -4.08731138e-01] [ 8.70428395e-03 -2.28794382e-02 9.99700338e-01 -3.80937894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.453201008 meters Centerline goodness : 0.901885 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.40, Z:-0.38 [[ 9.99962188e-01 -2.52706680e-03 -8.32087080e-03 3.77259755e+00] [ 2.70877673e-03 9.99756508e-01 2.18994892e-02 -4.04364660e-01] [ 8.26350326e-03 -2.19212005e-02 9.99725550e-01 -3.81941458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.483201008 meters Centerline goodness : 0.903073 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.40, Z:-0.39 [[ 9.99987782e-01 2.24283143e-03 -4.40506376e-03 3.78815816e+00] [-2.18464260e-03 9.99910882e-01 1.31702157e-02 -3.96158777e-01] [ 4.43420976e-03 -1.31604313e-02 9.99903566e-01 -3.90814000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.513201008 meters Centerline goodness : 0.903677 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.40, Z:-0.39 [[ 0.99997021 0.00587 -0.00501171 3.78954833] [-0.00578055 0.99982698 0.01768062 -0.39615368] [ 0.00511463 -0.01765112 0.99983112 -0.38937682] [ 0. 0. 0. 1. ]] SLAMing on 43.543201008000004 meters Centerline goodness : 0.901605 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.39, Z:-0.39 [[ 0.99997095 0.00564433 -0.00512241 3.79007163] [-0.00555809 0.99984518 0.01669514 -0.39334056] [ 0.00521585 -0.01666618 0.99984751 -0.3903169 ] [ 0. 0. 0. 1. ]] SLAMing on 43.573201008 meters Centerline goodness : 0.902964 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.39, Z:-0.39 [[ 0.99996797 0.00612488 -0.00515287 3.78904882] [-0.00603973 0.99984759 0.01638013 -0.39168752] [ 0.00525241 -0.01634848 0.99985256 -0.38952563] [ 0. 0. 0. 1. ]] SLAMing on 43.603201008 meters Centerline goodness : 0.905640 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.39, Z:-0.39 [[ 0.99993553 0.00961105 -0.00604615 3.79117454] [-0.00947958 0.99972585 0.02140935 -0.39386785] [ 0.00625026 -0.02135065 0.99975251 -0.38748681] [ 0. 0. 0. 1. ]] SLAMing on 43.633201008 meters Centerline goodness : 0.904824 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.39, Z:-0.39 [[ 0.99993676 0.00948102 -0.00604895 3.79173262] [-0.00935528 0.99974633 0.02048784 -0.39167719] [ 0.00624166 -0.02042995 0.9997718 -0.38891071] [ 0. 0. 0. 1. ]] SLAMing on 43.663201008 meters Centerline goodness : 0.905318 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.39, Z:-0.39 [[ 0.99994004 0.00918078 -0.0059692 3.7926827 ] [-0.00906451 0.99977413 0.01922316 -0.38868117] [ 0.00614433 -0.0191679 0.9997974 -0.39133117] [ 0. 0. 0. 1. ]] SLAMing on 43.693201008 meters Centerline goodness : 0.899175 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99994543 0.0090667 -0.00518976 3.79286133] [-0.00897662 0.99981305 0.01712578 -0.38395863] [ 0.00534407 -0.01707826 0.99983987 -0.3957913 ] [ 0. 0. 0. 1. ]] SLAMing on 43.723201008000004 meters Centerline goodness : 0.896675 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99994733 0.0088993 -0.00511311 3.79337845] [-0.00881287 0.99982195 0.01668517 -0.38346643] [ 0.00526068 -0.01663923 0.99984772 -0.396835 ] [ 0. 0. 0. 1. ]] SLAMing on 43.753201008 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99997326 0.00565791 -0.00463386 3.79228153] [-0.00560337 0.99991586 0.01169907 -0.38065576] [ 0.00469967 -0.0116728 0.99992083 -0.39879306] [ 0. 0. 0. 1. ]] SLAMing on 43.783201008 meters Centerline goodness : 0.900315 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99994498 0.00904596 -0.00531034 3.79401459] [-0.00895378 0.99981313 0.01713271 -0.38419525] [ 0.00546433 -0.01708422 0.99983912 -0.3963105 ] [ 0. 0. 0. 1. ]] SLAMing on 43.813201008 meters Centerline goodness : 0.901208 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99996514 0.00691495 -0.00467928 3.79109098] [-0.00685333 0.99989125 0.01305822 -0.38259291] [ 0.00476907 -0.0130257 0.99990379 -0.3966064 ] [ 0. 0. 0. 1. ]] SLAMing on 43.843201008 meters Centerline goodness : 0.906447 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.9999794 0.00452381 -0.00455322 3.78927389] [-0.00448251 0.9999491 0.0090395 -0.38107228] [ 0.00459388 -0.00901891 0.99994878 -0.39676926] [ 0. 0. 0. 1. ]] SLAMing on 43.873201008 meters Centerline goodness : 0.904845 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99997824 0.00483248 -0.00449029 3.78892809] [-0.00479042 0.99994499 0.00933106 -0.38223707] [ 0.00453513 -0.00930934 0.99994638 -0.3965115 ] [ 0. 0. 0. 1. ]] SLAMing on 43.903201008 meters Centerline goodness : 0.902739 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.9999782 0.00478601 -0.00454865 3.78974801] [-0.00474413 0.99994667 0.00917361 -0.38234036] [ 0.00459232 -0.00915183 0.99994758 -0.39747988] [ 0. 0. 0. 1. ]] SLAMing on 43.933201008000005 meters Centerline goodness : 0.897925 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.40 [[ 0.99998351 0.00402441 -0.00409687 3.79241503] [-0.0039925 0.99996185 0.00776849 -0.38068917] [ 0.00412798 -0.00775201 0.99996143 -0.40274015] [ 0. 0. 0. 1. ]] SLAMing on 43.963201008 meters Centerline goodness : 0.897161 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.38, Z:-0.41 [[ 9.99984981e-01 3.21920557e-03 -4.43557162e-03 3.79497026e+00] [-3.18798149e-03 9.99970217e-01 7.02865224e-03 -3.81012384e-01] [ 4.45806619e-03 -7.01440616e-03 9.99965461e-01 -4.05162882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.993201008 meters Centerline goodness : 0.896562 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.38, Z:-0.41 [[ 9.99984367e-01 2.71075230e-03 -4.89046885e-03 3.79700193e+00] [-2.67573844e-03 9.99970844e-01 7.15200483e-03 -3.83569120e-01] [ 4.90971357e-03 -7.13880741e-03 9.99962465e-01 -4.06024880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.023201008 meters Centerline goodness : 0.897586 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.39, Z:-0.40 [[ 9.99981338e-01 2.48786860e-03 -5.57973243e-03 3.79862297e+00] [-2.44032111e-03 9.99960793e-01 8.51214533e-03 -3.88002875e-01] [ 5.60069077e-03 -8.49837014e-03 9.99948204e-01 -4.04399694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.053201008 meters Centerline goodness : 0.899087 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:-0.40 [[ 9.99952247e-01 1.99296424e-03 -9.56725989e-03 3.82692616e+00] [-1.90468001e-03 9.99955607e-01 9.22800415e-03 -3.97690286e-01] [ 9.58522625e-03 -9.20934091e-03 9.99911652e-01 -3.98138647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.083201008 meters Centerline goodness : 0.901149 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:-0.40 [[ 9.99957873e-01 -1.54347115e-03 -9.04816267e-03 3.82610006e+00] [ 1.58848586e-03 9.99986388e-01 4.96993684e-03 -3.98418584e-01] [ 9.04036855e-03 -4.98410035e-03 9.99946714e-01 -3.99519541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.113201008000004 meters Centerline goodness : 0.896823 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.40, Z:-0.40 [[ 9.99955732e-01 -1.51730641e-03 -9.28612115e-03 3.82712385e+00] [ 1.57159465e-03 9.99981702e-01 5.84166670e-03 -4.01395578e-01] [ 9.27708764e-03 -5.85600212e-03 9.99939820e-01 -3.99180183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.143201008 meters Centerline goodness : 0.897908 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.41, Z:-0.40 [[ 9.99949816e-01 1.26966675e-03 -9.93745705e-03 3.83039604e+00] [-1.16136281e-03 9.99939954e-01 1.08967500e-02 -4.06002589e-01] [ 9.95069559e-03 -1.08846621e-02 9.99891248e-01 -3.98509453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.173201008 meters Centerline goodness : 0.893999 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.41, Z:-0.40 [[ 9.99954390e-01 6.73639038e-04 -9.52707199e-03 3.83205800e+00] [-5.73524446e-04 9.99944633e-01 1.05072633e-02 -4.07914864e-01] [ 9.53362260e-03 -1.05013200e-02 9.99899411e-01 -4.01615983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.203201008 meters Centerline goodness : 0.891572 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.41, Z:-0.40 [[ 9.99954467e-01 -3.09173137e-03 -9.02803909e-03 3.83091388e+00] [ 3.15419699e-03 9.99971130e-01 6.91304696e-03 -4.09221035e-01] [ 9.00640516e-03 -6.94120840e-03 9.99935350e-01 -4.01344454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.233201008 meters Centerline goodness : 0.895545 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.42, Z:-0.39 [[ 0.99993645 -0.00432637 -0.01041027 3.8622764 ] [ 0.00446164 0.99990546 0.01300659 -0.41804449] [ 0.01035301 -0.01305221 0.99986122 -0.38774113] [ 0. 0. 0. 1. ]] SLAMing on 44.263201008 meters Centerline goodness : 0.894664 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.42, Z:-0.39 [[ 9.99971663e-01 -5.14617105e-03 -5.49456257e-03 3.87701357e+00] [ 5.15996397e-03 9.99983565e-01 2.49906581e-03 -4.16904186e-01] [ 5.48161165e-03 -2.52734674e-03 9.99981782e-01 -3.91411588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.293201008000004 meters Centerline goodness : 0.898406 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.42, Z:-0.39 [[ 9.99972771e-01 -2.60824405e-03 -6.90319035e-03 3.90149599e+00] [ 2.62030586e-03 9.99995055e-01 1.73881277e-03 -4.18930575e-01] [ 6.89862096e-03 -1.75685389e-03 9.99974661e-01 -3.88618637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.323201008 meters Centerline goodness : 0.897333 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.42, Z:-0.39 [[ 9.99972014e-01 6.57450501e-04 -7.45250231e-03 3.90373427e+00] [-6.12958208e-04 9.99981987e-01 5.97082728e-03 -4.19632432e-01] [ 7.45629359e-03 -5.96609210e-03 9.99954404e-01 -3.88615295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.353201008 meters Centerline goodness : 0.894798 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.42, Z:-0.39 [[ 9.99959122e-01 3.51407604e-03 -8.33100562e-03 3.90760350e+00] [-3.43770165e-03 9.99952099e-01 9.16414986e-03 -4.18242933e-01] [ 8.36281008e-03 -9.13513574e-03 9.99923303e-01 -3.90477736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.383201008 meters Centerline goodness : 0.889728 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.41, Z:-0.39 [[ 9.99961051e-01 2.44069281e-03 -8.48171386e-03 3.91024007e+00] [-2.38157752e-03 9.99972853e-01 6.97285816e-03 -4.14692578e-01] [ 8.49850221e-03 -6.95238672e-03 9.99939718e-01 -3.94794414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.413201008 meters Centerline goodness : 0.889761 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.41, Z:-0.40 [[ 9.99957617e-01 2.03028891e-03 -8.98011367e-03 3.91182930e+00] [-1.96887241e-03 9.99974650e-01 6.84272912e-03 -4.14924550e-01] [ 8.99377874e-03 -6.82475840e-03 9.99936265e-01 -3.95051237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.443201008 meters Centerline goodness : 0.890393 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.42, Z:-0.39 [[ 0.99993282 0.0048504 -0.01052789 3.91576115] [-0.00471735 0.99990916 0.01262599 -0.41883742] [ 0.01058818 -0.01257548 0.99986486 -0.39172484] [ 0. 0. 0. 1. ]] SLAMing on 44.473201008000004 meters Centerline goodness : 0.891621 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.42, Z:-0.39 [[ 0.99990353 0.00755537 -0.01165551 3.91924326] [-0.00735325 0.99982352 0.01728763 -0.42200478] [ 0.01178407 -0.01720025 0.99978262 -0.39038389] [ 0. 0. 0. 1. ]] SLAMing on 44.503201008 meters Centerline goodness : 0.893230 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.42, Z:-0.39 [[ 0.99986063 0.01059337 -0.01290382 3.92281007] [-0.010309 0.99970685 0.02190771 -0.42440534] [ 0.01313211 -0.02177163 0.99967672 -0.38925033] [ 0. 0. 0. 1. ]] SLAMing on 44.533201008 meters Centerline goodness : 0.891247 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.99989663 0.01101353 -0.00924257 3.94040898] [-0.01091215 0.99988052 0.0109482 -0.42003665] [ 0.00936204 -0.01084621 0.99989735 -0.39737038] [ 0. 0. 0. 1. ]] SLAMing on 44.563201008 meters Centerline goodness : 0.888092 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.99990068 0.01041487 -0.00949543 3.94199091] [-0.01032082 0.99989772 0.00990126 -0.41811132] [ 0.00959758 -0.00980228 0.9999059 -0.399127 ] [ 0. 0. 0. 1. ]] SLAMing on 44.593201008 meters Centerline goodness : 0.888704 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.9999004 0.01048827 -0.00944384 3.94187884] [-0.01039912 0.99990137 0.00944019 -0.41713918] [ 0.00954192 -0.00934104 0.99991084 -0.3996503 ] [ 0. 0. 0. 1. ]] SLAMing on 44.623201008 meters Centerline goodness : 0.890135 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.99989935 0.01060375 -0.00942653 3.94153494] [-0.01051504 0.99990043 0.00941119 -0.4169705 ] [ 0.00952538 -0.00931113 0.99991128 -0.39931205] [ 0. 0. 0. 1. ]] SLAMing on 44.653201008 meters Centerline goodness : 0.885226 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.99989887 0.01050031 -0.00959092 3.94182723] [-0.01041182 0.99990319 0.00923016 -0.41643849] [ 0.00968691 -0.00912937 0.99991141 -0.39917648] [ 0. 0. 0. 1. ]] SLAMing on 44.683201008000005 meters Centerline goodness : 0.891530 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.42, Z:-0.40 [[ 0.99989836 0.01059881 -0.00953648 3.94154547] [-0.01051235 0.9999036 0.00907097 -0.4158846 ] [ 0.0096317 -0.0089698 0.99991338 -0.39914419] [ 0. 0. 0. 1. ]] SLAMing on 44.713201008 meters Centerline goodness : 0.889406 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.41, Z:-0.40 [[ 0.99989881 0.01063105 -0.00945301 3.94136884] [-0.01054896 0.99990658 0.00869195 -0.41485815] [ 0.00954453 -0.00859135 0.99991754 -0.39947964] [ 0. 0. 0. 1. ]] SLAMing on 44.743201008 meters Centerline goodness : 0.888193 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.41, Z:-0.40 [[ 0.99989684 0.01101146 -0.00922212 3.94098924] [-0.01094421 0.99991338 0.00731164 -0.41106071] [ 0.00930183 -0.00720996 0.99993074 -0.40164469] [ 0. 0. 0. 1. ]] SLAMing on 44.773201008 meters Centerline goodness : 0.887115 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.41, Z:-0.40 [[ 0.99989814 0.01088113 -0.00923601 3.94156972] [-0.010822 0.99992078 0.00642731 -0.40902301] [ 0.00930521 -0.0063267 0.99993669 -0.40310202] [ 0. 0. 0. 1. ]] SLAMing on 44.803201008 meters Centerline goodness : 0.887115 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.41, Z:-0.40 [[ 0.99989814 0.01088113 -0.00923601 3.94156972] [-0.010822 0.99992078 0.00642731 -0.40902301] [ 0.00930521 -0.0063267 0.99993669 -0.40310202] [ 0. 0. 0. 1. ]] SLAMing on 44.833201008 meters Centerline goodness : 0.889867 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.41, Z:-0.40 [[ 0.9999001 0.01044467 -0.00952325 3.94291912] [-0.01039332 0.99993127 0.00542561 -0.40701011] [ 0.00957927 -0.00532609 0.99993993 -0.40457229] [ 0. 0. 0. 1. ]] SLAMing on 44.863201008000004 meters Centerline goodness : 0.890090 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.40, Z:-0.41 [[ 9.99902197e-01 1.01628677e-02 -9.60789885e-03 3.94448055e+00] [-1.01328681e-02 9.99943649e-01 3.16593501e-03 -4.02835214e-01] [ 9.63953242e-03 -3.06826980e-03 9.99948831e-01 -4.08896721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.893201008 meters Centerline goodness : 0.892612 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.40, Z:-0.41 [[ 9.99904886e-01 9.65885727e-03 -9.84509689e-03 3.94602587e+00] [-9.63789265e-03 9.99951190e-01 2.17467278e-03 -4.01133432e-01] [ 9.86562120e-03 -2.07957996e-03 9.99949171e-01 -4.10707694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.923201008 meters Centerline goodness : 0.891084 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.40, Z:-0.41 [[ 9.99906535e-01 9.15352131e-03 -1.01554792e-02 3.94761703e+00] [-9.13865551e-03 9.99957103e-01 1.50926220e-03 -4.00465459e-01] [ 1.01688587e-02 -1.41631371e-03 9.99947293e-01 -4.12050718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.953201008 meters Centerline goodness : 0.893693 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.40, Z:-0.41 [[ 9.99903382e-01 8.36030993e-03 -1.11054821e-02 3.95059649e+00] [-8.34663486e-03 9.99964351e-01 1.27715880e-03 -4.02178625e-01] [ 1.11157637e-02 -1.18434200e-03 9.99937517e-01 -4.12816204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.983201008 meters Centerline goodness : 0.893414 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.40, Z:-0.41 [[ 9.99900276e-01 8.08529511e-03 -1.15787083e-02 3.95177467e+00] [-8.06663038e-03 9.99966090e-01 1.65778382e-03 -4.04104349e-01] [ 1.15917193e-02 -1.56421733e-03 9.99931590e-01 -4.12403097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.013201008 meters Centerline goodness : 0.894449 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.41, Z:-0.41 [[ 9.99896453e-01 7.71783531e-03 -1.21456808e-02 3.95311632e+00] [-7.69461373e-03 9.99968480e-01 1.95749169e-03 -4.05588523e-01] [ 1.21604055e-02 -1.86383268e-03 9.99924322e-01 -4.11825207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.043201008000004 meters Centerline goodness : 0.897470 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.41, Z:-0.41 [[ 9.99895857e-01 7.37353507e-03 -1.24059164e-02 3.95414902e+00] [-7.35143878e-03 9.99971311e-01 1.82577081e-03 -4.06154971e-01] [ 1.24190229e-02 -1.73437934e-03 9.99921377e-01 -4.12198437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.073201008 meters Centerline goodness : 0.895795 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.41 [[ 9.99900701e-01 6.82976372e-03 -1.23264892e-02 3.95530260e+00] [-6.81923045e-03 9.99976347e-01 8.96351955e-04 -4.04141398e-01] [ 1.23323195e-02 -8.12205778e-04 9.99923624e-01 -4.14224787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.103201008 meters Centerline goodness : 0.897949 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99902152e-01 6.50090009e-03 -1.23864864e-02 3.95621527e+00] [-6.49723173e-03 9.99978836e-01 3.36376293e-04 -4.02923861e-01] [ 1.23884110e-02 -2.55865506e-04 9.99923228e-01 -4.15432226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.133201008 meters Centerline goodness : 0.897313 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99900368e-01 6.00782537e-03 -1.27734176e-02 3.95782497e+00] [-6.01115853e-03 9.99981908e-01 -2.22568119e-04 -4.02095913e-01] [ 1.27718494e-02 2.99328982e-04 9.99918392e-01 -4.16442038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.163201008 meters Centerline goodness : 0.899403 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99897861e-01 5.71921741e-03 -1.30979949e-02 3.95906991e+00] [-5.72659779e-03 9.99983465e-01 -5.26037807e-04 -4.02220070e-01] [ 1.30947698e-02 6.00991027e-04 9.99914079e-01 -4.17216723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.193201008 meters Centerline goodness : 0.900330 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99896933e-01 5.75740222e-03 -1.31519862e-02 3.95906967e+00] [-5.76009945e-03 9.99983397e-01 -1.67210140e-04 -4.03345052e-01] [ 1.31508051e-02 2.42949655e-04 9.99913495e-01 -4.16739439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.223201008000004 meters Centerline goodness : 0.902382 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99895212e-01 5.76193778e-03 -1.32802321e-02 3.95915704e+00] [-5.75892447e-03 9.99983382e-01 2.65132478e-04 -4.04768267e-01] [ 1.32815390e-02 -1.88624842e-04 9.99911779e-01 -4.16070855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.253201008 meters Centerline goodness : 0.904780 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.41, Z:-0.42 [[ 9.99891368e-01 5.28747992e-03 -1.37584340e-02 3.96058742e+00] [-5.28145187e-03 9.99985940e-01 4.74432137e-04 -4.05829305e-01] [ 1.37607491e-02 -4.01716091e-04 9.99905236e-01 -4.15786995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.283201008 meters Centerline goodness : 0.901240 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.41, Z:-0.41 [[ 9.99890823e-01 4.44113476e-03 -1.40932198e-02 3.96209446e+00] [-4.42104861e-03 9.99989167e-01 1.45607005e-03 -4.09041347e-01] [ 1.40995338e-02 -1.39360427e-03 9.99899625e-01 -4.14336244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.313201008 meters Centerline goodness : 0.903231 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.41, Z:-0.42 [[ 9.99892217e-01 4.08578104e-03 -1.41017694e-02 3.96296013e+00] [-4.07398623e-03 9.99991327e-01 8.65031650e-04 -4.07740210e-01] [ 1.41051814e-02 -8.07488000e-04 9.99900191e-01 -4.15584582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.343201008 meters Centerline goodness : 0.897851 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.40, Z:-0.42 [[ 9.99896386e-01 3.73697109e-03 -1.39015222e-02 3.96389853e+00] [-3.74224717e-03 9.99992935e-01 -3.53539681e-04 -4.04372116e-01] [ 1.39001028e-02 4.05525981e-04 9.99903307e-01 -4.18131543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.373201008 meters Centerline goodness : 0.895033 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99899362e-01 3.29475477e-03 -1.37988977e-02 3.96502451e+00] [-3.31712515e-03 9.99993221e-01 -1.59859750e-03 -4.01192199e-01] [ 1.37935372e-02 1.64420929e-03 9.99903513e-01 -4.20621331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.403201008 meters Centerline goodness : 0.890401 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99896623e-01 3.10703680e-03 -1.40388714e-02 3.96586631e+00] [-3.13494893e-03 9.99993152e-01 -1.96663439e-03 -4.00648911e-01] [ 1.40326649e-02 2.01044223e-03 9.99899516e-01 -4.21208260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.433201008000005 meters Centerline goodness : 0.887915 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99891912e-01 3.18555055e-03 -1.43533116e-02 3.96615259e+00] [-3.20553793e-03 9.99993924e-01 -1.36973635e-03 -4.02365500e-01] [ 1.43488610e-02 1.41559838e-03 9.99896048e-01 -4.20146030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.463201008 meters Centerline goodness : 0.889669 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99886321e-01 3.18218466e-03 -1.47383516e-02 3.96671565e+00] [-3.19239665e-03 9.99994680e-01 -6.69410494e-04 -4.04367985e-01] [ 1.47361430e-02 7.16385060e-04 9.99891161e-01 -4.19011117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.493201008 meters Centerline goodness : 0.890197 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99881389e-01 2.35832791e-03 -1.52199190e-02 3.96938211e+00] [-2.37770523e-03 9.99996386e-01 -1.25518598e-03 -4.04114136e-01] [ 1.52169038e-02 1.29122559e-03 9.99883382e-01 -4.20718207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.523201008 meters Centerline goodness : 0.887321 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.42 [[ 9.99879274e-01 1.63618511e-03 -1.54518418e-02 3.97152966e+00] [-1.67047617e-03 9.99996170e-01 -2.20657562e-03 -4.01945313e-01] [ 1.54481723e-02 2.23212116e-03 9.99878178e-01 -4.22954983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.553201008 meters Centerline goodness : 0.887004 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.40, Z:-0.43 [[ 9.99875222e-01 8.94829147e-04 -1.57714866e-02 3.97385571e+00] [-9.48145880e-04 9.99993860e-01 -3.37342442e-03 -3.99376838e-01] [ 1.57683712e-02 3.38795716e-03 9.99869932e-01 -4.25400747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.583201008 meters Centerline goodness : 0.881873 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.43 [[ 9.99846327e-01 3.41221773e-03 -1.71953001e-02 3.97864773e+00] [-3.39924434e-03 9.99993916e-01 7.83644600e-04 -4.00674150e-01] [ 1.71978695e-02 -7.25073148e-04 9.99851843e-01 -4.25306504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.613201008000004 meters Centerline goodness : 0.886281 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.42 [[ 9.99836671e-01 3.71417568e-03 -1.76871913e-02 3.97856803e+00] [-3.67802667e-03 9.99991081e-01 2.07588734e-03 -4.03038261e-01] [ 1.76947438e-02 -2.01049432e-03 9.99841414e-01 -4.22472803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.643201008 meters Centerline goodness : 0.882842 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.42 [[ 9.99851903e-01 1.02390002e-03 -1.71791705e-02 3.97548488e+00] [-1.04602379e-03 9.99998635e-01 -1.27888913e-03 -4.03175409e-01] [ 1.71778376e-02 1.29666955e-03 9.99851609e-01 -4.20992419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.673201008 meters Centerline goodness : 0.884489 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.41, Z:-0.42 [[ 9.99846675e-01 1.22799197e-03 -1.74676686e-02 3.97523159e+00] [-1.22529332e-03 9.99999236e-01 1.65195762e-04 -4.05767880e-01] [ 1.74678582e-02 -1.43767416e-04 9.99847415e-01 -4.18329896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.703201008 meters Centerline goodness : 0.881531 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.41, Z:-0.42 [[ 9.99839541e-01 6.38459793e-04 -1.79020793e-02 3.97698555e+00] [-6.37155164e-04 9.99999794e-01 7.85794218e-05 -4.05984072e-01] [ 1.79021258e-02 -6.71604108e-05 9.99839742e-01 -4.18714477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.733201008 meters Centerline goodness : 0.875485 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.42 [[ 9.99824045e-01 3.02012979e-03 -1.85137412e-02 3.98106714e+00] [-2.96839835e-03 9.99991615e-01 2.82106281e-03 -4.03714619e-01] [ 1.85221060e-02 -2.76561027e-03 9.99824626e-01 -4.21340715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.763201008 meters Centerline goodness : 0.876972 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.42 [[ 9.99826732e-01 2.61922973e-03 -1.84294948e-02 3.98170753e+00] [-2.57914699e-03 9.99994258e-01 2.19835567e-03 -4.01658305e-01] [ 1.84351470e-02 -2.15044239e-03 9.99827746e-01 -4.22441380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.793201008000004 meters Centerline goodness : 0.872540 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.40, Z:-0.42 [[ 9.99815820e-01 1.76947920e-03 -1.91100753e-02 3.98325003e+00] [-1.70961093e-03 9.99993581e-01 3.14869491e-03 -4.03290984e-01] [ 1.91155242e-02 -3.11544419e-03 9.99812428e-01 -4.20018479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.823201008 meters Centerline goodness : 0.876440 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.40, Z:-0.42 [[ 9.99792149e-01 1.53164220e-04 -2.03871330e-02 3.98667046e+00] [-7.46414952e-05 9.99992577e-01 3.85228772e-03 -4.04366077e-01] [ 2.03875717e-02 -3.84996529e-03 9.99784739e-01 -4.17548799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.853201008 meters Centerline goodness : 0.874030 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.40, Z:-0.42 [[ 9.99778801e-01 -7.81960929e-04 -2.10175622e-02 3.98905434e+00] [ 8.49701579e-04 9.99994473e-01 3.21431279e-03 -4.03390910e-01] [ 2.10149325e-02 -3.23146045e-03 9.99773940e-01 -4.18335622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.883201008 meters Centerline goodness : 0.875546 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.40, Z:-0.42 [[ 9.99766917e-01 -1.41538003e-03 -2.15431902e-02 3.99085141e+00] [ 1.47444260e-03 9.99995198e-01 2.72595167e-03 -4.02210609e-01] [ 2.15392285e-02 -2.75708050e-03 9.99764202e-01 -4.18835976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.913201008 meters Centerline goodness : 0.874042 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.40, Z:-0.42 [[ 9.99740303e-01 1.66088930e-03 -2.27281198e-02 3.99402026e+00] [-1.50057363e-03 9.99973889e-01 7.06886453e-03 -4.03484297e-01] [ 2.27392669e-02 -7.03292355e-03 9.99716692e-01 -4.17743440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.943201008 meters Centerline goodness : 0.874888 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.40, Z:-0.42 [[ 9.99736888e-01 1.52901930e-03 -2.28870662e-02 3.99462460e+00] [-1.37892286e-03 9.99977450e-01 6.57247946e-03 -4.02464410e-01] [ 2.28965996e-02 -6.53919066e-03 9.99716452e-01 -4.18432656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.973201008000004 meters Centerline goodness : 0.874439 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.42 [[ 9.99824242e-01 3.28448582e-03 -1.84579799e-02 4.01221306e+00] [-3.30940757e-03 9.99993653e-01 -1.31980528e-03 -3.99515599e-01] [ 1.84535278e-02 1.38065829e-03 9.99828766e-01 -4.24254387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.003201008 meters Centerline goodness : 0.872205 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.43 [[ 9.99830133e-01 3.44389894e-03 -1.81064745e-02 4.01177665e+00] [-3.47681491e-03 9.99992360e-01 -1.78674726e-03 -3.97867092e-01] [ 1.81001828e-02 1.84939661e-03 9.99834468e-01 -4.25311526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.033201008 meters Centerline goodness : 0.865068 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.42 [[ 9.99798679e-01 7.17326114e-03 -1.87388992e-02 4.01342690e+00] [-7.12947727e-03 9.99971699e-01 2.40228497e-03 -3.98976729e-01] [ 1.87556011e-02 -2.26820278e-03 9.99821525e-01 -4.24899951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.063201008 meters Centerline goodness : 0.863919 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.43 [[ 9.99822459e-01 4.55177153e-03 -1.82847330e-02 4.01105756e+00] [-4.58377250e-03 9.99988035e-01 -1.70861850e-03 -3.97295130e-01] [ 1.82767370e-02 1.79212820e-03 9.99831360e-01 -4.25252087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.093201008 meters Centerline goodness : 0.864009 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.43 [[ 9.99814966e-01 4.32575841e-03 -1.87435790e-02 4.01221241e+00] [-4.35556417e-03 9.99989314e-01 -1.54965406e-03 -3.98486844e-01] [ 1.87366753e-02 1.63100618e-03 9.99823123e-01 -4.25062564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.123201008 meters Centerline goodness : 0.866284 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.40, Z:-0.43 [[ 9.99805595e-01 3.81261532e-03 -1.93451937e-02 4.01419476e+00] [-3.84211347e-03 9.99991512e-01 -1.48789306e-03 -4.00157713e-01] [ 1.93393567e-02 1.56193024e-03 9.99811757e-01 -4.25388636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.153201008 meters Centerline goodness : 0.863111 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99799062e-01 3.59424087e-03 -1.97209669e-02 4.01536265e+00] [-3.62103338e-03 9.99992569e-01 -1.32303950e-03 -4.01369691e-01] [ 1.97160651e-02 1.39418393e-03 9.99804647e-01 -4.25492486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.183201008000005 meters Centerline goodness : 0.861495 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99790255e-01 3.16502909e-03 -2.02343207e-02 4.01712154e+00] [-3.18989881e-03 9.99994196e-01 -1.19692813e-03 -4.02855463e-01] [ 2.02304149e-02 1.26122252e-03 9.99794549e-01 -4.25808833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.213201008 meters Centerline goodness : 0.864513 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99778559e-01 2.45871504e-03 -2.08994816e-02 4.01958368e+00] [-2.48130160e-03 9.99996365e-01 -1.05486026e-03 -4.04154899e-01] [ 2.08968120e-02 1.10648458e-03 9.99781025e-01 -4.26158830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.243201008 meters Centerline goodness : 0.859534 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99776312e-01 1.73246603e-03 -2.10789936e-02 4.02134859e+00] [-1.76384979e-03 9.99997363e-01 -1.47036331e-03 -4.03709617e-01] [ 2.10763907e-02 1.50721458e-03 9.99776732e-01 -4.27479851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.273201008 meters Centerline goodness : 0.857615 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99774051e-01 1.55652149e-03 -2.11996498e-02 4.02188637e+00] [-1.59438818e-03 9.99997164e-01 -1.76940885e-03 -4.02092659e-01] [ 2.11968355e-02 1.80280953e-03 9.99773696e-01 -4.27789520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.303201008 meters Centerline goodness : 0.856800 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99771040e-01 1.63414521e-03 -2.13353542e-02 4.02197872e+00] [-1.67243956e-03 9.99997022e-01 -1.77715817e-03 -4.00942969e-01] [ 2.13323866e-02 1.81243337e-03 9.99770796e-01 -4.27461598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.333201008 meters Centerline goodness : 0.859556 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99774584e-01 2.22441822e-03 -2.11147543e-02 4.02053188e+00] [-2.25210655e-03 9.99996635e-01 -1.28763794e-03 -4.00646159e-01] [ 2.11118190e-02 1.33490036e-03 9.99776230e-01 -4.26230073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.363201008000004 meters Centerline goodness : 0.860117 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 9.99775656e-01 3.45643603e-03 -2.08971354e-02 4.01767300e+00] [-3.46521289e-03 9.99993922e-01 -3.83806825e-04 -4.00161564e-01] [ 2.08956818e-02 4.56133743e-04 9.99781557e-01 -4.23432502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.393201008 meters Centerline goodness : 0.860132 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 9.99778753e-01 4.09886315e-03 -2.06311690e-02 4.01634276e+00] [-4.10779155e-03 9.99991487e-01 -3.90402321e-04 -3.98704190e-01] [ 2.06293932e-02 4.75064487e-04 9.99787079e-01 -4.23146073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.423201008 meters Centerline goodness : 0.860262 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 9.99784240e-01 4.63726040e-03 -2.02477198e-02 4.01514452e+00] [-4.65505911e-03 9.99988819e-01 -8.32003574e-04 -3.96107020e-01] [ 2.02436352e-02 9.26078393e-04 9.99794648e-01 -4.23656724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.453201008 meters Centerline goodness : 0.854043 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.39, Z:-0.42 [[ 9.99789605e-01 5.50925161e-03 -1.97583651e-02 4.01336365e+00] [-5.53421485e-03 9.99983955e-01 -1.20896939e-03 -3.93428795e-01] [ 1.97513876e-02 1.31806206e-03 9.99804054e-01 -4.24131855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.483201008 meters Centerline goodness : 0.855214 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.39, Z:-0.42 [[ 9.99755129e-01 1.01138024e-02 -1.96823121e-02 4.01229941e+00] [-1.00520876e-02 9.99944253e-01 3.23195999e-03 -3.92598716e-01] [ 1.97139023e-02 -3.03332025e-03 9.99801061e-01 -4.22769984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.513201008 meters Centerline goodness : 0.851445 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.39, Z:-0.42 [[ 0.99969785 0.013641 -0.02044843 4.01439884] [-0.01348532 0.99987918 0.00773178 -0.39392666] [ 0.02055143 -0.00745369 0.99976101 -0.42183989] [ 0. 0. 0. 1. ]] SLAMing on 46.543201008000004 meters Centerline goodness : 0.854451 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.39, Z:-0.42 [[ 0.99969784 0.0134656 -0.02056448 4.01512507] [-0.01332656 0.99988751 0.00688326 -0.39220829] [ 0.02065486 -0.00660713 0.99976483 -0.42317175] [ 0. 0. 0. 1. ]] SLAMing on 46.573201008 meters Centerline goodness : 0.853712 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.39, Z:-0.42 [[ 0.99969375 0.01336047 -0.02083032 4.01589986] [-0.01322374 0.9998902 0.00668795 -0.39264053] [ 0.02091739 -0.00641045 0.99976066 -0.42363453] [ 0. 0. 0. 1. ]] SLAMing on 46.603201008 meters Centerline goodness : 0.853515 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 0.99968264 0.01300989 -0.0215722 4.01745971] [-0.01285631 0.99989112 0.0072429 -0.39505894] [ 0.02166408 -0.00696326 0.99974106 -0.42261803] [ 0. 0. 0. 1. ]] SLAMing on 46.633201008 meters Centerline goodness : 0.853377 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.39, Z:-0.42 [[ 9.99727743e-01 9.18441791e-03 -2.14496045e-02 4.01714901e+00] [-9.12769488e-03 9.99954585e-01 2.74088949e-03 -3.94732593e-01] [ 2.14738038e-02 -2.54435782e-03 9.99766174e-01 -4.23711816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.663201008 meters Centerline goodness : 0.852662 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 9.99718184e-01 8.63969286e-03 -2.21112882e-02 4.01915220e+00] [-8.57567968e-03 9.99958763e-01 2.98823280e-03 -3.96714415e-01] [ 2.21361938e-02 -2.79777134e-03 9.99751050e-01 -4.23648835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.693201008 meters Centerline goodness : 0.852662 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.42 [[ 9.99718184e-01 8.63969286e-03 -2.21112882e-02 4.01915220e+00] [-8.57567968e-03 9.99958763e-01 2.98823280e-03 -3.96714415e-01] [ 2.21361938e-02 -2.79777134e-03 9.99751050e-01 -4.23648835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.723201008000004 meters Centerline goodness : 0.851138 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99720157e-01 7.59569900e-03 -2.24034206e-02 4.02179369e+00] [-7.54344441e-03 9.99968629e-01 2.41602757e-03 -3.96611864e-01] [ 2.24210692e-02 -2.24635250e-03 9.99746093e-01 -4.25663690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.753201008 meters Centerline goodness : 0.848745 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 0.99968513 0.00966637 -0.02315583 4.02557698] [-0.00952333 0.99993494 0.00627923 -0.39835935] [ 0.02321502 -0.00605674 0.99971215 -0.42568497] [ 0. 0. 0. 1. ]] SLAMing on 46.783201008 meters Centerline goodness : 0.848325 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99725959e-01 6.15471043e-03 -2.25859604e-02 4.02423826e+00] [-6.12417718e-03 9.99980238e-01 1.42078919e-03 -3.95203354e-01] [ 2.25942586e-02 -1.28207941e-03 9.99743895e-01 -4.27283173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.813201008 meters Centerline goodness : 0.845302 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.40, Z:-0.43 [[ 9.99721215e-01 5.86862679e-03 -2.28703386e-02 4.02482822e+00] [-5.82288601e-03 9.99980912e-01 2.06608638e-03 -3.96756259e-01] [ 2.28820272e-02 -1.93233901e-03 9.99736305e-01 -4.26093183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.843201008 meters Centerline goodness : 0.847411 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 9.99718583e-01 5.71136823e-03 -2.30246728e-02 4.02526214e+00] [-5.66164763e-03 9.99981499e-01 2.22405863e-03 -3.97331735e-01] [ 2.30369492e-02 -2.09307516e-03 9.99732423e-01 -4.25853581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.873201008 meters Centerline goodness : 0.846996 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 9.99710190e-01 5.33966698e-03 -2.34738847e-02 4.02648491e+00] [-5.28096135e-03 9.99982773e-01 2.56217162e-03 -3.97970057e-01] [ 2.34871615e-02 -2.43746440e-03 9.99721167e-01 -4.25167178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.903201008 meters Centerline goodness : 0.849109 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 9.99705109e-01 5.23352722e-03 -2.37129890e-02 4.02722622e+00] [-5.17816505e-03 9.99983724e-01 2.39547994e-03 -3.98428435e-01] [ 2.37251398e-02 -2.27198377e-03 9.99715938e-01 -4.25639259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.933201008000005 meters Centerline goodness : 0.850493 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 0.99965974 0.00829148 -0.02473154 4.03064109] [-0.0081284 0.9999446 0.00668704 -0.40004489] [ 0.02478561 -0.00648374 0.99967176 -0.42536641] [ 0. 0. 0. 1. ]] SLAMing on 46.963201008 meters Centerline goodness : 0.846332 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 0.99965879 0.00799805 -0.02486651 4.03179607] [-0.00786247 0.99995371 0.0055453 -0.39772365] [ 0.02490971 -0.0053479 0.9996754 -0.42740567] [ 0. 0. 0. 1. ]] SLAMing on 46.993201008 meters Centerline goodness : 0.847314 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.43 [[ 0.99965816 0.00793929 -0.02491065 4.03239031] [-0.00782413 0.99995827 0.00471712 -0.39565096] [ 0.02494706 -0.0045206 0.99967855 -0.42886035] [ 0. 0. 0. 1. ]] SLAMing on 47.023201008 meters Centerline goodness : 0.852956 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.39, Z:-0.43 [[ 0.99973449 0.01023934 -0.02064228 4.04685835] [-0.01033679 0.9999359 -0.00461986 -0.39348793] [ 0.02059366 0.00483201 0.99977625 -0.4344079 ] [ 0. 0. 0. 1. ]] SLAMing on 47.053201008 meters Centerline goodness : 0.859337 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99720780e-01 1.02304753e-02 -2.13002056e-02 4.04747184e+00] [-1.02949083e-02 9.99942750e-01 -2.91753523e-03 -3.96987254e-01] [ 2.12691384e-02 3.13600426e-03 9.99768868e-01 -4.31290428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.083201008 meters Centerline goodness : 0.855064 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99716602e-01 1.03520542e-02 -2.14371494e-02 4.04753198e+00] [-1.03962898e-02 9.99944050e-01 -1.95308158e-03 -3.99574048e-01] [ 2.14157315e-02 2.17539490e-03 9.99768290e-01 -4.30101386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.113201008000004 meters Centerline goodness : 0.865039 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99712479e-01 1.02775301e-02 -2.16640688e-02 4.04815945e+00] [-1.03185780e-02 9.99945171e-01 -1.78380884e-03 -3.99604335e-01] [ 2.16445478e-02 2.00683834e-03 9.99763715e-01 -4.29892858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.143201008 meters Centerline goodness : 0.858188 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99714602e-01 1.02067778e-02 -2.15994564e-02 4.04871521e+00] [-1.02668148e-02 9.99943729e-01 -2.67049251e-03 -3.95993031e-01] [ 2.15709838e-02 2.89148797e-03 9.99763138e-01 -4.31538934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.173201008 meters Centerline goodness : 0.853659 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.39, Z:-0.43 [[ 9.99717335e-01 1.01122454e-02 -2.15172745e-02 4.04897527e+00] [-1.01786691e-02 9.99943756e-01 -2.97971325e-03 -3.94450834e-01] [ 2.14859327e-02 3.19788821e-03 9.99764036e-01 -4.32179843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.203201008 meters Centerline goodness : 0.857985 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.39, Z:-0.43 [[ 9.99715295e-01 1.01354245e-02 -2.16009532e-02 4.04895245e+00] [-1.01982993e-02 9.99944069e-01 -2.80256763e-03 -3.94012623e-01] [ 2.15713398e-02 3.02206272e-03 9.99762744e-01 -4.31611379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.233201008 meters Centerline goodness : 0.858738 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99706151e-01 1.05605760e-02 -2.18194052e-02 4.04819971e+00] [-1.05975631e-02 9.99942596e-01 -1.58021028e-03 -3.95726388e-01] [ 2.18014648e-02 1.81097846e-03 9.99760680e-01 -4.29007397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.263201008 meters Centerline goodness : 0.860145 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99700066e-01 1.03156886e-02 -2.22118032e-02 4.04935704e+00] [-1.03509205e-02 9.99945345e-01 -1.47178837e-03 -3.95929742e-01] [ 2.21954067e-02 1.70125954e-03 9.99752204e-01 -4.28881537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.293201008000004 meters Centerline goodness : 0.861125 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99693703e-01 9.91726074e-03 -2.26748446e-02 4.05082280e+00] [-9.95559911e-03 9.99949196e-01 -1.57852610e-03 -3.95687486e-01] [ 2.26580380e-02 1.80378427e-03 9.99741646e-01 -4.29053193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.323201008 meters Centerline goodness : 0.858175 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.40, Z:-0.43 [[ 9.99648949e-01 1.23624211e-02 -2.34339357e-02 4.05425237e+00] [-1.23041019e-02 9.99920840e-01 2.63122551e-03 -3.98260524e-01] [ 2.34646089e-02 -2.34196829e-03 9.99721925e-01 -4.28711520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.353201008 meters Centerline goodness : 0.863168 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.40, Z:-0.43 [[ 9.99640042e-01 1.17174677e-02 -2.41347821e-02 4.05664332e+00] [-1.16443253e-02 9.99927181e-01 3.16889708e-03 -4.00230006e-01] [ 2.41701561e-02 -2.88672315e-03 9.99703691e-01 -4.28377997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.383201008 meters Centerline goodness : 0.862569 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.40, Z:-0.43 [[ 9.99628512e-01 1.05864956e-02 -2.51150143e-02 4.05966026e+00] [-1.04899903e-02 9.99937093e-01 3.97118130e-03 -4.02973737e-01] [ 2.51554753e-02 -3.70624980e-03 9.99676681e-01 -4.26977515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.413201008 meters Centerline goodness : 0.861793 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.41, Z:-0.42 [[ 0.99961235 0.00978074 -0.02606708 4.06217978] [-0.00964669 0.99993962 0.00526302 -0.40538786] [ 0.02611698 -0.00500951 0.99964634 -0.42453008] [ 0. 0. 0. 1. ]] SLAMing on 47.443201008 meters Centerline goodness : 0.866187 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.41, Z:-0.42 [[ 0.99960269 0.00914393 -0.02666162 4.06407527] [-0.00901039 0.99994627 0.00512457 -0.40550873] [ 0.02670705 -0.0048823 0.99963138 -0.42459872] [ 0. 0. 0. 1. ]] SLAMing on 47.473201008000004 meters Centerline goodness : 0.862499 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.41, Z:-0.42 [[ 0.99953838 0.0118786 -0.02796307 4.06830426] [-0.01161941 0.99988818 0.00941342 -0.40623382] [ 0.02807176 -0.00908416 0.99956463 -0.42390257] [ 0. 0. 0. 1. ]] SLAMing on 47.503201008 meters Centerline goodness : 0.859205 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.41, Z:-0.42 [[ 0.99953377 0.01161229 -0.02823832 4.06946468] [-0.01136562 0.99989598 0.00887996 -0.40508465] [ 0.0283385 -0.00855487 0.99956178 -0.42485312] [ 0. 0. 0. 1. ]] SLAMing on 47.533201008 meters Centerline goodness : 0.864810 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.43 [[ 0.99981361 0.00941471 -0.01685534 4.07826511] [-0.00930666 0.99993571 0.00647761 -0.40218748] [ 0.01691524 -0.00631954 0.99983696 -0.43409897] [ 0. 0. 0. 1. ]] SLAMing on 47.563201008 meters Centerline goodness : 0.864549 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.43 [[ 0.99977137 0.01095016 -0.01836579 4.08431416] [-0.01074077 0.99987663 0.01146154 -0.40415283] [ 0.01848903 -0.01126165 0.99976564 -0.43216807] [ 0. 0. 0. 1. ]] SLAMing on 47.593201008 meters Centerline goodness : 0.863799 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.40, Z:-0.43 [[ 0.99977505 0.01028017 -0.01855191 4.086012 ] [-0.01009372 0.99989788 0.01011627 -0.40174058] [ 0.01865401 -0.00992674 0.99977672 -0.43454296] [ 0. 0. 0. 1. ]] SLAMing on 47.623201008 meters Centerline goodness : 0.860470 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.40, Z:-0.43 [[ 0.99971912 0.0131761 -0.01969972 4.08947213] [-0.01288253 0.99980517 0.01495565 -0.40360281] [ 0.01989294 -0.01469767 0.99969408 -0.43286255] [ 0. 0. 0. 1. ]] SLAMing on 47.653201008 meters Centerline goodness : 0.858680 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.40, Z:-0.44 [[ 0.99979419 0.0127452 -0.01578395 4.10874569] [-0.01264418 0.99989904 0.00648348 -0.40243354] [ 0.01586499 -0.00628257 0.99985441 -0.43614901] [ 0. 0. 0. 1. ]] SLAMing on 47.683201008000005 meters Centerline goodness : 0.859508 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.40, Z:-0.44 [[ 9.99832069e-01 9.72275835e-03 -1.55338989e-02 4.10685512e+00] [-9.68717058e-03 9.99950283e-01 2.36458011e-03 -4.01608435e-01] [ 1.55561169e-02 -2.21370349e-03 9.99876546e-01 -4.36046597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.713201008 meters Centerline goodness : 0.867074 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.40, Z:-0.43 [[ 9.99823984e-01 9.79892724e-03 -1.59994140e-02 4.10737107e+00] [-9.74208295e-03 9.99945967e-01 3.62698188e-03 -4.04446267e-01] [ 1.60340901e-02 -3.47047585e-03 9.99865423e-01 -4.33892187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.743201008 meters Centerline goodness : 0.866467 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.41, Z:-0.43 [[ 9.99817794e-01 8.91049381e-03 -1.68814331e-02 4.11061731e+00] [-8.85046109e-03 9.99954254e-01 3.62751892e-03 -4.05966052e-01] [ 1.69129838e-02 -3.47744950e-03 9.99850918e-01 -4.34599491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.773201008 meters Centerline goodness : 0.871896 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.41, Z:-0.43 [[ 0.99977137 0.01110203 -0.01827452 4.11579199] [-0.01096046 0.99990929 0.00782879 -0.40751416] [ 0.01835978 -0.0076267 0.99980236 -0.43450755] [ 0. 0. 0. 1. ]] SLAMing on 47.803201008 meters Centerline goodness : 0.862206 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.41, Z:-0.43 [[ 0.99971419 0.01375497 -0.01955363 4.1202445 ] [-0.01351859 0.99983455 0.01217008 -0.40847754] [ 0.01971779 -0.01190226 0.99973474 -0.43409102] [ 0. 0. 0. 1. ]] SLAMing on 47.833201008 meters Centerline goodness : 0.867480 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.41, Z:-0.44 [[ 0.99971681 0.01332748 -0.01971488 4.12141869] [-0.01311146 0.99985302 0.01104641 -0.40593756] [ 0.01985921 -0.01078479 0.99974462 -0.43588082] [ 0. 0. 0. 1. ]] SLAMing on 47.863201008000004 meters Centerline goodness : 0.866996 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.41, Z:-0.43 [[ 0.99964583 0.01671073 -0.02071164 4.12364853] [-0.01638356 0.99973987 0.01586706 -0.40720716] [ 0.0209714 -0.01552211 0.99965957 -0.43369565] [ 0. 0. 0. 1. ]] SLAMing on 47.893201008 meters Centerline goodness : 0.864271 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.40, Z:-0.44 [[ 0.99965505 0.01956589 -0.0175203 4.14092859] [-0.01945646 0.99979025 0.00639477 -0.40127104] [ 0.01764175 -0.00605168 0.99982606 -0.44129623] [ 0. 0. 0. 1. ]] SLAMing on 47.923201008 meters Centerline goodness : 0.864182 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.40, Z:-0.44 [[ 0.99965518 0.01946178 -0.01762835 4.14154201] [-0.01937016 0.99979805 0.00535299 -0.3989333 ] [ 0.01772896 -0.00500968 0.99983028 -0.44283399] [ 0. 0. 0. 1. ]] SLAMing on 47.953201008 meters Centerline goodness : 0.867366 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.40, Z:-0.44 [[ 0.99965534 0.01922218 -0.01788064 4.14251759] [-0.0191448 0.99980664 0.00448907 -0.39647021] [ 0.01796347 -0.0041452 0.99983005 -0.44394213] [ 0. 0. 0. 1. ]] SLAMing on 47.983201008 meters Centerline goodness : 0.869104 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.39, Z:-0.44 [[ 9.99654916e-01 1.92322156e-02 -1.78933286e-02 4.14248432e+00] [-1.91659516e-02 9.99808836e-01 3.86744065e-03 -3.94356243e-01] [ 1.79642875e-02 -3.52316339e-03 9.99832422e-01 -4.44428257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.013201008 meters Centerline goodness : 0.867089 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.39, Z:-0.44 [[ 9.99653482e-01 1.94647353e-02 -1.77211465e-02 4.14174133e+00] [-1.94029989e-02 9.99805085e-01 3.64908368e-03 -3.92730881e-01] [ 1.77887208e-02 -3.30397582e-03 9.99836309e-01 -4.44244746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.043201008000004 meters Centerline goodness : 0.869665 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.40, Z:-0.44 [[ 0.99956098 0.02328301 -0.01832354 4.14269597] [-0.02311887 0.99969113 0.00911934 -0.39553929] [ 0.01853021 -0.00869172 0.99979052 -0.44124769] [ 0. 0. 0. 1. ]] SLAMing on 48.073201008 meters Centerline goodness : 0.876125 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.39, Z:-0.44 [[ 9.99649080e-01 2.32965878e-02 -1.26089621e-02 4.15480918e+00] [-2.33189556e-02 9.99726748e-01 -1.62983701e-03 -3.93860571e-01] [ 1.25675470e-02 1.92329289e-03 9.99919176e-01 -4.44877933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.103201008 meters Centerline goodness : 0.879936 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.40, Z:-0.44 [[ 9.99643730e-01 2.32911989e-02 -1.30358161e-02 4.15502514e+00] [-2.32994269e-02 9.99728416e-01 -4.79650580e-04 -3.96180844e-01] [ 1.30211041e-02 7.83206739e-04 9.99914915e-01 -4.42573288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.133201008 meters Centerline goodness : 0.879334 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.40, Z:-0.44 [[ 0.99961905 0.023698 -0.01414797 4.16209969] [-0.02360365 0.99969827 0.00679905 -0.40089146] [ 0.01430482 -0.00646251 0.9998768 -0.43662129] [ 0. 0. 0. 1. ]] SLAMing on 48.163201008 meters Centerline goodness : 0.880528 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.40, Z:-0.44 [[ 9.99717519e-01 1.92004368e-02 -1.40080749e-02 4.16342735e+00] [-1.91756183e-02 9.99814318e-01 1.90390585e-03 -4.00351542e-01] [ 1.40420297e-02 -1.63475453e-03 9.99900069e-01 -4.39688787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.193201008 meters Centerline goodness : 0.884609 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.40, Z:-0.44 [[ 9.99723162e-01 1.83021574e-02 -1.47861314e-02 4.16645214e+00] [-1.82811340e-02 9.99831676e-01 1.55575657e-03 -4.00747144e-01] [ 1.48121163e-02 -1.28501863e-03 9.99889469e-01 -4.40845809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.223201008000004 meters Centerline goodness : 0.881841 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.40, Z:-0.44 [[ 9.99723978e-01 1.78220986e-02 -1.53081665e-02 4.16803123e+00] [-1.78012508e-02 9.99840424e-01 1.49706753e-03 -4.00752501e-01] [ 1.53324045e-02 -1.22414980e-03 9.99881702e-01 -4.40763348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.253201008 meters Centerline goodness : 0.882185 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.40, Z:-0.44 [[ 0.99971259 0.01665615 -0.01724291 4.17887258] [-0.01653533 0.99983789 0.0071257 -0.40356537] [ 0.0173588 -0.00683853 0.99982594 -0.43725862] [ 0. 0. 0. 1. ]] SLAMing on 48.283201008 meters Centerline goodness : 0.880575 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.40, Z:-0.44 [[ 9.99776223e-01 1.26385596e-02 -1.69638201e-02 4.17881200e+00] [-1.26096719e-02 9.99918859e-01 1.80878424e-03 -4.00758591e-01] [ 1.69853041e-02 -1.59447127e-03 9.99854468e-01 -4.39718814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.313201008 meters Centerline goodness : 0.881429 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.40, Z:-0.44 [[ 9.99770932e-01 1.20885164e-02 -1.76621273e-02 4.18068597e+00] [-1.20522127e-02 9.99925035e-01 2.16046056e-03 -4.01943863e-01] [ 1.76869200e-02 -1.94709796e-03 9.99841678e-01 -4.39065991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.343201008 meters Centerline goodness : 0.883552 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.41, Z:-0.43 [[ 0.99974123 0.01250062 -0.01900547 4.18763139] [-0.01234203 0.99988822 0.00843914 -0.40606397] [ 0.01910884 -0.00820239 0.99978376 -0.43430159] [ 0. 0. 0. 1. ]] SLAMing on 48.373201008 meters Centerline goodness : 0.883853 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.41, Z:-0.43 [[ 0.99973202 0.01236465 -0.01957064 4.18860047] [-0.01218571 0.9998831 0.00923596 -0.40793438] [ 0.01968255 -0.00899501 0.99976582 -0.43266998] [ 0. 0. 0. 1. ]] SLAMing on 48.403201008 meters Centerline goodness : 0.881786 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.41, Z:-0.43 [[ 0.99972958 0.01219191 -0.01980197 4.18927071] [-0.01202039 0.9998894 0.00875789 -0.40680795] [ 0.01990656 -0.0085175 0.99976556 -0.43317266] [ 0. 0. 0. 1. ]] SLAMing on 48.433201008000005 meters Centerline goodness : 0.885426 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.43 [[ 0.99972722 0.01184825 -0.02012735 4.19066993] [-0.01169471 0.99990174 0.00772955 -0.4043465 ] [ 0.02021695 -0.00749206 0.99976754 -0.43473311] [ 0. 0. 0. 1. ]] SLAMing on 48.463201008 meters Centerline goodness : 0.882913 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99973511 0.01220704 -0.01951138 4.18999452] [-0.01209104 0.99990858 0.00605231 -0.39968553] [ 0.01958348 -0.00581479 0.99979132 -0.43783104] [ 0. 0. 0. 1. ]] SLAMing on 48.493201008 meters Centerline goodness : 0.881736 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99973424 0.01222942 -0.01954191 4.19019297] [-0.01211796 0.99990969 0.00581145 -0.39884312] [ 0.01961122 -0.0055731 0.99979215 -0.4381496 ] [ 0. 0. 0. 1. ]] SLAMing on 48.523201008 meters Centerline goodness : 0.881262 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972865 0.01204772 -0.01993674 4.19096835] [-0.01192547 0.99990942 0.00623988 -0.39934248] [ 0.02001011 -0.00600043 0.99978177 -0.43709283] [ 0. 0. 0. 1. ]] SLAMing on 48.553201008 meters Centerline goodness : 0.882685 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972455 0.01173516 -0.02032501 4.19202122] [-0.0116112 0.99991333 0.00620611 -0.39911655] [ 0.02039608 -0.0059684 0.99977416 -0.43685725] [ 0. 0. 0. 1. ]] SLAMing on 48.583201008 meters Centerline goodness : 0.879027 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972394 0.0117073 -0.02037103 4.19205787] [-0.01158982 0.99991557 0.00587548 -0.39815308] [ 0.0204381 -0.00563776 0.99977522 -0.43692759] [ 0. 0. 0. 1. ]] SLAMing on 48.613201008000004 meters Centerline goodness : 0.879027 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972394 0.0117073 -0.02037103 4.19205787] [-0.01158982 0.99991557 0.00587548 -0.39815308] [ 0.0204381 -0.00563776 0.99977522 -0.43692759] [ 0. 0. 0. 1. ]] SLAMing on 48.643201008 meters Centerline goodness : 0.880828 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972233 0.01166771 -0.02047254 4.19230201] [-0.01155622 0.99991779 0.00555563 -0.39714467] [ 0.02053568 -0.0053175 0.99977498 -0.43711947] [ 0. 0. 0. 1. ]] SLAMing on 48.673201008 meters Centerline goodness : 0.879040 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.40, Z:-0.44 [[ 0.99972125 0.011584 -0.02057264 4.19245345] [-0.01147999 0.99992075 0.0051667 -0.395822 ] [ 0.02063086 -0.00492908 0.99977501 -0.43715806] [ 0. 0. 0. 1. ]] SLAMing on 48.703201008 meters Centerline goodness : 0.879435 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.39, Z:-0.44 [[ 9.99775259e-01 1.41007950e-02 -1.58303453e-02 4.20774942e+00] [-1.41576409e-02 9.99893704e-01 -3.48462930e-03 -3.91530732e-01] [ 1.57795265e-02 3.70796650e-03 9.99868620e-01 -4.43075517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.733201008 meters Centerline goodness : 0.879350 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.39, Z:-0.44 [[ 9.99777250e-01 1.39591199e-02 -1.58301315e-02 4.20835810e+00] [-1.40267003e-02 9.99892942e-01 -4.16612515e-03 -3.89555145e-01] [ 1.57702813e-02 4.38724165e-03 9.99866016e-01 -4.44320020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.763201008 meters Centerline goodness : 0.879413 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.39, Z:-0.44 [[ 9.99713612e-01 1.70905070e-02 -1.67513714e-02 4.21157857e+00] [-1.70938226e-02 9.99853888e-01 -5.47587508e-05 -3.90354586e-01] [ 1.67479880e-02 3.41088040e-04 9.99859684e-01 -4.44330116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.793201008000004 meters Centerline goodness : 0.878715 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.39, Z:-0.45 [[ 9.99716405e-01 1.68927175e-02 -1.67852677e-02 4.21227689e+00] [-1.69084531e-02 9.99856725e-01 -7.95982681e-04 -3.88218258e-01] [ 1.67694165e-02 1.07956986e-03 9.99858801e-01 -4.45600296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.823201008 meters Centerline goodness : 0.880421 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.39, Z:-0.45 [[ 9.99716768e-01 1.63747839e-02 -1.72698975e-02 4.21380913e+00] [-1.63868432e-02 9.99865572e-01 -5.56996579e-04 -3.88977125e-01] [ 1.72584552e-02 8.39837921e-04 9.99850709e-01 -4.45172166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.853201008 meters Centerline goodness : 0.881446 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.39, Z:-0.44 [[ 9.99727527e-01 1.41917213e-02 -1.85328787e-02 4.21820764e+00] [-1.41370719e-02 9.99895334e-01 3.07647656e-03 -3.94357947e-01] [ 1.85745994e-02 -2.81363766e-03 9.99823518e-01 -4.38051516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.883201008 meters Centerline goodness : 0.882647 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.40, Z:-0.43 [[ 0.99974959 0.00895211 -0.0205088 4.2289655 ] [-0.00885754 0.99994974 0.00469751 -0.39721981] [ 0.02054983 -0.00451468 0.99977864 -0.43430182] [ 0. 0. 0. 1. ]] SLAMing on 48.913201008 meters Centerline goodness : 0.878009 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.40, Z:-0.44 [[ 0.99972333 0.00856109 -0.02190842 4.23873899] [-0.00842473 0.99994461 0.00630884 -0.39546054] [ 0.02196121 -0.00612252 0.99974008 -0.43913926] [ 0. 0. 0. 1. ]] SLAMing on 48.943201008 meters Centerline goodness : 0.876423 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.40, Z:-0.44 [[ 0.99964848 0.01212109 -0.02357947 4.24906249] [-0.01176498 0.99981551 0.01518293 -0.39682626] [ 0.02375916 -0.01490018 0.99960667 -0.43763039] [ 0. 0. 0. 1. ]] SLAMing on 48.973201008000004 meters Centerline goodness : 0.875158 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.39, Z:-0.44 [[ 9.99759139e-01 1.23002394e-02 -1.81760414e-02 4.26269461e+00] [-1.22366202e-02 9.99918623e-01 3.60725167e-03 -3.93894800e-01] [ 1.82189323e-02 -3.38396950e-03 9.99828295e-01 -4.44355162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.003201008 meters Centerline goodness : 0.875158 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.39, Z:-0.44 [[ 9.99759095e-01 1.23349790e-02 -1.81548814e-02 4.26262867e+00] [-1.22719254e-02 9.99918287e-01 3.58041870e-03 -3.93847962e-01] [ 1.81975623e-02 -3.35676081e-03 9.99828776e-01 -4.44384942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.033201008 meters Centerline goodness : 0.875158 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.39, Z:-0.44 [[ 9.99759050e-01 1.23697192e-02 -1.81337224e-02 4.26256273e+00] [-1.23072300e-02 9.99917949e-01 3.55358498e-03 -3.93801122e-01] [ 1.81761914e-02 -3.32955286e-03 9.99829255e-01 -4.44414719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.063201008 meters Centerline goodness : 0.882127 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.39, Z:-0.44 [[ 0.99984853 0.01269308 -0.01190815 4.2726108 ] [-0.01276454 0.99990086 -0.0059446 -0.39375993] [ 0.01183152 0.0060957 0.99991142 -0.44478759] [ 0. 0. 0. 1. ]] SLAMing on 49.093201008 meters Centerline goodness : 0.881179 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.40, Z:-0.44 [[ 0.99984242 0.0132209 -0.0118465 4.27153311] [-0.01328035 0.99989954 -0.00495338 -0.39504596] [ 0.01177982 0.00510992 0.99991756 -0.44290151] [ 0. 0. 0. 1. ]] SLAMing on 49.123201008 meters Centerline goodness : 0.885009 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.39, Z:-0.44 [[ 0.99983973 0.01350026 -0.0117587 4.27110576] [-0.01355727 0.99989666 -0.00478269 -0.39464974] [ 0.01169292 0.00494134 0.99991943 -0.44257745] [ 0. 0. 0. 1. ]] SLAMing on 49.153201008 meters Centerline goodness : 0.880417 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.40, Z:-0.44 [[ 9.99791631e-01 1.62018128e-02 -1.24175609e-02 4.27390263e+00] [-1.62045195e-02 9.99868691e-01 -1.17377339e-04 -3.96791110e-01] [ 1.24140286e-02 3.18573488e-04 9.99922892e-01 -4.41271001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.183201008000005 meters Centerline goodness : 0.880131 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.40, Z:-0.44 [[ 0.99972274 0.01932234 -0.01345676 4.27698352] [-0.01925735 0.99980234 0.00494232 -0.39917152] [ 0.0135496 -0.00468181 0.99989724 -0.43942194] [ 0. 0. 0. 1. ]] SLAMing on 49.213201008 meters Centerline goodness : 0.880970 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.40, Z:-0.44 [[ 9.99726380e-01 1.87415980e-02 -1.39970809e-02 4.27900742e+00] [-1.86842791e-02 9.99816550e-01 4.21467263e-03 -3.97956595e-01] [ 1.40735029e-02 -3.95199404e-03 9.99893153e-01 -4.40596029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.243201008 meters Centerline goodness : 0.882728 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.40, Z:-0.44 [[ 9.99731499e-01 1.79661512e-02 -1.46337432e-02 4.28159092e+00] [-1.79205484e-02 9.99834160e-01 3.24148023e-03 -3.96109945e-01] [ 1.46895533e-02 -2.97836519e-03 9.99887667e-01 -4.42307245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.273201008 meters Centerline goodness : 0.878055 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.39, Z:-0.44 [[ 9.99734537e-01 1.73605093e-02 -1.51482273e-02 4.28365147e+00] [-1.73258039e-02 9.99846970e-01 2.41929957e-03 -3.94188355e-01] [ 1.51879094e-02 -2.15620212e-03 9.99882332e-01 -4.43673162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.303201008 meters Centerline goodness : 0.878666 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.40, Z:-0.44 [[ 0.99967032 0.01978357 -0.01636631 4.28811134] [-0.01967218 0.9997824 0.00693936 -0.39590738] [ 0.01650004 -0.00661511 0.99984198 -0.442755 ] [ 0. 0. 0. 1. ]] SLAMing on 49.333201008 meters Centerline goodness : 0.879069 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.40, Z:-0.44 [[ 0.99966127 0.01969076 -0.01701813 4.28917113] [-0.01957863 0.99978566 0.00673075 -0.39558847] [ 0.01714701 -0.00639528 0.99983253 -0.44237834] [ 0. 0. 0. 1. ]] SLAMing on 49.363201008000004 meters Centerline goodness : 0.875685 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.40, Z:-0.44 [[ 0.99957111 0.02289715 -0.01825705 4.2922067 ] [-0.0226795 0.99967028 0.01204063 -0.3982766 ] [ 0.01852673 -0.01162141 0.99976082 -0.43965837] [ 0. 0. 0. 1. ]] SLAMing on 49.393201008 meters Centerline goodness : 0.874802 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.40, Z:-0.44 [[ 0.99957152 0.02278645 -0.01837266 4.29266953] [-0.02257759 0.99967899 0.01149629 -0.39716014] [ 0.01862873 -0.01107655 0.99976511 -0.44038416] [ 0. 0. 0. 1. ]] SLAMing on 49.423201008 meters Centerline goodness : 0.876087 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.45 [[ 9.99625247e-01 2.39243137e-02 -1.33038386e-02 4.30703883e+00] [-2.39049983e-02 9.99712940e-01 1.60901895e-03 -3.93921752e-01] [ 1.33385143e-02 -1.29038772e-03 9.99910205e-01 -4.45630214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.453201008 meters Centerline goodness : 0.873325 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.44 [[ 9.99618264e-01 2.41407000e-02 -1.34370218e-02 4.30664354e+00] [-2.41098283e-02 9.99706302e-01 2.45479724e-03 -3.94882999e-01] [ 1.34923359e-02 -2.12989587e-03 9.99906706e-01 -4.43730563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.483201008 meters Centerline goodness : 0.874145 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 9.99613103e-01 2.43433262e-02 -1.34553637e-02 4.30615410e+00] [-2.43037333e-02 9.99699820e-01 3.09828569e-03 -3.95241028e-01] [ 1.35267472e-02 -2.77007140e-03 9.99904672e-01 -4.42298886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.513201008 meters Centerline goodness : 0.871610 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 9.99628234e-01 2.37513807e-02 -1.33889793e-02 4.30622728e+00] [-2.36958906e-02 9.99710017e-01 4.28800120e-03 -3.96700222e-01] [ 1.34869426e-02 -3.96914328e-03 9.99901169e-01 -4.39834875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.543201008000004 meters Centerline goodness : 0.868879 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 9.99638429e-01 2.31371196e-02 -1.36998246e-02 4.30784461e+00] [-2.30863007e-02 9.99726039e-01 3.85607650e-03 -3.96346128e-01] [ 1.37852899e-02 -3.53840398e-03 9.99898718e-01 -4.40787751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.573201008 meters Centerline goodness : 0.867499 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.44 [[ 9.99644631e-01 2.25727492e-02 -1.41803391e-02 4.30994459e+00] [-2.25329720e-02 9.99741722e-01 2.95865544e-03 -3.94943712e-01] [ 1.42434616e-02 -2.63807885e-03 9.99895077e-01 -4.42527137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.603201008 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.44 [[ 9.99650379e-01 2.20951412e-02 -1.45232609e-02 4.31175191e+00] [-2.20709913e-02 9.99754747e-01 1.82104560e-03 -3.92996187e-01] [ 1.45599353e-02 -1.49986616e-03 9.99892874e-01 -4.44658077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.633201008 meters Centerline goodness : 0.868931 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.44 [[ 0.99955624 0.02562555 -0.01518699 4.3136237 ] [-0.02552619 0.9996517 0.00670032 -0.39497435] [ 0.0153534 -0.00630968 0.99986222 -0.44293098] [ 0. 0. 0. 1. ]] SLAMing on 49.663201008 meters Centerline goodness : 0.868931 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.44 [[ 0.99955624 0.02562555 -0.01518699 4.3136237 ] [-0.02552619 0.9996517 0.00670032 -0.39497435] [ 0.0153534 -0.00630968 0.99986222 -0.44293098] [ 0. 0. 0. 1. ]] SLAMing on 49.693201008 meters Centerline goodness : 0.867215 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 0.99953852 0.02616197 -0.01543698 4.31302589] [-0.0260497 0.99963304 0.00742932 -0.39726908] [ 0.01562568 -0.00702376 0.99985324 -0.44139026] [ 0. 0. 0. 1. ]] SLAMing on 49.723201008000004 meters Centerline goodness : 0.867426 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 0.99953923 0.02602324 -0.01562458 4.31373206] [-0.02591255 0.99963795 0.00724586 -0.39781209] [ 0.01580748 -0.00683765 0.99985167 -0.4419147 ] [ 0. 0. 0. 1. ]] SLAMing on 49.753201008 meters Centerline goodness : 0.869577 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.40, Z:-0.44 [[ 0.99954653 0.02562328 -0.01581741 4.31485032] [-0.02551884 0.99965142 0.00676948 -0.39741768] [ 0.01598535 -0.00636277 0.99985198 -0.44287403] [ 0. 0. 0. 1. ]] SLAMing on 49.783201008 meters Centerline goodness : 0.865430 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.44 [[ 0.99955567 0.02509797 -0.01607957 4.31637512] [-0.0250026 0.99966875 0.00610469 -0.39684325] [ 0.01622746 -0.00569994 0.99985208 -0.44432797] [ 0. 0. 0. 1. ]] SLAMing on 49.813201008 meters Centerline goodness : 0.864743 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.45 [[ 0.99956722 0.02453148 -0.01623504 4.31773374] [-0.02444949 0.99968739 0.00522984 -0.3955667 ] [ 0.01635827 -0.00483064 0.99985453 -0.4459529 ] [ 0. 0. 0. 1. ]] SLAMing on 49.843201008 meters Centerline goodness : 0.862839 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.45 [[ 0.99956805 0.02418797 -0.0166928 4.3190768 ] [-0.02410663 0.9996966 0.0050566 -0.39558071] [ 0.01681004 -0.004652 0.99984788 -0.44616653] [ 0. 0. 0. 1. ]] SLAMing on 49.873201008 meters Centerline goodness : 0.859688 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99641607e-01 2.10986176e-02 -1.64774275e-02 4.31764140e+00] [-2.10926499e-02 9.99777382e-01 5.35899779e-04 -3.93028888e-01] [ 1.64850661e-02 -1.88155105e-04 9.99864094e-01 -4.47079735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.903201008 meters Centerline goodness : 0.859503 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.44 [[ 0.99954913 0.02434701 -0.01757149 4.32030396] [-0.02424041 0.99968659 0.00625451 -0.39666669] [ 0.01771826 -0.00582575 0.99982605 -0.44390684] [ 0. 0. 0. 1. ]] SLAMing on 49.933201008000005 meters Centerline goodness : 0.855516 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.45 [[ 0.99955594 0.02395786 -0.01771831 4.32141747] [-0.02386599 0.9997007 0.00537807 -0.39501394] [ 0.01784186 -0.00495281 0.99982855 -0.44547898] [ 0. 0. 0. 1. ]] SLAMing on 49.963201008 meters Centerline goodness : 0.853918 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99563606e-01 2.33963692e-02 -1.80335014e-02 4.32315683e+00] [-2.33199748e-02 9.99718215e-01 4.43498760e-03 -3.93430296e-01] [ 1.81321824e-02 -4.01251140e-03 9.99827547e-01 -4.47265040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.993201008 meters Centerline goodness : 0.851648 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99571467e-01 2.29029165e-02 -1.82301633e-02 4.32446351e+00] [-2.28376983e-02 9.99732048e-01 3.77769956e-03 -3.92527261e-01] [ 1.83117989e-02 -3.35974572e-03 9.99826680e-01 -4.48522644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.023201008 meters Centerline goodness : 0.846850 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99563543e-01 2.33627234e-02 -1.80805375e-02 4.32319183e+00] [-2.32955903e-02 9.99720956e-01 3.91477929e-03 -3.91723181e-01] [ 1.81669521e-02 -3.49187386e-03 9.99828870e-01 -4.47586355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.053201008 meters Centerline goodness : 0.847415 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99630534e-01 2.06007184e-02 -1.77315005e-02 4.32091005e+00] [-2.06076221e-02 9.99787619e-01 -2.06695204e-04 -3.89508005e-01] [ 1.77234766e-02 5.72022897e-04 9.99842763e-01 -4.47670369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.083201008 meters Centerline goodness : 0.847217 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.45 [[ 9.99627930e-01 2.04058285e-02 -1.80998284e-02 4.32146854e+00] [-2.04055600e-02 9.99791765e-01 1.99536459e-04 -3.90661806e-01] [ 1.81001311e-02 1.69874916e-04 9.99836165e-01 -4.46627782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.113201008000004 meters Centerline goodness : 0.846881 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.44 [[ 9.99621081e-01 2.03922446e-02 -1.84891955e-02 4.32190027e+00] [-2.03753023e-02 9.99791792e-01 1.10426755e-03 -3.92462384e-01] [ 1.85078644e-02 -7.27126180e-04 9.99828450e-01 -4.44943030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.143201008 meters Centerline goodness : 0.845900 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.44 [[ 9.99622206e-01 2.01843504e-02 -1.86557420e-02 4.32264857e+00] [-2.01596258e-02 9.99795630e-01 1.51244101e-03 -3.94316558e-01] [ 1.86824570e-02 -1.13577684e-03 9.99824823e-01 -4.44760887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.173201008 meters Centerline goodness : 0.846714 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.44 [[ 9.99622093e-01 1.98196424e-02 -1.90487254e-02 4.32388250e+00] [-1.97940950e-02 9.99802909e-01 1.52879216e-03 -3.94530823e-01] [ 1.90752712e-02 -1.15116213e-03 9.99817388e-01 -4.44792417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.203201008 meters Centerline goodness : 0.847066 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.40, Z:-0.44 [[ 9.99621549e-01 1.96120215e-02 -1.92905848e-02 4.32476841e+00] [-1.95843084e-02 9.99806889e-01 1.62449516e-03 -3.95080585e-01] [ 1.93187192e-02 -1.24608761e-03 9.99812600e-01 -4.44887676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.233201008 meters Centerline goodness : 0.846454 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.40, Z:-0.44 [[ 9.99617679e-01 1.94909784e-02 -1.96111398e-02 4.32541510e+00] [-1.94566300e-02 9.99808818e-01 1.94076948e-03 -3.95607005e-01] [ 1.96452180e-02 -1.55846080e-03 9.99805799e-01 -4.44222327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.263201008 meters Centerline goodness : 0.851869 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.40, Z:-0.44 [[ 9.99617126e-01 1.91158461e-02 -2.00046382e-02 4.32662911e+00] [-1.90868998e-02 9.99816489e-01 1.63692828e-03 -3.95318156e-01] [ 2.00322584e-02 -1.25447502e-03 9.99798547e-01 -4.44569972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.293201008000004 meters Centerline goodness : 0.851607 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.39, Z:-0.45 [[ 9.99615687e-01 1.86044714e-02 -2.05512227e-02 4.32853918e+00] [-1.85798400e-02 9.99826415e-01 1.38884213e-03 -3.94951196e-01] [ 2.05734940e-02 -1.00646995e-03 9.99787837e-01 -4.45039652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.323201008 meters Centerline goodness : 0.851417 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.40, Z:-0.45 [[ 9.99614174e-01 1.80646421e-02 -2.10991029e-02 4.33046362e+00] [-1.80455496e-02 9.99836566e-01 1.09495535e-03 -3.95040860e-01] [ 2.11154345e-02 -7.13787985e-04 9.99776790e-01 -4.45665269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.353201008 meters Centerline goodness : 0.852491 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.40, Z:-0.45 [[ 9.99610819e-01 1.75117881e-02 -2.17151614e-02 4.33243569e+00] [-1.74931094e-02 9.99846433e-01 1.04983833e-03 -3.95811743e-01] [ 2.17302113e-02 -6.69564060e-04 9.99763647e-01 -4.45876120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.383201008 meters Centerline goodness : 0.855176 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.40, Z:-0.45 [[ 9.99612256e-01 1.70450615e-02 -2.20182426e-02 4.33377592e+00] [-1.70330368e-02 9.99854658e-01 7.33564221e-04 -3.95492725e-01] [ 2.20275460e-02 -3.58242250e-04 9.99757300e-01 -4.46498503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.413201008 meters Centerline goodness : 0.854482 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.39, Z:-0.45 [[ 9.99621694e-01 1.70368928e-02 -2.15919709e-02 4.33350765e+00] [-1.70386894e-02 9.99854826e-01 1.00776120e-04 -3.93590668e-01] [ 2.15905533e-02 2.67160889e-04 9.99766861e-01 -4.47957023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.443201008 meters Centerline goodness : 0.853815 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.39, Z:-0.45 [[ 9.99618787e-01 1.68419943e-02 -2.18775514e-02 4.33428314e+00] [-1.68439883e-02 9.99858126e-01 9.31405137e-05 -3.93531076e-01] [ 2.18760162e-02 2.75400213e-04 9.99760653e-01 -4.47818484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.473201008000004 meters Centerline goodness : 0.856660 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.39, Z:-0.45 [[ 9.99613389e-01 1.68779459e-02 -2.20953969e-02 4.33448676e+00] [-1.68721267e-02 9.99857554e-01 4.49775893e-04 -3.93994946e-01] [ 2.20998408e-02 -7.68056687e-05 9.99755766e-01 -4.47018563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.503201008 meters Centerline goodness : 0.856660 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.39, Z:-0.45 [[ 9.99613389e-01 1.68779459e-02 -2.20953969e-02 4.33448676e+00] [-1.68721267e-02 9.99857554e-01 4.49775893e-04 -3.93994946e-01] [ 2.20998408e-02 -7.68056687e-05 9.99755766e-01 -4.47018563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.533201008 meters Centerline goodness : 0.854676 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.39, Z:-0.45 [[ 9.99610370e-01 1.63284657e-02 -2.26382376e-02 4.33604040e+00] [-1.63177660e-02 9.99866640e-01 6.57296826e-04 -3.94839321e-01] [ 2.26459512e-02 -2.87635259e-04 9.99743506e-01 -4.46531464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.563201008 meters Centerline goodness : 0.858761 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.40, Z:-0.44 [[ 9.99621913e-01 1.33491369e-02 -2.40381140e-02 4.34196104e+00] [-1.32968578e-02 9.99908870e-01 2.33337562e-03 -3.97723077e-01] [ 2.40670720e-02 -2.01286202e-03 9.99708320e-01 -4.42825873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.593201008 meters Centerline goodness : 0.859177 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.40, Z:-0.44 [[ 9.99620803e-01 1.28384087e-02 -2.43603226e-02 4.34318954e+00] [-1.27870154e-02 9.99915679e-01 2.26431814e-03 -3.98294177e-01] [ 2.43873388e-02 -1.95196369e-03 9.99700679e-01 -4.42992878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.623201008 meters Centerline goodness : 0.858863 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.40, Z:-0.44 [[ 9.99614809e-01 1.22766434e-02 -2.48900940e-02 4.34493528e+00] [-1.22272933e-02 9.99922967e-01 2.13395291e-03 -3.98356616e-01] [ 2.49143744e-02 -1.82879245e-03 9.99687916e-01 -4.43152766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.653201008 meters Centerline goodness : 0.859635 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.40, Z:-0.44 [[ 0.99955388 0.01422024 -0.02626458 4.3500339 ] [-0.0140554 0.99988041 0.00645004 -0.39903445] [ 0.02635316 -0.00607801 0.99963422 -0.44194239] [ 0. 0. 0. 1. ]] SLAMing on 50.683201008 meters Centerline goodness : 0.859108 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.40, Z:-0.44 [[ 0.99955629 0.01356555 -0.02651794 4.3516745 ] [-0.01342468 0.99989485 0.00548343 -0.39724344] [ 0.02658954 -0.005125 0.9996333 -0.44362791] [ 0. 0. 0. 1. ]] SLAMing on 50.713201008 meters Centerline goodness : 0.858878 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.40, Z:-0.45 [[ 9.99554487e-01 1.28213471e-02 -2.69525763e-02 4.35374190e+00] [-1.27015277e-02 9.99908696e-01 4.61208049e-03 -3.95566303e-01] [ 2.70092485e-02 -4.26768685e-03 9.99626074e-01 -4.45070763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.743201008 meters Centerline goodness : 0.858740 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.39, Z:-0.45 [[ 9.99550150e-01 1.18741213e-02 -2.75409307e-02 4.35649326e+00] [-1.17804300e-02 9.99924265e-01 3.56165996e-03 -3.93952084e-01] [ 2.75811365e-02 -3.23561375e-03 9.99614331e-01 -4.46948574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.773201008 meters Centerline goodness : 0.858689 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.39, Z:-0.45 [[ 9.99537935e-01 1.00642015e-02 -2.86815019e-02 4.36183941e+00] [-1.00210613e-02 9.99948431e-01 1.64745751e-03 -3.91245558e-01] [ 2.86966032e-02 -1.35927719e-03 9.99587243e-01 -4.50553166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.803201008 meters Centerline goodness : 0.861906 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.39, Z:-0.45 [[ 9.99524661e-01 9.65330040e-03 -2.92791051e-02 4.36354161e+00] [-9.60983351e-03 9.99952504e-01 1.62492423e-03 -3.91588715e-01] [ 2.92934003e-02 -1.34278452e-03 9.99569954e-01 -4.50525919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.833201008 meters Centerline goodness : 0.867036 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.39, Z:-0.45 [[ 9.99520997e-01 9.93322324e-03 -2.93105237e-02 4.36313911e+00] [-9.87723997e-03 9.99949109e-01 2.05417602e-03 -3.92893959e-01] [ 2.93294367e-02 -1.76368499e-03 9.99568244e-01 -4.49828966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.863201008000004 meters Centerline goodness : 0.863819 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.39, Z:-0.45 [[ 9.99512928e-01 1.02922989e-02 -2.94614320e-02 4.36259129e+00] [-1.02169309e-02 9.99944140e-01 2.70759012e-03 -3.93972251e-01] [ 2.94876536e-02 -2.40526591e-03 9.99562251e-01 -4.48348752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.893201008 meters Centerline goodness : 0.867734 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.39, Z:-0.45 [[ 9.99629689e-01 1.36853346e-02 -2.35201479e-02 4.37511323e+00] [-1.37886564e-02 9.99895958e-01 -4.23634800e-03 -3.92407229e-01] [ 2.34597250e-02 4.55909047e-03 9.99714387e-01 -4.51941771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.923201008 meters Centerline goodness : 0.866703 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99627302e-01 1.43415984e-02 -2.32287504e-02 4.37375728e+00] [-1.44341387e-02 9.99888521e-01 -3.82110466e-03 -3.91860414e-01] [ 2.31713601e-02 4.15496754e-03 9.99722874e-01 -4.51179358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.953201008 meters Centerline goodness : 0.866190 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99627066e-01 1.48479761e-02 -2.29187063e-02 4.37257581e+00] [-1.49346933e-02 9.99881929e-01 -3.61716051e-03 -3.91051813e-01] [ 2.28622928e-02 3.95809540e-03 9.99730788e-01 -4.50753211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.983201008 meters Centerline goodness : 0.866760 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99624344e-01 1.49240340e-02 -2.29879296e-02 4.37252200e+00] [-1.50055499e-02 9.99881706e-01 -3.37761382e-03 -3.90782279e-01] [ 2.29348027e-02 3.72129152e-03 9.99730037e-01 -4.50165474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.013201008 meters Centerline goodness : 0.867450 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99623299e-01 1.52440763e-02 -2.28227674e-02 4.37166608e+00] [-1.53116972e-02 9.99878874e-01 -2.79104789e-03 -3.91651477e-01] [ 2.27774560e-02 3.13945181e-03 9.99735631e-01 -4.49158466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.043201008000004 meters Centerline goodness : 0.867863 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99616737e-01 1.53716719e-02 -2.30237187e-02 4.37141637e+00] [-1.54197339e-02 9.99879282e-01 -1.91141308e-03 -3.92705937e-01] [ 2.29915577e-02 2.26570012e-03 9.99733092e-01 -4.47191780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.073201008 meters Centerline goodness : 0.864053 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99619146e-01 1.54086941e-02 -2.28939844e-02 4.37125099e+00] [-1.54571483e-02 9.99878647e-01 -1.94099534e-03 -3.92342289e-01] [ 2.28612980e-02 2.29413182e-03 9.99736014e-01 -4.47266530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.103201008 meters Centerline goodness : 0.864159 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99620143e-01 1.55188263e-02 -2.27757625e-02 4.37093223e+00] [-1.55645644e-02 9.99877186e-01 -1.83228485e-03 -3.92183582e-01] [ 2.27445304e-02 2.18608367e-03 9.99738920e-01 -4.47077030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.133201008 meters Centerline goodness : 0.862357 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99617562e-01 1.52423903e-02 -2.30737962e-02 4.37192722e+00] [-1.52950917e-02 9.99880798e-01 -2.10926904e-03 -3.91797216e-01] [ 2.30388955e-02 2.46137821e-03 9.99731539e-01 -4.47455154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.163201008 meters Centerline goodness : 0.865898 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99616440e-01 1.48130118e-02 -2.33997209e-02 4.37327408e+00] [-1.48763032e-02 9.99886133e-01 -2.53303131e-03 -3.90785655e-01] [ 2.33595346e-02 2.88016109e-03 9.99722980e-01 -4.48098111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.193201008 meters Centerline goodness : 0.865747 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99618475e-01 1.46177579e-02 -2.34355557e-02 4.37402418e+00] [-1.46949734e-02 9.99887137e-01 -3.12596878e-03 -3.89391466e-01] [ 2.33872161e-02 3.46916101e-03 9.99720462e-01 -4.49287253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.223201008000004 meters Centerline goodness : 0.862632 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99620787e-01 1.45468005e-02 -2.33810356e-02 4.37422999e+00] [-1.46326289e-02 9.99886798e-01 -3.50395765e-03 -3.88114186e-01] [ 2.33274175e-02 3.84475492e-03 9.99720486e-01 -4.49911637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.253201008 meters Centerline goodness : 0.859684 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99618015e-01 1.47637356e-02 -2.33635772e-02 4.37392674e+00] [-1.48524259e-02 9.99883118e-01 -3.62712122e-03 -3.86323372e-01] [ 2.33072965e-02 3.97274151e-03 9.99720455e-01 -4.49670074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.283201008 meters Centerline goodness : 0.863718 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.39, Z:-0.45 [[ 9.99620485e-01 1.48593437e-02 -2.31966854e-02 4.37365757e+00] [-1.49514863e-02 9.99880985e-01 -3.80385418e-03 -3.85258585e-01] [ 2.31374019e-02 4.14923549e-03 9.99723684e-01 -4.49948554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.313201008 meters Centerline goodness : 0.866049 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99621604e-01 1.47856101e-02 -2.31955783e-02 4.37394780e+00] [-1.48858516e-02 9.99880567e-01 -4.15486875e-03 -3.83723419e-01] [ 2.31313757e-02 4.49858250e-03 9.99722313e-01 -4.50465905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.343201008 meters Centerline goodness : 0.860823 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99623727e-01 1.50276814e-02 -2.29471805e-02 4.37329061e+00] [-1.51297203e-02 9.99876381e-01 -4.27955440e-03 -3.82548225e-01] [ 2.28800320e-02 4.62512854e-03 9.99727519e-01 -4.50601305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.373201008 meters Centerline goodness : 0.859431 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99618810e-01 1.59156860e-02 -2.25593779e-02 4.37138922e+00] [-1.60124444e-02 9.99863325e-01 -4.11491114e-03 -3.80770010e-01] [ 2.24908030e-02 4.47457336e-03 9.99737036e-01 -4.49843891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.403201008 meters Centerline goodness : 0.859508 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99613438e-01 1.61584261e-02 -2.26247584e-02 4.37111312e+00] [-1.62509852e-02 9.99860287e-01 -3.91317432e-03 -3.80796257e-01] [ 2.25583667e-02 4.27933625e-03 9.99736369e-01 -4.49232175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.433201008 meters Centerline goodness : 0.863047 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99608646e-01 1.66342845e-02 -2.24912283e-02 4.37005135e+00] [-1.67128619e-02 9.99854851e-01 -3.31023454e-03 -3.81567304e-01] [ 2.24329003e-02 3.68483186e-03 9.99741560e-01 -4.48052285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.463201008 meters Centerline goodness : 0.862352 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99606881e-01 1.62792136e-02 -2.28269840e-02 4.37116031e+00] [-1.63558487e-02 9.99861195e-01 -3.17453140e-03 -3.82228659e-01] [ 2.27721366e-02 3.54663812e-03 9.99734390e-01 -4.47909703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.493201008 meters Centerline goodness : 0.859546 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99607063e-01 1.59222352e-02 -2.30695108e-02 4.37229633e+00] [-1.60042551e-02 9.99866227e-01 -3.37506938e-03 -3.81975126e-01] [ 2.30126861e-02 3.74295353e-03 9.99728166e-01 -4.48469552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.523201008 meters Centerline goodness : 0.859654 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 0.99961418 0.01496639 -0.02339859 4.37504457] [-0.01507813 0.99987571 -0.00460642 -0.38007163] [ 0.02332674 0.00495744 0.9997156 -0.45135299] [ 0. 0. 0. 1. ]] SLAMing on 51.553201008 meters Centerline goodness : 0.857574 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 0.99961496 0.01446199 -0.0236807 4.37672928] [-0.01458939 0.99987997 -0.00521587 -0.37896009] [ 0.02360243 0.00555935 0.99970597 -0.45279104] [ 0. 0. 0. 1. ]] SLAMing on 51.583201008 meters Centerline goodness : 0.861698 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 0.99961113 0.01403716 -0.0240947 4.3783877 ] [-0.01417703 0.99988357 -0.00564381 -0.37848009] [ 0.02401267 0.00598321 0.99969375 -0.45374225] [ 0. 0. 0. 1. ]] SLAMing on 51.613201008000004 meters Centerline goodness : 0.860208 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 0.99960873 0.01417114 -0.02411554 4.37827622] [-0.01430495 0.99988318 -0.00538546 -0.37902217] [ 0.02403641 0.00572832 0.99969467 -0.45340316] [ 0. 0. 0. 1. ]] SLAMing on 51.643201008 meters Centerline goodness : 0.862399 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 0.99960056 0.01467845 -0.02415093 4.37737978] [-0.01479475 0.99987977 -0.0046442 -0.37983336] [ 0.02407986 0.00499965 0.99969754 -0.45173837] [ 0. 0. 0. 1. ]] SLAMing on 51.673201008 meters Centerline goodness : 0.862287 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 9.99599755e-01 1.52314438e-02 -2.38397344e-02 4.37600488e+00] [-1.53367688e-02 9.99873389e-01 -4.24144925e-03 -3.79580518e-01] [ 2.37721126e-02 4.60537613e-03 9.99706796e-01 -4.50851803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.703201008 meters Centerline goodness : 0.860930 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 9.99599193e-01 1.56326473e-02 -2.36023962e-02 4.37506757e+00] [-1.57366103e-02 9.99867243e-01 -4.22546098e-03 -3.78340881e-01] [ 2.35332077e-02 4.59518910e-03 9.99712495e-01 -4.50538202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.733201008 meters Centerline goodness : 0.853841 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99523407e-01 1.99125824e-02 -2.35891482e-02 4.37486665e+00] [-1.99159199e-02 9.99801654e-01 9.34633430e-05 -3.78012176e-01] [ 2.35863305e-02 3.76380788e-04 9.99721733e-01 -4.49697510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.763201008 meters Centerline goodness : 0.856420 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99520676e-01 2.01087481e-02 -2.35384227e-02 4.37463680e+00] [-2.01204728e-02 9.99797529e-01 -2.61354729e-04 -3.76547070e-01] [ 2.35284014e-02 7.34833650e-04 9.99722899e-01 -4.50031405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.793201008000004 meters Centerline goodness : 0.850106 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99518216e-01 2.03946611e-02 -2.33964314e-02 4.37407544e+00] [-2.04063293e-02 9.99791735e-01 -2.60053768e-04 -3.76214300e-01] [ 2.33862551e-02 7.37363764e-04 9.99726232e-01 -4.49903916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.823201008 meters Centerline goodness : 0.855951 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.38, Z:-0.45 [[ 9.99510434e-01 2.03661249e-02 -2.37510690e-02 4.37439557e+00] [-2.03678076e-02 9.99792540e-01 1.71091362e-04 -3.77071955e-01] [ 2.37496261e-02 3.12749602e-04 9.99717889e-01 -4.48730344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.853201008 meters Centerline goodness : 0.857978 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 9.99511723e-01 1.98811297e-02 -2.41051227e-02 4.37621827e+00] [-1.98893478e-02 9.99802182e-01 -1.01201702e-04 -3.76956255e-01] [ 2.40983423e-02 5.80587457e-04 9.99709424e-01 -4.49711469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.883201008 meters Centerline goodness : 0.853740 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.38, Z:-0.45 [[ 9.99443691e-01 2.17105175e-02 -2.53172215e-02 4.38211615e+00] [-2.16351592e-02 9.99760661e-01 3.24672277e-03 -3.77957686e-01] [ 2.53816501e-02 -2.69717447e-03 9.99674195e-01 -4.51435943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.913201008 meters Centerline goodness : 0.852871 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:-0.45 [[ 9.99449015e-01 2.03555252e-02 -2.62167809e-02 4.38501175e+00] [-2.02766801e-02 9.99789060e-01 3.26979227e-03 -3.79557593e-01] [ 2.62778091e-02 -2.73640139e-03 9.99650934e-01 -4.50960759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.943201008 meters Centerline goodness : 0.851766 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:-0.45 [[ 9.99531928e-01 1.56353405e-02 -2.62956330e-02 4.38577799e+00] [-1.56786366e-02 9.99876044e-01 -1.44113257e-03 -3.78111453e-01] [ 2.62698409e-02 1.85273769e-03 9.99653171e-01 -4.51847058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.973201008000004 meters Centerline goodness : 0.852976 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.38, Z:-0.45 [[ 9.99535203e-01 1.11857486e-02 -2.83594245e-02 4.39576705e+00] [-1.12548224e-02 9.99934069e-01 -2.27720008e-03 -3.78658600e-01] [ 2.83320825e-02 2.59532193e-03 9.99595197e-01 -4.53076371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.003201008 meters Centerline goodness : 0.854172 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.38, Z:-0.45 [[ 9.99526363e-01 1.04633707e-02 -2.89407605e-02 4.39823350e+00] [-1.05463044e-02 9.99940702e-01 -2.71447868e-03 -3.78624772e-01] [ 2.89106417e-02 3.01841107e-03 9.99577443e-01 -4.54313549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.033201008 meters Centerline goodness : 0.852574 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.38, Z:-0.45 [[ 9.99457949e-01 1.30305823e-02 -3.02326365e-02 4.40270977e+00] [-1.29827208e-02 9.99914139e-01 1.77886925e-03 -3.80908158e-01] [ 3.02532203e-02 -1.38540313e-03 9.99541306e-01 -4.53635807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.063201008 meters Centerline goodness : 0.849709 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.38, Z:-0.45 [[ 0.99938832 0.01631511 -0.03093217 4.40539044] [-0.01612169 0.99984896 0.00649223 -0.38385817] [ 0.03103342 -0.00598958 0.9995004 -0.45295041] [ 0. 0. 0. 1. ]] SLAMing on 52.093201008 meters Centerline goodness : 0.847410 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99495559e-01 1.84065081e-02 -2.58810203e-02 4.42045801e+00] [-1.84561463e-02 9.99828259e-01 -1.68035561e-03 -3.82408165e-01] [ 2.58456460e-02 2.15717187e-03 9.99663618e-01 -4.58189902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.123201008 meters Centerline goodness : 0.853870 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.39, Z:-0.46 [[ 9.99398140e-01 2.24422354e-02 -2.64518973e-02 4.42141566e+00] [-2.23433101e-02 9.99742237e-01 4.02950274e-03 -3.85669683e-01] [ 2.65355100e-02 -3.43605460e-03 9.99641966e-01 -4.55222495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.153201008 meters Centerline goodness : 0.856213 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99392025e-01 2.30289061e-02 -2.61772831e-02 4.42028943e+00] [-2.29355269e-02 9.99729487e-01 3.86188813e-03 -3.84487289e-01] [ 2.62591369e-02 -3.25915042e-03 9.99649857e-01 -4.55313902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.183201008 meters Centerline goodness : 0.853518 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.39, Z:-0.45 [[ 0.99938916 0.02313247 -0.02619525 4.41918775] [-0.0230065 0.99972231 0.00509981 -0.38535284] [ 0.02630594 -0.00449404 0.99964384 -0.45188882] [ 0. 0. 0. 1. ]] SLAMing on 52.213201008 meters Centerline goodness : 0.850530 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.45 [[ 9.99393095e-01 2.27078581e-02 -2.64157979e-02 4.42016762e+00] [-2.25983524e-02 9.99734780e-01 4.43666828e-03 -3.83683941e-01] [ 2.65095391e-02 -3.83702213e-03 9.99641196e-01 -4.52576860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.243201008 meters Centerline goodness : 0.854548 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.45 [[ 9.99395242e-01 2.22456737e-02 -2.67260049e-02 4.42178109e+00] [-2.21662678e-02 9.99748971e-01 3.26374099e-03 -3.81160472e-01] [ 2.67919000e-02 -2.66935143e-03 9.99637469e-01 -4.54443824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.273201008 meters Centerline goodness : 0.856694 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99399076e-01 2.22143425e-02 -2.66084501e-02 4.42218346e+00] [-2.21592897e-02 9.99751662e-01 2.36211355e-03 -3.78874454e-01] [ 2.66543150e-02 -1.77106974e-03 9.99643142e-01 -4.56108202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.303201008 meters Centerline goodness : 0.852884 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99392015e-01 2.24012478e-02 -2.67167560e-02 4.42220170e+00] [-2.23579537e-02 9.99748190e-01 1.91814394e-03 -3.77044144e-01] [ 2.67529972e-02 -1.31964575e-03 9.99641203e-01 -4.56408884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.333201008 meters Centerline goodness : 0.851969 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99387196e-01 2.22238504e-02 -2.70431690e-02 4.42290757e+00] [-2.21771621e-02 9.99752005e-01 2.02517520e-03 -3.77349246e-01] [ 2.70814696e-02 -1.42419342e-03 9.99632215e-01 -4.55977889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.363201008000004 meters Centerline goodness : 0.853717 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99384389e-01 2.16060415e-02 -2.76409523e-02 4.42498326e+00] [-2.15653014e-02 9.99765873e-01 1.77118981e-03 -3.77874971e-01] [ 2.76727492e-02 -1.17401398e-03 9.99616347e-01 -4.56567106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.393201008 meters Centerline goodness : 0.853717 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.38, Z:-0.46 [[ 9.99384389e-01 2.16060415e-02 -2.76409523e-02 4.42498326e+00] [-2.15653014e-02 9.99765873e-01 1.77118981e-03 -3.77874971e-01] [ 2.76727492e-02 -1.17401398e-03 9.99616347e-01 -4.56567106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.423201008 meters Centerline goodness : 0.852964 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.38, Z:-0.46 [[ 9.99382788e-01 2.08840216e-02 -2.82471378e-02 4.42752474e+00] [-2.08537335e-02 9.99781603e-01 1.36644906e-03 -3.78089043e-01] [ 2.82695057e-02 -7.76547384e-04 9.99600036e-01 -4.57790722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.453201008 meters Centerline goodness : 0.853174 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.38, Z:-0.46 [[ 9.99382946e-01 2.02312075e-02 -2.87127944e-02 4.42982516e+00] [-2.02160405e-02 9.99795300e-01 8.18454645e-04 -3.77719287e-01] [ 2.87234752e-02 -2.37490602e-04 9.99587368e-01 -4.59314864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.483201008 meters Centerline goodness : 0.855817 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.38, Z:-0.46 [[ 9.99384801e-01 1.98770407e-02 -2.88950405e-02 4.43086514e+00] [-1.98692116e-02 9.99802432e-01 5.58073144e-04 -3.77699852e-01] [ 2.89004246e-02 1.63918558e-05 9.99582295e-01 -4.60062883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.513201008 meters Centerline goodness : 0.857687 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.38, Z:-0.45 [[ 0.99937964 0.02026624 -0.028803 4.43624205] [-0.01999661 0.99975378 0.00961846 -0.38383902] [ 0.02899084 -0.00903653 0.99953883 -0.4507195 ] [ 0. 0. 0. 1. ]] SLAMing on 52.543201008000004 meters Centerline goodness : 0.857786 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.38, Z:-0.46 [[ 0.99974278 0.01579867 -0.01627191 4.44458077] [-0.01571805 0.99986361 0.00507046 -0.38077419] [ 0.0163498 -0.00481339 0.99985475 -0.45947963] [ 0. 0. 0. 1. ]] SLAMing on 52.573201008 meters Centerline goodness : 0.857999 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.38, Z:-0.46 [[ 9.99743506e-01 1.59504733e-02 -1.60781042e-02 4.44471483e+00] [-1.58880393e-02 9.99865762e-01 4.00345990e-03 -3.78047050e-01] [ 1.61398030e-02 -3.74698349e-03 9.99862724e-01 -4.61595880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.603201008 meters Centerline goodness : 0.859941 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.38, Z:-0.46 [[ 0.99967075 0.01915808 -0.01706932 4.44799903] [-0.01902755 0.99978871 0.00777689 -0.37823401] [ 0.01721471 -0.00744954 0.99982406 -0.46201134] [ 0. 0. 0. 1. ]] SLAMing on 52.633201008 meters Centerline goodness : 0.855237 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.38, Z:-0.46 [[ 0.99967125 0.01910107 -0.01710358 4.44869426] [-0.01899369 0.999799 0.00641852 -0.3752318 ] [ 0.01722275 -0.00609155 0.99983312 -0.46418346] [ 0. 0. 0. 1. ]] SLAMing on 52.663201008 meters Centerline goodness : 0.855787 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.37, Z:-0.47 [[ 0.99966518 0.01963624 -0.01685054 4.4479405 ] [-0.01954616 0.99979386 0.00549408 -0.37262671] [ 0.01695495 -0.00516288 0.99984292 -0.46547609] [ 0. 0. 0. 1. ]] SLAMing on 52.693201008 meters Centerline goodness : 0.861090 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.37, Z:-0.48 [[ 9.99779493e-01 1.99279945e-02 -6.62114545e-03 4.44712678e+00] [-1.99277358e-02 9.99801417e-01 1.05039669e-04 -3.65102343e-01] [ 6.62192384e-03 2.69279304e-05 9.99978074e-01 -4.76100900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.723201008000004 meters Centerline goodness : 0.863254 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:-0.48 [[ 9.99773824e-01 2.01965718e-02 -6.66321377e-03 4.44705459e+00] [-2.02008368e-02 9.99795778e-01 -5.73395270e-04 -3.63006924e-01] [ 6.65027237e-03 7.07868076e-04 9.99977636e-01 -4.76855791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.753201008 meters Centerline goodness : 0.863583 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:-0.48 [[ 9.99777618e-01 1.99857253e-02 -6.72945702e-03 4.44766512e+00] [-1.99934074e-02 9.99799533e-01 -1.07623356e-03 -3.61955278e-01] [ 6.70659868e-03 1.21053900e-03 9.99976778e-01 -4.77693812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.783201008 meters Centerline goodness : 0.860693 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:-0.48 [[ 9.99783125e-01 1.96830228e-02 -6.80301367e-03 4.44859288e+00] [-1.96940981e-02 9.99804828e-01 -1.56486291e-03 -3.61204878e-01] [ 6.77088468e-03 1.69850275e-03 9.99975635e-01 -4.78875965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.813201008 meters Centerline goodness : 0.858190 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:-0.48 [[ 9.99798675e-01 1.85953116e-02 -7.53821776e-03 4.45177732e+00] [-1.86122991e-02 9.99824378e-01 -2.18965152e-03 -3.60822396e-01] [ 7.49617663e-03 2.32951426e-03 9.99969190e-01 -4.80428117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.843201008 meters Centerline goodness : 0.858261 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:-0.48 [[ 9.99819677e-01 1.69280217e-02 -8.60549861e-03 4.45607284e+00] [-1.69453189e-02 9.99854534e-01 -1.94109218e-03 -3.62507270e-01] [ 8.57138795e-03 2.08656507e-03 9.99961088e-01 -4.80585894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.873201008 meters Centerline goodness : 0.860884 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:-0.48 [[ 9.99821923e-01 1.66479575e-02 -8.88636553e-03 4.45699691e+00] [-1.66613996e-02 9.99860151e-01 -1.44078320e-03 -3.64396555e-01] [ 8.86113669e-03 1.58858591e-03 9.99959478e-01 -4.80181286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.903201008 meters Centerline goodness : 0.861862 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99824093e-01 1.61567721e-02 -9.52581999e-03 4.45881283e+00] [-1.61667196e-02 9.99868841e-01 -9.68176826e-04 -3.66211906e-01] [ 9.50892799e-03 1.12200778e-03 9.99954160e-01 -4.79674481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.933201008 meters Centerline goodness : 0.862096 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99826315e-01 1.56286312e-02 -1.01530939e-02 4.46061117e+00] [-1.56370940e-02 9.99877448e-01 -7.54671352e-04 -3.67615478e-01] [ 1.01400552e-02 9.13305162e-04 9.99948171e-01 -4.79468024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.963201008 meters Centerline goodness : 0.865280 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99824427e-01 1.54756262e-02 -1.05650386e-02 4.46163815e+00] [-1.54806778e-02 9.99880089e-01 -3.96525311e-04 -3.69237391e-01] [ 1.05576352e-02 5.60009650e-04 9.99944110e-01 -4.79133692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.993201008 meters Centerline goodness : 0.864550 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99821605e-01 1.55177771e-02 -1.07683047e-02 4.46216553e+00] [-1.55204743e-02 9.99879536e-01 -1.66951584e-04 -3.70742067e-01] [ 1.07644168e-02 3.34050997e-04 9.99942006e-01 -4.79129864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.023201008 meters Centerline goodness : 0.866616 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99817976e-01 1.56069841e-02 -1.09743333e-02 4.46242105e+00] [-1.56059046e-02 9.99878204e-01 1.83997338e-04 -3.71995079e-01] [ 1.09758683e-02 -1.26994485e-05 9.99939763e-01 -4.78703157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.053201008 meters Centerline goodness : 0.863812 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:-0.48 [[ 9.99817270e-01 1.54201193e-02 -1.12980844e-02 4.46357579e+00] [-1.54179425e-02 9.99881097e-01 2.79753781e-04 -3.73451673e-01] [ 1.13010548e-02 -1.05509447e-04 9.99936135e-01 -4.79135208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.083201008 meters Centerline goodness : 0.861954 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:-0.48 [[ 9.99820645e-01 1.47784633e-02 -1.18437945e-02 4.46565814e+00] [-1.47755593e-02 9.99890780e-01 3.32659805e-04 -3.75212554e-01] [ 1.18474171e-02 -1.57601453e-04 9.99929804e-01 -4.79598245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.113201008000004 meters Centerline goodness : 0.862772 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:-0.48 [[ 9.99823081e-01 1.45186869e-02 -1.19589020e-02 4.46649809e+00] [-1.45202028e-02 9.99894576e-01 -3.99301552e-05 -3.74663646e-01] [ 1.19570615e-02 2.13568773e-04 9.99928489e-01 -4.80510859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.143201008 meters Centerline goodness : 0.863932 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:-0.48 [[ 9.99827501e-01 1.40117170e-02 -1.21917637e-02 4.46795192e+00] [-1.40190481e-02 9.99901595e-01 -5.16061976e-04 -3.74300969e-01] [ 1.21833331e-02 6.86889878e-04 9.99925545e-01 -4.81728791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.173201008 meters Centerline goodness : 0.859954 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:-0.48 [[ 9.99829017e-01 1.35734783e-02 -1.25577302e-02 4.46937506e+00] [-1.35822411e-02 9.99907569e-01 -6.12775973e-04 -3.74604772e-01] [ 1.25482520e-02 7.83233319e-04 9.99920961e-01 -4.82187876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.203201008 meters Centerline goodness : 0.858667 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:-0.48 [[ 9.99826703e-01 1.30356971e-02 -1.32904294e-02 4.47153066e+00] [-1.30370706e-02 9.99915014e-01 -1.67066545e-05 -3.76206883e-01] [ 1.32890821e-02 1.89972025e-04 9.99911678e-01 -4.81454281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.233201008 meters Centerline goodness : 0.860986 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:-0.48 [[ 9.99825472e-01 1.27640359e-02 -1.36420357e-02 4.47253273e+00] [-1.27613146e-02 9.99918530e-01 2.86510520e-04 -3.77183784e-01] [ 1.36445813e-02 -1.12370206e-04 9.99906902e-01 -4.81013852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.263201008 meters Centerline goodness : 0.856995 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:-0.48 [[ 9.99823171e-01 1.26287008e-02 -1.39335350e-02 4.47338852e+00] [-1.26224454e-02 9.99920190e-01 5.36796433e-04 -3.77844494e-01] [ 1.39392020e-02 -3.60826227e-04 9.99902780e-01 -4.80828336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.293201008000004 meters Centerline goodness : 0.859590 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:-0.48 [[ 9.99823436e-01 1.23612246e-02 -1.41526334e-02 4.47413950e+00] [-1.23539580e-02 9.99923506e-01 6.00755803e-04 -3.77645291e-01] [ 1.41589769e-02 -4.25808693e-04 9.99899666e-01 -4.80661370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.323201008 meters Centerline goodness : 0.859011 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:-0.48 [[ 9.99824639e-01 1.15931065e-02 -1.47068219e-02 4.47615340e+00] [-1.15889347e-02 9.99932778e-01 3.68856762e-04 -3.77346732e-01] [ 1.47101094e-02 -1.98355680e-04 9.99891781e-01 -4.80938497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.353201008 meters Centerline goodness : 0.855648 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:-0.48 [[ 9.99826602e-01 1.05056933e-02 -1.53751722e-02 4.47868331e+00] [-1.04979142e-02 9.99944723e-01 5.86581218e-04 -3.78145341e-01] [ 1.53804848e-02 -4.25072268e-04 9.99881623e-01 -4.80522730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.383201008 meters Centerline goodness : 0.858566 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:-0.48 [[ 9.99821320e-01 9.90897126e-03 -1.60978475e-02 4.48061021e+00] [-9.89387486e-03 9.99950537e-01 1.01716190e-03 -3.79877803e-01] [ 1.61071302e-02 -8.57710060e-04 9.99869904e-01 -4.79798379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.413201008 meters Centerline goodness : 0.859489 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:-0.48 [[ 9.99811918e-01 9.11253734e-03 -1.71198870e-02 4.48333615e+00] [-9.08568585e-03 9.99957370e-01 1.64556508e-03 -3.81867316e-01] [ 1.71341524e-02 -1.48970966e-03 9.99852090e-01 -4.78651481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.443201008 meters Centerline goodness : 0.862867 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:-0.48 [[ 9.99802989e-01 8.48273055e-03 -1.79451046e-02 4.48566506e+00] [-8.44553129e-03 9.99962029e-01 2.14771843e-03 -3.83949391e-01] [ 1.79626417e-02 -1.99573937e-03 9.99836667e-01 -4.78008155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.473201008000004 meters Centerline goodness : 0.854061 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:-0.48 [[ 9.99796478e-01 7.24757155e-03 -1.88275255e-02 4.48942825e+00] [-7.21213677e-03 9.99972092e-01 1.94929241e-03 -3.85161024e-01] [ 1.88411277e-02 -1.81310900e-03 9.99820846e-01 -4.79129167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.503201008 meters Centerline goodness : 0.856027 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:-0.48 [[ 0.99976044 0.00926805 -0.01982858 4.49395492] [-0.00915234 0.9999406 0.0059181 -0.38707365] [ 0.01988225 -0.0057352 0.99978588 -0.47919468] [ 0. 0. 0. 1. ]] SLAMing on 53.533201008 meters Centerline goodness : 0.852614 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99975964 0.00881999 -0.02007173 4.49555353] [-0.00871799 0.99994867 0.00516363 -0.3865051 ] [ 0.02011624 -0.0049874 0.99978521 -0.48103737] [ 0. 0. 0. 1. ]] SLAMing on 53.563201008 meters Centerline goodness : 0.848688 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99975459 0.00840772 -0.02049576 4.49728273] [-0.00831335 0.99995447 0.00468516 -0.38626347] [ 0.02053421 -0.00451362 0.99977896 -0.48218607] [ 0. 0. 0. 1. ]] SLAMing on 53.593201008 meters Centerline goodness : 0.854227 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99969527 0.01191103 -0.02162163 4.49989137] [-0.01168313 0.99987518 0.01063615 -0.39120486] [ 0.02174562 -0.01038031 0.99970965 -0.47891889] [ 0. 0. 0. 1. ]] SLAMing on 53.623201008 meters Centerline goodness : 0.856525 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99973824 0.00898775 -0.02103987 4.49792097] [-0.00887758 0.99994642 0.00532378 -0.38849946] [ 0.02108659 -0.0051356 0.99976446 -0.48152122] [ 0. 0. 0. 1. ]] SLAMing on 53.653201008 meters Centerline goodness : 0.856871 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99968233 0.01223465 -0.02203521 4.5009527 ] [-0.01200947 0.9998746 0.01032264 -0.39132549] [ 0.02215874 -0.01005473 0.9997039 -0.48004107] [ 0. 0. 0. 1. ]] SLAMing on 53.683201008 meters Centerline goodness : 0.852796 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99968028 0.01325699 -0.02153108 4.49943812] [-0.01307215 0.99987668 0.0087032 -0.38704209] [ 0.0216438 -0.00841896 0.9997303 -0.48305899] [ 0. 0. 0. 1. ]] SLAMing on 53.713201008 meters Centerline goodness : 0.853724 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99968116 0.01317035 -0.02154325 4.49963638] [-0.01300413 0.99988473 0.00783759 -0.38500349] [ 0.02164399 -0.00755494 0.9997372 -0.48407439] [ 0. 0. 0. 1. ]] SLAMing on 53.743201008 meters Centerline goodness : 0.854591 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99967509 0.01298571 -0.02193388 4.5001993 ] [-0.01281253 0.99988577 0.00801774 -0.38547412] [ 0.02203549 -0.0077341 0.99972727 -0.48318854] [ 0. 0. 0. 1. ]] SLAMing on 53.773201008 meters Centerline goodness : 0.857368 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 0.99966454 0.01285306 -0.02248573 4.50083079] [-0.0126596 0.9998818 0.00872526 -0.38764295] [ 0.02259522 -0.00843767 0.99970909 -0.48145717] [ 0. 0. 0. 1. ]] SLAMing on 53.803201008 meters Centerline goodness : 0.860585 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 9.99708935e-01 9.31552076e-03 -2.22545590e-02 4.49969933e+00] [-9.22208404e-03 9.99948241e-01 4.29749167e-03 -3.87026797e-01] [ 2.22934405e-02 -4.09100741e-03 9.99743100e-01 -4.82156852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.833201008 meters Centerline goodness : 0.861074 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:-0.48 [[ 9.99703877e-01 8.35260202e-03 -2.28559092e-02 4.50269580e+00] [-8.27665989e-03 9.99959916e-01 3.41523183e-03 -3.86178316e-01] [ 2.28835191e-02 -3.22504991e-03 9.99732936e-01 -4.84236608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.863201008000004 meters Centerline goodness : 0.854889 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:-0.49 [[ 9.99699976e-01 7.46515935e-03 -2.33287277e-02 4.50552019e+00] [-7.40506327e-03 9.99969041e-01 2.66138233e-03 -3.85422144e-01] [ 2.33478731e-02 -2.48783315e-03 9.99724306e-01 -4.86369084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.893201008 meters Centerline goodness : 0.857432 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:-0.49 [[ 9.99697287e-01 6.94054966e-03 -2.36043029e-02 4.50720057e+00] [-6.89739152e-03 9.99974390e-01 1.90932651e-03 -3.84033179e-01] [ 2.36169502e-02 -1.74594041e-03 9.99719556e-01 -4.87981730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.923201008 meters Centerline goodness : 0.857202 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:-0.49 [[ 0.99964164 0.00982006 -0.02490304 4.51109846] [-0.00966275 0.99993264 0.00642941 -0.38462331] [ 0.0249645 -0.00618647 0.9996692 -0.48665845] [ 0. 0. 0. 1. ]] SLAMing on 53.953201008 meters Centerline goodness : 0.857422 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:-0.49 [[ 0.99962808 0.0091794 -0.02567968 4.51334391] [-0.00904922 0.99994563 0.00518079 -0.38207761] [ 0.02572584 -0.00494648 0.9996568 -0.48798851] [ 0. 0. 0. 1. ]] SLAMing on 53.983201008 meters Centerline goodness : 0.859722 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:-0.49 [[ 0.99961641 0.0085996 -0.02632641 4.5152426 ] [-0.00847078 0.99995162 0.00500114 -0.38224154] [ 0.02636815 -0.00477621 0.99964089 -0.48801865] [ 0. 0. 0. 1. ]] SLAMing on 54.013201008 meters Centerline goodness : 0.858388 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:-0.49 [[ 0.99960108 0.00810718 -0.02705477 4.51696908] [-0.00796543 0.999954 0.00534299 -0.38345644] [ 0.02709684 -0.00512536 0.99961967 -0.4871234 ] [ 0. 0. 0. 1. ]] SLAMing on 54.043201008000004 meters Centerline goodness : 0.855367 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:-0.49 [[ 0.99958738 0.00751634 -0.02772309 4.51891417] [-0.00735783 0.99995602 0.00581489 -0.38531278] [ 0.02776558 -0.00560851 0.99959873 -0.48636748] [ 0. 0. 0. 1. ]] SLAMing on 54.073201008 meters Centerline goodness : 0.856166 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:-0.49 [[ 0.99957006 0.00675123 -0.02853273 4.52135144] [-0.00658193 0.9999602 0.00602337 -0.38674513] [ 0.02857226 -0.00583298 0.99957471 -0.4860593 ] [ 0. 0. 0. 1. ]] SLAMing on 54.103201008 meters Centerline goodness : 0.860399 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.39, Z:-0.47 [[ 9.99641502e-01 3.83888240e-03 -2.64977316e-02 4.54493237e+00] [-3.18868396e-03 9.99693845e-01 2.45366772e-02 -3.92029759e-01] [ 2.65838126e-02 -2.44433880e-02 9.99347698e-01 -4.72048100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.133201008 meters Centerline goodness : 0.860915 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.39, Z:-0.48 [[ 9.99752147e-01 4.39190455e-03 -2.18255772e-02 4.56035120e+00] [-4.12907087e-03 9.99918594e-01 1.20729710e-02 -3.86879573e-01] [ 2.18768238e-02 -1.19798593e-02 9.99688895e-01 -4.81851740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.163201008 meters Centerline goodness : 0.863887 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.39, Z:-0.48 [[ 0.99970762 0.00757542 -0.02296278 4.56316823] [-0.00718729 0.9998307 0.01693834 -0.38816219] [ 0.02308721 -0.01676835 0.99959282 -0.47956625] [ 0. 0. 0. 1. ]] SLAMing on 54.193201008 meters Centerline goodness : 0.864655 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.39, Z:-0.47 [[ 0.99970592 0.00778231 -0.02296742 4.5766971 ] [-0.00710178 0.99953764 0.02956454 -0.39167799] [ 0.02318688 -0.02939273 0.99929897 -0.46985364] [ 0. 0. 0. 1. ]] SLAMing on 54.223201008000004 meters Centerline goodness : 0.869844 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.39, Z:-0.48 [[ 0.99979202 0.00791503 -0.01879547 4.59067172] [-0.00761208 0.99984084 0.01613525 -0.38692237] [ 0.01892019 -0.01598882 0.99969314 -0.4779558 ] [ 0. 0. 0. 1. ]] SLAMing on 54.253201008 meters Centerline goodness : 0.874125 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.39, Z:-0.48 [[ 0.99978699 0.00726841 -0.01931699 4.59266608] [-0.00697089 0.99985673 0.01542485 -0.38606775] [ 0.01942634 -0.01528691 0.99969442 -0.47909187] [ 0. 0. 0. 1. ]] SLAMing on 54.283201008 meters Centerline goodness : 0.874125 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.39, Z:-0.48 [[ 0.99978699 0.00726841 -0.01931699 4.59266608] [-0.00697089 0.99985673 0.01542485 -0.38606775] [ 0.01942634 -0.01528691 0.99969442 -0.47909187] [ 0. 0. 0. 1. ]] SLAMing on 54.313201008 meters Centerline goodness : 0.871324 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.39, Z:-0.48 [[ 0.99978093 0.00676338 -0.01980786 4.59451185] [-0.00646363 0.99986422 0.01515815 -0.38584211] [ 0.01990769 -0.0150268 0.99968889 -0.47959609] [ 0. 0. 0. 1. ]] SLAMing on 54.343201008 meters Centerline goodness : 0.872063 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.39, Z:-0.47 [[ 0.99978208 0.0063824 -0.01987623 4.60863612] [-0.00582916 0.99959737 0.02776897 -0.3904403 ] [ 0.02004546 -0.02764706 0.99941674 -0.46997409] [ 0. 0. 0. 1. ]] SLAMing on 54.373201008 meters Centerline goodness : 0.869242 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.39, Z:-0.47 [[ 0.99977952 0.00641992 -0.01999238 4.60841406] [-0.00584782 0.99957544 0.02854375 -0.39091081] [ 0.02016714 -0.02842054 0.9993926 -0.46801699] [ 0. 0. 0. 1. ]] SLAMing on 54.403201008 meters Centerline goodness : 0.871965 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.39, Z:-0.47 [[ 0.99978004 0.00627874 -0.02001105 4.60881887] [-0.00572076 0.99959659 0.02781963 -0.38868703] [ 0.02017765 -0.02769904 0.99941264 -0.46892231] [ 0. 0. 0. 1. ]] SLAMing on 54.433201008 meters Centerline goodness : 0.871650 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.38, Z:-0.47 [[ 9.99801627e-01 3.51588777e-03 -1.96047332e-02 4.60716187e+00] [-3.08698982e-03 9.99756171e-01 2.18647735e-02 -3.82808345e-01] [ 1.96768270e-02 -2.17999165e-02 9.99568700e-01 -4.72474250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.463201008 meters Centerline goodness : 0.872373 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.38, Z:-0.48 [[ 0.99987783 0.00492505 -0.01483471 4.62239379] [-0.00476571 0.99993078 0.01075752 -0.3770733 ] [ 0.01488666 -0.01068551 0.99983209 -0.48107956] [ 0. 0. 0. 1. ]] SLAMing on 54.493201008 meters Centerline goodness : 0.872144 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.38, Z:-0.48 [[ 0.99984414 0.00829122 -0.01558698 4.62458877] [-0.00806785 0.99986464 0.01433923 -0.37550497] [ 0.01570376 -0.01421124 0.99977569 -0.48108817] [ 0. 0. 0. 1. ]] SLAMing on 54.523201008 meters Centerline goodness : 0.870960 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.37, Z:-0.48 [[ 0.99986926 0.00510445 -0.01534289 4.62324691] [-0.00496764 0.99994768 0.00894169 -0.37152498] [ 0.01538773 -0.0088643 0.99984231 -0.48300321] [ 0. 0. 0. 1. ]] SLAMing on 54.553201008 meters Centerline goodness : 0.874165 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.49 [[ 9.99990773e-01 2.35916699e-03 -3.59000963e-03 4.62994430e+00] [-2.33525440e-03 9.99975158e-01 6.65054773e-03 -3.69773421e-01] [ 3.60561020e-03 -6.64210278e-03 9.99971441e-01 -4.89749805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.583201008 meters Centerline goodness : 0.876300 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.49 [[ 9.99988966e-01 2.38778000e-03 -4.04543467e-03 4.63029691e+00] [-2.35674736e-03 9.99967896e-01 7.65850626e-03 -3.71087414e-01] [ 4.06359162e-03 -7.64888770e-03 9.99962490e-01 -4.87503861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.613201008000004 meters Centerline goodness : 0.881118 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.49 [[ 9.99988048e-01 2.14459369e-03 -4.39376392e-03 4.63097877e+00] [-2.10472788e-03 9.99956761e-01 9.05789127e-03 -3.73399343e-01] [ 4.41299944e-03 -9.04853533e-03 9.99949323e-01 -4.85089036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.643201008 meters Centerline goodness : 0.882067 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.48 [[ 9.99987641e-01 1.74224901e-03 -4.65646638e-03 4.63226356e+00] [-1.69819404e-03 9.99953922e-01 9.44829708e-03 -3.74067914e-01] [ 4.67271311e-03 -9.44027273e-03 9.99944522e-01 -4.84794401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.673201008 meters Centerline goodness : 0.882583 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.48 [[ 9.99985870e-01 1.11466389e-03 -5.19779220e-03 4.63414140e+00] [-1.06577279e-03 9.99955256e-01 9.39943094e-03 -3.74132037e-01] [ 5.20803684e-03 -9.39375847e-03 9.99942315e-01 -4.84861647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.703201008 meters Centerline goodness : 0.882245 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.48 [[ 9.99985072e-01 9.27151232e-04 -5.38480352e-03 4.63481876e+00] [-8.75772190e-04 9.99954148e-01 9.53602173e-03 -3.73845220e-01] [ 5.39339795e-03 -9.53116352e-03 9.99940032e-01 -4.84566993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.733201008 meters Centerline goodness : 0.883713 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.37, Z:-0.48 [[ 9.99984483e-01 7.27668681e-04 -5.52298951e-03 4.63525713e+00] [-6.76175584e-04 9.99956343e-01 9.31955808e-03 -3.73624700e-01] [ 5.52952995e-03 -9.31567896e-03 9.99941319e-01 -4.84690065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.763201008 meters Centerline goodness : 0.885579 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.38, Z:-0.47 [[ 9.99988524e-01 -2.63649729e-04 -4.78346066e-03 4.64914923e+00] [ 3.80144010e-04 9.99702959e-01 2.43690168e-02 -3.80578670e-01] [ 4.77561490e-03 -2.43705555e-02 9.99691587e-01 -4.70423913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.793201008000004 meters Centerline goodness : 0.887816 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.38, Z:-0.47 [[ 9.99983604e-01 -3.76598219e-03 -4.31392245e-03 4.64784916e+00] [ 3.84863027e-03 9.99806077e-01 1.93131154e-02 -3.78333141e-01] [ 4.24035303e-03 -1.93294014e-02 9.99804178e-01 -4.71986167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.823201008 meters Centerline goodness : 0.888671 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.38, Z:-0.47 [[ 9.99982394e-01 -3.80728430e-03 -4.55159389e-03 4.64818434e+00] [ 3.89466707e-03 9.99805261e-01 1.93461063e-02 -3.78295559e-01] [ 4.47705139e-03 -1.93634926e-02 9.99802486e-01 -4.71501194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.853201008 meters Centerline goodness : 0.891029 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.38, Z:-0.47 [[ 9.99979540e-01 -4.07767959e-03 -4.92871889e-03 4.64934957e+00] [ 4.17060228e-03 9.99810929e-01 1.89924265e-02 -3.77512224e-01] [ 4.85034199e-03 -1.90125936e-02 9.99807479e-01 -4.71950238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.883201008 meters Centerline goodness : 0.887048 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.37, Z:-0.48 [[ 0.99997742 -0.00476096 -0.00474222 4.65098904] [ 0.00483954 0.99984882 0.01670099 -0.37226148] [ 0.00466199 -0.01672356 0.99984928 -0.47656341] [ 0. 0. 0. 1. ]] SLAMing on 54.913201008 meters Centerline goodness : 0.883641 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.37, Z:-0.48 [[ 9.99980834e-01 -2.02234718e-03 -5.85163390e-03 4.65490905e+00] [ 2.14455586e-03 9.99778137e-01 2.09541917e-02 -3.72002451e-01] [ 5.80795899e-03 -2.09663393e-02 9.99763312e-01 -4.76106950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.943201008 meters Centerline goodness : 0.881699 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.37, Z:-0.48 [[ 0.99997106 -0.00555004 -0.00520416 4.6536572 ] [ 0.00562764 0.9998714 0.01501718 -0.36672255] [ 0.00512014 -0.01504604 0.99987369 -0.47930902] [ 0. 0. 0. 1. ]] SLAMing on 54.973201008000004 meters Centerline goodness : 0.887704 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.37, Z:-0.48 [[ 9.99973614e-01 -2.58720344e-03 -6.78809796e-03 4.67837320e+00] [ 2.69241317e-03 9.99875683e-01 1.55360629e-02 -3.68973042e-01] [ 6.74705913e-03 -1.55539293e-02 9.99856266e-01 -4.75464384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.003201008 meters Centerline goodness : 0.885741 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.37, Z:-0.47 [[ 9.99972662e-01 -2.35404331e-03 -7.00958970e-03 4.67796449e+00] [ 2.46941113e-03 9.99860888e-01 1.64956580e-02 -3.70432543e-01] [ 6.96978309e-03 -1.65125166e-02 9.99839367e-01 -4.73294137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.033201008 meters Centerline goodness : 0.888040 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.37, Z:-0.48 [[ 9.99995105e-01 -1.69678823e-03 -2.62889037e-03 4.69450387e+00] [ 1.71695495e-03 9.99968973e-01 7.68802069e-03 -3.68187992e-01] [ 2.61576386e-03 -7.69249674e-03 9.99966991e-01 -4.77034090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.063201008 meters Centerline goodness : 0.888640 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.37, Z:-0.48 [[ 9.99994556e-01 -1.80434914e-03 -2.76250960e-03 4.69507074e+00] [ 1.82407938e-03 9.99972729e-01 7.15635863e-03 -3.67090900e-01] [ 2.74952170e-03 -7.16135871e-03 9.99970577e-01 -4.77841788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.093201008 meters Centerline goodness : 0.885981 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.37, Z:-0.48 [[ 9.99995278e-01 -1.70878457e-03 -2.55437667e-03 4.69498651e+00] [ 1.72562763e-03 9.99976690e-01 6.60620797e-03 -3.65582325e-01] [ 2.54302854e-03 -6.61058467e-03 9.99974916e-01 -4.78978560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.123201008 meters Centerline goodness : 0.885988 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.36, Z:-0.48 [[ 9.99995318e-01 -1.77919303e-03 -2.48956194e-03 4.69530674e+00] [ 1.79388605e-03 9.99980914e-01 5.91211751e-03 -3.64219660e-01] [ 2.47899562e-03 -5.91655582e-03 9.99979424e-01 -4.80255227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.153201008 meters Centerline goodness : 0.888080 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.36, Z:-0.48 [[ 9.99997183e-01 -1.18141192e-03 -2.05889649e-03 4.69378633e+00] [ 1.19464249e-03 9.99978571e-01 6.43671247e-03 -3.63944842e-01] [ 2.05124796e-03 -6.43915398e-03 9.99977165e-01 -4.79375898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.183201008 meters Centerline goodness : 0.890921 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.36, Z:-0.48 [[ 9.99996584e-01 -1.37998309e-03 -2.21994175e-03 4.69447646e+00] [ 1.39368031e-03 9.99979930e-01 6.18041622e-03 -3.63883393e-01] [ 2.21136832e-03 -6.18348900e-03 9.99978437e-01 -4.79845781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.213201008 meters Centerline goodness : 0.890027 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.36, Z:-0.48 [[ 9.99996718e-01 -1.14008619e-03 -2.29437632e-03 4.69416363e+00] [ 1.15598998e-03 9.99975234e-01 6.94229298e-03 -3.64974067e-01] [ 2.28640469e-03 -6.94492247e-03 9.99973270e-01 -4.78471258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.243201008 meters Centerline goodness : 0.893883 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.47 [[ 9.99986757e-01 1.70336366e-03 -4.85638953e-03 4.72147807e+00] [-1.65520193e-03 9.99949584e-01 9.90401962e-03 -3.70286738e-01] [ 4.87301484e-03 -9.89585015e-03 9.99939161e-01 -4.72066674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.273201008 meters Centerline goodness : 0.891949 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.47 [[ 9.99986426e-01 1.30514970e-03 -5.04419621e-03 4.72238537e+00] [-1.25768583e-03 9.99955015e-01 9.40134511e-03 -3.69357029e-01] [ 5.05623946e-03 -9.39487348e-03 9.99943084e-01 -4.72729534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.303201008 meters Centerline goodness : 0.891504 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.47 [[ 9.99986237e-01 9.70803835e-04 -5.15591931e-03 4.72334927e+00] [-9.25769829e-04 9.99961467e-01 8.72964408e-03 -3.67713989e-01] [ 5.16419541e-03 -8.72475074e-03 9.99948604e-01 -4.73981455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.333201008 meters Centerline goodness : 0.891637 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.37, Z:-0.47 [[ 9.99972712e-01 3.94577203e-03 -6.24553722e-03 4.72667300e+00] [-3.86088515e-03 9.99900798e-01 1.35458009e-02 -3.69459382e-01] [ 6.29836629e-03 -1.35213180e-02 9.99888746e-01 -4.72608232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.363201008000004 meters Centerline goodness : 0.892850 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.37, Z:-0.47 [[ 9.99972700e-01 3.56679597e-03 -6.47125572e-03 4.72773706e+00] [-3.48275556e-03 9.99910056e-01 1.29518413e-02 -3.68683952e-01] [ 6.51687025e-03 -1.29289499e-02 9.99895181e-01 -4.73567237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.393201008 meters Centerline goodness : 0.891827 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99990156e-01 3.93616571e-03 -2.04799390e-03 4.74537379e+00] [-3.92629151e-03 9.99980756e-01 4.80328670e-03 -3.67371819e-01] [ 2.06686102e-03 -4.79519840e-03 9.99986367e-01 -4.77156798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.423201008 meters Centerline goodness : 0.890226 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99989964e-01 3.84320624e-03 -2.30267393e-03 4.74575197e+00] [-3.83141355e-03 9.99979634e-01 5.10401166e-03 -3.68002940e-01] [ 2.32224280e-03 -5.09513794e-03 9.99984323e-01 -4.76359937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.453201008 meters Centerline goodness : 0.888682 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99990057e-01 3.71617281e-03 -2.46478488e-03 4.74629457e+00] [-3.70302484e-03 9.99979005e-01 5.31760902e-03 -3.68188651e-01] [ 2.48449428e-03 -5.30842899e-03 9.99982824e-01 -4.75993839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.483201008 meters Centerline goodness : 0.888116 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99991998e-01 3.01321906e-03 -2.63153688e-03 4.74830983e+00] [-3.00349087e-03 9.99988671e-01 3.69293135e-03 -3.65830736e-01] [ 2.64263467e-03 -3.68499800e-03 9.99989719e-01 -4.79274757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.513201008 meters Centerline goodness : 0.886622 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99976949e-01 5.45635332e-03 -4.04093488e-03 4.75285546e+00] [-5.42203219e-03 9.99949546e-01 8.45616552e-03 -3.68326669e-01] [ 4.08687082e-03 -8.43406052e-03 9.99956081e-01 -4.78035024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.543201008000004 meters Centerline goodness : 0.888798 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.37, Z:-0.48 [[ 9.99977368e-01 4.93196407e-03 -4.57591793e-03 4.75475363e+00] [-4.89561137e-03 9.99956638e-01 7.92182884e-03 -3.68234799e-01] [ 4.61478969e-03 -7.89924763e-03 9.99958152e-01 -4.79068772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.573201008 meters Centerline goodness : 0.891531 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.37, Z:-0.48 [[ 0.99995662 0.00701038 -0.00613273 4.75990537] [-0.00692401 0.99987812 0.01399283 -0.37245261] [ 0.00623008 -0.01394976 0.99988329 -0.47535342] [ 0. 0. 0. 1. ]] SLAMing on 55.603201008 meters Centerline goodness : 0.890877 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.37, Z:-0.48 [[ 0.99995641 0.00658598 -0.006619 4.76162625] [-0.00649362 0.99988259 0.01387955 -0.37313155] [ 0.00670963 -0.01383597 0.99988177 -0.47581887] [ 0. 0. 0. 1. ]] SLAMing on 55.633201008 meters Centerline goodness : 0.890379 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.37, Z:-0.48 [[ 0.99995823 0.00610313 -0.00680408 4.76301874] [-0.006017 0.99990241 0.01260797 -0.37115524] [ 0.00688036 -0.01256651 0.99989737 -0.47807116] [ 0. 0. 0. 1. ]] SLAMing on 55.663201008 meters Centerline goodness : 0.888873 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.37, Z:-0.48 [[ 9.99964287e-01 7.87695800e-03 -3.06229548e-03 4.78498207e+00] [-7.85150325e-03 9.99935248e-01 8.23731850e-03 -3.69167819e-01] [ 3.12698220e-03 -8.21298070e-03 9.99961384e-01 -4.81012392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.693201008 meters Centerline goodness : 0.886123 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.37, Z:-0.48 [[ 9.99966236e-01 7.57839297e-03 -3.17715577e-03 4.78555995e+00] [-7.55406305e-03 9.99942578e-01 7.60107811e-03 -3.67487507e-01] [ 3.23457729e-03 -7.57682103e-03 9.99966064e-01 -4.81643038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.723201008000004 meters Centerline goodness : 0.886889 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.37, Z:-0.48 [[ 9.99965740e-01 7.65009706e-03 -3.16148179e-03 4.78546093e+00] [-7.62685304e-03 9.99944269e-01 7.30004623e-03 -3.66074755e-01] [ 3.21715166e-03 -7.27568397e-03 9.99968357e-01 -4.81812988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.753201008 meters Centerline goodness : 0.886972 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.37, Z:-0.48 [[ 9.99964712e-01 7.80106911e-03 -3.11735419e-03 4.78497543e+00] [-7.77807002e-03 9.99942936e-01 7.32300544e-03 -3.65389619e-01] [ 3.17430358e-03 -7.29850003e-03 9.99968327e-01 -4.81214771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.783201008 meters Centerline goodness : 0.885819 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.37, Z:-0.48 [[ 9.99964787e-01 7.72514588e-03 -3.27818149e-03 4.78529406e+00] [-7.70168029e-03 9.99945055e-01 7.11136048e-03 -3.65205334e-01] [ 3.33293767e-03 -7.08586256e-03 9.99969341e-01 -4.81335532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.813201008 meters Centerline goodness : 0.888899 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:-0.48 [[ 9.99965199e-01 7.48731072e-03 -3.67986055e-03 4.78623609e+00] [-7.46146904e-03 9.99947755e-01 6.98672437e-03 -3.64534561e-01] [ 3.73198007e-03 -6.95902406e-03 9.99968822e-01 -4.81166562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.843201008 meters Centerline goodness : 0.886040 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:-0.48 [[ 9.99967087e-01 7.02287473e-03 -4.06258085e-03 4.78774841e+00] [-6.99668207e-03 9.99954876e-01 6.42597382e-03 -3.63419553e-01] [ 4.10752634e-03 -6.39733774e-03 9.99971101e-01 -4.82090600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.873201008 meters Centerline goodness : 0.886019 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:-0.48 [[ 0.99994555 0.00896292 -0.00534378 4.79351614] [-0.00890996 0.99991177 0.00985178 -0.36303705] [ 0.00543161 -0.00980363 0.99993719 -0.48363787] [ 0. 0. 0. 1. ]] SLAMing on 55.903201008 meters Centerline goodness : 0.884794 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:-0.48 [[ 0.99994781 0.00854084 -0.00560619 4.79470854] [-0.0084884 0.99992062 0.00931086 -0.36236586] [ 0.00568527 -0.00926279 0.99994094 -0.48456878] [ 0. 0. 0. 1. ]] SLAMing on 55.933201008 meters Centerline goodness : 0.883918 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:-0.48 [[ 0.99994843 0.00822508 -0.00595686 4.79565296] [-0.00817014 0.99992441 0.00918798 -0.36263341] [ 0.00603198 -0.00913883 0.99994005 -0.48451509] [ 0. 0. 0. 1. ]] SLAMing on 55.963201008 meters Centerline goodness : 0.886981 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:-0.48 [[ 0.99994711 0.00802293 -0.00643492 4.79658626] [-0.00796279 0.99992489 0.00931711 -0.36373901] [ 0.00650919 -0.00926538 0.99993589 -0.48394595] [ 0. 0. 0. 1. ]] SLAMing on 55.993201008 meters Centerline goodness : 0.889965 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:-0.48 [[ 0.99994754 0.00759439 -0.00687289 4.79814633] [-0.00753268 0.99993147 0.00896157 -0.3638234 ] [ 0.00694047 -0.00890933 0.99993622 -0.48467614] [ 0. 0. 0. 1. ]] SLAMing on 56.023201008 meters Centerline goodness : 0.886372 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:-0.49 [[ 0.99994812 0.00694966 -0.00744666 4.80032956] [-0.00688585 0.99993965 0.00856034 -0.36384388] [ 0.0075057 -0.00850862 0.99993563 -0.48561305] [ 0. 0. 0. 1. ]] SLAMing on 56.053201008 meters Centerline goodness : 0.884973 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.36, Z:-0.49 [[ 0.99994923 0.0061892 -0.00795147 4.80261584] [-0.00612659 0.99995023 0.00787399 -0.36374732] [ 0.0079998 -0.00782488 0.99993739 -0.48715441] [ 0. 0. 0. 1. ]] SLAMing on 56.083201008 meters Centerline goodness : 0.884692 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.49 [[ 0.99995001 0.00534608 -0.00844997 4.8050475 ] [-0.0052865 0.99996112 0.00705798 -0.36315243] [ 0.00848738 -0.00701296 0.99993939 -0.4888772 ] [ 0. 0. 0. 1. ]] SLAMing on 56.113201008000004 meters Centerline goodness : 0.886649 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.37, Z:-0.49 [[ 0.99992358 0.00775074 -0.00963112 4.80944878] [-0.00763942 0.99990422 0.01154102 -0.36505676] [ 0.00971965 -0.01146656 0.99988702 -0.48820339] [ 0. 0. 0. 1. ]] SLAMing on 56.143201008 meters Centerline goodness : 0.880785 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.49 [[ 0.99992774 0.00674328 -0.00995235 4.81176882] [-0.00664452 0.99992869 0.00992256 -0.36227681] [ 0.01001855 -0.00985571 0.99990124 -0.49096387] [ 0. 0. 0. 1. ]] SLAMing on 56.173201008 meters Centerline goodness : 0.881872 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.49 [[ 0.99992607 0.00666017 -0.01017314 4.8120505 ] [-0.00655654 0.99992663 0.01018578 -0.36277712] [ 0.01024024 -0.01011833 0.99989637 -0.49021315] [ 0. 0. 0. 1. ]] SLAMing on 56.203201008 meters Centerline goodness : 0.880156 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.49 [[ 9.99948992e-01 3.21220870e-03 -9.57572053e-03 4.81014415e+00] [-3.16100184e-03 9.99980650e-01 5.35791992e-03 -3.60690748e-01] [ 9.59274600e-03 -5.32737776e-03 9.99939797e-01 -4.91162403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.233201008 meters Centerline goodness : 0.880156 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.49 [[ 9.99948992e-01 3.21220870e-03 -9.57572053e-03 4.81014415e+00] [-3.16100184e-03 9.99980650e-01 5.35791992e-03 -3.60690748e-01] [ 9.59274600e-03 -5.32737776e-03 9.99939797e-01 -4.91162403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.263201008 meters Centerline goodness : 0.882704 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99981785e-01 3.17698385e-03 -5.13198044e-03 4.82804347e+00] [-3.19138721e-03 9.99990985e-01 -2.80084236e-03 -3.59313353e-01] [ 5.12303594e-03 2.81716948e-03 9.99982909e-01 -4.94297977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.293201008000004 meters Centerline goodness : 0.886580 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99978835e-01 3.93342579e-03 -5.18252473e-03 4.82638517e+00] [-3.93642403e-03 9.99992091e-01 -5.68456642e-04 -3.62548553e-01] [ 5.18024775e-03 5.88845225e-04 9.99986409e-01 -4.90003063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.323201008 meters Centerline goodness : 0.882238 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99978675e-01 3.91183207e-03 -5.22953665e-03 4.82653901e+00] [-3.91638942e-03 9.99991960e-01 -8.61506878e-04 -3.61022198e-01] [ 5.22612453e-03 8.81969408e-04 9.99985955e-01 -4.90220006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.353201008 meters Centerline goodness : 0.881121 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99958239e-01 6.39715070e-03 -6.52663358e-03 4.83100073e+00] [-6.37655840e-03 9.99974642e-01 3.17106451e-03 -3.61866077e-01] [ 6.54675385e-03 -3.12931462e-03 9.99973673e-01 -4.90223456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.383201008 meters Centerline goodness : 0.883429 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99962341e-01 5.46141947e-03 -6.74460135e-03 4.83341215e+00] [-5.45267353e-03 9.99984270e-01 1.31443942e-03 -3.58516661e-01] [ 6.75167396e-03 -1.27761381e-03 9.99976391e-01 -4.93841726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.413201008 meters Centerline goodness : 0.878528 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.36, Z:-0.49 [[ 9.99961381e-01 5.01058153e-03 -7.22011304e-03 4.83489875e+00] [-5.00159324e-03 9.99986695e-01 1.26241511e-03 -3.58598225e-01] [ 7.22634241e-03 -1.22625429e-03 9.99973138e-01 -4.93933634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.443201008 meters Centerline goodness : 0.877088 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.36, Z:-0.49 [[ 9.99958294e-01 4.36477996e-03 -8.02243946e-03 4.83712522e+00] [-4.35369496e-03 9.99989544e-01 1.39869325e-03 -3.59533363e-01] [ 8.02846057e-03 -1.36370766e-03 9.99966842e-01 -4.93577180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.473201008000004 meters Centerline goodness : 0.878705 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.36, Z:-0.49 [[ 9.99953557e-01 3.91265750e-03 -8.80761332e-03 4.83896939e+00] [-3.89502518e-03 9.99990378e-01 2.01820365e-03 -3.61252615e-01] [ 8.81542511e-03 -1.98380404e-03 9.99959176e-01 -4.92521534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.503201008 meters Centerline goodness : 0.882317 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.49 [[ 9.99931745e-01 4.66127135e-03 -1.07134783e-02 4.84662919e+00] [-4.56750052e-03 9.99951195e-01 8.76046901e-03 -3.65182817e-01] [ 1.07537903e-02 -8.71093724e-03 9.99904233e-01 -4.87184933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.533201008 meters Centerline goodness : 0.882480 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.49 [[ 9.99926771e-01 4.18488915e-03 -1.13551073e-02 4.84831251e+00] [-4.07937342e-03 9.99948436e-01 9.29966261e-03 -3.66240337e-01] [ 1.13934398e-02 -9.25265989e-03 9.99892283e-01 -4.86180644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.563201008 meters Centerline goodness : 0.882987 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.48 [[ 0.99989543 0.00750956 -0.01235825 4.85058641] [-0.00731896 0.99985468 0.01539627 -0.36944337] [ 0.01247208 -0.01530421 0.9998051 -0.48210847] [ 0. 0. 0. 1. ]] SLAMing on 56.593201008 meters Centerline goodness : 0.883754 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.48 [[ 9.99918458e-01 4.35943990e-03 -1.20030539e-02 4.84895471e+00] [-4.23483533e-03 9.99937086e-01 1.03869913e-02 -3.66100005e-01] [ 1.20475802e-02 -1.03353133e-02 9.99874011e-01 -4.83483879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.623201008 meters Centerline goodness : 0.884903 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.48 [[ 9.99916447e-01 4.14482126e-03 -1.22441333e-02 4.84953187e+00] [-4.01942652e-03 9.99939408e-01 1.02481266e-02 -3.65622268e-01] [ 1.22858680e-02 -1.01980560e-02 9.99872520e-01 -4.83313053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.653201008 meters Centerline goodness : 0.881184 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.36, Z:-0.49 [[ 9.99960793e-01 5.88874923e-03 -6.61318557e-03 4.86485290e+00] [-5.86950671e-03 9.99978495e-01 2.92536875e-03 -3.62483654e-01] [ 6.63027012e-03 -2.88643792e-03 9.99973854e-01 -4.87242249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.683201008 meters Centerline goodness : 0.880815 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.36, Z:-0.49 [[ 9.99961634e-01 5.75290356e-03 -6.60558274e-03 4.86487605e+00] [-5.73598312e-03 9.99980227e-01 2.57762906e-03 -3.61439434e-01] [ 6.62028097e-03 -2.53964066e-03 9.99974861e-01 -4.87424997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.713201008 meters Centerline goodness : 0.878243 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99962846e-01 5.38088892e-03 -6.73436508e-03 4.86572914e+00] [-5.36769229e-03 9.99983641e-01 1.97613741e-03 -3.60076960e-01] [ 6.74488829e-03 -1.93991599e-03 9.99975371e-01 -4.88287023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.743201008 meters Centerline goodness : 0.877650 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99962682e-01 4.93495327e-03 -7.09088043e-03 4.86715498e+00] [-4.92546239e-03 9.99986951e-01 1.35530370e-03 -3.58832835e-01] [ 7.09747627e-03 -1.32032726e-03 9.99973941e-01 -4.89216845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.773201008 meters Centerline goodness : 0.883762 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99961895e-01 4.82951211e-03 -7.27219657e-03 4.86823743e+00] [-4.82781542e-03 9.99988315e-01 2.50849063e-04 -3.56870510e-01] [ 7.27332307e-03 -2.15730682e-04 9.99973526e-01 -4.91375925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.803201008 meters Centerline goodness : 0.884013 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99962147e-01 4.38399894e-03 -7.51569860e-03 4.86962393e+00] [-4.38911927e-03 9.99990147e-01 -6.64926381e-04 -3.55247956e-01] [ 7.51270951e-03 6.97888509e-04 9.99971536e-01 -4.92903987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.833201008 meters Centerline goodness : 0.884687 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.35, Z:-0.49 [[ 9.99960775e-01 4.11594606e-03 -7.84265836e-03 4.87082875e+00] [-4.12681503e-03 9.99990546e-01 -1.37019952e-03 -3.53791353e-01] [ 7.83694455e-03 1.40251097e-03 9.99968307e-01 -4.94023551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.863201008000004 meters Centerline goodness : 0.885013 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99957682e-01 4.36416231e-03 -8.09863539e-03 4.86973530e+00] [-4.36483673e-03 9.99990472e-01 -6.56022888e-05 -3.55433671e-01] [ 8.09827192e-03 1.00948734e-04 9.99967203e-01 -4.90331817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.893201008 meters Centerline goodness : 0.886744 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99953970e-01 3.79258396e-03 -8.81330975e-03 4.87084334e+00] [-3.78693190e-03 9.99992613e-01 6.57908663e-04 -3.57013388e-01] [ 8.81573982e-03 -6.24502976e-04 9.99960946e-01 -4.88027029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.923201008 meters Centerline goodness : 0.889747 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.49 [[ 9.99949756e-01 3.12916116e-03 -9.52333964e-03 4.87287764e+00] [-3.12279453e-03 9.99994891e-01 6.83326266e-04 -3.57563971e-01] [ 9.52542922e-03 -6.53552500e-04 9.99954418e-01 -4.87881416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.953201008 meters Centerline goodness : 0.888352 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-0.49 [[ 9.99924519e-01 3.54574615e-03 -1.17636545e-02 4.88229170e+00] [-3.48747809e-03 9.99981568e-01 4.97004920e-03 -3.58676578e-01] [ 1.17810602e-02 -4.92864857e-03 9.99918454e-01 -4.87635177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.983201008 meters Centerline goodness : 0.882972 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-0.50 [[ 9.99905141e-01 4.25917499e-03 -1.30984197e-02 4.89126706e+00] [-4.19169690e-03 9.99977825e-01 5.17476659e-03 -3.53748076e-01] [ 1.31201695e-02 -5.11937111e-03 9.99900822e-01 -4.95915209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.013201008 meters Centerline goodness : 0.878799 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.50 [[ 0.99987261 0.00673572 -0.01447049 4.89608215] [-0.00659847 0.99993299 0.00951193 -0.3553805 ] [ 0.01453359 -0.00941524 0.99985005 -0.49574792] [ 0. 0. 0. 1. ]] SLAMing on 57.043201008000004 meters Centerline goodness : 0.878277 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.35, Z:-0.50 [[ 9.99895988e-01 2.86849972e-03 -1.41345618e-02 4.89530168e+00] [-2.80705790e-03 9.99986534e-01 4.36484447e-03 -3.53053401e-01] [ 1.41468920e-02 -4.32471394e-03 9.99890575e-01 -4.97284556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.073201008 meters Centerline goodness : 0.881551 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.49 [[ 9.99890029e-01 3.07263790e-03 -1.45082212e-02 4.89508571e+00] [-2.99490930e-03 9.99981063e-01 5.37624654e-03 -3.55595896e-01] [ 1.45244657e-02 -5.33220450e-03 9.99880297e-01 -4.94977722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.103201008 meters Centerline goodness : 0.884046 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.50 [[ 9.99949870e-01 3.38406888e-03 -9.42366616e-03 4.90878774e+00] [-3.43143460e-03 9.99981539e-01 -5.01462788e-03 -3.54643609e-01] [ 9.40652235e-03 5.04671319e-03 9.99943022e-01 -4.99283107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.133201008 meters Centerline goodness : 0.889568 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-0.49 [[ 9.99945127e-01 4.84481160e-03 -9.28825860e-03 4.90540851e+00] [-4.86605545e-03 9.99985593e-01 -2.26593899e-03 -3.57911288e-01] [ 9.27714674e-03 2.31101183e-03 9.99954296e-01 -4.93475955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.163201008 meters Centerline goodness : 0.882885 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.49 [[ 9.99946986e-01 5.12311998e-03 -8.93192498e-03 4.90443301e+00] [-5.14454466e-03 9.99983941e-01 -2.37733915e-03 -3.56477151e-01] [ 8.91960214e-03 2.42316380e-03 9.99957284e-01 -4.93427344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.193201008 meters Centerline goodness : 0.882413 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.35, Z:-0.49 [[ 9.99949188e-01 4.87050936e-03 -8.82602999e-03 4.90493259e+00] [-4.89885025e-03 9.99982905e-01 -3.19228754e-03 -3.53997527e-01] [ 8.81033104e-03 3.23536273e-03 9.99955954e-01 -4.94809229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.223201008000004 meters Centerline goodness : 0.880094 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.50 [[ 9.99950050e-01 4.46255306e-03 -8.94337795e-03 4.90603342e+00] [-4.49975253e-03 9.99981291e-01 -4.14364641e-03 -3.51803507e-01] [ 8.92471939e-03 4.18368242e-03 9.99951422e-01 -4.96421805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.253201008 meters Centerline goodness : 0.882322 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.50 [[ 9.99947735e-01 4.80880751e-03 -9.02234768e-03 4.90590628e+00] [-4.84994898e-03 9.99977916e-01 -4.54362679e-03 -3.49812660e-01] [ 9.00029901e-03 4.58714725e-03 9.99948975e-01 -4.96853198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.283201008 meters Centerline goodness : 0.881351 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.35, Z:-0.50 [[ 9.99945185e-01 5.34957670e-03 -9.00048628e-03 4.90485329e+00] [-5.38643169e-03 9.99977188e-01 -4.07553275e-03 -3.49763326e-01] [ 8.97847859e-03 4.12378986e-03 9.99951189e-01 -4.95574143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.313201008 meters Centerline goodness : 0.882745 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.35, Z:-0.50 [[ 9.99943981e-01 5.57085530e-03 -8.99998024e-03 4.90452433e+00] [-5.60826729e-03 9.99975716e-01 -4.13702083e-03 -3.49037104e-01] [ 8.97671494e-03 4.18726337e-03 9.99950942e-01 -4.95351857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.343201008 meters Centerline goodness : 0.884369 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.49 [[ 9.99912301e-01 8.76366211e-03 -9.92918120e-03 4.90708599e+00] [-8.75975347e-03 9.99961537e-01 4.37074148e-04 -3.50858438e-01] [ 9.93262967e-03 -3.50058638e-04 9.99950609e-01 -4.94151068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.373201008 meters Centerline goodness : 0.879646 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.49 [[ 9.99911941e-01 8.97877165e-03 -9.77197741e-03 4.90655949e+00] [-8.98022586e-03 9.99959671e-01 -1.04945989e-04 -3.47975320e-01] [ 9.77064104e-03 1.92691312e-04 9.99952248e-01 -4.94538864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.403201008 meters Centerline goodness : 0.878781 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.35, Z:-0.49 [[ 9.99911909e-01 8.92507147e-03 -9.82434307e-03 4.90667667e+00] [-8.93038187e-03 9.99960000e-01 -4.96798771e-04 -3.46558560e-01] [ 9.81951613e-03 5.84490143e-04 9.99951617e-01 -4.94763206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.433201008 meters Centerline goodness : 0.881523 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99911930e-01 8.85494916e-03 -9.88548165e-03 4.90691665e+00] [-8.86578324e-03 9.99960144e-01 -1.05267470e-03 -3.44736979e-01] [ 9.87576627e-03 1.14022452e-03 9.99950583e-01 -4.95296359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.463201008 meters Centerline goodness : 0.877757 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99910671e-01 9.44442105e-03 -9.45800504e-03 4.90577165e+00] [-9.46198928e-03 9.99953588e-01 -1.81447605e-03 -3.41309139e-01] [ 9.44042940e-03 1.90380550e-03 9.99953626e-01 -4.96426275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.493201008 meters Centerline goodness : 0.877376 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99909805e-01 9.19544073e-03 -9.78911215e-03 4.90699041e+00] [-9.22000467e-03 9.99954451e-01 -2.46714678e-03 -3.40018967e-01] [ 9.76597977e-03 2.55717991e-03 9.99949042e-01 -4.97485309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.523201008 meters Centerline goodness : 0.874957 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99909879e-01 9.02427797e-03 -9.93960062e-03 4.90787258e+00] [-9.05437695e-03 9.99954546e-01 -2.98736263e-03 -3.39264462e-01] [ 9.91219004e-03 3.07709030e-03 9.99946139e-01 -4.98576355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.553201008 meters Centerline goodness : 0.875778 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99885714e-01 1.06161941e-02 -1.07636054e-02 4.91265400e+00] [-1.06154290e-02 9.99943647e-01 1.28213869e-04 -3.40895240e-01] [ 1.07643599e-02 -1.39389274e-05 9.99942063e-01 -5.00189459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.583201008 meters Centerline goodness : 0.876003 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.34, Z:-0.50 [[ 9.99885681e-01 1.03804039e-02 -1.09941623e-02 4.91365796e+00] [-1.03810582e-02 9.99946115e-01 -2.45312943e-06 -3.41362887e-01] [ 1.09935444e-02 1.16583888e-04 9.99939562e-01 -5.00822453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.613201008 meters Centerline goodness : 0.870083 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.34, Z:-0.50 [[ 9.99883147e-01 1.00788639e-02 -1.14938920e-02 4.91512735e+00] [-1.00785044e-02 9.99949207e-01 8.92031327e-05 -3.42630869e-01] [ 1.14942073e-02 2.66485323e-05 9.99933939e-01 -5.00995561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.643201008 meters Centerline goodness : 0.869403 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.34, Z:-0.50 [[ 9.99880067e-01 9.57990183e-03 -1.21686671e-02 4.91714934e+00] [-9.57784288e-03 9.99954106e-01 2.27468206e-04 -3.44460130e-01] [ 1.21702877e-02 -1.10891343e-04 9.99925933e-01 -5.01122019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.673201008 meters Centerline goodness : 0.869701 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99876726e-01 9.22566882e-03 -1.27051078e-02 4.91873334e+00] [-9.22086336e-03 9.99957392e-01 4.36757653e-04 -3.46358537e-01] [ 1.27085958e-02 -3.19551749e-04 9.99919191e-01 -5.01154073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.703201008 meters Centerline goodness : 0.863280 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99911062e-01 5.89989381e-03 -1.19607221e-02 4.91636054e+00] [-5.93663139e-03 9.99977762e-01 -3.03834396e-03 -3.47866726e-01] [ 1.19425302e-02 3.10908013e-03 9.99923852e-01 -5.00612631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.733201008 meters Centerline goodness : 0.862237 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99907179e-01 6.16697077e-03 -1.21491336e-02 4.91597737e+00] [-6.18513608e-03 9.99979809e-01 -1.45818784e-03 -3.50895494e-01] [ 1.21398957e-02 1.53319654e-03 9.99925133e-01 -4.98034689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.763201008 meters Centerline goodness : 0.869715 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.49 [[ 9.99872099e-01 9.14188557e-03 -1.31229151e-02 4.91878161e+00] [-9.08364745e-03 9.99948659e-01 4.49066156e-03 -3.54944569e-01] [ 1.31632945e-02 -4.37088327e-03 9.99903807e-01 -4.94692389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.793201008000004 meters Centerline goodness : 0.857839 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99877969e-01 8.96833829e-03 -1.27912840e-02 4.91895366e+00] [-8.92655047e-03 9.99954645e-01 3.32025914e-03 -3.51946984e-01] [ 1.28204811e-02 -3.20567193e-03 9.99912676e-01 -4.96888411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.823201008 meters Centerline goodness : 0.856660 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99879141e-01 8.52097065e-03 -1.30037468e-02 4.92019215e+00] [-8.48801022e-03 9.99960628e-01 2.58777679e-03 -3.50588288e-01] [ 1.30252852e-02 -2.47708810e-03 9.99912099e-01 -4.98147814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.853201008 meters Centerline goodness : 0.855663 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99880090e-01 8.06516992e-03 -1.32196090e-02 4.92149392e+00] [-8.04081886e-03 9.99965878e-01 1.89415887e-03 -3.49565627e-01] [ 1.32344347e-02 -1.78763526e-03 9.99910823e-01 -4.99409678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.883201008 meters Centerline goodness : 0.854196 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99878479e-01 7.74439475e-03 -1.35296341e-02 4.92251818e+00] [-7.72450820e-03 9.99969008e-01 1.52149193e-03 -3.48919666e-01] [ 1.35409978e-02 -1.41679727e-03 9.99907313e-01 -4.99858406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.913201008 meters Centerline goodness : 0.849581 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99877511e-01 7.79088333e-03 -1.35744247e-02 4.92254824e+00] [-7.77098350e-03 9.99968653e-01 1.51810970e-03 -3.49186132e-01] [ 1.35858266e-02 -1.41243712e-03 9.99906711e-01 -4.99838746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.943201008 meters Centerline goodness : 0.851670 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.35, Z:-0.50 [[ 9.99872745e-01 7.57022275e-03 -1.40422838e-02 4.92352147e+00] [-7.54346216e-03 9.99969631e-01 1.95770387e-03 -3.50452239e-01] [ 1.40566776e-02 -1.85152730e-03 9.99899486e-01 -4.98990507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.973201008000004 meters Centerline goodness : 0.854120 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.35, Z:-0.50 [[ 9.99867914e-01 7.06357350e-03 -1.46376130e-02 4.92528152e+00] [-7.03502681e-03 9.99973252e-01 2.00080306e-03 -3.51865097e-01] [ 1.46513543e-02 -1.89756279e-03 9.99890863e-01 -4.99015437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.003201008 meters Centerline goodness : 0.856452 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.35, Z:-0.50 [[ 9.99860802e-01 6.33693110e-03 -1.54343753e-02 4.92753566e+00] [-6.30358485e-03 9.99977694e-01 2.20821035e-03 -3.53029637e-01] [ 1.54480243e-02 -2.11061108e-03 9.99878445e-01 -4.98560274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.033201008 meters Centerline goodness : 0.857386 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.35, Z:-0.50 [[ 9.99854554e-01 4.95214435e-03 -1.63201146e-02 4.93196714e+00] [-4.93907305e-03 9.99987449e-01 8.41140308e-04 -3.51772170e-01] [ 1.63240752e-02 -7.60411729e-04 9.99866464e-01 -5.01795972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.063201008 meters Centerline goodness : 0.856466 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.35, Z:-0.50 [[ 9.99822752e-01 7.32409965e-03 -1.73442190e-02 4.93627974e+00] [-7.23858492e-03 9.99961360e-01 4.98810335e-03 -3.54484366e-01] [ 1.73800821e-02 -4.86167162e-03 9.99837135e-01 -5.01992111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.093201008 meters Centerline goodness : 0.855903 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 9.99819090e-01 6.94358278e-03 -1.77080127e-02 4.93760350e+00] [-6.85646961e-03 9.99964116e-01 4.97539811e-03 -3.55507078e-01] [ 1.77419243e-02 -4.85308356e-03 9.99830822e-01 -5.02298095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.123201008 meters Centerline goodness : 0.855903 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 9.99819090e-01 6.94358278e-03 -1.77080127e-02 4.93760350e+00] [-6.85646961e-03 9.99964116e-01 4.97539811e-03 -3.55507078e-01] [ 1.77419243e-02 -4.85308356e-03 9.99830822e-01 -5.02298095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.153201008 meters Centerline goodness : 0.856051 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 0.99981458 0.00669005 -0.01805705 4.938405 ] [-0.00659007 0.99996266 0.00559063 -0.35771646] [ 0.01809378 -0.00547059 0.99982133 -0.50131778] [ 0. 0. 0. 1. ]] SLAMing on 58.183201008 meters Centerline goodness : 0.862202 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 0.99980925 0.00604805 -0.01857126 4.9403499 ] [-0.00594795 0.99996751 0.00544076 -0.35798457] [ 0.01860357 -0.00532927 0.99981274 -0.50179701] [ 0. 0. 0. 1. ]] SLAMing on 58.213201008 meters Centerline goodness : 0.859572 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 9.99806487e-01 5.50682987e-03 -1.88855336e-02 4.94193542e+00] [-5.41493117e-03 9.99973266e-01 4.91377923e-03 -3.57630370e-01] [ 1.89120881e-02 -4.81056449e-03 9.99809578e-01 -5.02904064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.243201008 meters Centerline goodness : 0.859080 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 9.99806213e-01 5.24508974e-03 -1.89743478e-02 4.94259241e+00] [-5.15915499e-03 9.99976225e-01 4.57511532e-03 -3.57275470e-01] [ 1.89978935e-02 -4.47633712e-03 9.99809503e-01 -5.03563773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.273201008 meters Centerline goodness : 0.861156 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.50 [[ 9.99805704e-01 5.25668762e-03 -1.89979173e-02 4.94250609e+00] [-5.17977823e-03 9.99978199e-01 4.09524860e-03 -3.55959725e-01] [ 1.90190306e-02 -3.99604791e-03 9.99811136e-01 -5.03876540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.303201008 meters Centerline goodness : 0.862256 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.35, Z:-0.51 [[ 0.99988126 0.00593804 -0.01422017 4.95944216] [-0.006018 0.99996629 -0.00558681 -0.35228141] [ 0.01418651 0.00567172 0.99988328 -0.51041578] [ 0. 0. 0. 1. ]] SLAMing on 58.333201008 meters Centerline goodness : 0.863424 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.35, Z:-0.51 [[ 0.99987767 0.00607985 -0.01441121 4.95934528] [-0.00615453 0.99996784 -0.00514294 -0.35256978] [ 0.01437947 0.00523101 0.99988293 -0.5092888 ] [ 0. 0. 0. 1. ]] SLAMing on 58.363201008 meters Centerline goodness : 0.862184 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.35, Z:-0.51 [[ 9.99876106e-01 6.64242755e-03 -1.42705983e-02 4.95807708e+00] [-6.70610109e-03 9.99967751e-01 -4.41865850e-03 -3.53544673e-01] [ 1.42407874e-02 4.51381113e-03 9.99888407e-01 -5.07864950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.393201008 meters Centerline goodness : 0.858764 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.35, Z:-0.51 [[ 9.99874401e-01 6.57161589e-03 -1.44220847e-02 4.95859667e+00] [-6.63614032e-03 9.99968165e-01 -4.43071516e-03 -3.52883240e-01] [ 1.43925086e-02 4.52586564e-03 9.99886180e-01 -5.07996406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.423201008 meters Centerline goodness : 0.859215 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.35, Z:-0.51 [[ 0.99987539 0.00594351 -0.01462465 4.96047171] [-0.00602373 0.99996702 -0.00544785 -0.35033171] [ 0.01459179 0.00553526 0.99987821 -0.51015546] [ 0. 0. 0. 1. ]] SLAMing on 58.453201008 meters Centerline goodness : 0.858462 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-0.51 [[ 9.99843343e-01 8.11866703e-03 -1.57282198e-02 4.96545610e+00] [-8.14813674e-03 9.99965164e-01 -1.81050773e-03 -3.50770985e-01] [ 1.57129729e-02 1.93837979e-03 9.99874665e-01 -5.11298189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.483201008 meters Centerline goodness : 0.855736 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-0.51 [[ 9.99798922e-01 1.04232788e-02 -1.71309950e-02 4.97046445e+00] [-1.03842452e-02 9.99943283e-01 2.36591475e-03 -3.52248126e-01] [ 1.71546840e-02 -2.18754656e-03 9.99850455e-01 -5.11055373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.513201008 meters Centerline goodness : 0.857916 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-0.51 [[ 9.99830389e-01 7.44080937e-03 -1.68471867e-02 4.96841710e+00] [-7.46472866e-03 9.99971217e-01 -1.35734019e-03 -3.52644334e-01] [ 1.68366021e-02 1.48286964e-03 9.99857155e-01 -5.10540958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.543201008000004 meters Centerline goodness : 0.860979 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.51 [[ 9.99824650e-01 7.80443969e-03 -1.70223371e-02 4.96776603e+00] [-7.80774372e-03 9.99969511e-01 -1.27649148e-04 -3.55387594e-01] [ 1.70208219e-02 2.60532810e-04 9.99855101e-01 -5.08234682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.573201008 meters Centerline goodness : 0.860270 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.51 [[ 9.99819696e-01 8.08982283e-03 -1.71793470e-02 4.96716473e+00] [-8.07172877e-03 9.99966793e-01 1.12232316e-03 -3.57457961e-01] [ 1.71878559e-02 -9.83453768e-04 9.99851794e-01 -5.05706202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.603201008 meters Centerline goodness : 0.864755 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.50 [[ 9.99817402e-01 8.11488576e-03 -1.73006180e-02 4.96707074e+00] [-8.09109178e-03 9.99966223e-01 1.44487907e-03 -3.58029180e-01] [ 1.73117586e-02 -1.30463435e-03 9.99849289e-01 -5.04837149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.633201008 meters Centerline goodness : 0.859912 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.50 [[ 0.99977079 0.01164386 -0.01796616 4.96847089] [-0.0115229 0.99991034 0.00682173 -0.36009106] [ 0.01804398 -0.00661314 0.99981532 -0.50197318] [ 0. 0. 0. 1. ]] SLAMing on 58.663201008 meters Centerline goodness : 0.863117 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.50 [[ 0.99977473 0.01152127 -0.01782532 4.9685569 ] [-0.01141076 0.99991512 0.0062891 -0.35852081] [ 0.01789626 -0.00608428 0.99982134 -0.50287916] [ 0. 0. 0. 1. ]] SLAMing on 58.693201008 meters Centerline goodness : 0.860351 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.50 [[ 0.99971944 0.01450929 -0.01872237 4.971649 ] [-0.01431144 0.99984078 0.01065865 -0.35978917] [ 0.01887404 -0.01038771 0.99976791 -0.50219374] [ 0. 0. 0. 1. ]] SLAMing on 58.723201008000004 meters Centerline goodness : 0.859652 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-0.50 [[ 0.99972447 0.01429174 -0.01862066 4.97210284] [-0.01411626 0.99985503 0.00952133 -0.35696481] [ 0.01875403 -0.00925585 0.99978128 -0.50397325] [ 0. 0. 0. 1. ]] SLAMing on 58.753201008 meters Centerline goodness : 0.860425 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-0.51 [[ 0.99972425 0.01408166 -0.01879163 4.97302625] [-0.01393658 0.99987223 0.00782933 -0.35354475] [ 0.01889948 -0.00756528 0.99979277 -0.50647605] [ 0. 0. 0. 1. ]] SLAMing on 58.783201008 meters Centerline goodness : 0.862818 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-0.51 [[ 9.99773402e-01 1.04453718e-02 -1.85482647e-02 4.97245844e+00] [-1.04013703e-02 9.99942861e-01 2.46716381e-03 -3.50366276e-01] [ 1.85729754e-02 -2.27367738e-03 9.99824922e-01 -5.08750645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.813201008 meters Centerline goodness : 0.863442 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.35, Z:-0.51 [[ 9.99794389e-01 7.31473234e-03 -1.89122755e-02 4.97583044e+00] [-7.29356121e-03 9.99972696e-01 1.18817217e-03 -3.52087203e-01] [ 1.89204503e-02 -1.04999003e-03 9.99820441e-01 -5.09247107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.843201008 meters Centerline goodness : 0.865625 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.35, Z:-0.51 [[ 9.99782438e-01 5.57299634e-03 -2.01002054e-02 4.97979947e+00] [-5.53952489e-03 9.99983177e-01 1.72052394e-03 -3.54474205e-01] [ 2.01094557e-02 -1.60880403e-03 9.99796490e-01 -5.07946740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.873201008 meters Centerline goodness : 0.861815 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.35, Z:-0.51 [[ 9.99756221e-01 1.48799898e-03 -2.20291598e-02 4.98963210e+00] [-1.48676275e-03 9.99998892e-01 7.24958745e-05 -3.52868109e-01] [ 2.20292433e-02 -3.97260673e-05 9.99757326e-01 -5.11168460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.903201008 meters Centerline goodness : 0.861384 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.35, Z:-0.51 [[ 9.99716138e-01 1.14760171e-03 -2.37976314e-02 4.99897212e+00] [-1.06004663e-03 9.99992625e-01 3.69143969e-03 -3.53796796e-01] [ 2.38016922e-02 -3.66516523e-03 9.99709981e-01 -5.11545988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.933201008 meters Centerline goodness : 0.861102 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.36, Z:-0.51 [[ 9.99675389e-01 2.29035823e-03 -2.53745948e-02 5.00604913e+00] [-2.08636386e-03 9.99965318e-01 8.06287487e-03 -3.55658828e-01] [ 2.53921817e-02 -8.00731694e-03 9.99645497e-01 -5.11124759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.963201008 meters Centerline goodness : 0.864122 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.36, Z:-0.51 [[ 9.99681510e-01 2.91555670e-03 -2.50674792e-02 5.00474814e+00] [-2.69274342e-03 9.99956611e-01 8.91770496e-03 -3.57001165e-01] [ 2.50923917e-02 -8.84736447e-03 9.99645985e-01 -5.10008010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.993201008 meters Centerline goodness : 0.865643 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.36, Z:-0.52 [[ 9.99800923e-01 3.75628136e-03 -1.95960321e-02 5.01759845e+00] [-3.78875920e-03 9.99991510e-01 -1.62050562e-03 -3.55223407e-01] [ 1.95897787e-02 1.69442766e-03 9.99806666e-01 -5.15092786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.023201008 meters Centerline goodness : 0.865344 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.36, Z:-0.51 [[ 0.99975964 0.00759849 -0.02056518 5.01886488] [-0.00745824 0.99994846 0.00688821 -0.3619268 ] [ 0.02061646 -0.00673317 0.99976479 -0.50676572] [ 0. 0. 0. 1. ]] SLAMing on 59.053201008 meters Centerline goodness : 0.869692 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.36, Z:-0.51 [[ 9.99865285e-01 7.88968037e-03 -1.43931869e-02 5.02984356e+00] [-7.93655925e-03 9.99963376e-01 -3.20281120e-03 -3.60516822e-01] [ 1.43673906e-02 3.31661212e-03 9.99891283e-01 -5.08985303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.083201008 meters Centerline goodness : 0.870287 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.36, Z:-0.51 [[ 9.99866191e-01 7.85111058e-03 -1.43513424e-02 5.02984718e+00] [-7.89824483e-03 9.99963590e-01 -3.23058636e-03 -3.59456095e-01] [ 1.43254561e-02 3.34350449e-03 9.99891795e-01 -5.08881897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.113201008 meters Centerline goodness : 0.864938 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.36, Z:-0.51 [[ 9.99824230e-01 1.04060614e-02 -1.55955988e-02 5.03413219e+00] [-1.03859313e-02 9.99945125e-01 1.37119038e-03 -3.60841169e-01] [ 1.56090117e-02 -1.20897454e-03 9.99877441e-01 -5.07895302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.143201008 meters Centerline goodness : 0.867418 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.51 [[ 0.99977463 0.01285034 -0.01689853 5.03872107] [-0.0127557 0.99990242 0.0056964 -0.36210851] [ 0.01697008 -0.00547957 0.99984098 -0.50733646] [ 0. 0. 0. 1. ]] SLAMing on 59.173201008 meters Centerline goodness : 0.869618 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.51 [[ 0.99977357 0.01261204 -0.01713929 5.03946061] [-0.01252116 0.99990703 0.00539914 -0.36042069] [ 0.01720579 -0.00518331 0.99983853 -0.50739554] [ 0. 0. 0. 1. ]] SLAMing on 59.203201008 meters Centerline goodness : 0.873001 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.51 [[ 0.99977275 0.0125778 -0.017212 5.03934056] [-0.01248683 0.99990755 0.00538252 -0.36022591] [ 0.01727811 -0.00516638 0.99983737 -0.50692397] [ 0. 0. 0. 1. ]] SLAMing on 59.233201008 meters Centerline goodness : 0.868770 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.50 [[ 0.99971176 0.01511964 -0.01864931 5.04349778] [-0.01489692 0.99981674 0.01202403 -0.36380206] [ 0.0188277 -0.01174274 0.99975378 -0.50175519] [ 0. 0. 0. 1. ]] SLAMing on 59.263201008 meters Centerline goodness : 0.867383 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.50 [[ 0.99976828 0.0116468 -0.01810345 5.04212193] [-0.01152899 0.99991177 0.00659847 -0.35981036] [ 0.0181787 -0.00638823 0.99981435 -0.5041261 ] [ 0. 0. 0. 1. ]] SLAMing on 59.293201008000004 meters Centerline goodness : 0.866561 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.50 [[ 0.99977082 0.01182133 -0.01784822 5.04106293] [-0.01170611 0.99991005 0.00654604 -0.35885132] [ 0.017924 -0.00633561 0.99981928 -0.50352022] [ 0. 0. 0. 1. ]] SLAMing on 59.323201008 meters Centerline goodness : 0.867294 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.50 [[ 0.99971198 0.01471111 -0.01896149 5.04425696] [-0.01448976 0.99982587 0.01175902 -0.36150501] [ 0.01913117 -0.01148088 0.99975106 -0.50092359] [ 0. 0. 0. 1. ]] SLAMing on 59.353201008 meters Centerline goodness : 0.870256 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-0.50 [[ 0.99970899 0.01450113 -0.0192783 5.04497317] [-0.01427998 0.99983121 0.01156012 -0.36128223] [ 0.01944268 -0.01128146 0.99974732 -0.50085322] [ 0. 0. 0. 1. ]] SLAMing on 59.383201008 meters Centerline goodness : 0.871263 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.37, Z:-0.49 [[ 0.99964176 0.01706719 -0.02061719 5.04904749] [-0.01668533 0.99968863 0.01855374 -0.36539921] [ 0.02092743 -0.01820309 0.99961527 -0.49498089] [ 0. 0. 0. 1. ]] SLAMing on 59.413201008 meters Centerline goodness : 0.872145 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.36, Z:-0.50 [[ 0.99970073 0.01338085 -0.02047918 5.04878072] [-0.01312261 0.99983333 0.0126929 -0.36114671] [ 0.02064561 -0.01242036 0.9997097 -0.49814337] [ 0. 0. 0. 1. ]] SLAMing on 59.443201008 meters Centerline goodness : 0.867916 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.36, Z:-0.50 [[ 0.99963827 0.01576406 -0.02179047 5.05342035] [-0.01536453 0.99971296 0.01838258 -0.36354716] [ 0.022074 -0.01804113 0.99959355 -0.49509608] [ 0. 0. 0. 1. ]] SLAMing on 59.473201008000004 meters Centerline goodness : 0.865824 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.36, Z:-0.50 [[ 0.99963803 0.01512673 -0.02224838 5.05552949] [-0.01473615 0.99973623 0.01761587 -0.3624101 ] [ 0.02250898 -0.01728164 0.99959726 -0.49658862] [ 0. 0. 0. 1. ]] SLAMing on 59.503201008 meters Centerline goodness : 0.865718 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.36, Z:-0.50 [[ 0.99959844 0.01466938 -0.0242441 5.06601935] [-0.01413086 0.99965287 0.02223644 -0.3639688 ] [ 0.02456188 -0.02188492 0.99945874 -0.49518443] [ 0. 0. 0. 1. ]] SLAMing on 59.533201008 meters Centerline goodness : 0.867155 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.36, Z:-0.50 [[ 0.99965196 0.01088477 -0.02403088 5.06579273] [-0.01049361 0.99981136 0.01634398 -0.36054452] [ 0.02420424 -0.01608612 0.99957761 -0.49853249] [ 0. 0. 0. 1. ]] SLAMing on 59.563201008 meters Centerline goodness : 0.864035 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.36, Z:-0.49 [[ 0.99959274 0.01367888 -0.02504462 5.06926937] [-0.01310567 0.99965162 0.02291044 -0.36413638] [ 0.02534929 -0.02257288 0.99942377 -0.49357857] [ 0. 0. 0. 1. ]] SLAMing on 59.593201008 meters Centerline goodness : 0.867599 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.36, Z:-0.50 [[ 0.99969494 0.01357491 -0.02063357 5.08459642] [-0.01336576 0.99985823 0.01024064 -0.36037509] [ 0.02076966 -0.00996174 0.99973466 -0.50204211] [ 0. 0. 0. 1. ]] SLAMing on 59.623201008 meters Centerline goodness : 0.871218 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.36, Z:-0.49 [[ 0.99960815 0.01791195 -0.02151081 5.09206632] [-0.01742716 0.99959455 0.0225173 -0.36498512] [ 0.02190542 -0.02213361 0.99951501 -0.49380368] [ 0. 0. 0. 1. ]] SLAMing on 59.653201008 meters Centerline goodness : 0.865866 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.36, Z:-0.50 [[ 0.99965366 0.02007243 -0.01701945 5.10625511] [-0.01988994 0.99974358 0.01082439 -0.35983326] [ 0.01723236 -0.01048212 0.99979656 -0.50340558] [ 0. 0. 0. 1. ]] SLAMing on 59.683201008 meters Centerline goodness : 0.865772 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.36, Z:-0.51 [[ 9.99677313e-01 2.24554564e-02 -1.18753236e-02 5.11952048e+00] [-2.24387682e-02 9.99747038e-01 1.53667651e-03 -3.56449362e-01] [ 1.19068263e-02 -1.26971301e-03 9.99928305e-01 -5.08639364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.713201008 meters Centerline goodness : 0.865917 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.36, Z:-0.51 [[ 9.99746390e-01 1.94150847e-02 -1.14109597e-02 5.11700615e+00] [-1.94442732e-02 9.99807934e-01 -2.45257254e-03 -3.55054128e-01] [ 1.13611512e-02 2.67382836e-03 9.99931885e-01 -5.08054327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.743201008 meters Centerline goodness : 0.864753 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.36, Z:-0.51 [[ 9.99742065e-01 1.94827050e-02 -1.16716251e-02 5.11706210e+00] [-1.95025110e-02 9.99808551e-01 -1.58551160e-03 -3.56618143e-01] [ 1.16385005e-02 1.81272864e-03 9.99930627e-01 -5.06360917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.773201008 meters Centerline goodness : 0.866735 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.36, Z:-0.51 [[ 9.99742339e-01 1.92918326e-02 -1.19616467e-02 5.11776553e+00] [-1.93072325e-02 9.99812910e-01 -1.17329009e-03 -3.57563943e-01] [ 1.19367739e-02 1.40393408e-03 9.99927769e-01 -5.05694874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.803201008 meters Centerline goodness : 0.865334 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.36, Z:-0.50 [[ 9.99686878e-01 2.09743191e-02 -1.36464073e-02 5.12400820e+00] [-2.09082962e-02 9.99769079e-01 4.96294639e-03 -3.60968101e-01] [ 1.37473505e-02 -4.67606925e-03 9.99894567e-01 -5.01935447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.833201008 meters Centerline goodness : 0.863730 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.36, Z:-0.51 [[ 9.99700289e-01 2.00806688e-02 -1.40035321e-02 5.12664279e+00] [-2.00344834e-02 9.99793404e-01 3.43066537e-03 -3.58345057e-01] [ 1.40695291e-02 -3.14908363e-03 9.99896060e-01 -5.05207723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.863201008 meters Centerline goodness : 0.863840 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.36, Z:-0.51 [[ 0.99962503 0.02274366 -0.01524883 5.13092306] [-0.02263318 0.9997166 0.00737915 -0.359038 ] [ 0.01541234 -0.00703125 0.9998565 -0.50519587] [ 0. 0. 0. 1. ]] SLAMing on 59.893201008 meters Centerline goodness : 0.862726 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.36, Z:-0.51 [[ 0.99963361 0.02230372 -0.01533621 5.13206137] [-0.02221322 0.99973497 0.00604608 -0.35649861] [ 0.015467 -0.00570319 0.99986411 -0.50739951] [ 0. 0. 0. 1. ]] SLAMing on 59.923201008 meters Centerline goodness : 0.862751 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-0.51 [[ 9.99638788e-01 2.20015502e-02 -1.54345717e-02 5.13281593e+00] [-2.19264280e-02 9.99746986e-01 5.01961238e-03 -3.54310706e-01] [ 1.55411058e-02 -4.67937420e-03 9.99868280e-01 -5.08794542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.953201008 meters Centerline goodness : 0.864950 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.35, Z:-0.51 [[ 9.99657267e-01 2.39115947e-02 -1.06575752e-02 5.14610172e+00] [-2.39614653e-02 9.99702408e-01 -4.57647365e-03 -3.51453268e-01] [ 1.05449728e-02 4.83027626e-03 9.99932734e-01 -5.12821414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.983201008 meters Centerline goodness : 0.867758 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.36, Z:-0.51 [[ 9.99552054e-01 2.74835993e-02 -1.18466800e-02 5.14831415e+00] [-2.74652461e-02 9.99621298e-01 1.70917570e-03 -3.55555365e-01] [ 1.18891679e-02 -1.38303810e-03 9.99928365e-01 -5.08382866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.013201008 meters Centerline goodness : 0.868790 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.36, Z:-0.51 [[ 9.99551748e-01 2.74179018e-02 -1.20233902e-02 5.14848853e+00] [-2.73978123e-02 9.99622930e-01 1.83243774e-03 -3.55505759e-01] [ 1.20690981e-02 -1.50220176e-03 9.99926037e-01 -5.07713341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.043201008000004 meters Centerline goodness : 0.868790 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.36, Z:-0.51 [[ 9.99551748e-01 2.74179018e-02 -1.20233902e-02 5.14848853e+00] [-2.73978123e-02 9.99622930e-01 1.83243774e-03 -3.55505759e-01] [ 1.20690981e-02 -1.50220176e-03 9.99926037e-01 -5.07713341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.073201008 meters Centerline goodness : 0.869377 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.36, Z:-0.51 [[ 9.99548229e-01 2.76554951e-02 -1.17691070e-02 5.14772102e+00] [-2.76342583e-02 9.99616173e-01 1.96329650e-03 -3.55456398e-01] [ 1.18188857e-02 -1.63717900e-03 9.99928814e-01 -5.07511781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.103201008 meters Centerline goodness : 0.871639 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.35, Z:-0.51 [[ 9.99552738e-01 2.74910549e-02 -1.17714218e-02 5.14811693e+00] [-2.74745210e-02 9.99621281e-01 1.56403453e-03 -3.54708605e-01] [ 1.18099607e-02 -1.23992082e-03 9.99929491e-01 -5.08255865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.133201008 meters Centerline goodness : 0.869107 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.35, Z:-0.51 [[ 9.99560724e-01 2.71632707e-02 -1.18539523e-02 5.14894828e+00] [-2.71523554e-02 9.99630723e-01 1.08081347e-03 -3.53331307e-01] [ 1.18789334e-02 -7.58475971e-04 9.99929155e-01 -5.09044513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.163201008 meters Centerline goodness : 0.871150 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.36, Z:-0.51 [[ 0.99947115 0.02980447 -0.01300435 5.15296277] [-0.02972794 0.99953978 0.00603922 -0.35521669] [ 0.01317836 -0.00564944 0.9998972 -0.50733854] [ 0. 0. 0. 1. ]] SLAMing on 60.193201008 meters Centerline goodness : 0.866424 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.35, Z:-0.51 [[ 0.99947134 0.02957373 -0.01350707 5.15431717] [-0.02949802 0.99954818 0.00577044 -0.35490657] [ 0.01367162 -0.00536896 0.99989212 -0.50767631] [ 0. 0. 0. 1. ]] SLAMing on 60.223201008000004 meters Centerline goodness : 0.867544 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99936185 0.03266419 -0.01445511 5.15707815] [-0.03251388 0.99941599 0.01051359 -0.3582254 ] [ 0.01479009 -0.01003689 0.99984024 -0.50612175] [ 0. 0. 0. 1. ]] SLAMing on 60.253201008 meters Centerline goodness : 0.867381 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99936359 0.03245235 -0.01480737 5.15801965] [-0.03230625 0.99942798 0.01000127 -0.35726732] [ 0.01512346 -0.00951654 0.99984035 -0.50661402] [ 0. 0. 0. 1. ]] SLAMing on 60.283201008 meters Centerline goodness : 0.867293 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99936455 0.0323885 -0.01488251 5.15831664] [-0.03225127 0.99943587 0.0093703 -0.35601007] [ 0.01517761 -0.00888437 0.99984534 -0.50740069] [ 0. 0. 0. 1. ]] SLAMing on 60.313201008 meters Centerline goodness : 0.867537 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99924104 0.03562783 -0.01574785 5.16095156] [-0.03540307 0.9992704 0.01432791 -0.3575991 ] [ 0.01624683 -0.01375952 0.99977333 -0.50542705] [ 0. 0. 0. 1. ]] SLAMing on 60.343201008 meters Centerline goodness : 0.868200 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99925746 0.03492795 -0.01626536 5.16293064] [-0.03470165 0.99929975 0.0139932 -0.35757137] [ 0.01674272 -0.01341837 0.99976979 -0.50603005] [ 0. 0. 0. 1. ]] SLAMing on 60.373201008 meters Centerline goodness : 0.869198 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-0.51 [[ 0.99926793 0.03435511 -0.01683266 5.16482132] [-0.03411927 0.99931825 0.01410334 -0.35876616] [ 0.01730571 -0.0135187 0.99975885 -0.50611134] [ 0. 0. 0. 1. ]] SLAMing on 60.403201008 meters Centerline goodness : 0.868209 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-0.51 [[ 0.99927967 0.03374791 -0.01735563 5.16675673] [-0.03349479 0.99933116 0.01467417 -0.36010646] [ 0.01783925 -0.01408227 0.99974169 -0.50533773] [ 0. 0. 0. 1. ]] SLAMing on 60.433201008 meters Centerline goodness : 0.869797 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-0.51 [[ 0.9994013 0.0300766 -0.01710114 5.16586053] [-0.0299137 0.99950539 0.00970286 -0.35760618] [ 0.01738451 -0.00918549 0.99980668 -0.50694014] [ 0. 0. 0. 1. ]] SLAMing on 60.463201008 meters Centerline goodness : 0.866790 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-0.51 [[ 0.99940892 0.02976078 -0.01720801 5.1662409 ] [-0.02959368 0.99951313 0.0098852 -0.35780015] [ 0.01749382 -0.00937011 0.99980306 -0.50638111] [ 0. 0. 0. 1. ]] SLAMing on 60.493201008 meters Centerline goodness : 0.869587 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99469175e-01 3.01097931e-02 -1.24405736e-02 5.18238290e+00] [-3.01140509e-02 9.99546457e-01 -1.55024686e-04 -3.55198751e-01] [ 1.24302635e-02 5.29578463e-04 9.99922601e-01 -5.12508820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.523201008 meters Centerline goodness : 0.871528 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99467965e-01 3.00341655e-02 -1.27175372e-02 5.18246071e+00] [-3.00201207e-02 9.99548457e-01 1.29387069e-03 -3.58439617e-01] [ 1.27506550e-02 -9.11400307e-04 9.99918292e-01 -5.09890640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.553201008 meters Centerline goodness : 0.870298 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99472688e-01 2.98620305e-02 -1.27516790e-02 5.18295590e+00] [-2.98503800e-02 9.99553769e-01 1.10303924e-03 -3.58168489e-01] [ 1.27789278e-02 -7.21815133e-04 9.99918086e-01 -5.10465872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.583201008 meters Centerline goodness : 0.870279 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99477860e-01 2.96587985e-02 -1.28204309e-02 5.18369712e+00] [-2.96521655e-02 9.99560028e-01 7.07191365e-04 -3.57175578e-01] [ 1.28357647e-02 -3.26668572e-04 9.99917565e-01 -5.11348987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.613201008 meters Centerline goodness : 0.871663 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99480072e-01 2.96162738e-02 -1.27460823e-02 5.18375632e+00] [-2.96139189e-02 9.99561342e-01 3.73495246e-04 -3.56841210e-01] [ 1.27515527e-02 4.16039344e-06 9.99918696e-01 -5.11943148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.643201008 meters Centerline goodness : 0.875132 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-0.51 [[ 9.99482424e-01 2.94151677e-02 -1.30242935e-02 5.18458186e+00] [-2.94124060e-02 9.99567280e-01 4.03576176e-04 -3.57192893e-01] [ 1.30305289e-02 -2.02914872e-05 9.99915099e-01 -5.11886905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.673201008 meters Centerline goodness : 0.876889 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-0.51 [[ 9.99488527e-01 2.90867019e-02 -1.32908727e-02 5.18562859e+00] [-2.90862306e-02 9.99576880e-01 2.28804226e-04 -3.56744386e-01] [ 1.32919042e-02 1.57894188e-04 9.99911646e-01 -5.12225222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.703201008 meters Centerline goodness : 0.879353 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-0.51 [[ 9.99496646e-01 2.88072856e-02 -1.32889092e-02 5.18625889e+00] [-2.88115694e-02 9.99584852e-01 -1.30987381e-04 -3.55847132e-01] [ 1.32796190e-02 5.13795778e-04 9.99911690e-01 -5.13009716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.733201008 meters Centerline goodness : 0.875793 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-0.51 [[ 9.99402710e-01 3.14908062e-02 -1.42321228e-02 5.18985139e+00] [-3.14295953e-02 9.99495819e-01 4.50434627e-03 -3.58401759e-01] [ 1.43667927e-02 -4.05434601e-03 9.99888573e-01 -5.12032512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.763201008 meters Centerline goodness : 0.876367 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-0.51 [[ 9.99412111e-01 3.10050947e-02 -1.46327116e-02 5.19134773e+00] [-3.09505969e-02 9.99513164e-01 3.93631670e-03 -3.58107851e-01] [ 1.47476337e-02 -3.48111143e-03 9.99885188e-01 -5.12987826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.793201008000004 meters Centerline goodness : 0.875694 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-0.51 [[ 9.99423151e-01 3.02933165e-02 -1.53518954e-02 5.19396432e+00] [-3.02476265e-02 9.99537314e-01 3.19973533e-03 -3.58067722e-01] [ 1.54417229e-02 -2.73353116e-03 9.99877033e-01 -5.14452713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.823201008 meters Centerline goodness : 0.876083 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 9.99430442e-01 2.98174035e-02 -1.58023221e-02 5.19560325e+00] [-2.97786832e-02 9.99552924e-01 2.68000607e-03 -3.57651523e-01] [ 1.58751681e-02 -2.20790731e-03 9.99871544e-01 -5.15348520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.853201008 meters Centerline goodness : 0.874920 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 9.99437717e-01 2.93534892e-02 -1.62056371e-02 5.19705796e+00] [-2.93210638e-02 9.99567547e-01 2.23490576e-03 -3.57396707e-01] [ 1.62642312e-02 -1.75848259e-03 9.99866182e-01 -5.16076695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.883201008 meters Centerline goodness : 0.874495 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.51 [[ 9.99442406e-01 2.90323578e-02 -1.64924099e-02 5.19765818e+00] [-2.89890269e-02 9.99575637e-01 2.86039095e-03 -3.59302712e-01] [ 1.65684551e-02 -2.38069709e-03 9.99859899e-01 -5.14880208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.913201008 meters Centerline goodness : 0.869760 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.51 [[ 9.99454025e-01 2.84663442e-02 -1.67725795e-02 5.19883447e+00] [-2.84204515e-02 9.99591650e-01 2.96825530e-03 -3.59919574e-01] [ 1.68502258e-02 -2.48995042e-03 9.99854924e-01 -5.14718243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.943201008 meters Centerline goodness : 0.868020 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 9.99465064e-01 2.80309383e-02 -1.68479242e-02 5.20021035e+00] [-2.80072910e-02 9.99606377e-01 1.63793270e-03 -3.57216943e-01] [ 1.68872052e-02 -1.16519180e-03 9.99856722e-01 -5.17245627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.973201008000004 meters Centerline goodness : 0.872910 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.35, Z:-0.52 [[ 9.99469148e-01 2.78903781e-02 -1.68389375e-02 5.20084993e+00] [-2.78833831e-02 9.99610971e-01 6.50087065e-04 -3.54624792e-01] [ 1.68505179e-02 -1.80215419e-04 9.99858004e-01 -5.18922374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.003201008 meters Centerline goodness : 0.868855 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 0.99936071 0.03100552 -0.01779983 5.2038539 ] [-0.03090484 0.9995049 0.00590352 -0.35731721] [ 0.01797406 -0.00534964 0.99982414 -0.51663806] [ 0. 0. 0. 1. ]] SLAMing on 61.033201008 meters Centerline goodness : 0.867928 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 9.99354573e-01 3.12081421e-02 -1.77901284e-02 5.20382937e+00] [-3.11167009e-02 9.99501204e-01 5.39390075e-03 -3.56295852e-01] [ 1.79495883e-02 -4.83684928e-03 9.99827194e-01 -5.17441852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.063201008 meters Centerline goodness : 0.865606 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.52 [[ 9.99350007e-01 3.14168822e-02 -1.76789027e-02 5.20332040e+00] [-3.13292479e-02 9.99495527e-01 5.21237612e-03 -3.55850856e-01] [ 1.78337407e-02 -4.65512138e-03 9.99830129e-01 -5.17520462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.093201008 meters Centerline goodness : 0.866292 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.35, Z:-0.52 [[ 9.99429102e-01 2.88810114e-02 -1.75315987e-02 5.20138613e+00] [-2.88654344e-02 9.99582655e-01 1.14096129e-03 -3.53338000e-01] [ 1.75572341e-02 -6.34252702e-04 9.99845659e-01 -5.17826701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.123201008 meters Centerline goodness : 0.865154 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.35, Z:-0.52 [[ 9.99425032e-01 2.89235718e-02 -1.76927289e-02 5.20145155e+00] [-2.89018650e-02 9.99581156e-01 1.48140074e-03 -3.53745076e-01] [ 1.77281658e-02 -9.69196119e-04 9.99842374e-01 -5.16985450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.153201008 meters Centerline goodness : 0.865210 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.35, Z:-0.52 [[ 9.99434723e-01 2.83149552e-02 -1.81244869e-02 5.20336969e+00] [-2.83004506e-02 9.99598904e-01 1.05631543e-03 -3.53728704e-01] [ 1.81471268e-02 -5.42787174e-04 9.99835180e-01 -5.18110760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.183201008 meters Centerline goodness : 0.865906 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.35, Z:-0.52 [[ 9.99450977e-01 2.74939704e-02 -1.84885295e-02 5.20572823e+00] [-2.74992308e-02 9.99621824e-01 -3.03061073e-05 -3.51963243e-01] [ 1.84807044e-02 5.38709809e-04 9.99829072e-01 -5.20375909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.213201008 meters Centerline goodness : 0.864954 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.35, Z:-0.52 [[ 9.99367931e-01 2.93562658e-02 -2.00486496e-02 5.21190268e+00] [-2.92760231e-02 9.99562184e-01 4.28430475e-03 -3.53138160e-01] [ 2.01656431e-02 -3.69465204e-03 9.99789826e-01 -5.19949955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.243201008 meters Centerline goodness : 0.862354 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.35, Z:-0.52 [[ 0.99932053 0.02979091 -0.02170219 5.21982795] [-0.02962639 0.99953011 0.00786335 -0.35425629] [ 0.02192625 -0.00721505 0.99973356 -0.52009429] [ 0. 0. 0. 1. ]] SLAMing on 61.273201008 meters Centerline goodness : 0.864260 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.36, Z:-0.52 [[ 0.99923303 0.03155297 -0.02318965 5.22545325] [-0.03124353 0.99941944 0.01358752 -0.35798311] [ 0.02360491 -0.01285257 0.99963874 -0.51667719] [ 0. 0. 0. 1. ]] SLAMing on 61.303201008 meters Centerline goodness : 0.863265 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.36, Z:-0.52 [[ 0.99923142 0.03121143 -0.02371533 5.22687189] [-0.0309 0.99943283 0.01338706 -0.35821769] [ 0.02411971 -0.01264397 0.99962912 -0.51685362] [ 0. 0. 0. 1. ]] SLAMing on 61.333201008 meters Centerline goodness : 0.863512 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.36, Z:-0.51 [[ 0.99911975 0.03397977 -0.02459862 5.2298846 ] [-0.03352745 0.99926521 0.0185726 -0.36206169] [ 0.02521164 -0.01773152 0.99952487 -0.51430114] [ 0. 0. 0. 1. ]] SLAMing on 61.363201008 meters Centerline goodness : 0.863787 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-0.52 [[ 0.99926206 0.03315018 -0.01940104 5.24329813] [-0.03303841 0.99943575 0.00605331 -0.35966512] [ 0.01959077 -0.00540787 0.99979346 -0.52033439] [ 0. 0. 0. 1. ]] SLAMing on 61.393201008 meters Centerline goodness : 0.861885 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-0.52 [[ 0.99925867 0.03322342 -0.01945056 5.2429632 ] [-0.03310764 0.99943229 0.0062443 -0.35969599] [ 0.01964697 -0.00559571 0.99979132 -0.51952925] [ 0. 0. 0. 1. ]] SLAMing on 61.423201008 meters Centerline goodness : 0.864042 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-0.52 [[ 9.99268308e-01 3.28742275e-02 -1.95482307e-02 5.24363292e+00] [-3.27674001e-02 9.99446405e-01 5.76031724e-03 -3.57944830e-01] [ 1.97267749e-02 -5.11555777e-03 9.99792321e-01 -5.20006168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.453201008 meters Centerline goodness : 0.864056 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-0.52 [[ 0.99916063 0.03537088 -0.02066233 5.24842386] [-0.03519458 0.99934143 0.00883464 -0.35589053] [ 0.02096121 -0.00810002 0.99974748 -0.52162797] [ 0. 0. 0. 1. ]] SLAMing on 61.483201008 meters Centerline goodness : 0.861680 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-0.52 [[ 0.99902718 0.03839796 -0.02168612 5.25187234] [-0.03811976 0.99918732 0.0130992 -0.35690363] [ 0.02217148 -0.01225978 0.99967901 -0.52095703] [ 0. 0. 0. 1. ]] SLAMing on 61.513201008 meters Centerline goodness : 0.865440 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-0.52 [[ 0.99902913 0.03820243 -0.02194027 5.25252217] [-0.03792993 0.99919963 0.01270498 -0.35602467] [ 0.02240807 -0.01186045 0.99967855 -0.52119731] [ 0. 0. 0. 1. ]] SLAMing on 61.543201008000004 meters Centerline goodness : 0.863216 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-0.52 [[ 0.99902277 0.03818355 -0.02226042 5.25285864] [-0.03790654 0.99920012 0.01273634 -0.3561411 ] [ 0.02272894 -0.01188007 0.99967108 -0.52056779] [ 0. 0. 0. 1. ]] SLAMing on 61.573201008 meters Centerline goodness : 0.864459 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.35, Z:-0.53 [[ 9.99115743e-01 3.83134600e-02 -1.73150608e-02 5.26607730e+00] [-3.83072663e-02 9.99265770e-01 6.89358713e-04 -3.53141009e-01] [ 1.73287592e-02 -2.54564979e-05 9.99849845e-01 -5.26738985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.603201008 meters Centerline goodness : 0.860231 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.35, Z:-0.53 [[ 9.99114412e-01 3.81890141e-02 -1.76632477e-02 5.26673483e+00] [-3.81743289e-02 9.99270412e-01 1.16794471e-03 -3.53986419e-01] [ 1.76949635e-02 -4.92627765e-04 9.99843311e-01 -5.25828946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.633201008 meters Centerline goodness : 0.862850 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.36, Z:-0.52 [[ 0.99901897 0.0400352 -0.01892836 5.27202565] [-0.03991825 0.9991817 0.00651661 -0.35727457] [ 0.01917377 -0.00575463 0.99979961 -0.5233996 ] [ 0. 0. 0. 1. ]] SLAMing on 61.663201008 meters Centerline goodness : 0.861795 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.36, Z:-0.52 [[ 9.99037869e-01 3.94117618e-02 -1.92366918e-02 5.27382066e+00] [-3.93032153e-02 9.99209384e-01 5.98865275e-03 -3.56965603e-01] [ 1.94575063e-02 -5.22682704e-03 9.99797022e-01 -5.24717083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.693201008 meters Centerline goodness : 0.854717 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.36, Z:-0.53 [[ 9.99068741e-01 3.82492933e-02 -1.99660088e-02 5.27703062e+00] [-3.81502126e-02 9.99257853e-01 5.32013387e-03 -3.55883928e-01] [ 2.01546824e-02 -4.55347197e-03 9.99786505e-01 -5.26047154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.723201008000004 meters Centerline goodness : 0.855578 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.36, Z:-0.52 [[ 0.99895269 0.04051798 -0.02125619 5.28167249] [-0.0402825 0.99912339 0.01139211 -0.36024366] [ 0.02169915 -0.01052392 0.99970915 -0.52235256] [ 0. 0. 0. 1. ]] SLAMing on 61.753201008 meters Centerline goodness : 0.857310 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.36, Z:-0.52 [[ 0.9989473 0.0404221 -0.02168765 5.28216974] [-0.04016781 0.99912046 0.01203536 -0.3621318 ] [ 0.02215507 -0.01115154 0.99969235 -0.52085349] [ 0. 0. 0. 1. ]] SLAMing on 61.783201008 meters Centerline goodness : 0.857813 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.36, Z:-0.52 [[ 9.99041763e-01 4.06478723e-02 -1.62267030e-02 5.29431777e+00] [-4.06270027e-02 9.99173079e-01 1.61383986e-03 -3.61878159e-01] [ 1.62788840e-02 -9.53051113e-04 9.99867036e-01 -5.24063671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.813201008 meters Centerline goodness : 0.857995 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.37, Z:-0.52 [[ 0.99889295 0.04388822 -0.01693221 5.29659041] [-0.04377259 0.999016 0.00714048 -0.36503893] [ 0.01722893 -0.0063914 0.99983114 -0.52124201] [ 0. 0. 0. 1. ]] SLAMing on 61.843201008 meters Centerline goodness : 0.857735 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.37, Z:-0.52 [[ 0.99874163 0.04692433 -0.01769942 5.29937271] [-0.04670966 0.99883212 0.01235367 -0.36733631] [ 0.01825843 -0.01151139 0.99976703 -0.51894637] [ 0. 0. 0. 1. ]] SLAMing on 61.873201008 meters Centerline goodness : 0.857853 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.36, Z:-0.52 [[ 0.9988769 0.04417335 -0.01713654 5.29838924] [-0.04402682 0.99899127 0.00883592 -0.36391388] [ 0.01750957 -0.00807153 0.99981412 -0.52017099] [ 0. 0. 0. 1. ]] SLAMing on 61.903201008 meters Centerline goodness : 0.858676 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.37, Z:-0.51 [[ 0.99880363 0.04531832 -0.01837271 5.30445259] [-0.0450314 0.99886155 0.01574112 -0.3672193 ] [ 0.01906516 -0.01489494 0.99970729 -0.51438271] [ 0. 0. 0. 1. ]] SLAMing on 61.933201008 meters Centerline goodness : 0.858676 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.37, Z:-0.51 [[ 0.99880363 0.04531832 -0.01837271 5.30445259] [-0.0450314 0.99886155 0.01574112 -0.3672193 ] [ 0.01906516 -0.01489494 0.99970729 -0.51438271] [ 0. 0. 0. 1. ]] SLAMing on 61.963201008 meters Centerline goodness : 0.859126 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.36, Z:-0.52 [[ 0.99896924 0.04165556 -0.01803547 5.30368583] [-0.04147837 0.99908845 0.01008982 -0.36259286] [ 0.01843933 -0.00933133 0.99978644 -0.51720185] [ 0. 0. 0. 1. ]] SLAMing on 61.993201008 meters Centerline goodness : 0.859252 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.52 [[ 0.99898708 0.0410892 -0.01834391 5.30526887] [-0.0409256 0.99911978 0.00920677 -0.36125781] [ 0.01870606 -0.00844671 0.99978935 -0.51872307] [ 0. 0. 0. 1. ]] SLAMing on 62.023201008 meters Centerline goodness : 0.861086 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.52 [[ 0.99900396 0.04049473 -0.0187423 5.30704613] [-0.04034192 0.99915011 0.00846103 -0.36041732] [ 0.019069 -0.0076965 0.99978855 -0.5200704 ] [ 0. 0. 0. 1. ]] SLAMing on 62.053201008 meters Centerline goodness : 0.859214 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.52 [[ 0.99901881 0.03977288 -0.01948155 5.30985429] [-0.03963413 0.99918643 0.00745743 -0.35974976] [ 0.0197623 -0.00667798 0.9997824 -0.52218697] [ 0. 0. 0. 1. ]] SLAMing on 62.083201008 meters Centerline goodness : 0.860659 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.52 [[ 0.9990355 0.03921128 -0.01976213 5.31152478] [-0.03908642 0.9992136 0.00666539 -0.3590786 ] [ 0.02000795 -0.00588653 0.99978249 -0.52381295] [ 0. 0. 0. 1. ]] SLAMing on 62.113201008 meters Centerline goodness : 0.856893 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.52 [[ 0.99904736 0.03872206 -0.02012392 5.31303288] [-0.03860597 0.99923574 0.00612549 -0.35860282] [ 0.02034573 -0.00534275 0.99977873 -0.52478938] [ 0. 0. 0. 1. ]] SLAMing on 62.143201008 meters Centerline goodness : 0.860811 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.36, Z:-0.53 [[ 9.99057299e-01 3.82633824e-02 -2.05043150e-02 5.31455851e+00] [-3.81539098e-02 9.99255595e-01 5.70400803e-03 -3.58720482e-01] [ 2.07073061e-02 -4.91631107e-03 9.99773493e-01 -5.25694792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.173201008 meters Centerline goodness : 0.860537 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-0.53 [[ 9.99066950e-01 3.77138612e-02 -2.10450722e-02 5.31640272e+00] [-3.76081293e-02 9.99277987e-01 5.39757079e-03 -3.59060419e-01] [ 2.12334406e-02 -4.60106879e-03 9.99763958e-01 -5.26284916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.203201008 meters Centerline goodness : 0.862242 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-0.53 [[ 9.99061273e-01 3.76273878e-02 -2.14651588e-02 5.31721442e+00] [-3.75085498e-02 9.99278816e-01 5.91246937e-03 -3.61200881e-01] [ 2.16721493e-02 -5.10179220e-03 9.99752114e-01 -5.25546357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.233201008 meters Centerline goodness : 0.861641 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-0.53 [[ 9.99066107e-01 3.72652842e-02 -2.18680684e-02 5.31837487e+00] [-3.71480984e-02 9.99293281e-01 5.74088310e-03 -3.61286284e-01] [ 2.20665495e-02 -4.92316457e-03 9.99744382e-01 -5.25683503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.263201008 meters Centerline goodness : 0.861653 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-0.53 [[ 9.99076951e-01 3.68340724e-02 -2.21019562e-02 5.31970930e+00] [-3.67295604e-02 9.99312145e-01 5.11623043e-03 -3.60558894e-01] [ 2.22752049e-02 -4.29971276e-03 9.99742631e-01 -5.26973209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.293201008000004 meters Centerline goodness : 0.858145 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.36, Z:-0.53 [[ 0.99897487 0.0389532 -0.02306208 5.32517288] [-0.03878186 0.99921702 0.00783087 -0.3593057 ] [ 0.02334906 -0.00692845 0.99970336 -0.5298373 ] [ 0. 0. 0. 1. ]] SLAMing on 62.323201008 meters Centerline goodness : 0.857693 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.36, Z:-0.53 [[ 0.99899294 0.03844494 -0.02313196 5.32657033] [-0.03830947 0.99924624 0.00627146 -0.35617062] [ 0.02335563 -0.00537898 0.99971275 -0.53254404] [ 0. 0. 0. 1. ]] SLAMing on 62.353201008 meters Centerline goodness : 0.861140 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-0.53 [[ 9.99001222e-01 3.80798618e-02 -2.33769771e-02 5.32770192e+00] [-3.79701886e-02 9.99265767e-01 5.11775156e-03 -3.54098588e-01] [ 2.35546962e-02 -4.22501183e-03 9.99713622e-01 -5.34152538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.383201008 meters Centerline goodness : 0.862531 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-0.53 [[ 9.98989667e-01 3.82280589e-02 -2.36275595e-02 5.32766851e+00] [-3.81141428e-02 9.99259584e-01 5.25316292e-03 -3.54312512e-01] [ 2.38108835e-02 -4.34731129e-03 9.99707028e-01 -5.33341528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.413201008 meters Centerline goodness : 0.865222 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-0.53 [[ 9.99048952e-01 3.66404650e-02 -2.36361430e-02 5.32410114e+00] [-3.66076837e-02 9.99328060e-01 1.81826185e-03 -3.52966536e-01] [ 2.36868829e-02 -9.51268151e-04 9.99718974e-01 -5.31834167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.443201008 meters Centerline goodness : 0.865642 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-0.53 [[ 9.99075037e-01 3.54169899e-02 -2.43866393e-02 5.32706986e+00] [-3.53947200e-02 9.99372506e-01 1.34437675e-03 -3.52940596e-01] [ 2.44189506e-02 -4.79974978e-04 9.99701698e-01 -5.32588746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.473201008000004 meters Centerline goodness : 0.866599 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-0.53 [[ 9.99102763e-01 3.39931638e-02 -2.52613145e-02 5.33072091e+00] [-3.39918717e-02 9.99421994e-01 4.80679889e-04 -3.51357559e-01] [ 2.52630531e-02 3.78430756e-04 9.99680767e-01 -5.33896843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.503201008 meters Centerline goodness : 0.863309 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-0.54 [[ 9.99118176e-01 3.32424451e-02 -2.56478303e-02 5.33278332e+00] [-3.32537300e-02 9.99446942e-01 -1.34883997e-05 -3.50654459e-01] [ 2.56331971e-02 8.66362527e-04 9.99671040e-01 -5.35092812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.533201008 meters Centerline goodness : 0.862688 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.35, Z:-0.53 [[ 9.99180048e-01 2.96057926e-02 -2.76175336e-02 5.34047418e+00] [-2.95700209e-02 9.99561261e-01 1.70284781e-03 -3.52576894e-01] [ 2.76558309e-02 -8.84800511e-04 9.99617113e-01 -5.30680927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.563201008 meters Centerline goodness : 0.862353 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-0.53 [[ 0.9991203 0.02990511 -0.02939924 5.34931573] [-0.02967659 0.99952609 0.00817891 -0.35436418] [ 0.02962989 -0.00729925 0.99953429 -0.52515614] [ 0. 0. 0. 1. ]] SLAMing on 62.593201008 meters Centerline goodness : 0.862455 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-0.53 [[ 0.99912596 0.02953551 -0.02957992 5.35015327] [-0.02932352 0.99954127 0.00757508 -0.35313551] [ 0.02979008 -0.00670107 0.99953371 -0.52588591] [ 0. 0. 0. 1. ]] SLAMing on 62.623201008 meters Centerline goodness : 0.863156 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-0.53 [[ 0.99899609 0.0326488 -0.03067344 5.35402208] [-0.03233521 0.99942018 0.01066475 -0.35199647] [ 0.03100385 -0.00966221 0.99947256 -0.52725063] [ 0. 0. 0. 1. ]] SLAMing on 62.653201008 meters Centerline goodness : 0.863710 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-0.53 [[ 0.99899847 0.03239697 -0.03086263 5.3552044 ] [-0.03212067 0.99943973 0.00940668 -0.34882023] [ 0.03115009 -0.00840593 0.99947937 -0.52927638] [ 0. 0. 0. 1. ]] SLAMing on 62.683201008 meters Centerline goodness : 0.863435 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-0.54 [[ 9.99036730e-01 3.52003848e-02 -2.62019879e-02 5.37160340e+00] [-3.51767682e-02 9.99380178e-01 1.36185861e-03 -3.44743049e-01] [ 2.62336852e-02 -4.38845520e-04 9.99655741e-01 -5.35731001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.713201008 meters Centerline goodness : 0.866219 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-0.53 [[ 0.99886281 0.03944897 -0.02677427 5.37187599] [-0.03926439 0.99920156 0.00738527 -0.34760112] [ 0.02704423 -0.0063256 0.99961422 -0.53150338] [ 0. 0. 0. 1. ]] SLAMing on 62.743201008 meters Centerline goodness : 0.866555 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98938583e-01 4.12033276e-02 -2.05910832e-02 5.38132662e+00] [-4.12435957e-02 9.99147942e-01 -1.53459810e-03 -3.46054647e-01] [ 2.05103079e-02 2.38221956e-03 9.99786803e-01 -5.32451250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.773201008 meters Centerline goodness : 0.867351 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98920615e-01 4.18262731e-02 -2.02031793e-02 5.37952756e+00] [-4.18543959e-02 9.99123249e-01 -9.70984758e-04 -3.46136022e-01] [ 2.01448535e-02 1.81552856e-03 9.99795423e-01 -5.31149744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.803201008 meters Centerline goodness : 0.867172 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98919685e-01 4.18722816e-02 -2.01537771e-02 5.37942432e+00] [-4.19033202e-02 9.99121042e-01 -1.12007375e-03 -3.45241846e-01] [ 2.00891627e-02 1.96337389e-03 9.99796265e-01 -5.31199863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.833201008 meters Centerline goodness : 0.864380 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98759993e-01 4.53331654e-02 -2.05762127e-02 5.38122446e+00] [-4.52824691e-02 9.98969946e-01 2.92334087e-03 -3.45003024e-01] [ 2.06875424e-02 -1.98797419e-03 9.99784013e-01 -5.30860172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.863201008 meters Centerline goodness : 0.864222 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98767269e-01 4.52074130e-02 -2.04995784e-02 5.38167506e+00] [-4.51744691e-02 9.98976973e-01 2.06753066e-03 -3.42644533e-01] [ 2.05720744e-02 -1.13892438e-03 9.99787724e-01 -5.32294877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.893201008 meters Centerline goodness : 0.861129 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98773105e-01 4.50762266e-02 -2.05041329e-02 5.38214533e+00] [-4.50593556e-02 9.98983486e-01 1.28429913e-03 -3.40881806e-01] [ 2.05411815e-02 -3.58820419e-04 9.99788943e-01 -5.33515129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.923201008 meters Centerline goodness : 0.865534 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98772951e-01 4.49420397e-02 -2.08039795e-02 5.38280381e+00] [-4.49306751e-02 9.98989593e-01 1.01360528e-03 -3.40190646e-01] [ 2.08285125e-02 -7.76246962e-05 9.99783060e-01 -5.33543047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.953201008 meters Centerline goodness : 0.868758 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98737145e-01 4.56017234e-02 -2.10854715e-02 5.38181728e+00] [-4.55575762e-02 9.98958410e-01 2.56960962e-03 -3.43263499e-01] [ 2.11806877e-02 -1.60576160e-03 9.99774375e-01 -5.30367747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.983201008 meters Centerline goodness : 0.871035 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98877467e-01 4.26565789e-02 -2.05966648e-02 5.37942222e+00] [-4.26972941e-02 9.99086866e-01 -1.54089300e-03 -3.42036173e-01] [ 2.05121281e-02 2.41858515e-03 9.99786679e-01 -5.30669212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.013201008 meters Centerline goodness : 0.867565 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98881198e-01 4.24838274e-02 -2.07719937e-02 5.38002641e+00] [-4.25180317e-02 9.99094970e-01 -1.20759639e-03 -3.43397201e-01] [ 2.07018911e-02 2.08942962e-03 9.99783510e-01 -5.30503419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.043201008000004 meters Centerline goodness : 0.866485 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98899168e-01 4.18773223e-02 -2.11362663e-02 5.38182280e+00] [-4.19173834e-02 9.99120020e-01 -1.45570856e-03 -3.43736745e-01] [ 2.10567056e-02 2.34008305e-03 9.99775544e-01 -5.31453249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.073201008 meters Centerline goodness : 0.865154 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98920590e-01 4.13098602e-02 -2.12403156e-02 5.38364436e+00] [-4.13665459e-02 9.99141536e-01 -2.23618510e-03 -3.42739021e-01] [ 2.11297050e-02 3.11240983e-03 9.99771898e-01 -5.33810993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.103201008 meters Centerline goodness : 0.863715 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-0.53 [[ 9.98911412e-01 4.14633895e-02 -2.13723649e-02 5.38318440e+00] [-4.14990630e-02 9.99137788e-01 -1.22814362e-03 -3.44710917e-01] [ 2.13030144e-02 2.11373980e-03 9.99770831e-01 -5.31852776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.133201008 meters Centerline goodness : 0.865378 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98907249e-01 4.13785208e-02 -2.17284538e-02 5.38345991e+00] [-4.13941564e-02 9.99142858e-01 -2.70123323e-04 -3.46680045e-01] [ 2.16986522e-02 1.16925916e-03 9.99763873e-01 -5.29928168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.163201008 meters Centerline goodness : 0.865013 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-0.53 [[ 9.98898596e-01 4.15331547e-02 -2.18310092e-02 5.38369794e+00] [-4.15506179e-02 9.99136340e-01 -3.46743166e-04 -3.46794479e-01] [ 2.17977532e-02 1.25345318e-03 9.99761615e-01 -5.30302915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.193201008 meters Centerline goodness : 0.866498 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-0.53 [[ 9.98914789e-01 4.10311862e-02 -2.20382912e-02 5.38516525e+00] [-4.10572097e-02 9.99156531e-01 -7.29473547e-04 -3.46705025e-01] [ 2.19897714e-02 1.63351266e-03 9.99756861e-01 -5.31480285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.223201008000004 meters Centerline goodness : 0.863414 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-0.53 [[ 9.98927464e-01 4.06721448e-02 -2.21291316e-02 5.38646471e+00] [-4.07121890e-02 9.99169987e-01 -1.36188559e-03 -3.45528359e-01] [ 2.20553733e-02 2.26135031e-03 9.99754193e-01 -5.33135381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.253201008 meters Centerline goodness : 0.864781 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-0.53 [[ 9.98934979e-01 4.03997849e-02 -2.22882453e-02 5.38751774e+00] [-4.04497842e-02 9.99179957e-01 -1.79686849e-03 -3.44934429e-01] [ 2.21973748e-02 2.69650950e-03 9.99749971e-01 -5.34201686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.283201008 meters Centerline goodness : 0.865887 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-0.53 [[ 9.98943242e-01 3.97405433e-02 -2.30887236e-02 5.38999769e+00] [-3.98035217e-02 9.99204937e-01 -2.27435249e-03 -3.44885897e-01] [ 2.29799826e-02 3.19096156e-03 9.99730833e-01 -5.34942581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.313201008 meters Centerline goodness : 0.867825 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-0.54 [[ 9.98950313e-01 3.92981935e-02 -2.35355729e-02 5.39163983e+00] [-3.93693959e-02 9.99221421e-01 -2.56945999e-03 -3.44955037e-01] [ 2.34162735e-02 3.49334415e-03 9.99719698e-01 -5.35649499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.343201008 meters Centerline goodness : 0.868584 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-0.54 [[ 9.98967161e-01 3.84918561e-02 -2.41451550e-02 5.39427860e+00] [-3.85836124e-02 9.99249774e-01 -3.34573118e-03 -3.44078434e-01] [ 2.39982573e-02 4.27388288e-03 9.99702865e-01 -5.37200938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.373201008 meters Centerline goodness : 0.868156 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.34, Z:-0.54 [[ 9.98973971e-01 3.80306768e-02 -2.45900969e-02 5.39673141e+00] [-3.81405453e-02 9.99264321e-01 -4.01436254e-03 -3.44224494e-01] [ 2.44193376e-02 4.94812339e-03 9.99689558e-01 -5.39569523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.403201008 meters Centerline goodness : 0.867415 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.99000688e-01 3.67230591e-02 -2.54763222e-02 5.40056385e+00] [-3.68488638e-02 9.99310780e-01 -4.48618458e-03 -3.45187624e-01] [ 2.52940170e-02 5.42047501e-03 9.99665360e-01 -5.41106936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.433201008 meters Centerline goodness : 0.868042 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.99007307e-01 3.61841473e-02 -2.59828534e-02 5.40246050e+00] [-3.63090392e-02 9.99331138e-01 -4.35095789e-03 -3.46035098e-01] [ 2.58080388e-02 5.29005116e-03 9.99652920e-01 -5.41369852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.463201008 meters Centerline goodness : 0.867069 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.99006264e-01 3.60295081e-02 -2.62366057e-02 5.40317006e+00] [-3.61411519e-02 9.99339495e-01 -3.79342734e-03 -3.47015323e-01] [ 2.60826010e-02 4.73787883e-03 9.99648563e-01 -5.40617427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.493201008 meters Centerline goodness : 0.867939 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.99009275e-01 3.58482496e-02 -2.63698840e-02 5.40389937e+00] [-3.59497068e-02 9.99347873e-01 -3.38334901e-03 -3.47927162e-01] [ 2.62314004e-02 4.32798664e-03 9.99646529e-01 -5.40438740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.523201008 meters Centerline goodness : 0.869762 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.99002458e-01 3.60142795e-02 -2.64018931e-02 5.40354770e+00] [-3.61046833e-02 9.99343644e-01 -2.95532157e-03 -3.48342637e-01] [ 2.62781303e-02 3.90560551e-03 9.99647041e-01 -5.39520685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.553201008 meters Centerline goodness : 0.867857 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-0.54 [[ 9.98993940e-01 3.63001862e-02 -2.63325739e-02 5.40287307e+00] [-3.63741267e-02 9.99335516e-01 -2.33425371e-03 -3.49220258e-01] [ 2.62303425e-02 3.28972969e-03 9.99650512e-01 -5.38346990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.583201008 meters Centerline goodness : 0.870636 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-0.53 [[ 9.98869206e-01 3.87765582e-02 -2.75079715e-02 5.40687395e+00] [-3.86372326e-02 9.99237731e-01 5.57867910e-03 -3.54921505e-01] [ 2.77033250e-02 -4.50953887e-03 9.99606017e-01 -5.31079368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.613201008 meters Centerline goodness : 0.871242 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-0.53 [[ 9.99034526e-01 3.80525486e-02 -2.19549380e-02 5.42030931e+00] [-3.81734167e-02 9.99258051e-01 -5.11255086e-03 -3.53982698e-01] [ 2.17441030e-02 5.94570982e-03 9.99745889e-01 -5.34686676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.643201008 meters Centerline goodness : 0.873362 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-0.53 [[ 9.99028595e-01 3.81832392e-02 -2.19978714e-02 5.42009001e+00] [-3.82897724e-02 9.99256805e-01 -4.44206315e-03 -3.54581231e-01] [ 2.18119103e-02 5.28004160e-03 9.99748149e-01 -5.33484529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.673201008 meters Centerline goodness : 0.874013 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-0.53 [[ 9.98891408e-01 4.11023286e-02 -2.29467395e-02 5.42338955e+00] [-4.11007987e-02 9.99154860e-01 5.38493829e-04 -3.56874437e-01] [ 2.29494797e-02 4.05232462e-04 9.99736544e-01 -5.31745418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.703201008 meters Centerline goodness : 0.873511 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.54 [[ 9.98915114e-01 4.05697713e-02 -2.28623711e-02 5.42510096e+00] [-4.06033605e-02 9.99174836e-01 -1.00671575e-03 -3.53498961e-01] [ 2.28026637e-02 1.93391268e-03 9.99738115e-01 -5.35272962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.733201008 meters Centerline goodness : 0.871657 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.54 [[ 9.98927593e-01 4.02316902e-02 -2.29145233e-02 5.42613327e+00] [-4.02800269e-02 9.99187065e-01 -1.65161173e-03 -3.51980887e-01] [ 2.28294482e-02 2.57283815e-03 9.99736064e-01 -5.36664193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.763201008 meters Centerline goodness : 0.870389 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.54 [[ 9.98931506e-01 4.01138381e-02 -2.29505330e-02 5.42660624e+00] [-4.01695936e-02 9.99190928e-01 -1.97335295e-03 -3.51045623e-01] [ 2.28528056e-02 2.89315802e-03 9.99734654e-01 -5.37312225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.793201008000004 meters Centerline goodness : 0.870108 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.54 [[ 9.98929745e-01 4.02357341e-02 -2.28133591e-02 5.42626314e+00] [-4.02957775e-02 9.99185421e-01 -2.17818959e-03 -3.50006398e-01] [ 2.27071347e-02 3.09514041e-03 9.99737369e-01 -5.37485376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.823201008 meters Centerline goodness : 0.870108 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.54 [[ 9.98929745e-01 4.02357341e-02 -2.28133591e-02 5.42626314e+00] [-4.02957775e-02 9.99185421e-01 -2.17818959e-03 -3.50006398e-01] [ 2.27071347e-02 3.09514041e-03 9.99737369e-01 -5.37485376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.853201008 meters Centerline goodness : 0.869585 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.53 [[ 9.98769436e-01 4.36679849e-02 -2.35100298e-02 5.42801024e+00] [-4.35923496e-02 9.99042475e-01 3.72033628e-03 -3.53643079e-01] [ 2.36499780e-02 -2.69090072e-03 9.99716679e-01 -5.33708361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.883201008 meters Centerline goodness : 0.871113 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.53 [[ 9.98760557e-01 4.38692634e-02 -2.35124824e-02 5.42752429e+00] [-4.37889853e-02 9.99033117e-01 3.91858532e-03 -3.54097945e-01] [ 2.36616540e-02 -2.88414071e-03 9.99715864e-01 -5.33088213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.913201008 meters Centerline goodness : 0.869482 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.35, Z:-0.53 [[ 9.98757044e-01 4.39016256e-02 -2.36011411e-02 5.42745606e+00] [-4.38174865e-02 9.99031259e-01 4.07069443e-03 -3.54103306e-01] [ 2.37569878e-02 -3.03149205e-03 9.99713167e-01 -5.32498048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.943201008 meters Centerline goodness : 0.873161 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.35, Z:-0.54 [[ 9.98789696e-01 4.53404953e-02 -1.90625927e-02 5.44406704e+00] [-4.54336478e-02 9.98957304e-01 -4.48209234e-03 -3.51763423e-01] [ 1.88394959e-02 5.34275077e-03 9.99808246e-01 -5.37714916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.973201008000004 meters Centerline goodness : 0.871483 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.35, Z:-0.54 [[ 9.98788147e-01 4.54275719e-02 -1.89360438e-02 5.44395313e+00] [-4.55215884e-02 9.98952931e-01 -4.56361438e-03 -3.51345481e-01] [ 1.87089026e-02 5.42008274e-03 9.99810282e-01 -5.38077637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00320100799999 meters Centerline goodness : 0.869175 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-0.54 [[ 9.98643039e-01 4.82069110e-02 -1.97021534e-02 5.44733272e+00] [-4.82198902e-02 9.98836728e-01 -1.83962846e-04 -3.53291532e-01] [ 1.96703661e-02 1.13374889e-03 9.99805877e-01 -5.37623883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03320100799999 meters Centerline goodness : 0.870536 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-0.54 [[ 9.98658488e-01 4.79665025e-02 -1.95048517e-02 5.44769714e+00] [-4.79862944e-02 9.98847844e-01 -5.47690214e-04 -3.52521171e-01] [ 1.94561083e-02 1.48292104e-03 9.99809612e-01 -5.38761468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.063201008 meters Centerline goodness : 0.867619 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-0.54 [[ 9.98670569e-01 4.75321424e-02 -1.99446541e-02 5.44915816e+00] [-4.75507000e-02 9.98868721e-01 -4.56980993e-04 -3.53376096e-01] [ 1.99003699e-02 1.40475573e-03 9.99800981e-01 -5.38838095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.093201008 meters Centerline goodness : 0.866071 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-0.54 [[ 9.98681935e-01 4.71070937e-02 -2.03792544e-02 5.45062649e+00] [-4.71264267e-02 9.98888823e-01 -4.69187484e-04 -3.54199158e-01] [ 2.03345073e-02 1.42897050e-03 9.99792211e-01 -5.39093688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.123201008 meters Centerline goodness : 0.868015 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-0.54 [[ 9.98689562e-01 4.68203622e-02 -2.06642652e-02 5.45179192e+00] [-4.68443098e-02 9.98901974e-01 -6.76094877e-04 -3.54680174e-01] [ 2.06099203e-02 1.64321214e-03 9.99786243e-01 -5.39813290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.153201008 meters Centerline goodness : 0.868007 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.36, Z:-0.54 [[ 9.98687700e-01 4.67516387e-02 -2.09084310e-02 5.45249893e+00] [-4.67737670e-02 9.98905346e-01 -5.70292651e-04 -3.55805406e-01] [ 2.08588814e-02 1.54751034e-03 9.99781232e-01 -5.40002895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.183201008 meters Centerline goodness : 0.870120 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.36, Z:-0.54 [[ 9.98693332e-01 4.64222510e-02 -2.13682634e-02 5.45357536e+00] [-4.64382839e-02 9.98921129e-01 -2.54448823e-04 -3.57323610e-01] [ 2.13333977e-02 1.24642182e-03 9.99771640e-01 -5.39437137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.213201008 meters Centerline goodness : 0.866497 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.36, Z:-0.54 [[ 9.98698910e-01 4.61887924e-02 -2.16121060e-02 5.45432758e+00] [-4.61998376e-02 9.98932217e-01 -1.17823759e-05 -3.58481913e-01] [ 2.15884848e-02 1.01024283e-03 9.99766431e-01 -5.39226440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.243201008 meters Centerline goodness : 0.865233 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98758395e-01 4.45056906e-02 -2.23810406e-02 5.45814908e+00] [-4.45196161e-02 9.99008503e-01 -1.24079099e-04 -3.59847258e-01] [ 2.23533277e-02 1.12032038e-03 9.99749505e-01 -5.40032286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27320100799999 meters Centerline goodness : 0.865892 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98949353e-01 4.00401374e-02 -2.22930102e-02 5.45846920e+00] [-4.01589580e-02 9.99181250e-01 -4.90783815e-03 -3.58146055e-01] [ 2.20782473e-02 5.79794580e-03 9.99739433e-01 -5.41525677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30320100799999 meters Centerline goodness : 0.863872 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98959089e-01 3.94665912e-02 -2.28719603e-02 5.46012479e+00] [-3.95704667e-02 9.99208343e-01 -4.10678195e-03 -3.60198499e-01] [ 2.26917728e-02 5.00756130e-03 9.99729967e-01 -5.40261084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33320100799999 meters Centerline goodness : 0.863743 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98813831e-01 4.24216617e-02 -2.39025891e-02 5.46319400e+00] [-4.23792720e-02 9.99098999e-01 2.27744454e-03 -3.64510716e-01] [ 2.39776658e-02 -1.26176879e-03 9.99711698e-01 -5.35832932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36320100799999 meters Centerline goodness : 0.863551 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98767464e-01 4.39335485e-02 -2.30953871e-02 5.45997351e+00] [-4.38927537e-02 9.99033668e-01 2.27057512e-03 -3.61679689e-01] [ 2.31728237e-02 -1.25405642e-03 9.99730688e-01 -5.35528402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39320100799999 meters Centerline goodness : 0.868463 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98761212e-01 4.40950890e-02 -2.30578467e-02 5.45983034e+00] [-4.40678975e-02 9.99027115e-01 1.68631481e-03 -3.59713500e-01] [ 2.31097722e-02 -6.68114997e-04 9.99732710e-01 -5.36175744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42320100799999 meters Centerline goodness : 0.863927 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98758544e-01 4.41391754e-02 -2.30890487e-02 5.45987735e+00] [-4.41159790e-02 9.99025270e-01 1.51329959e-03 -3.58967764e-01] [ 2.31333389e-02 -4.92824913e-04 9.99732267e-01 -5.36244432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.453201008 meters Centerline goodness : 0.866793 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98761825e-01 4.40183646e-02 -2.31775938e-02 5.46049954e+00] [-4.40112231e-02 9.99030701e-01 8.18383525e-04 -3.57652700e-01] [ 2.31911517e-02 2.02704031e-04 9.99731029e-01 -5.37394514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.483201008 meters Centerline goodness : 0.870323 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.36, Z:-0.54 [[ 9.98611035e-01 4.68832025e-02 -2.40409386e-02 5.46448224e+00] [-4.68072845e-02 9.98897044e-01 3.71123595e-03 -3.56336027e-01] [ 2.41884171e-02 -2.58079012e-03 9.99704086e-01 -5.39366290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.513201008 meters Centerline goodness : 0.865056 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98627817e-01 4.64999665e-02 -2.40880854e-02 5.46560677e+00] [-4.64526719e-02 9.98917314e-01 2.51955744e-03 -3.53581705e-01] [ 2.41791649e-02 -1.39714422e-03 9.99706665e-01 -5.41422709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.543201008 meters Centerline goodness : 0.866621 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98621511e-01 4.67226257e-02 -2.39180606e-02 5.46513353e+00] [-4.66885119e-02 9.98907528e-01 1.98302990e-03 -3.51534469e-01] [ 2.39845832e-02 -8.63597657e-04 9.99711955e-01 -5.42007629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.573201008 meters Centerline goodness : 0.866171 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98622277e-01 4.67065874e-02 -2.39174165e-02 5.46512918e+00] [-4.66753826e-02 9.98908376e-01 1.86159091e-03 -3.51253684e-01] [ 2.39782563e-02 -7.42671583e-04 9.99712204e-01 -5.42031353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.603201008 meters Centerline goodness : 0.865246 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98620069e-01 4.67448967e-02 -2.39347697e-02 5.46515200e+00] [-4.67195302e-02 9.98906736e-01 1.61822101e-03 -3.50469354e-01] [ 2.39842462e-02 -4.97766780e-04 9.99712213e-01 -5.42215657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.633201008 meters Centerline goodness : 0.867271 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98626529e-01 4.65838078e-02 -2.39792655e-02 5.46559522e+00] [-4.65690128e-02 9.98914384e-01 1.17535096e-03 -3.49526012e-01] [ 2.40079855e-02 -5.70459312e-05 9.99711765e-01 -5.42876158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66320100799999 meters Centerline goodness : 0.865496 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98627988e-01 4.65762567e-02 -2.39331229e-02 5.46558199e+00] [-4.65625005e-02 9.98914737e-01 1.13202939e-03 -3.49389492e-01] [ 2.39598748e-02 -1.60901849e-05 9.99712921e-01 -5.42956272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69320100799999 meters Centerline goodness : 0.868726 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98622590e-01 4.65397190e-02 -2.42276153e-02 5.46590675e+00] [-4.65078212e-02 9.98916159e-01 1.87870347e-03 -3.51211576e-01] [ 2.42887908e-02 -7.49342122e-04 9.99704703e-01 -5.41615978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72320100799999 meters Centerline goodness : 0.869062 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98620654e-01 4.64799257e-02 -2.44214265e-02 5.46607511e+00] [-4.64334088e-02 9.98918337e-01 2.46869560e-03 -3.53036838e-01] [ 2.45097555e-02 -1.33132033e-03 9.99698704e-01 -5.40556822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75320100799999 meters Centerline goodness : 0.867090 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98627896e-01 4.61590363e-02 -2.47319312e-02 5.46705368e+00] [-4.61060221e-02 9.98932876e-01 2.70981743e-03 -3.53898999e-01] [ 2.48306217e-02 -1.56580832e-03 9.99690446e-01 -5.40204890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78320100799999 meters Centerline goodness : 0.863769 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.36, Z:-0.54 [[ 0.99849954 0.0486095 -0.02521472 5.470113 ] [-0.04843957 0.99879939 0.00730713 -0.35701446] [ 0.02553965 -0.00607477 0.99965535 -0.53913164] [ 0. 0. 0. 1. ]] SLAMing on 64.813201008 meters Centerline goodness : 0.867938 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.36, Z:-0.54 [[ 0.9985052 0.04836332 -0.02546287 5.47102284] [-0.04820137 0.99881355 0.00693627 -0.35669964] [ 0.02576812 -0.00569856 0.9996517 -0.5397393 ] [ 0. 0. 0. 1. ]] SLAMing on 64.843201008 meters Centerline goodness : 0.864922 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.36, Z:-0.54 [[ 9.98513663e-01 4.80252089e-02 -2.57690620e-02 5.47223973e+00] [-4.78752234e-02 9.98832779e-01 6.40645146e-03 -3.56334384e-01] [ 2.60466550e-02 -5.16322971e-03 9.99647394e-01 -5.40702954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.873201008 meters Centerline goodness : 0.864511 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98628925e-01 4.54769204e-02 -2.59252717e-02 5.47125361e+00] [-4.54334392e-02 9.98964803e-01 2.26405477e-03 -3.53602525e-01] [ 2.60013962e-02 -1.08307632e-03 9.99661320e-01 -5.41680274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.903201008 meters Centerline goodness : 0.864437 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98633289e-01 4.53357534e-02 -2.60043039e-02 5.47170961e+00] [-4.53037458e-02 9.98971602e-01 1.81898849e-03 -3.53005652e-01] [ 2.60600263e-02 -6.38410084e-04 9.99660176e-01 -5.42370278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.933201008 meters Centerline goodness : 0.866521 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.35, Z:-0.54 [[ 9.98643612e-01 4.48400869e-02 -2.64632334e-02 5.47348161e+00] [-4.48209425e-02 9.98994169e-01 1.31644954e-03 -3.52064985e-01] [ 2.64956456e-02 -1.28556864e-04 9.99648920e-01 -5.43224213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.963201008 meters Centerline goodness : 0.865974 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98660339e-01 4.43002003e-02 -2.67398489e-02 5.47514022e+00] [-4.42979335e-02 9.99018135e-01 6.77423529e-04 -3.51220688e-01] [ 2.67436040e-02 5.08004036e-04 9.99642197e-01 -5.44677075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.993201008 meters Centerline goodness : 0.866765 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98681437e-01 4.36072699e-02 -2.70886364e-02 5.47718959e+00] [-4.36252209e-02 9.99047964e-01 -7.17650293e-05 -3.50330107e-01] [ 2.70597176e-02 1.25341815e-03 9.99633033e-01 -5.46371927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02320100799999 meters Centerline goodness : 0.864099 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98689209e-01 4.30504916e-02 -2.76860772e-02 5.47870346e+00] [-4.30599841e-02 9.99072457e-01 2.53517820e-04 -3.51494078e-01] [ 2.76713113e-02 9.38976535e-04 9.99616635e-01 -5.45499984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05320100799999 meters Centerline goodness : 0.861441 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98679182e-01 4.31849406e-02 -2.78379530e-02 5.47847425e+00] [-4.31788124e-02 9.99067022e-01 8.21504732e-04 -3.52857874e-01] [ 2.78474575e-02 3.81590077e-04 9.99612112e-01 -5.44291438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08320100799999 meters Centerline goodness : 0.866752 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98674185e-01 4.31748378e-02 -2.80322251e-02 5.47867286e+00] [-4.31625453e-02 9.99067518e-01 1.04373496e-03 -3.53108242e-01] [ 2.80511486e-02 1.67591029e-04 9.99606475e-01 -5.43635567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11320100799999 meters Centerline goodness : 0.860754 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98677519e-01 4.34313090e-02 -2.75124371e-02 5.47758475e+00] [-4.34249404e-02 9.99056348e-01 8.29194545e-04 -3.51311644e-01] [ 2.75224880e-02 3.66627992e-04 9.99621117e-01 -5.43976522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14320100799999 meters Centerline goodness : 0.863640 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98695362e-01 4.25372642e-02 -2.82516464e-02 5.48004689e+00] [-4.25275567e-02 9.99094848e-01 9.44650701e-04 -3.52318793e-01] [ 2.82662572e-02 2.58055218e-04 9.99600396e-01 -5.43759577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17320100799999 meters Centerline goodness : 0.864634 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98698408e-01 4.22287699e-02 -2.86045643e-02 5.48108994e+00] [-4.22150024e-02 9.99107960e-01 1.08529432e-03 -3.53331012e-01] [ 2.86248785e-02 1.23660043e-04 9.99590217e-01 -5.43632332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.203201008 meters Centerline goodness : 0.867613 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.54 [[ 9.98697536e-01 4.18764918e-02 -2.91477558e-02 5.48289337e+00] [-4.18765907e-02 9.99122606e-01 6.07308524e-04 -3.53513379e-01] [ 2.91476137e-02 6.14091114e-04 9.99574929e-01 -5.44722442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.233201008 meters Centerline goodness : 0.866114 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98705669e-01 4.15259319e-02 -2.93697799e-02 5.48398939e+00] [-4.15377475e-02 9.99136914e-01 2.07952099e-04 -3.53374350e-01] [ 2.93530667e-02 1.01227156e-03 9.99568593e-01 -5.45593857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.263201008 meters Centerline goodness : 0.864586 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98704188e-01 4.16158398e-02 -2.92927888e-02 5.48372965e+00] [-4.16271510e-02 9.99133189e-01 2.23835182e-04 -3.53288441e-01] [ 2.92767126e-02 9.95830210e-04 9.99570849e-01 -5.45502056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.293201008 meters Centerline goodness : 0.864713 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98705407e-01 4.15324020e-02 -2.93695373e-02 5.48404271e+00] [-4.15449930e-02 9.99136618e-01 1.81634141e-04 -3.53152691e-01] [ 2.93517238e-02 1.03875822e-03 9.99568606e-01 -5.45634967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.323201008 meters Centerline goodness : 0.866117 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.35, Z:-0.55 [[ 9.98700200e-01 4.15267881e-02 -2.95539609e-02 5.48432639e+00] [-4.15450980e-02 9.99136630e-01 -5.50196647e-06 -3.52648424e-01] [ 2.95282164e-02 1.23331702e-03 9.99563186e-01 -5.45641894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.353201008 meters Centerline goodness : 0.865036 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98533796e-01 4.46190068e-02 -3.06496635e-02 5.48746293e+00] [-4.44884239e-02 9.98997737e-01 4.92964714e-03 -3.54746478e-01] [ 3.08389004e-02 -3.55886405e-03 9.99518032e-01 -5.43494038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.383201008 meters Centerline goodness : 0.861187 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98535567e-01 4.46379442e-02 -3.05642801e-02 5.48730948e+00] [-4.45150061e-02 9.98997701e-01 4.69131877e-03 -3.53842847e-01] [ 3.07430564e-02 -3.32387953e-03 9.99521794e-01 -5.43734969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41320100799999 meters Centerline goodness : 0.862987 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98536978e-01 4.44713643e-02 -3.07603979e-02 5.48758638e+00] [-4.43469182e-02 9.99005058e-01 4.71646329e-03 -3.53689948e-01] [ 3.09395406e-02 -3.34543415e-03 9.99515659e-01 -5.43152995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44320100799999 meters Centerline goodness : 0.859796 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98541779e-01 4.41860867e-02 -3.10146046e-02 5.48841400e+00] [-4.40616920e-02 9.99017835e-01 4.68322381e-03 -3.53310661e-01] [ 3.11910765e-02 -3.30983867e-03 9.99507960e-01 -5.43005795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47320100799999 meters Centerline goodness : 0.861275 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98559828e-01 4.37027959e-02 -3.11180952e-02 5.48950475e+00] [-4.35915056e-02 9.99040415e-01 4.24617995e-03 -3.52723563e-01] [ 3.12738046e-02 -2.88358010e-03 9.99506695e-01 -5.43940546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50320100799999 meters Centerline goodness : 0.858722 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-0.54 [[ 9.98570299e-01 4.32947228e-02 -3.13516269e-02 5.49061158e+00] [-4.31901695e-02 9.99058843e-01 4.00474177e-03 -3.52295238e-01] [ 3.14955043e-02 -2.64493411e-03 9.99500394e-01 -5.44357993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53320100799999 meters Centerline goodness : 0.858333 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.35, Z:-0.55 [[ 0.99876786 0.04253781 -0.02555969 5.50273706] [-0.0427135 0.99906707 -0.00636753 -0.35257297] [ 0.02526499 0.00745143 0.99965302 -0.54643661] [ 0. 0. 0. 1. ]] SLAMing on 65.563201008 meters Centerline goodness : 0.859518 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.36, Z:-0.54 [[ 9.98745561e-01 4.29864323e-02 -2.56801568e-02 5.50177082e+00] [-4.31202569e-02 9.99058927e-01 -4.68012065e-03 -3.55940080e-01] [ 2.54548082e-02 5.78158468e-03 9.99659255e-01 -5.43481533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.593201008 meters Centerline goodness : 0.860917 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.36, Z:-0.54 [[ 9.98651428e-01 4.43921620e-02 -2.69195427e-02 5.50825296e+00] [-4.43355317e-02 9.99013056e-01 2.69719871e-03 -3.60561584e-01] [ 2.70127091e-02 -1.50006911e-03 9.99633965e-01 -5.37564390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.623201008 meters Centerline goodness : 0.863627 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.36, Z:-0.54 [[ 9.98667586e-01 4.38705012e-02 -2.71741051e-02 5.50985742e+00] [-4.38290549e-02 9.99036797e-01 2.11924668e-03 -3.59634604e-01] [ 2.72409033e-02 -9.25407623e-04 9.99628469e-01 -5.38902688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.653201008 meters Centerline goodness : 0.863685 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.36, Z:-0.54 [[ 9.98702697e-01 4.27331928e-02 -2.76910948e-02 5.51356004e+00] [-4.27427933e-02 9.99086079e-01 2.45389971e-04 -3.57025736e-01] [ 2.76762736e-02 9.38523112e-04 9.99616498e-01 -5.43232743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.683201008 meters Centerline goodness : 0.861111 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-0.54 [[ 9.98718962e-01 4.18687450e-02 -2.84155408e-02 5.51644546e+00] [-4.19024792e-02 9.99121530e-01 -5.92493801e-04 -3.55955077e-01] [ 2.83657716e-02 1.78241640e-03 9.99596021e-01 -5.44783235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.713201008 meters Centerline goodness : 0.861111 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-0.54 [[ 9.98718962e-01 4.18687450e-02 -2.84155408e-02 5.51644546e+00] [-4.19024792e-02 9.99121530e-01 -5.92493801e-04 -3.55955077e-01] [ 2.83657716e-02 1.78241640e-03 9.99596021e-01 -5.44783235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.743201008 meters Centerline goodness : 0.863659 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-0.55 [[ 9.98725984e-01 4.12891803e-02 -2.90105710e-02 5.51841932e+00] [-4.13295194e-02 9.99145256e-01 -7.91996867e-04 -3.56537580e-01] [ 2.89530735e-02 1.98998081e-03 9.99578791e-01 -5.45265387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77320100799999 meters Centerline goodness : 0.865930 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-0.55 [[ 9.98722987e-01 4.10131150e-02 -2.95011909e-02 5.51990697e+00] [-4.10526674e-02 9.99156713e-01 -7.36019021e-04 -3.56905008e-01] [ 2.94461265e-02 1.94618169e-03 9.99564474e-01 -5.45319662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80320100799999 meters Centerline goodness : 0.868276 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-0.55 [[ 9.98732607e-01 4.02229971e-02 -3.02537703e-02 5.52256737e+00] [-4.02716795e-02 9.99188265e-01 -1.00128829e-03 -3.57277443e-01] [ 3.01889374e-02 2.21838941e-03 9.99541748e-01 -5.45968516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83320100799999 meters Centerline goodness : 0.869385 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.36, Z:-0.55 [[ 9.98788060e-01 3.74008594e-02 -3.19935515e-02 5.52982351e+00] [-3.74722866e-02 9.99296329e-01 -1.63567073e-03 -3.57847142e-01] [ 3.19098631e-02 2.83255993e-03 9.99486737e-01 -5.47183585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86320100799999 meters Centerline goodness : 0.869005 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.36, Z:-0.55 [[ 9.98788310e-01 3.70514124e-02 -3.23898837e-02 5.53117875e+00] [-3.71213078e-02 9.99309551e-01 -1.55906786e-03 -3.58024915e-01] [ 3.23097545e-02 2.75953360e-03 9.99474094e-01 -5.47195529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89320100799999 meters Centerline goodness : 0.869213 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.36, Z:-0.54 [[ 9.98656416e-01 3.95820555e-02 -3.34458217e-02 5.53510649e+00] [-3.94538167e-02 9.99211326e-01 4.48579097e-03 -3.61374587e-01] [ 3.35970007e-02 -3.16019862e-03 9.99430465e-01 -5.43246866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92320100799999 meters Centerline goodness : 0.865939 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.36, Z:-0.54 [[ 9.98653112e-01 3.95267331e-02 -3.36095140e-02 5.53531062e+00] [-3.93987803e-02 9.99213608e-01 4.46108872e-03 -3.61401363e-01] [ 3.37594161e-02 -3.13090627e-03 9.99425084e-01 -5.42979998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.953201008 meters Centerline goodness : 0.868275 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.36, Z:-0.55 [[ 9.98689906e-01 4.29929508e-02 -2.77502766e-02 5.54793301e+00] [-4.30791953e-02 9.99068489e-01 -2.51727613e-03 -3.59301808e-01] [ 2.76162018e-02 3.70943785e-03 9.99611717e-01 -5.46392510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.983201008 meters Centerline goodness : 0.868640 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.36, Z:-0.55 [[ 0.99869623 0.04592835 -0.02228063 5.56287561] [-0.0461455 0.99889114 -0.00933169 -0.3568499 ] [ 0.02182733 0.01034767 0.9997082 -0.5504609 ] [ 0. 0. 0. 1. ]] SLAMing on 66.013201008 meters Centerline goodness : 0.869956 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.36, Z:-0.55 [[ 0.99866529 0.04693238 -0.02156354 5.55993264] [-0.04712786 0.99885142 -0.00864852 -0.35630645] [ 0.02113288 0.00965322 0.99973007 -0.54876721] [ 0. 0. 0. 1. ]] SLAMing on 66.043201008 meters Centerline goodness : 0.870028 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.36, Z:-0.55 [[ 0.99864935 0.0473725 -0.02133836 5.55859691] [-0.04755744 0.99883448 -0.00824452 -0.3555261 ] [ 0.02092293 0.00924818 0.99973832 -0.54743331] [ 0. 0. 0. 1. ]] SLAMing on 66.073201008 meters Centerline goodness : 0.868701 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.36, Z:-0.54 [[ 9.98467135e-01 5.08307611e-02 -2.19000877e-02 5.56025640e+00] [-5.09074936e-02 9.98698986e-01 -2.96025083e-03 -3.58490861e-01] [ 2.17211236e-02 4.07059174e-03 9.99755782e-01 -5.44865429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.103201008 meters Centerline goodness : 0.870032 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.36, Z:-0.54 [[ 9.98466555e-01 5.06570892e-02 -2.23248078e-02 5.56117186e+00] [-5.07316131e-02 9.98708442e-01 -2.78418533e-03 -3.59130483e-01] [ 2.21549352e-02 3.91248944e-03 9.99746894e-01 -5.44494728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.133201008 meters Centerline goodness : 0.871290 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.36, Z:-0.54 [[ 9.98538540e-01 4.85732999e-02 -2.36942762e-02 5.56631547e+00] [-4.86534679e-02 9.98811742e-01 -2.81842298e-03 -3.61433822e-01] [ 2.35292211e-02 3.96711267e-03 9.99715278e-01 -5.44637734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16320100799999 meters Centerline goodness : 0.875824 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.36, Z:-0.55 [[ 9.98563870e-01 4.76238671e-02 -2.45390359e-02 5.56942087e+00] [-4.77072883e-02 9.98857364e-01 -2.82505539e-03 -3.62482046e-01] [ 2.43764567e-02 3.99168910e-03 9.99694881e-01 -5.45108614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19320100799999 meters Centerline goodness : 0.880285 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.36, Z:-0.55 [[ 9.98586410e-01 4.68101155e-02 -2.51792411e-02 5.57226206e+00] [-4.69050336e-02 9.98894253e-01 -3.19206575e-03 -3.63537117e-01] [ 2.50019783e-02 4.36858663e-03 9.99677856e-01 -5.46676328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22320100799999 meters Centerline goodness : 0.878427 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.36, Z:-0.55 [[ 9.98610621e-01 4.59557500e-02 -2.57855893e-02 5.57516908e+00] [-4.60672315e-02 9.98931318e-01 -3.74583879e-03 -3.63689090e-01] [ 2.55858899e-02 4.92850511e-03 9.99660478e-01 -5.48471656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25320100799999 meters Centerline goodness : 0.875378 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.37, Z:-0.55 [[ 9.98477294e-01 4.80660606e-02 -2.70692869e-02 5.58066147e+00] [-4.80567129e-02 9.98844112e-01 9.96142844e-04 -3.66343330e-01] [ 2.70858785e-02 3.06234935e-04 9.99633063e-01 -5.47586640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28320100799999 meters Centerline goodness : 0.875941 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.37, Z:-0.55 [[ 9.98479659e-01 4.79050340e-02 -2.72668157e-02 5.58205022e+00] [-4.79184541e-02 9.98851238e-01 1.61399887e-04 -3.65400441e-01] [ 2.72432245e-02 1.14542915e-03 9.99628178e-01 -5.49812781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.313201008 meters Centerline goodness : 0.873299 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.37, Z:-0.55 [[ 9.98479143e-01 4.76777827e-02 -2.76808775e-02 5.58300734e+00] [-4.76920073e-02 9.98862078e-01 1.46475159e-04 -3.65663258e-01] [ 2.76563625e-02 1.17390422e-03 9.99616800e-01 -5.49595548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.343201008 meters Centerline goodness : 0.876114 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.37, Z:-0.55 [[ 9.98470213e-01 4.77263702e-02 -2.79182432e-02 5.58308767e+00] [-4.77339177e-02 9.98860008e-01 3.96426706e-04 -3.66318526e-01] [ 2.79053366e-02 9.36826867e-04 9.99610131e-01 -5.48786267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.373201008 meters Centerline goodness : 0.877698 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.36, Z:-0.55 [[ 0.99851194 0.04950532 -0.0228719 5.59734208] [-0.04969882 0.99873245 -0.0079701 -0.36489969] [ 0.02244834 0.00909495 0.99970663 -0.55228528] [ 0. 0. 0. 1. ]] SLAMing on 66.403201008 meters Centerline goodness : 0.877311 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.37, Z:-0.55 [[ 0.99849075 0.05002769 -0.02265965 5.59605515] [-0.05020386 0.99871251 -0.00727298 -0.36527319] [ 0.02226662 0.0083996 0.99971678 -0.55087666] [ 0. 0. 0. 1. ]] SLAMing on 66.433201008 meters Centerline goodness : 0.877489 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.36, Z:-0.55 [[ 0.99848788 0.05009113 -0.02264574 5.59602278] [-0.05026556 0.99870994 -0.0071998 -0.36456727] [ 0.02225588 0.00832721 0.99971763 -0.55067385] [ 0. 0. 0. 1. ]] SLAMing on 66.463201008 meters Centerline goodness : 0.873727 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.37, Z:-0.55 [[ 9.98517766e-01 4.90843571e-02 -2.35158796e-02 5.60431093e+00] [-4.91568957e-02 9.98787899e-01 -2.51624845e-03 -3.65836685e-01] [ 2.33638676e-02 3.66848642e-03 9.99720297e-01 -5.48257616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.493201008 meters Centerline goodness : 0.874155 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.37, Z:-0.54 [[ 0.9985753 0.04809952 -0.02310445 5.62043687] [-0.04789199 0.99880778 0.0094534 -0.36975551] [ 0.02353161 -0.00833341 0.99968836 -0.54024126] [ 0. 0. 0. 1. ]] SLAMing on 66.52320100799999 meters Centerline goodness : 0.874610 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.37, Z:-0.54 [[ 0.99857915 0.04790779 -0.02333509 5.62124229] [-0.04770704 0.99882005 0.00908512 -0.36927597] [ 0.0237428 -0.00795896 0.99968642 -0.5408693 ] [ 0. 0. 0. 1. ]] SLAMing on 66.55320100799999 meters Centerline goodness : 0.875308 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.37, Z:-0.54 [[ 0.99840769 0.05089033 -0.02433641 5.62481175] [-0.05056929 0.99862753 0.01363082 -0.37164919] [ 0.02499668 -0.01237844 0.99961089 -0.53991624] [ 0. 0. 0. 1. ]] SLAMing on 66.58320100799999 meters Centerline goodness : 0.875926 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99838699 0.05122363 -0.02448601 5.62516237] [-0.05093236 0.99862543 0.01237499 -0.36940666] [ 0.02508625 -0.0111079 0.99962358 -0.54216814] [ 0. 0. 0. 1. ]] SLAMing on 66.61320100799999 meters Centerline goodness : 0.876910 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99838849 0.05109421 -0.02469417 5.62576964] [-0.05080655 0.99863473 0.01213962 -0.36943282] [ 0.02528072 -0.01086543 0.99962134 -0.54252607] [ 0. 0. 0. 1. ]] SLAMing on 66.64320100799999 meters Centerline goodness : 0.877993 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99839459 0.05076546 -0.02512207 5.62692973] [-0.05047239 0.99865135 0.01216589 -0.36948443] [ 0.02570579 -0.01087839 0.99961036 -0.54221178] [ 0. 0. 0. 1. ]] SLAMing on 66.67320100799999 meters Centerline goodness : 0.878911 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99839929 0.05048743 -0.02549286 5.62788758] [-0.05018948 0.99866525 0.01219589 -0.36975176] [ 0.02607457 -0.01089689 0.99960061 -0.54191928] [ 0. 0. 0. 1. ]] SLAMing on 66.703201008 meters Centerline goodness : 0.881123 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99826619 0.05236953 -0.02687081 5.63336668] [-0.05187934 0.99847963 0.01862696 -0.37344613] [ 0.02780544 -0.01720062 0.99946536 -0.53716845] [ 0. 0. 0. 1. ]] SLAMing on 66.733201008 meters Centerline goodness : 0.876844 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.9984593 0.04869163 -0.02661101 5.63284135] [-0.04836018 0.99874587 0.01296084 -0.36935499] [ 0.02720872 -0.01165396 0.99956184 -0.54041744] [ 0. 0. 0. 1. ]] SLAMing on 66.763201008 meters Centerline goodness : 0.875638 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.37, Z:-0.54 [[ 0.99847593 0.04811415 -0.02703425 5.63460729] [-0.04779645 0.99878163 0.01227796 -0.36837654] [ 0.02759206 -0.0109671 0.9995591 -0.54162268] [ 0. 0. 0. 1. ]] SLAMing on 66.793201008 meters Centerline goodness : 0.875473 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.37, Z:-0.54 [[ 0.99848904 0.04769858 -0.02728532 5.63563167] [-0.04738086 0.99880269 0.01217531 -0.3682853 ] [ 0.0278334 -0.01086411 0.99955354 -0.54169063] [ 0. 0. 0. 1. ]] SLAMing on 66.823201008 meters Centerline goodness : 0.870992 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.37, Z:-0.54 [[ 0.99833425 0.05016737 -0.02849508 5.64006308] [-0.04965329 0.9985957 0.01847097 -0.37208963] [ 0.02938171 -0.01702532 0.99942326 -0.53738595] [ 0. 0. 0. 1. ]] SLAMing on 66.853201008 meters Centerline goodness : 0.876009 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.37, Z:-0.54 [[ 0.99850678 0.04673867 -0.02827923 5.63886439] [-0.04638648 0.99883917 0.01298482 -0.36863071] [ 0.0288533 -0.01165366 0.99951572 -0.53974183] [ 0. 0. 0. 1. ]] SLAMing on 66.883201008 meters Centerline goodness : 0.877598 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.37, Z:-0.54 [[ 0.99850312 0.04665306 -0.02854838 5.63931224] [-0.04629686 0.99884295 0.01301358 -0.36864115] [ 0.02912247 -0.0116724 0.9995077 -0.53931322] [ 0. 0. 0. 1. ]] SLAMing on 66.91320100799999 meters Centerline goodness : 0.872106 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.37, Z:-0.55 [[ 9.98588174e-01 4.72466334e-02 -2.42778750e-02 5.65464399e+00] [-4.72299654e-02 9.98883248e-01 1.25982030e-03 -3.65301032e-01] [ 2.43102849e-02 -1.11398460e-04 9.99704455e-01 -5.47067766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94320100799999 meters Centerline goodness : 0.874238 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.36, Z:-0.55 [[ 9.98597311e-01 4.68600533e-02 -2.46484356e-02 5.65604940e+00] [-4.68544481e-02 9.98901403e-01 8.05206631e-04 -3.64669942e-01] [ 2.46590889e-02 3.50811672e-04 9.99695857e-01 -5.47872933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97320100799999 meters Centerline goodness : 0.876016 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.36, Z:-0.55 [[ 9.98601990e-01 4.67005230e-02 -2.47613792e-02 5.65671456e+00] [-4.67040716e-02 9.98908675e-01 4.35302116e-04 -3.64306061e-01] [ 2.47546853e-02 7.21763667e-04 9.99693295e-01 -5.48675421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00320100799999 meters Centerline goodness : 0.874674 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.37, Z:-0.55 [[ 9.98452455e-01 4.92497914e-02 -2.58293225e-02 5.66075033e+00] [-4.91172092e-02 9.98776511e-01 5.74295887e-03 -3.67672848e-01] [ 2.60805601e-02 -4.46540714e-03 9.99649871e-01 -5.46383754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03320100799999 meters Centerline goodness : 0.872817 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.37, Z:-0.55 [[ 9.98481536e-01 4.84290361e-02 -2.62535718e-02 5.66305089e+00] [-4.83086312e-02 9.98818912e-01 5.20160840e-03 -3.67912187e-01] [ 2.64744730e-02 -3.92543582e-03 9.99641782e-01 -5.47909533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.063201008 meters Centerline goodness : 0.872156 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98504232e-01 4.77325302e-02 -2.66627772e-02 5.66520195e+00] [-4.76289940e-02 9.98854935e-01 4.50520527e-03 -3.67276657e-01] [ 2.68472915e-02 -3.22854527e-03 9.99634333e-01 -5.49592795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.093201008 meters Centerline goodness : 0.870016 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98532448e-01 4.67522095e-02 -2.73346182e-02 5.66810431e+00] [-4.66686626e-02 9.98903621e-01 3.68680815e-03 -3.66472238e-01] [ 2.74770156e-02 -2.40572749e-03 9.99619541e-01 -5.51250308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.123201008 meters Centerline goodness : 0.870716 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98557288e-01 4.56467344e-02 -2.82793046e-02 5.67155399e+00] [-4.55728206e-02 9.98955723e-01 3.25306660e-03 -3.66820893e-01] [ 2.83982650e-02 -1.95960569e-03 9.99594767e-01 -5.52224743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.153201008 meters Centerline goodness : 0.868004 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98559868e-01 4.53420347e-02 -2.86756015e-02 5.67263308e+00] [-4.52666987e-02 9.98969582e-01 3.27123974e-03 -3.67647795e-01] [ 2.87943783e-02 -1.96847891e-03 9.99583418e-01 -5.52139261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.183201008 meters Centerline goodness : 0.868630 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98551355e-01 4.53077684e-02 -2.90240695e-02 5.67316893e+00] [-4.52230104e-02 9.98970536e-01 3.57039290e-03 -3.68579406e-01] [ 2.91559568e-02 -2.25266487e-03 9.99572336e-01 -5.51463932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.213201008 meters Centerline goodness : 0.867792 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98543381e-01 4.52933295e-02 -2.93194444e-02 5.67354932e+00] [-4.52006157e-02 9.98970635e-01 3.81762099e-03 -3.68889359e-01] [ 2.94621768e-02 -2.48680323e-03 9.99562802e-01 -5.50711533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.243201008 meters Centerline goodness : 0.869415 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.37, Z:-0.55 [[ 9.98539085e-01 4.53076732e-02 -2.94433314e-02 5.67377805e+00] [-4.52225280e-02 9.98970625e-01 3.55166258e-03 -3.68176941e-01] [ 2.95739408e-02 -2.21497202e-03 9.99560141e-01 -5.50911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27320100799999 meters Centerline goodness : 0.869080 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99837787 0.0480479 -0.03054549 5.67790336] [-0.04782831 0.99882449 0.00787996 -0.36937863] [ 0.0308882 -0.00640624 0.99950232 -0.55024215] [ 0. 0. 0. 1. ]] SLAMing on 67.30320100799999 meters Centerline goodness : 0.870905 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99838834 0.04783172 -0.03054265 5.67849867] [-0.04763204 0.99883876 0.00723278 -0.36827023] [ 0.03085314 -0.00576632 0.9995073 -0.55153533] [ 0. 0. 0. 1. ]] SLAMing on 67.33320100799999 meters Centerline goodness : 0.872683 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99822083 0.05059781 -0.0315441 5.68241149] [-0.05023921 0.9986644 0.0120595 -0.37005069] [ 0.03211216 -0.0104533 0.99942961 -0.55011313] [ 0. 0. 0. 1. ]] SLAMing on 67.36320100799999 meters Centerline goodness : 0.871825 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99823231 0.05035898 -0.03156301 5.68299213] [-0.05002719 0.99868488 0.01121538 -0.36790156] [ 0.0320863 -0.00961655 0.99943884 -0.55137622] [ 0. 0. 0. 1. ]] SLAMing on 67.39320100799999 meters Centerline goodness : 0.871440 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99823541 0.05042024 -0.03136677 5.68248774] [-0.05011589 0.9986891 0.01041511 -0.36585213] [ 0.03185078 -0.00882476 0.99945368 -0.55214264] [ 0. 0. 0. 1. ]] SLAMing on 67.42320100799999 meters Centerline goodness : 0.871625 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.37, Z:-0.55 [[ 0.99823542 0.05029554 -0.03156593 5.68276025] [-0.04999426 0.99869678 0.01026266 -0.365363 ] [ 0.03204096 -0.00866644 0.99944898 -0.5518298 ] [ 0. 0. 0. 1. ]] SLAMing on 67.453201008 meters Centerline goodness : 0.872062 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98343205e-01 5.07301199e-02 -2.71532704e-02 5.69829669e+00] [-5.07570941e-02 9.98710982e-01 -3.04646725e-04 -3.62590269e-01] [ 2.71028146e-02 1.68236309e-03 9.99631236e-01 -5.57646691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.483201008 meters Centerline goodness : 0.872085 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98331306e-01 5.08116991e-02 -2.74367560e-02 5.69836837e+00] [-5.08273023e-02 9.98707449e-01 1.28853561e-04 -3.63212135e-01] [ 2.74078399e-02 1.26589775e-03 9.99623533e-01 -5.56437481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.513201008 meters Centerline goodness : 0.868661 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98335136e-01 5.06030446e-02 -2.76819218e-02 5.69940137e+00] [-5.06303959e-02 9.98717418e-01 -2.87595879e-04 -3.62161215e-01] [ 2.76318642e-02 1.68866373e-03 9.99616741e-01 -5.57232416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.543201008 meters Centerline goodness : 0.867526 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98345049e-01 5.03819800e-02 -2.77275893e-02 5.70010867e+00] [-5.04232161e-02 9.98727628e-01 -7.89566672e-04 -3.60627258e-01] [ 2.76525295e-02 2.18637420e-03 9.99615205e-01 -5.58189131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.573201008 meters Centerline goodness : 0.869545 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98360360e-01 4.99265441e-02 -2.79987764e-02 5.70158640e+00] [-4.99880746e-02 9.98748686e-01 -1.50155896e-03 -3.59126853e-01] [ 2.78887735e-02 2.89870187e-03 9.99606830e-01 -5.59527978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.603201008 meters Centerline goodness : 0.868662 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98371718e-01 4.95424953e-02 -2.82746123e-02 5.70294056e+00] [-4.96126248e-02 9.98766943e-01 -1.78375374e-03 -3.58709716e-01] [ 2.81513764e-02 3.18362702e-03 9.99598602e-01 -5.60348518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.633201008 meters Centerline goodness : 0.868662 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.36, Z:-0.56 [[ 9.98371718e-01 4.95424953e-02 -2.82746123e-02 5.70294056e+00] [-4.96126248e-02 9.98766943e-01 -1.78375374e-03 -3.58709716e-01] [ 2.81513764e-02 3.18362702e-03 9.99598602e-01 -5.60348518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66320100799999 meters Centerline goodness : 0.866123 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-0.56 [[ 9.98381802e-01 4.87694783e-02 -2.92457904e-02 5.70568280e+00] [-4.88274785e-02 9.98806417e-01 -1.27191104e-03 -3.60362077e-01] [ 2.91488527e-02 2.69785104e-03 9.99571441e-01 -5.59574420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69320100799999 meters Centerline goodness : 0.867090 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-0.56 [[ 9.98377128e-01 4.86316066e-02 -2.96323720e-02 5.70639047e+00] [-4.86794372e-02 9.98814053e-01 -8.94448882e-04 -3.61746077e-01] [ 2.95537311e-02 2.33548450e-03 9.99560465e-01 -5.58935484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72320100799999 meters Centerline goodness : 0.869742 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-0.56 [[ 9.98368458e-01 4.85822317e-02 -3.00031610e-02 5.70677985e+00] [-4.86023470e-02 9.98818206e-01 5.89047840e-05 -3.63525923e-01] [ 2.99705652e-02 1.39941536e-03 9.99549802e-01 -5.57043638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75320100799999 meters Centerline goodness : 0.868273 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.37, Z:-0.55 [[ 9.98191771e-01 5.15862955e-02 -3.08551867e-02 5.70958153e+00] [-5.14420307e-02 9.98661102e-01 5.45175406e-03 -3.66945670e-01] [ 3.10951105e-02 -3.85464258e-03 9.99508997e-01 -5.54328963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78320100799999 meters Centerline goodness : 0.869692 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.37, Z:-0.55 [[ 9.98189218e-01 5.15331454e-02 -3.10261066e-02 5.70987194e+00] [-5.13903004e-02 9.98664130e-01 5.38449710e-03 -3.66655406e-01] [ 3.12621399e-02 -3.78030601e-03 9.99504071e-01 -5.54148773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.813201008 meters Centerline goodness : 0.870208 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.37, Z:-0.55 [[ 9.98184018e-01 5.16609352e-02 -3.09808562e-02 5.70952932e+00] [-5.15275501e-02 9.98658607e-01 5.08896784e-03 -3.65714454e-01] [ 3.12021995e-02 -3.48335875e-03 9.99507023e-01 -5.54230096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.843201008 meters Centerline goodness : 0.872891 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-0.55 [[ 9.98181765e-01 5.16327989e-02 -3.11001407e-02 5.70985525e+00] [-5.15206531e-02 9.98662249e-01 4.39710558e-03 -3.63246271e-01] [ 3.12855714e-02 -2.78681104e-03 9.99506602e-01 -5.54876559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.873201008 meters Centerline goodness : 0.872540 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-0.56 [[ 9.97965945e-01 5.57875159e-02 -3.08500468e-02 5.71044207e+00] [-5.55907260e-02 9.98427673e-01 7.20090548e-03 -3.58089237e-01] [ 3.12032611e-02 -5.47128194e-03 9.99498085e-01 -5.56707560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.903201008 meters Centerline goodness : 0.867933 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.35, Z:-0.56 [[ 9.97955707e-01 5.60764864e-02 -3.06567270e-02 5.71053150e+00] [-5.59246505e-02 9.98418211e-01 5.78865203e-03 -3.54005521e-01] [ 3.09328419e-02 -4.06235158e-03 9.99513210e-01 -5.59138451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.933201008 meters Centerline goodness : 0.868003 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.35, Z:-0.56 [[ 9.97945611e-01 5.64684985e-02 -3.02632938e-02 5.70995414e+00] [-5.63538204e-02 9.98400127e-01 4.62964688e-03 -3.51214823e-01] [ 3.04763056e-02 -2.91468356e-03 9.99531240e-01 -5.61221759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.963201008 meters Centerline goodness : 0.873616 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.35, Z:-0.56 [[ 9.97915579e-01 5.68610728e-02 -3.05174718e-02 5.71001212e+00] [-5.67461918e-02 9.98377956e-01 4.61810435e-03 -3.50640270e-01] [ 3.07305615e-02 -2.87672797e-03 9.99523565e-01 -5.61028110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.993201008 meters Centerline goodness : 0.873478 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.35, Z:-0.56 [[ 0.9980791 0.05625965 -0.02594138 5.7235214 ] [-0.05645473 0.99838167 -0.00684925 -0.35040791] [ 0.02551406 0.00830061 0.99964 -0.56481712] [ 0. 0. 0. 1. ]] SLAMing on 68.02320100799999 meters Centerline goodness : 0.876780 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.35, Z:-0.56 [[ 9.98104287e-01 5.53371684e-02 -2.69375173e-02 5.72608591e+00] [-5.54957443e-02 9.98445514e-01 -5.17466921e-03 -3.54578434e-01] [ 2.66092917e-02 6.65977710e-03 9.99623726e-01 -5.62091489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05320100799999 meters Centerline goodness : 0.875303 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.36, Z:-0.56 [[ 9.98193421e-01 5.33688633e-02 -2.75981616e-02 5.73004397e+00] [-5.35216228e-02 9.98555030e-01 -4.82586198e-03 -3.57889984e-01] [ 2.73007323e-02 6.29424207e-03 9.99607449e-01 -5.62402768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08320100799999 meters Centerline goodness : 0.878899 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.36, Z:-0.56 [[ 9.98028723e-01 5.59073496e-02 -2.85137851e-02 5.73427009e+00] [-5.59398929e-02 9.98434079e-01 -3.44280060e-04 -3.59418687e-01] [ 2.84498869e-02 1.93865947e-03 9.99593340e-01 -5.61814502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11320100799999 meters Centerline goodness : 0.874993 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.98050215e-01 5.54106911e-02 -2.87302005e-02 5.73580224e+00] [-5.54641492e-02 9.98460110e-01 -1.06652018e-03 -3.57856823e-01] [ 2.86268625e-02 2.65793683e-03 9.99586634e-01 -5.63370507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14320100799999 meters Centerline goodness : 0.878140 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97860241e-01 5.83174101e-02 -2.95638290e-02 5.73929225e+00] [-5.82332295e-02 9.98296145e-01 3.70118584e-03 -3.60126824e-01] [ 2.97293001e-02 -1.97166896e-03 9.99556042e-01 -5.62241590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17320100799999 meters Centerline goodness : 0.877064 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97838367e-01 5.87877083e-02 -2.93700373e-02 5.73799563e+00] [-5.86907652e-02 9.98267574e-01 4.15272279e-03 -3.60065552e-01] [ 2.95632849e-02 -2.41999617e-03 9.99559981e-01 -5.60859618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.203201008 meters Centerline goodness : 0.875346 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.55 [[ 0.99765427 0.06130552 -0.03045643 5.74233028] [-0.0609808 0.99807292 0.01147955 -0.36473208] [ 0.0311015 -0.00959536 0.99947017 -0.55475586] [ 0. 0. 0. 1. ]] SLAMing on 68.233201008 meters Centerline goodness : 0.879331 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97845960e-01 5.83248238e-02 -3.00275618e-02 5.73983874e+00] [-5.81379157e-02 9.98283588e-01 7.06118177e-03 -3.62692458e-01] [ 3.03878643e-02 -5.30023185e-03 9.99524129e-01 -5.55286232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.263201008 meters Centerline goodness : 0.877000 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.55 [[ 0.99783689 0.05826391 -0.03044441 5.74046428] [-0.05805591 0.99828385 0.00767254 -0.36431646] [ 0.0308392 -0.00588847 0.99950701 -0.55410537] [ 0. 0. 0. 1. ]] SLAMing on 68.293201008 meters Centerline goodness : 0.877403 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.37, Z:-0.55 [[ 0.99783672 0.05815601 -0.03065539 5.7411718 ] [-0.05794033 0.99828896 0.00787833 -0.36589181] [ 0.03106111 -0.0060851 0.99949896 -0.55418105] [ 0. 0. 0. 1. ]] SLAMing on 68.323201008 meters Centerline goodness : 0.878447 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97850078e-01 5.79079207e-02 -3.06903165e-02 5.74200147e+00] [-5.77208426e-02 9.98308586e-01 6.94770288e-03 -3.63724731e-01] [ 3.10407335e-02 -5.16129493e-03 9.99504794e-01 -5.55806083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.353201008 meters Centerline goodness : 0.875236 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97861634e-01 5.77790748e-02 -3.05571374e-02 5.74251914e+00] [-5.76117607e-02 9.98319004e-01 6.32856257e-03 -3.62382095e-01] [ 3.08714295e-02 -4.55457930e-03 9.99512987e-01 -5.57370772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.383201008 meters Centerline goodness : 0.872855 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.97891091e-01 5.70854961e-02 -3.08968770e-02 5.74483371e+00] [-5.69220123e-02 9.98359711e-01 6.14594329e-03 -3.63246618e-01] [ 3.11970414e-02 -4.37426965e-03 9.99503682e-01 -5.58861263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41320100799999 meters Centerline goodness : 0.870528 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.36, Z:-0.56 [[ 9.97898400e-01 5.67451547e-02 -3.12853141e-02 5.74605932e+00] [-5.65739120e-02 9.98378331e-01 6.33257508e-03 -3.64572521e-01] [ 3.15939226e-02 -4.54933393e-03 9.99490434e-01 -5.58800840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44320100799999 meters Centerline goodness : 0.871811 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.36, Z:-0.56 [[ 9.98100955e-01 5.32100407e-02 -3.10350720e-02 5.74479345e+00] [-5.31790437e-02 9.98583328e-01 1.82391248e-03 -3.62635947e-01] [ 3.10881560e-02 -1.70033334e-04 9.99516632e-01 -5.59701129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47320100799999 meters Centerline goodness : 0.873967 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.36, Z:-0.56 [[ 9.98108659e-01 5.26976712e-02 -3.16553464e-02 5.74667562e+00] [-5.26664706e-02 9.98610501e-01 1.81920380e-03 -3.63607248e-01] [ 3.17072291e-02 -1.48587695e-04 9.99497188e-01 -5.59843152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50320100799999 meters Centerline goodness : 0.872345 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.36, Z:-0.56 [[ 9.98113719e-01 5.22212914e-02 -3.22790949e-02 5.74896572e+00] [-5.22061955e-02 9.98635466e-01 1.31086984e-03 -3.63853978e-01] [ 3.23035043e-02 3.76771566e-04 9.99478035e-01 -5.61227753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53320100799999 meters Centerline goodness : 0.874289 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.37, Z:-0.56 [[ 9.97919296e-01 5.51921948e-02 -3.33301674e-02 5.75260110e+00] [-5.50034556e-02 9.98464654e-01 6.55400135e-03 -3.66711520e-01] [ 3.36407238e-02 -4.70709003e-03 9.99422906e-01 -5.58970797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.563201008 meters Centerline goodness : 0.876682 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.37, Z:-0.56 [[ 9.97912510e-01 5.51962615e-02 -3.35260341e-02 5.75280743e+00] [-5.50069649e-02 9.98464531e-01 6.54330058e-03 -3.66071334e-01] [ 3.38357216e-02 -4.68547613e-03 9.99416425e-01 -5.58541365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.593201008 meters Centerline goodness : 0.870904 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.36, Z:-0.56 [[ 9.97915407e-01 5.50532218e-02 -3.36746750e-02 5.75328348e+00] [-5.48751492e-02 9.98474035e-01 6.19027977e-03 -3.64965603e-01] [ 3.39640835e-02 -4.32947274e-03 9.99413676e-01 -5.58799368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.623201008 meters Centerline goodness : 0.874644 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.36, Z:-0.56 [[ 9.97912022e-01 5.50630956e-02 -3.37587157e-02 5.75407376e+00] [-5.49250197e-02 9.98477940e-01 5.00459793e-03 -3.61324406e-01] [ 3.39829015e-02 -3.13995032e-03 9.99417482e-01 -5.60903125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.653201008 meters Centerline goodness : 0.873617 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.36, Z:-0.56 [[ 9.97911653e-01 5.48626565e-02 -3.40943180e-02 5.75511274e+00] [-5.47305531e-02 9.98489639e-01 4.79661971e-03 -3.60862257e-01] [ 3.43059786e-02 -2.92060182e-03 9.99407109e-01 -5.61257576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.683201008 meters Centerline goodness : 0.876460 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.36, Z:-0.56 [[ 9.98128784e-01 5.06717543e-02 -3.42243170e-02 5.75518016e+00] [-5.06861825e-02 9.98714530e-01 4.46453308e-04 -3.60344695e-01] [ 3.42029452e-02 1.28908208e-03 9.99414077e-01 -5.61931030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.713201008 meters Centerline goodness : 0.878384 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:-0.55 [[ 9.98526848e-01 4.16530410e-02 -3.47729554e-02 5.76973393e+00] [-4.15517023e-02 9.99129753e-01 3.63219856e-03 -3.66456958e-01] [ 3.48939864e-02 -2.18197229e-03 9.99388637e-01 -5.54338891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.743201008 meters Centerline goodness : 0.877098 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:-0.55 [[ 9.98548780e-01 4.01615568e-02 -3.58801234e-02 5.77366607e+00] [-4.00369732e-02 9.99189438e-01 4.18428600e-03 -3.68728798e-01] [ 3.60190877e-02 -2.74168214e-03 9.99347341e-01 -5.53570319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77320100799999 meters Centerline goodness : 0.870609 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.37, Z:-0.55 [[ 0.9985607 0.03880837 -0.03701942 5.78294091] [-0.03852326 0.99922253 0.00838456 -0.37087903] [ 0.03731603 -0.00694639 0.99927937 -0.55180024] [ 0. 0. 0. 1. ]] SLAMing on 68.80320100799999 meters Centerline goodness : 0.873979 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.37, Z:-0.55 [[ 9.98577137e-01 3.76789818e-02 -3.77358601e-02 5.78673646e+00] [-3.74376081e-02 9.99273865e-01 7.08297822e-03 -3.68906011e-01] [ 3.79753381e-02 -5.66015978e-03 9.99262646e-01 -5.54807674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83320100799999 meters Centerline goodness : 0.870132 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.37, Z:-0.56 [[ 9.98563918e-01 3.78492512e-02 -3.79148605e-02 5.78691890e+00] [-3.76349982e-02 9.99271383e-01 6.34902227e-03 -3.66506819e-01] [ 3.81275408e-02 -4.91297885e-03 9.99260803e-01 -5.55517370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86320100799999 meters Centerline goodness : 0.869490 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.36, Z:-0.56 [[ 9.98562142e-01 3.80883160e-02 -3.77217343e-02 5.78634865e+00] [-3.78939530e-02 9.99264617e-01 5.85443738e-03 -3.64665676e-01] [ 3.79169800e-02 -4.41659390e-03 9.99271133e-01 -5.56029837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89320100799999 meters Centerline goodness : 0.868215 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.36, Z:-0.56 [[ 9.98566818e-01 3.77841224e-02 -3.79034361e-02 5.78716275e+00] [-3.76041833e-02 9.99277855e-01 5.44929674e-03 -3.63593399e-01] [ 3.80819612e-02 -4.01615915e-03 9.99266548e-01 -5.56479345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92320100799999 meters Centerline goodness : 0.866266 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.36, Z:-0.56 [[ 9.98559572e-01 3.76756469e-02 -3.82011401e-02 5.78740830e+00] [-3.74915748e-02 9.99281677e-01 5.52372712e-03 -3.63415302e-01] [ 3.83818093e-02 -4.08354968e-03 9.99254803e-01 -5.55539043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.953201008 meters Centerline goodness : 0.870280 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.36, Z:-0.56 [[ 9.98549801e-01 3.74610250e-02 -3.86647973e-02 5.78842903e+00] [-3.72746881e-02 9.99289760e-01 5.52922509e-03 -3.64163133e-01] [ 3.88444665e-02 -4.07998836e-03 9.99236939e-01 -5.55350802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.983201008 meters Centerline goodness : 0.872444 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.37, Z:-0.56 [[ 9.98539635e-01 3.71317824e-02 -3.92406392e-02 5.78985858e+00] [-3.69435720e-02 9.99302158e-01 5.51085127e-03 -3.65114488e-01] [ 3.94178831e-02 -4.05311404e-03 9.99214593e-01 -5.55287122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.013201008 meters Centerline goodness : 0.870510 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.37, Z:-0.56 [[ 9.98535069e-01 3.64374157e-02 -4.00003762e-02 5.79223500e+00] [-3.62548999e-02 9.99328632e-01 5.27904636e-03 -3.65708938e-01] [ 4.01658760e-02 -3.82110329e-03 9.99185719e-01 -5.55693718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.043201008 meters Centerline goodness : 0.869374 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.37, Z:-0.56 [[ 9.98539889e-01 3.57463300e-02 -4.05005032e-02 5.79430800e+00] [-3.55803850e-02 9.99355237e-01 4.81101314e-03 -3.65623321e-01] [ 4.06463661e-02 -3.36296502e-03 9.99167936e-01 -5.56684591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.073201008 meters Centerline goodness : 0.867837 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98549822e-01 3.49660467e-02 -4.09344459e-02 5.79647635e+00] [-3.48478807e-02 9.99386155e-01 3.59692075e-03 -3.63100964e-01] [ 4.10350886e-02 -2.16522589e-03 9.99155360e-01 -5.58676110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.103201008 meters Centerline goodness : 0.865971 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98550547e-01 3.45456387e-02 -4.12723042e-02 5.79789398e+00] [-3.44494700e-02 9.99401820e-01 3.03925509e-03 -3.62025108e-01] [ 4.13526089e-02 -1.61304083e-03 9.99143313e-01 -5.59657519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.133201008 meters Centerline goodness : 0.863737 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98550782e-01 3.35553910e-02 -4.20757882e-02 5.80087004e+00] [-3.34948605e-02 9.99436592e-01 2.14295457e-03 -3.60386258e-01] [ 4.21239901e-02 -7.30526305e-04 9.99112124e-01 -5.60911816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16320100799999 meters Centerline goodness : 0.861644 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98548836e-01 3.27821596e-02 -4.27264740e-02 5.80321228e+00] [-3.27535076e-02 9.99462520e-01 1.37064843e-03 -3.58857684e-01] [ 4.27484422e-02 3.07824932e-05 9.99085867e-01 -5.61919042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19320100799999 meters Centerline goodness : 0.861689 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98531104e-01 3.25063662e-02 -4.33471031e-02 5.80454748e+00] [-3.24887900e-02 9.99471483e-01 1.11007845e-03 -3.58242956e-01] [ 4.33602780e-02 2.99847071e-04 9.99059456e-01 -5.61758172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22320100799999 meters Centerline goodness : 0.861843 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98522272e-01 3.24124291e-02 -4.36200268e-02 5.80487438e+00] [-3.23951221e-02 9.99474531e-01 1.10376775e-03 -3.57999503e-01] [ 4.36328817e-02 3.10939414e-04 9.99047584e-01 -5.61181390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25320100799999 meters Centerline goodness : 0.865191 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98520422e-01 3.25620290e-02 -4.35509062e-02 5.80430490e+00] [-3.25353749e-02 9.99469712e-01 1.32087921e-03 -3.57586690e-01] [ 4.35708222e-02 9.80201911e-05 9.99050336e-01 -5.60304044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28320100799999 meters Centerline goodness : 0.865910 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.36, Z:-0.56 [[ 9.98519078e-01 3.24347947e-02 -4.36764853e-02 5.80454027e+00] [-3.24163722e-02 9.99473812e-01 1.13016947e-03 -3.56118505e-01] [ 4.36901601e-02 2.87337432e-04 9.99045088e-01 -5.60050323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.313201008 meters Centerline goodness : 0.867539 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.36, Z:-0.56 [[ 9.98375075e-01 3.59381741e-02 -4.42228228e-02 5.80610009e+00] [-3.57166664e-02 9.99345188e-01 5.78913285e-03 -3.55916608e-01] [ 4.44019161e-02 -4.20023413e-03 9.99004919e-01 -5.57942799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.343201008 meters Centerline goodness : 0.867803 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.35, Z:-0.56 [[ 9.98377008e-01 3.61764894e-02 -4.39842161e-02 5.80521588e+00] [-3.59688627e-02 9.99337760e-01 5.50302619e-03 -3.53997081e-01] [ 4.41541681e-02 -3.91203259e-03 9.99017070e-01 -5.57836884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.373201008 meters Centerline goodness : 0.864073 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98488252e-01 3.84760641e-02 -3.92530653e-02 5.82174940e+00] [-3.85788237e-02 9.99253822e-01 -1.86349960e-03 -3.50756286e-01] [ 3.91520754e-02 3.37501954e-03 9.99227564e-01 -5.62143848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.403201008 meters Centerline goodness : 0.859234 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98304120e-01 4.25646962e-02 -3.97131103e-02 5.82269395e+00] [-4.25076452e-02 9.99093539e-01 2.28024531e-03 -3.49337958e-01] [ 3.97741699e-02 -5.88267482e-04 9.99208521e-01 -5.60880572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.433201008 meters Centerline goodness : 0.859531 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98295902e-01 4.28695418e-02 -3.95915992e-02 5.82214288e+00] [-4.28373987e-02 9.99080678e-01 1.66023468e-03 -3.46805995e-01] [ 3.96263753e-02 3.85956458e-05 9.99214566e-01 -5.61301721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.463201008 meters Centerline goodness : 0.853635 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98280997e-01 4.35443680e-02 -3.92293182e-02 5.82046312e+00] [-4.35155192e-02 9.99051487e-01 1.58936543e-03 -3.45263644e-01] [ 3.92613166e-02 1.20450846e-04 9.99228970e-01 -5.60813060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.493201008 meters Centerline goodness : 0.852341 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.34, Z:-0.56 [[ 9.98272617e-01 4.37138757e-02 -3.92540310e-02 5.82016893e+00] [-4.36890670e-02 9.99044066e-01 1.49000842e-03 -3.44723014e-01] [ 3.92816407e-02 2.27537384e-04 9.99228153e-01 -5.60544103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52320100799999 meters Centerline goodness : 0.852341 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.34, Z:-0.56 [[ 9.98272617e-01 4.37138757e-02 -3.92540310e-02 5.82016893e+00] [-4.36890670e-02 9.99044066e-01 1.49000842e-03 -3.44723014e-01] [ 3.92816407e-02 2.27537384e-04 9.99228153e-01 -5.60544103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55320100799999 meters Centerline goodness : 0.852699 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98269434e-01 4.33105574e-02 -3.97785466e-02 5.82152534e+00] [-4.32863902e-02 9.99061625e-01 1.46902390e-03 -3.45110881e-01] [ 3.98048436e-02 2.55388026e-04 9.99207441e-01 -5.60297920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58320100799999 meters Centerline goodness : 0.851762 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.35, Z:-0.56 [[ 9.98275510e-01 4.22575080e-02 -4.07469021e-02 5.82489813e+00] [-4.22324516e-02 9.99106722e-01 1.47589461e-03 -3.46260518e-01] [ 4.07728714e-02 2.47492125e-04 9.99168410e-01 -5.60497408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61320100799999 meters Centerline goodness : 0.848929 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.35, Z:-0.56 [[ 9.98285939e-01 4.14946245e-02 -4.12720244e-02 5.82716083e+00] [-4.14799853e-02 9.99138601e-01 1.21135168e-03 -3.46180801e-01] [ 4.12867373e-02 5.02687622e-04 9.99147213e-01 -5.61186237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64320100799999 meters Centerline goodness : 0.843305 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.35, Z:-0.56 [[ 9.98299722e-01 4.08312416e-02 -4.15989703e-02 5.82864342e+00] [-4.07775684e-02 9.99165961e-01 2.13831155e-03 -3.48462506e-01] [ 4.16515850e-02 -4.38370968e-04 9.99132100e-01 -5.60003616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67320100799999 meters Centerline goodness : 0.841696 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.35, Z:-0.56 [[ 9.98288493e-01 4.06626982e-02 -4.20312965e-02 5.82945138e+00] [-4.05780483e-02 9.99172263e-01 2.86551934e-03 -3.50186115e-01] [ 4.21130254e-02 -1.15506700e-03 9.99112185e-01 -5.58677429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.703201008 meters Centerline goodness : 0.838071 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.35, Z:-0.56 [[ 9.98282998e-01 4.03714289e-02 -4.24405837e-02 5.83041422e+00] [-4.02797296e-02 9.99183897e-01 3.01391711e-03 -3.50565126e-01] [ 4.25276240e-02 -1.29924697e-03 9.99094447e-01 -5.58079605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.733201008 meters Centerline goodness : 0.837152 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.35, Z:-0.56 [[ 9.98283440e-01 4.00089947e-02 -4.27721183e-02 5.83164782e+00] [-3.99340715e-02 9.99198921e-01 2.60501733e-03 -3.50281676e-01] [ 4.28420785e-02 -8.92480832e-04 9.99081458e-01 -5.58730248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.763201008 meters Centerline goodness : 0.834908 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98176404e-01 4.10395279e-02 -4.42676392e-02 5.83891909e+00] [-4.07421403e-02 9.99140792e-01 7.59975687e-03 -3.53121814e-01] [ 4.45414945e-02 -5.78233962e-03 9.98990801e-01 -5.56561644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.793201008 meters Centerline goodness : 0.836246 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98170640e-01 4.08670576e-02 -4.45562276e-02 5.83976655e+00] [-4.05686991e-02 9.99147996e-01 7.58040857e-03 -3.53750184e-01] [ 4.48280545e-02 -5.75895309e-03 9.98978118e-01 -5.56665034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.823201008 meters Centerline goodness : 0.834344 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98169974e-01 4.06098201e-02 -4.48056393e-02 5.84062996e+00] [-4.03140466e-02 9.99159018e-01 7.48560002e-03 -3.54285865e-01] [ 4.50719474e-02 -5.66560455e-03 9.98967677e-01 -5.56868343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.853201008 meters Centerline goodness : 0.834335 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98170033e-01 4.01877033e-02 -4.51833417e-02 5.84188690e+00] [-3.98968934e-02 9.99176989e-01 7.32006587e-03 -3.54446050e-01] [ 4.54403319e-02 -5.50399542e-03 9.98951892e-01 -5.57029327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88320100799999 meters Centerline goodness : 0.827659 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.36, Z:-0.56 [[ 9.98170100e-01 3.96396552e-02 -4.56634414e-02 5.84347880e+00] [-3.93383774e-02 9.99197964e-01 7.47798831e-03 -3.55171069e-01] [ 4.59232425e-02 -5.66797865e-03 9.98928891e-01 -5.56718107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91320100799999 meters Centerline goodness : 0.827116 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98176439e-01 3.94460309e-02 -4.56925275e-02 5.84385854e+00] [-3.91566078e-02 9.99207057e-01 7.21232122e-03 -3.54884938e-01] [ 4.59407934e-02 -5.41000473e-03 9.98929515e-01 -5.57126262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94320100799999 meters Centerline goodness : 0.826045 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.35, Z:-0.56 [[ 9.98180784e-01 3.91632770e-02 -4.58405938e-02 5.84455541e+00] [-3.88856614e-02 9.99219618e-01 6.93260438e-03 -3.54220801e-01] [ 4.60763241e-02 -5.13745067e-03 9.98924711e-01 -5.57445118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97320100799999 meters Centerline goodness : 0.822632 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.35, Z:-0.56 [[ 9.98200626e-01 3.82659977e-02 -4.61651717e-02 5.84650883e+00] [-3.80117736e-02 9.99256972e-01 6.37252507e-03 -3.52895261e-01] [ 4.63747207e-02 -4.60623846e-03 9.98913494e-01 -5.58268490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00320100799999 meters Centerline goodness : 0.817586 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.35, Z:-0.56 [[ 9.98206068e-01 3.79657606e-02 -4.62952113e-02 5.84703979e+00] [-3.77123433e-02 9.99268553e-01 6.33544494e-03 -3.53094030e-01] [ 4.65018787e-02 -4.57817868e-03 9.98907711e-01 -5.58192043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03320100799999 meters Centerline goodness : 0.818326 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.35, Z:-0.56 [[ 9.98197421e-01 3.76296592e-02 -4.67538038e-02 5.84798774e+00] [-3.73537784e-02 9.99279234e-01 6.76076982e-03 -3.54462961e-01] [ 4.69745107e-02 -5.00215177e-03 9.98883564e-01 -5.57150202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.063201008 meters Centerline goodness : 0.818527 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.36, Z:-0.56 [[ 9.98193967e-01 3.72760925e-02 -4.71094258e-02 5.84891709e+00] [-3.69807994e-02 9.99290578e-01 7.12462872e-03 -3.55991659e-01] [ 4.73415837e-02 -5.36961718e-03 9.98864326e-01 -5.56410151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.093201008 meters Centerline goodness : 0.817337 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.36, Z:-0.56 [[ 9.98200323e-01 3.66945450e-02 -4.74302097e-02 5.85043566e+00] [-3.64185372e-02 9.99314361e-01 6.67064706e-03 -3.55769738e-01] [ 4.76424660e-02 -4.93130320e-03 9.98852280e-01 -5.57169936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.123201008 meters Centerline goodness : 0.819449 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.35, Z:-0.56 [[ 9.98226341e-01 3.55451121e-02 -4.77568465e-02 5.85364321e+00] [-3.53423059e-02 9.99362331e-01 5.08461788e-03 -3.53572874e-01] [ 4.79071268e-02 -3.38776242e-03 9.98846049e-01 -5.60751709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.153201008 meters Centerline goodness : 0.816689 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.35, Z:-0.56 [[ 9.98236297e-01 3.46628294e-02 -4.81952712e-02 5.85624544e+00] [-3.45037007e-02 9.99396036e-01 4.13002929e-03 -3.52309274e-01] [ 4.83093216e-02 -2.45982993e-03 9.98829394e-01 -5.62773645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.183201008 meters Centerline goodness : 0.812975 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.35, Z:-0.56 [[ 9.98243161e-01 3.38548135e-02 -4.86255340e-02 5.85879891e+00] [-3.37398717e-02 9.99425580e-01 3.18290566e-03 -3.51343506e-01] [ 4.87053592e-02 -1.53669453e-03 9.98812008e-01 -5.64884747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.213201008 meters Centerline goodness : 0.814590 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.35, Z:-0.57 [[ 9.98239558e-01 3.32362424e-02 -4.91236817e-02 5.86107719e+00] [-3.31487567e-02 9.99447061e-01 2.59476838e-03 -3.51297312e-01] [ 4.91827596e-02 -9.61811465e-04 9.98789333e-01 -5.66358494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.243201008 meters Centerline goodness : 0.820803 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.35, Z:-0.57 [[ 9.98221946e-01 3.21818986e-02 -5.01724128e-02 5.86470149e+00] [-3.21264857e-02 9.99481985e-01 1.91070939e-03 -3.52037280e-01] [ 5.02079130e-02 -2.95448749e-04 9.98738744e-01 -5.67665485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27320100799999 meters Centerline goodness : 0.823564 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98212716e-01 3.18648387e-02 -5.05569476e-02 5.86596914e+00] [-3.18168201e-02 9.99492177e-01 1.75450926e-03 -3.52514430e-01] [ 5.05871807e-02 -1.42812148e-04 9.98719639e-01 -5.67992350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30320100799999 meters Centerline goodness : 0.825300 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98203563e-01 3.14246752e-02 -5.10111400e-02 5.86752218e+00] [-3.13854592e-02 9.99506122e-01 1.56981388e-03 -3.52456458e-01] [ 5.10352776e-02 3.40142479e-05 9.98696851e-01 -5.68269057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33320100799999 meters Centerline goodness : 0.827757 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98207060e-01 3.11691076e-02 -5.10994404e-02 5.86830145e+00] [-3.11466188e-02 9.99514061e-01 1.23654019e-03 -3.52276107e-01] [ 5.11131511e-02 3.57251643e-04 9.98692805e-01 -5.69075656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36320100799999 meters Centerline goodness : 0.826955 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98210110e-01 3.11916454e-02 -5.10260574e-02 5.86828781e+00] [-3.11614896e-02 9.99513401e-01 1.38661755e-03 -3.52648640e-01] [ 5.10444791e-02 2.05912297e-04 9.98696360e-01 -5.69055239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39320100799999 meters Centerline goodness : 0.824298 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98060250e-01 3.45396563e-02 -5.17952608e-02 5.87072978e+00] [-3.42199332e-02 9.99389480e-01 7.04724832e-03 -3.55859514e-01] [ 5.20070483e-02 -5.26114806e-03 9.98632859e-01 -5.66047825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42320100799999 meters Centerline goodness : 0.822873 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98063434e-01 3.46153618e-02 -5.16832416e-02 5.87036292e+00] [-3.42995629e-02 9.99387187e-01 6.98504120e-03 -3.55179843e-01] [ 5.18933592e-02 -5.19880162e-03 9.98639100e-01 -5.65929977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.453201008 meters Centerline goodness : 0.825436 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98066433e-01 3.47468287e-02 -5.15369123e-02 5.86975775e+00] [-3.44363447e-02 9.99383070e-01 6.90054244e-03 -3.54826832e-01] [ 5.17448896e-02 -5.11245690e-03 9.98647250e-01 -5.65720354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.483201008 meters Centerline goodness : 0.822329 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.56 [[ 9.98061793e-01 3.55866130e-02 -5.10514392e-02 5.86759120e+00] [-3.52481157e-02 9.99350330e-01 7.51586878e-03 -3.55571327e-01] [ 5.12857369e-02 -5.70183445e-03 9.98667744e-01 -5.64625634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.513201008 meters Centerline goodness : 0.823348 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.56 [[ 9.98061545e-01 3.53464941e-02 -5.12228232e-02 5.86828669e+00] [-3.50133972e-02 9.99359550e-01 7.38598800e-03 -3.55369535e-01] [ 5.14510863e-02 -5.57818555e-03 9.98659937e-01 -5.64790083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.543201008 meters Centerline goodness : 0.824140 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.57 [[ 9.98060387e-01 3.51210215e-02 -5.14001810e-02 5.86900515e+00] [-3.48047081e-02 9.99369362e-01 7.03640295e-03 -3.54998667e-01] [ 5.16148917e-02 -5.23378675e-03 9.98653348e-01 -5.65301785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.573201008 meters Centerline goodness : 0.824574 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98059966e-01 3.47595012e-02 -5.16534718e-02 5.86981003e+00] [-3.44364360e-02 9.99381445e-01 7.13160962e-03 -3.56086296e-01] [ 5.18694124e-02 -5.33901258e-03 9.98639604e-01 -5.65089419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.603201008 meters Centerline goodness : 0.824478 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98059794e-01 3.44067847e-02 -5.18923918e-02 5.87073847e+00] [-3.40793249e-02 9.99393323e-01 7.18230394e-03 -3.56768621e-01] [ 5.21080299e-02 -5.39991111e-03 9.98626854e-01 -5.65086780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63320100799999 meters Centerline goodness : 0.823711 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.56 [[ 9.98061448e-01 3.41849315e-02 -5.20070792e-02 5.87121748e+00] [-3.38523728e-02 9.99400459e-01 7.26224359e-03 -3.57098557e-01] [ 5.22241581e-02 -5.48760233e-03 9.98620310e-01 -5.64920723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66320100799999 meters Centerline goodness : 0.822875 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98066003e-01 3.40881829e-02 -5.19831607e-02 5.87152315e+00] [-3.37602991e-02 9.99404219e-01 7.17284270e-03 -3.57524365e-01] [ 5.21966993e-02 -5.40400339e-03 9.98622202e-01 -5.65393768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69320100799999 meters Centerline goodness : 0.823858 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98068358e-01 3.34743252e-02 -5.23356624e-02 5.87363275e+00] [-3.32033282e-02 9.99430371e-01 6.03920983e-03 -3.56331197e-01] [ 5.25080090e-02 -4.28982607e-03 9.98611289e-01 -5.67739789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72320100799999 meters Centerline goodness : 0.818868 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.57 [[ 9.98070473e-01 3.32913554e-02 -5.24119930e-02 5.87439002e+00] [-3.30581687e-02 9.99439324e-01 5.31000088e-03 -3.55012754e-01] [ 5.25593840e-02 -3.56711058e-03 9.98611429e-01 -5.69094951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75320100799999 meters Centerline goodness : 0.822751 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98066037e-01 3.29115626e-02 -5.27353264e-02 5.87579111e+00] [-3.27198344e-02 9.99454454e-01 4.49513432e-03 -3.53516736e-01] [ 5.28544987e-02 -2.76094975e-03 9.98598407e-01 -5.70372650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78320100799999 meters Centerline goodness : 0.822823 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98055119e-01 3.26339845e-02 -5.31131150e-02 5.87696584e+00] [-3.24607967e-02 9.99464516e-01 4.12036288e-03 -3.53303856e-01] [ 5.32191377e-02 -2.38825523e-03 9.98580002e-01 -5.70880328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.813201008 meters Centerline goodness : 0.826936 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98037651e-01 3.26250430e-02 -5.34457937e-02 5.87746493e+00] [-3.24446537e-02 9.99464542e-01 4.23957802e-03 -3.54528673e-01] [ 5.35554921e-02 -2.49722822e-03 9.98561752e-01 -5.70523571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.843201008 meters Centerline goodness : 0.826263 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98041829e-01 3.21319784e-02 -5.36660295e-02 5.87889356e+00] [-3.19706931e-02 9.99481348e-01 3.86136493e-03 -3.54346763e-01] [ 5.37622688e-02 -2.13806357e-03 9.98551474e-01 -5.71533529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.873201008 meters Centerline goodness : 0.824405 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98053662e-01 3.14173854e-02 -5.38686979e-02 5.88093064e+00] [-3.12926071e-02 9.99505276e-01 3.15844530e-03 -3.53300846e-01] [ 5.39412779e-02 -1.46660590e-03 9.98543032e-01 -5.73365752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.903201008 meters Centerline goodness : 0.821908 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.58 [[ 9.98064382e-01 3.08373769e-02 -5.40050512e-02 5.88248935e+00] [-3.07547363e-02 9.99524173e-01 2.36083102e-03 -3.51731182e-01] [ 5.40521560e-02 -6.95350244e-04 9.98537872e-01 -5.75047997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.933201008 meters Centerline goodness : 0.821547 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.58 [[ 9.98062196e-01 3.06592143e-02 -5.41467018e-02 5.88315753e+00] [-3.06011774e-02 9.99529867e-01 1.90080002e-03 -3.50585797e-01] [ 5.41795227e-02 -2.40163813e-04 9.98531182e-01 -5.75742484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.963201008 meters Centerline goodness : 0.823416 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.57 [[ 9.97905234e-01 3.37960710e-02 -5.51631253e-02 5.88656773e+00] [-3.34749838e-02 9.99416865e-01 6.73460522e-03 -3.53717336e-01] [ 5.53585610e-02 -4.87391307e-03 9.98454643e-01 -5.74217297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.993201008 meters Centerline goodness : 0.825390 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98019127e-01 3.07272274e-02 -5.48968073e-02 5.88471845e+00] [-3.06375195e-02 9.99527496e-01 2.47515747e-03 -3.51559381e-01] [ 5.49469231e-02 -7.88352495e-04 9.98488965e-01 -5.74755798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02320100799999 meters Centerline goodness : 0.830334 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.57 [[ 9.98010949e-01 3.08704922e-02 -5.49650625e-02 5.88452832e+00] [-3.07700941e-02 9.99522917e-01 2.67212491e-03 -3.52151043e-01] [ 5.50213294e-02 -9.75529768e-04 9.98484703e-01 -5.74282156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05320100799999 meters Centerline goodness : 0.828976 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.58 [[ 9.98019786e-01 3.07251173e-02 -5.48860063e-02 5.88490573e+00] [-3.06408865e-02 9.99527634e-01 2.37570260e-03 -3.51527251e-01] [ 5.49330738e-02 -6.89242313e-04 9.98489801e-01 -5.75101440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08320100799999 meters Centerline goodness : 0.825373 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.58 [[ 9.98026371e-01 3.03877928e-02 -5.49540328e-02 5.88581118e+00] [-3.03332763e-02 9.99538172e-01 1.82605686e-03 -3.50144961e-01] [ 5.49841434e-02 -1.55517038e-04 9.98487216e-01 -5.76151980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11320100799999 meters Centerline goodness : 0.822524 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.58 [[ 9.98024468e-01 3.01635565e-02 -5.51118895e-02 5.88645423e+00] [-3.01327944e-02 9.99544939e-01 1.38924841e-03 -3.48754036e-01] [ 5.51287149e-02 2.74171326e-04 9.98479218e-01 -5.76623286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14320100799999 meters Centerline goodness : 0.823021 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.58 [[ 9.98021939e-01 3.03175532e-02 -5.50731836e-02 5.88606115e+00] [-3.02733254e-02 9.99540317e-01 1.63734531e-03 -3.49236721e-01] [ 5.50975077e-02 3.31418659e-05 9.98480978e-01 -5.76138539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17320100799999 meters Centerline goodness : 0.823065 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.57 [[ 9.98014234e-01 2.84910760e-02 -5.61769289e-02 5.88989143e+00] [-2.83565623e-02 9.99592781e-01 3.19029749e-03 -3.53468380e-01] [ 5.62449476e-02 -1.59097772e-03 9.98415732e-01 -5.73051243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.203201008 meters Centerline goodness : 0.827023 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.35, Z:-0.57 [[ 9.98010223e-01 2.81074915e-02 -5.64408049e-02 5.89115718e+00] [-2.79852971e-02 9.99603969e-01 2.95437844e-03 -3.53613099e-01] [ 5.65014927e-02 -1.36898719e-03 9.98401576e-01 -5.73729744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.233201008 meters Centerline goodness : 0.827300 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.36, Z:-0.57 [[ 9.97871967e-01 3.09206313e-02 -5.74060346e-02 5.89523538e+00] [-3.05513837e-02 9.99506547e-01 7.29895658e-03 -3.55678213e-01] [ 5.76033958e-02 -5.52959037e-03 9.98324232e-01 -5.73409690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.263201008 meters Centerline goodness : 0.822258 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97884990e-01 3.07391171e-02 -5.72769861e-02 5.89592536e+00] [-3.04413989e-02 9.99518162e-01 6.06335608e-03 -3.53312889e-01] [ 5.74357701e-02 -4.30694044e-03 9.98339913e-01 -5.75792676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.293201008 meters Centerline goodness : 0.822805 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97869771e-01 3.07378840e-02 -5.75421821e-02 5.89650439e+00] [-3.04518625e-02 9.99519167e-01 5.84112508e-03 -3.53315929e-01] [ 5.76940578e-02 -4.07641553e-03 9.98325988e-01 -5.76042728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.323201008 meters Centerline goodness : 0.826240 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97860234e-01 3.06476339e-02 -5.77553187e-02 5.89713979e+00] [-3.03611511e-02 9.99521983e-01 5.83147134e-03 -3.53800210e-01] [ 5.79064315e-02 -4.06547540e-03 9.98313737e-01 -5.76088572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.353201008 meters Centerline goodness : 0.827740 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97851705e-01 3.02805676e-02 -5.80952852e-02 5.89842246e+00] [-3.00047346e-02 9.99533988e-01 5.61458399e-03 -3.53950186e-01] [ 5.82382249e-02 -3.85938860e-03 9.98295254e-01 -5.76494663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38320100799999 meters Centerline goodness : 0.823329 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97850060e-01 2.99029448e-02 -5.83187006e-02 5.89981133e+00] [-2.96544616e-02 9.99547088e-01 5.12177195e-03 -3.53665961e-01] [ 5.84454434e-02 -3.38135078e-03 9.98284877e-01 -5.77756950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41320100799999 meters Centerline goodness : 0.824479 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97841249e-01 2.97445651e-02 -5.85500042e-02 5.90032630e+00] [-2.94919829e-02 9.99551628e-01 5.17354928e-03 -3.53854999e-01] [ 5.86776370e-02 -3.43562515e-03 9.98271071e-01 -5.77380923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44320100799999 meters Centerline goodness : 0.824479 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97841249e-01 2.97445651e-02 -5.85500042e-02 5.90032630e+00] [-2.94919829e-02 9.99551628e-01 5.17354928e-03 -3.53854999e-01] [ 5.86776370e-02 -3.43562515e-03 9.98271071e-01 -5.77380923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47320100799999 meters Centerline goodness : 0.825108 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97838253e-01 2.99634901e-02 -5.84894065e-02 5.89981555e+00] [-2.97040341e-02 9.99544684e-01 5.30054657e-03 -3.53713266e-01] [ 5.86215982e-02 -3.55171680e-03 9.98273957e-01 -5.76992602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50320100799999 meters Centerline goodness : 0.828388 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.36, Z:-0.58 [[ 0.99769315 0.03271339 -0.05948285 5.9037374 ] [-0.03218455 0.99943363 0.00982729 -0.35563582] [ 0.05977064 -0.00789019 0.99818095 -0.57588861] [ 0. 0. 0. 1. ]] SLAMing on 71.53320100799999 meters Centerline goodness : 0.822586 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.35, Z:-0.58 [[ 9.97847418e-01 2.78142074e-02 -5.93877182e-02 5.90424932e+00] [-2.75704805e-02 9.99607756e-01 4.91961564e-03 -3.53637495e-01] [ 5.95012589e-02 -3.27167784e-03 9.98222869e-01 -5.77337917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.563201008 meters Centerline goodness : 0.821855 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97825953e-01 2.67368566e-02 -6.02370991e-02 5.90713112e+00] [-2.64932867e-02 9.99637281e-01 4.83870424e-03 -3.54652772e-01] [ 6.03446217e-02 -3.23230593e-03 9.98172369e-01 -5.77267209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.593201008 meters Centerline goodness : 0.820260 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.36, Z:-0.58 [[ 9.97812796e-01 2.59858590e-02 -6.07812441e-02 5.90919775e+00] [-2.57558012e-02 9.99657839e-01 4.56554703e-03 -3.55366006e-01] [ 6.08790868e-02 -2.99009160e-03 9.98140670e-01 -5.77754641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.623201008 meters Centerline goodness : 0.822863 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.36, Z:-0.58 [[ 9.97803296e-01 2.59093663e-02 -6.09695624e-02 5.90970591e+00] [-2.56650282e-02 9.99659136e-01 4.78738810e-03 -3.56554164e-01] [ 6.10728182e-02 -3.21208609e-03 9.98128145e-01 -5.77585526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.653201008 meters Centerline goodness : 0.820758 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.36, Z:-0.58 [[ 9.97806642e-01 2.58675439e-02 -6.09325445e-02 5.90994963e+00] [-2.56490611e-02 9.99661478e-01 4.36521434e-03 -3.55408728e-01] [ 6.10248349e-02 -2.79277731e-03 9.98132341e-01 -5.78327845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.683201008 meters Centerline goodness : 0.820087 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97807608e-01 2.63819830e-02 -6.06957101e-02 5.90895877e+00] [-2.61892988e-02 9.99649126e-01 3.96806721e-03 -3.53149517e-01] [ 6.07790991e-02 -2.36978956e-03 9.98148428e-01 -5.78678822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.713201008 meters Centerline goodness : 0.818193 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97807377e-01 2.65383790e-02 -6.06312781e-02 5.90894473e+00] [-2.63851871e-02 9.99646317e-01 3.32598108e-03 -3.50646788e-01] [ 6.06981000e-02 -1.71892084e-03 9.98154690e-01 -5.79614517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.743201008 meters Centerline goodness : 0.817538 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97670994e-01 3.01646093e-02 -6.11774835e-02 5.91112348e+00] [-2.97842627e-02 9.99530994e-01 7.11972593e-03 -3.49963275e-01] [ 6.13635547e-02 -5.28101781e-03 9.98101510e-01 -5.79761919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77320100799999 meters Centerline goodness : 0.819546 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97657859e-01 3.00029783e-02 -6.14704690e-02 5.91191232e+00] [-2.96468088e-02 9.99537993e-01 6.69825644e-03 -3.49038145e-01] [ 6.16430369e-02 -4.86016494e-03 9.98086427e-01 -5.80142648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80320100799999 meters Centerline goodness : 0.816589 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97643444e-01 2.99160760e-02 -6.17461570e-02 5.91242938e+00] [-2.95663408e-02 9.99541227e-01 6.57021050e-03 -3.49099448e-01] [ 6.19143844e-02 -4.72911951e-03 9.98070260e-01 -5.80089154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83320100799999 meters Centerline goodness : 0.823657 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97629636e-01 2.96971294e-02 -6.20740736e-02 5.91339136e+00] [-2.93594801e-02 9.99548781e-01 6.34471138e-03 -3.49718216e-01] [ 6.22344844e-02 -4.50720957e-03 9.98051378e-01 -5.80501918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86320100799999 meters Centerline goodness : 0.821423 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.35, Z:-0.58 [[ 9.97609424e-01 2.93935023e-02 -6.25416581e-02 5.91477115e+00] [-2.90538561e-02 9.99557783e-01 6.33343246e-03 -3.50925574e-01] [ 6.27001629e-02 -4.50121557e-03 9.98022259e-01 -5.80709348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89320100799999 meters Centerline goodness : 0.823494 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.35, Z:-0.58 [[ 9.97587829e-01 2.89851369e-02 -6.30744410e-02 5.91652180e+00] [-2.86442869e-02 9.99569804e-01 6.30168995e-03 -3.52106918e-01] [ 6.32299620e-02 -4.47976682e-03 9.97988930e-01 -5.81103794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92320100799999 meters Centerline goodness : 0.822370 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.35, Z:-0.58 [[ 9.97575039e-01 2.78103413e-02 -6.38014651e-02 5.92029394e+00] [-2.75171740e-02 9.99606369e-01 5.46928455e-03 -3.52132320e-01] [ 6.39284535e-02 -3.70038573e-03 9.97947624e-01 -5.83382008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.953201008 meters Centerline goodness : 0.822540 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.35, Z:-0.58 [[ 9.97572751e-01 2.72548784e-02 -6.40763519e-02 5.92196712e+00] [-2.69865624e-02 9.99623044e-01 5.04936880e-03 -3.51591242e-01] [ 6.41898178e-02 -3.30791225e-03 9.97932225e-01 -5.84491622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.983201008 meters Centerline goodness : 0.822508 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.35, Z:-0.58 [[ 9.97555280e-01 2.64381065e-02 -6.46876397e-02 5.92430461e+00] [-2.61823097e-02 9.99645665e-01 4.79902016e-03 -3.51668615e-01] [ 6.47915956e-02 -3.09361607e-03 9.97894022e-01 -5.84994495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.013201008 meters Centerline goodness : 0.820861 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.35, Z:-0.58 [[ 9.97535224e-01 2.62854867e-02 -6.50580475e-02 5.92501731e+00] [-2.59827616e-02 9.99647288e-01 5.49502389e-03 -3.53114080e-01] [ 6.51795402e-02 -3.79109215e-03 9.97866351e-01 -5.83636014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.043201008 meters Centerline goodness : 0.820736 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.35, Z:-0.58 [[ 9.97514953e-01 2.65988797e-02 -6.52412314e-02 5.92445745e+00] [-2.62670417e-02 9.99637320e-01 5.93897349e-03 -3.53788782e-01] [ 6.53755397e-02 -4.21052072e-03 9.97851848e-01 -5.82227649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.073201008 meters Centerline goodness : 0.826063 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.35, Z:-0.59 [[ 9.97789604e-01 2.76241543e-02 -6.04385024e-02 5.93886143e+00] [-2.79043459e-02 9.99603388e-01 -3.79671933e-03 -3.51358634e-01] [ 6.03096506e-02 5.47482396e-03 9.98164702e-01 -5.86497816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.103201008 meters Centerline goodness : 0.830990 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.35, Z:-0.59 [[ 9.97629498e-01 3.22875993e-02 -6.07692008e-02 5.93899693e+00] [-3.23039913e-02 9.99477836e-01 7.12947100e-04 -3.51819893e-01] [ 6.07604887e-02 1.25183068e-03 9.98151590e-01 -5.85229932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13320100799999 meters Centerline goodness : 0.829067 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.35, Z:-0.59 [[ 9.97640943e-01 3.21459895e-02 -6.06562742e-02 5.93963316e+00] [-3.22121190e-02 9.99481049e-01 -1.12460971e-04 -3.49234511e-01] [ 6.06211814e-02 2.06606279e-03 9.98158707e-01 -5.86870791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16320100799999 meters Centerline goodness : 0.831447 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.35, Z:-0.59 [[ 9.97483237e-01 3.49223592e-02 -6.17059277e-02 5.94388469e+00] [-3.47685453e-02 9.99389033e-01 3.56500020e-03 -3.49406532e-01] [ 6.17927257e-02 -1.41060259e-03 9.98088007e-01 -5.87318401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19320100799999 meters Centerline goodness : 0.826913 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.35, Z:-0.59 [[ 9.97493360e-01 3.43341415e-02 -6.18721506e-02 5.94559075e+00] [-3.42306738e-02 9.99410225e-01 2.73179959e-03 -3.47311574e-01] [ 6.19294540e-02 -6.07026548e-04 9.98080345e-01 -5.89025245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22320100799999 meters Centerline goodness : 0.831842 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.35, Z:-0.59 [[ 9.97491133e-01 3.36915093e-02 -6.22601194e-02 5.94744273e+00] [-3.36187699e-02 9.99432273e-01 2.21581465e-03 -3.46301531e-01] [ 6.22994268e-02 -1.17146840e-04 9.98057497e-01 -5.89938744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25320100799999 meters Centerline goodness : 0.823313 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.35, Z:-0.59 [[ 9.97455509e-01 3.31600980e-02 -6.31103498e-02 5.95485755e+00] [-3.27726061e-02 9.99437148e-01 7.16550000e-03 -3.48670589e-01] [ 6.33124367e-02 -5.07897681e-03 9.97980831e-01 -5.86527823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28320100799999 meters Centerline goodness : 0.824600 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.35, Z:-0.59 [[ 9.97431263e-01 3.25413847e-02 -6.38117030e-02 5.95683969e+00] [-3.21346181e-02 9.99456224e-01 7.39075537e-03 -3.49868671e-01] [ 6.40175091e-02 -5.32120575e-03 9.97934589e-01 -5.85910192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.313201008 meters Centerline goodness : 0.831348 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.35, Z:-0.59 [[ 9.97402268e-01 3.21424670e-02 -6.44637759e-02 5.95838548e+00] [-3.17089986e-02 9.99467202e-01 7.73635234e-03 -3.51549966e-01] [ 6.46780952e-02 -5.67217359e-03 9.97890059e-01 -5.85135239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.343201008 meters Centerline goodness : 0.831899 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.35, Z:-0.58 [[ 9.97378471e-01 3.18434963e-02 -6.49782873e-02 5.95958223e+00] [-3.13897440e-02 9.99475265e-01 7.99239345e-03 -3.53250799e-01] [ 6.51986967e-02 -5.93178935e-03 9.97854671e-01 -5.84605932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.373201008 meters Centerline goodness : 0.840976 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.36, Z:-0.58 [[ 0.99735548 0.03160023 -0.06544823 5.96087337] [-0.031093 0.99947816 0.00875443 -0.35557341] [ 0.06569072 -0.00669629 0.99781756 -0.58359411] [ 0. 0. 0. 1. ]] SLAMing on 72.403201008 meters Centerline goodness : 0.843497 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.36, Z:-0.58 [[ 0.9971866 0.03443474 -0.06658183 5.96506708] [-0.03357674 0.9993386 0.01396308 -0.35881364] [ 0.06701861 -0.0116882 0.99768326 -0.58156265] [ 0. 0. 0. 1. ]] SLAMing on 72.433201008 meters Centerline goodness : 0.843914 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.36, Z:-0.58 [[ 0.9971896 0.03384859 -0.06683688 5.96678423] [-0.03303996 0.99936729 0.01316741 -0.35755993] [ 0.06724029 -0.01092211 0.99767703 -0.58312117] [ 0. 0. 0. 1. ]] SLAMing on 72.463201008 meters Centerline goodness : 0.845080 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.36, Z:-0.58 [[ 0.99716612 0.03270532 -0.06775017 5.97009933] [-0.03189577 0.9994067 0.01299679 -0.35766729] [ 0.06813504 -0.01079901 0.99761766 -0.58321017] [ 0. 0. 0. 1. ]] SLAMing on 72.493201008 meters Centerline goodness : 0.849340 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.36, Z:-0.58 [[ 0.99705496 0.03276236 -0.06934004 5.97897606] [-0.03160534 0.99934337 0.01771836 -0.35952859] [ 0.06987501 -0.01547467 0.99743572 -0.58079579] [ 0. 0. 0. 1. ]] SLAMing on 72.52320100799999 meters Centerline goodness : 0.854537 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.36, Z:-0.58 [[ 0.99702701 0.03079709 -0.07063061 5.98490926] [-0.02974158 0.99943039 0.01594758 -0.35757345] [ 0.07108152 -0.01379951 0.99737505 -0.58404471] [ 0. 0. 0. 1. ]] SLAMing on 72.55320100799999 meters Centerline goodness : 0.854361 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.59 [[ 0.99701893 0.03017887 -0.07101054 5.98676129] [-0.02917906 0.99946051 0.01507538 -0.35639654] [ 0.07142719 -0.01295842 0.99736164 -0.58548813] [ 0. 0. 0. 1. ]] SLAMing on 72.58320100799999 meters Centerline goodness : 0.856858 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.59 [[ 0.99701053 0.02988975 -0.07125028 5.98774297] [-0.02892421 0.99947578 0.01454498 -0.35530809] [ 0.07164768 -0.01244064 0.99735242 -0.58614929] [ 0. 0. 0. 1. ]] SLAMing on 72.61320100799999 meters Centerline goodness : 0.856661 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.35, Z:-0.59 [[ 0.99699719 0.02995375 -0.07140998 5.98767069] [-0.02900272 0.99947678 0.01431791 -0.35458066] [ 0.0718015 -0.01220384 0.99734428 -0.58588113] [ 0. 0. 0. 1. ]] SLAMing on 72.64320100799999 meters Centerline goodness : 0.861723 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.58 [[ 0.99687843 0.032758 -0.07183532 5.99039348] [-0.0314965 0.99933033 0.0186243 -0.35662368] [ 0.07239731 -0.0163036 0.99724261 -0.58487173] [ 0. 0. 0. 1. ]] SLAMing on 72.67320100799999 meters Centerline goodness : 0.858758 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.59 [[ 0.99687367 0.03226422 -0.07212427 5.99160745] [-0.03102693 0.99935265 0.01821037 -0.35550691] [ 0.07266512 -0.01591564 0.9972294 -0.58511541] [ 0. 0. 0. 1. ]] SLAMing on 72.703201008 meters Centerline goodness : 0.868293 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.59 [[ 0.99686814 0.03184996 -0.07238438 5.99260932] [-0.03063548 0.99937163 0.01782712 -0.35504998] [ 0.07290669 -0.01555375 0.99721748 -0.58542392] [ 0. 0. 0. 1. ]] SLAMing on 72.733201008 meters Centerline goodness : 0.861893 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.58 [[ 0.99685926 0.03146587 -0.07267407 5.99318234] [-0.03017221 0.99936732 0.01883086 -0.35594102] [ 0.07322062 -0.01657898 0.99717796 -0.58291693] [ 0. 0. 0. 1. ]] SLAMing on 72.763201008 meters Centerline goodness : 0.867955 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.36, Z:-0.58 [[ 0.99683992 0.03096961 -0.07315087 5.99456342] [-0.02967611 0.99938456 0.01870397 -0.35634473] [ 0.07368511 -0.01647403 0.99714548 -0.58281143] [ 0. 0. 0. 1. ]] SLAMing on 72.793201008 meters Centerline goodness : 0.862636 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.36, Z:-0.58 [[ 0.99682535 0.03060683 -0.07350134 5.99565197] [-0.02926648 0.99938638 0.01924426 -0.35661984] [ 0.07404525 -0.01703204 0.99710943 -0.58141455] [ 0. 0. 0. 1. ]] SLAMing on 72.823201008 meters Centerline goodness : 0.869989 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.36, Z:-0.58 [[ 0.99666079 0.03321439 -0.07459276 5.99958471] [-0.03145266 0.99920074 0.02467008 -0.35879068] [ 0.07535254 -0.02224156 0.99690888 -0.57776395] [ 0. 0. 0. 1. ]] SLAMing on 72.853201008 meters Centerline goodness : 0.869351 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.35, Z:-0.58 [[ 0.99678909 0.02978568 -0.07432576 5.99858474] [-0.02846168 0.99941789 0.01880984 -0.35373676] [ 0.07484275 -0.01663401 0.9970566 -0.58106997] [ 0. 0. 0. 1. ]] SLAMing on 72.88320100799999 meters Centerline goodness : 0.871411 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.35, Z:-0.58 [[ 0.99676443 0.02922614 -0.07487664 6.00044036] [-0.02796533 0.99944982 0.01783223 -0.35118177] [ 0.07535661 -0.01568058 0.99703335 -0.58200219] [ 0. 0. 0. 1. ]] SLAMing on 72.91320100799999 meters Centerline goodness : 0.870782 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.35, Z:-0.59 [[ 9.97035640e-01 3.04506226e-02 -7.06589878e-02 6.01728906e+00] [-2.99562157e-02 9.99518824e-01 8.04647510e-03 -3.46931747e-01] [ 7.08700085e-02 -5.90594657e-03 9.97468076e-01 -5.88502339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94320100799999 meters Centerline goodness : 0.873725 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.35, Z:-0.59 [[ 0.99687281 0.03454855 -0.07107035 6.01808708] [-0.03378086 0.99935751 0.01197588 -0.34513033] [ 0.07143844 -0.00953761 0.99739941 -0.58749902] [ 0. 0. 0. 1. ]] SLAMing on 72.97320100799999 meters Centerline goodness : 0.872406 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.35, Z:-0.59 [[ 0.99667948 0.03829727 -0.07185635 6.02000589] [-0.03721144 0.999173 0.01638998 -0.34528305] [ 0.07242462 -0.01366168 0.99728032 -0.58582062] [ 0. 0. 0. 1. ]] SLAMing on 73.00320100799999 meters Centerline goodness : 0.873621 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.34, Z:-0.59 [[ 9.96914425e-01 4.03903648e-02 -6.73071128e-02 6.03655739e+00] [-3.99442955e-02 9.99170197e-01 7.96058958e-03 -3.40705294e-01] [ 6.75727922e-02 -5.24749138e-03 9.97700547e-01 -5.91265087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03320100799999 meters Centerline goodness : 0.873803 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.34, Z:-0.59 [[ 0.99671692 0.04434056 -0.06774431 6.0378163 ] [-0.04364601 0.99897855 0.01169929 -0.33882722] [ 0.06819387 -0.00870412 0.99763412 -0.59068362] [ 0. 0. 0. 1. ]] SLAMing on 73.063201008 meters Centerline goodness : 0.871836 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.34, Z:-0.59 [[ 9.96947227e-01 4.59080938e-02 -6.31559395e-02 6.05444200e+00] [-4.57724950e-02 9.98945429e-01 3.59298565e-03 -3.35675562e-01] [ 6.32542841e-02 -6.91212159e-04 9.97997203e-01 -5.94840869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.093201008 meters Centerline goodness : 0.874871 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.34, Z:-0.59 [[ 9.96930742e-01 4.63275780e-02 -6.31098292e-02 6.05348864e+00] [-4.61711797e-02 9.98925792e-01 3.93510963e-03 -3.35402080e-01] [ 6.32243402e-02 -1.00917650e-03 9.97998830e-01 -5.93745041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.123201008 meters Centerline goodness : 0.873324 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.34, Z:-0.59 [[ 9.96907838e-01 4.65550507e-02 -6.33039412e-02 6.05306765e+00] [-4.63623286e-02 9.98914505e-01 4.51072532e-03 -3.35795074e-01] [ 6.34452221e-02 -1.56185930e-03 9.97984100e-01 -5.92083810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.153201008 meters Centerline goodness : 0.878769 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.34, Z:-0.59 [[ 9.96869164e-01 4.67959017e-02 -6.37339278e-02 6.05263318e+00] [-4.64999648e-02 9.98899547e-01 6.11956466e-03 -3.38630227e-01] [ 6.39501622e-02 -3.13677990e-03 9.97948164e-01 -5.88575292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.183201008 meters Centerline goodness : 0.880479 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.34, Z:-0.59 [[ 9.96856350e-01 4.62186916e-02 -6.43525474e-02 6.05442016e+00] [-4.59046808e-02 9.98925639e-01 6.35038568e-03 -3.39215367e-01] [ 6.45769161e-02 -3.37633914e-03 9.97907021e-01 -5.87945393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.213201008 meters Centerline goodness : 0.879548 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.34, Z:-0.59 [[ 9.96844574e-01 4.53808513e-02 -6.51265928e-02 6.05705095e+00] [-4.50502268e-02 9.98963335e-01 6.53699760e-03 -3.39773520e-01] [ 6.53557329e-02 -3.58240281e-03 9.97855598e-01 -5.87607304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.243201008 meters Centerline goodness : 0.876719 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.34, Z:-0.58 [[ 0.99676837 0.04517734 -0.06642161 6.06579193] [-0.04442904 0.9989318 0.01270106 -0.34289964] [ 0.06692446 -0.00970896 0.99771081 -0.58283215] [ 0. 0. 0. 1. ]] SLAMing on 73.27320100799999 meters Centerline goodness : 0.877686 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.34, Z:-0.58 [[ 0.99676359 0.04417171 -0.06716557 6.06881115] [-0.04341873 0.99897712 0.01263028 -0.34456486] [ 0.06765477 -0.00967316 0.9976619 -0.58345913] [ 0. 0. 0. 1. ]] SLAMing on 73.30320100799999 meters Centerline goodness : 0.877836 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.35, Z:-0.58 [[ 0.99674953 0.04236012 -0.06852729 6.0736866 ] [-0.04156278 0.99905105 0.01302019 -0.34772011] [ 0.0690138 -0.01012968 0.99756428 -0.58294787] [ 0. 0. 0. 1. ]] SLAMing on 73.33320100799999 meters Centerline goodness : 0.877836 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.35, Z:-0.58 [[ 0.99674978 0.04236775 -0.06851892 6.07366663] [-0.041571 0.9990508 0.01301317 -0.34770209] [ 0.06900523 -0.01012247 0.99756494 -0.58295517] [ 0. 0. 0. 1. ]] SLAMing on 73.36320100799999 meters Centerline goodness : 0.874246 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.35, Z:-0.58 [[ 0.99672757 0.04200747 -0.06906177 6.07481066] [-0.04118246 0.99906276 0.01332723 -0.3480621 ] [ 0.06955688 -0.01043948 0.99752336 -0.58190253] [ 0. 0. 0. 1. ]] SLAMing on 73.39320100799999 meters Centerline goodness : 0.876830 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.35, Z:-0.58 [[ 0.99656316 0.04404561 -0.07015595 6.07944284] [-0.04277815 0.9988949 0.01946819 -0.35192982] [ 0.07093591 -0.01640014 0.99734604 -0.57723447] [ 0. 0. 0. 1. ]] SLAMing on 73.42320100799999 meters Centerline goodness : 0.876754 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.35, Z:-0.58 [[ 0.99654671 0.04351198 -0.07072036 6.08104087] [-0.04224746 0.99892114 0.01927973 -0.3516196 ] [ 0.07148297 -0.0162254 0.99730984 -0.57707098] [ 0. 0. 0. 1. ]] SLAMing on 73.453201008 meters Centerline goodness : 0.876323 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.35, Z:-0.57 [[ 0.99635934 0.04582695 -0.07188855 6.08584727] [-0.04417805 0.99872657 0.02436245 -0.3538393 ] [ 0.07291347 -0.02109786 0.99711509 -0.57458597] [ 0. 0. 0. 1. ]] SLAMing on 73.483201008 meters Centerline goodness : 0.875978 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.35, Z:-0.58 [[ 0.99638348 0.04453757 -0.0723627 6.0886782 ] [-0.04293111 0.9987991 0.02360657 -0.35219821] [ 0.07332718 -0.02041459 0.99709898 -0.57569034] [ 0. 0. 0. 1. ]] SLAMing on 73.513201008 meters Centerline goodness : 0.876150 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.35, Z:-0.57 [[ 0.99621645 0.04572537 -0.07390512 6.09586055] [-0.04364792 0.99861177 0.02948532 -0.35378996] [ 0.07515075 -0.02614796 0.9968293 -0.5710271 ] [ 0. 0. 0. 1. ]] SLAMing on 73.543201008 meters Centerline goodness : 0.875350 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.35, Z:-0.57 [[ 0.99640404 0.04090048 -0.07420333 6.09716708] [-0.03920452 0.99893883 0.02417058 -0.35078614] [ 0.07511317 -0.02117455 0.99695017 -0.5730528 ] [ 0. 0. 0. 1. ]] SLAMing on 73.573201008 meters Centerline goodness : 0.873546 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.35, Z:-0.57 [[ 0.99628934 0.04161558 -0.07533717 6.10418153] [-0.03932974 0.99872727 0.03157556 -0.35402438] [ 0.07655532 -0.0284954 0.99665806 -0.56539854] [ 0. 0. 0. 1. ]] SLAMing on 73.603201008 meters Centerline goodness : 0.876736 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.35, Z:-0.56 [[ 0.99625627 0.04097091 -0.07612382 6.10599474] [-0.03861069 0.99873465 0.03222281 -0.35489252] [ 0.0773477 -0.02916298 0.99657757 -0.56351168] [ 0. 0. 0. 1. ]] SLAMing on 73.63320100799999 meters Centerline goodness : 0.874625 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.35, Z:-0.56 [[ 0.99622849 0.03998413 -0.07700693 6.10872381] [-0.03763386 0.99878759 0.03173387 -0.3537696 ] [ 0.07818242 -0.02871612 0.99652541 -0.56341409] [ 0. 0. 0. 1. ]] SLAMing on 73.66320100799999 meters Centerline goodness : 0.873776 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.35, Z:-0.57 [[ 0.99621387 0.03827509 -0.07805728 6.11293733] [-0.0360436 0.99890582 0.02979954 -0.35017836] [ 0.07911245 -0.02687325 0.99650341 -0.56582203] [ 0. 0. 0. 1. ]] SLAMing on 73.69320100799999 meters Centerline goodness : 0.875270 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.35, Z:-0.57 [[ 0.99619344 0.03680405 -0.0790196 6.1169277 ] [-0.03463685 0.99898996 0.02862423 -0.34804427] [ 0.07999328 -0.02577828 0.99646202 -0.56734374] [ 0. 0. 0. 1. ]] SLAMing on 73.72320100799999 meters Centerline goodness : 0.871460 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.35, Z:-0.57 [[ 0.99617917 0.03581302 -0.07965227 6.11924991] [-0.03367234 0.99903899 0.02805851 -0.34698834] [ 0.08058058 -0.02526923 0.99642774 -0.56776241] [ 0. 0. 0. 1. ]] SLAMing on 73.75320100799999 meters Centerline goodness : 0.870729 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.57 [[ 0.99633656 0.03120241 -0.07962327 6.11948897] [-0.02945791 0.99930158 0.02299114 -0.3431472 ] [ 0.08028504 -0.02056138 0.99655985 -0.56906013] [ 0. 0. 0. 1. ]] SLAMing on 73.78320100799999 meters Centerline goodness : 0.871650 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.57 [[ 0.9964753 0.02614856 -0.07970713 6.12002731] [-0.02478076 0.99952901 0.01810164 -0.3398725 ] [ 0.08014292 -0.01606263 0.99665395 -0.56951013] [ 0. 0. 0. 1. ]] SLAMing on 73.813201008 meters Centerline goodness : 0.873351 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.57 [[ 0.99645246 0.02580863 -0.08010244 6.12053532] [-0.02439633 0.99953006 0.01856028 -0.34001379] [ 0.08054381 -0.01654023 0.99661382 -0.56789463] [ 0. 0. 0. 1. ]] SLAMing on 73.843201008 meters Centerline goodness : 0.869635 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.57 [[ 0.99643927 0.02559785 -0.08033386 6.1204855 ] [-0.0241543 0.99952975 0.01889024 -0.33990353] [ 0.08077964 -0.01688257 0.996589 -0.56633435] [ 0. 0. 0. 1. ]] SLAMing on 73.873201008 meters Centerline goodness : 0.876614 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.57 [[ 0.99643229 0.02557781 -0.08042679 6.12001601] [-0.02412191 0.99952803 0.01902219 -0.33931472] [ 0.08087538 -0.01701428 0.99657899 -0.56513417] [ 0. 0. 0. 1. ]] SLAMing on 73.903201008 meters Centerline goodness : 0.872500 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.34, Z:-0.56 [[ 0.99642924 0.02561039 -0.08045425 6.11965074] [-0.02419065 0.99953484 0.01857203 -0.33710332] [ 0.08089246 -0.01655947 0.99658527 -0.56494603] [ 0. 0. 0. 1. ]] SLAMing on 73.933201008 meters Centerline goodness : 0.873611 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.33, Z:-0.56 [[ 0.99630454 0.03000813 -0.08047841 6.11922879] [-0.02831748 0.99935537 0.02206746 -0.33300216] [ 0.08108873 -0.01970696 0.99651204 -0.56430533] [ 0. 0. 0. 1. ]] SLAMing on 73.963201008 meters Centerline goodness : 0.880411 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.33, Z:-0.56 [[ 0.99630779 0.03103291 -0.08004834 6.11726588] [-0.02937298 0.99933008 0.02183171 -0.32885745] [ 0.08067222 -0.01939984 0.99655188 -0.56417229] [ 0. 0. 0. 1. ]] SLAMing on 73.993201008 meters Centerline goodness : 0.879933 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.33, Z:-0.56 [[ 0.99613874 0.03556508 -0.08026667 6.11702791] [-0.03352527 0.99908331 0.02661958 -0.32868748] [ 0.08113982 -0.02382583 0.99641791 -0.56187677] [ 0. 0. 0. 1. ]] SLAMing on 74.02320100799999 meters Centerline goodness : 0.877755 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.33, Z:-0.56 [[ 0.9961407 0.03594797 -0.08007149 6.11623986] [-0.03398707 0.99909128 0.02571954 -0.32501369] [ 0.0809233 -0.02289889 0.99645725 -0.56269865] [ 0. 0. 0. 1. ]] SLAMing on 74.05320100799999 meters Centerline goodness : 0.878032 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.32, Z:-0.56 [[ 0.99608869 0.03703132 -0.08022464 6.11652603] [-0.03512033 0.99906778 0.02510241 -0.31891866] [ 0.08107943 -0.02218671 0.99646067 -0.5642089 ] [ 0. 0. 0. 1. ]] SLAMing on 74.08320100799999 meters Centerline goodness : 0.878931 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.32, Z:-0.57 [[ 0.99606982 0.03653381 -0.08068576 6.11810338] [-0.03471581 0.99911329 0.02382131 -0.3156443 ] [ 0.0814845 -0.02092662 0.99645489 -0.56554461] [ 0. 0. 0. 1. ]] SLAMing on 74.11320100799999 meters Centerline goodness : 0.879941 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.31, Z:-0.57 [[ 0.99605023 0.03617077 -0.08109011 6.11913631] [-0.03442066 0.99914555 0.02287773 -0.31324368] [ 0.08184833 -0.0199962 0.99644418 -0.56618507] [ 0. 0. 0. 1. ]] SLAMing on 74.14320100799999 meters Centerline goodness : 0.880523 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.31, Z:-0.57 [[ 0.99601808 0.03613247 -0.08150112 6.1197505 ] [-0.03439204 0.99915152 0.02265876 -0.31141036] [ 0.08225068 -0.01976555 0.99641565 -0.5656581 ] [ 0. 0. 0. 1. ]] SLAMing on 74.17320100799999 meters Centerline goodness : 0.879658 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.31, Z:-0.56 [[ 0.99580018 0.03883979 -0.08290642 6.12418161] [-0.03674316 0.99896887 0.02666732 -0.31149807] [ 0.08385669 -0.02350908 0.99620047 -0.56447275] [ 0. 0. 0. 1. ]] SLAMing on 74.203201008 meters Centerline goodness : 0.879526 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.31, Z:-0.57 [[ 0.99578642 0.03846404 -0.08324612 6.12566664] [-0.03641054 0.9989974 0.02604757 -0.30976389] [ 0.08416455 -0.02290678 0.99618854 -0.56543542] [ 0. 0. 0. 1. ]] SLAMing on 74.233201008 meters Centerline goodness : 0.879779 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.31, Z:-0.56 [[ 0.99558567 0.04147195 -0.08419771 6.12925947] [-0.03904124 0.99877768 0.03031384 -0.31124389] [ 0.08535197 -0.02689284 0.99598786 -0.56459029] [ 0. 0. 0. 1. ]] SLAMing on 74.263201008 meters Centerline goodness : 0.879011 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.31, Z:-0.56 [[ 0.99557281 0.04148701 -0.08434216 6.12961405] [-0.03906544 0.99878132 0.03016232 -0.30958573] [ 0.08549072 -0.02673392 0.99598024 -0.56421075] [ 0. 0. 0. 1. ]] SLAMing on 74.293201008 meters Centerline goodness : 0.882136 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.31, Z:-0.56 [[ 0.99556335 0.04243129 -0.0839833 6.12723572] [-0.03994783 0.9987197 0.03103442 -0.30872441] [ 0.08519261 -0.02754178 0.99598377 -0.56201308] [ 0. 0. 0. 1. ]] SLAMing on 74.323201008 meters Centerline goodness : 0.880535 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.31, Z:-0.57 [[ 0.99591545 0.04347649 -0.07913409 6.14221199] [-0.04186893 0.99888389 0.02186235 -0.3061245 ] [ 0.07999627 -0.01845979 0.99662422 -0.56646211] [ 0. 0. 0. 1. ]] SLAMing on 74.353201008 meters Centerline goodness : 0.882194 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.31, Z:-0.56 [[ 0.99567254 0.04731424 -0.07998477 6.14397605] [-0.04519608 0.99858315 0.02808915 -0.30988457] [ 0.08120046 -0.0243526 0.99640024 -0.56211561] [ 0. 0. 0. 1. ]] SLAMing on 74.38320100799999 meters Centerline goodness : 0.887116 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-0.57 [[ 0.99602151 0.04748569 -0.07540724 6.15811165] [-0.04628111 0.99877263 0.01764329 -0.30872989] [ 0.07615249 -0.01408317 0.99699672 -0.5660536 ] [ 0. 0. 0. 1. ]] SLAMing on 74.41320100799999 meters Centerline goodness : 0.885618 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-0.56 [[ 0.99581257 0.05060051 -0.07613751 6.16087005] [-0.04902686 0.99854628 0.0223987 -0.31189106] [ 0.07716022 -0.01857212 0.99684571 -0.5643888 ] [ 0. 0. 0. 1. ]] SLAMing on 74.44320100799999 meters Centerline goodness : 0.885764 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-0.56 [[ 0.9957931 0.05041752 -0.07651253 6.16177152] [-0.04883195 0.99855455 0.0224554 -0.31158136] [ 0.07753408 -0.01862467 0.99681572 -0.56396108] [ 0. 0. 0. 1. ]] SLAMing on 74.47320100799999 meters Centerline goodness : 0.884382 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.32, Z:-0.56 [[ 0.99557642 0.0523825 -0.07799785 6.16786445] [-0.05018776 0.99829395 0.02983903 -0.31579268] [ 0.07942783 -0.0257925 0.99650688 -0.55727396] [ 0. 0. 0. 1. ]] SLAMing on 74.50320100799999 meters Centerline goodness : 0.888612 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.31, Z:-0.56 [[ 0.99576796 0.04800292 -0.0783702 6.16903572] [-0.04623672 0.99863737 0.02419869 -0.31258302] [ 0.07942502 -0.0204727 0.99663059 -0.56014015] [ 0. 0. 0. 1. ]] SLAMing on 74.53320100799999 meters Centerline goodness : 0.884722 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.31, Z:-0.56 [[ 0.99574943 0.04720338 -0.07908795 6.17192995] [-0.04548705 0.99869164 0.0233653 -0.31210071] [ 0.0800874 -0.0196685 0.99659378 -0.56176986] [ 0. 0. 0. 1. ]] SLAMing on 74.563201008 meters Centerline goodness : 0.885263 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.31, Z:-0.56 [[ 0.99552413 0.04974978 -0.08035338 6.17720905] [-0.04766 0.99847889 0.02772045 -0.31377012] [ 0.08161024 -0.02376673 0.99638091 -0.56100099] [ 0. 0. 0. 1. ]] SLAMing on 74.593201008 meters Centerline goodness : 0.883896 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.31, Z:-0.57 [[ 0.9957865 0.0501729 -0.07675891 6.19411663] [-0.04909474 0.99866803 0.01587041 -0.30975348] [ 0.07745293 -0.01203508 0.99692337 -0.5694172 ] [ 0. 0. 0. 1. ]] SLAMing on 74.623201008 meters Centerline goodness : 0.882991 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.57 [[ 0.99552957 0.05335499 -0.07793668 6.19752239] [-0.05185248 0.99843017 0.02117805 -0.31288824] [ 0.07894428 -0.01704216 0.99673335 -0.56662335] [ 0. 0. 0. 1. ]] SLAMing on 74.653201008 meters Centerline goodness : 0.887084 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.57 [[ 0.99550881 0.05300243 -0.0784408 6.19871436] [-0.05149106 0.99844909 0.02116789 -0.31330717] [ 0.0794411 -0.01703383 0.99669402 -0.5662488 ] [ 0. 0. 0. 1. ]] SLAMing on 74.683201008 meters Centerline goodness : 0.885718 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.31, Z:-0.58 [[ 0.99662968 0.04739699 -0.0669538 6.2064031 ] [-0.04643257 0.99879506 0.01588873 -0.31069754] [ 0.0676262 -0.01272634 0.99762956 -0.57504989] [ 0. 0. 0. 1. ]] SLAMing on 74.713201008 meters Centerline goodness : 0.886563 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.31, Z:-0.57 [[ 0.9966131 0.04615221 -0.06806106 6.20995714] [-0.04512982 0.99884512 0.01648433 -0.31440488] [ 0.06874324 -0.01335691 0.99754497 -0.574289 ] [ 0. 0. 0. 1. ]] SLAMing on 74.743201008 meters Centerline goodness : 0.883269 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.57 [[ 0.99656135 0.04570544 -0.06911216 6.21728852] [-0.04435472 0.99879606 0.02095467 -0.3170841 ] [ 0.06998669 -0.01781717 0.9973888 -0.57138988] [ 0. 0. 0. 1. ]] SLAMing on 74.77320100799999 meters Centerline goodness : 0.882874 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.57 [[ 0.99655155 0.04501049 -0.06970704 6.21932468] [-0.04363671 0.99882446 0.02110762 -0.31766502] [ 0.07057516 -0.01799304 0.99734417 -0.5711219 ] [ 0. 0. 0. 1. ]] SLAMing on 74.80320100799999 meters Centerline goodness : 0.884576 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.57 [[ 0.99655125 0.04333103 -0.07076741 6.22349139] [-0.04192784 0.9988958 0.02119534 -0.31970219] [ 0.07160768 -0.01815512 0.99726763 -0.57115165] [ 0. 0. 0. 1. ]] SLAMing on 74.83320100799999 meters Centerline goodness : 0.887579 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.32, Z:-0.57 [[ 0.99653004 0.04253943 -0.07154209 6.22599847] [-0.0410945 0.99892285 0.02154958 -0.32170239] [ 0.07238174 -0.01853482 0.99720477 -0.57064583] [ 0. 0. 0. 1. ]] SLAMing on 74.86320100799999 meters Centerline goodness : 0.887046 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.32, Z:-0.57 [[ 0.9964963 0.0419313 -0.07236629 6.22820295] [-0.04042927 0.99893801 0.02209812 -0.32357318] [ 0.07321604 -0.01909498 0.99713329 -0.56960262] [ 0. 0. 0. 1. ]] SLAMing on 74.89320100799999 meters Centerline goodness : 0.886929 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.32, Z:-0.57 [[ 0.99647077 0.04129728 -0.07307894 6.23021055] [-0.0397643 0.99896 0.02230973 -0.3247865 ] [ 0.07392427 -0.01932506 0.9970766 -0.56901762] [ 0. 0. 0. 1. ]] SLAMing on 74.92320100799999 meters Centerline goodness : 0.888123 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.33, Z:-0.56 [[ 0.99646169 0.03986813 -0.07399081 6.24033493] [-0.03780606 0.99886234 0.02906427 -0.32802072] [ 0.07506537 -0.02616413 0.99683531 -0.56249042] [ 0. 0. 0. 1. ]] SLAMing on 74.953201008 meters Centerline goodness : 0.887728 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.33, Z:-0.56 [[ 0.99662805 0.0372246 -0.07312226 6.23914062] [-0.03533471 0.9990115 0.02697184 -0.32672351] [ 0.074054 -0.02429714 0.9969582 -0.56241305] [ 0. 0. 0. 1. ]] SLAMing on 74.983201008 meters Centerline goodness : 0.888800 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.56 [[ 0.99678686 0.03284186 -0.07305729 6.23919301] [-0.03132859 0.99927216 0.02176419 -0.32472181] [ 0.07371889 -0.01940548 0.99709024 -0.56438597] [ 0. 0. 0. 1. ]] SLAMing on 75.013201008 meters Centerline goodness : 0.889278 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.33, Z:-0.56 [[ 0.99677337 0.03283108 -0.07324589 6.23915998] [-0.0312497 0.99925533 0.02263285 -0.32622157] [ 0.07393441 -0.02027091 0.99705707 -0.56277779] [ 0. 0. 0. 1. ]] SLAMing on 75.043201008 meters Centerline goodness : 0.890131 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.56 [[ 0.99690695 0.02889592 -0.073086 6.23871279] [-0.02766054 0.99945782 0.01785928 -0.32322016] [ 0.07356243 -0.01578244 0.99716573 -0.56419991] [ 0. 0. 0. 1. ]] SLAMing on 75.073201008 meters Centerline goodness : 0.893018 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.56 [[ 0.99715873 0.02659699 -0.0704774 6.21560974] [-0.02505059 0.99942761 0.02273576 -0.32025664] [ 0.07104176 -0.02090566 0.99725424 -0.56383184] [ 0. 0. 0. 1. ]] SLAMing on 75.103201008 meters Centerline goodness : 0.895024 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.56 [[ 0.99714526 0.0264009 -0.07074122 6.21617147] [-0.02487401 0.99944008 0.02237899 -0.3192652 ] [ 0.07129244 -0.02055549 0.99724363 -0.56385715] [ 0. 0. 0. 1. ]] SLAMing on 75.13320100799999 meters Centerline goodness : 0.894462 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.56 [[ 0.99713337 0.02692846 -0.07070995 6.21511616] [-0.02537112 0.99941735 0.02283108 -0.31940027] [ 0.07128356 -0.02097165 0.9972356 -0.56264319] [ 0. 0. 0. 1. ]] SLAMing on 75.16320100799999 meters Centerline goodness : 0.896733 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.32, Z:-0.56 [[ 0.99713656 0.02710967 -0.07059562 6.21434915] [-0.02556986 0.99941698 0.02262487 -0.31834909] [ 0.07116781 -0.02075497 0.9972484 -0.56225716] [ 0. 0. 0. 1. ]] SLAMing on 75.19320100799999 meters Centerline goodness : 0.895362 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.31, Z:-0.56 [[ 0.99712804 0.02811277 -0.07032316 6.21291338] [-0.02668226 0.99941915 0.02119942 -0.31346491] [ 0.07087828 -0.01926216 0.99729897 -0.56409992] [ 0. 0. 0. 1. ]] SLAMing on 75.22320100799999 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.31, Z:-0.57 [[ 0.99712432 0.02806053 -0.07039671 6.21377861] [-0.02675062 0.99945228 0.01948204 -0.30871448] [ 0.07090483 -0.01754286 0.99732881 -0.56672821] [ 0. 0. 0. 1. ]] SLAMing on 75.25320100799999 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.31, Z:-0.57 [[ 0.99712632 0.02807249 -0.07036359 6.21371355] [-0.02676785 0.99945309 0.01941639 -0.30855304] [ 0.07087017 -0.01747711 0.99733243 -0.56678748] [ 0. 0. 0. 1. ]] SLAMing on 75.28320100799999 meters Centerline goodness : 0.893498 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.30, Z:-0.57 [[ 0.99712697 0.02836929 -0.07023518 6.2138853 ] [-0.02718085 0.9994717 0.01781936 -0.30388907] [ 0.0707036 -0.01585911 0.99737129 -0.56945901] [ 0. 0. 0. 1. ]] SLAMing on 75.313201008 meters Centerline goodness : 0.890963 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.30, Z:-0.57 [[ 0.99681003 0.03642694 -0.07101292 6.21647374] [-0.03467846 0.99906798 0.0257017 -0.30312187] [ 0.07188297 -0.02315709 0.99714422 -0.56893835] [ 0. 0. 0. 1. ]] SLAMing on 75.343201008 meters Centerline goodness : 0.892120 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.30, Z:-0.57 [[ 0.99703575 0.03893014 -0.06636385 6.23058807] [-0.03790085 0.99914196 0.01669937 -0.30016295] [ 0.06695702 -0.01413462 0.99765574 -0.57420273] [ 0. 0. 0. 1. ]] SLAMing on 75.373201008 meters Centerline goodness : 0.894111 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.30, Z:-0.58 [[ 9.97238337e-01 4.14129071e-02 -6.16495716e-02 6.24500342e+00] [-4.09564131e-02 9.99123486e-01 8.65055234e-03 -2.98297880e-01] [ 6.19537794e-02 -6.10171711e-03 9.98060368e-01 -5.78115844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.403201008 meters Centerline goodness : 0.891935 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.30, Z:-0.58 [[ 9.97216543e-01 4.20019876e-02 -6.16035685e-02 6.24405194e+00] [-4.15419011e-02 9.99098614e-01 8.73093267e-03 -2.98208254e-01] [ 6.19147564e-02 -6.14750114e-03 9.98062509e-01 -5.77645170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.433201008 meters Centerline goodness : 0.891561 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.30, Z:-0.58 [[ 9.97337877e-01 4.57138260e-02 -5.68102637e-02 6.25906731e+00] [-4.56803886e-02 9.98954323e-01 1.88772660e-03 -2.96689789e-01] [ 5.68371537e-02 7.12413684e-04 9.98383208e-01 -5.82349809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.463201008 meters Centerline goodness : 0.891244 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.30, Z:-0.58 [[ 9.97336795e-01 4.61898679e-02 -5.64430120e-02 6.25811071e+00] [-4.61500939e-02 9.98932497e-01 2.00863361e-03 -2.96203288e-01] [ 5.64755375e-02 6.01566099e-04 9.98403802e-01 -5.82472670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.493201008 meters Centerline goodness : 0.894356 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.30, Z:-0.58 [[ 9.97334783e-01 4.63089816e-02 -5.63809202e-02 6.25810174e+00] [-4.62650939e-02 9.98927023e-01 2.08413952e-03 -2.96581831e-01] [ 5.64169392e-02 5.29883731e-04 9.98407156e-01 -5.82672354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52320100799999 meters Centerline goodness : 0.893802 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.30, Z:-0.58 [[ 9.97320789e-01 4.66597842e-02 -5.63392269e-02 6.25753537e+00] [-4.65702711e-02 9.98910803e-01 2.90140504e-03 -2.98571503e-01] [ 5.64132413e-02 -2.69898488e-04 9.98407469e-01 -5.81674310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55320100799999 meters Centerline goodness : 0.893808 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.30, Z:-0.58 [[ 9.97324720e-01 4.62849757e-02 -5.65782903e-02 6.25874467e+00] [-4.61503806e-02 9.98927711e-01 3.68391105e-03 -3.03435979e-01] [ 5.66881317e-02 -1.06294592e-03 9.98391369e-01 -5.81570453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58320100799999 meters Centerline goodness : 0.891746 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97319793e-01 4.60938968e-02 -5.68206315e-02 6.25958847e+00] [-4.59393591e-02 9.98936127e-01 4.02365393e-03 -3.05484532e-01] [ 5.69456475e-02 -1.40256630e-03 9.98376295e-01 -5.81558346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61320100799999 meters Centerline goodness : 0.892095 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97308349e-01 4.59621159e-02 -5.71274170e-02 6.26044903e+00] [-4.57823133e-02 9.98941516e-01 4.45289578e-03 -3.07185117e-01] [ 5.72716131e-02 -1.82548483e-03 9.98356965e-01 -5.81241690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64320100799999 meters Centerline goodness : 0.894633 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97291643e-01 4.59735549e-02 -5.74091490e-02 6.26135166e+00] [-4.57814969e-02 9.98940623e-01 4.65687611e-03 -3.09247424e-01] [ 5.75624242e-02 -2.01598685e-03 9.98339874e-01 -5.81576771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67320100799999 meters Centerline goodness : 0.893797 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97277073e-01 4.59707696e-02 -5.76639185e-02 6.26201146e+00] [-4.57663423e-02 9.98940342e-01 4.86148911e-03 -3.10882484e-01] [ 5.78263009e-02 -2.20918501e-03 9.98324215e-01 -5.81664625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.703201008 meters Centerline goodness : 0.893570 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97264991e-01 4.56467623e-02 -5.81283931e-02 6.26360065e+00] [-4.54397337e-02 9.98955167e-01 4.87908502e-03 -3.12260636e-01] [ 5.82903731e-02 -2.22440198e-03 9.98297192e-01 -5.82070358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.733201008 meters Centerline goodness : 0.894292 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.58 [[ 9.97249159e-01 4.54882100e-02 -5.85229746e-02 6.26469591e+00] [-4.52674657e-02 9.98961921e-01 5.09282999e-03 -3.13678166e-01] [ 5.86938868e-02 -2.42963368e-03 9.98273071e-01 -5.82046217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.763201008 meters Centerline goodness : 0.893423 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.31, Z:-0.58 [[ 9.97246983e-01 4.55377896e-02 -5.85214847e-02 6.26502345e+00] [-4.53136518e-02 9.98959523e-01 5.15205748e-03 -3.14669975e-01] [ 5.86952078e-02 -2.48605160e-03 9.98272855e-01 -5.82585157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.793201008 meters Centerline goodness : 0.890009 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.32, Z:-0.58 [[ 9.97260355e-01 4.50113992e-02 -5.87005833e-02 6.26706124e+00] [-4.48057654e-02 9.98984112e-01 4.81527054e-03 -3.15384753e-01] [ 5.88576922e-02 -2.17195385e-03 9.98264021e-01 -5.84514888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.823201008 meters Centerline goodness : 0.889592 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.32, Z:-0.59 [[ 9.97264042e-01 4.45914447e-02 -5.89578922e-02 6.26853884e+00] [-4.44022951e-02 9.99003529e-01 4.51505764e-03 -3.15647432e-01] [ 5.91004753e-02 -1.88483891e-03 9.98250260e-01 -5.85581329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.853201008 meters Centerline goodness : 0.886172 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.32, Z:-0.59 [[ 9.97249306e-01 4.39833729e-02 -5.96597385e-02 6.27064200e+00] [-4.37576371e-02 9.99029232e-01 5.08554080e-03 -3.18228290e-01] [ 5.98255019e-02 -2.46098285e-03 9.98205817e-01 -5.85072595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88320100799999 meters Centerline goodness : 0.884594 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.32, Z:-0.58 [[ 9.97229016e-01 4.35648403e-02 -6.03025250e-02 6.27217802e+00] [-4.32914313e-02 9.99045455e-01 5.83365752e-03 -3.21448991e-01] [ 6.04991059e-02 -3.20690993e-03 9.98163100e-01 -5.84019269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91320100799999 meters Centerline goodness : 0.885538 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.33, Z:-0.58 [[ 9.97196984e-01 4.33833491e-02 -6.09594906e-02 6.27331070e+00] [-4.30337767e-02 9.99048840e-01 7.03634913e-03 -3.25437436e-01] [ 6.12067687e-02 -4.39330903e-03 9.98115439e-01 -5.82156103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94320100799999 meters Centerline goodness : 0.885767 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.33, Z:-0.58 [[ 9.97189948e-01 4.28254058e-02 -6.14670055e-02 6.27442919e+00] [-4.23631677e-02 9.99063485e-01 8.80430474e-03 -3.31706421e-01] [ 6.17864886e-02 -6.17562713e-03 9.98070284e-01 -5.79385318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97320100799999 meters Centerline goodness : 0.886336 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.58 [[ 0.99717282 0.04238461 -0.06204764 6.27631892] [-0.04189612 0.99908004 0.00915336 -0.33342378] [ 0.06237852 -0.00652792 0.99803122 -0.57920536] [ 0. 0. 0. 1. ]] SLAMing on 76.00320100799999 meters Centerline goodness : 0.882961 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.58 [[ 9.97350303e-01 3.83679403e-02 -6.18083687e-02 6.27606184e+00] [-3.81839787e-02 9.99262087e-01 4.15518804e-03 -3.30948492e-01] [ 6.19221855e-02 -1.78408862e-03 9.98079386e-01 -5.81414811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03320100799999 meters Centerline goodness : 0.884037 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.58 [[ 9.97341090e-01 3.78190608e-02 -6.22934056e-02 6.27799270e+00] [-3.76589057e-02 9.99283640e-01 3.74348919e-03 -3.30574950e-01] [ 6.23903563e-02 -1.38763411e-03 9.98050859e-01 -5.82253417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.063201008 meters Centerline goodness : 0.884307 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.58 [[ 9.97352539e-01 3.75969284e-02 -6.22445423e-02 6.27901541e+00] [-3.75222849e-02 9.99292985e-01 2.36808982e-03 -3.26943047e-01] [ 6.22895674e-02 -2.62629515e-05 9.98058119e-01 -5.84840871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.093201008 meters Centerline goodness : 0.881789 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.59 [[ 9.97338412e-01 3.70181786e-02 -6.28151704e-02 6.28084276e+00] [-3.69692557e-02 9.99314518e-01 1.94132208e-03 -3.25986455e-01] [ 6.28439759e-02 3.86075020e-04 9.98023289e-01 -5.85249806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.123201008 meters Centerline goodness : 0.879980 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.33, Z:-0.58 [[ 9.97317779e-01 3.64057637e-02 -6.34969901e-02 6.28280456e+00] [-3.63568936e-02 9.99337015e-01 1.92530096e-03 -3.26181045e-01] [ 6.35249846e-02 3.88416429e-04 9.97980173e-01 -5.84990296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.153201008 meters Centerline goodness : 0.880491 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.59 [[ 9.97291727e-01 3.55683093e-02 -6.43747288e-02 6.28548950e+00] [-3.55693083e-02 9.99366572e-01 1.13091547e-03 -3.24713547e-01] [ 6.43741768e-02 1.16191193e-03 9.97925155e-01 -5.85761925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.183201008 meters Centerline goodness : 0.879422 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.59 [[ 9.97296108e-01 3.55716605e-02 -6.43049804e-02 6.28567325e+00] [-3.56067025e-02 9.99365699e-01 6.01377436e-04 -3.23320566e-01] [ 6.42855837e-02 1.68993693e-03 9.97930112e-01 -5.86708655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.213201008 meters Centerline goodness : 0.877846 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.59 [[ 9.97286666e-01 3.57057347e-02 -6.43770653e-02 6.28572138e+00] [-3.57555460e-02 9.99360494e-01 3.78573602e-04 -3.22011092e-01] [ 6.43494131e-02 1.92429072e-03 9.97925573e-01 -5.86834441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.243201008 meters Centerline goodness : 0.881468 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.58 [[ 9.97258315e-01 3.63886918e-02 -6.44338169e-02 6.28426287e+00] [-3.63794952e-02 9.99337180e-01 1.31636703e-03 -3.22961281e-01] [ 6.44390097e-02 1.03131177e-03 9.97921114e-01 -5.84522832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27320100799999 meters Centerline goodness : 0.881310 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.58 [[ 9.97259588e-01 3.66849404e-02 -6.42458465e-02 6.28331500e+00] [-3.66598798e-02 9.99326569e-01 1.56926719e-03 -3.22906896e-01] [ 6.42601498e-02 7.90278266e-04 9.97932868e-01 -5.83862011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30320100799999 meters Centerline goodness : 0.876712 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.58 [[ 9.97252749e-01 3.64457402e-02 -6.44876946e-02 6.28403548e+00] [-3.64151389e-02 9.99335386e-01 1.65024524e-03 -3.23017274e-01] [ 6.45049796e-02 7.02616750e-04 9.97917138e-01 -5.83617261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33320100799999 meters Centerline goodness : 0.879982 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.58 [[ 9.97251965e-01 3.63933111e-02 -6.45294115e-02 6.28428757e+00] [-3.63577305e-02 9.99337349e-01 1.72598520e-03 -3.22862866e-01] [ 6.45494653e-02 6.24900821e-04 9.97914313e-01 -5.83590658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36320100799999 meters Centerline goodness : 0.872368 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.59 [[ 9.97269027e-01 3.59707741e-02 -6.45026403e-02 6.28557106e+00] [-3.59947201e-02 9.99351667e-01 7.91186165e-04 -3.20855533e-01] [ 6.44892807e-02 1.53272903e-03 9.97917223e-01 -5.85742289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39320100799999 meters Centerline goodness : 0.875648 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.58 [[ 9.97087479e-01 3.92122657e-02 -6.54137362e-02 6.28854327e+00] [-3.89315511e-02 9.99226405e-01 5.56105081e-03 -3.22750640e-01] [ 6.55811938e-02 -2.99819592e-03 9.97842732e-01 -5.84127629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42320100799999 meters Centerline goodness : 0.876042 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.58 [[ 9.97085077e-01 3.91512886e-02 -6.54868417e-02 6.28875399e+00] [-3.88890779e-02 9.99229613e-01 5.27446073e-03 -3.22365272e-01] [ 6.56428934e-02 -2.71236319e-03 9.97839493e-01 -5.84402972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.453201008 meters Centerline goodness : 0.873936 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.58 [[ 9.97068132e-01 3.93821827e-02 -6.56062845e-02 6.28844832e+00] [-3.91121124e-02 9.99220257e-01 5.39634063e-03 -3.22846445e-01] [ 6.57676481e-02 -2.81451889e-03 9.97830995e-01 -5.83850710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.483201008 meters Centerline goodness : 0.875439 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.32, Z:-0.59 [[ 9.97290819e-01 4.02924680e-02 -6.15429848e-02 6.30348069e+00] [-4.06795665e-02 9.99159485e-01 -5.04942404e-03 -3.20055024e-01] [ 6.12878032e-02 7.53928618e-03 9.98091661e-01 -5.88783749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.513201008 meters Centerline goodness : 0.876843 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.32, Z:-0.59 [[ 9.97290675e-01 4.02905525e-02 -6.15465759e-02 6.30376007e+00] [-4.06897953e-02 9.99158051e-01 -5.24681641e-03 -3.19404628e-01] [ 6.12833597e-02 7.73691865e-03 9.98090422e-01 -5.89248474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.543201008 meters Centerline goodness : 0.876914 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97123229e-01 4.31263715e-02 -6.23328283e-02 6.30736217e+00] [-4.32956517e-02 9.99061368e-01 -1.36699016e-03 -3.20660838e-01] [ 6.22153675e-02 4.06179807e-03 9.98054482e-01 -5.89456447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.573201008 meters Centerline goodness : 0.874905 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97129991e-01 4.25273047e-02 -6.26355361e-02 6.30927657e+00] [-4.27468241e-02 9.99083584e-01 -2.16823217e-03 -3.18954754e-01] [ 6.24859268e-02 4.83947957e-03 9.98034112e-01 -5.91108686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.603201008 meters Centerline goodness : 0.873032 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97145893e-01 4.21074594e-02 -6.26660126e-02 6.31050977e+00] [-4.23627715e-02 9.99098509e-01 -2.75051341e-03 -3.17747891e-01] [ 6.24937026e-02 5.39736912e-03 9.98030764e-01 -5.92664177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63320100799999 meters Centerline goodness : 0.871258 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97129576e-01 4.21583750e-02 -6.28910244e-02 6.31066921e+00] [-4.23736901e-02 9.99099639e-01 -2.09318346e-03 -3.18832847e-01] [ 6.27461546e-02 4.75209991e-03 9.98018205e-01 -5.91489190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66320100799999 meters Centerline goodness : 0.870988 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97107411e-01 4.23152772e-02 -6.31365902e-02 6.31048882e+00] [-4.24684802e-02 9.99097217e-01 -1.08590976e-03 -3.20758567e-01] [ 6.30336410e-02 3.76408370e-03 9.98004304e-01 -5.89601981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69320100799999 meters Centerline goodness : 0.872125 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97081941e-01 4.24399803e-02 -6.34543147e-02 6.31052654e+00] [-4.25186544e-02 9.99095667e-01 1.10597826e-04 -3.23302446e-01] [ 6.34016247e-02 2.58771698e-03 9.97984738e-01 -5.87508774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72320100799999 meters Centerline goodness : 0.873956 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.33, Z:-0.59 [[ 9.97065266e-01 4.21900919e-02 -6.38815449e-02 6.31145373e+00] [-4.22355414e-02 9.99107477e-01 6.39385043e-04 -3.25469009e-01] [ 6.38515049e-02 2.06056302e-03 9.97957283e-01 -5.86659103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75320100799999 meters Centerline goodness : 0.872139 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-0.59 [[ 9.97079449e-01 4.17728850e-02 -6.39343223e-02 6.31275687e+00] [-4.18685275e-02 9.99123117e-01 -1.56306011e-04 -3.24238074e-01] [ 6.38717300e-02 2.83268544e-03 9.97954096e-01 -5.88481514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78320100799999 meters Centerline goodness : 0.870558 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96891333e-01 4.45729078e-02 -6.49686493e-02 6.31709734e+00] [-4.44254905e-02 9.99005802e-01 3.71266836e-03 -3.25300314e-01] [ 6.50695420e-02 -8.14862808e-04 9.97880399e-01 -5.88847556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.813201008 meters Centerline goodness : 0.866386 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.32, Z:-0.59 [[ 9.96901095e-01 4.42163679e-02 -6.50624249e-02 6.31819449e+00] [-4.41101172e-02 9.99021960e-01 3.06933534e-03 -3.24143554e-01] [ 6.51345061e-02 -1.89912577e-04 9.97876475e-01 -5.90211509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.843201008 meters Centerline goodness : 0.867001 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96876400e-01 4.43072968e-02 -6.53781794e-02 6.31824391e+00] [-4.41506759e-02 9.99017507e-01 3.83917681e-03 -3.25969047e-01] [ 6.54840493e-02 -9.40693950e-04 9.97853173e-01 -5.88634011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.873201008 meters Centerline goodness : 0.864363 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96855849e-01 4.42361090e-02 -6.57387524e-02 6.31867791e+00] [-4.40344631e-02 9.99019815e-01 4.51388860e-03 -3.27695996e-01] [ 6.58739932e-02 -1.60492559e-03 9.97826659e-01 -5.87328635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.903201008 meters Centerline goodness : 0.864066 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96841825e-01 4.39635497e-02 -6.61330683e-02 6.31967090e+00] [-4.37298205e-02 9.99030990e-01 4.97836468e-03 -3.28995952e-01] [ 6.62878513e-02 -2.07065493e-03 9.97798393e-01 -5.86584269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.933201008 meters Centerline goodness : 0.868489 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96830396e-01 4.35472345e-02 -6.65792774e-02 6.32102706e+00] [-4.32900373e-02 9.99048480e-01 5.30155105e-03 -3.29988418e-01] [ 6.67467938e-02 -2.40252782e-03 9.97767054e-01 -5.86155198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.963201008 meters Centerline goodness : 0.867260 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96822561e-01 4.30024427e-02 -6.70490232e-02 6.32270481e+00] [-4.27357535e-02 9.99071777e-01 5.40743960e-03 -3.30371122e-01] [ 6.72193199e-02 -2.52486727e-03 9.97735029e-01 -5.86092190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.993201008 meters Centerline goodness : 0.862931 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.33, Z:-0.59 [[ 9.96820527e-01 4.23193365e-02 -6.75123002e-02 6.32474064e+00] [-4.20318313e-02 9.99100161e-01 5.67398365e-03 -3.31352677e-01] [ 6.76916692e-02 -2.81827776e-03 9.97702308e-01 -5.86105597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02320100799999 meters Centerline goodness : 0.859514 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.33, Z:-0.59 [[ 9.96823831e-01 4.22157671e-02 -6.75283605e-02 6.32507699e+00] [-4.19226188e-02 9.99104298e-01 5.75297317e-03 -3.31903364e-01] [ 6.77107413e-02 -2.90373504e-03 9.97700769e-01 -5.86267282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05320100799999 meters Centerline goodness : 0.861388 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.33, Z:-0.59 [[ 9.96820664e-01 4.21082081e-02 -6.76421718e-02 6.32538729e+00] [-4.17932677e-02 9.99107871e-01 6.06499389e-03 -3.32911852e-01] [ 6.78372123e-02 -3.21872384e-03 9.97691211e-01 -5.85816224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08320100799999 meters Centerline goodness : 0.858952 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.33, Z:-0.58 [[ 9.96800501e-01 4.18273220e-02 -6.81119339e-02 6.32624499e+00] [-4.14640362e-02 9.99117268e-01 6.73931241e-03 -3.34648121e-01] [ 6.83336967e-02 -3.89355430e-03 9.97654923e-01 -5.84403644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11320100799999 meters Centerline goodness : 0.854926 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96785438e-01 4.14358102e-02 -6.85701352e-02 6.32704236e+00] [-4.09524011e-02 9.99125441e-01 8.44121254e-03 -3.38261366e-01] [ 6.88599350e-02 -5.60596606e-03 9.97610587e-01 -5.81284809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14320100799999 meters Centerline goodness : 0.854926 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96785438e-01 4.14358102e-02 -6.85701352e-02 6.32704236e+00] [-4.09524011e-02 9.99125441e-01 8.44121254e-03 -3.38261366e-01] [ 6.88599350e-02 -5.60596606e-03 9.97610587e-01 -5.81284809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17320100799999 meters Centerline goodness : 0.852913 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96787933e-01 4.11381696e-02 -6.87129347e-02 6.32769775e+00] [-4.06404404e-02 9.99136597e-01 8.62647144e-03 -3.38861447e-01] [ 6.90084849e-02 -5.80623872e-03 9.97599176e-01 -5.81031707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.203201008 meters Centerline goodness : 0.854876 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96781659e-01 4.05571592e-02 -6.91479705e-02 6.32933212e+00] [-4.00614743e-02 9.99160715e-01 8.54077619e-03 -3.39013423e-01] [ 6.94363252e-02 -5.74311941e-03 9.97569854e-01 -5.81201027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.233201008 meters Centerline goodness : 0.850804 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96786389e-01 4.01533076e-02 -6.93152630e-02 6.33035075e+00] [-3.96659860e-02 9.99177744e-01 8.39319154e-03 -3.38981080e-01] [ 6.95952825e-02 -5.61676084e-03 9.97559496e-01 -5.81607570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.263201008 meters Centerline goodness : 0.846508 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96799487e-01 3.93769260e-02 -6.95718355e-02 6.33222833e+00] [-3.89382587e-02 9.99212329e-01 7.65070453e-03 -3.37706704e-01] [ 6.98182971e-02 -4.91721222e-03 9.97547606e-01 -5.83016578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.293201008 meters Centerline goodness : 0.844907 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.34, Z:-0.58 [[ 9.96810255e-01 3.90828520e-02 -6.95833718e-02 6.33296638e+00] [-3.86853853e-02 9.99226563e-01 7.05103955e-03 -3.36317124e-01] [ 6.98051282e-02 -4.33668898e-03 9.97551220e-01 -5.84136906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.323201008 meters Centerline goodness : 0.843922 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.33, Z:-0.59 [[ 9.96808535e-01 3.85760039e-02 -6.98901759e-02 6.33445669e+00] [-3.82195372e-02 9.99248673e-01 6.43094424e-03 -3.34916906e-01] [ 7.00857456e-02 -3.73924993e-03 9.97533962e-01 -5.85058264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.353201008 meters Centerline goodness : 0.842866 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.59 [[ 9.96808607e-01 3.81883616e-02 -7.01017137e-02 6.33555773e+00] [-3.78797841e-02 9.99265896e-01 5.72642898e-03 -3.33607512e-01] [ 7.02689346e-02 -3.05271592e-03 9.97523412e-01 -5.86127279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38320100799999 meters Centerline goodness : 0.847349 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.58 [[ 9.96780231e-01 3.82427720e-02 -7.04745430e-02 6.33556747e+00] [-3.79224768e-02 9.99263398e-01 5.87768374e-03 -3.32905803e-01] [ 7.06474102e-02 -3.18618973e-03 9.97496261e-01 -5.84832309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41320100799999 meters Centerline goodness : 0.844051 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.58 [[ 9.96766555e-01 3.82648037e-02 -7.06557822e-02 6.33544598e+00] [-3.79230892e-02 9.99261601e-01 6.17192222e-03 -3.32906857e-01] [ 7.08397774e-02 -3.47248012e-03 9.97481663e-01 -5.83630442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44320100799999 meters Centerline goodness : 0.846385 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.58 [[ 9.96755636e-01 3.81604937e-02 -7.08659266e-02 6.33595568e+00] [-3.78279833e-02 9.99266080e-01 6.02872771e-03 -3.32134341e-01] [ 7.10439759e-02 -3.32845323e-03 9.97467631e-01 -5.83599487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47320100799999 meters Centerline goodness : 0.847323 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.58 [[ 0.99655258 0.04125245 -0.07198054 6.33970806] [-0.040621 0.99912241 0.01021502 -0.33278574] [ 0.07233877 -0.00725588 0.99735373 -0.58290363] [ 0. 0. 0. 1. ]] SLAMing on 77.50320100799999 meters Centerline goodness : 0.842688 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.33, Z:-0.58 [[ 0.99638145 0.04452777 -0.07239669 6.34269716] [-0.04369145 0.99895924 0.01309561 -0.33001236] [ 0.07290446 -0.0098851 0.99728994 -0.58481535] [ 0. 0. 0. 1. ]] SLAMing on 77.53320100799999 meters Centerline goodness : 0.841132 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.33, Z:-0.58 [[ 0.99615708 0.04809841 -0.07319577 6.34515047] [-0.04692509 0.99874217 0.01766696 -0.33141601] [ 0.07395346 -0.01416435 0.9971611 -0.58347126] [ 0. 0. 0. 1. ]] SLAMing on 77.563201008 meters Centerline goodness : 0.838712 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96385377e-01 5.00766184e-02 -6.86186096e-02 6.35895238e+00] [-4.96245308e-02 9.98733636e-01 8.27831453e-03 -3.27824889e-01] [ 6.89462635e-02 -4.84322523e-03 9.97608619e-01 -5.87662958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.593201008 meters Centerline goodness : 0.839558 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96371115e-01 5.02872350e-02 -6.86716429e-02 6.35853628e+00] [-4.98474690e-02 9.98723967e-01 8.10361369e-03 -3.26994000e-01] [ 6.89915240e-02 -4.65109901e-03 9.97606404e-01 -5.87397368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.623201008 meters Centerline goodness : 0.842632 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96356597e-01 5.04990738e-02 -6.87268214e-02 6.35802368e+00] [-5.00560921e-02 9.98713125e-01 8.15358856e-03 -3.26703047e-01] [ 6.90501273e-02 -4.68368564e-03 9.97602197e-01 -5.86727916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.653201008 meters Centerline goodness : 0.838682 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96348836e-01 5.09812849e-02 -6.84828826e-02 6.35671667e+00] [-5.05249020e-02 9.98687636e-01 8.38095042e-03 -3.26609220e-01] [ 6.88202798e-02 -4.89025926e-03 9.97617088e-01 -5.86027330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.683201008 meters Centerline goodness : 0.836149 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.32, Z:-0.59 [[ 9.96345900e-01 5.18637398e-02 -6.78601511e-02 6.35493596e+00] [-5.14372979e-02 9.98644042e-01 8.01757553e-03 -3.24471092e-01] [ 6.81839570e-02 -4.49773570e-03 9.97662628e-01 -5.86986128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.713201008 meters Centerline goodness : 0.835373 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.59 [[ 9.96348094e-01 5.16281485e-02 -6.80074230e-02 6.35576851e+00] [-5.12460140e-02 9.98658992e-01 7.35282129e-03 -3.22617032e-01] [ 6.82958371e-02 -3.84086013e-03 9.97657720e-01 -5.87957335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.743201008 meters Centerline goodness : 0.835241 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.59 [[ 9.96346556e-01 5.19827717e-02 -6.77593739e-02 6.35519682e+00] [-5.16159244e-02 9.98641380e-01 7.15470648e-03 -3.21709246e-01] [ 6.80392361e-02 -3.63110444e-03 9.97676038e-01 -5.88525899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77320100799999 meters Centerline goodness : 0.836052 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.32, Z:-0.59 [[ 9.96344509e-01 5.22146988e-02 -6.76109807e-02 6.35489869e+00] [-5.18609111e-02 9.98629934e-01 6.97855904e-03 -3.21291276e-01] [ 6.78827326e-02 -3.44668192e-03 9.97687353e-01 -5.89035059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80320100799999 meters Centerline goodness : 0.838024 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.32, Z:-0.59 [[ 9.96313572e-01 5.29285247e-02 -6.75117593e-02 6.35373021e+00] [-5.25417067e-02 9.98590614e-01 7.49369354e-03 -3.22666132e-01] [ 6.78132393e-02 -3.91888552e-03 9.97690336e-01 -5.88266133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83320100799999 meters Centerline goodness : 0.838624 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.32, Z:-0.59 [[ 9.96299395e-01 5.29711254e-02 -6.76873372e-02 6.35399333e+00] [-5.25795310e-02 9.98588160e-01 7.55508764e-03 -3.23212185e-01] [ 6.79919750e-02 -3.96816080e-03 9.97677977e-01 -5.88141662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86320100799999 meters Centerline goodness : 0.839458 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.32, Z:-0.59 [[ 9.96294395e-01 5.29784776e-02 -6.77551370e-02 6.35447470e+00] [-5.26037819e-02 9.98588754e-01 7.30363524e-03 -3.23420797e-01] [ 6.80464533e-02 -3.71239440e-03 9.97675247e-01 -5.88946048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89320100799999 meters Centerline goodness : 0.839397 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.59 [[ 9.96294289e-01 5.24740042e-02 -6.81481434e-02 6.35670315e+00] [-5.21595014e-02 9.98618339e-01 6.38740156e-03 -3.22655247e-01] [ 6.83891583e-02 -2.80915851e-03 9.97654766e-01 -5.91145324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92320100799999 meters Centerline goodness : 0.841067 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.59 [[ 9.96298054e-01 5.17640716e-02 -6.86343050e-02 6.35945026e+00] [-5.15313494e-02 9.98658057e-01 5.15812095e-03 -3.21108942e-01] [ 6.88092070e-02 -1.60220752e-03 9.97628551e-01 -5.93781939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.953201008 meters Centerline goodness : 0.844121 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.60 [[ 9.96321355e-01 5.15481434e-02 -6.84583557e-02 6.36106388e+00] [-5.14005480e-02 9.98670437e-01 3.91688230e-03 -3.19321074e-01] [ 6.85692440e-02 -3.83676488e-04 9.97646286e-01 -5.97403980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.983201008 meters Centerline goodness : 0.847931 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.60 [[ 9.96310071e-01 5.18950945e-02 -6.83603751e-02 6.36065795e+00] [-5.17249253e-02 9.98652292e-01 4.25818454e-03 -3.20247382e-01] [ 6.84892242e-02 -7.06536854e-04 9.97651606e-01 -5.97281882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.013201008 meters Centerline goodness : 0.848048 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.32, Z:-0.60 [[ 9.96288841e-01 5.21978505e-02 -6.84392388e-02 6.36029043e+00] [-5.19792500e-02 9.98635787e-01 4.97221614e-03 -3.22343986e-01] [ 6.86054121e-02 -1.39634315e-03 9.97642896e-01 -5.96263181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.043201008 meters Centerline goodness : 0.850028 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96479810e-01 4.82180391e-02 -6.85784861e-02 6.35849817e+00] [-4.80348857e-02 9.98836324e-01 4.31819337e-03 -3.27777583e-01] [ 6.87068978e-02 -1.00883277e-03 9.97636379e-01 -5.89648407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.073201008 meters Centerline goodness : 0.856823 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96463170e-01 4.74447302e-02 -6.93552321e-02 6.36031778e+00] [-4.71848698e-02 9.98871679e-01 5.38117085e-03 -3.30493884e-01] [ 6.95322854e-02 -2.08962096e-03 9.97577513e-01 -5.87436141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.103201008 meters Centerline goodness : 0.856316 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:-0.59 [[ 9.96446194e-01 4.63254193e-02 -7.03486895e-02 6.36378464e+00] [-4.60709711e-02 9.98924446e-01 5.23606148e-03 -3.31463952e-01] [ 7.05155885e-02 -1.97642109e-03 9.97508720e-01 -5.87856192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13320100799999 meters Centerline goodness : 0.858691 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.33, Z:-0.59 [[ 9.96431871e-01 4.49186211e-02 -7.14551826e-02 6.36838550e+00] [-4.47142110e-02 9.98989870e-01 4.45849322e-03 -3.31591112e-01] [ 7.15832729e-02 -1.24752263e-03 9.97433847e-01 -5.89816863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16320100799999 meters Centerline goodness : 0.856547 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.33, Z:-0.59 [[ 9.96367468e-01 4.36395272e-02 -7.31263270e-02 6.37902929e+00] [-4.31986494e-02 9.99037591e-01 7.60053600e-03 -3.32683825e-01] [ 7.33876334e-02 -4.41396825e-03 9.97293724e-01 -5.90003837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19320100799999 meters Centerline goodness : 0.859908 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.33, Z:-0.59 [[ 0.9963701 0.04069283 -0.07477107 6.39323913] [-0.03999321 0.99914125 0.01083103 -0.33451055] [ 0.07514761 -0.00780138 0.9971419 -0.59051105] [ 0. 0. 0. 1. ]] SLAMing on 78.22320100799999 meters Centerline goodness : 0.859968 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.34, Z:-0.58 [[ 0.99632423 0.04089068 -0.07527271 6.39951951] [-0.03966818 0.99905674 0.01766553 -0.33901034] [ 0.07592407 -0.01461467 0.99700649 -0.58412672] [ 0. 0. 0. 1. ]] SLAMing on 78.25320100799999 meters Centerline goodness : 0.862188 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.34, Z:-0.58 [[ 0.99628175 0.04059751 -0.07599027 6.40094409] [-0.03927917 0.99905207 0.01876429 -0.34189725] [ 0.07668002 -0.01570969 0.99693198 -0.58220405] [ 0. 0. 0. 1. ]] SLAMing on 78.28320100799999 meters Centerline goodness : 0.866218 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.35, Z:-0.58 [[ 0.9962281 0.0392089 -0.07740953 6.40493156] [-0.03769771 0.99907085 0.02088833 -0.34643684] [ 0.07815661 -0.01789138 0.99678054 -0.57806215] [ 0. 0. 0. 1. ]] SLAMing on 78.313201008 meters Centerline goodness : 0.865748 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.34, Z:-0.58 [[ 0.9963944 0.03484994 -0.07735425 6.40494456] [-0.03373467 0.99930784 0.01567826 -0.34417948] [ 0.07784709 -0.01301221 0.99688039 -0.58001375] [ 0. 0. 0. 1. ]] SLAMing on 78.343201008 meters Centerline goodness : 0.870843 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.35, Z:-0.58 [[ 0.9962037 0.03850932 -0.07807187 6.40695952] [-0.03694546 0.99908859 0.02137793 -0.34723996] [ 0.07882397 -0.01841238 0.9967185 -0.57670761] [ 0. 0. 0. 1. ]] SLAMing on 78.373201008 meters Centerline goodness : 0.869766 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.34, Z:-0.58 [[ 0.99620402 0.03877753 -0.07793494 6.40632383] [-0.03724809 0.99908571 0.02098388 -0.34495443] [ 0.07867739 -0.0180013 0.99673759 -0.57672583] [ 0. 0. 0. 1. ]] SLAMing on 78.403201008 meters Centerline goodness : 0.873496 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.34, Z:-0.58 [[ 0.99621317 0.03901078 -0.07770123 6.40576926] [-0.03752343 0.99908522 0.02051142 -0.34225813] [ 0.07843031 -0.01751813 0.99676567 -0.5770809 ] [ 0. 0. 0. 1. ]] SLAMing on 78.433201008 meters Centerline goodness : 0.872955 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.34, Z:-0.58 [[ 0.99602512 0.04283012 -0.07809962 6.40744916] [-0.04106045 0.99886533 0.02412666 -0.3403099 ] [ 0.07904435 -0.02082395 0.99665358 -0.57722616] [ 0. 0. 0. 1. ]] SLAMing on 78.463201008 meters Centerline goodness : 0.870861 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.34, Z:-0.58 [[ 0.99603486 0.04300942 -0.07787655 6.4070838 ] [-0.04129294 0.99887022 0.02351954 -0.33789255] [ 0.07880013 -0.02021053 0.99668554 -0.57806847] [ 0. 0. 0. 1. ]] SLAMing on 78.493201008 meters Centerline goodness : 0.874203 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.33, Z:-0.58 [[ 0.99629086 0.04453274 -0.0736299 6.42231986] [-0.04368346 0.99895946 0.01310564 -0.33391949] [ 0.07413691 -0.00984062 0.99719952 -0.58448203] [ 0. 0. 0. 1. ]] SLAMing on 78.52320100799999 meters Centerline goodness : 0.875299 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.34, Z:-0.58 [[ 0.99605684 0.04860945 -0.07421522 6.42360307] [-0.04735619 0.99870571 0.01855519 -0.33634421] [ 0.07502112 -0.01496747 0.99706961 -0.58153857] [ 0. 0. 0. 1. ]] SLAMing on 78.55320100799999 meters Centerline goodness : 0.877037 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.33, Z:-0.58 [[ 0.99605791 0.04853288 -0.07425099 6.42395447] [-0.04734614 0.99872239 0.01766145 -0.33389327] [ 0.07501329 -0.01407633 0.99708318 -0.58268066] [ 0. 0. 0. 1. ]] SLAMing on 78.58320100799999 meters Centerline goodness : 0.877704 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.33, Z:-0.59 [[ 0.996924 0.04689196 -0.06279876 6.43069289] [-0.04587251 0.99879262 0.017579 -0.33140541] [ 0.06354726 -0.01464419 0.99787138 -0.58907859] [ 0. 0. 0. 1. ]] SLAMing on 78.61320100799999 meters Centerline goodness : 0.883205 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.33, Z:-0.59 [[ 0.99702436 0.05162182 -0.05725053 6.44342983] [-0.05101537 0.99862571 0.01200539 -0.33041754] [ 0.05779159 -0.00904901 0.99828766 -0.5915433 ] [ 0. 0. 0. 1. ]] SLAMing on 78.64320100799999 meters Centerline goodness : 0.884524 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.33, Z:-0.59 [[ 0.99701141 0.05156027 -0.05753072 6.44383 ] [-0.05094176 0.99862751 0.01216721 -0.33078276] [ 0.0580791 -0.00920013 0.99826959 -0.59098135] [ 0. 0. 0. 1. ]] SLAMing on 78.67320100799999 meters Centerline goodness : 0.885353 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.33, Z:-0.59 [[ 0.99701284 0.05144963 -0.05760496 6.44409269] [-0.05083223 0.9986335 0.01213338 -0.33060137] [ 0.0581505 -0.00916895 0.99826572 -0.59091844] [ 0. 0. 0. 1. ]] SLAMing on 78.703201008 meters Centerline goodness : 0.891469 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.33, Z:-0.59 [[ 0.99701663 0.05102137 -0.05791938 6.44526004] [-0.05040523 0.99865615 0.01205026 -0.33068547] [ 0.05845637 -0.00909487 0.99824853 -0.59101693] [ 0. 0. 0. 1. ]] SLAMing on 78.733201008 meters Centerline goodness : 0.892987 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.33, Z:-0.59 [[ 0.99702167 0.04997734 -0.05873722 6.4488346 ] [-0.04938504 0.99871368 0.0114935 -0.33143122] [ 0.05923608 -0.00855853 0.99820731 -0.5927491 ] [ 0. 0. 0. 1. ]] SLAMing on 78.763201008 meters Centerline goodness : 0.894778 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.33, Z:-0.59 [[ 0.99702108 0.04923074 -0.05937432 6.45156901] [-0.04866404 0.99875514 0.01095397 -0.33126834] [ 0.05983967 -0.00803194 0.99817569 -0.59413127] [ 0. 0. 0. 1. ]] SLAMing on 78.793201008 meters Centerline goodness : 0.893343 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.33, Z:-0.59 [[ 0.99701243 0.04872879 -0.05993103 6.45363338] [-0.04817859 0.99878257 0.0105925 -0.33135248] [ 0.06037423 -0.00767346 0.99814632 -0.59499804] [ 0. 0. 0. 1. ]] SLAMing on 78.823201008 meters Centerline goodness : 0.897960 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-0.59 [[ 0.99697978 0.04815814 -0.06092703 6.45612033] [-0.04758002 0.9988079 0.01090515 -0.33379636] [ 0.06137957 -0.0079733 0.99808265 -0.59449527] [ 0. 0. 0. 1. ]] SLAMing on 78.853201008 meters Centerline goodness : 0.898555 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.34, Z:-0.59 [[ 0.99695769 0.0477419 -0.06161223 6.45777883] [-0.04713248 0.99882464 0.01130771 -0.33551048] [ 0.06207966 -0.00836938 0.99803611 -0.59369268] [ 0. 0. 0. 1. ]] SLAMing on 78.88320100799999 meters Centerline goodness : 0.899757 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.34, Z:-0.59 [[ 0.99695073 0.047235 -0.0621136 6.45958359] [-0.04663178 0.99885018 0.01112647 -0.33647014] [ 0.06256773 -0.00819607 0.99800707 -0.59430307] [ 0. 0. 0. 1. ]] SLAMing on 78.91320100799999 meters Centerline goodness : 0.899789 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.34, Z:-0.60 [[ 0.99695191 0.04617081 -0.06289 6.4629942 ] [-0.04561259 0.99890627 0.01028385 -0.33586484] [ 0.06329603 -0.00738393 0.99796748 -0.59610043] [ 0. 0. 0. 1. ]] SLAMing on 78.94320100799999 meters Centerline goodness : 0.895991 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.34, Z:-0.60 [[ 0.99679947 0.04703634 -0.06464051 6.47161432] [-0.04620587 0.99882981 0.01428377 -0.33629071] [ 0.06523673 -0.01125128 0.99780638 -0.59588458] [ 0. 0. 0. 1. ]] SLAMing on 78.97320100799999 meters Centerline goodness : 0.894683 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.34, Z:-0.60 [[ 0.99679349 0.04651099 -0.06511121 6.47323512] [-0.04570596 0.99885961 0.01380016 -0.33547707] [ 0.06567881 -0.01077994 0.99778258 -0.59638281] [ 0. 0. 0. 1. ]] SLAMing on 79.00320100799999 meters Centerline goodness : 0.895436 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.34, Z:-0.59 [[ 0.99656349 0.04960439 -0.06633708 6.47666583] [-0.04834766 0.99862184 0.02041854 -0.33946647] [ 0.06725851 -0.01714113 0.99758833 -0.59095273] [ 0. 0. 0. 1. ]] SLAMing on 79.03320100799999 meters Centerline goodness : 0.896318 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.34, Z:-0.59 [[ 0.99675313 0.04605264 -0.0660481 6.47493969] [-0.04512694 0.99886193 0.01544041 -0.3365949 ] [ 0.066684 -0.01240973 0.99769697 -0.59220518] [ 0. 0. 0. 1. ]] SLAMing on 79.063201008 meters Centerline goodness : 0.896318 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.34, Z:-0.59 [[ 0.99675313 0.04605264 -0.0660481 6.47493969] [-0.04512694 0.99886193 0.01544041 -0.3365949 ] [ 0.066684 -0.01240973 0.99769697 -0.59220518] [ 0. 0. 0. 1. ]] SLAMing on 79.093201008 meters Centerline goodness : 0.897744 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.34, Z:-0.59 [[ 0.99674196 0.04566733 -0.06648278 6.47616569] [-0.04473853 0.99888012 0.0153938 -0.33633751] [ 0.06711133 -0.0123693 0.99766882 -0.59191824] [ 0. 0. 0. 1. ]] SLAMing on 79.123201008 meters Centerline goodness : 0.896359 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.34, Z:-0.59 [[ 0.99674091 0.04450985 -0.06727883 6.4791298 ] [-0.04361924 0.99894081 0.01464985 -0.33520687] [ 0.06785963 -0.01166746 0.99762665 -0.59271525] [ 0. 0. 0. 1. ]] SLAMing on 79.153201008 meters Centerline goodness : 0.895574 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.33, Z:-0.59 [[ 0.99673022 0.04377611 -0.06791558 6.48125741] [-0.04290154 0.9989772 0.01428362 -0.33494317] [ 0.0684714 -0.01132323 0.99758882 -0.59307334] [ 0. 0. 0. 1. ]] SLAMing on 79.183201008 meters Centerline goodness : 0.897835 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.33, Z:-0.59 [[ 0.9967149 0.04277488 -0.0687729 6.48419475] [-0.04191863 0.99902508 0.01384632 -0.33454918] [ 0.06929813 -0.01091797 0.99753625 -0.59350651] [ 0. 0. 0. 1. ]] SLAMing on 79.213201008 meters Centerline goodness : 0.894738 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.33, Z:-0.59 [[ 0.99669295 0.04183184 -0.06966537 6.48709843] [-0.04098368 0.99906779 0.01356064 -0.3342432 ] [ 0.0701677 -0.01066065 0.99747824 -0.59363678] [ 0. 0. 0. 1. ]] SLAMing on 79.243201008 meters Centerline goodness : 0.894803 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.33, Z:-0.59 [[ 0.99665935 0.04046663 -0.07094076 6.49082161] [-0.03957807 0.99911997 0.01388713 -0.33489397] [ 0.0714403 -0.01103304 0.99738386 -0.59219475] [ 0. 0. 0. 1. ]] SLAMing on 79.27320100799999 meters Centerline goodness : 0.894329 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.34, Z:-0.59 [[ 0.99649497 0.04160597 -0.07257213 6.49789138] [-0.04028693 0.99899695 0.01954635 -0.33755753] [ 0.07331258 -0.01655413 0.99717161 -0.58810658] [ 0. 0. 0. 1. ]] SLAMing on 79.30320100799999 meters Centerline goodness : 0.895731 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.34, Z:-0.58 [[ 0.99630197 0.04329631 -0.0742147 6.50440508] [-0.04148219 0.99880571 0.02581443 -0.33982226] [ 0.07524373 -0.02264038 0.99690812 -0.58277942] [ 0. 0. 0. 1. ]] SLAMing on 79.33320100799999 meters Centerline goodness : 0.894367 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.33, Z:-0.58 [[ 0.99646353 0.03978325 -0.07401161 6.50294041] [-0.03833851 0.99904746 0.0208404 -0.33460505] [ 0.07477021 -0.01792921 0.9970396 -0.58387638] [ 0. 0. 0. 1. ]] SLAMing on 79.36320100799999 meters Centerline goodness : 0.894179 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.34, Z:-0.58 [[ 0.99623928 0.04302147 -0.07520944 6.50609954] [-0.0411073 0.99879478 0.02681732 -0.3367414 ] [ 0.07627251 -0.02362481 0.99680709 -0.57930281] [ 0. 0. 0. 1. ]] SLAMing on 79.39320100799999 meters Centerline goodness : 0.896055 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.33, Z:-0.59 [[ 0.99655801 0.04318522 -0.07076138 6.52188738] [-0.04216429 0.99898481 0.01585915 -0.33304107] [ 0.07137443 -0.01282096 0.99736719 -0.58550177] [ 0. 0. 0. 1. ]] SLAMing on 79.42320100799999 meters Centerline goodness : 0.895237 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.33, Z:-0.58 [[ 0.99653627 0.04322615 -0.07104194 6.52205825] [-0.04219911 0.99898277 0.0158954 -0.33173138] [ 0.07165677 -0.01284243 0.99734667 -0.58461666] [ 0. 0. 0. 1. ]] SLAMing on 79.453201008 meters Centerline goodness : 0.893890 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.33, Z:-0.59 [[ 9.96677467e-01 4.60943416e-02 -6.71516142e-02 6.53778324e+00] [-4.57413095e-02 9.98930268e-01 6.78614481e-03 -3.27386933e-01] [ 6.73925829e-02 -3.69199485e-03 9.97719705e-01 -5.90770983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.483201008 meters Centerline goodness : 0.895081 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.33, Z:-0.59 [[ 0.99644348 0.05007038 -0.06777425 6.53933875] [-0.04939205 0.99871154 0.01164864 -0.32856866] [ 0.06827018 -0.0082597 0.99763268 -0.5888427 ] [ 0. 0. 0. 1. ]] SLAMing on 79.513201008 meters Centerline goodness : 0.895633 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.33, Z:-0.59 [[ 0.99643505 0.05061663 -0.0674919 6.53821398] [-0.04997238 0.99868779 0.01120104 -0.32656397] [ 0.0679703 -0.00778838 0.99765694 -0.58927376] [ 0. 0. 0. 1. ]] SLAMing on 79.543201008 meters Centerline goodness : 0.894424 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.32, Z:-0.59 [[ 9.96520417e-01 5.44287032e-02 -6.31234895e-02 6.55453398e+00] [-5.42220215e-02 9.98516466e-01 4.98396021e-03 -3.24149085e-01] [ 6.33011141e-02 -1.54393490e-03 9.97993279e-01 -5.92940180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.573201008 meters Centerline goodness : 0.898348 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.32, Z:-0.59 [[ 9.96504018e-01 5.45798667e-02 -6.32517194e-02 6.55446415e+00] [-5.43668081e-02 9.98508079e-01 5.08595093e-03 -3.23985682e-01] [ 6.34349433e-02 -1.62937645e-03 9.97984646e-01 -5.92498807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.603201008 meters Centerline goodness : 0.896382 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.32, Z:-0.59 [[ 9.96480976e-01 5.44555070e-02 -6.37201827e-02 6.55534792e+00] [-5.42202938e-02 9.98514309e-01 5.41604936e-03 -3.24481488e-01] [ 6.39204480e-02 -1.94206313e-03 9.97953107e-01 -5.91637756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63320100799999 meters Centerline goodness : 0.896611 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.33, Z:-0.59 [[ 9.96467854e-01 5.43288873e-02 -6.40327058e-02 6.55607254e+00] [-5.40731116e-02 9.98520584e-01 5.72199402e-03 -3.25250390e-01] [ 6.42488443e-02 -2.23933546e-03 9.97931396e-01 -5.91100273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66320100799999 meters Centerline goodness : 0.897939 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.33, Z:-0.59 [[ 9.96464133e-01 5.40567554e-02 -6.43202855e-02 6.55712725e+00] [-5.38017379e-02 9.98535417e-01 5.69155859e-03 -3.25615951e-01] [ 6.45337503e-02 -2.21089085e-03 9.97913076e-01 -5.91318039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69320100799999 meters Centerline goodness : 0.896788 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.33, Z:-0.59 [[ 9.96333626e-01 5.55914119e-02 -6.50300007e-02 6.56200618e+00] [-5.50585665e-02 9.98433461e-01 9.95885827e-03 -3.28847538e-01] [ 6.54817557e-02 -6.34188675e-03 9.97833613e-01 -5.90349983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72320100799999 meters Centerline goodness : 0.897300 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.33, Z:-0.59 [[ 9.96326529e-01 5.51450111e-02 -6.55169823e-02 6.56373511e+00] [-5.46191996e-02 9.98459251e-01 9.79118517e-03 -3.29200856e-01] [ 6.59559721e-02 -6.17673241e-03 9.97803416e-01 -5.90789182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75320100799999 meters Centerline goodness : 0.897051 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.33, Z:-0.59 [[ 9.96311881e-01 5.49037601e-02 -6.59409739e-02 6.56495988e+00] [-5.43770429e-02 9.98472798e-01 9.75746929e-03 -3.29470218e-01] [ 6.63759905e-02 -6.13580742e-03 9.97775816e-01 -5.90845020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78320100799999 meters Centerline goodness : 0.897646 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.33, Z:-0.58 [[ 0.99607815 0.05751652 -0.06723226 6.57006379] [-0.05646849 0.99825296 0.01738759 -0.33329152] [ 0.06811488 -0.01352289 0.99758583 -0.58388051] [ 0. 0. 0. 1. ]] SLAMing on 79.813201008 meters Centerline goodness : 0.897730 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.33, Z:-0.59 [[ 9.96337244e-01 5.79802986e-02 -6.28520511e-02 6.58872596e+00] [-5.74889839e-02 9.98299993e-01 9.59898498e-03 -3.32582722e-01] [ 6.33017542e-02 -5.95052569e-03 9.97976693e-01 -5.87634871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.843201008 meters Centerline goodness : 0.897423 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.34, Z:-0.58 [[ 0.99609452 0.06091558 -0.06391398 6.59255366] [-0.06003616 0.99807441 0.01559276 -0.33645096] [ 0.06474075 -0.01169471 0.99783359 -0.58389333] [ 0. 0. 0. 1. ]] SLAMing on 79.873201008 meters Centerline goodness : 0.895976 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.34, Z:-0.58 [[ 0.99609466 0.0603921 -0.06440672 6.59447772] [-0.05952023 0.99810872 0.01537257 -0.33640014] [ 0.06521329 -0.01147904 0.99780532 -0.58436021] [ 0. 0. 0. 1. ]] SLAMing on 79.903201008 meters Centerline goodness : 0.897589 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.34, Z:-0.58 [[ 0.99593928 0.0616644 -0.06559304 6.60091865] [-0.06043104 0.99795925 0.02062579 -0.33971662] [ 0.06673106 -0.01657818 0.99763326 -0.5816685 ] [ 0. 0. 0. 1. ]] SLAMing on 79.933201008 meters Centerline goodness : 0.897100 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.34, Z:-0.58 [[ 0.99585955 0.06173129 -0.06673077 6.60913978] [-0.06006928 0.99783882 0.02663404 -0.34302914] [ 0.06823071 -0.02251529 0.99741548 -0.5771487 ] [ 0. 0. 0. 1. ]] SLAMing on 79.963201008 meters Centerline goodness : 0.895925 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.35, Z:-0.58 [[ 0.99588928 0.06039125 -0.06750882 6.61214361] [-0.05866326 0.99790463 0.0272942 -0.34614207] [ 0.06901569 -0.02322171 0.99734527 -0.57589649] [ 0. 0. 0. 1. ]] SLAMing on 79.993201008 meters Centerline goodness : 0.898440 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.35, Z:-0.58 [[ 0.99588084 0.05982367 -0.06813571 6.61399739] [-0.05806715 0.99793449 0.02747667 -0.34695343] [ 0.06963873 -0.02340704 0.99729763 -0.57527628] [ 0. 0. 0. 1. ]] SLAMing on 80.02320100799999 meters Centerline goodness : 0.897951 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.35, Z:-0.58 [[ 0.99587519 0.05915532 -0.06879871 6.6160596 ] [-0.05740099 0.99798048 0.02720442 -0.34699391] [ 0.07026905 -0.02314309 0.99725957 -0.57546749] [ 0. 0. 0. 1. ]] SLAMing on 80.05320100799999 meters Centerline goodness : 0.897840 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.34, Z:-0.58 [[ 0.99588061 0.05837469 -0.06938455 6.61849574] [-0.05670671 0.99805818 0.02577254 -0.34463385] [ 0.07075428 -0.0217318 0.99725702 -0.57759239] [ 0. 0. 0. 1. ]] SLAMing on 80.08320100799999 meters Centerline goodness : 0.898242 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.35, Z:-0.57 [[ 0.99582549 0.0595911 -0.06914108 6.63223545] [-0.05698688 0.99761106 0.03904702 -0.34784439] [ 0.07130276 -0.03494388 0.99684244 -0.56658615] [ 0. 0. 0. 1. ]] SLAMing on 80.11320100799999 meters Centerline goodness : 0.898890 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.34, Z:-0.57 [[ 0.9960393 0.05590597 -0.06913923 6.63141602] [-0.05369706 0.99799832 0.03340634 -0.34363845] [ 0.07086845 -0.02956145 0.99704753 -0.56905807] [ 0. 0. 0. 1. ]] SLAMing on 80.14320100799999 meters Centerline goodness : 0.899326 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.34, Z:-0.58 [[ 0.99630186 0.05553164 -0.06556556 6.64687714] [-0.05432354 0.9983217 0.02006847 -0.33940067] [ 0.06656996 -0.0164325 0.99764644 -0.57743511] [ 0. 0. 0. 1. ]] SLAMing on 80.17320100799999 meters Centerline goodness : 0.898920 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.34, Z:-0.58 [[ 0.99632433 0.05480059 -0.06583858 6.64850905] [-0.05366849 0.99838099 0.01884374 -0.33664505] [ 0.06676464 -0.01524102 0.99765234 -0.57913673] [ 0. 0. 0. 1. ]] SLAMing on 80.203201008 meters Centerline goodness : 0.897478 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.34, Z:-0.58 [[ 0.99632723 0.05429298 -0.06621429 6.65001767] [-0.05319621 0.99841789 0.01821746 -0.33502578] [ 0.06709861 -0.0146282 0.99763911 -0.57985197] [ 0. 0. 0. 1. ]] SLAMing on 80.233201008 meters Centerline goodness : 0.899697 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.33, Z:-0.58 [[ 0.99632998 0.0539221 -0.06647541 6.65080872] [-0.05285613 0.99844539 0.01769253 -0.3340006 ] [ 0.06732608 -0.01411397 0.99763119 -0.58016626] [ 0. 0. 0. 1. ]] SLAMing on 80.263201008 meters Centerline goodness : 0.898565 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.33, Z:-0.58 [[ 0.9963101 0.05395993 -0.06674208 6.65054392] [-0.05289931 0.99844546 0.01755915 -0.33239057] [ 0.06758582 -0.01396375 0.99761574 -0.5790079 ] [ 0. 0. 0. 1. ]] SLAMing on 80.293201008 meters Centerline goodness : 0.897270 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.33, Z:-0.58 [[ 0.99643866 0.05126994 -0.06694319 6.64914714] [-0.05046185 0.99863191 0.01370801 -0.32908935] [ 0.06755442 -0.01028111 0.99766262 -0.57891344] [ 0. 0. 0. 1. ]] SLAMing on 80.323201008 meters Centerline goodness : 0.899727 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.33, Z:-0.58 [[ 0.99642207 0.05144423 -0.06705636 6.64880768] [-0.05063265 0.99862272 0.01374799 -0.32806046] [ 0.06767126 -0.01030356 0.99765447 -0.57809762] [ 0. 0. 0. 1. ]] SLAMing on 80.353201008 meters Centerline goodness : 0.900820 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96631007e-01 5.32471329e-02 -6.23809133e-02 6.66438597e+00] [-5.30369083e-02 9.98579924e-01 5.02221883e-03 -3.24704703e-01] [ 6.25597464e-02 -1.69680823e-03 9.98039778e-01 -5.83015658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38320100799999 meters Centerline goodness : 0.902981 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96619374e-01 5.40661976e-02 -6.18600744e-02 6.66207293e+00] [-5.38483473e-02 9.98535666e-01 5.18461093e-03 -3.22919635e-01] [ 6.20498027e-02 -1.83602094e-03 9.98071366e-01 -5.82015362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41320100799999 meters Centerline goodness : 0.901038 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96349925e-01 5.84026598e-02 -6.22571737e-02 6.66227066e+00] [-5.78903958e-02 9.98272839e-01 1.00020202e-02 -3.22159325e-01] [ 6.27337901e-02 -6.36141965e-03 9.98010022e-01 -5.79084393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44320100799999 meters Centerline goodness : 0.899968 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96354508e-01 5.82198720e-02 -6.23549594e-02 6.66284709e+00] [-5.77697534e-02 9.98289375e-01 8.99888965e-03 -3.19831355e-01] [ 6.27722077e-02 -5.36385364e-03 9.98013466e-01 -5.80348936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47320100799999 meters Centerline goodness : 0.899481 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96361791e-01 5.82177329e-02 -6.22404729e-02 6.66269274e+00] [-5.77978896e-02 9.98291894e-01 8.52631715e-03 -3.18149134e-01] [ 6.26305425e-02 -4.89792864e-03 9.98024762e-01 -5.80808127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50320100799999 meters Centerline goodness : 0.897521 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96357596e-01 5.80862895e-02 -6.24301528e-02 6.66302120e+00] [-5.76739977e-02 9.98300236e-01 8.38746607e-03 -3.17459771e-01] [ 6.28112330e-02 -4.75631904e-03 9.98014091e-01 -5.80567872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53320100799999 meters Centerline goodness : 0.896727 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.32, Z:-0.58 [[ 9.96344508e-01 5.76258190e-02 -6.30625527e-02 6.66421653e+00] [-5.71954685e-02 9.98325874e-01 8.60978611e-03 -3.18130443e-01] [ 6.34531240e-02 -4.97142087e-03 9.97972438e-01 -5.79391216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.563201008 meters Centerline goodness : 0.897491 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.32, Z:-0.58 [[ 9.96345596e-01 5.73090510e-02 -6.33334561e-02 6.66501548e+00] [-5.68776756e-02 9.98344159e-01 8.59474227e-03 -3.18406576e-01] [ 6.37211425e-02 -4.96107384e-03 9.97955412e-01 -5.79265424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.593201008 meters Centerline goodness : 0.895296 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.32, Z:-0.58 [[ 9.96355006e-01 5.66743714e-02 -6.37551342e-02 6.66651855e+00] [-5.62459318e-02 9.98380792e-01 8.49638443e-03 -3.18691318e-01] [ 6.41334286e-02 -4.87944823e-03 9.97929403e-01 -5.79292579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.623201008 meters Centerline goodness : 0.893603 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.32, Z:-0.58 [[ 9.96360598e-01 5.58752309e-02 -6.43701658e-02 6.66861571e+00] [-5.54392502e-02 9.98425533e-01 8.54079986e-03 -3.19722122e-01] [ 6.47460362e-02 -4.94108273e-03 9.97889541e-01 -5.79257983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.653201008 meters Centerline goodness : 0.892445 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.32, Z:-0.58 [[ 9.96535462e-01 5.09098972e-02 -6.57666715e-02 6.67715800e+00] [-5.04767332e-02 9.98691307e-01 8.23239487e-03 -3.21869922e-01] [ 6.60997136e-02 -4.88418670e-03 9.97801069e-01 -5.78434586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.683201008 meters Centerline goodness : 0.890918 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.32, Z:-0.58 [[ 9.96537691e-01 4.99309015e-02 -6.64795826e-02 6.67968723e+00] [-4.94912039e-02 9.98740522e-01 8.24560693e-03 -3.23167235e-01] [ 6.68075636e-02 -4.92690351e-03 9.97753715e-01 -5.78450184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.713201008 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.32, Z:-0.58 [[ 9.96537561e-01 4.90312974e-02 -6.71477508e-02 6.68201418e+00] [-4.85806953e-02 9.98784541e-01 8.32811536e-03 -3.24493016e-01] [ 6.74744737e-02 -5.03719535e-03 9.97708285e-01 -5.78288292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.743201008 meters Centerline goodness : 0.893938 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.33, Z:-0.57 [[ 0.99646156 0.0486841 -0.06851435 6.69174714] [-0.04773578 0.99874109 0.01541205 -0.32820963] [ 0.06917842 -0.01208693 0.99753108 -0.57175492] [ 0. 0. 0. 1. ]] SLAMing on 80.77320100799999 meters Centerline goodness : 0.890052 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.33, Z:-0.57 [[ 0.996645 0.04467466 -0.06857776 6.691313 ] [-0.0440628 0.99897453 0.01040989 -0.32635515] [ 0.06897249 -0.00735324 0.99759146 -0.57315282] [ 0. 0. 0. 1. ]] SLAMing on 80.80320100799999 meters Centerline goodness : 0.890329 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.33, Z:-0.57 [[ 0.99664889 0.04476781 -0.06846047 6.69116608] [-0.0441854 0.99897331 0.00999861 -0.32528597] [ 0.0688378 -0.00694015 0.99760372 -0.57378027] [ 0. 0. 0. 1. ]] SLAMing on 80.83320100799999 meters Centerline goodness : 0.891427 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.33, Z:-0.57 [[ 0.99643712 0.04854721 -0.06896549 6.69289508] [-0.04763507 0.998755 0.01481066 -0.32674865] [ 0.06959864 -0.01147271 0.9975091 -0.57216928] [ 0. 0. 0. 1. ]] SLAMing on 80.86320100799999 meters Centerline goodness : 0.891374 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.32, Z:-0.57 [[ 0.99644151 0.04875142 -0.06875767 6.69254722] [-0.04789126 0.99875297 0.01410428 -0.32468495] [ 0.06935953 -0.0107612 0.99753368 -0.57326293] [ 0. 0. 0. 1. ]] SLAMing on 80.89320100799999 meters Centerline goodness : 0.895131 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.32, Z:-0.58 [[ 9.96611062e-01 5.18207513e-02 -6.38827094e-02 6.70759128e+00] [-5.15493218e-02 9.98653075e-01 5.89092455e-03 -3.20897479e-01] [ 6.41019363e-02 -2.57785022e-03 9.97940026e-01 -5.79180400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92320100799999 meters Centerline goodness : 0.894297 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.32, Z:-0.58 [[ 9.96611018e-01 5.22550270e-02 -6.35286553e-02 6.70655772e+00] [-5.20021956e-02 9.98631112e-01 5.62792599e-03 -3.19492798e-01] [ 6.37357791e-02 -2.30522350e-03 9.97964146e-01 -5.79526385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.953201008 meters Centerline goodness : 0.894297 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.32, Z:-0.58 [[ 9.96611018e-01 5.22550270e-02 -6.35286553e-02 6.70655772e+00] [-5.20021956e-02 9.98631112e-01 5.62792599e-03 -3.19492798e-01] [ 6.37357791e-02 -2.30522350e-03 9.97964146e-01 -5.79526385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.983201008 meters Centerline goodness : 0.893355 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.32, Z:-0.58 [[ 9.96749310e-01 5.50941693e-02 -5.87830329e-02 6.72069216e+00] [-5.53610673e-02 9.98462130e-01 -2.92029882e-03 -3.17203872e-01] [ 5.85317407e-02 6.16509727e-03 9.98266511e-01 -5.84544902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.013201008 meters Centerline goodness : 0.896064 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.32, Z:-0.58 [[ 9.96735121e-01 5.53357077e-02 -5.87967594e-02 6.72044538e+00] [-5.55956942e-02 9.98449454e-01 -2.79392524e-03 -3.17535553e-01] [ 5.85509885e-02 6.05365007e-03 9.98266064e-01 -5.84339298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.043201008 meters Centerline goodness : 0.896592 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.32, Z:-0.58 [[ 9.96723279e-01 5.54374520e-02 -5.89015565e-02 6.72057133e+00] [-5.56891896e-02 9.98444663e-01 -2.63971947e-03 -3.18056776e-01] [ 5.86636055e-02 5.91124980e-03 9.98260306e-01 -5.84187154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.073201008 meters Centerline goodness : 0.897338 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.32, Z:-0.58 [[ 9.96716067e-01 5.52837623e-02 -5.91674555e-02 6.72164191e+00] [-5.55363774e-02 9.98453194e-01 -2.63236828e-03 -3.18570935e-01] [ 5.89304078e-02 5.90966989e-03 9.98244601e-01 -5.84651365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.103201008 meters Centerline goodness : 0.897067 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.59 [[ 9.96767067e-01 5.36953182e-02 -5.97681104e-02 6.72515044e+00] [-5.39568895e-02 9.98539424e-01 -2.77001151e-03 -3.20892477e-01] [ 5.95320779e-02 5.98595758e-03 9.98208445e-01 -5.85670712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13320100799999 meters Centerline goodness : 0.896432 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.59 [[ 9.96777746e-01 5.29728037e-02 -6.02329356e-02 6.72740764e+00] [-5.32418660e-02 9.98577522e-01 -2.86979283e-03 -3.21859379e-01] [ 5.99952346e-02 6.06745951e-03 9.98180223e-01 -5.86538172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16320100799999 meters Centerline goodness : 0.895151 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.59 [[ 9.96781124e-01 5.20755152e-02 -6.09551627e-02 6.73034108e+00] [-5.23572683e-02 9.98623811e-01 -3.03316796e-03 -3.22832408e-01] [ 6.07133231e-02 6.21485037e-03 9.98135897e-01 -5.87403461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19320100799999 meters Centerline goodness : 0.894294 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.59 [[ 9.96766770e-01 5.13153263e-02 -6.18283361e-02 6.73303954e+00] [-5.15726751e-02 9.98665931e-01 -2.57261941e-03 -3.25098869e-01] [ 6.16138380e-02 5.75295423e-03 9.98083483e-01 -5.87067858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22320100799999 meters Centerline goodness : 0.895831 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.59 [[ 9.96947928e-01 4.70564773e-02 -6.22938009e-02 6.73382040e+00] [-4.75326849e-02 9.98850540e-01 -6.18398507e-03 -3.27671877e-01] [ 6.19312001e-02 9.12610271e-03 9.98038697e-01 -5.87123868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25320100799999 meters Centerline goodness : 0.896630 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.33, Z:-0.58 [[ 9.96731488e-01 5.05441726e-02 -6.30208563e-02 6.73591350e+00] [-5.06814207e-02 9.98714703e-01 -5.80118242e-04 -3.31981177e-01] [ 6.29105342e-02 3.77220865e-03 9.98012042e-01 -5.84195702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28320100799999 meters Centerline goodness : 0.895337 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96713910e-01 5.12645278e-02 -6.27162598e-02 6.73423855e+00] [-5.13643722e-02 9.98679979e-01 2.03024828e-05 -3.32144796e-01] [ 6.26345139e-02 3.20114555e-03 9.98031397e-01 -5.82986162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.313201008 meters Centerline goodness : 0.895111 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96720311e-01 5.15060016e-02 -6.24159710e-02 6.73330339e+00] [-5.15917370e-02 9.98668231e-01 2.38326404e-04 -3.31318955e-01] [ 6.23451226e-02 2.98260359e-03 9.98050194e-01 -5.82432841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.343201008 meters Centerline goodness : 0.893937 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96742306e-01 5.13190710e-02 -6.22183938e-02 6.73371972e+00] [-5.14532109e-02 9.98675252e-01 -5.54593671e-04 -3.28788389e-01] [ 6.21075089e-02 3.75412311e-03 9.98062405e-01 -5.83949268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.373201008 meters Centerline goodness : 0.892463 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96758382e-01 5.13313006e-02 -6.19501777e-02 6.73351474e+00] [-5.14914473e-02 9.98672945e-01 -9.90321219e-04 -3.26781041e-01] [ 6.18171319e-02 4.17701529e-03 9.98078752e-01 -5.84684853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.403201008 meters Centerline goodness : 0.892909 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96751767e-01 5.16638494e-02 -6.17799399e-02 6.73262699e+00] [-5.18113055e-02 9.98656583e-01 -7.86129484e-04 -3.26128834e-01] [ 6.16563292e-02 3.98447529e-03 9.98089485e-01 -5.84009190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.433201008 meters Centerline goodness : 0.894978 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.33, Z:-0.58 [[ 9.96716345e-01 5.27272410e-02 -6.14521446e-02 6.72992741e+00] [-5.28106124e-02 9.98604510e-01 2.67852358e-04 -3.26334648e-01] [ 6.13805119e-02 2.97835257e-03 9.98109995e-01 -5.81231240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.463201008 meters Centerline goodness : 0.895756 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96717330e-01 5.30039052e-02 -6.11976386e-02 6.72918223e+00] [-5.30982674e-02 9.98589288e-01 8.44590108e-05 -3.24875167e-01] [ 6.11157830e-02 3.16530682e-03 9.98125664e-01 -5.81280077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.493201008 meters Centerline goodness : 0.894883 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96724931e-01 5.30440156e-02 -6.10388729e-02 6.72925211e+00] [-5.31793087e-02 9.98584803e-01 -5.92982550e-04 -3.22838701e-01] [ 6.09210367e-02 3.83704556e-03 9.98135213e-01 -5.82476453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52320100799999 meters Centerline goodness : 0.893474 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96732453e-01 5.29555664e-02 -6.09928251e-02 6.72964193e+00] [-5.31189242e-02 9.98587632e-01 -1.05884560e-03 -3.20881103e-01] [ 6.08506090e-02 4.29525903e-03 9.98137643e-01 -5.83235311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55320100799999 meters Centerline goodness : 0.890162 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96742834e-01 5.30176606e-02 -6.07688324e-02 6.72948398e+00] [-5.32004678e-02 9.98582881e-01 -1.39309455e-03 -3.19607908e-01] [ 6.06088571e-02 4.62148732e-03 9.98150895e-01 -5.83950349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58320100799999 meters Centerline goodness : 0.889452 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96754612e-01 5.30883135e-02 -6.05134197e-02 6.72915999e+00] [-5.32760332e-02 9.98578709e-01 -1.49177176e-03 -3.18692168e-01] [ 6.03482169e-02 4.71084533e-03 9.98166269e-01 -5.84255421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61320100799999 meters Centerline goodness : 0.884477 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96765600e-01 5.30445944e-02 -6.03706077e-02 6.72913132e+00] [-5.32304808e-02 9.98581165e-01 -1.47388291e-03 -3.18396430e-01] [ 6.02067703e-02 4.68267226e-03 9.98174943e-01 -5.84400675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64320100799999 meters Centerline goodness : 0.889408 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96764982e-01 5.29757318e-02 -6.04412307e-02 6.72922954e+00] [-5.31466385e-02 9.98585970e-01 -1.22243762e-03 -3.19055703e-01] [ 6.02910055e-02 4.43073125e-03 9.98171009e-01 -5.83912981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67320100799999 meters Centerline goodness : 0.886425 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96982526e-01 4.94215156e-02 -5.98611389e-02 6.72622473e+00] [-4.98033258e-02 9.98747013e-01 -4.90225358e-03 -3.18514076e-01] [ 5.95438569e-02 7.86874496e-03 9.98194676e-01 -5.82546465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.703201008 meters Centerline goodness : 0.885197 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.96963350e-01 4.93134218e-02 -6.02682692e-02 6.72578289e+00] [-4.95724646e-02 9.98766578e-01 -2.80965190e-03 -3.21667474e-01] [ 6.00553794e-02 5.78876661e-03 9.98178261e-01 -5.77913188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.733201008 meters Centerline goodness : 0.883414 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.32, Z:-0.58 [[ 9.97011118e-01 4.72338346e-02 -6.11375153e-02 6.73091881e+00] [-4.75922970e-02 9.98857067e-01 -4.41953992e-03 -3.20030544e-01] [ 6.08588874e-02 7.31600522e-03 9.98119568e-01 -5.81175357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.763201008 meters Centerline goodness : 0.881754 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.32, Z:-0.58 [[ 9.96851851e-01 4.89869758e-02 -6.23431127e-02 6.73760867e+00] [-4.91828026e-02 9.98788497e-01 -1.60947837e-03 -3.19478640e-01] [ 6.21887403e-02 4.67062049e-03 9.98053478e-01 -5.83883910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.793201008 meters Centerline goodness : 0.878108 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.59 [[ 9.96711500e-01 4.99951095e-02 -6.37704889e-02 6.74654779e+00] [-5.00676861e-02 9.98745721e-01 4.60450645e-04 -3.17035156e-01] [ 6.37135231e-02 2.73390437e-03 9.97964485e-01 -5.88223437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.823201008 meters Centerline goodness : 0.875656 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.59 [[ 9.96710995e-01 4.98161018e-02 -6.39182967e-02 6.74754003e+00] [-4.99032950e-02 9.98754027e-01 2.32632585e-04 -3.17267275e-01] [ 6.38502451e-02 2.95786616e-03 9.97955108e-01 -5.89190829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.853201008 meters Centerline goodness : 0.873657 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.59 [[ 9.96699547e-01 4.99282078e-02 -6.40092695e-02 6.74772408e+00] [-4.99915641e-02 9.98749452e-01 6.12424654e-04 -3.18761600e-01] [ 6.39598002e-02 2.58952013e-03 9.97949116e-01 -5.89025661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88320100799999 meters Centerline goodness : 0.873656 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.59 [[ 9.96678624e-01 4.98889052e-02 -6.43647243e-02 6.74818380e+00] [-4.99041400e-02 9.98753070e-01 1.37198811e-03 -3.20666514e-01] [ 6.43529130e-02 1.84463499e-03 9.97925498e-01 -5.87699194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91320100799999 meters Centerline goodness : 0.880235 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.58 [[ 9.96647432e-01 5.07528629e-02 -6.41719813e-02 6.74609323e+00] [-5.06538856e-02 9.98711239e-01 3.16944515e-03 -3.23296848e-01] [ 6.42501373e-02 9.17408279e-05 9.97933821e-01 -5.84159498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94320100799999 meters Centerline goodness : 0.872507 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.32, Z:-0.58 [[ 9.96649688e-01 5.11738122e-02 -6.38015715e-02 6.74497675e+00] [-5.10584632e-02 9.98689748e-01 3.43816170e-03 -3.23457381e-01] [ 6.38939192e-02 -1.69032591e-04 9.97956682e-01 -5.83851904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97320100799999 meters Centerline goodness : 0.878817 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.33, Z:-0.58 [[ 9.96418672e-01 5.49414722e-02 -6.42749102e-02 6.74666126e+00] [-5.44983882e-02 9.98476582e-01 8.62796657e-03 -3.25850888e-01] [ 6.46510258e-02 -5.09418799e-03 9.97894931e-01 -5.81837746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00320100799999 meters Centerline goodness : 0.868535 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.32, Z:-0.58 [[ 9.96426627e-01 5.52036702e-02 -6.39259883e-02 6.74605488e+00] [-5.47873377e-02 9.98463973e-01 8.24881663e-03 -3.24272231e-01] [ 6.42831612e-02 -4.71700583e-03 9.97920550e-01 -5.82628244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03320100799999 meters Centerline goodness : 0.872684 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.32, Z:-0.59 [[ 9.96704079e-01 5.57811695e-02 -5.89019495e-02 6.76067185e+00] [-5.59631743e-02 9.98431790e-01 -1.44360538e-03 -3.22478785e-01] [ 5.87290528e-02 4.73518743e-03 9.98262729e-01 -5.87081390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.063201008 meters Centerline goodness : 0.875767 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.33, Z:-0.58 [[ 9.96479508e-01 5.88573471e-02 -5.97026251e-02 6.76363373e+00] [-5.86260400e-02 9.98264194e-01 5.62009977e-03 -3.27179539e-01] [ 5.99297771e-02 -2.10018576e-03 9.98200386e-01 -5.81526968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.093201008 meters Centerline goodness : 0.873920 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.33, Z:-0.58 [[ 9.96488353e-01 5.86057695e-02 -5.98023913e-02 6.76449138e+00] [-5.83869770e-02 9.98279415e-01 5.40096702e-03 -3.27093167e-01] [ 6.00160240e-02 -1.89031989e-03 9.98195624e-01 -5.82214757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.123201008 meters Centerline goodness : 0.869588 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 9.96508814e-01 5.82401962e-02 -5.98185794e-02 6.76566436e+00] [-5.80623321e-02 9.98301855e-01 4.70874098e-03 -3.25785173e-01] [ 5.99912368e-02 -1.21909567e-03 9.98198159e-01 -5.83965950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.153201008 meters Centerline goodness : 0.869834 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 9.96277770e-01 6.14713872e-02 -6.04307370e-02 6.76823216e+00] [-6.10053069e-02 9.98091952e-01 9.52935141e-03 -3.28931220e-01] [ 6.09012146e-02 -5.80728532e-03 9.98126905e-01 -5.82568112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.183201008 meters Centerline goodness : 0.870306 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 9.96268672e-01 6.15856148e-02 -6.04644192e-02 6.76804472e+00] [-6.11105021e-02 9.98084091e-01 9.67748731e-03 -3.29042209e-01] [ 6.09445689e-02 -5.94636641e-03 9.98123439e-01 -5.82070835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.213201008 meters Centerline goodness : 0.872936 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 9.96279126e-01 6.14686462e-02 -6.04111710e-02 6.76834654e+00] [-6.10237817e-02 9.98094067e-01 9.18325461e-03 -3.28187576e-01] [ 6.08605136e-02 -5.46256676e-03 9.98131333e-01 -5.82974103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.243201008 meters Centerline goodness : 0.866994 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 9.96290668e-01 6.12983083e-02 -6.03938879e-02 6.76884941e+00] [-6.08868178e-02 9.98107350e-01 8.63206149e-03 -3.26780625e-01] [ 6.08087142e-02 -4.92285066e-03 9.98137298e-01 -5.83959884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27320100799999 meters Centerline goodness : 0.866398 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.32, Z:-0.59 [[ 9.96310993e-01 6.09349873e-02 -6.04262573e-02 6.76985627e+00] [-6.05763882e-02 9.98133474e-01 7.75042481e-03 -3.24920033e-01] [ 6.07857421e-02 -4.06142902e-03 9.98142574e-01 -5.85563513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30320100799999 meters Centerline goodness : 0.863289 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.58 [[ 0.99606203 0.06431557 -0.06102414 6.77235489] [-0.06367716 0.99789412 0.01235128 -0.326882 ] [ 0.06169001 -0.0084168 0.99805987 -0.58449358] [ 0. 0. 0. 1. ]] SLAMing on 82.33320100799999 meters Centerline goodness : 0.864185 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.59 [[ 0.99605385 0.06442128 -0.06104608 6.77246354] [-0.06381003 0.99789097 0.01191209 -0.32632525] [ 0.06168473 -0.00796973 0.99806386 -0.58533397] [ 0. 0. 0. 1. ]] SLAMing on 82.36320100799999 meters Centerline goodness : 0.861287 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.33, Z:-0.59 [[ 0.99606045 0.06406623 -0.06131156 6.77387631] [-0.06349522 0.99791908 0.01121867 -0.32570769] [ 0.06190272 -0.00728148 0.99805563 -0.58679832] [ 0. 0. 0. 1. ]] SLAMing on 82.39320100799999 meters Centerline goodness : 0.864503 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 0.99582228 0.0668961 -0.06215218 6.77781516] [-0.06607609 0.99769943 0.01515894 -0.32754854] [ 0.06302327 -0.01098884 0.99795156 -0.587067 ] [ 0. 0. 0. 1. ]] SLAMing on 82.42320100799999 meters Centerline goodness : 0.857977 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 0.99584559 0.06651856 -0.0621839 6.77894819] [-0.06574895 0.99773309 0.01434401 -0.326258 ] [ 0.06299707 -0.01019589 0.99796163 -0.58886774] [ 0. 0. 0. 1. ]] SLAMing on 82.453201008 meters Centerline goodness : 0.860214 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 0.99568146 0.06796171 -0.06324275 6.78496553] [-0.0668176 0.99756403 0.02003553 -0.32958333] [ 0.06445034 -0.01572328 0.99779704 -0.58551509] [ 0. 0. 0. 1. ]] SLAMing on 82.483201008 meters Centerline goodness : 0.860952 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 0.99595084 0.06440409 -0.06272188 6.78300793] [-0.06356749 0.99786108 0.01524577 -0.32756415] [ 0.06356961 -0.01119696 0.99791459 -0.58696825] [ 0. 0. 0. 1. ]] SLAMing on 82.513201008 meters Centerline goodness : 0.862026 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 0.99619637 0.0605629 -0.06264926 6.78213353] [-0.06000622 0.99814032 0.01073118 -0.32585476] [ 0.06318266 -0.00693102 0.99797791 -0.58779237] [ 0. 0. 0. 1. ]] SLAMing on 82.543201008 meters Centerline goodness : 0.864237 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 9.96463677e-01 5.63153510e-02 -6.23596153e-02 6.78156527e+00] [-5.60150016e-02 9.98408405e-01 6.55560974e-03 -3.26313015e-01] [ 6.26295455e-02 -3.03935304e-03 9.98032215e-01 -5.88803617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.573201008 meters Centerline goodness : 0.867420 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 9.96463311e-01 5.55631067e-02 -6.30365885e-02 6.78389883e+00] [-5.52354689e-02 9.98449309e-01 6.92974037e-03 -3.28309894e-01] [ 6.33238761e-02 -3.42337651e-03 9.97987158e-01 -5.88608043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.603201008 meters Centerline goodness : 0.862076 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.33, Z:-0.59 [[ 9.96711213e-01 5.23449321e-02 -6.18608674e-02 6.78373931e+00] [-5.21926358e-02 9.98628716e-01 4.07635808e-03 -3.27266933e-01] [ 6.19894153e-02 -8.34270084e-04 9.98076458e-01 -5.90692072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63320100799999 meters Centerline goodness : 0.867041 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.33, Z:-0.59 [[ 9.96539922e-01 5.46557275e-02 -6.26173720e-02 6.78735274e+00] [-5.42078222e-02 9.98490624e-01 8.83097594e-03 -3.30828101e-01] [ 6.30055222e-02 -5.40606871e-03 9.97998536e-01 -5.88907442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66320100799999 meters Centerline goodness : 0.866399 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.33, Z:-0.59 [[ 9.96531269e-01 5.47253220e-02 -6.26942540e-02 6.78752092e+00] [-5.42941605e-02 9.98488279e-01 8.56161381e-03 -3.30324250e-01] [ 6.30680148e-02 -5.12798399e-03 9.97996057e-01 -5.89322492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69320100799999 meters Centerline goodness : 0.864651 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.33, Z:-0.59 [[ 9.96537770e-01 5.40162488e-02 -6.32037740e-02 6.78971210e+00] [-5.36391425e-02 9.98531086e-01 7.64941876e-03 -3.28757658e-01] [ 6.35241259e-02 -4.23273848e-03 9.97971327e-01 -5.90799471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72320100799999 meters Centerline goodness : 0.864744 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.33, Z:-0.59 [[ 0.9963059 0.05696454 -0.064262 6.7939339 ] [-0.05633275 0.99834463 0.01160236 -0.32943796] [ 0.06481654 -0.00793944 0.99786561 -0.59094299] [ 0. 0. 0. 1. ]] SLAMing on 82.75320100799999 meters Centerline goodness : 0.858352 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 9.96321536e-01 5.63501932e-02 -6.45604570e-02 6.79619359e+00] [-5.58271228e-02 9.98391575e-01 9.87900997e-03 -3.25893633e-01] [ 6.50133005e-02 -6.23844583e-03 9.97864897e-01 -5.94155952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78320100799999 meters Centerline goodness : 0.858663 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 0.99608189 0.05943777 -0.06548303 6.79945367] [-0.0585699 0.99816916 0.01509602 -0.32868326] [ 0.06626041 -0.01120154 0.99773949 -0.59180799] [ 0. 0. 0. 1. ]] SLAMing on 82.813201008 meters Centerline goodness : 0.861600 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 0.99582861 0.06271843 -0.06627051 6.80212975] [-0.06151047 0.99790372 0.02011551 -0.33195313] [ 0.0673932 -0.01595527 0.99759891 -0.5898189 ] [ 0. 0. 0. 1. ]] SLAMing on 82.843201008 meters Centerline goodness : 0.863294 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 0.99583514 0.06220785 -0.06665247 6.80349898] [-0.06101867 0.99794154 0.01973309 -0.33093049] [ 0.06774283 -0.01558386 0.9975811 -0.59012385] [ 0. 0. 0. 1. ]] SLAMing on 82.873201008 meters Centerline goodness : 0.863294 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 0.99583514 0.06220785 -0.06665247 6.80349898] [-0.06101867 0.99794154 0.01973309 -0.33093049] [ 0.06774283 -0.01558386 0.9975811 -0.59012385] [ 0. 0. 0. 1. ]] SLAMing on 82.903201008 meters Centerline goodness : 0.860235 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.33, Z:-0.59 [[ 0.99584747 0.06169408 -0.06694516 6.80493132] [-0.06054768 0.99798403 0.01902235 -0.32974728] [ 0.06798376 -0.01488999 0.99757531 -0.59120956] [ 0. 0. 0. 1. ]] SLAMing on 82.933201008 meters Centerline goodness : 0.857239 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.33, Z:-0.59 [[ 0.99585114 0.06141077 -0.06715075 6.80581238] [-0.0603176 0.9980135 0.01818926 -0.32822719] [ 0.06813437 -0.01406343 0.99757703 -0.59236067] [ 0. 0. 0. 1. ]] SLAMing on 82.963201008 meters Centerline goodness : 0.860456 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.33, Z:-0.60 [[ 9.96022088e-01 6.31357918e-02 -6.28798259e-02 6.82203891e+00] [-6.26581795e-02 9.97989442e-01 9.54078408e-03 -3.25638714e-01] [ 6.33557674e-02 -5.56289626e-03 9.97975501e-01 -5.97193307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.993201008 meters Centerline goodness : 0.860955 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.32, Z:-0.60 [[ 9.96009627e-01 6.35111373e-02 -6.26989426e-02 6.82125729e+00] [-6.30679124e-02 9.97968430e-01 9.02506573e-03 -3.23734197e-01] [ 6.31447574e-02 -5.03476094e-03 9.97991679e-01 -5.97577266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02320100799999 meters Centerline goodness : 0.855116 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.32, Z:-0.60 [[ 9.95955185e-01 6.79006321e-02 -5.88453400e-02 6.83575697e+00] [-6.79768296e-02 9.97686649e-01 7.08267240e-04 -3.20897943e-01] [ 5.87573019e-02 3.29471722e-03 9.98266860e-01 -6.03560379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05320100799999 meters Centerline goodness : 0.858133 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.32, Z:-0.60 [[ 9.95905328e-01 6.87514582e-02 -5.87010688e-02 6.83486172e+00] [-6.88363803e-02 9.97627796e-01 5.76615344e-04 -3.19375418e-01] [ 5.86014610e-02 3.46651480e-03 9.98275439e-01 -6.03859232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08320100799999 meters Centerline goodness : 0.857374 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.32, Z:-0.60 [[ 9.95860598e-01 6.96276422e-02 -5.84265381e-02 6.83398368e+00] [-6.97343609e-02 9.97565574e-01 2.12855939e-04 -3.17508797e-01] [ 5.82991236e-02 3.86236245e-03 9.98291688e-01 -6.04891206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11320100799999 meters Centerline goodness : 0.856882 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.32, Z:-0.61 [[ 9.95836778e-01 7.04627199e-02 -5.78283387e-02 6.83251663e+00] [-7.05791871e-02 9.97506179e-01 2.85022403e-05 -3.15929082e-01] [ 5.76861336e-02 4.05309356e-03 9.98326541e-01 -6.05708566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14320100799999 meters Centerline goodness : 0.854040 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.32, Z:-0.60 [[ 9.95870979e-01 6.94057343e-02 -5.85135638e-02 6.83467947e+00] [-6.94475210e-02 9.97584731e-01 1.32157467e-03 -3.19601991e-01] [ 5.84639627e-02 2.74750409e-03 9.98285739e-01 -6.03647213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17320100799999 meters Centerline goodness : 0.856197 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.32, Z:-0.60 [[ 9.95872547e-01 6.89338880e-02 -5.90422633e-02 6.83617053e+00] [-6.89561243e-02 9.97618307e-01 1.66317467e-03 -3.21500980e-01] [ 5.90162919e-02 2.41501565e-03 9.98254098e-01 -6.03316036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.203201008 meters Centerline goodness : 0.853142 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.32, Z:-0.60 [[ 9.95931873e-01 6.73670770e-02 -5.98446354e-02 6.83992399e+00] [-6.73989882e-02 9.97724994e-01 1.48744977e-03 -3.23794506e-01] [ 5.98086937e-02 2.55206924e-03 9.98206595e-01 -6.04290513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.233201008 meters Centerline goodness : 0.853443 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.32, Z:-0.60 [[ 9.95929989e-01 6.71464148e-02 -6.01233333e-02 6.84103617e+00] [-6.71814706e-02 9.97739733e-01 1.44045072e-03 -3.24435181e-01] [ 6.00841596e-02 2.60458588e-03 9.98189917e-01 -6.04830747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.263201008 meters Centerline goodness : 0.850464 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.61 [[ 9.95924601e-01 6.70799912e-02 -6.02865213e-02 6.84172363e+00] [-6.71100979e-02 9.97744407e-01 1.52751614e-03 -3.25218635e-01] [ 6.02530052e-02 2.52454344e-03 9.98179945e-01 -6.05187823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.293201008 meters Centerline goodness : 0.851508 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.61 [[ 9.95919604e-01 6.70135627e-02 -6.04427429e-02 6.84231408e+00] [-6.70237233e-02 9.97749645e-01 1.86157040e-03 -3.26659644e-01] [ 6.04314758e-02 2.19712322e-03 9.98169930e-01 -6.05184510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.323201008 meters Centerline goodness : 0.849334 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.61 [[ 9.95932646e-01 6.63976303e-02 -6.09058252e-02 6.84405664e+00] [-6.63923340e-02 9.97791358e-01 2.11291525e-03 -3.28715175e-01] [ 6.09115985e-02 1.93935861e-03 9.98141281e-01 -6.05202113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.353201008 meters Centerline goodness : 0.848860 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95926677e-01 6.63804603e-02 -6.10220346e-02 6.84430677e+00] [-6.63573338e-02 9.97793018e-01 2.40766884e-03 -3.29655345e-01] [ 6.10471823e-02 1.65139790e-03 9.98133515e-01 -6.04870036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38320100799999 meters Centerline goodness : 0.847485 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95915188e-01 6.64590075e-02 -6.11239677e-02 6.84427600e+00] [-6.64140256e-02 9.97788308e-01 2.76951683e-03 -3.30256822e-01] [ 6.11728397e-02 1.30128488e-03 9.98126340e-01 -6.04207971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41320100799999 meters Centerline goodness : 0.847120 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95899445e-01 6.69465707e-02 -6.08477801e-02 6.84272076e+00] [-6.68707975e-02 9.97756242e-01 3.28308918e-03 -3.29948756e-01] [ 6.09310440e-02 7.99312889e-04 9.98141658e-01 -6.02710822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44320100799999 meters Centerline goodness : 0.851226 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95901513e-01 6.69464084e-02 -6.08140935e-02 6.84255804e+00] [-6.68774720e-02 9.97756158e-01 3.17057437e-03 -3.28692744e-01] [ 6.08898949e-02 9.09513025e-04 9.98144075e-01 -6.02416548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47320100799999 meters Centerline goodness : 0.850083 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95904532e-01 6.70736173e-02 -6.06241923e-02 6.84227739e+00] [-6.70181531e-02 9.97747395e-01 2.95005146e-03 -3.27500490e-01] [ 6.06855006e-02 1.12495179e-03 9.98156303e-01 -6.02806381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50320100799999 meters Centerline goodness : 0.850071 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.33, Z:-0.60 [[ 9.95919142e-01 6.65205109e-02 -6.09924983e-02 6.84397218e+00] [-6.65023523e-02 9.97783548e-01 2.32988796e-03 -3.25934467e-01] [ 6.10122967e-02 1.73576459e-03 9.98135505e-01 -6.03727519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53320100799999 meters Centerline goodness : 0.847640 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.32, Z:-0.61 [[ 9.95942416e-01 6.56466623e-02 -6.15566334e-02 6.84667670e+00] [-6.56953296e-02 9.97838964e-01 1.23515771e-03 -3.23766503e-01] [ 6.15046913e-02 2.81383737e-03 9.98102828e-01 -6.05651553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.563201008 meters Centerline goodness : 0.847649 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.32, Z:-0.61 [[ 9.95950366e-01 6.51086228e-02 -6.19978697e-02 6.84823417e+00] [-6.51633433e-02 9.97873958e-01 1.14106402e-03 -3.23640522e-01] [ 6.19403527e-02 2.90354534e-03 9.98075629e-01 -6.05662607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.593201008 meters Centerline goodness : 0.845437 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.32, Z:-0.60 [[ 9.95939426e-01 6.49868881e-02 -6.23005993e-02 6.84862379e+00] [-6.50137934e-02 9.97883087e-01 1.59735955e-03 -3.24675093e-01] [ 6.22725217e-02 2.45952494e-03 9.98056153e-01 -6.04637788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.623201008 meters Centerline goodness : 0.845765 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.33, Z:-0.60 [[ 9.95930243e-01 6.49295246e-02 -6.25068646e-02 6.84880531e+00] [-6.49142806e-02 9.97888246e-01 2.27677824e-03 -3.26511483e-01] [ 6.25226957e-02 1.79007584e-03 9.98041937e-01 -6.03512242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.653201008 meters Centerline goodness : 0.845990 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.33, Z:-0.60 [[ 9.95945085e-01 6.39051520e-02 -6.33207588e-02 6.85066471e+00] [-6.37563148e-02 9.97955927e-01 4.37039610e-03 -3.30307026e-01] [ 6.34706174e-02 -3.15576288e-04 9.97983658e-01 -5.99310527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.683201008 meters Centerline goodness : 0.848535 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.33, Z:-0.60 [[ 9.95944586e-01 6.36921867e-02 -6.35427916e-02 6.85089757e+00] [-6.34809462e-02 9.97968765e-01 5.33983696e-03 -3.32213001e-01] [ 6.37538272e-02 -1.28442517e-03 9.97964829e-01 -5.97519835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.713201008 meters Centerline goodness : 0.848109 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.33, Z:-0.60 [[ 9.95958949e-01 6.30752827e-02 -6.39318465e-02 6.85216416e+00] [-6.28360733e-02 9.98007312e-01 5.74742945e-03 -3.34003089e-01] [ 6.41669710e-02 -1.70697760e-03 9.97937717e-01 -5.96881381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.743201008 meters Centerline goodness : 0.851510 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.34, Z:-0.59 [[ 0.99591827 0.06247249 -0.06514589 6.86173005] [-0.0618 0.99801289 0.01228934 -0.33766173] [ 0.06578418 -0.00821316 0.99780007 -0.59152258] [ 0. 0. 0. 1. ]] SLAMing on 83.77320100799999 meters Centerline goodness : 0.852312 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.34, Z:-0.59 [[ 0.99589674 0.06192737 -0.06598996 6.86966425] [-0.06102379 0.99801403 0.0156234 -0.33865836] [ 0.06682642 -0.01153233 0.99769797 -0.59139933] [ 0. 0. 0. 1. ]] SLAMing on 83.80320100799999 meters Centerline goodness : 0.855050 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.59 [[ 0.99565816 0.0641715 -0.06743036 6.87547946] [-0.06284558 0.99778935 0.0216064 -0.34145874] [ 0.06866782 -0.01727488 0.99749 -0.58746224] [ 0. 0. 0. 1. ]] SLAMing on 83.83320100799999 meters Centerline goodness : 0.860285 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.59 [[ 0.99564444 0.06399232 -0.06780214 6.87644199] [-0.06268064 0.99780628 0.02130181 -0.34139313] [ 0.06901655 -0.01695915 0.99747135 -0.58776991] [ 0. 0. 0. 1. ]] SLAMing on 83.86320100799999 meters Centerline goodness : 0.863730 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.58 [[ 0.99532329 0.06795746 -0.06865366 6.87827704] [-0.0662569 0.99744387 0.02675331 -0.34429413] [ 0.07029626 -0.02207942 0.99728177 -0.58431206] [ 0. 0. 0. 1. ]] SLAMing on 83.89320100799999 meters Centerline goodness : 0.861745 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.59 [[ 0.9953108 0.06786925 -0.06892146 6.87904826] [-0.06622078 0.99746801 0.02593023 -0.34230339] [ 0.07050682 -0.0212446 0.99728504 -0.58529542] [ 0. 0. 0. 1. ]] SLAMing on 83.92320100799999 meters Centerline goodness : 0.856846 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.59 [[ 0.99531549 0.06743633 -0.0692778 6.88070904] [-0.06588155 0.99752687 0.02449019 -0.33918038] [ 0.070758 -0.01981134 0.99729675 -0.58743588] [ 0. 0. 0. 1. ]] SLAMing on 83.953201008 meters Centerline goodness : 0.860375 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.34, Z:-0.59 [[ 0.99503068 0.07075089 -0.07005894 6.88414812] [-0.06891467 0.99722131 0.02829168 -0.33908697] [ 0.07186593 -0.02332301 0.99714158 -0.58765989] [ 0. 0. 0. 1. ]] SLAMing on 83.983201008 meters Centerline goodness : 0.859341 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.33, Z:-0.59 [[ 0.99504602 0.07042318 -0.0701712 6.88573811] [-0.0687409 0.99729281 0.02611003 -0.33368431] [ 0.07181998 -0.02115705 0.9971932 -0.59138009] [ 0. 0. 0. 1. ]] SLAMing on 84.013201008 meters Centerline goodness : 0.859560 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.33, Z:-0.59 [[ 0.99505066 0.07009621 -0.07043229 6.88662414] [-0.06842432 0.9973206 0.02587918 -0.33283615] [ 0.0720576 -0.02093181 0.99718081 -0.59131949] [ 0. 0. 0. 1. ]] SLAMing on 84.043201008 meters Centerline goodness : 0.862851 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.33, Z:-0.60 [[ 0.99553079 0.06778172 -0.06575772 6.90286914] [-0.06696571 0.99764936 0.01453775 -0.33118617] [ 0.06658854 -0.01006926 0.99772971 -0.59508074] [ 0. 0. 0. 1. ]] SLAMing on 84.073201008 meters Centerline goodness : 0.864634 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.33, Z:-0.59 [[ 0.99554392 0.06714232 -0.06621334 6.91104294] [-0.0658225 0.99759057 0.02191934 -0.33490323] [ 0.06752552 -0.01746334 0.9975647 -0.58733388] [ 0. 0. 0. 1. ]] SLAMing on 84.103201008 meters Centerline goodness : 0.865225 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-0.58 [[ 0.99548114 0.06790904 -0.06637524 6.91622329] [-0.06605117 0.99737122 0.02979766 -0.33918432] [ 0.06822428 -0.02527884 0.9973497 -0.57874428] [ 0. 0. 0. 1. ]] SLAMing on 84.13320100799999 meters Centerline goodness : 0.873965 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-0.58 [[ 0.99548996 0.06736832 -0.06679257 6.91777137] [-0.06554035 0.99742277 0.02919398 -0.33786816] [ 0.06858718 -0.02468471 0.99733969 -0.57939787] [ 0. 0. 0. 1. ]] SLAMing on 84.16320100799999 meters Centerline goodness : 0.866277 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-0.58 [[ 0.99551439 0.0666488 -0.06714933 6.91986296] [-0.06490209 0.9975024 0.02786884 -0.33533607] [ 0.06883904 -0.0233857 0.99735365 -0.58148181] [ 0. 0. 0. 1. ]] SLAMing on 84.19320100799999 meters Centerline goodness : 0.861704 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-0.58 [[ 0.99524126 0.06973763 -0.06805509 6.92366872] [-0.06770415 0.99720028 0.03174519 -0.33556747] [ 0.07007839 -0.02698651 0.99717639 -0.58154577] [ 0. 0. 0. 1. ]] SLAMing on 84.22320100799999 meters Centerline goodness : 0.866226 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.33, Z:-0.58 [[ 0.99498288 0.07270866 -0.06872066 6.92770726] [-0.07044977 0.99691004 0.03474471 -0.33393214] [ 0.07103456 -0.02972904 0.99703073 -0.58324653] [ 0. 0. 0. 1. ]] SLAMing on 84.25320100799999 meters Centerline goodness : 0.860460 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-0.59 [[ 0.99519918 0.0728189 -0.0653911 6.94454448] [-0.07142605 0.99717151 0.02339435 -0.33103067] [ 0.0669097 -0.01861141 0.99758544 -0.59014195] [ 0. 0. 0. 1. ]] SLAMing on 84.28320100799999 meters Centerline goodness : 0.864442 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.33, Z:-0.59 [[ 0.99519357 0.07256659 -0.06575593 6.94561388] [-0.0711903 0.99719662 0.02304011 -0.33087822] [ 0.06724353 -0.01824819 0.9975697 -0.59055719] [ 0. 0. 0. 1. ]] SLAMing on 84.313201008 meters Centerline goodness : 0.872193 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.33, Z:-0.59 [[ 0.99519769 0.07217742 -0.06612095 6.94699409] [-0.07081714 0.99723114 0.02269352 -0.33057685] [ 0.06757583 -0.01790205 0.99755352 -0.59097973] [ 0. 0. 0. 1. ]] SLAMing on 84.343201008 meters Centerline goodness : 0.866180 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.33, Z:-0.60 [[ 0.9955039 0.06777902 -0.06616639 6.94780307] [-0.06685104 0.99763238 0.01614231 -0.32633454] [ 0.06710384 -0.01164644 0.99767802 -0.59576306] [ 0. 0. 0. 1. ]] SLAMing on 84.373201008 meters Centerline goodness : 0.867829 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.33, Z:-0.59 [[ 0.9952437 0.07054175 -0.06718505 6.95201017] [-0.06925184 0.99737091 0.02134148 -0.32939109] [ 0.06851388 -0.01658729 0.99751226 -0.59352995] [ 0. 0. 0. 1. ]] SLAMing on 84.403201008 meters Centerline goodness : 0.864900 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.33, Z:-0.59 [[ 0.99523755 0.07025658 -0.0675739 6.95324654] [-0.06895661 0.99739044 0.02138449 -0.32979028] [ 0.06889997 -0.01662298 0.99748507 -0.59352956] [ 0. 0. 0. 1. ]] SLAMing on 84.433201008 meters Centerline goodness : 0.858912 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.60 [[ 0.99525296 0.0693422 -0.06828759 6.95641582] [-0.06806705 0.99746329 0.02082913 -0.3299297 ] [ 0.06955871 -0.01608212 0.99744822 -0.59503964] [ 0. 0. 0. 1. ]] SLAMing on 84.463201008 meters Centerline goodness : 0.859889 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.60 [[ 0.99526603 0.06872145 -0.06872331 6.95851364] [-0.06747256 0.99751389 0.02033443 -0.32986414] [ 0.06994986 -0.01560123 0.9974285 -0.59634287] [ 0. 0. 0. 1. ]] SLAMing on 84.49320100799999 meters Centerline goodness : 0.857800 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.59 [[ 0.99502566 0.07083119 -0.07004907 6.96426896] [-0.06909871 0.99724825 0.02685679 -0.33323794] [ 0.07175861 -0.0218829 0.99718195 -0.59145203] [ 0. 0. 0. 1. ]] SLAMing on 84.52320100799999 meters Centerline goodness : 0.854857 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.59 [[ 0.99502448 0.07068327 -0.07021514 6.96482434] [-0.06894016 0.99725674 0.02694884 -0.3331678 ] [ 0.07192735 -0.02197411 0.99716779 -0.59113349] [ 0. 0. 0. 1. ]] SLAMing on 84.55320100799999 meters Centerline goodness : 0.856632 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.59 [[ 0.99501556 0.07101049 -0.0700111 6.96383628] [-0.06924241 0.99722437 0.0273688 -0.3332313 ] [ 0.07176024 -0.02238464 0.9971707 -0.59012125] [ 0. 0. 0. 1. ]] SLAMing on 84.58320100799999 meters Centerline goodness : 0.859874 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.34, Z:-0.58 [[ 0.99473077 0.07439554 -0.07054078 6.9658316 ] [-0.07213012 0.99681079 0.03413945 -0.33751578] [ 0.07285564 -0.02887145 0.99692452 -0.58466915] [ 0. 0. 0. 1. ]] SLAMing on 84.61320100799999 meters Centerline goodness : 0.859331 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.34, Z:-0.59 [[ 0.99498941 0.07081099 -0.07058249 6.96480983] [-0.06887436 0.99718888 0.02950692 -0.33577928] [ 0.07247349 -0.02449775 0.99706943 -0.58561312] [ 0. 0. 0. 1. ]] SLAMing on 84.64320100799999 meters Centerline goodness : 0.857800 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.33, Z:-0.59 [[ 0.99526102 0.06699575 -0.07047744 6.96423622] [-0.06543052 0.99756144 0.02429047 -0.3323182 ] [ 0.07193294 -0.01956399 0.99721758 -0.58782262] [ 0. 0. 0. 1. ]] SLAMing on 84.67320100799999 meters Centerline goodness : 0.861379 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.34, Z:-0.58 [[ 0.99501789 0.06953304 -0.0714461 6.96853672] [-0.06755909 0.99727353 0.02968621 -0.33518578] [ 0.07331547 -0.02471148 0.9970026 -0.58495665] [ 0. 0. 0. 1. ]] SLAMing on 84.703201008 meters Centerline goodness : 0.858074 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.33, Z:-0.59 [[ 0.99532947 0.06503108 -0.07134562 6.96849049] [-0.06342334 0.99768408 0.02457546 -0.33223248] [ 0.07277856 -0.0199357 0.99714886 -0.58671029] [ 0. 0. 0. 1. ]] SLAMing on 84.733201008 meters Centerline goodness : 0.856825 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-0.59 [[ 0.99649302 0.05583805 -0.06231995 6.93966647] [-0.05375375 0.99795334 0.03463629 -0.33067952] [ 0.06412642 -0.03116489 0.99745504 -0.58609264] [ 0. 0. 0. 1. ]] SLAMing on 84.763201008 meters Centerline goodness : 0.856825 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-0.59 [[ 0.99649302 0.05583805 -0.06231995 6.93966647] [-0.05375375 0.99795334 0.03463629 -0.33067952] [ 0.06412642 -0.03116489 0.99745504 -0.58609264] [ 0. 0. 0. 1. ]] SLAMing on 84.793201008 meters Centerline goodness : 0.859891 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-0.59 [[ 0.99673248 0.05168817 -0.06207006 6.93922989] [-0.0499373 0.99831847 0.02943637 -0.32776462] [ 0.06348719 -0.02624057 0.99763761 -0.5883022 ] [ 0. 0. 0. 1. ]] SLAMing on 84.823201008 meters Centerline goodness : 0.863399 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.33, Z:-0.59 [[ 0.996883 0.04878413 -0.06200323 6.91834968] [-0.04670176 0.99830938 0.03460244 -0.32648386] [ 0.06358646 -0.03159892 0.99747595 -0.58685494] [ 0. 0. 0. 1. ]] SLAMing on 84.853201008 meters Centerline goodness : 0.854769 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.32, Z:-0.59 [[ 0.99727093 0.04482438 -0.05866407 6.89154214] [-0.04298526 0.9985552 0.03224573 -0.32086107] [ 0.0600247 -0.02963604 0.99775685 -0.59246491] [ 0. 0. 0. 1. ]] SLAMing on 84.88320100799999 meters Centerline goodness : 0.859488 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.32, Z:-0.59 [[ 0.99742265 0.04221467 -0.05801698 6.88789808] [-0.04062211 0.99877199 0.028361 -0.31744576] [ 0.05914298 -0.02593114 0.99791266 -0.59177692] [ 0. 0. 0. 1. ]] SLAMing on 84.91320100799999 meters Centerline goodness : 0.858055 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.31, Z:-0.59 [[ 0.9975782 0.0389806 -0.0576043 6.88553969] [-0.03765211 0.99900336 0.02397089 -0.31472337] [ 0.05848129 -0.02174392 0.99805167 -0.59198262] [ 0. 0. 0. 1. ]] SLAMing on 84.94320100799999 meters Centerline goodness : 0.863008 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.31, Z:-0.59 [[ 0.99755312 0.03901082 -0.05801664 6.885959 ] [-0.03766343 0.99899887 0.02413953 -0.31441328] [ 0.05890026 -0.02189536 0.99802372 -0.59102811] [ 0. 0. 0. 1. ]] SLAMing on 84.97320100799999 meters Centerline goodness : 0.859934 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.31, Z:-0.59 [[ 0.99756058 0.03831352 -0.05835213 6.88782197] [-0.03703021 0.99905132 0.02291766 -0.3118999 ] [ 0.05917483 -0.02070096 0.99803297 -0.59290131] [ 0. 0. 0. 1. ]] SLAMing on 85.00320100799999 meters Centerline goodness : 0.861309 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.31, Z:-0.60 [[ 0.99757851 0.03772942 -0.05842614 6.88923676] [-0.03652049 0.99909894 0.02162329 -0.30921319] [ 0.05918932 -0.01943718 0.99805752 -0.59511288] [ 0. 0. 0. 1. ]] SLAMing on 85.03320100799999 meters Centerline goodness : 0.868212 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.31, Z:-0.60 [[ 0.99758428 0.03741295 -0.05853101 6.89000531] [-0.03624092 0.99912327 0.02095936 -0.30658651] [ 0.05926385 -0.01878751 0.99806554 -0.59580585] [ 0. 0. 0. 1. ]] SLAMing on 85.063201008 meters Centerline goodness : 0.864133 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.30, Z:-0.60 [[ 0.99758265 0.03716119 -0.05871884 6.89064394] [-0.03602701 0.99914547 0.02025771 -0.30330441] [ 0.05942146 -0.01809327 0.998069 -0.59624618] [ 0. 0. 0. 1. ]] SLAMing on 85.093201008 meters Centerline goodness : 0.863306 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.30, Z:-0.60 [[ 0.99758929 0.0370284 -0.05868991 6.890674 ] [-0.03591749 0.99915716 0.01987194 -0.30199898] [ 0.05937627 -0.01771604 0.99807845 -0.59639912] [ 0. 0. 0. 1. ]] SLAMing on 85.123201008 meters Centerline goodness : 0.862540 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.30, Z:-0.60 [[ 0.99772221 0.03369651 -0.05843749 6.88940425] [-0.03287686 0.99934787 0.01493161 -0.29757614] [ 0.05890253 -0.01297635 0.9981794 -0.59785072] [ 0. 0. 0. 1. ]] SLAMing on 85.153201008 meters Centerline goodness : 0.864514 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.29, Z:-0.60 [[ 0.99771875 0.03408399 -0.05827164 6.88831857] [-0.03330848 0.99934383 0.01422877 -0.29401834] [ 0.05871838 -0.01225537 0.99819936 -0.59788791] [ 0. 0. 0. 1. ]] SLAMing on 85.183201008 meters Centerline goodness : 0.861062 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.29, Z:-0.60 [[ 0.99772634 0.03458538 -0.05784471 6.8867992 ] [-0.03382074 0.99932779 0.01414627 -0.29144049] [ 0.05829508 -0.01215776 0.99822536 -0.59730547] [ 0. 0. 0. 1. ]] SLAMing on 85.213201008 meters Centerline goodness : 0.860801 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.29, Z:-0.60 [[ 0.99772647 0.03465407 -0.05780134 6.88646409] [-0.03393063 0.99933367 0.01345108 -0.28909931] [ 0.05822896 -0.01145927 0.99823748 -0.59768796] [ 0. 0. 0. 1. ]] SLAMing on 85.24320100799999 meters Centerline goodness : 0.864390 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.29, Z:-0.60 [[ 0.99772404 0.03468493 -0.05782466 6.88665516] [-0.03399154 0.99933845 0.01293218 -0.28726168] [ 0.05823496 -0.0109372 0.99824299 -0.59815015] [ 0. 0. 0. 1. ]] SLAMing on 85.27320100799999 meters Centerline goodness : 0.864003 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.60 [[ 9.97762032e-01 4.02177174e-02 -5.34178146e-02 6.90329824e+00] [-3.97917495e-02 9.99167331e-01 9.01445589e-03 -2.83564538e-01] [ 5.37358761e-02 -6.86869353e-03 9.98531560e-01 -6.00925100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30320100799999 meters Centerline goodness : 0.864258 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.60 [[ 9.97747491e-01 4.06777495e-02 -5.33410336e-02 6.90284775e+00] [-4.02771567e-02 9.99151844e-01 8.56407009e-03 -2.79611169e-01] [ 5.36441592e-02 -6.39635427e-03 9.98539629e-01 -6.01181715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33320100799999 meters Centerline goodness : 0.864963 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.60 [[ 0.99755915 0.04437223 -0.05391519 6.90466664] [-0.0437374 0.99895979 0.01289858 -0.28008537] [ 0.05443145 -0.01050899 0.99846221 -0.60004791] [ 0. 0. 0. 1. ]] SLAMing on 85.36320100799999 meters Centerline goodness : 0.865176 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.60 [[ 9.97621122e-01 4.75971812e-02 -4.98658788e-02 6.92298135e+00] [-4.72319401e-02 9.98847969e-01 8.47807654e-03 -2.79467979e-01] [ 5.02119643e-02 -6.10264602e-03 9.98719939e-01 -6.01035369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39320100799999 meters Centerline goodness : 0.865532 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.60 [[ 9.97610910e-01 4.76019613e-02 -5.00652157e-02 6.92323184e+00] [-4.72418053e-02 9.98848554e-01 8.35330124e-03 -2.78867541e-01] [ 5.04052019e-02 -5.96817327e-03 9.98711018e-01 -6.00794330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42320100799999 meters Centerline goodness : 0.866811 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.60 [[ 9.97605804e-01 4.76967208e-02 -5.00767761e-02 6.92327199e+00] [-4.73393147e-02 9.98844384e-01 8.29978825e-03 -2.77872033e-01] [ 5.04147793e-02 -5.90931666e-03 9.98710884e-01 -6.00722266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.453201008 meters Centerline goodness : 0.866306 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.28, Z:-0.60 [[ 0.99739407 0.05115968 -0.05086992 6.92570589] [-0.05052086 0.99862813 0.01376622 -0.28066498] [ 0.05150441 -0.01116036 0.99861041 -0.59795231] [ 0. 0. 0. 1. ]] SLAMing on 85.483201008 meters Centerline goodness : 0.871638 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.28, Z:-0.59 [[ 0.99743178 0.05044151 -0.05084781 6.94143967] [-0.0492358 0.99848189 0.02469313 -0.28499331] [ 0.05201617 -0.02212618 0.9984011 -0.59087359] [ 0. 0. 0. 1. ]] SLAMing on 85.513201008 meters Centerline goodness : 0.871336 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.29, Z:-0.59 [[ 0.99742031 0.05025899 -0.0512519 6.94271612] [-0.04902472 0.99848307 0.02506244 -0.28590537] [ 0.05243377 -0.02248518 0.99837123 -0.5904497 ] [ 0. 0. 0. 1. ]] SLAMing on 85.543201008 meters Centerline goodness : 0.872756 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.29, Z:-0.59 [[ 0.9974184 0.04955699 -0.05196767 6.94516933] [-0.04832533 0.9985263 0.02469583 -0.28578366] [ 0.05311494 -0.02212072 0.99834337 -0.59093356] [ 0. 0. 0. 1. ]] SLAMing on 85.573201008 meters Centerline goodness : 0.870877 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.29, Z:-0.59 [[ 0.9974152 0.04894096 -0.05260904 6.94741986] [-0.04772564 0.99856934 0.02411491 -0.28518607] [ 0.05371398 -0.02154178 0.99832398 -0.5917786 ] [ 0. 0. 0. 1. ]] SLAMing on 85.603201008 meters Centerline goodness : 0.872850 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.29, Z:-0.58 [[ 0.99722853 0.05042908 -0.0547007 6.95498192] [-0.04874666 0.99830903 0.03166765 -0.29040794] [ 0.05620517 -0.02891341 0.9980005 -0.58450824] [ 0. 0. 0. 1. ]] SLAMing on 85.63320100799999 meters Centerline goodness : 0.871788 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.29, Z:-0.59 [[ 0.99741902 0.05075826 -0.05078277 6.97070955] [-0.04972838 0.99853471 0.02134289 -0.2890085 ] [ 0.05179168 -0.01876246 0.99848164 -0.5893778 ] [ 0. 0. 0. 1. ]] SLAMing on 85.66320100799999 meters Centerline goodness : 0.871766 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.29, Z:-0.59 [[ 0.99747924 0.0536019 -0.04649734 6.98634446] [-0.0530552 0.99850807 0.01291422 -0.28592702] [ 0.0471202 -0.01041474 0.99883493 -0.59486398] [ 0. 0. 0. 1. ]] SLAMing on 85.69320100799999 meters Centerline goodness : 0.872998 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.28, Z:-0.60 [[ 0.99748098 0.05370651 -0.04633903 6.98667128] [-0.05322341 0.99851528 0.011598 -0.28171921] [ 0.04689311 -0.00910246 0.99885844 -0.59701857] [ 0. 0. 0. 1. ]] SLAMing on 85.72320100799999 meters Centerline goodness : 0.873574 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.28, Z:-0.60 [[ 0.99748528 0.05376074 -0.04618328 6.9873992 ] [-0.05333474 0.99852245 0.01040825 -0.27733215] [ 0.0466746 -0.0079189 0.99887876 -0.59931056] [ 0. 0. 0. 1. ]] SLAMing on 85.75320100799999 meters Centerline goodness : 0.870664 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.28, Z:-0.60 [[ 0.99726816 0.05707653 -0.04688803 6.99051036] [-0.0564855 0.99830755 0.01383591 -0.27551118] [ 0.04759838 -0.01114962 0.99880433 -0.59996243] [ 0. 0. 0. 1. ]] SLAMing on 85.78320100799999 meters Centerline goodness : 0.871384 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.27, Z:-0.60 [[ 0.99727601 0.0565066 -0.04740854 6.99234646] [-0.05593141 0.99834504 0.01337388 -0.27470208] [ 0.0480858 -0.01068582 0.99878605 -0.60041789] [ 0. 0. 0. 1. ]] SLAMing on 85.813201008 meters Centerline goodness : 0.873250 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.28, Z:-0.60 [[ 0.99726741 0.05623841 -0.04790565 6.99328285] [-0.05564463 0.99835746 0.01364056 -0.27518056] [ 0.04859408 -0.0109376 0.99875872 -0.59938808] [ 0. 0. 0. 1. ]] SLAMing on 85.843201008 meters Centerline goodness : 0.877141 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.27, Z:-0.60 [[ 9.97581211e-01 5.41370306e-02 -4.35994251e-02 7.00837130e+00] [-5.41213814e-02 9.98533176e-01 1.54011099e-03 -2.74072459e-01] [ 4.36188494e-02 8.23275329e-04 9.99047906e-01 -6.02961097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.873201008 meters Centerline goodness : 0.877881 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.28, Z:-0.60 [[ 9.97573783e-01 5.36342542e-02 -4.43837124e-02 7.01021152e+00] [-5.35887465e-02 9.98560633e-01 2.21536894e-03 -2.76279615e-01] [ 4.44386476e-02 1.68473531e-04 9.99012101e-01 -6.01602022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.903201008 meters Centerline goodness : 0.879619 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.28, Z:-0.60 [[ 9.97562611e-01 5.29623902e-02 -4.54293215e-02 7.01896145e+00] [-5.26228717e-02 9.98577096e-01 8.63804519e-03 -2.80099280e-01] [ 4.58221714e-02 -6.22636956e-03 9.98930208e-01 -5.96211059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.933201008 meters Centerline goodness : 0.882398 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.28, Z:-0.60 [[ 9.97638673e-01 5.11593277e-02 -4.58235831e-02 7.02272952e+00] [-5.08434283e-02 9.98674323e-01 8.03377997e-03 -2.81571023e-01] [ 4.61738386e-02 -5.68498153e-03 9.98917243e-01 -5.98262801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.963201008 meters Centerline goodness : 0.882692 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.28, Z:-0.60 [[ 0.99747349 0.0535305 -0.04670256 7.02704398] [-0.05302263 0.99852064 0.01204747 -0.28346446] [ 0.04727838 -0.00954074 0.99883619 -0.59820799] [ 0. 0. 0. 1. ]] SLAMing on 85.99320100799999 meters Centerline goodness : 0.883924 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.29, Z:-0.60 [[ 0.99727245 0.05647073 -0.04752603 7.03016831] [-0.05572266 0.99830288 0.01692154 -0.28662089] [ 0.04840094 -0.01422711 0.99872666 -0.59653098] [ 0. 0. 0. 1. ]] SLAMing on 86.02320100799999 meters Centerline goodness : 0.883597 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.29, Z:-0.59 [[ 0.99725942 0.05635917 -0.0479301 7.03073922] [-0.05556569 0.9982976 0.01773031 -0.28801164] [ 0.04884777 -0.01501845 0.99869332 -0.59473923] [ 0. 0. 0. 1. ]] SLAMing on 86.05320100799999 meters Centerline goodness : 0.886016 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.29, Z:-0.59 [[ 0.99725388 0.05588535 -0.0485956 7.03222649] [-0.0550327 0.99830922 0.0187113 -0.2900785 ] [ 0.04955912 -0.01598556 0.99864326 -0.59269433] [ 0. 0. 0. 1. ]] SLAMing on 86.08320100799999 meters Centerline goodness : 0.888324 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.29, Z:-0.59 [[ 0.99748824 0.05077982 -0.04938237 7.03465597] [-0.05013087 0.99864038 0.01429295 -0.29115814] [ 0.05004102 -0.01178147 0.99867767 -0.59361546] [ 0. 0. 0. 1. ]] SLAMing on 86.11320100799999 meters Centerline goodness : 0.890802 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.29, Z:-0.59 [[ 0.99748963 0.04982132 -0.0503218 7.03774823] [-0.04913613 0.99868297 0.01476334 -0.29310725] [ 0.05099105 -0.01225366 0.99862393 -0.59296293] [ 0. 0. 0. 1. ]] SLAMing on 86.14320100799999 meters Centerline goodness : 0.889817 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.29, Z:-0.60 [[ 0.99769937 0.04530363 -0.05043352 7.03870769] [-0.04486917 0.99894564 0.00971422 -0.29104129] [ 0.05082044 -0.00742896 0.99868018 -0.59505326] [ 0. 0. 0. 1. ]] SLAMing on 86.17320100799999 meters Centerline goodness : 0.889638 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-0.59 [[ 0.99795805 0.04053188 -0.04936492 7.06023187] [-0.03954226 0.9990001 0.02086162 -0.29619126] [ 0.05016112 -0.01886702 0.99856292 -0.58742983] [ 0. 0. 0. 1. ]] SLAMing on 86.203201008 meters Centerline goodness : 0.888000 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-0.59 [[ 0.99795293 0.03928703 -0.05046272 7.06402219] [-0.03826448 0.99904544 0.02107245 -0.29737024] [ 0.05124243 -0.01909838 0.99850361 -0.58701686] [ 0. 0. 0. 1. ]] SLAMing on 86.233201008 meters Centerline goodness : 0.888192 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.30, Z:-0.58 [[ 0.9979847 0.03709004 -0.05148651 7.06985859] [-0.03596938 0.99909901 0.02252491 -0.29726129] [ 0.05227557 -0.02062757 0.99841964 -0.58445569] [ 0. 0. 0. 1. ]] SLAMing on 86.263201008 meters Centerline goodness : 0.892534 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.30, Z:-0.58 [[ 0.99799362 0.03598165 -0.0520965 7.07211516] [-0.03478669 0.99911452 0.02366573 -0.2994243 ] [ 0.0529019 -0.02180598 0.9983616 -0.58216546] [ 0. 0. 0. 1. ]] SLAMing on 86.293201008 meters Centerline goodness : 0.892858 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.30, Z:-0.58 [[ 0.99786431 0.03801372 -0.05312041 7.07670078] [-0.03640626 0.99885899 0.03090794 -0.30294645] [ 0.05423472 -0.02890801 0.99810967 -0.57545269] [ 0. 0. 0. 1. ]] SLAMing on 86.323201008 meters Centerline goodness : 0.893402 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.30, Z:-0.58 [[ 0.99799803 0.03474975 -0.05284313 7.07513483] [-0.03338891 0.99909314 0.0264211 -0.29962242] [ 0.05371334 -0.02460383 0.99825324 -0.57613466] [ 0. 0. 0. 1. ]] SLAMing on 86.353201008 meters Centerline goodness : 0.892839 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.30, Z:-0.58 [[ 0.99799638 0.03462021 -0.05295915 7.07545412] [-0.03326883 0.99910324 0.02618977 -0.29889324] [ 0.05381835 -0.02437541 0.99825319 -0.57612488] [ 0. 0. 0. 1. ]] SLAMing on 86.38320100799999 meters Centerline goodness : 0.895216 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.29, Z:-0.58 [[ 0.99810739 0.03155205 -0.05278349 7.07409676] [-0.03047756 0.999314 0.02103927 -0.29478468] [ 0.05341112 -0.01939074 0.99838432 -0.57811599] [ 0. 0. 0. 1. ]] SLAMing on 86.41320100799999 meters Centerline goodness : 0.894315 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.29, Z:-0.58 [[ 0.99810717 0.03222657 -0.05237868 7.07212429] [-0.03117819 0.99929924 0.02071105 -0.29230953] [ 0.05300942 -0.01903877 0.9984125 -0.57757091] [ 0. 0. 0. 1. ]] SLAMing on 86.44320100799999 meters Centerline goodness : 0.893034 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.29, Z:-0.58 [[ 0.99811586 0.03227432 -0.05218334 7.07208218] [-0.03126525 0.99931022 0.02003923 -0.29047873] [ 0.05279409 -0.01836994 0.99843644 -0.57868918] [ 0. 0. 0. 1. ]] SLAMing on 86.47320100799999 meters Centerline goodness : 0.893993 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.29, Z:-0.58 [[ 0.99812385 0.03260325 -0.05182473 7.07174581] [-0.03166311 0.99932065 0.01885979 -0.28672876] [ 0.05240441 -0.01718347 0.99847809 -0.58078805] [ 0. 0. 0. 1. ]] SLAMing on 86.50320100799999 meters Centerline goodness : 0.891120 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.99797472 0.0356149 -0.052707 7.07507376] [-0.0344028 0.99912632 0.02372862 -0.28784987] [ 0.05350605 -0.0218673 0.99832806 -0.5785013 ] [ 0. 0. 0. 1. ]] SLAMing on 86.53320100799999 meters Centerline goodness : 0.890012 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.9979715 0.0356887 -0.05271812 7.0754262 ] [-0.03448698 0.99912807 0.02353192 -0.2870499 ] [ 0.05351198 -0.0216661 0.99833213 -0.57884641] [ 0. 0. 0. 1. ]] SLAMing on 86.563201008 meters Centerline goodness : 0.889352 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.99797156 0.03526834 -0.05299912 7.07695176] [-0.03411811 0.99916555 0.02245326 -0.28557916] [ 0.05374679 -0.02059949 0.9983421 -0.58061806] [ 0. 0. 0. 1. ]] SLAMing on 86.593201008 meters Centerline goodness : 0.886712 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.99782826 0.03819131 -0.05366744 7.08022095] [-0.03682509 0.99897769 0.02621998 -0.28573361] [ 0.05461396 -0.02418673 0.99821457 -0.58065927] [ 0. 0. 0. 1. ]] SLAMing on 86.623201008 meters Centerline goodness : 0.887523 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.28, Z:-0.58 [[ 0.99781617 0.03808467 -0.05396703 7.08100691] [-0.03673543 0.99899253 0.02577678 -0.28429196] [ 0.05489436 -0.02373799 0.99820996 -0.5809303 ] [ 0. 0. 0. 1. ]] SLAMing on 86.653201008 meters Centerline goodness : 0.889470 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.99763033 0.04184379 -0.05461523 7.08289964] [-0.04018798 0.99870889 0.0310723 -0.28595875] [ 0.0558449 -0.0288038 0.99802389 -0.57804513] [ 0. 0. 0. 1. ]] SLAMing on 86.683201008 meters Centerline goodness : 0.889470 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.29, Z:-0.58 [[ 0.9976348 0.04192285 -0.05447274 7.08263132] [-0.04028332 0.99871176 0.03085584 -0.2855055 ] [ 0.05569613 -0.02858852 0.99803839 -0.57830445] [ 0. 0. 0. 1. ]] SLAMing on 86.713201008 meters Centerline goodness : 0.888578 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.28, Z:-0.58 [[ 0.99762822 0.04215697 -0.05441252 7.08257333] [-0.04053489 0.99871012 0.03057821 -0.28391064] [ 0.05563142 -0.02830008 0.99805022 -0.57850299] [ 0. 0. 0. 1. ]] SLAMing on 86.74320100799999 meters Centerline goodness : 0.888946 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.28, Z:-0.59 [[ 0.99776046 0.04338032 -0.05091378 7.09787389] [-0.04247346 0.99892144 0.01876089 -0.2798522 ] [ 0.05167272 -0.01655639 0.99852682 -0.5862056 ] [ 0. 0. 0. 1. ]] SLAMing on 86.77320100799999 meters Centerline goodness : 0.891381 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.28, Z:-0.58 [[ 0.99758088 0.04671814 -0.05147615 7.10035287] [-0.04555599 0.99868478 0.02352357 -0.28166902] [ 0.05250742 -0.02112162 0.99839714 -0.58475347] [ 0. 0. 0. 1. ]] SLAMing on 86.80320100799999 meters Centerline goodness : 0.890880 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.28, Z:-0.58 [[ 0.9973777 0.05042742 -0.05191143 7.10195554] [-0.04899875 0.99839396 0.02843623 -0.28363806] [ 0.05326202 -0.02581807 0.99824676 -0.58292583] [ 0. 0. 0. 1. ]] SLAMing on 86.83320100799999 meters Centerline goodness : 0.891872 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.28, Z:-0.59 [[ 0.99749585 0.05344437 -0.04632208 7.11395024] [-0.05258581 0.99842483 0.01955998 -0.28137957] [ 0.04729449 -0.01707512 0.99873504 -0.58791172] [ 0. 0. 0. 1. ]] SLAMing on 86.86320100799999 meters Centerline goodness : 0.894579 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.28, Z:-0.58 [[ 0.99726029 0.05739214 -0.04666967 7.11512321] [-0.05623349 0.99808495 0.02577269 -0.28447046] [ 0.04805944 -0.02307768 0.99857784 -0.58381308] [ 0. 0. 0. 1. ]] SLAMing on 86.89320100799999 meters Centerline goodness : 0.893583 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.28, Z:-0.58 [[ 0.99725576 0.0575766 -0.04653908 7.114881 ] [-0.05642785 0.99807759 0.02563256 -0.28418166] [ 0.04792545 -0.02293612 0.99858755 -0.58405988] [ 0. 0. 0. 1. ]] SLAMing on 86.92320100799999 meters Centerline goodness : 0.894975 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.28, Z:-0.59 [[ 0.99742012 0.05854738 -0.04153685 7.12833639] [-0.05796869 0.99820566 0.01500321 -0.28249558] [ 0.04234072 -0.01255666 0.99902432 -0.58979989] [ 0. 0. 0. 1. ]] SLAMing on 86.953201008 meters Centerline goodness : 0.895059 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.28, Z:-0.59 [[ 0.99762012 0.05531117 -0.04116766 7.12701978] [-0.05493992 0.99843862 0.01009629 -0.27994952] [ 0.04166182 -0.00781052 0.99910124 -0.59183515] [ 0. 0. 0. 1. ]] SLAMing on 86.983201008 meters Centerline goodness : 0.893643 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.28, Z:-0.59 [[ 0.99762562 0.05490003 -0.04158245 7.12864459] [-0.05451872 0.99846014 0.01024998 -0.28069718] [ 0.04208114 -0.00795862 0.9990825 -0.59185977] [ 0. 0. 0. 1. ]] SLAMing on 87.013201008 meters Centerline goodness : 0.895045 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.28, Z:-0.59 [[ 0.99764043 0.05411623 -0.04224924 7.13151326] [-0.05374707 0.99850624 0.00982595 -0.2813364 ] [ 0.04271787 -0.00753199 0.99905878 -0.59325889] [ 0. 0. 0. 1. ]] SLAMing on 87.043201008 meters Centerline goodness : 0.894653 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.28, Z:-0.60 [[ 9.97674900e-01 5.30452561e-02 -4.27901222e-02 7.13485427e+00] [-5.27119669e-02 9.98570268e-01 8.88077155e-03 -2.81626395e-01] [ 4.32000266e-02 -6.60457136e-03 9.99044612e-01 -5.96000336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.073201008 meters Centerline goodness : 0.893117 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.28, Z:-0.60 [[ 0.99766834 0.05200462 -0.04419737 7.14474044] [-0.05152827 0.99860122 0.01185037 -0.2828075 ] [ 0.04475182 -0.00954532 0.99895253 -0.59706262] [ 0. 0. 0. 1. ]] SLAMing on 87.103201008 meters Centerline goodness : 0.894512 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.29, Z:-0.58 [[ 0.99798279 0.04780242 -0.04177646 7.17343284] [-0.04655514 0.99845498 0.0303361 -0.29027267] [ 0.04316205 -0.02832999 0.99866633 -0.58445179] [ 0. 0. 0. 1. ]] SLAMing on 87.13320100799999 meters Centerline goodness : 0.897809 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.29, Z:-0.59 [[ 0.9981788 0.04310601 -0.04220128 7.17511217] [-0.0420635 0.99879488 0.02528749 -0.28947963] [ 0.04324047 -0.02346631 0.99878906 -0.58651318] [ 0. 0. 0. 1. ]] SLAMing on 87.16320100799999 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.29, Z:-0.58 [[ 0.99826968 0.04105503 -0.04209668 7.1847827 ] [-0.03967293 0.99866242 0.03315772 -0.29368346] [ 0.04340166 -0.03143025 0.99856319 -0.57806006] [ 0. 0. 0. 1. ]] SLAMing on 87.19320100799999 meters Centerline goodness : 0.898753 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.29, Z:-0.58 [[ 0.99844077 0.03715394 -0.04166065 7.1836533 ] [-0.03595632 0.99892851 0.02913729 -0.29280223] [ 0.04269857 -0.0275939 0.99870687 -0.57805576] [ 0. 0. 0. 1. ]] SLAMing on 87.22320100799999 meters Centerline goodness : 0.898971 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.30, Z:-0.57 [[ 0.99848494 0.03553952 -0.0420092 7.18608394] [-0.0342556 0.99893538 0.03089747 -0.29596631] [ 0.04306255 -0.02941161 0.99863936 -0.57459623] [ 0. 0. 0. 1. ]] SLAMing on 87.25320100799999 meters Centerline goodness : 0.900329 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.30, Z:-0.57 [[ 0.99848868 0.03536369 -0.04206855 7.18661239] [-0.03406186 0.99893042 0.03126997 -0.29644335] [ 0.04312937 -0.02978978 0.99862527 -0.57384765] [ 0. 0. 0. 1. ]] SLAMing on 87.28320100799999 meters Centerline goodness : 0.897243 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.30, Z:-0.57 [[ 0.99850325 0.03525942 -0.04180947 7.18661035] [-0.0339935 0.99895312 0.0306123 -0.29535902] [ 0.04284507 -0.02914523 0.99865653 -0.57497413] [ 0. 0. 0. 1. ]] SLAMing on 87.313201008 meters Centerline goodness : 0.901700 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.29, Z:-0.58 [[ 0.9985056 0.0352298 -0.0417784 7.18714923] [-0.03401005 0.99898437 0.02955569 -0.29296436] [ 0.04277721 -0.02809063 0.99868965 -0.57679593] [ 0. 0. 0. 1. ]] SLAMing on 87.343201008 meters Centerline goodness : 0.899537 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.29, Z:-0.58 [[ 0.99846234 0.04062455 -0.0377175 7.20186121] [-0.03981449 0.99896519 0.02198548 -0.28913208] [ 0.03857161 -0.02044997 0.99904656 -0.58381269] [ 0. 0. 0. 1. ]] SLAMing on 87.373201008 meters Centerline goodness : 0.901336 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.29, Z:-0.59 [[ 0.99848538 0.04399847 -0.03303138 7.21571348] [-0.0435671 0.99895701 0.01366776 -0.28623678] [ 0.03359829 -0.01220797 0.99936086 -0.58924638] [ 0. 0. 0. 1. ]] SLAMing on 87.403201008 meters Centerline goodness : 0.900504 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.60 [[ 9.98345668e-01 4.97084099e-02 -2.88963734e-02 7.23001780e+00] [-4.95432934e-02 9.98751454e-01 6.40268380e-03 -2.82715183e-01] [ 2.91785622e-02 -4.96047013e-03 9.99561907e-01 -5.95930333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.433201008 meters Centerline goodness : 0.899537 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.60 [[ 9.98324541e-01 5.00618719e-02 -2.90158642e-02 7.23035099e+00] [-4.99163334e-02 9.98737028e-01 5.71909767e-03 -2.80792811e-01] [ 2.92655267e-02 -4.26115000e-03 9.99562590e-01 -5.97149754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.463201008 meters Centerline goodness : 0.899382 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.60 [[ 0.99811056 0.05390483 -0.02948856 7.23181561] [-0.05361058 0.9985048 0.01068024 -0.28279275] [ 0.03002018 -0.00907916 0.99950806 -0.5953316 ] [ 0. 0. 0. 1. ]] SLAMing on 87.49320100799999 meters Centerline goodness : 0.896505 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.60 [[ 0.99808465 0.05455996 -0.02915895 7.23040111] [-0.05427028 0.99846964 0.01063593 -0.28232907] [ 0.02969462 -0.0090331 0.9995182 -0.59503223] [ 0. 0. 0. 1. ]] SLAMing on 87.52320100799999 meters Centerline goodness : 0.890349 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.59 [[ 0.99789423 0.05768946 -0.02964853 7.23259407] [-0.05724769 0.99823906 0.01553994 -0.28472276] [ 0.03049281 -0.01380991 0.99943958 -0.59317947] [ 0. 0. 0. 1. ]] SLAMing on 87.55320100799999 meters Centerline goodness : 0.889128 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.59 [[ 0.99789745 0.05755311 -0.02980452 7.23321455] [-0.05711628 0.99825019 0.01530669 -0.28391644] [ 0.03063332 -0.01357218 0.99943854 -0.59347934] [ 0. 0. 0. 1. ]] SLAMing on 87.58320100799999 meters Centerline goodness : 0.888889 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.29, Z:-0.59 [[ 0.99770223 0.06071126 -0.03007321 7.2351514 ] [-0.06012767 0.99799142 0.01994462 -0.28599864] [ 0.03122367 -0.01809056 0.99934869 -0.59222471] [ 0. 0. 0. 1. ]] SLAMing on 87.61320100799999 meters Centerline goodness : 0.887873 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.28, Z:-0.59 [[ 0.99790138 0.05746297 -0.0298471 7.23418377] [-0.05703177 0.99825811 0.01510358 -0.28194103] [ 0.03066301 -0.01336965 0.99944036 -0.59404988] [ 0. 0. 0. 1. ]] SLAMing on 87.64320100799999 meters Centerline goodness : 0.887992 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:-0.59 [[ 0.99770648 0.06059807 -0.03016057 7.23634269] [-0.0600062 0.99799445 0.02015777 -0.28468186] [ 0.0313216 -0.01830172 0.99934179 -0.59215316] [ 0. 0. 0. 1. ]] SLAMing on 87.67320100799999 meters Centerline goodness : 0.885622 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:-0.59 [[ 0.9977189 0.06026488 -0.03041599 7.2374547 ] [-0.05968248 0.99802287 0.01970648 -0.28443787] [ 0.03154346 -0.01784623 0.99934305 -0.59301194] [ 0. 0. 0. 1. ]] SLAMing on 87.703201008 meters Centerline goodness : 0.883923 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:-0.60 [[ 0.99794433 0.05628756 -0.03064034 7.23825858] [-0.05587187 0.99833613 0.01425854 -0.28128545] [ 0.03139194 -0.0125173 0.99942877 -0.59597286] [ 0. 0. 0. 1. ]] SLAMing on 87.733201008 meters Centerline goodness : 0.881810 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:-0.60 [[ 0.99797882 0.05521043 -0.0314656 7.24144762] [-0.05480903 0.99840586 0.01348022 -0.2815965 ] [ 0.03215969 -0.01172837 0.99941393 -0.59756145] [ 0. 0. 0. 1. ]] SLAMing on 87.763201008 meters Centerline goodness : 0.884790 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:-0.60 [[ 0.99800221 0.05426794 -0.03235079 7.24460048] [-0.05385512 0.99845751 0.01349901 -0.28423319] [ 0.03303345 -0.01172978 0.99938541 -0.59808449] [ 0. 0. 0. 1. ]] SLAMing on 87.793201008 meters Centerline goodness : 0.882044 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.28, Z:-0.60 [[ 0.99802113 0.05349854 -0.03304136 7.24751769] [-0.05310685 0.99850907 0.01262104 -0.28392086] [ 0.0336673 -0.01084134 0.99937429 -0.60012389] [ 0. 0. 0. 1. ]] SLAMing on 87.823201008 meters Centerline goodness : 0.880562 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.28, Z:-0.60 [[ 0.9980432 0.05279618 -0.03350119 7.25022263] [-0.0524392 0.99855851 0.0114468 -0.28288367] [ 0.03405724 -0.00966763 0.99937312 -0.60297117] [ 0. 0. 0. 1. ]] SLAMing on 87.853201008 meters Centerline goodness : 0.879633 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.28, Z:-0.61 [[ 0.99806822 0.05177507 -0.03433902 7.25416313] [-0.05146214 0.99862552 0.00993578 -0.28161846] [ 0.03480624 -0.00814942 0.99936085 -0.60645633] [ 0. 0. 0. 1. ]] SLAMing on 87.88320100799999 meters Centerline goodness : 0.880884 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99807629 0.05133984 -0.03475537 7.25587949] [-0.05103132 0.99864988 0.00970707 -0.2817893 ] [ 0.03520681 -0.00791478 0.99934871 -0.60721196] [ 0. 0. 0. 1. ]] SLAMing on 87.91320100799999 meters Centerline goodness : 0.879199 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99808394 0.0509234 -0.03514616 7.25726417] [-0.05062049 0.9986732 0.0094559 -0.28170527] [ 0.03558105 -0.00765867 0.99933745 -0.60764109] [ 0. 0. 0. 1. ]] SLAMing on 87.94320100799999 meters Centerline goodness : 0.880613 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99809187 0.05048394 -0.0355526 7.25870287] [-0.05018636 0.99869737 0.00921377 -0.28172845] [ 0.03597144 -0.00741194 0.99932533 -0.60807998] [ 0. 0. 0. 1. ]] SLAMing on 87.97320100799999 meters Centerline goodness : 0.881966 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99789668 0.05371984 -0.03628217 7.26129517] [-0.05323387 0.99848067 0.01423064 -0.28403138] [ 0.03699151 -0.01226927 0.99924026 -0.6059699 ] [ 0. 0. 0. 1. ]] SLAMing on 88.00320100799999 meters Centerline goodness : 0.880433 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.9978896 0.05373163 -0.03645891 7.26146318] [-0.05325811 0.9984849 0.01383784 -0.28259868] [ 0.0371472 -0.0118669 0.99923934 -0.60598298] [ 0. 0. 0. 1. ]] SLAMing on 88.03320100799999 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99787833 0.05385408 -0.03658649 7.26141701] [-0.05338939 0.99848166 0.01356238 -0.28147839] [ 0.03726133 -0.01158028 0.99923846 -0.60580097] [ 0. 0. 0. 1. ]] SLAMing on 88.063201008 meters Centerline goodness : 0.882652 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.28, Z:-0.61 [[ 0.99786489 0.05400964 -0.03672357 7.26117508] [-0.05355327 0.99847642 0.01329984 -0.28034041] [ 0.03738594 -0.01130478 0.99923696 -0.60541479] [ 0. 0. 0. 1. ]] SLAMing on 88.093201008 meters Centerline goodness : 0.881393 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.28, Z:-0.61 [[ 9.97824856e-01 5.73600530e-02 -3.24866364e-02 7.27628830e+00] [-5.72311313e-02 9.98349003e-01 4.88528115e-03 -2.76070761e-01] [ 3.27132211e-02 -3.01540800e-03 9.99460231e-01 -6.10886438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.123201008 meters Centerline goodness : 0.882238 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.27, Z:-0.61 [[ 9.97815791e-01 5.75839469e-02 -3.23687544e-02 7.27611209e+00] [-5.74840258e-02 9.98338373e-01 4.00989029e-03 -2.73287234e-01] [ 3.25458749e-02 -2.14044554e-03 9.99467951e-01 -6.11952333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.153201008 meters Centerline goodness : 0.880902 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.27, Z:-0.61 [[ 9.97583032e-01 6.12461847e-02 -3.28176657e-02 7.27789702e+00] [-6.10070385e-02 9.98103319e-01 8.24049427e-03 -2.73279369e-01] [ 3.32601198e-02 -6.21846867e-03 9.99427384e-01 -6.11141585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.183201008 meters Centerline goodness : 0.877787 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.27, Z:-0.61 [[ 9.97581845e-01 6.12430749e-02 -3.28595242e-02 7.27903726e+00] [-6.10468533e-02 9.98110755e-01 6.94286066e-03 -2.66969492e-01] [ 3.32226466e-02 -4.92010120e-03 9.99435865e-01 -6.13232257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.213201008 meters Centerline goodness : 0.875560 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97600490e-01 6.07921821e-02 -3.31296522e-02 7.28064680e+00] [-6.06331139e-02 9.98143350e-01 5.78600289e-03 -2.63902094e-01] [ 3.34198858e-02 -3.76336534e-03 9.99434314e-01 -6.15023529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24320100799999 meters Centerline goodness : 0.877041 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97615902e-01 6.01606080e-02 -3.38114525e-02 7.28299753e+00] [-6.00379454e-02 9.98185346e-01 4.63240412e-03 -2.61734358e-01] [ 3.40287847e-02 -2.59138987e-03 9.99417494e-01 -6.16623252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27320100799999 meters Centerline goodness : 0.875816 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97614905e-01 5.98320758e-02 -3.44183728e-02 7.28497925e+00] [-5.97526392e-02 9.98207651e-01 3.33288260e-03 -2.59344264e-01] [ 3.45560963e-02 -1.26834475e-03 9.99401955e-01 -6.18480842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30320100799999 meters Centerline goodness : 0.878212 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.26, Z:-0.62 [[ 9.97605608e-01 5.99651045e-02 -3.44563028e-02 7.28516082e+00] [-5.99014908e-02 9.98200149e-01 2.87648452e-03 -2.58074617e-01] [ 3.45667753e-02 -8.05613179e-04 9.99402066e-01 -6.19135530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33320100799999 meters Centerline goodness : 0.876755 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.26, Z:-0.62 [[ 9.97593896e-01 6.01140534e-02 -3.45357703e-02 7.28526559e+00] [-6.00560440e-02 9.98191313e-01 2.71553349e-03 -2.57163661e-01] [ 3.46365476e-02 -6.34917893e-04 9.99399773e-01 -6.19206082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36320100799999 meters Centerline goodness : 0.877357 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97570460e-01 6.05790876e-02 -3.43998862e-02 7.28445699e+00] [-6.05134203e-02 9.98163031e-01 2.94783223e-03 -2.56787657e-01] [ 3.45152716e-02 -8.59015580e-04 9.99403801e-01 -6.18610570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39320100799999 meters Centerline goodness : 0.878510 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97561913e-01 6.07621746e-02 -3.43247335e-02 7.28428418e+00] [-6.06982974e-02 9.98151943e-01 2.90090994e-03 -2.56098889e-01] [ 3.44375651e-02 -8.10384384e-04 9.99406523e-01 -6.18662724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42320100799999 meters Centerline goodness : 0.874560 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97540855e-01 6.12817394e-02 -3.40116290e-02 7.28354799e+00] [-6.12115887e-02 9.98119995e-01 3.10096761e-03 -2.56767552e-01] [ 3.41377197e-02 -1.01143604e-03 9.99416626e-01 -6.18923406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.453201008 meters Centerline goodness : 0.874480 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97532095e-01 6.12902476e-02 -3.42523627e-02 7.28410785e+00] [-6.12113783e-02 9.98119212e-01 3.34748111e-03 -2.58007543e-01] [ 3.43931092e-02 -1.24258551e-03 9.99407610e-01 -6.18782939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.483201008 meters Centerline goodness : 0.874638 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97714195e-01 5.83380916e-02 -3.41035446e-02 7.28253412e+00] [-5.83919770e-02 9.98293561e-01 -5.85366516e-04 -2.56819764e-01] [ 3.40111998e-02 2.57540187e-03 9.99418134e-01 -6.19132094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.513201008 meters Centerline goodness : 0.874884 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97698550e-01 5.84885747e-02 -3.43029254e-02 7.28272208e+00] [-5.85227273e-02 9.98286076e-01 8.44281354e-06 -2.58899716e-01] [ 3.42446267e-02 1.99907737e-03 9.99411481e-01 -6.18473623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.543201008 meters Centerline goodness : 0.877341 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97899200e-01 5.49890705e-02 -3.42547641e-02 7.28226573e+00] [-5.51584531e-02 9.98469526e-01 -4.01886018e-03 -2.59681169e-01] [ 3.39813447e-02 5.89985716e-03 9.99405053e-01 -6.19663902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.573201008 meters Centerline goodness : 0.877341 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97899200e-01 5.49890705e-02 -3.42547641e-02 7.28226573e+00] [-5.51584531e-02 9.98469526e-01 -4.01886018e-03 -2.59681169e-01] [ 3.39813447e-02 5.89985716e-03 9.99405053e-01 -6.19663902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.603201008 meters Centerline goodness : 0.873776 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.26, Z:-0.62 [[ 9.97909233e-01 5.43896530e-02 -3.49131478e-02 7.28477901e+00] [-5.45638520e-02 9.98502047e-01 -4.05554514e-03 -2.61051362e-01] [ 3.46402698e-02 5.95206177e-03 9.99382121e-01 -6.20596553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63320100799999 meters Centerline goodness : 0.877137 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.26, Z:-0.62 [[ 9.97920578e-01 5.38032053e-02 -3.54927381e-02 7.28711671e+00] [-5.39851136e-02 9.98532965e-01 -4.18625679e-03 -2.62225365e-01] [ 3.52154350e-02 6.09363130e-03 9.99361166e-01 -6.21657620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66320100799999 meters Centerline goodness : 0.878565 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.26, Z:-0.62 [[ 9.97950967e-01 5.26176521e-02 -3.64039913e-02 7.29083718e+00] [-5.28119892e-02 9.98594794e-01 -4.39683014e-03 -2.64279632e-01] [ 3.61214853e-02 6.31038808e-03 9.99327483e-01 -6.23099704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69320100799999 meters Centerline goodness : 0.878015 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.27, Z:-0.62 [[ 9.98016549e-01 5.00618312e-02 -3.81678066e-02 7.29794305e+00] [-5.02784470e-02 9.98724009e-01 -4.73617225e-03 -2.66820861e-01] [ 3.78820034e-02 6.64579632e-03 9.99260120e-01 -6.24568345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72320100799999 meters Centerline goodness : 0.877894 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.27, Z:-0.63 [[ 9.98016055e-01 4.99063759e-02 -3.83836824e-02 7.29890342e+00] [-5.01296545e-02 9.98730815e-01 -4.87614980e-03 -2.66823761e-01] [ 3.80916154e-02 6.79063653e-03 9.99251178e-01 -6.25182060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75320100799999 meters Centerline goodness : 0.876568 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.27, Z:-0.63 [[ 9.98008214e-01 4.98251787e-02 -3.86918070e-02 7.29966212e+00] [-5.00496955e-02 9.98734927e-01 -4.85531815e-03 -2.66472162e-01] [ 3.84009419e-02 6.78216056e-03 9.99239396e-01 -6.25076525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78320100799999 meters Centerline goodness : 0.875583 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.27, Z:-0.62 [[ 9.98078803e-01 4.74706775e-02 -3.98150445e-02 7.30393234e+00] [-4.76069628e-02 9.98863064e-01 -2.48132582e-03 -2.70704848e-01] [ 3.96519871e-02 4.37203205e-03 9.99203986e-01 -6.20283455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.813201008 meters Centerline goodness : 0.870688 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98081794e-01 4.68910846e-02 -4.04222519e-02 7.30531914e+00] [-4.69966669e-02 9.98893658e-01 -1.66518842e-03 -2.72721235e-01] [ 4.02994486e-02 3.56170535e-03 9.99181299e-01 -6.18640336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.843201008 meters Centerline goodness : 0.869668 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98087986e-01 4.65479983e-02 -4.06651624e-02 7.30603215e+00] [-4.66377523e-02 9.98911072e-01 -1.26076800e-03 -2.73913347e-01] [ 4.05621948e-02 3.15488917e-03 9.99172035e-01 -6.17949909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.873201008 meters Centerline goodness : 0.866648 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98099277e-01 4.55155471e-02 -4.15471814e-02 7.30876721e+00] [-4.56097206e-02 9.98958462e-01 -1.32110403e-03 -2.74056938e-01] [ 4.14437776e-02 3.21354831e-03 9.99135670e-01 -6.17644311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.903201008 meters Centerline goodness : 0.865510 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98094482e-01 4.55242231e-02 -4.16527360e-02 7.30889960e+00] [-4.56129918e-02 9.98958486e-01 -1.18278987e-03 -2.74437462e-01] [ 4.15555085e-02 3.08044195e-03 9.99131448e-01 -6.17328307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.933201008 meters Centerline goodness : 0.868591 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98076165e-01 4.61104555e-02 -4.14462946e-02 7.30823880e+00] [-4.62050388e-02 9.98931096e-01 -1.32653641e-03 -2.73129550e-01] [ 4.13408253e-02 3.23901203e-03 9.99139853e-01 -6.17722318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.963201008 meters Centerline goodness : 0.867156 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98075356e-01 4.60629872e-02 -4.15184839e-02 7.30917336e+00] [-4.61923927e-02 9.98930221e-01 -2.16238220e-03 -2.70997780e-01] [ 4.13744625e-02 4.07605850e-03 9.99135396e-01 -6.19439677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99320100799999 meters Centerline goodness : 0.867261 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98082119e-01 4.57861836e-02 -4.16618453e-02 7.31074318e+00] [-4.59565221e-02 9.98938507e-01 -3.13958738e-03 -2.69033968e-01] [ 4.14738718e-02 5.04819954e-03 9.99126836e-01 -6.21683082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02320100799999 meters Centerline goodness : 0.868234 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98078146e-01 4.50539737e-02 -4.25459057e-02 7.31421160e+00] [-4.52719577e-02 9.98965981e-01 -4.17348234e-03 -2.67851836e-01] [ 4.23138804e-02 6.09159796e-03 9.99085796e-01 -6.24096132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05320100799999 meters Centerline goodness : 0.868234 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.27, Z:-0.62 [[ 9.98078146e-01 4.50539737e-02 -4.25459057e-02 7.31421160e+00] [-4.52719577e-02 9.98965981e-01 -4.17348234e-03 -2.67851836e-01] [ 4.23138804e-02 6.09159796e-03 9.99085796e-01 -6.24096132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08320100799999 meters Centerline goodness : 0.868818 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.63 [[ 9.98085946e-01 4.42613049e-02 -4.31900602e-02 7.31735453e+00] [-4.45265959e-02 9.98994669e-01 -5.19939121e-03 -2.67390542e-01] [ 4.29165081e-02 7.11254566e-03 9.99053344e-01 -6.26741139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11320100799999 meters Centerline goodness : 0.868510 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.63 [[ 9.98081510e-01 4.40787987e-02 -4.34782641e-02 7.31818695e+00] [-4.43431697e-02 9.99003163e-01 -5.13448297e-03 -2.67887081e-01] [ 4.32086015e-02 7.05259655e-03 9.99041179e-01 -6.26705963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14320100799999 meters Centerline goodness : 0.868841 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.62 [[ 9.97917387e-01 4.62948943e-02 -4.49185011e-02 7.32311045e+00] [-4.62676684e-02 9.98927722e-01 1.64614941e-03 -2.72358282e-01] [ 4.49465443e-02 4.35553202e-04 9.98989298e-01 -6.21209040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17320100799999 meters Centerline goodness : 0.865777 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.62 [[ 9.97901773e-01 4.64556861e-02 -4.50990144e-02 7.32258030e+00] [-4.63724320e-02 9.98920037e-01 2.89105180e-03 -2.74077878e-01] [ 4.51846149e-02 -7.93634738e-04 9.98978338e-01 -6.18463479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.203201008 meters Centerline goodness : 0.864374 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.62 [[ 9.97902003e-01 4.60416625e-02 -4.55165707e-02 7.32384491e+00] [-4.59594333e-02 9.98939236e-01 2.85198519e-03 -2.73732971e-01] [ 4.55995985e-02 -7.54085934e-04 9.98959513e-01 -6.18292437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.233201008 meters Centerline goodness : 0.862910 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.27, Z:-0.62 [[ 9.97905152e-01 4.57484058e-02 -4.57426560e-02 7.32480121e+00] [-4.56783182e-02 9.98952877e-01 2.57686387e-03 -2.73360101e-01] [ 4.58126453e-02 -4.82018139e-04 9.98949933e-01 -6.18823546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.263201008 meters Centerline goodness : 0.862905 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97907854e-01 4.53402074e-02 -4.60888331e-02 7.32625140e+00] [-4.52814478e-02 9.98971578e-01 2.31869833e-03 -2.72784087e-01] [ 4.61465646e-02 -2.26878185e-04 9.98934654e-01 -6.19392489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.293201008 meters Centerline goodness : 0.857821 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97906864e-01 4.53590887e-02 -4.60916987e-02 7.32644651e+00] [-4.53041304e-02 9.98970736e-01 2.23683673e-03 -2.72493334e-01] [ 4.61457190e-02 -1.44010402e-04 9.98934709e-01 -6.19720299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.323201008 meters Centerline goodness : 0.859470 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97898463e-01 4.53415233e-02 -4.62904265e-02 7.32645476e+00] [-4.52666527e-02 9.98971385e-01 2.66493850e-03 -2.72686039e-01] [ 4.63636439e-02 -5.63925370e-04 9.98924469e-01 -6.18420424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.353201008 meters Centerline goodness : 0.858909 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97892196e-01 4.53171374e-02 -4.64491457e-02 7.32666203e+00] [-4.52329694e-02 9.98972365e-01 2.86207186e-03 -2.73246829e-01] [ 4.65311138e-02 -7.55006391e-04 9.98916556e-01 -6.17967968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38320100799999 meters Centerline goodness : 0.857643 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97893634e-01 4.48627648e-02 -4.68575224e-02 7.32808085e+00] [-4.47799258e-02 9.98992905e-01 2.81664146e-03 -2.73849616e-01] [ 4.69366948e-02 -7.12432206e-04 9.98897612e-01 -6.18083661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41320100799999 meters Centerline goodness : 0.851646 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97892725e-01 4.44265901e-02 -4.72904525e-02 7.32950437e+00] [-4.43401758e-02 9.99012353e-01 2.87528193e-03 -2.74246789e-01] [ 4.73714852e-02 -7.72355939e-04 9.98877042e-01 -6.17988030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44320100799999 meters Centerline goodness : 0.852604 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97889177e-01 4.39237443e-02 -4.78319393e-02 7.33123717e+00] [-4.38415636e-02 9.99034666e-01 2.76638037e-03 -2.74439880e-01] [ 4.79072753e-02 -6.63514022e-04 9.98851567e-01 -6.18099012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47320100799999 meters Centerline goodness : 0.851639 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.27, Z:-0.62 [[ 9.97886165e-01 4.37438285e-02 -4.80591210e-02 7.33216182e+00] [-4.36727573e-02 9.99042691e-01 2.52838207e-03 -2.74318376e-01] [ 4.81237147e-02 -4.24163153e-04 9.98841293e-01 -6.18688568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50320100799999 meters Centerline goodness : 0.854630 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97899553e-01 4.27844336e-02 -4.86412831e-02 7.33524924e+00] [-4.27666241e-02 9.99084098e-01 1.40728680e-03 -2.73161883e-01] [ 4.86569425e-02 6.75892596e-04 9.98815321e-01 -6.21163488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53320100799999 meters Centerline goodness : 0.851492 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97900120e-01 4.24188654e-02 -4.89488608e-02 7.33672272e+00] [-4.24181316e-02 9.99099390e-01 1.05424201e-03 -2.72846553e-01] [ 4.89494967e-02 1.02429099e-03 9.98800730e-01 -6.22110456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.563201008 meters Centerline goodness : 0.851758 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97898680e-01 4.18001255e-02 -4.95073033e-02 7.33890174e+00] [-4.18177597e-02 9.99125024e-01 6.79984641e-04 -2.72726793e-01] [ 4.94924090e-02 1.39172873e-03 9.98773530e-01 -6.22940319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.593201008 meters Centerline goodness : 0.852716 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97891692e-01 4.15052417e-02 -4.98947434e-02 7.34018177e+00] [-4.15173998e-02 9.99137466e-01 7.93142641e-04 -2.73299858e-01] [ 4.98846271e-02 1.28002956e-03 9.98754167e-01 -6.23030039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.623201008 meters Centerline goodness : 0.855594 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97890669e-01 4.11232722e-02 -5.02303655e-02 7.34149442e+00] [-4.11363867e-02 9.99153241e-01 7.73124673e-04 -2.73376174e-01] [ 5.02196259e-02 1.29480184e-03 9.98737359e-01 -6.23193791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.653201008 meters Centerline goodness : 0.856776 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97879076e-01 4.08629773e-02 -5.06711662e-02 7.34285388e+00] [-4.08732808e-02 9.99163991e-01 8.33289566e-04 -2.74069902e-01] [ 5.06628553e-02 1.23957458e-03 9.98715044e-01 -6.23337184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.683201008 meters Centerline goodness : 0.853386 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:-0.62 [[ 9.97877447e-01 4.03358447e-02 -5.11235886e-02 7.34465991e+00] [-4.03539695e-02 9.99185217e-01 6.78038601e-04 -2.74684558e-01] [ 5.11092833e-02 1.38644031e-03 9.98692104e-01 -6.23899883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.713201008 meters Centerline goodness : 0.852117 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.28, Z:-0.62 [[ 9.97867282e-01 3.99014900e-02 -5.16600312e-02 7.34620920e+00] [-3.99083933e-02 9.99202939e-01 8.98297224e-04 -2.75482359e-01] [ 5.16546984e-02 1.16528743e-03 9.98664325e-01 -6.23511976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74320100799999 meters Centerline goodness : 0.851656 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.28, Z:-0.62 [[ 9.97859566e-01 4.00172796e-02 -5.17194809e-02 7.34610566e+00] [-4.00032603e-02 9.99198695e-01 1.30661854e-03 -2.76060039e-01] [ 5.17303251e-02 7.65126051e-04 9.98660797e-01 -6.22808759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77320100799999 meters Centerline goodness : 0.852869 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.28, Z:-0.62 [[ 9.97855411e-01 4.02193131e-02 -5.16428612e-02 7.34556707e+00] [-4.01911796e-02 9.99190753e-01 1.58356313e-03 -2.76206210e-01] [ 5.16647592e-02 4.95420474e-04 9.98664362e-01 -6.22191061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80320100799999 meters Centerline goodness : 0.850884 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97860792e-01 4.01834873e-02 -5.15667268e-02 7.34584284e+00] [-4.01807666e-02 9.99191833e-01 1.08986397e-03 -2.73970215e-01] [ 5.15688468e-02 9.84458092e-04 9.98668957e-01 -6.22972478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83320100799999 meters Centerline goodness : 0.851718 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97852132e-01 4.01278224e-02 -5.17772263e-02 7.34640332e+00] [-4.01464715e-02 9.99193574e-01 6.80222366e-04 -2.72436673e-01] [ 5.17627677e-02 1.39991161e-03 9.98658428e-01 -6.23335188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86320100799999 meters Centerline goodness : 0.855001 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97849590e-01 4.01341292e-02 -5.18213003e-02 7.34673218e+00] [-4.01815357e-02 9.99192388e-01 1.27117375e-04 -2.70814042e-01] [ 5.17845505e-02 1.95541541e-03 9.98656366e-01 -6.24087860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89320100799999 meters Centerline goodness : 0.855997 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97838020e-01 3.98309158e-02 -5.22760281e-02 7.34776662e+00] [-3.98823198e-02 9.99204382e-01 5.98840802e-05 -2.70612240e-01] [ 5.22368216e-02 2.02513466e-03 9.98632672e-01 -6.23734601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92320100799999 meters Centerline goodness : 0.858173 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97826117e-01 3.95288228e-02 -5.27305709e-02 7.34855802e+00] [-3.95614468e-02 9.99217049e-01 4.25348531e-04 -2.71807839e-01] [ 5.27060990e-02 1.66167380e-03 9.98608685e-01 -6.22572365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.953201008 meters Centerline goodness : 0.858925 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.62 [[ 9.97825715e-01 3.89769661e-02 -5.31473372e-02 7.35040767e+00] [-3.90325536e-02 9.99237939e-01 -7.94656732e-06 -2.70997030e-01] [ 5.31065260e-02 2.08240558e-03 9.98586682e-01 -6.23427964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.983201008 meters Centerline goodness : 0.856321 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.27, Z:-0.63 [[ 9.97835449e-01 3.80985276e-02 -5.35996102e-02 7.35312711e+00] [-3.82175227e-02 9.99268727e-01 -1.19649687e-03 -2.68838719e-01] [ 5.35148294e-02 3.24235131e-03 9.98561791e-01 -6.25730178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.013201008 meters Centerline goodness : 0.855044 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.27, Z:-0.63 [[ 9.97713058e-01 3.93045159e-02 -5.49891702e-02 7.36085542e+00] [-3.92945137e-02 9.99226874e-01 1.26350616e-03 -2.67867365e-01] [ 5.49963181e-02 9.00156102e-04 9.98486151e-01 -6.28700543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.043201008 meters Centerline goodness : 0.860138 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.27, Z:-0.63 [[ 9.97614984e-01 4.07444338e-02 -5.57156550e-02 7.36544379e+00] [-4.05509282e-02 9.99166885e-01 4.59970151e-03 -2.70176462e-01] [ 5.58566497e-02 -2.32940962e-03 9.98436081e-01 -6.28914526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.073201008 meters Centerline goodness : 0.858846 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.27, Z:-0.63 [[ 9.97601157e-01 4.01054116e-02 -5.64224074e-02 7.36747657e+00] [-3.99014101e-02 9.99192388e-01 4.73799690e-03 -2.71453415e-01] [ 5.65668593e-02 -2.47529757e-03 9.98395745e-01 -6.28514158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.103201008 meters Centerline goodness : 0.861549 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.28, Z:-0.62 [[ 0.99746561 0.04162977 -0.05770029 7.37314888] [-0.04104897 0.99909419 0.01121529 -0.27592297] [ 0.05811491 -0.00881833 0.99827095 -0.62334362] [ 0. 0. 0. 1. ]] SLAMing on 90.13320100799999 meters Centerline goodness : 0.864758 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.28, Z:-0.62 [[ 0.99742067 0.04147755 -0.05857995 7.37407996] [-0.04074712 0.9990768 0.01360944 -0.28027172] [ 0.05909036 -0.01118737 0.99818995 -0.61863756] [ 0. 0. 0. 1. ]] SLAMing on 90.16320100799999 meters Centerline goodness : 0.863796 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 0.99740139 0.04077225 -0.05939776 7.37631559] [-0.04001305 0.99910225 0.01391599 -0.28191678] [ 0.05991182 -0.01150314 0.99813739 -0.61792818] [ 0. 0. 0. 1. ]] SLAMing on 90.19320100799999 meters Centerline goodness : 0.863093 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 0.997409 0.03958048 -0.06007224 7.379628 ] [-0.03885599 0.99915788 0.01318132 -0.28205515] [ 0.06054337 -0.010813 0.998107 -0.6196174 ] [ 0. 0. 0. 1. ]] SLAMing on 90.22320100799999 meters Centerline goodness : 0.858739 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 0.99742256 0.03896626 -0.06024841 7.38138039] [-0.03830056 0.99919221 0.01216537 -0.28041008] [ 0.06067378 -0.00982647 0.99810928 -0.62171488] [ 0. 0. 0. 1. ]] SLAMing on 90.25320100799999 meters Centerline goodness : 0.857101 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 0.99725567 0.04178202 -0.06111791 7.38504331] [-0.04084521 0.99902927 0.01649834 -0.28227939] [ 0.06174791 -0.01395669 0.99799419 -0.62101219] [ 0. 0. 0. 1. ]] SLAMing on 90.28320100799999 meters Centerline goodness : 0.860551 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 0.99742297 0.0380929 -0.06079765 7.3838755 ] [-0.03746105 0.99923192 0.01149917 -0.27925425] [ 0.06118899 -0.00919199 0.99808387 -0.62268214] [ 0. 0. 0. 1. ]] SLAMing on 90.313201008 meters Centerline goodness : 0.865499 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 9.97547837e-01 3.38106132e-02 -6.12793205e-02 7.38439014e+00] [-3.34447890e-02 9.99416151e-01 6.98597747e-03 -2.78913985e-01] [ 6.14797428e-02 -4.91937277e-03 9.98096208e-01 -6.23063819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.343201008 meters Centerline goodness : 0.867743 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.28, Z:-0.62 [[ 9.97673675e-01 2.95375671e-02 -6.14391662e-02 7.38487878e+00] [-2.94714271e-02 9.99563657e-01 1.98263886e-03 -2.76850063e-01] [ 6.14709200e-02 -1.67326691e-04 9.98108861e-01 -6.24720230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.373201008 meters Centerline goodness : 0.868935 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97647724e-01 2.88242198e-02 -6.21947273e-02 7.38724486e+00] [-2.87593207e-02 9.99584485e-01 1.93862175e-03 -2.77338517e-01] [ 6.22247638e-02 -1.45383461e-04 9.98062151e-01 -6.24670670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.403201008 meters Centerline goodness : 0.867362 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97642239e-01 2.84798146e-02 -6.24408715e-02 7.38809181e+00] [-2.84030867e-02 9.99594311e-01 2.11626831e-03 -2.77728329e-01] [ 6.24758108e-02 -3.37765173e-04 9.98046421e-01 -6.24314912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.433201008 meters Centerline goodness : 0.865933 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97780009e-01 2.40632389e-02 -6.20968143e-02 7.38751072e+00] [-2.42416074e-02 9.99703880e-01 -2.12052623e-03 -2.76610653e-01] [ 6.20273995e-02 3.62114527e-03 9.98067878e-01 -6.24698489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.463201008 meters Centerline goodness : 0.860759 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97752934e-01 2.29108975e-02 -6.29616825e-02 7.39056701e+00] [-2.30819370e-02 9.99731595e-01 -1.99045335e-03 -2.77456839e-01] [ 6.28991802e-02 3.43925826e-03 9.98013960e-01 -6.24377695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49320100799999 meters Centerline goodness : 0.860759 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97752934e-01 2.29108975e-02 -6.29616825e-02 7.39056701e+00] [-2.30819370e-02 9.99731595e-01 -1.99045335e-03 -2.77456839e-01] [ 6.28991802e-02 3.43925826e-03 9.98013960e-01 -6.24377695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52320100799999 meters Centerline goodness : 0.862013 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.28, Z:-0.62 [[ 9.97724949e-01 2.15754840e-02 -6.38703807e-02 7.39419918e+00] [-2.17584909e-02 9.99760899e-01 -2.17102115e-03 -2.77750668e-01] [ 6.38082684e-02 3.55580506e-03 9.97955841e-01 -6.24790138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55320100799999 meters Centerline goodness : 0.858615 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-0.63 [[ 9.97698009e-01 2.03493233e-02 -6.46883856e-02 7.39758161e+00] [-2.05624985e-02 9.99785107e-01 -2.63128308e-03 -2.77527525e-01] [ 6.46209397e-02 3.95538072e-03 9.97902044e-01 -6.25601942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58320100799999 meters Centerline goodness : 0.862015 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-0.63 [[ 9.97652678e-01 1.87905471e-02 -6.58486821e-02 7.40148157e+00] [-1.90406558e-02 9.99813676e-01 -3.17265653e-03 -2.77511430e-01] [ 6.57767970e-02 4.41901137e-03 9.97824576e-01 -6.25821989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61320100799999 meters Centerline goodness : 0.865398 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-0.62 [[ 9.97610836e-01 1.82689631e-02 -6.66248137e-02 7.40313959e+00] [-1.84953617e-02 9.99825073e-01 -2.78283412e-03 -2.78322897e-01] [ 6.65623197e-02 4.00843550e-03 9.97774218e-01 -6.24478116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64320100799999 meters Centerline goodness : 0.864706 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-0.62 [[ 9.97579914e-01 1.77472679e-02 -6.72261103e-02 7.40442777e+00] [-1.79534263e-02 9.99835789e-01 -2.46368279e-03 -2.78927303e-01] [ 6.71713474e-02 3.66465948e-03 9.97734724e-01 -6.23193077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67320100799999 meters Centerline goodness : 0.870969 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.28, Z:-0.62 [[ 9.97497088e-01 1.62217080e-02 -6.88216209e-02 7.41436608e+00] [-1.60371609e-02 9.99866169e-01 3.23322531e-03 -2.80076824e-01] [ 6.88648588e-02 -2.12142943e-03 9.97623742e-01 -6.17256925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.703201008 meters Centerline goodness : 0.863557 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.28, Z:-0.61 [[ 9.97356206e-01 1.70627453e-02 -7.06361182e-02 7.42227383e+00] [-1.65025066e-02 9.99827631e-01 8.50735916e-03 -2.81181027e-01] [ 7.07691016e-02 -7.31919444e-03 9.97465871e-01 -6.14000822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.733201008 meters Centerline goodness : 0.860260 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.28, Z:-0.62 [[ 9.97344303e-01 1.60698279e-02 -7.10359248e-02 7.42464508e+00] [-1.55730930e-02 9.99850294e-01 7.54106547e-03 -2.78796505e-01] [ 7.11464739e-02 -6.41478962e-03 9.97445251e-01 -6.15548682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.763201008 meters Centerline goodness : 0.857647 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.28, Z:-0.62 [[ 9.97316240e-01 1.48522644e-02 -7.16918950e-02 7.42789107e+00] [-1.44275205e-02 9.99875186e-01 6.43880512e-03 -2.76365345e-01] [ 7.17785778e-02 -5.38718863e-03 9.97406043e-01 -6.17330143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.793201008 meters Centerline goodness : 0.846402 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.28, Z:-0.62 [[ 0.99715518 0.01697167 -0.07344046 7.43347056] [-0.01625521 0.99981438 0.01034245 -0.27561971] [ 0.07360236 -0.00911924 0.99724597 -0.61586132] [ 0. 0. 0. 1. ]] SLAMing on 90.823201008 meters Centerline goodness : 0.852712 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.27, Z:-0.62 [[ 0.99713242 0.01672211 -0.07380583 7.43427089] [-0.01606995 0.99982648 0.0094212 -0.27344957] [ 0.07395057 -0.00820813 0.99722813 -0.61647263] [ 0. 0. 0. 1. ]] SLAMing on 90.853201008 meters Centerline goodness : 0.862338 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.27, Z:-0.62 [[ 9.97395141e-01 1.88041417e-02 -6.96371774e-02 7.45010006e+00] [-1.87887144e-02 9.99823092e-01 8.76581639e-04 -2.70054422e-01] [ 6.96413414e-02 4.34094770e-04 9.97572000e-01 -6.20818373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88320100799999 meters Centerline goodness : 0.853840 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.27, Z:-0.62 [[ 9.97381929e-01 1.92137029e-02 -6.97145764e-02 7.44948813e+00] [-1.92305686e-02 9.99814983e-01 4.29271917e-04 -2.67241112e-01] [ 6.97099259e-02 9.12502888e-04 9.97566887e-01 -6.20585139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91320100799999 meters Centerline goodness : 0.852101 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.26, Z:-0.62 [[ 9.97283772e-01 2.36755966e-02 -6.97462878e-02 7.44868014e+00] [-2.34412731e-02 9.99716492e-01 4.17632469e-03 -2.63423799e-01] [ 6.98253912e-02 -2.53003905e-03 9.97556020e-01 -6.19101277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94320100799999 meters Centerline goodness : 0.852560 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.26, Z:-0.62 [[ 9.97149676e-01 2.70377320e-02 -7.04378076e-02 7.45121392e+00] [-2.65478291e-02 9.99616469e-01 7.88217334e-03 -2.62088481e-01] [ 7.06239086e-02 -5.98973571e-03 9.97485031e-01 -6.18926493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97320100799999 meters Centerline goodness : 0.849446 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.26, Z:-0.62 [[ 9.97156101e-01 2.69345233e-02 -7.03863701e-02 7.45194040e+00] [-2.65226966e-02 9.99625225e-01 6.77915520e-03 -2.57089398e-01] [ 7.05425843e-02 -4.89303963e-03 9.97496768e-01 -6.20618312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00320100799999 meters Centerline goodness : 0.841450 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.25, Z:-0.62 [[ 9.97028844e-01 3.05081051e-02 -7.07300457e-02 7.45369851e+00] [-2.99225065e-02 9.99508729e-01 9.32440078e-03 -2.52169931e-01] [ 7.09797679e-02 -7.18027628e-03 9.97451912e-01 -6.21900230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03320100799999 meters Centerline goodness : 0.842025 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.25, Z:-0.63 [[ 9.97291189e-01 3.24186883e-02 -6.60250923e-02 7.46940148e+00] [-3.24129227e-02 9.99473891e-01 1.15880649e-03 -2.48806876e-01] [ 6.60279229e-02 9.84398711e-04 9.97817290e-01 -6.26066115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.063201008 meters Centerline goodness : 0.840300 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.25, Z:-0.62 [[ 9.97286390e-01 3.30115601e-02 -6.58034395e-02 7.46775709e+00] [-3.30029119e-02 9.99454512e-01 1.21874788e-03 -2.47019226e-01] [ 6.58077773e-02 9.56264439e-04 9.97831861e-01 -6.24918022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.093201008 meters Centerline goodness : 0.839847 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.24, Z:-0.63 [[ 9.97500203e-01 3.61617486e-02 -6.07097504e-02 7.48261500e+00] [-3.65523328e-02 9.99317499e-01 -5.33507783e-03 -2.40954594e-01] [ 6.04753902e-02 7.54082422e-03 9.98141204e-01 -6.27176511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.123201008 meters Centerline goodness : 0.834996 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.24, Z:-0.63 [[ 9.97503158e-01 3.62987798e-02 -6.05792720e-02 7.48220479e+00] [-3.67040193e-02 9.99310547e-01 -5.58972687e-03 -2.38325066e-01] [ 6.03346051e-02 7.79927297e-03 9.98147738e-01 -6.27055671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.153201008 meters Centerline goodness : 0.828823 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.24, Z:-0.63 [[ 9.97509994e-01 3.61838220e-02 -6.05354722e-02 7.48226252e+00] [-3.66069108e-02 9.99312359e-01 -5.89437726e-03 -2.36514095e-01] [ 6.02805644e-02 8.09571685e-03 9.98148643e-01 -6.27108398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.183201008 meters Centerline goodness : 0.832036 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.24, Z:-0.63 [[ 9.97499121e-01 3.61226961e-02 -6.07507504e-02 7.48218117e+00] [-3.65285826e-02 9.99317010e-01 -5.58354282e-03 -2.35781073e-01] [ 6.05075656e-02 7.78871786e-03 9.98137350e-01 -6.25577759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.213201008 meters Centerline goodness : 0.828997 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.24, Z:-0.62 [[ 9.97337550e-01 3.90187764e-02 -6.16063855e-02 7.48523593e+00] [-3.91433691e-02 9.99233271e-01 -8.16349138e-04 -2.38145969e-01] [ 6.15272971e-02 3.22565714e-03 9.98100189e-01 -6.23788736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24320100799999 meters Centerline goodness : 0.825822 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.24, Z:-0.62 [[ 9.97335147e-01 3.81725365e-02 -6.21728463e-02 7.48753935e+00] [-3.83443856e-02 9.99263346e-01 -1.57282282e-03 -2.35846472e-01] [ 6.20670078e-02 3.95261107e-03 9.98064158e-01 -6.24556468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27320100799999 meters Centerline goodness : 0.827782 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.24, Z:-0.62 [[ 9.97334498e-01 3.81066747e-02 -6.22236261e-02 7.48794723e+00] [-3.82840344e-02 9.99265519e-01 -1.66017564e-03 -2.35635722e-01] [ 6.21146602e-02 4.03792188e-03 9.98060852e-01 -6.24859316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30320100799999 meters Centerline goodness : 0.825936 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.24, Z:-0.63 [[ 9.97327469e-01 3.78513653e-02 -6.24915425e-02 7.48908633e+00] [-3.80405490e-02 9.99274502e-01 -1.83993357e-03 -2.35477332e-01] [ 6.23765611e-02 4.21222888e-03 9.98043798e-01 -6.25341774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33320100799999 meters Centerline goodness : 0.826850 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.24, Z:-0.63 [[ 9.97203907e-01 4.00813043e-02 -6.30702514e-02 7.49341075e+00] [-4.00638077e-02 9.99195933e-01 1.54257494e-03 -2.37084066e-01] [ 6.30813671e-02 9.88572667e-04 9.98007898e-01 -6.26888202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36320100799999 meters Centerline goodness : 0.821386 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97216596e-01 3.95825291e-02 -6.31845265e-02 7.49500991e+00] [-3.95897382e-02 9.99215371e-01 1.13837174e-03 -2.36158374e-01] [ 6.31800097e-02 1.36625567e-03 9.98001212e-01 -6.28246667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39320100799999 meters Centerline goodness : 0.818373 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97212846e-01 3.85547615e-02 -6.38754345e-02 7.49800265e+00] [-3.85765727e-02 9.99255249e-01 8.92267196e-04 -2.36437911e-01] [ 6.38622643e-02 1.57431503e-03 9.97957480e-01 -6.29006990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42320100799999 meters Centerline goodness : 0.818373 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97212846e-01 3.85547615e-02 -6.38754345e-02 7.49800265e+00] [-3.85765727e-02 9.99255249e-01 8.92267196e-04 -2.36437911e-01] [ 6.38622643e-02 1.57431503e-03 9.97957480e-01 -6.29006990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.453201008 meters Centerline goodness : 0.823780 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97198332e-01 3.85775717e-02 -6.40878871e-02 7.49814367e+00] [-3.85735038e-02 9.99254918e-01 1.30125439e-03 -2.37713184e-01] [ 6.40903356e-02 1.17448565e-03 9.97943410e-01 -6.28183085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.483201008 meters Centerline goodness : 0.820781 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97194633e-01 3.85383881e-02 -6.41689744e-02 7.49813631e+00] [-3.85147363e-02 9.99256742e-01 1.60600556e-03 -2.38652654e-01] [ 6.41831731e-02 8.69951007e-04 9.97937755e-01 -6.27456150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.513201008 meters Centerline goodness : 0.823690 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.62 [[ 9.97029415e-01 4.15082596e-02 -6.48799725e-02 7.50054361e+00] [-4.11635487e-02 9.99130349e-01 6.64138721e-03 -2.42153472e-01] [ 6.50992219e-02 -3.95096850e-03 9.97870974e-01 -6.24975919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.543201008 meters Centerline goodness : 0.823163 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.62 [[ 9.97024852e-01 4.18845560e-02 -6.47080249e-02 7.49940070e+00] [-4.15217741e-02 9.99113485e-01 6.94170537e-03 -2.42170668e-01] [ 6.49414105e-02 -4.23426078e-03 9.97880095e-01 -6.23987152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.573201008 meters Centerline goodness : 0.823277 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.62 [[ 9.97013513e-01 4.15119726e-02 -6.51215050e-02 7.50055916e+00] [-4.11578700e-02 9.99129718e-01 6.77031030e-03 -2.41946525e-01] [ 6.53458798e-02 -4.06982842e-03 9.97854374e-01 -6.23931979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.603201008 meters Centerline goodness : 0.824958 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.62 [[ 9.97019725e-01 4.13661119e-02 -6.51192144e-02 7.50091507e+00] [-4.10191038e-02 9.99136183e-01 6.65738389e-03 -2.42108225e-01] [ 6.53383534e-02 -3.96641125e-03 9.97855284e-01 -6.24212558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63320100799999 meters Centerline goodness : 0.821559 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97028792e-01 4.06321496e-02 -6.54416960e-02 7.50322100e+00] [-4.03037693e-02 9.99167417e-01 6.33084860e-03 -2.41798221e-01] [ 6.56444463e-02 -3.67449131e-03 9.97836312e-01 -6.25520713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66320100799999 meters Centerline goodness : 0.822058 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.24, Z:-0.63 [[ 9.97037503e-01 4.01515869e-02 -6.56053986e-02 7.50488332e+00] [-3.98532706e-02 9.99188418e-01 5.85005551e-03 -2.41161977e-01] [ 6.57870435e-02 -3.21813503e-03 9.97828497e-01 -6.27056454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69320100799999 meters Centerline goodness : 0.823626 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.24, Z:-0.63 [[ 9.97037907e-01 3.92555060e-02 -6.61393835e-02 7.50793692e+00] [-3.90047179e-02 9.99226117e-01 5.07934236e-03 -2.40091207e-01] [ 6.62875915e-02 -2.48454888e-03 9.97797466e-01 -6.29014929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72320100799999 meters Centerline goodness : 0.819981 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.24, Z:-0.63 [[ 9.97032422e-01 3.85606554e-02 -6.66290103e-02 7.51037342e+00] [-3.83422084e-02 9.99254287e-01 4.55470196e-03 -2.39516437e-01] [ 6.67549565e-02 -1.98648213e-03 9.97767423e-01 -6.30278697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75320100799999 meters Centerline goodness : 0.819316 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.24, Z:-0.63 [[ 9.97008392e-01 3.83168377e-02 -6.71273833e-02 7.51162897e+00] [-3.80935559e-02 9.99263573e-01 4.60356401e-03 -2.40442745e-01] [ 6.72543429e-02 -2.03267122e-03 9.97733793e-01 -6.29979503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78320100799999 meters Centerline goodness : 0.820393 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.24, Z:-0.63 [[ 9.97003971e-01 3.85070181e-02 -6.70842096e-02 7.51117898e+00] [-3.82569887e-02 9.99255383e-01 5.00826460e-03 -2.41755216e-01] [ 6.72271108e-02 -2.42681985e-03 9.97734747e-01 -6.29261749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.813201008 meters Centerline goodness : 0.823848 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.24, Z:-0.63 [[ 9.96985672e-01 3.82472117e-02 -6.75034852e-02 7.51188606e+00] [-3.79620792e-02 9.99264033e-01 5.50214507e-03 -2.43075247e-01] [ 6.76642466e-02 -2.92298715e-03 9.97703867e-01 -6.27958749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.843201008 meters Centerline goodness : 0.821220 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.25, Z:-0.62 [[ 0.99698223 0.03696344 -0.06826517 7.52134905] [-0.03617806 0.99926458 0.01270589 -0.24744082] [ 0.06868462 -0.01019785 0.9975863 -0.62106453] [ 0. 0. 0. 1. ]] SLAMing on 91.873201008 meters Centerline goodness : 0.817567 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.25, Z:-0.62 [[ 0.9969791 0.03598049 -0.06883366 7.52403224] [-0.03521933 0.99930465 0.01224019 -0.24694008] [ 0.06922621 -0.00977893 0.99755306 -0.6220125 ] [ 0. 0. 0. 1. ]] SLAMing on 91.903201008 meters Centerline goodness : 0.817067 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.25, Z:-0.62 [[ 0.99682951 0.03792382 -0.06994791 7.52945539] [-0.03680936 0.99917507 0.01715386 -0.24906183] [ 0.07054075 -0.01452474 0.99740315 -0.62038666] [ 0. 0. 0. 1. ]] SLAMing on 91.933201008 meters Centerline goodness : 0.814292 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.25, Z:-0.62 [[ 0.9968288 0.03721109 -0.07033969 7.53137071] [-0.03611016 0.99920559 0.01685939 -0.24875699] [ 0.07091117 -0.01426595 0.99738061 -0.62104095] [ 0. 0. 0. 1. ]] SLAMing on 91.963201008 meters Centerline goodness : 0.816229 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.25, Z:-0.62 [[ 0.99681117 0.03669187 -0.0708604 7.53339165] [-0.03555815 0.99921966 0.01719542 -0.24973866] [ 0.07143604 -0.01462092 0.99733802 -0.62071848] [ 0. 0. 0. 1. ]] SLAMing on 91.99320100799999 meters Centerline goodness : 0.814361 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.25, Z:-0.62 [[ 0.99677595 0.03555943 -0.07192514 7.53641382] [-0.03433507 0.99924486 0.01818854 -0.25207763] [ 0.0725176 -0.01566034 0.99724418 -0.61839636] [ 0. 0. 0. 1. ]] SLAMing on 92.02320100799999 meters Centerline goodness : 0.814153 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.25, Z:-0.62 [[ 0.99676181 0.03484565 -0.0724684 7.53830862] [-0.0336414 0.99927593 0.0177726 -0.25168413] [ 0.07303523 -0.01527711 0.99721235 -0.61872375] [ 0. 0. 0. 1. ]] SLAMing on 92.05320100799999 meters Centerline goodness : 0.816294 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.25, Z:-0.62 [[ 0.99661191 0.03708373 -0.07341327 7.5425155 ] [-0.03558484 0.99913274 0.02162131 -0.25304928] [ 0.0741514 -0.01893565 0.9970672 -0.6178839 ] [ 0. 0. 0. 1. ]] SLAMing on 92.08320100799999 meters Centerline goodness : 0.815649 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.25, Z:-0.62 [[ 0.99643997 0.04035013 -0.07402201 7.54547532] [-0.0385009 0.99891394 0.02624178 -0.25444191] [ 0.07500048 -0.02329845 0.99691129 -0.61660435] [ 0. 0. 0. 1. ]] SLAMing on 92.11320100799999 meters Centerline goodness : 0.815523 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.26, Z:-0.62 [[ 0.99624027 0.04348333 -0.07493012 7.54886772] [-0.04129356 0.9986805 0.03053039 -0.25523026] [ 0.07615881 -0.02732147 0.99672131 -0.61578106] [ 0. 0. 0. 1. ]] SLAMing on 92.14320100799999 meters Centerline goodness : 0.814581 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.26, Z:-0.62 [[ 0.99605517 0.04625544 -0.07572665 7.55276383] [-0.04377306 0.9984587 0.03411959 -0.25532895] [ 0.07718815 -0.03067021 0.99654469 -0.6162181 ] [ 0. 0. 0. 1. ]] SLAMing on 92.17320100799999 meters Centerline goodness : 0.814855 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.25, Z:-0.62 [[ 0.99630027 0.04743078 -0.07166659 7.57171366] [-0.04562512 0.99860371 0.02662656 -0.25228136] [ 0.07282944 -0.02325825 0.99707318 -0.62041858] [ 0. 0. 0. 1. ]] SLAMing on 92.203201008 meters Centerline goodness : 0.815123 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.25, Z:-0.63 [[ 0.99661184 0.0472543 -0.06731919 7.58758336] [-0.04626853 0.99879882 0.01612874 -0.25022418] [ 0.06800048 -0.01295933 0.99760112 -0.62561521] [ 0. 0. 0. 1. ]] SLAMing on 92.233201008 meters Centerline goodness : 0.814942 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.25, Z:-0.62 [[ 0.99658851 0.0473692 -0.06758328 7.58761043] [-0.04632725 0.9987833 0.01690313 -0.25078283] [ 0.06830174 -0.01371452 0.99757044 -0.62368848] [ 0. 0. 0. 1. ]] SLAMing on 92.263201008 meters Centerline goodness : 0.817640 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.25, Z:-0.62 [[ 0.9965837 0.04753308 -0.06753913 7.5871738 ] [-0.04646102 0.9987693 0.017357 -0.25140091] [ 0.06828104 -0.01415977 0.99756564 -0.62260913] [ 0. 0. 0. 1. ]] SLAMing on 92.293201008 meters Centerline goodness : 0.818328 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.25, Z:-0.62 [[ 0.99658103 0.047553 -0.06756447 7.58703133] [-0.04648315 0.9987689 0.01732029 -0.25117751] [ 0.06830493 -0.01412047 0.99756456 -0.62226268] [ 0. 0. 0. 1. ]] SLAMing on 92.323201008 meters Centerline goodness : 0.822008 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.26, Z:-0.61 [[ 0.9963831 0.05145589 -0.06762409 7.59604029] [-0.04942095 0.99828342 0.03142918 -0.25520545] [ 0.06912522 -0.02797346 0.99721572 -0.61149687] [ 0. 0. 0. 1. ]] SLAMing on 92.353201008 meters Centerline goodness : 0.820950 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.25, Z:-0.61 [[ 0.99638104 0.05140268 -0.06769486 7.59662421] [-0.04941009 0.99830392 0.0307885 -0.25331527] [ 0.06916265 -0.02733227 0.9972309 -0.6124725 ] [ 0. 0. 0. 1. ]] SLAMing on 92.38320100799999 meters Centerline goodness : 0.820950 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.25, Z:-0.61 [[ 0.99638129 0.05142035 -0.06767774 7.59658377] [-0.04943035 0.99830384 0.03075845 -0.25324571] [ 0.06914455 -0.02730181 0.99723299 -0.61249438] [ 0. 0. 0. 1. ]] SLAMing on 92.41320100799999 meters Centerline goodness : 0.825657 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.25, Z:-0.62 [[ 0.9964263 0.05454316 -0.06449555 7.61279026] [-0.05327081 0.99835319 0.02128674 -0.25045806] [ 0.06555038 -0.01777494 0.99769093 -0.61981225] [ 0. 0. 0. 1. ]] SLAMing on 92.44320100799999 meters Centerline goodness : 0.827320 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.25, Z:-0.62 [[ 0.99617299 0.05807096 -0.06532335 7.61567352] [-0.05650849 0.99807593 0.02551921 -0.25222531] [ 0.06667959 -0.02173022 0.99753778 -0.61933924] [ 0. 0. 0. 1. ]] SLAMing on 92.47320100799999 meters Centerline goodness : 0.832221 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.25, Z:-0.62 [[ 0.99629268 0.06022436 -0.06143222 7.63177477] [-0.05929929 0.99809931 0.01677357 -0.24994093] [ 0.06232564 -0.01306849 0.9979703 -0.6249368 ] [ 0. 0. 0. 1. ]] SLAMing on 92.50320100799999 meters Centerline goodness : 0.834352 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.25, Z:-0.63 [[ 0.99628452 0.06029154 -0.06149859 7.63242461] [-0.05940745 0.99810388 0.01610604 -0.24825454] [ 0.06235304 -0.01239273 0.99797721 -0.62621392] [ 0. 0. 0. 1. ]] SLAMing on 92.53320100799999 meters Centerline goodness : 0.834663 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.25, Z:-0.63 [[ 0.99626739 0.06019347 -0.06187106 7.63381991] [-0.05934332 0.99811746 0.01548917 -0.24686344] [ 0.06268693 -0.01175972 0.99796396 -0.62734822] [ 0. 0. 0. 1. ]] SLAMing on 92.563201008 meters Centerline goodness : 0.842308 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.25, Z:-0.63 [[ 0.99621987 0.06058187 -0.06225597 7.63457769] [-0.05974973 0.99809851 0.01514398 -0.24633508] [ 0.06305504 -0.01136696 0.99794532 -0.62819237] [ 0. 0. 0. 1. ]] SLAMing on 92.593201008 meters Centerline goodness : 0.847525 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-0.63 [[ 0.99621371 0.06041575 -0.06251547 7.63587135] [-0.05960155 0.99811238 0.01480959 -0.24629507] [ 0.0632922 -0.0110275 0.99793411 -0.62925853] [ 0. 0. 0. 1. ]] SLAMing on 92.623201008 meters Centerline goodness : 0.849003 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-0.63 [[ 0.99597835 0.063404 -0.0633014 7.63932925] [-0.06231038 0.99787394 0.01910549 -0.24903431] [ 0.06437818 -0.01508432 0.99781156 -0.6288145 ] [ 0. 0. 0. 1. ]] SLAMing on 92.653201008 meters Centerline goodness : 0.849293 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-0.63 [[ 0.99598276 0.0630197 -0.06361497 7.64072507] [-0.06194801 0.9979045 0.01868274 -0.24850394] [ 0.06465904 -0.01466686 0.99779962 -0.62959483] [ 0. 0. 0. 1. ]] SLAMing on 92.683201008 meters Centerline goodness : 0.849070 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.25, Z:-0.64 [[ 0.99693045 0.0602708 -0.04997114 7.64574113] [-0.05970821 0.99813537 0.01267699 -0.24544131] [ 0.05064202 -0.00965439 0.99867021 -0.63893365] [ 0. 0. 0. 1. ]] SLAMing on 92.713201008 meters Centerline goodness : 0.855001 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.64 [[ 9.97249836e-01 5.96318229e-02 -4.40092068e-02 7.65800936e+00] [-5.95368036e-02 9.98220088e-01 3.46781575e-03 -2.45360083e-01] [ 4.41376665e-02 -8.38111186e-04 9.99025107e-01 -6.40045346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74320100799999 meters Centerline goodness : 0.854184 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.64 [[ 9.97248680e-01 5.94356412e-02 -4.42998331e-02 7.65856804e+00] [-5.92973296e-02 9.98230531e-01 4.43089810e-03 -2.47215373e-01] [ 4.44847992e-02 -1.79184548e-03 9.99008454e-01 -6.38264612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77320100799999 meters Centerline goodness : 0.852705 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.64 [[ 9.97249808e-01 5.92928091e-02 -4.44655311e-02 7.65887917e+00] [-5.91367487e-02 9.98238264e-01 4.81810171e-03 -2.48384233e-01] [ 4.46728733e-02 -2.17530407e-03 9.98999301e-01 -6.37507517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80320100799999 meters Centerline goodness : 0.857283 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.64 [[ 9.97246822e-01 5.90402936e-02 -4.48666993e-02 7.65978800e+00] [-5.88656326e-02 9.98252344e-01 5.20534137e-03 -2.49213588e-01] [ 4.50956127e-02 -2.54990349e-03 9.98979421e-01 -6.36646420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83320100799999 meters Centerline goodness : 0.865349 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.63 [[ 9.97045641e-01 6.18815906e-02 -4.55044786e-02 7.66234357e+00] [-6.14700891e-02 9.98054859e-01 1.03888172e-02 -2.53887046e-01] [ 4.60588425e-02 -7.56096059e-03 9.98910114e-01 -6.34150867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86320100799999 meters Centerline goodness : 0.868151 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-0.64 [[ 9.97053263e-01 6.13004444e-02 -4.61199094e-02 7.66470649e+00] [-6.09007739e-02 9.98093500e-01 1.00229969e-02 -2.53993365e-01] [ 4.66463960e-02 -7.18472363e-03 9.98885626e-01 -6.35087050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89320100799999 meters Centerline goodness : 0.871113 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.25, Z:-0.64 [[ 9.97064779e-01 6.06686976e-02 -4.67026257e-02 7.66733643e+00] [-6.02930352e-02 9.98136344e-01 9.41211056e-03 -2.53961704e-01] [ 4.71866086e-02 -6.56864089e-03 9.98864494e-01 -6.36741135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92320100799999 meters Centerline goodness : 0.872346 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.25, Z:-0.64 [[ 9.97071498e-01 6.02066111e-02 -4.71549857e-02 7.66944020e+00] [-5.98496286e-02 9.98167304e-01 8.94734556e-03 -2.54288694e-01] [ 4.76072543e-02 -6.09893485e-03 9.98847512e-01 -6.38212613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.953201008 meters Centerline goodness : 0.871238 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:-0.64 [[ 0.99698009 0.06008253 -0.04920152 7.67982313] [-0.05954691 0.99814995 0.0122818 -0.25700924] [ 0.04984842 -0.00931491 0.99871336 -0.63945944] [ 0. 0. 0. 1. ]] SLAMing on 92.983201008 meters Centerline goodness : 0.871617 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:-0.64 [[ 0.99699545 0.05923887 -0.04990822 7.68307361] [-0.05872992 0.99820646 0.01160447 -0.25678525] [ 0.05050614 -0.00863849 0.99868639 -0.64136284] [ 0. 0. 0. 1. ]] SLAMing on 93.013201008 meters Centerline goodness : 0.873554 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.64 [[ 0.99701092 0.05858216 -0.05037225 7.68545012] [-0.05810191 0.99825063 0.01094728 -0.2569395 ] [ 0.05092545 -0.00798783 0.99867051 -0.64315534] [ 0. 0. 0. 1. ]] SLAMing on 93.043201008 meters Centerline goodness : 0.871434 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.64 [[ 0.99701294 0.05789335 -0.0511229 7.68823171] [-0.05742007 0.99829298 0.01067964 -0.2575741 ] [ 0.05165392 -0.00771226 0.99863527 -0.64406861] [ 0. 0. 0. 1. ]] SLAMing on 93.073201008 meters Centerline goodness : 0.874327 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.64 [[ 9.97005712e-01 5.74128197e-02 -5.18013372e-02 7.69061251e+00] [-5.69365990e-02 9.98321271e-01 1.06237544e-02 -2.59003664e-01] [ 5.23243165e-02 -7.64255187e-03 9.98600900e-01 -6.44800214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.103201008 meters Centerline goodness : 0.875938 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.64 [[ 0.99699223 0.05690759 -0.05261194 7.69309536] [-0.05636851 0.99834176 0.0116753 -0.26337064] [ 0.05318911 -0.00867452 0.99854678 -0.64390895] [ 0. 0. 0. 1. ]] SLAMing on 93.13320100799999 meters Centerline goodness : 0.879986 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.27, Z:-0.64 [[ 0.99697844 0.05658841 -0.0532141 7.69462999] [-0.05600906 0.99835428 0.01231729 -0.26575459] [ 0.05382354 -0.0092996 0.99850716 -0.64308478] [ 0. 0. 0. 1. ]] SLAMing on 93.16320100799999 meters Centerline goodness : 0.880451 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.27, Z:-0.64 [[ 0.99696805 0.05621835 -0.05379775 7.69615781] [-0.05560838 0.99837099 0.01276973 -0.26779985] [ 0.05442801 -0.0097394 0.9984702 -0.64249386] [ 0. 0. 0. 1. ]] SLAMing on 93.19320100799999 meters Centerline goodness : 0.883265 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.27, Z:-0.64 [[ 0.99681996 0.05790915 -0.0547403 7.701573 ] [-0.0568623 0.99817169 0.02049304 -0.27344827] [ 0.05582695 -0.01731521 0.99829031 -0.63583515] [ 0. 0. 0. 1. ]] SLAMing on 93.22320100799999 meters Centerline goodness : 0.880837 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.27, Z:-0.65 [[ 0.99763624 0.05440266 -0.04197965 7.70906582] [-0.05389394 0.99845998 0.01315715 -0.26944404] [ 0.04263079 -0.0108636 0.99903183 -0.64658908] [ 0. 0. 0. 1. ]] SLAMing on 93.25320100799999 meters Centerline goodness : 0.881592 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.27, Z:-0.65 [[ 0.99764733 0.05389457 -0.04236964 7.71063475] [-0.05339575 0.99849115 0.01281858 -0.26955055] [ 0.04299656 -0.01052606 0.99901977 -0.64727497] [ 0. 0. 0. 1. ]] SLAMing on 93.28320100799999 meters Centerline goodness : 0.887444 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.27, Z:-0.65 [[ 0.99764516 0.05344245 -0.04298872 7.71242645] [-0.05292224 0.99851205 0.01315024 -0.27074853] [ 0.04362754 -0.01084421 0.99898901 -0.6467546 ] [ 0. 0. 0. 1. ]] SLAMing on 93.313201008 meters Centerline goodness : 0.886291 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.65 [[ 0.99765901 0.05254058 -0.04377197 7.71522855] [-0.05201368 0.99856056 0.01309129 -0.27250973] [ 0.04439679 -0.01078391 0.99895577 -0.64708522] [ 0. 0. 0. 1. ]] SLAMing on 93.343201008 meters Centerline goodness : 0.881464 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.65 [[ 0.99767255 0.05165393 -0.04451234 7.71817402] [-0.05114114 0.99861215 0.01258369 -0.27204501] [ 0.04510057 -0.01027799 0.99892958 -0.64813871] [ 0. 0. 0. 1. ]] SLAMing on 93.373201008 meters Centerline goodness : 0.878311 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.65 [[ 0.99768472 0.0507956 -0.04522169 7.72082542] [-0.05029863 0.99866139 0.0120613 -0.27174749] [ 0.04577382 -0.00975878 0.99890416 -0.64903616] [ 0. 0. 0. 1. ]] SLAMing on 93.403201008 meters Centerline goodness : 0.884233 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.65 [[ 0.99768941 0.05008519 -0.04590546 7.72299114] [-0.0495858 0.99869832 0.0119544 -0.27240724] [ 0.04644445 -0.00965052 0.99887426 -0.64910954] [ 0. 0. 0. 1. ]] SLAMing on 93.433201008 meters Centerline goodness : 0.881742 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.65 [[ 9.97880115e-01 4.58177553e-02 -4.62169748e-02 7.72376817e+00] [-4.55265515e-02 9.98936204e-01 7.33440646e-03 -2.71739229e-01] [ 4.65038554e-02 -5.21475888e-03 9.98904499e-01 -6.50453610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.463201008 meters Centerline goodness : 0.885052 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.65 [[ 9.97881653e-01 4.50540423e-02 -4.69290996e-02 7.72619320e+00] [-4.47607381e-02 9.98971190e-01 7.28270720e-03 -2.72100694e-01] [ 4.72089339e-02 -5.16669875e-03 9.98871674e-01 -6.50535003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49320100799999 meters Centerline goodness : 0.884214 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.65 [[ 9.97883618e-01 4.43430624e-02 -4.75602548e-02 7.72852186e+00] [-4.40543755e-02 9.99003894e-01 7.10156833e-03 -2.72546582e-01] [ 4.78277851e-02 -4.99130137e-03 9.98843126e-01 -6.51056390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52320100799999 meters Centerline goodness : 0.884231 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.65 [[ 9.97876092e-01 4.39766567e-02 -4.80557792e-02 7.73003980e+00] [-4.36677792e-02 9.99018262e-01 7.45904684e-03 -2.73331237e-01] [ 4.83366250e-02 -5.34471536e-03 9.98816802e-01 -6.50530814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55320100799999 meters Centerline goodness : 0.883608 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.65 [[ 9.97887925e-01 4.29384456e-02 -4.87440188e-02 7.73276980e+00] [-4.26444986e-02 9.99065401e-01 7.05492001e-03 -2.74069419e-01] [ 4.90013899e-02 -4.96135525e-03 9.98786388e-01 -6.51250038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58320100799999 meters Centerline goodness : 0.882780 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.65 [[ 9.97882829e-01 4.25369210e-02 -4.91982715e-02 7.73443169e+00] [-4.22614909e-02 9.99084615e-01 6.62558387e-03 -2.73239066e-01] [ 4.94350681e-02 -4.53236407e-03 9.98767056e-01 -6.51920300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61320100799999 meters Centerline goodness : 0.884869 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.27, Z:-0.65 [[ 9.97874388e-01 4.21259192e-02 -4.97203406e-02 7.73620826e+00] [-4.18814641e-02 9.99104877e-01 5.94869093e-03 -2.71578793e-01] [ 4.99264288e-02 -3.85368566e-03 9.98745463e-01 -6.52748468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64320100799999 meters Centerline goodness : 0.885004 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.27, Z:-0.65 [[ 9.97855638e-01 4.20858104e-02 -5.01289300e-02 7.73716904e+00] [-4.18586173e-02 9.99107996e-01 5.57387495e-03 -2.70544226e-01] [ 5.03187959e-02 -3.46359484e-03 9.98727201e-01 -6.53040211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67320100799999 meters Centerline goodness : 0.888301 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.27, Z:-0.66 [[ 9.97873222e-01 4.52583367e-02 -4.69117954e-02 7.75464967e+00] [-4.53719976e-02 9.98969234e-01 -1.36032993e-03 -2.69664264e-01] [ 4.68018741e-02 3.48591869e-03 9.98898109e-01 -6.56672020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.703201008 meters Centerline goodness : 0.889077 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.66 [[ 9.97677581e-01 4.86167105e-02 -4.77059751e-02 7.75773205e+00] [-4.85368012e-02 9.98817378e-01 2.83270568e-03 -2.71163605e-01] [ 4.77872738e-02 -5.10631519e-04 9.98857405e-01 -6.56524650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.733201008 meters Centerline goodness : 0.885564 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.66 [[ 9.97475201e-01 5.21551349e-02 -4.81981923e-02 7.76025090e+00] [-5.18848609e-02 9.98629631e-01 6.84260410e-03 -2.71470213e-01] [ 4.84890200e-02 -4.32457139e-03 9.98814354e-01 -6.56821778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.763201008 meters Centerline goodness : 0.886696 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.66 [[ 9.97478347e-01 5.21903773e-02 -4.80948205e-02 7.76078229e+00] [-5.19551928e-02 9.98630615e-01 6.12807518e-03 -2.68453519e-01] [ 4.83487867e-02 -3.61384663e-03 9.98823976e-01 -6.58290867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.793201008 meters Centerline goodness : 0.884593 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.66 [[ 0.99725151 0.05585415 -0.04867989 7.76268348] [-0.05536838 0.99840237 0.01127196 -0.27084737] [ 0.0492317 -0.00854566 0.99875083 -0.65607765] [ 0. 0. 0. 1. ]] SLAMing on 93.823201008 meters Centerline goodness : 0.886786 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.27, Z:-0.66 [[ 9.97469746e-01 5.57507465e-02 -4.41130347e-02 7.77888689e+00] [-5.57570387e-02 9.98443773e-01 1.08871224e-03 -2.68801757e-01] [ 4.41050813e-02 1.37365466e-03 9.99025953e-01 -6.61153809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.853201008 meters Centerline goodness : 0.885119 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.27, Z:-0.66 [[ 9.97452179e-01 5.58167048e-02 -4.44257379e-02 7.77904008e+00] [-5.57816480e-02 9.98440929e-01 2.02936998e-03 -2.70150494e-01] [ 4.44697478e-02 4.53941366e-04 9.99010628e-01 -6.59097231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88320100799999 meters Centerline goodness : 0.886131 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.27, Z:-0.66 [[ 9.97435329e-01 5.58815048e-02 -4.47215981e-02 7.77915161e+00] [-5.58113917e-02 9.98437359e-01 2.81582535e-03 -2.71471043e-01] [ 4.48090669e-02 -3.12629056e-04 9.98995520e-01 -6.57367308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91320100799999 meters Centerline goodness : 0.886958 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.27, Z:-0.66 [[ 9.97430268e-01 5.57816376e-02 -4.49585295e-02 7.77935334e+00] [-5.56920341e-02 9.98442724e-01 3.24409533e-03 -2.72188075e-01] [ 4.50694776e-02 -7.31926920e-04 9.98983587e-01 -6.56145866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94320100799999 meters Centerline goodness : 0.890113 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.27, Z:-0.65 [[ 9.97422090e-01 5.50460517e-02 -4.60337526e-02 7.78749765e+00] [-5.47637194e-02 9.98472120e-01 7.37294732e-03 -2.73951526e-01] [ 4.63692702e-02 -4.83296101e-03 9.98912675e-01 -6.53935399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97320100799999 meters Centerline goodness : 0.890181 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.27, Z:-0.65 [[ 9.97424697e-01 5.46727704e-02 -4.64205011e-02 7.78865426e+00] [-5.43887821e-02 9.98492710e-01 7.35985578e-03 -2.74360342e-01] [ 4.67529156e-02 -4.81614740e-03 9.98894874e-01 -6.53873571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00320100799999 meters Centerline goodness : 0.888110 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.28, Z:-0.65 [[ 9.97447861e-01 5.36095927e-02 -4.71569355e-02 7.79116212e+00] [-5.33261030e-02 9.98550831e-01 7.25017390e-03 -2.75027854e-01] [ 4.74772760e-02 -4.71697485e-03 9.98861181e-01 -6.53677104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03320100799999 meters Centerline goodness : 0.887234 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.28, Z:-0.65 [[ 9.97535228e-01 5.03798383e-02 -4.88399559e-02 7.79864328e+00] [-5.00288536e-02 9.98712589e-01 8.38319577e-03 -2.78269557e-01] [ 4.91994228e-02 -5.91912610e-03 9.98771436e-01 -6.51537007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.063201008 meters Centerline goodness : 0.887763 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.28, Z:-0.65 [[ 9.97572606e-01 4.85027077e-02 -4.99638102e-02 7.80368712e+00] [-4.81998439e-02 9.98811403e-01 7.24952054e-03 -2.78303062e-01] [ 5.02560448e-02 -4.82367525e-03 9.98724718e-01 -6.53859210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.093201008 meters Centerline goodness : 0.886425 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.28, Z:-0.65 [[ 0.99754715 0.04768348 -0.05124428 7.81323255] [-0.04713909 0.99881886 0.01178075 -0.28030941] [ 0.0517455 -0.00933624 0.99861666 -0.65209533] [ 0. 0. 0. 1. ]] SLAMing on 94.123201008 meters Centerline goodness : 0.883705 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.28, Z:-0.65 [[ 0.99758782 0.0448993 -0.05293958 7.82063326] [-0.0444162 0.99896035 0.01026749 -0.27934588] [ 0.05334554 -0.00789135 0.99854493 -0.65475325] [ 0. 0. 0. 1. ]] SLAMing on 94.153201008 meters Centerline goodness : 0.883321 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.28, Z:-0.65 [[ 0.99744084 0.04604708 -0.05469407 7.82842445] [-0.045193 0.99883781 0.01675188 -0.2817826 ] [ 0.05540188 -0.01423722 0.99836263 -0.6492946 ] [ 0. 0. 0. 1. ]] SLAMing on 94.183201008 meters Centerline goodness : 0.884008 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.28, Z:-0.65 [[ 0.99742946 0.04544894 -0.05539733 7.83037793] [-0.04460958 0.99887158 0.01629579 -0.2809413 ] [ 0.05607545 -0.01378265 0.9983314 -0.6494272 ] [ 0. 0. 0. 1. ]] SLAMing on 94.213201008 meters Centerline goodness : 0.885631 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.28, Z:-0.64 [[ 0.99725757 0.04740615 -0.05683303 7.83632094] [-0.0461354 0.9986595 0.02346747 -0.28341587] [ 0.05786935 -0.0207811 0.99810785 -0.64262002] [ 0. 0. 0. 1. ]] SLAMing on 94.24320100799999 meters Centerline goodness : 0.885931 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.28, Z:-0.64 [[ 0.99724597 0.04688653 -0.05746419 7.83802148] [-0.04562198 0.99869109 0.02312441 -0.28182716] [ 0.0584732 -0.0204391 0.99807972 -0.64230026] [ 0. 0. 0. 1. ]] SLAMing on 94.27320100799999 meters Centerline goodness : 0.886419 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.28, Z:-0.64 [[ 0.99742708 0.04277214 -0.05753061 7.8383721 ] [-0.04182466 0.99897039 0.01757407 -0.27564631] [ 0.05822305 -0.01512265 0.99818905 -0.64466993] [ 0. 0. 0. 1. ]] SLAMing on 94.30320100799999 meters Centerline goodness : 0.886419 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.28, Z:-0.64 [[ 0.99742708 0.04277214 -0.05753061 7.8383721 ] [-0.04182466 0.99897039 0.01757407 -0.27564631] [ 0.05822305 -0.01512265 0.99818905 -0.64466993] [ 0. 0. 0. 1. ]] SLAMing on 94.33320100799999 meters Centerline goodness : 0.887337 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.28, Z:-0.64 [[ 0.99743759 0.04318719 -0.05703615 7.85177364] [-0.04153736 0.99869239 0.02980211 -0.27771434] [ 0.05824864 -0.02735661 0.99792721 -0.6352727 ] [ 0. 0. 0. 1. ]] SLAMing on 94.36320100799999 meters Centerline goodness : 0.882802 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.28, Z:-0.63 [[ 0.9972591 0.04631172 -0.05770196 7.85413596] [-0.04434129 0.99840407 0.03497368 -0.27883221] [ 0.05922956 -0.03231924 0.99772107 -0.63229115] [ 0. 0. 0. 1. ]] SLAMing on 94.39320100799999 meters Centerline goodness : 0.879015 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.27, Z:-0.64 [[ 0.99751365 0.04634683 -0.0530895 7.8700375 ] [-0.04509314 0.99868048 0.02457457 -0.27295181] [ 0.0541584 -0.0221195 0.99828733 -0.63707988] [ 0. 0. 0. 1. ]] SLAMing on 94.42320100799999 meters Centerline goodness : 0.883740 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.27, Z:-0.63 [[ 0.9973273 0.04893238 -0.05425759 7.87395494] [-0.04730924 0.9984051 0.03080743 -0.27490023] [ 0.05567854 -0.02815821 0.99805161 -0.63163644] [ 0. 0. 0. 1. ]] SLAMing on 94.453201008 meters Centerline goodness : 0.882507 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-0.64 [[ 0.99754909 0.04918558 -0.04976544 7.88891714] [-0.04824763 0.9986376 0.01987713 -0.27120462] [ 0.0506753 -0.01742735 0.99856312 -0.63715431] [ 0. 0. 0. 1. ]] SLAMing on 94.483201008 meters Centerline goodness : 0.882453 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-0.63 [[ 0.99733051 0.05264162 -0.05060357 7.89099328] [-0.05138667 0.99834578 0.02578974 -0.27322329] [ 0.05187748 -0.02312054 0.99838578 -0.63256786] [ 0. 0. 0. 1. ]] SLAMing on 94.513201008 meters Centerline goodness : 0.884087 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-0.63 [[ 0.99709492 0.05654242 -0.05103612 7.89178378] [-0.05500302 0.99800233 0.03108069 -0.27266727] [ 0.05269154 -0.02818326 0.99821306 -0.62854834] [ 0. 0. 0. 1. ]] SLAMing on 94.543201008 meters Centerline goodness : 0.884613 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-0.63 [[ 0.99720708 0.05819134 -0.04681682 7.90816745] [-0.0571992 0.99811458 0.02226075 -0.2694989 ] [ 0.04802393 -0.01952069 0.99865542 -0.63415016] [ 0. 0. 0. 1. ]] SLAMing on 94.573201008 meters Centerline goodness : 0.881928 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-0.64 [[ 0.99722048 0.05758814 -0.04727496 7.91034873] [-0.05665837 0.99817738 0.0207784 -0.26655904] [ 0.04838538 -0.01804212 0.99866578 -0.636564 ] [ 0. 0. 0. 1. ]] SLAMing on 94.603201008 meters Centerline goodness : 0.885725 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.26, Z:-0.64 [[ 0.99723281 0.05698126 -0.04774794 7.91274534] [-0.05611493 0.99823789 0.01929312 -0.26357327] [ 0.04876314 -0.01656036 0.99867307 -0.63918802] [ 0. 0. 0. 1. ]] SLAMing on 94.63320100799999 meters Centerline goodness : 0.879866 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.26, Z:-0.64 [[ 0.99722656 0.05667248 -0.04824337 7.91456948] [-0.05587269 0.99827977 0.01776942 -0.2602099 ] [ 0.04916742 -0.01502465 0.99867754 -0.64153243] [ 0. 0. 0. 1. ]] SLAMing on 94.66320100799999 meters Centerline goodness : 0.881072 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.26, Z:-0.64 [[ 0.99721819 0.05642649 -0.04870243 7.91590043] [-0.05564383 0.99830114 0.01728017 -0.25896791] [ 0.04959475 -0.01452211 0.99866384 -0.64199205] [ 0. 0. 0. 1. ]] SLAMing on 94.69320100799999 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.26, Z:-0.64 [[ 0.99720518 0.05637311 -0.04902953 7.91685842] [-0.05562164 0.99831459 0.01655959 -0.25722016] [ 0.04988041 -0.01378621 0.99866004 -0.64296595] [ 0. 0. 0. 1. ]] SLAMing on 94.72320100799999 meters Centerline goodness : 0.877484 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.25, Z:-0.65 [[ 9.97245678e-01 5.89308302e-02 -4.50357125e-02 7.93299779e+00] [-5.86140183e-02 9.98246013e-01 8.32428042e-03 -2.54112706e-01] [ 4.54472772e-02 -5.66162859e-03 9.98950695e-01 -6.48118250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75320100799999 meters Centerline goodness : 0.881295 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.25, Z:-0.65 [[ 9.97160971e-01 6.01700226e-02 -4.52721268e-02 7.93211111e+00] [-5.98810028e-02 9.98175711e-01 7.71459585e-03 -2.50734593e-01] [ 4.56537248e-02 -4.98175354e-03 9.98944903e-01 -6.48436914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78320100799999 meters Centerline goodness : 0.878755 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.25, Z:-0.65 [[ 0.9969101 0.06374832 -0.04589563 7.93422075] [-0.06325284 0.99792333 0.01216972 -0.25198592] [ 0.04657612 -0.00922909 0.99887211 -0.64717841] [ 0. 0. 0. 1. ]] SLAMing on 94.813201008 meters Centerline goodness : 0.880118 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.25, Z:-0.65 [[ 0.99665327 0.0672772 -0.04643316 7.93632032] [-0.06656836 0.99764296 0.01664872 -0.25311413] [ 0.04744379 -0.01350202 0.99878265 -0.64590997] [ 0. 0. 0. 1. ]] SLAMing on 94.843201008 meters Centerline goodness : 0.879923 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.25, Z:-0.65 [[ 0.99665478 0.06720131 -0.04651048 7.93683416] [-0.0665291 0.99765851 0.01585467 -0.25100141] [ 0.04746703 -0.01270733 0.99879197 -0.64698953] [ 0. 0. 0. 1. ]] SLAMing on 94.873201008 meters Centerline goodness : 0.878823 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.25, Z:-0.65 [[ 0.99665855 0.06683963 -0.04694886 7.93829296] [-0.06619427 0.99769142 0.01517052 -0.24915496] [ 0.04785447 -0.01201209 0.99878209 -0.64779816] [ 0. 0. 0. 1. ]] SLAMing on 94.903201008 meters Centerline goodness : 0.879581 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.25, Z:-0.65 [[ 0.99665229 0.06698842 -0.04686976 7.9381182 ] [-0.06635759 0.9976848 0.01488985 -0.24786973] [ 0.04775869 -0.01172983 0.99879003 -0.6480287 ] [ 0. 0. 0. 1. ]] SLAMing on 94.933201008 meters Centerline goodness : 0.880253 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.25, Z:-0.65 [[ 0.99665887 0.0665793 -0.04731071 7.93941518] [-0.06595365 0.9977149 0.01466637 -0.2476746 ] [ 0.04817907 -0.01149705 0.99877254 -0.6481634 ] [ 0. 0. 0. 1. ]] SLAMing on 94.963201008 meters Centerline goodness : 0.881284 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96858699e-01 6.67275116e-02 -4.26634965e-02 7.95549756e+00] [-6.65839286e-02 9.97769382e-01 4.77925178e-03 -2.45539522e-01] [ 4.28872381e-02 -1.92353551e-03 9.99078067e-01 -6.53467249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99320100799999 meters Centerline goodness : 0.882305 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96859272e-01 6.66198166e-02 -4.28181146e-02 7.95578848e+00] [-6.64694192e-02 9.97776292e-01 4.92821214e-03 -2.46056190e-01] [ 4.30512162e-02 -2.06663876e-03 9.99070729e-01 -6.53080246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02320100799999 meters Centerline goodness : 0.881038 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96862509e-01 6.63680728e-02 -4.31325443e-02 7.95644584e+00] [-6.61797773e-02 9.97790972e-01 5.78043841e-03 -2.47332025e-01] [ 4.34208999e-02 -2.90780016e-03 9.99052636e-01 -6.51498629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05320100799999 meters Centerline goodness : 0.878150 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96884860e-01 6.55479162e-02 -4.38639597e-02 7.95896731e+00] [-6.53591500e-02 9.97845380e-01 5.72538896e-03 -2.47890503e-01] [ 4.41447368e-02 -2.84064245e-03 9.99021107e-01 -6.51700032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08320100799999 meters Centerline goodness : 0.876416 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96916929e-01 6.46843649e-02 -4.44136161e-02 7.96125969e+00] [-6.45078610e-02 9.97902603e-01 5.39738678e-03 -2.48728589e-01] [ 4.46695897e-02 -2.51571888e-03 9.98998648e-01 -6.52533628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11320100799999 meters Centerline goodness : 0.881486 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.25, Z:-0.65 [[ 9.96939656e-01 6.37636124e-02 -4.52274615e-02 7.96401717e+00] [-6.35751984e-02 9.97961375e-01 5.59363340e-03 -2.49933206e-01] [ 4.54919299e-02 -2.70117012e-03 9.98961054e-01 -6.52348081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14320100799999 meters Centerline goodness : 0.878589 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.26, Z:-0.64 [[ 0.99744451 0.05756331 -0.0423192 7.9909476 ] [-0.05671157 0.99816846 0.02105976 -0.25723059] [ 0.04345396 -0.01860595 0.99888216 -0.64094276] [ 0. 0. 0. 1. ]] SLAMing on 95.17320100799999 meters Centerline goodness : 0.879204 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.26, Z:-0.64 [[ 0.99768625 0.05274237 -0.04289972 7.99290679] [-0.05211467 0.99851892 0.01562169 -0.25545973] [ 0.04366011 -0.01334984 0.99895724 -0.64350513] [ 0. 0. 0. 1. ]] SLAMing on 95.203201008 meters Centerline goodness : 0.877987 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.26, Z:-0.64 [[ 0.99770048 0.05168712 -0.04384278 7.99603761] [-0.05103637 0.99857125 0.01583516 -0.25706253] [ 0.04459861 -0.01356117 0.99891294 -0.64320591] [ 0. 0. 0. 1. ]] SLAMing on 95.233201008 meters Centerline goodness : 0.882390 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.26, Z:-0.64 [[ 0.99774592 0.04963962 -0.04515511 8.00139305] [-0.04895668 0.99867102 0.01610735 -0.25967186] [ 0.04589466 -0.0138604 0.99885012 -0.64303088] [ 0. 0. 0. 1. ]] SLAMing on 95.263201008 meters Centerline goodness : 0.881160 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.26, Z:-0.64 [[ 0.99774348 0.04898358 -0.04591902 8.00377702] [-0.04830028 0.99870671 0.01587432 -0.26051773] [ 0.04663721 -0.0136206 0.99881903 -0.6435243 ] [ 0. 0. 0. 1. ]] SLAMing on 95.293201008 meters Centerline goodness : 0.882628 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.26, Z:-0.64 [[ 0.99757965 0.05125835 -0.04698326 8.00798287] [-0.05031051 0.99850987 0.02114002 -0.26428594] [ 0.04799685 -0.0187251 0.99867195 -0.64076217] [ 0. 0. 0. 1. ]] SLAMing on 95.323201008 meters Centerline goodness : 0.883286 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.26, Z:-0.65 [[ 0.9977475 0.0516511 -0.04280289 8.02417746] [-0.05123704 0.99862903 0.0107156 -0.26227776] [ 0.04329768 -0.00849836 0.99902607 -0.64696024] [ 0. 0. 0. 1. ]] SLAMing on 95.353201008 meters Centerline goodness : 0.885592 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.26, Z:-0.65 [[ 9.97732133e-01 5.17311621e-02 -4.30636477e-02 8.02499667e+00] [-5.13439079e-02 9.98630449e-01 1.00513292e-02 -2.60127543e-01] [ 4.35246368e-02 -7.81747812e-03 9.99021768e-01 -6.48078922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38320100799999 meters Centerline goodness : 0.884119 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.26, Z:-0.65 [[ 9.97732432e-01 5.15398476e-02 -4.32855487e-02 8.02618165e+00] [-5.11814948e-02 9.98645623e-01 9.34736924e-03 -2.58413636e-01] [ 4.37086858e-02 -7.11075436e-03 9.99019013e-01 -6.49456470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41320100799999 meters Centerline goodness : 0.884463 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.26, Z:-0.65 [[ 0.9975244 0.05487114 -0.0439799 8.02890789] [-0.05430923 0.9984278 0.01387184 -0.26034752] [ 0.04467192 -0.01144899 0.9989361 -0.64858893] [ 0. 0. 0. 1. ]] SLAMing on 95.44320100799999 meters Centerline goodness : 0.883485 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.26, Z:-0.65 [[ 0.99729668 0.05839547 -0.04460165 8.03106838] [-0.05760173 0.9981611 0.01887991 -0.26291 ] [ 0.04562214 -0.01625974 0.99882643 -0.64675683] [ 0. 0. 0. 1. ]] SLAMing on 95.47320100799999 meters Centerline goodness : 0.885836 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.26, Z:-0.65 [[ 9.97394947e-01 6.01473577e-02 -3.98197779e-02 8.04395381e+00] [-5.98233202e-02 9.98165836e-01 9.28082319e-03 -2.60797060e-01] [ 4.03049589e-02 -6.87449484e-03 9.99163776e-01 -6.50386099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50320100799999 meters Centerline goodness : 0.889135 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.26, Z:-0.65 [[ 9.97489224e-01 6.16268669e-02 -3.48909333e-02 8.05805640e+00] [-6.16420635e-02 9.98098114e-01 6.41012818e-04 -2.59868184e-01] [ 3.48640783e-02 1.51134575e-03 9.99390920e-01 -6.53965256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53320100799999 meters Centerline goodness : 0.889947 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.26, Z:-0.65 [[ 9.97260760e-01 6.48460830e-02 -3.55803607e-02 8.06020359e+00] [-6.46540192e-02 9.97886417e-01 6.52351884e-03 -2.63895327e-01] [ 3.59281833e-02 -4.20523603e-03 9.99345527e-01 -6.50235700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.563201008 meters Centerline goodness : 0.891267 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.26, Z:-0.65 [[ 9.97256115e-01 6.49196008e-02 -3.55765001e-02 8.06012174e+00] [-6.47229677e-02 9.97881097e-01 6.65234380e-03 -2.63989113e-01] [ 3.59329844e-02 -4.33147386e-03 9.99344815e-01 -6.49948403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.593201008 meters Centerline goodness : 0.892571 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.26, Z:-0.65 [[ 9.97286882e-01 6.40760978e-02 -3.62371292e-02 8.06290682e+00] [-6.39014086e-02 9.97938421e-01 5.95972561e-03 -2.62855166e-01] [ 3.65442994e-02 -3.62795257e-03 9.99325449e-01 -6.51344775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.623201008 meters Centerline goodness : 0.890271 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.26, Z:-0.65 [[ 9.97306424e-01 6.35865552e-02 -3.65601831e-02 8.06460754e+00] [-6.34295633e-02 9.97971495e-01 5.43921436e-03 -2.62453906e-01] [ 3.68318815e-02 -3.10556697e-03 9.99316650e-01 -6.52615375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.653201008 meters Centerline goodness : 0.888970 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.26, Z:-0.65 [[ 9.97119872e-01 6.59707615e-02 -3.74141726e-02 8.06884234e+00] [-6.56532957e-02 9.97795807e-01 9.65258128e-03 -2.64879417e-01] [ 3.79684927e-02 -7.16841687e-03 9.99253225e-01 -6.52249114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.683201008 meters Centerline goodness : 0.889234 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.26, Z:-0.65 [[ 9.97137595e-01 6.54289499e-02 -3.78902127e-02 8.07088516e+00] [-6.51387249e-02 9.97837013e-01 8.84546128e-03 -2.63780069e-01] [ 3.83870059e-02 -6.35202185e-03 9.99242758e-01 -6.53794308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.713201008 meters Centerline goodness : 0.890746 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.26, Z:-0.65 [[ 9.97149027e-01 6.51911160e-02 -3.79991562e-02 8.07170714e+00] [-6.49240102e-02 9.97856333e-01 8.22266618e-03 -2.62618894e-01] [ 3.84537434e-02 -5.73216598e-03 9.99243940e-01 -6.54914337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74320100799999 meters Centerline goodness : 0.891810 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.27, Z:-0.65 [[ 0.99693093 0.06749566 -0.0396618 8.07711653] [-0.06699302 0.99765704 0.01386992 -0.26562349] [ 0.04050504 -0.01117029 0.99911689 -0.65112544] [ 0. 0. 0. 1. ]] SLAMing on 95.77320100799999 meters Centerline goodness : 0.892734 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.27, Z:-0.65 [[ 0.99694709 0.06681274 -0.04040484 8.07943133] [-0.06632254 0.99770886 0.01335476 -0.26560383] [ 0.04120454 -0.01063424 0.99909414 -0.65182184] [ 0. 0. 0. 1. ]] SLAMing on 95.80320100799999 meters Centerline goodness : 0.890260 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.27, Z:-0.65 [[ 0.99697123 0.06610048 -0.04097666 8.08143975] [-0.06563108 0.99776316 0.01269816 -0.26510416] [ 0.04172436 -0.00997036 0.99907941 -0.65272783] [ 0. 0. 0. 1. ]] SLAMing on 95.83320100799999 meters Centerline goodness : 0.892579 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.27, Z:-0.65 [[ 0.99694264 0.06530727 -0.04289908 8.09281958] [-0.06461047 0.99775824 0.01743481 -0.26658007] [ 0.04394153 -0.01460978 0.99892727 -0.65095902] [ 0. 0. 0. 1. ]] SLAMing on 95.86320100799999 meters Centerline goodness : 0.892892 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.27, Z:-0.65 [[ 0.99695974 0.06466827 -0.04346603 8.09477768] [-0.06398249 0.9978064 0.01698909 -0.26656551] [ 0.04446934 -0.01415637 0.99891044 -0.65161562] [ 0. 0. 0. 1. ]] SLAMing on 95.89320100799999 meters Centerline goodness : 0.889599 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.26, Z:-0.65 [[ 0.99718523 0.06105123 -0.0435242 8.09415813] [-0.06057229 0.99808876 0.01224044 -0.26420085] [ 0.04418831 -0.00956962 0.99897738 -0.65283289] [ 0. 0. 0. 1. ]] SLAMing on 95.92320100799999 meters Centerline goodness : 0.892646 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.27, Z:-0.65 [[ 0.99697919 0.06390495 -0.04414362 8.09694112] [-0.06317404 0.99784449 0.01776019 -0.26786204] [ 0.04518343 -0.01491781 0.99886732 -0.64981606] [ 0. 0. 0. 1. ]] SLAMing on 95.953201008 meters Centerline goodness : 0.887844 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.27, Z:-0.65 [[ 0.99696884 0.06401232 -0.04422175 8.09687419] [-0.06329229 0.99784165 0.0174965 -0.26729114] [ 0.0452463 -0.01464457 0.99886851 -0.64994788] [ 0. 0. 0. 1. ]] SLAMing on 95.983201008 meters Centerline goodness : 0.889690 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.27, Z:-0.65 [[ 9.97021554e-01 6.58450367e-02 -4.01553584e-02 8.11362567e+00] [-6.55074107e-02 9.97805246e-01 9.66801590e-03 -2.66017184e-01] [ 4.07038181e-02 -7.00874668e-03 9.99146674e-01 -6.54357388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.013201008 meters Centerline goodness : 0.891151 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.27, Z:-0.65 [[ 9.97007852e-01 6.60681477e-02 -4.01290882e-02 8.11340949e+00] [-6.57366330e-02 9.97791530e-01 9.52672773e-03 -2.65600936e-01] [ 4.06698776e-02 -6.86027120e-03 9.99149087e-01 -6.54522570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.043201008 meters Centerline goodness : 0.888426 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.27, Z:-0.65 [[ 9.96996756e-01 6.62935711e-02 -4.00328703e-02 8.11312580e+00] [-6.59679470e-02 9.97777444e-01 9.40229216e-03 -2.65136565e-01] [ 4.05672065e-02 -6.73316852e-03 9.99154125e-01 -6.54723056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.073201008 meters Centerline goodness : 0.886753 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.26, Z:-0.66 [[ 9.96998563e-01 6.61232160e-02 -4.02689193e-02 8.11401991e+00] [-6.58190484e-02 9.97792467e-01 8.83436107e-03 -2.64157668e-01] [ 4.07641807e-02 -6.15738334e-03 9.99149823e-01 -6.55616187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.103201008 meters Centerline goodness : 0.889172 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.26, Z:-0.66 [[ 9.96971562e-01 6.64926232e-02 -4.03290894e-02 8.11356181e+00] [-6.61940151e-02 9.97768873e-01 8.69642788e-03 -2.62978783e-01] [ 4.08173584e-02 -6.00054693e-03 9.99148606e-01 -6.55314512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13320100799999 meters Centerline goodness : 0.888520 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.26, Z:-0.66 [[ 9.97197712e-01 6.31016252e-02 -4.01859229e-02 8.11233439e+00] [-6.29798912e-02 9.98005579e-01 4.28932740e-03 -2.60518459e-01] [ 4.03764388e-02 -1.74640242e-03 9.99183013e-01 -6.56065246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16320100799999 meters Centerline goodness : 0.888311 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.26, Z:-0.66 [[ 9.97213373e-01 6.24316848e-02 -4.08383828e-02 8.11452093e+00] [-6.23272985e-02 9.98048432e-01 3.82555730e-03 -2.60615272e-01] [ 4.09975199e-02 -1.26955083e-03 9.99158442e-01 -6.56755445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19320100799999 meters Centerline goodness : 0.888311 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.26, Z:-0.66 [[ 9.97213373e-01 6.24316848e-02 -4.08383828e-02 8.11452093e+00] [-6.23272985e-02 9.98048432e-01 3.82555730e-03 -2.60615272e-01] [ 4.09975199e-02 -1.26955083e-03 9.99158442e-01 -6.56755445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22320100799999 meters Centerline goodness : 0.887256 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97242218e-01 6.14889693e-02 -4.15579678e-02 8.11766476e+00] [-6.14348024e-02 9.98107763e-01 2.58046631e-03 -2.59088893e-01] [ 4.16380005e-02 -2.02444075e-05 9.99132762e-01 -6.59141819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25320100799999 meters Centerline goodness : 0.885633 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97248488e-01 6.12366032e-02 -4.17795653e-02 8.11875495e+00] [-6.11994817e-02 9.98123200e-01 2.16813629e-03 -2.58180991e-01] [ 4.18339227e-02 3.94717104e-04 9.99124500e-01 -6.59993660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28320100799999 meters Centerline goodness : 0.885095 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97261392e-01 6.07634543e-02 -4.21606231e-02 8.12028484e+00] [-6.07420801e-02 9.98151892e-01 1.78900458e-03 -2.57769396e-01] [ 4.21914118e-02 7.76818751e-04 9.99109244e-01 -6.60645492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.313201008 meters Centerline goodness : 0.883001 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97264783e-01 6.05979353e-02 -4.23183403e-02 8.12081206e+00] [-6.05727053e-02 9.98162019e-01 1.87936639e-03 -2.58361164e-01] [ 4.23544457e-02 6.89110436e-04 9.99102410e-01 -6.60552857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.343201008 meters Centerline goodness : 0.883066 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97278101e-01 5.99571297e-02 -4.29130822e-02 8.12258446e+00] [-5.99066355e-02 9.98200946e-01 2.46283667e-03 -2.60086250e-01] [ 4.29835439e-02 1.14645296e-04 9.99075774e-01 -6.59475031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.373201008 meters Centerline goodness : 0.879370 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.26, Z:-0.66 [[ 9.97292901e-01 5.95972092e-02 -4.30702014e-02 8.12334529e+00] [-5.95464960e-02 9.98222500e-01 2.46057410e-03 -2.60168558e-01] [ 4.31402875e-02 1.10766496e-04 9.99069018e-01 -6.59455748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.403201008 meters Centerline goodness : 0.882075 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97308101e-01 5.89726387e-02 -4.35749926e-02 8.12508770e+00] [-5.89187231e-02 9.98259598e-01 2.52169148e-03 -2.60543765e-01] [ 4.36478654e-02 5.24795812e-05 9.99046976e-01 -6.59305203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.433201008 meters Centerline goodness : 0.883863 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97320305e-01 5.82464915e-02 -4.42668737e-02 8.12710756e+00] [-5.81828432e-02 9.98302222e-01 2.72598655e-03 -2.62039633e-01] [ 4.43504976e-02 -1.43109159e-04 9.99016022e-01 -6.58870675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.463201008 meters Centerline goodness : 0.881891 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97545176e-01 5.42391457e-02 -4.42915073e-02 8.12678640e+00] [-5.43446337e-02 9.98521541e-01 -1.18017643e-03 -2.63137640e-01] [ 4.41620123e-02 3.58428504e-03 9.99017953e-01 -6.59198728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49320100799999 meters Centerline goodness : 0.881458 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97557739e-01 5.35144412e-02 -4.48861073e-02 8.12914608e+00] [-5.36293561e-02 9.98559986e-01 -1.35898543e-03 -2.63863982e-01] [ 4.47487454e-02 3.76287947e-03 9.98991186e-01 -6.59900395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52320100799999 meters Centerline goodness : 0.883401 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97564718e-01 5.30287234e-02 -4.53055028e-02 8.13100074e+00] [-5.31506215e-02 9.98585396e-01 -1.48935496e-03 -2.64185583e-01] [ 4.51624348e-02 3.89374359e-03 9.98972068e-01 -6.60588711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55320100799999 meters Centerline goodness : 0.879310 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97564957e-01 5.27756736e-02 -4.55947979e-02 8.13238471e+00] [-5.29069371e-02 9.98598041e-01 -1.67611604e-03 -2.64333058e-01] [ 4.54424177e-02 4.08431573e-03 9.98958610e-01 -6.61529031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58320100799999 meters Centerline goodness : 0.879450 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.26, Z:-0.66 [[ 9.97573621e-01 5.23388727e-02 -4.59076490e-02 8.13471953e+00] [-5.24832547e-02 9.98619911e-01 -1.94455762e-03 -2.64896507e-01] [ 4.57425164e-02 4.34922223e-03 9.98943795e-01 -6.63468426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61320100799999 meters Centerline goodness : 0.877318 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97571553e-01 5.20093981e-02 -4.63251562e-02 8.13613975e+00] [-5.21477486e-02 9.98637790e-01 -1.78218985e-03 -2.65919253e-01] [ 4.61693610e-02 4.19361450e-03 9.98924824e-01 -6.63531076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64320100799999 meters Centerline goodness : 0.876032 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97558086e-01 5.20968109e-02 -4.65165365e-02 8.13647400e+00] [-5.22114191e-02 9.98635270e-01 -1.25139251e-03 -2.67770011e-01] [ 4.63878604e-02 3.67703110e-03 9.98916736e-01 -6.62993528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67320100799999 meters Centerline goodness : 0.884842 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97531513e-01 5.26640257e-02 -4.64476121e-02 8.13528909e+00] [-5.26821521e-02 9.98610982e-01 8.34650943e-04 -2.72257257e-01] [ 4.64270516e-02 1.61436955e-03 9.98920379e-01 -6.59789227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.703201008 meters Centerline goodness : 0.885608 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97534055e-01 5.23740879e-02 -4.67200665e-02 8.13620693e+00] [-5.23731599e-02 9.98626808e-01 1.24481146e-03 -2.73287904e-01] [ 4.67211067e-02 1.20513569e-03 9.98907246e-01 -6.59186296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.733201008 meters Centerline goodness : 0.885099 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97540037e-01 5.21673949e-02 -4.68234632e-02 8.13684161e+00] [-5.21649036e-02 9.98637669e-01 1.27598002e-03 -2.73896217e-01] [ 4.68262387e-02 1.16970028e-03 9.98902365e-01 -6.59377494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.763201008 meters Centerline goodness : 0.885568 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97550415e-01 5.17092982e-02 -4.71096359e-02 8.13812544e+00] [-5.16924308e-02 9.98661807e-01 1.57707432e-03 -2.74572926e-01] [ 4.71281436e-02 8.62000448e-04 9.98888480e-01 -6.59050907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.793201008 meters Centerline goodness : 0.888406 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97562565e-01 5.12074287e-02 -4.73996724e-02 8.13940949e+00] [-5.11950732e-02 9.98687583e-01 1.47542516e-03 -2.74616331e-01] [ 4.74130170e-02 9.54800790e-04 9.98874914e-01 -6.59257735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.823201008 meters Centerline goodness : 0.887582 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97574649e-01 5.07260983e-02 -4.76621726e-02 8.14068467e+00] [-5.07216062e-02 9.98711979e-01 1.30446401e-03 -2.73887869e-01] [ 4.76669531e-02 1.11620172e-03 9.98862661e-01 -6.59474522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.853201008 meters Centerline goodness : 0.884838 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97576590e-01 5.03083894e-02 -4.80625929e-02 8.14207227e+00] [-5.03204552e-02 9.98732662e-01 9.59655928e-04 -2.73359425e-01] [ 4.80499601e-02 1.46120126e-03 9.98843865e-01 -6.59907079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88320100799999 meters Centerline goodness : 0.882580 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97586402e-01 4.97985393e-02 -4.83888076e-02 8.14357043e+00] [-4.98264732e-02 9.98757691e-01 6.29526777e-04 -2.72461200e-01] [ 4.83600433e-02 1.78303627e-03 9.98828377e-01 -6.60388967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91320100799999 meters Centerline goodness : 0.882064 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97595083e-01 4.96097990e-02 -4.84036995e-02 8.14411052e+00] [-4.96461833e-02 9.98766766e-01 4.51002940e-04 -2.71425151e-01] [ 4.83663806e-02 1.95314062e-03 9.98827752e-01 -6.60707251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94320100799999 meters Centerline goodness : 0.882092 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.27, Z:-0.66 [[ 9.97604242e-01 4.92563382e-02 -4.85756087e-02 8.14481110e+00] [-4.93046015e-02 9.98783768e-01 2.04864993e-04 -2.69360714e-01] [ 4.85266203e-02 2.19062684e-03 9.98819487e-01 -6.60411635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97320100799999 meters Centerline goodness : 0.882411 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.27, Z:-0.66 [[ 9.97602126e-01 4.89858152e-02 -4.88916023e-02 8.14569805e+00] [-4.90436953e-02 9.98796634e-01 1.58034163e-05 -2.68587258e-01] [ 4.88335419e-02 2.38205932e-03 9.98804090e-01 -6.60260581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00320100799999 meters Centerline goodness : 0.880662 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.27, Z:-0.66 [[ 9.97601719e-01 4.86740822e-02 -4.92101955e-02 8.14655831e+00] [-4.87316283e-02 9.98811908e-01 3.04152110e-05 -2.67814550e-01] [ 4.91532097e-02 2.36775069e-03 9.98788444e-01 -6.59684491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03320100799999 meters Centerline goodness : 0.882715 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.27, Z:-0.66 [[ 9.97598348e-01 4.84453100e-02 -4.95034197e-02 8.14721780e+00] [-4.85057335e-02 9.98822904e-01 -1.92779978e-05 -2.66642854e-01] [ 4.94442155e-02 2.42043138e-03 9.98773954e-01 -6.59133601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.063201008 meters Centerline goodness : 0.881593 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.26, Z:-0.66 [[ 9.97615598e-01 4.80769934e-02 -4.95148551e-02 8.14798022e+00] [-4.81586064e-02 9.98839597e-01 -4.55869109e-04 -2.63443174e-01] [ 4.94354811e-02 2.83934855e-03 9.98773283e-01 -6.59518849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.093201008 meters Centerline goodness : 0.876696 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.26, Z:-0.66 [[ 9.97626366e-01 4.75827058e-02 -4.97746950e-02 8.14929270e+00] [-4.76783315e-02 9.98862471e-01 -7.34942236e-04 -2.62502204e-01] [ 4.96831043e-02 3.10637216e-03 9.98760201e-01 -6.59988399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.123201008 meters Centerline goodness : 0.876228 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.26, Z:-0.66 [[ 9.97634999e-01 4.70088682e-02 -5.01455432e-02 8.15093604e+00] [-4.71060258e-02 9.98889608e-01 -7.56797611e-04 -2.62224825e-01] [ 5.00542858e-02 3.11716503e-03 9.98741634e-01 -6.60094022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.153201008 meters Centerline goodness : 0.867543 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.26, Z:-0.66 [[ 9.97641363e-01 4.61613706e-02 -5.08019547e-02 8.15333916e+00] [-4.62779592e-02 9.98927973e-01 -1.12046759e-03 -2.61629012e-01] [ 5.06957713e-02 3.46883560e-03 9.98708118e-01 -6.60493071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.183201008 meters Centerline goodness : 0.870113 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-0.66 [[ 9.97637842e-01 4.53902946e-02 -5.15602260e-02 8.15557722e+00] [-4.54979000e-02 9.98964016e-01 -9.14577529e-04 -2.61362801e-01] [ 5.14652975e-02 3.25829916e-03 9.98669468e-01 -6.59606225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.213201008 meters Centerline goodness : 0.861424 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-0.66 [[ 9.97640237e-01 4.48628442e-02 -5.19738685e-02 8.15708757e+00] [-4.49826143e-02 9.98987124e-01 -1.13638439e-03 -2.60976251e-01] [ 5.18702440e-02 3.47162328e-03 9.98647799e-01 -6.59790555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24320100799999 meters Centerline goodness : 0.863697 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-0.66 [[ 9.97636474e-01 4.41223444e-02 -5.26752709e-02 8.15940544e+00] [-4.42589002e-02 9.99019074e-01 -1.42817635e-03 -2.60492014e-01] [ 5.25605859e-02 3.75615038e-03 9.98610673e-01 -6.59999075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27320100799999 meters Centerline goodness : 0.859213 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-0.66 [[ 9.97631867e-01 4.36095044e-02 -5.31871212e-02 8.16083857e+00] [-4.37404167e-02 9.99042085e-01 -1.29924977e-03 -2.60881396e-01] [ 5.30795128e-02 3.62259982e-03 9.98583718e-01 -6.59492772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30320100799999 meters Centerline goodness : 0.859935 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-0.66 [[ 9.97630442e-01 4.29592765e-02 -5.37401282e-02 8.16281281e+00] [-4.30926685e-02 9.99070200e-01 -1.32535857e-03 -2.60883807e-01] [ 5.36332242e-02 3.63802358e-03 9.98554076e-01 -6.59516459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33320100799999 meters Centerline goodness : 0.857765 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.26, Z:-0.66 [[ 9.97495200e-01 4.43327318e-02 -5.51174634e-02 8.16936567e+00] [-4.41775130e-02 9.99015561e-01 4.03196478e-03 -2.63386789e-01] [ 5.52419516e-02 -1.58691305e-03 9.98471736e-01 -6.56798947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36320100799999 meters Centerline goodness : 0.855629 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.26, Z:-0.66 [[ 9.97504422e-01 4.37102228e-02 -5.54467697e-02 8.17111424e+00] [-4.35807126e-02 9.99043626e-01 3.54332436e-03 -2.62419278e-01] [ 5.55486214e-02 -1.11807198e-03 9.98455357e-01 -6.57764764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39320100799999 meters Centerline goodness : 0.856342 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.26, Z:-0.66 [[ 9.97510261e-01 4.28377897e-02 -5.60196734e-02 8.17368952e+00] [-4.27413124e-02 9.99081906e-01 2.91973923e-03 -2.61082263e-01] [ 5.60933172e-02 -5.18115479e-04 9.98425396e-01 -6.58841187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42320100799999 meters Centerline goodness : 0.854851 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 9.97323751e-01 4.58434889e-02 -5.69535816e-02 8.17681886e+00] [-4.54788840e-02 9.98935761e-01 7.68220848e-03 -2.63764643e-01] [ 5.72451487e-02 -5.07146364e-03 9.98347271e-01 -6.57009138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.453201008 meters Centerline goodness : 0.856744 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 9.97318577e-01 4.58789253e-02 -5.70156212e-02 8.17692991e+00] [-4.55284467e-02 9.98935399e-01 7.43159300e-03 -2.63051682e-01] [ 5.72958758e-02 -4.81583308e-03 9.98345627e-01 -6.57146695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.483201008 meters Centerline goodness : 0.857952 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 9.97311525e-01 4.57198039e-02 -5.72662320e-02 8.17766823e+00] [-4.53927734e-02 9.98944697e-01 6.99923019e-03 -2.61773634e-01] [ 5.75258022e-02 -4.38093984e-03 9.98334408e-01 -6.57428044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.513201008 meters Centerline goodness : 0.861111 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 0.99709311 0.04947014 -0.05794853 8.17992712] [-0.04889778 0.99874038 0.01125453 -0.2629281 ] [ 0.0584323 -0.00838826 0.99825613 -0.65673209] [ 0. 0. 0. 1. ]] SLAMing on 97.543201008 meters Centerline goodness : 0.857886 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 9.97088299e-01 4.96816540e-02 -5.78503067e-02 8.17996212e+00] [-4.91439480e-02 9.98734588e-01 1.06815465e-02 -2.61204592e-01] [ 5.83077791e-02 -7.80745255e-03 9.98268124e-01 -6.57821059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.573201008 meters Centerline goodness : 0.856814 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.26, Z:-0.66 [[ 0.99686438 0.05333709 -0.05845142 8.18236784] [-0.05255624 0.99850804 0.0148169 -0.26180769] [ 0.0591545 -0.01169846 0.99818029 -0.65763152] [ 0. 0. 0. 1. ]] SLAMing on 97.603201008 meters Centerline goodness : 0.868582 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.32, Z:-0.53 [[ 0.53690146 0.09360656 -0.83843583 8.24449212] [-0.56228207 0.78061368 -0.27291236 -0.32492605] [ 0.62894809 0.61796448 0.47174591 -0.53221698] [ 0. 0. 0. 1. ]] SLAMing on 97.63320100799999 meters Centerline goodness : 0.846622 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.59, Z:-0.46 [[ 0.74627813 0.38707868 -0.54151552 8.27684629] [-0.5566978 0.80893667 -0.18896828 -0.59201848] [ 0.36490617 0.4424834 0.81917759 -0.46232743] [ 0. 0. 0. 1. ]] SLAMing on 97.66320100799999 meters Centerline goodness : 0.850862 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.58, Z:-0.47 [[ 0.74709338 0.39869413 -0.53187825 8.23666265] [-0.5565863 0.81265534 -0.1726354 -0.5774046 ] [ 0.36340498 0.42501091 0.82903712 -0.46892628] [ 0. 0. 0. 1. ]] SLAMing on 97.69320100799999 meters Centerline goodness : 0.856616 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.56, Z:-0.48 [[ 0.74839469 0.40908781 -0.52206566 8.19651911] [-0.55582868 0.81630991 -0.15713885 -0.56202278] [ 0.36188378 0.40778095 0.83830473 -0.47537435] [ 0. 0. 0. 1. ]] SLAMing on 97.72320100799999 meters Centerline goodness : 0.846994 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.55, Z:-0.48 [[ 0.749394 0.41900361 -0.51268372 8.15558507] [-0.555315 0.81942519 -0.14201273 -0.54552847] [ 0.36060211 0.39112445 0.84675131 -0.48250671] [ 0. 0. 0. 1. ]] SLAMing on 97.75320100799999 meters Centerline goodness : 0.845163 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.53, Z:-0.49 [[ 0.75039311 0.42781578 -0.50386887 8.11659924] [-0.55428081 0.82257552 -0.12705232 -0.5293875 ] [ 0.36011522 0.37462403 0.85438508 -0.48937777] [ 0. 0. 0. 1. ]] SLAMing on 97.78320100799999 meters Centerline goodness : 0.844676 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.51, Z:-0.50 [[ 0.75137688 0.4360467 -0.49527372 8.07453682] [-0.55353391 0.82507658 -0.1133528 -0.51095032] [ 0.35921163 0.35932147 0.8613101 -0.49772785] [ 0. 0. 0. 1. ]] SLAMing on 97.813201008 meters Centerline goodness : 0.844408 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.50, Z:-0.50 [[ 0.75282456 0.44372889 -0.48616855 8.03714719] [-0.55188504 0.82804378 -0.09882513 -0.49525588] [ 0.35871728 0.34270713 0.86825903 -0.50395085] [ 0. 0. 0. 1. ]] SLAMing on 97.843201008 meters Centerline goodness : 0.840634 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.48, Z:-0.51 [[ 0.75390064 0.45050421 -0.47820475 7.99451819] [-0.55076144 0.83020208 -0.08617621 -0.4758811 ] [ 0.35818383 0.32834503 0.87401023 -0.51300612] [ 0. 0. 0. 1. ]] SLAMing on 97.873201008 meters Centerline goodness : 0.839658 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.46, Z:-0.52 [[ 0.75528661 0.45672092 -0.4700512 7.95522197] [-0.54904019 0.83258098 -0.07323788 -0.45737508] [ 0.35790642 0.31339259 0.87959541 -0.52160297] [ 0. 0. 0. 1. ]] SLAMing on 97.903201008 meters Centerline goodness : 0.836122 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.44, Z:-0.53 [[ 0.75707234 0.46208817 -0.46186145 7.91476684] [-0.5470096 0.83487444 -0.06136091 -0.43762553] [ 0.35724217 0.29909729 0.88482701 -0.53130958] [ 0. 0. 0. 1. ]] SLAMing on 97.933201008 meters Centerline goodness : 0.836320 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:-0.54 [[ 0.75985022 0.46639829 -0.45287998 7.88042501] [-0.54318769 0.83823136 -0.04811784 -0.42243131] [ 0.35717612 0.28256118 0.89027209 -0.5373433 ] [ 0. 0. 0. 1. ]] SLAMing on 97.963201008 meters Centerline goodness : 0.832911 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.40, Z:-0.55 [[ 0.76212554 0.46991409 -0.44535987 7.84078572] [-0.54015846 0.84073811 -0.03725948 -0.40371654] [ 0.35692226 0.2689613 0.89457606 -0.54617028] [ 0. 0. 0. 1. ]] SLAMing on 97.99320100799999 meters Centerline goodness : 0.834592 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.39, Z:-0.55 [[ 0.76519427 0.47280031 -0.43696407 7.80467914] [-0.53625266 0.84365 -0.02622521 -0.38645608] [ 0.35624545 0.25439052 0.89909657 -0.55368519] [ 0. 0. 0. 1. ]] SLAMing on 98.02320100799999 meters Centerline goodness : 0.828812 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.37, Z:-0.56 [[ 0.76805385 0.47423242 -0.4303451 7.76649893] [-0.53190931 0.84664379 -0.01633354 -0.36750649] [ 0.35660311 0.2414496 0.90251665 -0.56193513] [ 0. 0. 0. 1. ]] SLAMing on 98.05320100799999 meters Centerline goodness : 0.822424 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.34, Z:-0.58 [[ 7.72682173e-01 4.76592404e-01 -4.19311268e-01 7.71501982e+00] [-5.27942367e-01 8.49246180e-01 -7.60145750e-03 -3.36498432e-01] [ 3.52475696e-01 2.27245694e-01 9.07810706e-01 -5.79117051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08320100799999 meters Centerline goodness : 0.824315 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.32, Z:-0.59 [[ 7.75300570e-01 4.79459725e-01 -4.11129418e-01 7.68218620e+00] [-5.24519058e-01 8.51390387e-01 3.76396480e-03 -3.18721426e-01] [ 3.51836304e-01 2.12727011e-01 9.11569215e-01 -5.87876787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11320100799999 meters Centerline goodness : 0.824315 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.30, Z:-0.60 [[ 0.77645864 0.48329782 -0.40439485 7.64296085] [-0.52307847 0.85216788 0.01410028 -0.29732322] [ 0.35142694 0.20058195 0.9144758 -0.59808732] [ 0. 0. 0. 1. ]] SLAMing on 98.14320100799999 meters Centerline goodness : 0.825975 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.27, Z:-0.61 [[ 0.7774365 0.48645202 -0.39869402 7.60346042] [-0.52159248 0.85287062 0.0235158 -0.27440386] [ 0.35147373 0.18967376 0.91678246 -0.60965212] [ 0. 0. 0. 1. ]] SLAMing on 98.17320100799999 meters Centerline goodness : 0.821632 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.25, Z:-0.62 [[ 0.77882202 0.48963051 -0.39204365 7.56514081] [-0.51979437 0.85363388 0.03351129 -0.25239745] [ 0.35106989 0.17768275 0.91933605 -0.62011759] [ 0. 0. 0. 1. ]] SLAMing on 98.203201008 meters Centerline goodness : 0.820020 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.23, Z:-0.63 [[ 0.78021343 0.49263185 -0.38546189 7.52641812] [-0.51795187 0.85430594 0.04344219 -0.23065496] [ 0.35070339 0.16575652 0.92170055 -0.63001353] [ 0. 0. 0. 1. ]] SLAMing on 98.233201008 meters Centerline goodness : 0.822023 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.21, Z:-0.64 [[ 0.78218351 0.49414176 -0.37949028 7.48152639] [-0.51567655 0.85527662 0.0507897 -0.20654818] [ 0.34966648 0.15596737 0.92380059 -0.63979054] [ 0. 0. 0. 1. ]] SLAMing on 98.263201008 meters Centerline goodness : 0.823528 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-0.65 [[ 0.78371786 0.49673165 -0.37288602 7.43899339] [-0.51425504 0.85560969 0.05893906 -0.18283021] [ 0.34832179 0.14556692 0.92600335 -0.65073012] [ 0. 0. 0. 1. ]] SLAMing on 98.293201008 meters Centerline goodness : 0.822760 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.16, Z:-0.66 [[ 0.78517896 0.49986359 -0.36555491 7.39999691] [-0.51288029 0.85572256 0.06850337 -0.16111342] [ 0.34705592 0.1336985 0.92826553 -0.66070905] [ 0. 0. 0. 1. ]] SLAMing on 98.323201008 meters Centerline goodness : 0.824491 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.14, Z:-0.67 [[ 0.78612915 0.50286862 -0.35933843 7.35894649] [-0.5121796 0.85545191 0.07664254 -0.13655271] [ 0.34593787 0.12379488 0.93005474 -0.67298892] [ 0. 0. 0. 1. ]] SLAMing on 98.353201008 meters Centerline goodness : 0.823528 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-0.69 [[ 0.78456927 0.50971268 -0.35304963 7.31651315] [-0.51545887 0.85263781 0.08550388 -0.10867367] [ 0.34460588 0.11489885 0.93168935 -0.68850721] [ 0. 0. 0. 1. ]] SLAMing on 98.38320100799999 meters Centerline goodness : 0.819332 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.08, Z:-0.70 [[ 0.78445566 0.51404666 -0.34696592 7.27672996] [-0.51660573 0.85115432 0.09303146 -0.0827314 ] [ 0.34314406 0.10626552 0.93325227 -0.70364361] [ 0. 0. 0. 1. ]] SLAMing on 98.41320100799999 meters Centerline goodness : 0.821182 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.05, Z:-0.72 [[ 0.78210528 0.52189181 -0.34050003 7.23197884] [-0.52181619 0.84718544 0.09992347 -0.0527712 ] [ 0.34061591 0.09952776 0.9349198 -0.72068305] [ 0. 0. 0. 1. ]] SLAMing on 98.44320100799999 meters Centerline goodness : 0.820883 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.02, Z:-0.74 [[ 0.78230459 0.52558933 -0.33429835 7.1881146 ] [-0.52347222 0.8456118 0.10448694 -0.02463639] [ 0.33760385 0.09325529 0.9366574 -0.7374295 ] [ 0. 0. 0. 1. ]] SLAMing on 98.47320100799999 meters Centerline goodness : 0.824649 Centerline is valid? [False, False] Translation: X:7.14, Y:0.01, Z:-0.76 [[ 0.78288423 0.5277197 -0.32955151 7.14056168] [-0.52494147 0.84458639 0.1054053 0.00735434] [ 0.33395918 0.09047511 0.93823532 -0.75683161] [ 0. 0. 0. 1. ]] SLAMing on 98.50320100799999 meters Centerline goodness : 0.823047 Centerline is valid? [False, False] Translation: X:7.10, Y:0.04, Z:-0.77 [[ 0.78347208 0.5304456 -0.32372668 7.09623881] [-0.52597376 0.84347 0.10913279 0.03571722] [ 0.33094275 0.08476925 0.93983566 -0.77312889] [ 0. 0. 0. 1. ]] SLAMing on 98.53320100799999 meters Centerline goodness : 0.817332 Centerline is valid? [False, False] Translation: X:7.05, Y:0.07, Z:-0.79 [[ 0.78437239 0.53231662 -0.31843206 7.05081445] [-0.52676669 0.84270655 0.11118684 0.06542228] [ 0.32753138 0.08052752 0.94140242 -0.79130735] [ 0. 0. 0. 1. ]] SLAMing on 98.563201008 meters Centerline goodness : 0.818651 Centerline is valid? [False, False] Translation: X:7.00, Y:0.10, Z:-0.81 [[ 0.78420957 0.5357257 -0.3130708 7.00400427] [-0.52901445 0.8409367 0.11388227 0.09616623] [ 0.32428238 0.07631141 0.94287725 -0.81046751] [ 0. 0. 0. 1. ]] SLAMing on 98.593201008 meters Centerline goodness : 0.816685 Centerline is valid? [False, False] Translation: X:6.96, Y:0.12, Z:-0.83 [[ 0.78574778 0.53607716 -0.30858015 6.96241208] [-0.52773581 0.84122579 0.11761836 0.12231901] [ 0.32263809 0.07043043 0.94389841 -0.82650551] [ 0. 0. 0. 1. ]] SLAMing on 98.623201008 meters Centerline goodness : 0.817131 Centerline is valid? [False, False] Translation: X:6.92, Y:0.15, Z:-0.84 [[ 0.78788739 0.53489269 -0.30516107 6.91858727] [-0.525732 0.84228529 0.11900151 0.14968922] [ 0.32068572 0.06667316 0.94483616 -0.84359677] [ 0. 0. 0. 1. ]] SLAMing on 98.653201008 meters Centerline goodness : 0.815535 Centerline is valid? [False, False] Translation: X:6.87, Y:0.18, Z:-0.86 [[ 0.79050557 0.53247917 -0.3026002 6.87431042] [-0.52287037 0.84402545 0.1192796 0.17710683] [ 0.31891617 0.06392949 0.94562439 -0.86087727] [ 0. 0. 0. 1. ]] SLAMing on 98.683201008 meters Centerline goodness : 0.812529 Centerline is valid? [False, False] Translation: X:6.83, Y:0.20, Z:-0.88 [[ 0.79449056 0.52740099 -0.30105306 6.83100427] [-0.51747478 0.84739971 0.11888474 0.20239064] [ 0.31781221 0.06133456 0.94616778 -0.87733222] [ 0. 0. 0. 1. ]] SLAMing on 98.713201008 meters Centerline goodness : 0.810784 Centerline is valid? [False, False] Translation: X:6.79, Y:0.23, Z:-0.89 [[ 0.79809166 0.52334104 -0.29860318 6.7918005 ] [-0.51238453 0.85023538 0.12067267 0.22591652] [ 0.31703595 0.0566918 0.94671762 -0.89261967] [ 0. 0. 0. 1. ]] SLAMing on 98.74320100799999 meters Centerline goodness : 0.808478 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.91 [[ 0.80306433 0.51637507 -0.29739615 6.75249943] [-0.50491508 0.85470183 0.12060487 0.24908587] [ 0.31646238 0.05330633 0.94710612 -0.90834939] [ 0. 0. 0. 1. ]] SLAMing on 98.77320100799999 meters Centerline goodness : 0.807086 Centerline is valid? [False, False] Translation: X:6.71, Y:0.27, Z:-0.92 [[ 0.80638623 0.51284493 -0.29450182 6.7120684 ] [-0.5003803 0.85710323 0.12244837 0.27313431] [ 0.31521549 0.04862223 0.94777375 -0.92364332] [ 0. 0. 0. 1. ]] SLAMing on 98.80320100799999 meters Centerline goodness : 0.808992 Centerline is valid? [False, False] Translation: X:6.67, Y:0.30, Z:-0.94 [[ 0.80972778 0.50914585 -0.29173864 6.67180833] [-0.49566529 0.8595606 0.12438446 0.29669388] [ 0.31409687 0.04388717 0.94837602 -0.93852138] [ 0. 0. 0. 1. ]] SLAMing on 98.83320100799999 meters Centerline goodness : 0.807747 Centerline is valid? [False, False] Translation: X:6.63, Y:0.32, Z:-0.96 [[ 0.81277124 0.50537573 -0.28982456 6.63055229] [-0.49141207 0.86192823 0.12487556 0.32143108] [ 0.31291705 0.04092802 0.94889821 -0.95533627] [ 0. 0. 0. 1. ]] SLAMing on 98.86320100799999 meters Centerline goodness : 0.807170 Centerline is valid? [False, False] Translation: X:6.59, Y:0.34, Z:-0.97 [[ 0.81532904 0.50324499 -0.2863268 6.59143146] [-0.48770409 0.86345072 0.1288316 0.34372974] [ 0.31206294 0.0346026 0.94943108 -0.96931661] [ 0. 0. 0. 1. ]] SLAMing on 98.89320100799999 meters Centerline goodness : 0.803674 Centerline is valid? [False, False] Translation: X:6.55, Y:0.37, Z:-0.99 [[ 0.81684087 0.50242337 -0.28344621 6.55250257] [-0.48546633 0.86412784 0.13268578 0.36681719] [ 0.3115982 0.02922042 0.94976457 -0.98610722] [ 0. 0. 0. 1. ]] SLAMing on 98.92320100799999 meters Centerline goodness : 0.802167 Centerline is valid? [False, False] Translation: X:6.51, Y:0.39, Z:-1.00 [[ 0.81838421 0.50135912 -0.28086706 6.51054333] [-0.48351587 0.86486788 0.13496651 0.3923116 ] [ 0.31057959 0.02534922 0.95020931 -1.00314732] [ 0. 0. 0. 1. ]] SLAMing on 98.953201008 meters Centerline goodness : 0.805288 Centerline is valid? [False, False] Translation: X:6.47, Y:0.42, Z:-1.02 [[ 0.82010477 0.50018461 -0.27792718 6.46775471] [-0.48155431 0.86565112 0.13694371 0.41794983] [ 0.30908511 0.02152884 0.95079067 -1.02001495] [ 0. 0. 0. 1. ]] SLAMing on 98.983201008 meters Centerline goodness : 0.805859 Centerline is valid? [False, False] Translation: X:6.44, Y:0.44, Z:-1.04 [[ 0.82074436 0.49860409 -0.27887749 6.4365633 ] [-0.48192489 0.86640593 0.13072553 0.43857631] [ 0.30680139 0.02710576 0.9513875 -1.03568263] [ 0. 0. 0. 1. ]] SLAMing on 99.013201008 meters Centerline goodness : 0.804477 Centerline is valid? [False, False] Translation: X:6.40, Y:0.46, Z:-1.05 [[ 0.82172561 0.49773469 -0.27753776 6.39923834] [-0.48382126 0.86665409 0.12176896 0.46167507] [ 0.30113787 0.03421799 0.95296648 -1.05267193] [ 0. 0. 0. 1. ]] SLAMing on 99.043201008 meters Centerline goodness : 0.807740 Centerline is valid? [False, False] Translation: X:6.37, Y:0.48, Z:-1.07 [[ 0.82361968 0.49500901 -0.27679722 6.36722003] [-0.4832893 0.86797983 0.11420366 0.48226415] [ 0.29678624 0.03971276 0.95411782 -1.0676831 ] [ 0. 0. 0. 1. ]] SLAMing on 99.073201008 meters Centerline goodness : 0.808947 Centerline is valid? [False, False] Translation: X:6.32, Y:0.51, Z:-1.08 [[ 0.82551119 0.49408146 -0.27279072 6.32049631] [-0.48146379 0.86870106 0.11640915 0.50885398] [ 0.29448919 0.0352418 0.95500478 -1.08185994] [ 0. 0. 0. 1. ]] SLAMing on 99.103201008 meters Centerline goodness : 0.811407 Centerline is valid? [False, False] Translation: X:6.29, Y:0.53, Z:-1.09 [[ 0.82710409 0.49250708 -0.27080548 6.29361629] [-0.48093272 0.86951271 0.1124783 0.52660796] [ 0.29086516 0.03720796 0.95604028 -1.09451626] [ 0. 0. 0. 1. ]] SLAMing on 99.13320100799999 meters Centerline goodness : 0.808558 Centerline is valid? [False, False] Translation: X:6.25, Y:0.55, Z:-1.11 [[ 0.82873776 0.49262973 -0.26553656 6.25198635] [-0.47900219 0.86975988 0.11863666 0.54933227] [ 0.289397 0.02887391 0.95677358 -1.10590218] [ 0. 0. 0. 1. ]] SLAMing on 99.16320100799999 meters Centerline goodness : 0.808452 Centerline is valid? [False, False] Translation: X:6.21, Y:0.58, Z:-1.12 [[ 0.83014649 0.49176601 -0.26272227 6.20799054] [-0.47737566 0.87036329 0.12074862 0.57602501] [ 0.28804388 0.02517818 0.95728615 -1.12266946] [ 0. 0. 0. 1. ]] SLAMing on 99.19320100799999 meters Centerline goodness : 0.808575 Centerline is valid? [False, False] Translation: X:6.17, Y:0.60, Z:-1.14 [[ 0.83196496 0.49014467 -0.25998557 6.16603891] [-0.47488381 0.87138811 0.12315894 0.60085723] [ 0.28691403 0.02099902 0.95772615 -1.13828545] [ 0. 0. 0. 1. ]] SLAMing on 99.22320100799999 meters Centerline goodness : 0.808071 Centerline is valid? [False, False] Translation: X:6.12, Y:0.63, Z:-1.15 [[ 0.8337228 0.48866175 -0.25713031 6.12299676] [-0.47257997 0.87230958 0.12547579 0.62595475] [ 0.28561245 0.0169026 0.95819613 -1.15352199] [ 0. 0. 0. 1. ]] SLAMing on 99.25320100799999 meters Centerline goodness : 0.808641 Centerline is valid? [False, False] Translation: X:6.08, Y:0.65, Z:-1.17 [[ 0.83538745 0.48699916 -0.25487178 6.07701202] [-0.47045316 0.87328859 0.12665251 0.65213363] [ 0.28425628 0.01410131 0.95864463 -1.16916905] [ 0. 0. 0. 1. ]] SLAMing on 99.28320100799999 meters Centerline goodness : 0.810082 Centerline is valid? [False, False] Translation: X:6.05, Y:0.67, Z:-1.18 [[ 0.83867023 0.48084603 -0.25577204 6.04970641] [-0.46640349 0.8765814 0.11862896 0.67021582] [ 0.28124728 0.01980239 0.95943099 -1.18228581] [ 0. 0. 0. 1. ]] SLAMing on 99.313201008 meters Centerline goodness : 0.812730 Centerline is valid? [False, False] Translation: X:6.01, Y:0.70, Z:-1.20 [[ 0.84241175 0.47595508 -0.25260484 6.0062759 ] [-0.46111447 0.87932031 0.11903463 0.69575701] [ 0.27877571 0.01620358 0.96021953 -1.19504897] [ 0. 0. 0. 1. ]] SLAMing on 99.343201008 meters Centerline goodness : 0.811796 Centerline is valid? [False, False] Translation: X:5.97, Y:0.72, Z:-1.21 [[ 0.84616536 0.47064212 -0.25000034 5.96501214] [-0.45498798 0.88225013 0.12091586 0.719904 ] [ 0.27747093 0.01143234 0.96066601 -1.20620479] [ 0. 0. 0. 1. ]] SLAMing on 99.373201008 meters Centerline goodness : 0.813545 Centerline is valid? [False, False] Translation: X:5.95, Y:0.73, Z:-1.22 [[ 0.84759583 0.46768776 -0.25069798 5.94684549] [-0.45214185 0.88381861 0.12013499 0.73407217] [ 0.2777572 0.01152513 0.96058217 -1.21660657] [ 0. 0. 0. 1. ]] SLAMing on 99.403201008 meters Centerline goodness : 0.812822 Centerline is valid? [False, False] Translation: X:5.91, Y:0.76, Z:-1.23 [[ 8.49509002e-01 4.66030111e-01 -2.47286053e-01 5.91150808e+00] [-4.48805739e-01 8.84758491e-01 1.25601836e-01 7.56399294e-01] [ 2.77322673e-01 4.28350945e-03 9.60767291e-01 -1.22970084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.433201008 meters Centerline goodness : 0.810592 Centerline is valid? [False, False] Translation: X:5.89, Y:0.77, Z:-1.24 [[ 8.50810374e-01 4.64069461e-01 -2.46497958e-01 5.89275651e+00] [-4.47286008e-01 8.85785001e-01 1.23774627e-01 7.72346501e-01] [ 2.75784218e-01 4.94635102e-03 9.61206845e-01 -1.24165535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.463201008 meters Centerline goodness : 0.809378 Centerline is valid? [False, False] Translation: X:5.87, Y:0.79, Z:-1.26 [[ 0.85188759 0.4619251 -0.24680507 5.86770781] [-0.44669103 0.8868661 0.11804928 0.79163292] [ 0.27341297 0.00968089 0.96184803 -1.25649009] [ 0. 0. 0. 1. ]] SLAMing on 99.49320100799999 meters Centerline goodness : 0.812899 Centerline is valid? [False, False] Translation: X:5.83, Y:0.82, Z:-1.27 [[ 0.85244428 0.45956249 -0.24928109 5.83333129] [-0.44725034 0.88792372 0.10751092 0.8159096 ] [ 0.27075058 0.01984399 0.96244498 -1.27361469] [ 0. 0. 0. 1. ]] SLAMing on 99.52320100799999 meters Centerline goodness : 0.818016 Centerline is valid? [False, False] Translation: X:5.80, Y:0.84, Z:-1.29 [[ 0.8539514 0.45622219 -0.25025651 5.80225372] [-0.44656562 0.88941217 0.0975968 0.83833634] [ 0.26710701 0.02841304 0.96324791 -1.2906415 ] [ 0. 0. 0. 1. ]] SLAMing on 99.55320100799999 meters Centerline goodness : 0.817363 Centerline is valid? [False, False] Translation: X:5.76, Y:0.87, Z:-1.30 [[ 0.85506628 0.45551845 -0.2477188 5.75571847] [-0.44525844 0.88986681 0.09940817 0.86514766] [ 0.26571899 0.02529831 0.96371854 -1.30469066] [ 0. 0. 0. 1. ]] SLAMing on 99.58320100799999 meters Centerline goodness : 0.818310 Centerline is valid? [False, False] Translation: X:5.73, Y:0.88, Z:-1.32 [[ 0.85629747 0.45408607 -0.24609039 5.73067884] [-0.44491639 0.89051447 0.09504406 0.88388911] [ 0.26230524 0.02810366 0.96457563 -1.31794502] [ 0. 0. 0. 1. ]] SLAMing on 99.61320100799999 meters Centerline goodness : 0.813958 Centerline is valid? [False, False] Translation: X:5.68, Y:0.91, Z:-1.33 [[ 0.85690295 0.45443366 -0.24332569 5.68427964] [-0.44435263 0.89045715 0.09816726 0.91012882] [ 0.26128161 0.02400259 0.96496414 -1.33217219] [ 0. 0. 0. 1. ]] SLAMing on 99.64320100799999 meters Centerline goodness : 0.813583 Centerline is valid? [False, False] Translation: X:5.66, Y:0.93, Z:-1.35 [[ 0.85775847 0.45328541 -0.24245151 5.65702876] [-0.44435028 0.8909442 0.093655 0.92892022] [ 0.25846321 0.02740002 0.96563244 -1.34524298] [ 0. 0. 0. 1. ]] SLAMing on 99.67320100799999 meters Centerline goodness : 0.813939 Centerline is valid? [False, False] Translation: X:5.63, Y:0.95, Z:-1.36 [[ 0.85936385 0.45052942 -0.24190289 5.63048774] [-0.44277791 0.8922286 0.08874596 0.9461806 ] [ 0.25581535 0.03084419 0.96623348 -1.35739915] [ 0. 0. 0. 1. ]] SLAMing on 99.703201008 meters Centerline goodness : 0.812791 Centerline is valid? [False, False] Translation: X:5.59, Y:0.97, Z:-1.37 [[ 0.86129655 0.44809034 -0.23954812 5.58634957] [-0.43964019 0.89357621 0.09076379 0.97026633] [ 0.25472488 0.02714044 0.96663263 -1.37054927] [ 0. 0. 0. 1. ]] SLAMing on 99.733201008 meters Centerline goodness : 0.810526 Centerline is valid? [False, False] Translation: X:5.56, Y:0.99, Z:-1.38 [[ 0.86313556 0.44491074 -0.23885445 5.56124784] [-0.43751183 0.89506955 0.08622003 0.98677167] [ 0.25215157 0.03008207 0.96722007 -1.38243798] [ 0. 0. 0. 1. ]] SLAMing on 99.763201008 meters Centerline goodness : 0.816948 Centerline is valid? [False, False] Translation: X:5.53, Y:1.00, Z:-1.39 [[ 0.86513931 0.44103973 -0.23878428 5.53117247] [-0.43516981 0.89680847 0.07976095 1.0046519 ] [ 0.24932151 0.03490737 0.96779143 -1.39370824] [ 0. 0. 0. 1. ]] SLAMing on 99.793201008 meters Centerline goodness : 0.815190 Centerline is valid? [False, False] Translation: X:5.50, Y:1.02, Z:-1.40 [[ 0.86677904 0.43803456 -0.23836909 5.50120801] [-0.43332719 0.89813273 0.07473386 1.02122984] [ 0.2468231 0.03851406 0.96829491 -1.40439422] [ 0. 0. 0. 1. ]] SLAMing on 99.823201008 meters Centerline goodness : 0.817225 Centerline is valid? [False, False] Translation: X:5.48, Y:1.04, Z:-1.41 [[ 0.86888861 0.43462613 -0.23692343 5.47540993] [-0.43069185 0.89970507 0.07095998 1.03655578] [ 0.24400227 0.04038467 0.96893342 -1.41399504] [ 0. 0. 0. 1. ]] SLAMing on 99.853201008 meters Centerline goodness : 0.817333 Centerline is valid? [False, False] Translation: X:5.43, Y:1.06, Z:-1.42 [[ 0.87076944 0.43284126 -0.23325744 5.43423062] [-0.42726132 0.90087012 0.07668634 1.05717016] [ 0.24332767 0.03288576 0.96938649 -1.42337462] [ 0. 0. 0. 1. ]] SLAMing on 99.88320100799999 meters Centerline goodness : 0.816190 Centerline is valid? [False, False] Translation: X:5.41, Y:1.07, Z:-1.43 [[ 0.87228021 0.43042869 -0.23207409 5.41060109] [-0.42525083 0.90199764 0.0745787 1.07185369] [ 0.2414311 0.03363618 0.96983485 -1.43346141] [ 0. 0. 0. 1. ]] SLAMing on 99.91320100799999 meters Centerline goodness : 0.813591 Centerline is valid? [False, False] Translation: X:5.39, Y:1.09, Z:-1.44 [[ 0.87349477 0.42844338 -0.23117775 5.38541216] [-0.42361753 0.90291443 0.07275795 1.0863687 ] [ 0.23990639 0.03437726 0.97018716 -1.44296268] [ 0. 0. 0. 1. ]] SLAMing on 99.94320100799999 meters Centerline goodness : 0.815863 Centerline is valid? [False, False] Translation: X:5.36, Y:1.10, Z:-1.45 [[ 0.87463156 0.42614075 -0.23113565 5.3601441 ] [-0.42179018 0.9039475 0.07051214 1.10077568] [ 0.23898259 0.0358186 0.970363 -1.45253047] [ 0. 0. 0. 1. ]] SLAMing on 99.97320100799999 meters Centerline goodness : 0.816461 Centerline is valid? [False, False] Translation: X:5.32, Y:1.12, Z:-1.46 [[ 0.87608272 0.42416775 -0.2292614 5.31704914] [-0.41877768 0.90505261 0.07419584 1.12207036] [ 0.23896511 0.03100786 0.97053294 -1.46374945] [ 0. 0. 0. 1. ]] SLAMing on 100.00320100799999 meters Centerline goodness : 0.816461 Centerline is valid? [False, False] Translation: X:5.29, Y:1.14, Z:-1.48 [[ 0.87787004 0.42098078 -0.22829666 5.29241386] [-0.41652234 0.90643991 0.06982711 1.13740683] [ 0.23633308 0.03379153 0.97108435 -1.47517082] [ 0. 0. 0. 1. ]] SLAMing on 100.03320100799999 meters Centerline goodness : 0.816648 Centerline is valid? [False, False] Translation: X:5.27, Y:1.15, Z:-1.49 [[ 0.87906223 0.41893495 -0.22747112 5.26574442] [-0.4151653 0.90730605 0.06658464 1.15273692] [ 0.23428056 0.03590607 0.97150573 -1.4851736 ] [ 0. 0. 0. 1. ]] SLAMing on 100.063201008 meters Centerline goodness : 0.816188 Centerline is valid? [False, False] Translation: X:5.24, Y:1.17, Z:-1.49 [[ 0.88010256 0.41760198 -0.22589392 5.23904238] [-0.41421693 0.90788627 0.0645512 1.16785321] [ 0.2320427 0.03675741 0.97201084 -1.49364686] [ 0. 0. 0. 1. ]] SLAMing on 100.093201008 meters Centerline goodness : 0.816172 Centerline is valid? [False, False] Translation: X:5.19, Y:1.19, Z:-1.50 [[ 0.8813502 0.41679052 -0.2225028 5.19384479] [-0.41225229 0.90847003 0.06877693 1.18943829] [ 0.23080269 0.03111073 0.97250308 -1.50348496] [ 0. 0. 0. 1. ]] SLAMing on 100.123201008 meters Centerline goodness : 0.821323 Centerline is valid? [False, False] Translation: X:5.17, Y:1.21, Z:-1.51 [[ 0.88187787 0.41655719 -0.22084278 5.1664577 ] [-0.41243485 0.90853842 0.06674903 1.20565783] [ 0.22844894 0.03221876 0.97302263 -1.51272096] [ 0. 0. 0. 1. ]] SLAMing on 100.153201008 meters Centerline goodness : 0.817174 Centerline is valid? [False, False] Translation: X:5.14, Y:1.22, Z:-1.52 [[ 0.88277555 0.41557921 -0.21909186 5.14096602] [-0.41181857 0.90895785 0.06481584 1.22097581] [ 0.22608138 0.03300826 0.973549 -1.52231858] [ 0. 0. 0. 1. ]] SLAMing on 100.183201008 meters Centerline goodness : 0.819657 Centerline is valid? [False, False] Translation: X:5.12, Y:1.24, Z:-1.53 [[ 0.88260422 0.41668058 -0.21768575 5.115007 ] [-0.41249366 0.90852348 0.06658884 1.23509752] [ 0.22551889 0.0310224 0.97374475 -1.52865782] [ 0. 0. 0. 1. ]] SLAMing on 100.213201008 meters Centerline goodness : 0.816476 Centerline is valid? [False, False] Translation: X:5.09, Y:1.25, Z:-1.54 [[ 0.88396065 0.41443858 -0.2164584 5.08870501] [-0.41072689 0.90950484 0.06406537 1.2496233 ] [ 0.22342112 0.03227402 0.97418755 -1.53729623] [ 0. 0. 0. 1. ]] SLAMing on 100.24320100799999 meters Centerline goodness : 0.818978 Centerline is valid? [False, False] Translation: X:5.06, Y:1.26, Z:-1.54 [[ 0.88575194 0.41169137 -0.21436819 5.06296393] [-0.40826649 0.91074469 0.06214962 1.26305036] [ 0.22082115 0.0324702 0.97477367 -1.54442016] [ 0. 0. 0. 1. ]] SLAMing on 100.27320100799999 meters Centerline goodness : 0.817993 Centerline is valid? [False, False] Translation: X:5.04, Y:1.28, Z:-1.55 [[ 0.88779617 0.40826766 -0.21245111 5.0372412 ] [-0.40513008 0.91227774 0.06015768 1.27593352] [ 0.21837486 0.03266258 0.97531819 -1.55094664] [ 0. 0. 0. 1. ]] SLAMing on 100.30320100799999 meters Centerline goodness : 0.819859 Centerline is valid? [False, False] Translation: X:5.01, Y:1.29, Z:-1.56 [[ 0.88980442 0.40459167 -0.21107741 5.01106197] [-0.40179219 0.91389379 0.05797562 1.28859166] [ 0.21635879 0.03322229 0.97574851 -1.55767436] [ 0. 0. 0. 1. ]] SLAMing on 100.33320100799999 meters Centerline goodness : 0.821240 Centerline is valid? [False, False] Translation: X:4.98, Y:1.30, Z:-1.56 [[ 0.89426055 0.3979262 -0.20482385 4.9805006 ] [-0.39360141 0.91710215 0.06325805 1.30117461] [ 0.21301643 0.02404978 0.97675258 -1.56365135] [ 0. 0. 0. 1. ]] SLAMing on 100.36320100799999 meters Centerline goodness : 0.820414 Centerline is valid? [False, False] Translation: X:4.96, Y:1.31, Z:-1.57 [[ 0.89463628 0.39618565 -0.20654987 4.96083189] [-0.39076094 0.91795975 0.06823325 1.30787443] [ 0.21663751 0.01966768 0.97605398 -1.56539619] [ 0. 0. 0. 1. ]] SLAMing on 100.39320100799999 meters Centerline goodness : 0.821924 Centerline is valid? [False, False] Translation: X:4.94, Y:1.32, Z:-1.57 [[ 0.89603652 0.39297925 -0.20660557 4.93544009] [-0.38791181 0.91931246 0.06624981 1.32010716] [ 0.21596987 0.02078249 0.97617883 -1.57307265] [ 0. 0. 0. 1. ]] SLAMing on 100.42320100799999 meters Centerline goodness : 0.821057 Centerline is valid? [False, False] Translation: X:4.91, Y:1.33, Z:-1.58 [[ 0.8975062 0.38995592 -0.20595388 4.91053057] [-0.38528368 0.92057361 0.06403689 1.3330291 ] [ 0.21456727 0.02187716 0.97646417 -1.58136716] [ 0. 0. 0. 1. ]] SLAMing on 100.453201008 meters Centerline goodness : 0.817837 Centerline is valid? [False, False] Translation: X:4.88, Y:1.35, Z:-1.59 [[ 0.89869981 0.38759052 -0.20521266 4.88499874] [-0.38330065 0.92154474 0.0619347 1.34640116] [ 0.21311795 0.02299744 0.97675578 -1.58986081] [ 0. 0. 0. 1. ]] SLAMing on 100.483201008 meters Centerline goodness : 0.822357 Centerline is valid? [False, False] Translation: X:4.86, Y:1.36, Z:-1.60 [[ 0.89950698 0.38619843 -0.20429871 4.85751718] [-0.38233491 0.92209284 0.05970612 1.36018529] [ 0.21144079 0.02440446 0.97708608 -1.59854934] [ 0. 0. 0. 1. ]] SLAMing on 100.513201008 meters Centerline goodness : 0.824157 Centerline is valid? [False, False] Translation: X:4.83, Y:1.37, Z:-1.60 [[ 0.8996084 0.38620167 -0.2038455 4.83459507] [-0.38132327 0.9222006 0.06433205 1.36895662] [ 0.21283159 0.01985738 0.9768871 -1.60083794] [ 0. 0. 0. 1. ]] SLAMing on 100.543201008 meters Centerline goodness : 0.818252 Centerline is valid? [False, False] Translation: X:4.81, Y:1.38, Z:-1.61 [[ 0.90072039 0.38453608 -0.20207619 4.80806325] [-0.38021147 0.922859 0.06140437 1.38270245] [ 0.21010003 0.02152352 0.97744295 -1.61027517] [ 0. 0. 0. 1. ]] SLAMing on 100.573201008 meters Centerline goodness : 0.823620 Centerline is valid? [False, False] Translation: X:4.78, Y:1.40, Z:-1.62 [[ 0.90154819 0.38356611 -0.20021962 4.78206668] [-0.37951116 0.92325033 0.05983402 1.39580938] [ 0.20780314 0.02204233 0.97792228 -1.61867911] [ 0. 0. 0. 1. ]] SLAMing on 100.60320100799998 meters Centerline goodness : 0.831129 Centerline is valid? [False, False] Translation: X:4.75, Y:1.41, Z:-1.63 [[ 0.90137958 0.38516638 -0.19789317 4.75403236] [-0.38120627 0.92258545 0.05931153 1.41031263] [ 0.20541817 0.02197591 0.97842753 -1.62713502] [ 0. 0. 0. 1. ]] SLAMing on 100.63320100799999 meters Centerline goodness : 0.824234 Centerline is valid? [False, False] Translation: X:4.73, Y:1.43, Z:-1.64 [[ 0.90218932 0.38471549 -0.19506003 4.72534137] [-0.38122182 0.92274337 0.05669746 1.42523163] [ 0.20180274 0.0232093 0.97915115 -1.63639233] [ 0. 0. 0. 1. ]] SLAMing on 100.66320100799999 meters Centerline goodness : 0.823346 Centerline is valid? [False, False] Translation: X:4.70, Y:1.44, Z:-1.64 [[ 0.90307136 0.38436753 -0.19163435 4.69748043] [-0.38106374 0.92289202 0.05532399 1.43897053] [ 0.19812256 0.02306339 0.97990588 -1.64429435] [ 0. 0. 0. 1. ]] SLAMing on 100.69320100799999 meters Centerline goodness : 0.819118 Centerline is valid? [False, False] Translation: X:4.67, Y:1.45, Z:-1.65 [[ 0.90374677 0.38417537 -0.18881488 4.66653479] [-0.38135588 0.9229343 0.05253545 1.45308503] [ 0.19444656 0.02452692 0.98060643 -1.65313143] [ 0. 0. 0. 1. ]] SLAMing on 100.72320100799999 meters Centerline goodness : 0.819884 Centerline is valid? [False, False] Translation: X:4.64, Y:1.47, Z:-1.66 [[ 0.90510861 0.38227658 -0.18612637 4.63862742] [-0.37966948 0.92372064 0.05090441 1.46553078] [ 0.19138834 0.02459248 0.98120625 -1.65998182] [ 0. 0. 0. 1. ]] SLAMing on 100.75320100799999 meters Centerline goodness : 0.820050 Centerline is valid? [False, False] Translation: X:4.61, Y:1.48, Z:-1.67 [[ 0.90670561 0.37965266 -0.18370844 4.61483315] [-0.37691625 0.92484287 0.05098826 1.47631414] [ 0.18925926 0.02301136 0.98165748 -1.66540047] [ 0. 0. 0. 1. ]] SLAMing on 100.78320100799999 meters Centerline goodness : 0.825041 Centerline is valid? [False, False] Translation: X:4.59, Y:1.49, Z:-1.67 [[ 0.90844658 0.3767036 -0.18116073 4.5903681 ] [-0.37406942 0.92606072 0.04983595 1.48778436] [ 0.18653921 0.02249339 0.98218999 -1.67194397] [ 0. 0. 0. 1. ]] SLAMing on 100.813201008 meters Centerline goodness : 0.821972 Centerline is valid? [False, False] Translation: X:4.57, Y:1.49, Z:-1.67 [[ 0.91007461 0.37260555 -0.18146435 4.56750593] [-0.36950334 0.92777835 0.05190966 1.49462708] [ 0.18770053 0.01981002 0.98202651 -1.67330752] [ 0. 0. 0. 1. ]] SLAMing on 100.843201008 meters Centerline goodness : 0.823086 Centerline is valid? [False, False] Translation: X:4.54, Y:1.50, Z:-1.68 [[ 0.91218689 0.36818931 -0.17986578 4.54202846] [-0.36534942 0.92953162 0.04990755 1.50486419] [ 0.18556636 0.02018885 0.98242432 -1.67899572] [ 0. 0. 0. 1. ]] SLAMing on 100.873201008 meters Centerline goodness : 0.826133 Centerline is valid? [False, False] Translation: X:4.52, Y:1.51, Z:-1.68 [[ 0.91280682 0.36564816 -0.18189319 4.52112981] [-0.36185424 0.93061982 0.0548476 1.50969834] [ 0.18932833 0.01575356 0.98178746 -1.67895914] [ 0. 0. 0. 1. ]] SLAMing on 100.903201008 meters Centerline goodness : 0.828159 Centerline is valid? [False, False] Translation: X:4.50, Y:1.51, Z:-1.68 [[ 0.91314058 0.36384224 -0.18382902 4.50118873] [-0.35870966 0.9314107 0.06165624 1.51360027] [ 0.19365347 0.00964043 0.98102263 -1.67754804] [ 0. 0. 0. 1. ]] SLAMing on 100.933201008 meters Centerline goodness : 0.823952 Centerline is valid? [False, False] Translation: X:4.50, Y:1.51, Z:-1.68 [[ 0.91455609 0.35963557 -0.18506597 4.50121776] [-0.35522092 0.93300223 0.05766231 1.51424918] [ 0.19340439 0.01300389 0.98103295 -1.67849628] [ 0. 0. 0. 1. ]] SLAMing on 100.963201008 meters Centerline goodness : 0.823070 Centerline is valid? [False, False] Translation: X:4.48, Y:1.52, Z:-1.68 [[ 0.91667495 0.35550002 -0.18255619 4.47707231] [-0.35110795 0.93460075 0.05696178 1.52416797] [ 0.19086706 0.01188149 0.98154398 -1.68377441] [ 0. 0. 0. 1. ]] SLAMing on 100.99320100799999 meters Centerline goodness : 0.828802 Centerline is valid? [False, False] Translation: X:4.45, Y:1.53, Z:-1.69 [[ 0.91910069 0.3519593 -0.17713998 4.45492533] [-0.34702764 0.93598826 0.05914213 1.53123941] [ 0.18661656 0.0071149 0.98240706 -1.68613534] [ 0. 0. 0. 1. ]] SLAMing on 101.02320100799999 meters Centerline goodness : 0.832732 Centerline is valid? [False, False] Translation: X:4.45, Y:1.53, Z:-1.69 [[ 0.91900302 0.35232648 -0.17691665 4.45397961] [-0.34727757 0.93585462 0.05978652 1.52991379] [ 0.18663264 0.00649519 0.9824083 -1.68529443] [ 0. 0. 0. 1. ]] SLAMing on 101.05320100799999 meters Centerline goodness : 0.827074 Centerline is valid? [False, False] Translation: X:4.43, Y:1.54, Z:-1.69 [[ 0.92111101 0.34912098 -0.17224704 4.42986773] [-0.34422371 0.93706217 0.05851951 1.5405666 ] [ 0.18183657 0.00538855 0.983314 -1.69153504] [ 0. 0. 0. 1. ]] SLAMing on 101.08320100799999 meters Centerline goodness : 0.834563 Centerline is valid? [False, False] Translation: X:4.43, Y:1.54, Z:-1.69 [[ 9.20766958e-01 3.50368879e-01 -1.71551324e-01 4.42706224e+00] [-3.45299720e-01 9.36601422e-01 5.95472967e-02 1.53890812e+00] [ 1.81538734e-01 4.40744097e-03 9.83373918e-01 -1.69046663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11320100799999 meters Centerline goodness : 0.832318 Centerline is valid? [False, False] Translation: X:4.40, Y:1.55, Z:-1.70 [[ 0.92194028 0.34855638 -0.16892181 4.39824583] [-0.34406235 0.9372663 0.05615148 1.55196535] [ 0.17789667 0.00635133 0.98402868 -1.69985412] [ 0. 0. 0. 1. ]] SLAMing on 101.14320100799999 meters Centerline goodness : 0.831546 Centerline is valid? [False, False] Translation: X:4.37, Y:1.56, Z:-1.71 [[ 0.92291507 0.34782879 -0.16505429 4.37275516] [-0.34324955 0.93754695 0.05643986 1.56229976] [ 0.17437755 0.00456561 0.98466828 -1.70639285] [ 0. 0. 0. 1. ]] SLAMing on 101.17320100799999 meters Centerline goodness : 0.833358 Centerline is valid? [False, False] Translation: X:4.35, Y:1.57, Z:-1.71 [[ 0.92503236 0.34418731 -0.16078005 4.34641282] [-0.33999144 0.93888824 0.05380225 1.57349193] [ 0.16947255 0.00489502 0.98552275 -1.71281667] [ 0. 0. 0. 1. ]] SLAMing on 101.203201008 meters Centerline goodness : 0.835706 Centerline is valid? [False, False] Translation: X:4.32, Y:1.58, Z:-1.72 [[ 9.27411116e-01 3.40112995e-01 -1.55665576e-01 4.32151469e+00] [-3.36094299e-01 9.40376728e-01 5.22707540e-02 1.58338534e+00] [ 1.64162248e-01 3.84183442e-03 9.86425870e-01 -1.71742524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.233201008 meters Centerline goodness : 0.836074 Centerline is valid? [False, False] Translation: X:4.30, Y:1.59, Z:-1.72 [[ 9.27547906e-01 3.38884596e-01 -1.57518612e-01 4.30255015e+00] [-3.33889164e-01 9.40827197e-01 5.79845742e-02 1.58966482e+00] [ 1.67847873e-01 -1.18971280e-03 9.85812191e-01 -1.71855605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.263201008 meters Centerline goodness : 0.834640 Centerline is valid? [False, False] Translation: X:4.28, Y:1.60, Z:-1.72 [[ 0.92767909 0.33789091 -0.15887493 4.2829549 ] [-0.33177991 0.94115935 0.06435195 1.59555371] [ 0.17127057 -0.00698645 0.98519926 -1.71875441] [ 0. 0. 0. 1. ]] SLAMing on 101.293201008 meters Centerline goodness : 0.831759 Centerline is valid? [False, False] Translation: X:4.28, Y:1.59, Z:-1.72 [[ 0.92784689 0.33734361 -0.15905794 4.2846421 ] [-0.33120349 0.94135455 0.0644659 1.59471889] [ 0.17147708 -0.00713393 0.98516228 -1.71898003] [ 0. 0. 0. 1. ]] SLAMing on 101.323201008 meters Centerline goodness : 0.832823 Centerline is valid? [False, False] Translation: X:4.26, Y:1.61, Z:-1.73 [[ 0.93047165 0.33250008 -0.15383823 4.26115755] [-0.32681149 0.94307659 0.06165055 1.60624822] [ 0.16558005 -0.00708799 0.98617088 -1.72525465] [ 0. 0. 0. 1. ]] SLAMing on 101.35320100799998 meters Centerline goodness : 0.824606 Centerline is valid? [False, False] Translation: X:4.24, Y:1.62, Z:-1.73 [[ 0.93319423 0.32718963 -0.1486455 4.23768604] [-0.32193687 0.94493255 0.05881442 1.61715746] [ 0.15970344 -0.00703081 0.98714 -1.73067514] [ 0. 0. 0. 1. ]] SLAMing on 101.38320100799999 meters Centerline goodness : 0.830431 Centerline is valid? [False, False] Translation: X:4.24, Y:1.62, Z:-1.73 [[ 9.34241321e-01 3.23846339e-01 -1.49387762e-01 4.23634672e+00] [-3.19179126e-01 9.46102805e-01 5.49014271e-02 1.61993943e+00] [ 1.59115807e-01 -3.60972631e-03 9.87253326e-01 -1.73087611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41320100799999 meters Centerline goodness : 0.827587 Centerline is valid? [False, False] Translation: X:4.21, Y:1.63, Z:-1.74 [[ 0.93544823 0.32233321 -0.14504451 4.21225815] [-0.31767683 0.94661187 0.05483978 1.63234906] [ 0.15497753 -0.0052225 0.98790419 -1.73655868] [ 0. 0. 0. 1. ]] SLAMing on 101.44320100799999 meters Centerline goodness : 0.827753 Centerline is valid? [False, False] Translation: X:4.19, Y:1.64, Z:-1.74 [[ 0.93636741 0.32088732 -0.1422934 4.18840761] [-0.31630899 0.94709923 0.05432933 1.64428726] [ 0.15219956 -0.00586354 0.98833239 -1.74356817] [ 0. 0. 0. 1. ]] SLAMing on 101.47320100799999 meters Centerline goodness : 0.830511 Centerline is valid? [False, False] Translation: X:4.19, Y:1.65, Z:-1.74 [[ 0.93630826 0.32098895 -0.14245328 4.18916289] [-0.31649446 0.94706825 0.05378656 1.64588357] [ 0.15217787 -0.00527513 0.98833905 -1.74449541] [ 0. 0. 0. 1. ]] SLAMing on 101.50320100799999 meters Centerline goodness : 0.831815 Centerline is valid? [False, False] Translation: X:4.17, Y:1.66, Z:-1.75 [[ 0.93725711 0.3194958 -0.13954049 4.16728256] [-0.31484966 0.94755863 0.05479353 1.65610403] [ 0.1497291 -0.00742135 0.98869921 -1.75024415] [ 0. 0. 0. 1. ]] SLAMing on 101.53320100799999 meters Centerline goodness : 0.830883 Centerline is valid? [False, False] Translation: X:4.14, Y:1.67, Z:-1.76 [[ 0.93771218 0.31870675 -0.13828188 4.13972086] [-0.31460136 0.94784271 0.05118775 1.67004456] [ 0.14738336 -0.00449571 0.98906923 -1.75880876] [ 0. 0. 0. 1. ]] SLAMing on 101.563201008 meters Centerline goodness : 0.832854 Centerline is valid? [False, False] Translation: X:4.11, Y:1.68, Z:-1.77 [[ 9.38917072e-01 3.16430687e-01 -1.35300967e-01 4.11196903e+00] [-3.12783222e-01 9.48611695e-01 4.79844537e-02 1.68261971e+00] [ 1.43531833e-01 -2.73355052e-03 9.89641925e-01 -1.76602114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.593201008 meters Centerline goodness : 0.832361 Centerline is valid? [False, False] Translation: X:4.11, Y:1.68, Z:-1.77 [[ 9.38872979e-01 3.16520377e-01 -1.35397123e-01 4.11219693e+00] [-3.12881974e-01 9.48582055e-01 4.79265640e-02 1.68337755e+00] [ 1.43605016e-01 -2.63363667e-03 9.89631580e-01 -1.76588474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.623201008 meters Centerline goodness : 0.835367 Centerline is valid? [False, False] Translation: X:4.11, Y:1.68, Z:-1.77 [[ 9.39026699e-01 3.16295370e-01 -1.34855839e-01 4.11179030e+00] [-3.12687672e-01 9.48657110e-01 4.77085694e-02 1.68425487e+00] [ 1.43021950e-01 -2.63186220e-03 9.89716017e-01 -1.76598578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.653201008 meters Centerline goodness : 0.832351 Centerline is valid? [False, False] Translation: X:4.11, Y:1.69, Z:-1.77 [[ 9.40456554e-01 3.11400138e-01 -1.36277015e-01 4.11314407e+00] [-3.08367224e-01 9.50278082e-01 4.33730491e-02 1.68581452e+00] [ 1.43007434e-01 1.23289653e-03 9.89720846e-01 -1.76651564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.683201008 meters Centerline goodness : 0.836351 Centerline is valid? [False, False] Translation: X:4.09, Y:1.70, Z:-1.77 [[ 9.43168318e-01 3.04939350e-01 -1.32081480e-01 4.09094649e+00] [-3.02180237e-01 9.52370897e-01 4.09484862e-02 1.69525843e+00] [ 1.38277363e-01 1.29109806e-03 9.90392702e-01 -1.77118527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.713201008 meters Centerline goodness : 0.834821 Centerline is valid? [False, False] Translation: X:4.09, Y:1.69, Z:-1.77 [[ 9.43372815e-01 3.04109686e-01 -1.32533133e-01 4.09270156e+00] [-3.01258860e-01 9.52636744e-01 4.15491701e-02 1.69350352e+00] [ 1.38891437e-01 7.30423037e-04 9.90307344e-01 -1.76984641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74320100799999 meters Centerline goodness : 0.831383 Centerline is valid? [False, False] Translation: X:4.09, Y:1.69, Z:-1.77 [[ 9.43522476e-01 3.03405468e-01 -1.33080649e-01 4.09445576e+00] [-3.00519335e-01 9.52861356e-01 4.17536171e-02 1.69216404e+00] [ 1.39475683e-01 5.97831886e-04 9.90225316e-01 -1.76951915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77320100799999 meters Centerline goodness : 0.834101 Centerline is valid? [False, False] Translation: X:4.10, Y:1.69, Z:-1.77 [[ 9.43650888e-01 3.02755505e-01 -1.33649189e-01 4.09624276e+00] [-2.99850804e-01 9.53068075e-01 4.18418427e-02 1.69155303e+00] [ 1.40044623e-01 5.90724687e-04 9.90145017e-01 -1.76923148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80320100799999 meters Centerline goodness : 0.832461 Centerline is valid? [False, False] Translation: X:4.10, Y:1.69, Z:-1.77 [[ 9.43759584e-01 3.02601685e-01 -1.33229381e-01 4.09628384e+00] [-2.99609128e-01 9.53117096e-01 4.24519962e-02 1.69233946e+00] [ 1.39829247e-01 -1.47739516e-04 9.90175621e-01 -1.76740253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83320100799999 meters Centerline goodness : 0.832793 Centerline is valid? [False, False] Translation: X:4.07, Y:1.70, Z:-1.77 [[ 9.45822864e-01 2.98680707e-01 -1.27314357e-01 4.07249891e+00] [-2.95972855e-01 9.54353059e-01 4.01286464e-02 1.70364713e+00] [ 1.33488498e-01 -2.72997622e-04 9.91050325e-01 -1.77340067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86320100799999 meters Centerline goodness : 0.835209 Centerline is valid? [False, False] Translation: X:4.07, Y:1.70, Z:-1.77 [[ 9.45770684e-01 2.98956965e-01 -1.27053321e-01 4.07165476e+00] [-2.96192751e-01 9.54266311e-01 4.05667442e-02 1.70382270e+00] [ 1.33370415e-01 -7.34564699e-04 9.91065988e-01 -1.77228468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89320100799999 meters Centerline goodness : 0.835749 Centerline is valid? [False, False] Translation: X:4.07, Y:1.70, Z:-1.77 [[ 9.45741638e-01 2.99121215e-01 -1.26882832e-01 4.07127927e+00] [-2.96348557e-01 9.54214757e-01 4.06414900e-02 1.70442509e+00] [ 1.33230203e-01 -8.34804963e-04 9.91084767e-01 -1.77184065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92320100799999 meters Centerline goodness : 0.835749 Centerline is valid? [False, False] Translation: X:4.07, Y:1.70, Z:-1.77 [[ 9.45742144e-01 2.99119898e-01 -1.26882164e-01 4.07128497e+00] [-2.96351613e-01 9.54215196e-01 4.06088786e-02 1.70450120e+00] [ 1.33219813e-01 -8.03793926e-04 9.91086190e-01 -1.77186536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.953201008 meters Centerline goodness : 0.837145 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 9.47381681e-01 2.96068695e-01 -1.21701597e-01 4.04492786e+00] [-2.93643386e-01 9.55166645e-01 3.78185435e-02 1.71638781e+00] [ 1.27442193e-01 -9.17262964e-05 9.91845996e-01 -1.77822559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.983201008 meters Centerline goodness : 0.836945 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47389800e-01 2.95963265e-01 -1.21894676e-01 4.04567072e+00] [-2.93550721e-01 9.55199321e-01 3.77124827e-02 1.71655210e+00] [ 1.27595221e-01 5.38486631e-05 9.91826324e-01 -1.77849788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.013201008 meters Centerline goodness : 0.836224 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47404932e-01 2.95822079e-01 -1.22119583e-01 4.04660920e+00] [-2.93437050e-01 9.55243004e-01 3.74900043e-02 1.71668731e+00] [ 1.27744248e-01 3.16195216e-04 9.91807092e-01 -1.77908047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.043201008 meters Centerline goodness : 0.839058 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47310161e-01 2.96079377e-01 -1.22231179e-01 4.04677621e+00] [-2.93711717e-01 9.55163209e-01 3.73720817e-02 1.71692580e+00] [ 1.27815828e-01 4.97776758e-04 9.91797795e-01 -1.77938997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.073201008 meters Centerline goodness : 0.837434 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47261113e-01 2.96134564e-01 -1.22477357e-01 4.04753260e+00] [-2.93782619e-01 9.55145979e-01 3.72549456e-02 1.71736522e+00] [ 1.28016232e-01 6.91557557e-04 9.91771832e-01 -1.77967128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10320100799998 meters Centerline goodness : 0.836742 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47212531e-01 2.96209733e-01 -1.22671167e-01 4.04837241e+00] [-2.93911413e-01 9.55122224e-01 3.68458716e-02 1.71883203e+00] [ 1.28080064e-01 1.15358474e-03 9.91763160e-01 -1.78039323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13320100799999 meters Centerline goodness : 0.845256 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47098316e-01 2.96643707e-01 -1.22504246e-01 4.04839466e+00] [-2.94396299e-01 9.54987021e-01 3.64775202e-02 1.72055348e+00] [ 1.27810792e-01 1.51699873e-03 9.91797409e-01 -1.78128694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16320100799999 meters Centerline goodness : 0.840731 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.47010471e-01 2.96861505e-01 -1.22655678e-01 4.04901281e+00] [-2.94657042e-01 9.54918660e-01 3.61604670e-02 1.72233840e+00] [ 1.27860846e-01 1.89701832e-03 9.91790303e-01 -1.78170308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19320100799999 meters Centerline goodness : 0.842046 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.46885525e-01 2.97286588e-01 -1.22590730e-01 4.04867832e+00] [-2.95085361e-01 9.54786335e-01 3.61619106e-02 1.72307658e+00] [ 1.27798405e-01 1.93353998e-03 9.91798280e-01 -1.78166461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22320100799999 meters Centerline goodness : 0.844669 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.46609724e-01 2.98232237e-01 -1.22423701e-01 4.04720010e+00] [-2.96007685e-01 9.54491678e-01 3.64017387e-02 1.72375441e+00] [ 1.27708575e-01 1.78011640e-03 9.91810139e-01 -1.78091040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25320100799999 meters Centerline goodness : 0.848635 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 9.46464189e-01 2.98832406e-01 -1.22084940e-01 4.04599394e+00] [-2.96582988e-01 9.54304365e-01 3.66293512e-02 1.72481707e+00] [ 1.27452229e-01 1.53994725e-03 9.91843515e-01 -1.78013734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28320100799999 meters Centerline goodness : 0.847730 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 9.46326466e-01 2.99449646e-01 -1.21639344e-01 4.04463989e+00] [-2.97170558e-01 9.54111309e-01 3.68953763e-02 1.72606386e+00] [ 1.27105781e-01 1.23256083e-03 9.91888402e-01 -1.77934269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.313201008 meters Centerline goodness : 0.846571 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 9.46203528e-01 3.00144335e-01 -1.20881192e-01 4.04278022e+00] [-2.97811495e-01 9.53893574e-01 3.73545719e-02 1.72709480e+00] [ 1.26519555e-01 6.54780755e-04 9.91963897e-01 -1.77841263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.343201008 meters Centerline goodness : 0.846771 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 9.46206105e-01 3.00101652e-01 -1.20966957e-01 4.04292003e+00] [-2.97729280e-01 9.53907152e-01 3.76619367e-02 1.72658513e+00] [ 1.26693655e-01 3.79450602e-04 9.91941820e-01 -1.77783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.373201008 meters Centerline goodness : 0.848186 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.9472145 0.29653963 -0.12185619 4.04218428] [-0.29467659 0.95501123 0.0334553 1.7287718 ] [ 0.12629485 0.00421882 0.99198378 -1.77852257] [ 0. 0. 0. 1. ]] SLAMing on 102.403201008 meters Centerline goodness : 0.849168 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.94823108 0.2929301 -0.12267753 4.04096214] [-0.2915647 0.95610087 0.02934534 1.73007023] [ 0.12588823 0.00794227 0.99201264 -1.77890525] [ 0. 0. 0. 1. ]] SLAMing on 102.433201008 meters Centerline goodness : 0.852300 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.94926229 0.28927246 -0.12337969 4.03868946] [-0.28825698 0.95718914 0.02639798 1.72791262] [ 0.12573391 0.01050645 0.99200837 -1.77734888] [ 0. 0. 0. 1. ]] SLAMing on 102.463201008 meters Centerline goodness : 0.851514 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.95039281 0.28517816 -0.12420516 4.0386196 ] [-0.28469891 0.95836516 0.02197184 1.7294163 ] [ 0.12529979 0.01447919 0.99201326 -1.77869344] [ 0. 0. 0. 1. ]] SLAMing on 102.49320100799999 meters Centerline goodness : 0.853413 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.95049413 0.28469229 -0.12454399 4.04011434] [-0.2841832 0.95851261 0.02221454 1.72769801] [ 0.12570129 0.01427852 0.99196538 -1.77901729] [ 0. 0. 0. 1. ]] SLAMing on 102.52320100799999 meters Centerline goodness : 0.850892 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.9507714 0.2834649 -0.12522541 4.0436626 ] [-0.28300776 0.95886978 0.02180258 1.72622657] [ 0.12625513 0.01471049 0.99188873 -1.7809748 ] [ 0. 0. 0. 1. ]] SLAMing on 102.55320100799999 meters Centerline goodness : 0.846603 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.95080349 0.28322078 -0.12553369 4.04496857] [-0.28277594 0.95893991 0.02172613 1.72571076] [ 0.12653255 0.01484062 0.99185143 -1.78168426] [ 0. 0. 0. 1. ]] SLAMing on 102.58320100799999 meters Centerline goodness : 0.852091 Centerline is valid? [False, False] Translation: X:4.05, Y:1.73, Z:-1.78 [[ 0.95078799 0.28318201 -0.12573843 4.04559301] [-0.28272943 0.95895175 0.02180827 1.72519539] [ 0.1267528 0.01481492 0.9918237 -1.7818383 ] [ 0. 0. 0. 1. ]] SLAMing on 102.61320100799999 meters Centerline goodness : 0.848002 Centerline is valid? [False, False] Translation: X:4.05, Y:1.72, Z:-1.78 [[ 0.95070159 0.28350583 -0.12566195 4.04510643] [-0.28299639 0.95886249 0.02226599 1.72412195] [ 0.12680507 0.01439357 0.99182322 -1.78133029] [ 0. 0. 0. 1. ]] SLAMing on 102.64320100799999 meters Centerline goodness : 0.855397 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 0.95142773 0.28081264 -0.12621225 4.04224439] [-0.28071991 0.95960382 0.0188902 1.72492789] [ 0.12641836 0.01745763 0.99182339 -1.78058722] [ 0. 0. 0. 1. ]] SLAMing on 102.67320100799999 meters Centerline goodness : 0.856602 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 0.95139089 0.280951 -0.12618203 4.04202843] [-0.28080832 0.95957006 0.01928712 1.72394331] [ 0.12649923 0.01708337 0.99181959 -1.78014485] [ 0. 0. 0. 1. ]] SLAMing on 102.703201008 meters Centerline goodness : 0.853568 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 0.95141181 0.28082894 -0.12629601 4.04256614] [-0.28066475 0.95960851 0.01946284 1.72322541] [ 0.12666045 0.01692966 0.99180165 -1.78015725] [ 0. 0. 0. 1. ]] SLAMing on 102.733201008 meters Centerline goodness : 0.854509 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 0.95141979 0.28071843 -0.1264814 4.04340403] [-0.28053961 0.95964242 0.01959476 1.72265636] [ 0.12687752 0.0168402 0.99177543 -1.78033833] [ 0. 0. 0. 1. ]] SLAMing on 102.763201008 meters Centerline goodness : 0.854952 Centerline is valid? [False, False] Translation: X:4.04, Y:1.72, Z:-1.78 [[ 0.95138979 0.28080034 -0.12652524 4.04370242] [-0.28064346 0.95961531 0.01943476 1.723211 ] [ 0.12687284 0.01701845 0.99177299 -1.78064493] [ 0. 0. 0. 1. ]] SLAMing on 102.793201008 meters Centerline goodness : 0.856614 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.9511073 0.28180127 -0.12642371 4.04288564] [-0.28163958 0.95932157 0.01952628 1.72550104] [ 0.12678352 0.01703433 0.99178413 -1.78012545] [ 0. 0. 0. 1. ]] SLAMing on 102.823201008 meters Centerline goodness : 0.857744 Centerline is valid? [False, False] Translation: X:4.04, Y:1.73, Z:-1.78 [[ 0.9510925 0.28176437 -0.12661709 4.04352526] [-0.28161118 0.95933077 0.01948351 1.7256994 ] [ 0.12695743 0.01712617 0.99176031 -1.78023503] [ 0. 0. 0. 1. ]] SLAMing on 102.85320100799998 meters Centerline goodness : 0.853247 Centerline is valid? [False, False] Translation: X:4.02, Y:1.73, Z:-1.79 [[ 0.95292796 0.27823159 -0.12048018 4.02250713] [-0.27792243 0.96040141 0.01970415 1.73419803] [ 0.12119165 0.01470751 0.99252016 -1.78528171] [ 0. 0. 0. 1. ]] SLAMing on 102.88320100799999 meters Centerline goodness : 0.851600 Centerline is valid? [False, False] Translation: X:4.02, Y:1.73, Z:-1.79 [[ 0.9530597 0.27770602 -0.12065064 4.02375179] [-0.27737648 0.96055607 0.01985783 1.73352849] [ 0.12140634 0.01453995 0.99249639 -1.78522782] [ 0. 0. 0. 1. ]] SLAMing on 102.91320100799999 meters Centerline goodness : 0.846517 Centerline is valid? [False, False] Translation: X:4.02, Y:1.73, Z:-1.79 [[ 0.95312091 0.27741317 -0.12084063 4.02455272] [-0.27706176 0.9606431 0.02004044 1.73252762] [ 0.1216442 0.01437936 0.99246961 -1.78521305] [ 0. 0. 0. 1. ]] SLAMing on 102.94320100799999 meters Centerline goodness : 0.846936 Centerline is valid? [False, False] Translation: X:4.02, Y:1.73, Z:-1.79 [[ 0.95416277 0.27354314 -0.12143955 4.02342383] [-0.27367227 0.96169087 0.0159425 1.73369801] [ 0.12114827 0.0180229 0.99247079 -1.78568393] [ 0. 0. 0. 1. ]] SLAMing on 102.97320100799999 meters Centerline goodness : 0.847649 Centerline is valid? [False, False] Translation: X:4.02, Y:1.74, Z:-1.79 [[ 0.95520528 0.26952506 -0.1222257 4.02277944] [-0.2701576 0.96274523 0.01168329 1.7350769 ] [ 0.12082115 0.02186026 0.99243356 -1.78625092] [ 0. 0. 0. 1. ]] SLAMing on 103.00320100799999 meters Centerline goodness : 0.845089 Centerline is valid? [False, False] Translation: X:4.02, Y:1.74, Z:-1.79 [[ 0.95608692 0.26608741 -0.12286288 4.0211648 ] [-0.26718052 0.96361495 0.00779734 1.73684655] [ 0.12046728 0.02537164 0.99239302 -1.78594776] [ 0. 0. 0. 1. ]] SLAMing on 103.03320100799999 meters Centerline goodness : 0.844220 Centerline is valid? [False, False] Translation: X:4.02, Y:1.74, Z:-1.79 [[ 0.95613957 0.2657989 -0.12307746 4.02200769] [-0.26688856 0.96369541 0.00785243 1.73687781] [ 0.12069636 0.02533994 0.992366 -1.78574583] [ 0. 0. 0. 1. ]] SLAMing on 103.063201008 meters Centerline goodness : 0.842754 Centerline is valid? [False, False] Translation: X:4.02, Y:1.74, Z:-1.79 [[ 0.95617713 0.26557908 -0.12326008 4.02297416] [-0.26669077 0.96375142 0.00769598 1.73774396] [ 0.12083597 0.0255136 0.99234456 -1.78594184] [ 0. 0. 0. 1. ]] SLAMing on 103.093201008 meters Centerline goodness : 0.843833 Centerline is valid? [False, False] Translation: X:4.02, Y:1.74, Z:-1.79 [[ 0.95618127 0.26549237 -0.12341471 4.02395282] [-0.26666266 0.96376272 0.00724232 1.73922174] [ 0.12086527 0.02598513 0.99232876 -1.78673967] [ 0. 0. 0. 1. ]] SLAMing on 103.123201008 meters Centerline goodness : 0.840644 Centerline is valid? [False, False] Translation: X:4.00, Y:1.75, Z:-1.79 [[ 0.95772247 0.26281634 -0.11702669 4.00489792] [-0.26355324 0.96459893 0.00941238 1.74762818] [ 0.11535755 0.02182831 0.99308417 -1.79130084] [ 0. 0. 0. 1. ]] SLAMing on 103.153201008 meters Centerline goodness : 0.841324 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95778166 0.26248477 -0.11728614 4.00654542] [-0.26330294 0.96467359 0.00874273 1.74936918] [ 0.11543767 0.02250816 0.99305968 -1.79251645] [ 0. 0. 0. 1. ]] SLAMing on 103.183201008 meters Centerline goodness : 0.840619 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95778178 0.26247395 -0.11730934 4.0067252 ] [-0.26328194 0.96467848 0.00883411 1.749435 ] [ 0.11548452 0.02242428 0.99305613 -1.79230393] [ 0. 0. 0. 1. ]] SLAMing on 103.213201008 meters Centerline goodness : 0.839569 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95780857 0.26227328 -0.11753926 4.00743503] [-0.2630715 0.96473482 0.00895046 1.74879932] [ 0.11574168 0.0223484 0.9930279 -1.79221147] [ 0. 0. 0. 1. ]] SLAMing on 103.24320100799999 meters Centerline goodness : 0.840020 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95801961 0.26113914 -0.11834178 4.01056526] [-0.26198795 0.96503279 0.00860422 1.74771156] [ 0.11645059 0.02276111 0.99293564 -1.79322956] [ 0. 0. 0. 1. ]] SLAMing on 103.27320100799999 meters Centerline goodness : 0.841884 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95809596 0.26073572 -0.11861292 4.01207479] [-0.26161049 0.96513688 0.00841139 1.74816871] [ 0.11667085 0.02297147 0.99290494 -1.79382168] [ 0. 0. 0. 1. ]] SLAMing on 103.30320100799999 meters Centerline goodness : 0.845002 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95818163 0.26027169 -0.11893957 4.01355415] [-0.2611801 0.96525559 0.00816157 1.74848036] [ 0.11693131 0.02324438 0.99286795 -1.79434219] [ 0. 0. 0. 1. ]] SLAMing on 103.33320100799999 meters Centerline goodness : 0.845114 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95910891 0.25645024 -0.11976386 4.01269284] [-0.25781141 0.9661859 0.00425323 1.74980403] [ 0.11680489 0.02679718 0.9927933 -1.7940102 ] [ 0. 0. 0. 1. ]] SLAMing on 103.36320100799999 meters Centerline goodness : 0.845971 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.9590349 0.25676816 -0.11967525 4.01197964] [-0.25802781 0.96612395 0.00511541 1.74850264] [ 0.1169346 0.02597369 0.99279991 -1.79248957] [ 0. 0. 0. 1. ]] SLAMing on 103.39320100799999 meters Centerline goodness : 0.844386 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95899148 0.25692293 -0.11969109 4.01171435] [-0.25812519 0.96609516 0.00561565 1.74769364] [ 0.11707577 0.02550993 0.9927953 -1.79161099] [ 0. 0. 0. 1. ]] SLAMing on 103.42320100799999 meters Centerline goodness : 0.841346 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95894308 0.25716167 -0.11956609 4.01127472] [-0.25831594 0.9660418 0.00601041 1.7475812 ] [ 0.11705148 0.02512218 0.99280805 -1.79085733] [ 0. 0. 0. 1. ]] SLAMing on 103.453201008 meters Centerline goodness : 0.844089 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95880119 0.25784852 -0.11922426 4.01036332] [-0.25896253 0.96586668 0.00632179 1.74813122] [ 0.11678481 0.02481328 0.99284722 -1.79054628] [ 0. 0. 0. 1. ]] SLAMing on 103.483201008 meters Centerline goodness : 0.837941 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.9587035 0.25836394 -0.11889356 4.00964238] [-0.25946123 0.96573215 0.00642565 1.74904719] [ 0.11647949 0.02468797 0.99288621 -1.79054334] [ 0. 0. 0. 1. ]] SLAMing on 103.513201008 meters Centerline goodness : 0.837258 Centerline is valid? [False, False] Translation: X:4.01, Y:1.75, Z:-1.79 [[ 0.95857412 0.25904144 -0.11846175 4.00850669] [-0.26011516 0.9655552 0.00657722 1.75068062] [ 0.11608513 0.02450895 0.99293683 -1.7900296 ] [ 0. 0. 0. 1. ]] SLAMing on 103.543201008 meters Centerline goodness : 0.833447 Centerline is valid? [False, False] Translation: X:4.00, Y:1.75, Z:-1.79 [[ 0.95813447 0.26100485 -0.11770649 4.00494607] [-0.26200896 0.96503905 0.00713689 1.75368395] [ 0.11545412 0.02400205 0.99302278 -1.78814343] [ 0. 0. 0. 1. ]] SLAMing on 103.573201008 meters Centerline goodness : 0.836883 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95794106 0.26197343 -0.11712746 4.00295084] [-0.262951 0.96478154 0.00730458 1.75529014] [ 0.11491602 0.02380143 0.99309003 -1.78743319] [ 0. 0. 0. 1. ]] SLAMing on 103.60320100799998 meters Centerline goodness : 0.835994 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95777679 0.26269813 -0.11684735 4.00206851] [-0.26368343 0.96458222 0.00722375 1.75741724] [ 0.11460654 0.02389197 0.99312361 -1.78725831] [ 0. 0. 0. 1. ]] SLAMing on 103.63320100799999 meters Centerline goodness : 0.834584 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95764015 0.26328922 -0.11663679 4.00177034] [-0.26431136 0.96441275 0.00689582 1.76008949] [ 0.1143016 0.02422472 0.9931507 -1.78765409] [ 0. 0. 0. 1. ]] SLAMing on 103.66320100799999 meters Centerline goodness : 0.833577 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95754741 0.26367517 -0.11652619 4.00201487] [-0.264757 0.96429408 0.00637651 1.76255764] [ 0.11404684 0.02474531 0.99316715 -1.78859479] [ 0. 0. 0. 1. ]] SLAMing on 103.69320100799999 meters Centerline goodness : 0.827923 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95632348 0.26863568 -0.11524009 4.00101148] [-0.26923107 0.9630166 0.01066141 1.76324882] [ 0.11384215 0.02083046 0.99328045 -1.78753396] [ 0. 0. 0. 1. ]] SLAMing on 103.72320100799999 meters Centerline goodness : 0.831939 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95614349 0.26945638 -0.11481675 3.99916911] [-0.27000012 0.96279647 0.01108545 1.76378644] [ 0.11353221 0.02040125 0.99332483 -1.78637616] [ 0. 0. 0. 1. ]] SLAMing on 103.75320100799999 meters Centerline goodness : 0.831814 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95594037 0.27031618 -0.11448653 3.99741164] [-0.27079906 0.96256586 0.01161162 1.76383425] [ 0.11333964 0.01990283 0.99335694 -1.78520581] [ 0. 0. 0. 1. ]] SLAMing on 103.78320100799999 meters Centerline goodness : 0.830220 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 0.9558157 0.27082349 -0.11432843 3.99662488] [-0.27127831 0.96242787 0.01186066 1.76416224] [ 0.11324501 0.01967822 0.9933722 -1.78469739] [ 0. 0. 0. 1. ]] SLAMing on 103.813201008 meters Centerline goodness : 0.830220 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 0.9558157 0.27082349 -0.11432843 3.99662488] [-0.27127831 0.96242787 0.01186066 1.76416224] [ 0.11324501 0.01967822 0.9933722 -1.78469739] [ 0. 0. 0. 1. ]] SLAMing on 103.843201008 meters Centerline goodness : 0.828838 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.79 [[ 0.95577035 0.27103113 -0.11421545 3.99682104] [-0.27149736 0.96236742 0.01175326 1.76522684] [ 0.11310273 0.01977578 0.99338648 -1.78500246] [ 0. 0. 0. 1. ]] SLAMing on 103.873201008 meters Centerline goodness : 0.831913 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.79 [[ 0.95587764 0.2704681 -0.11465142 3.99971968] [-0.27101984 0.96251037 0.01104691 1.7669115 ] [ 0.11334101 0.02051332 0.99334436 -1.78697353] [ 0. 0. 0. 1. ]] SLAMing on 103.903201008 meters Centerline goodness : 0.826921 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.79 [[ 0.95595849 0.26998589 -0.11511296 4.00147122] [-0.27056529 0.96264037 0.01086005 1.76637923] [ 0.11374444 0.02076381 0.99329304 -1.78774235] [ 0. 0. 0. 1. ]] SLAMing on 103.933201008 meters Centerline goodness : 0.827938 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.79 [[ 0.95602311 0.26950841 -0.11569367 4.00330154] [-0.27009025 0.96277313 0.01091616 1.76535637] [ 0.11432876 0.02081163 0.99322496 -1.7881027 ] [ 0. 0. 0. 1. ]] SLAMing on 103.963201008 meters Centerline goodness : 0.829122 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 0.95726325 0.26449321 -0.11700602 4.0050298 ] [-0.26547039 0.96409032 0.00743804 1.76363922] [ 0.11477168 0.02394148 0.99310335 -1.78794182] [ 0. 0. 0. 1. ]] SLAMing on 103.99320100799999 meters Centerline goodness : 0.827351 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 0.95831244 0.26033787 -0.1177347 4.0038476 ] [-0.26164454 0.96515385 0.00449212 1.76183339] [ 0.11480157 0.02649979 0.99303492 -1.78620378] [ 0. 0. 0. 1. ]] SLAMing on 104.02320100799999 meters Centerline goodness : 0.833510 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 9.59296530e-01 2.56425622e-01 -1.18304978e-01 4.00224109e+00] [-2.58100412e-01 9.66117347e-01 1.20376766e-03 1.76080786e+00] [ 1.14605168e-01 2.93797934e-02 9.92976577e-01 -1.78525985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05320100799999 meters Centerline goodness : 0.832686 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59419112e-01 2.55769406e-01 -1.18730697e-01 4.00372243e+00] [-2.57380205e-01 9.66308491e-01 1.82481105e-03 1.75837084e+00] [ 1.15197212e-01 2.88081725e-02 9.92924817e-01 -1.78463655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08320100799999 meters Centerline goodness : 0.833358 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.59521396e-01 2.55149873e-01 -1.19236037e-01 4.00683468e+00] [-2.56860214e-01 9.66447986e-01 1.05848281e-03 1.76026198e+00] [ 1.15505500e-01 2.96113571e-02 9.92865372e-01 -1.78663047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11320100799999 meters Centerline goodness : 0.833343 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.59442867e-01 2.55516997e-01 -1.19081691e-01 4.00680311e+00] [-2.57263985e-01 9.66340890e-01 7.25777461e-04 1.76234046e+00] [ 1.15258956e-01 2.99390885e-02 9.92884195e-01 -1.78716126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14320100799999 meters Centerline goodness : 0.833211 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.59350371e-01 2.55994446e-01 -1.18801132e-01 4.00599626e+00] [-2.57714242e-01 9.66220746e-01 9.16577367e-04 1.76316929e+00] [ 1.15022758e-01 2.97374250e-02 9.92917646e-01 -1.78677082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17320100799999 meters Centerline goodness : 0.832732 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.59283937e-01 2.56312502e-01 -1.18651716e-01 4.00545846e+00] [-2.57986764e-01 9.66147589e-01 1.29073288e-03 1.76318262e+00] [ 1.14965900e-01 2.93723929e-02 9.92935096e-01 -1.78608465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.203201008 meters Centerline goodness : 0.838522 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.79 [[ 9.59135736e-01 2.57078892e-01 -1.18190873e-01 4.00383278e+00] [-2.58685018e-01 9.65960033e-01 1.80969787e-03 1.76347954e+00] [ 1.14632894e-01 2.88384621e-02 9.92989246e-01 -1.78504709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.233201008 meters Centerline goodness : 0.837121 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59049858e-01 2.57449208e-01 -1.18081646e-01 4.00315724e+00] [-2.59013895e-01 9.65871171e-01 2.16400189e-03 1.76331265e+00] [ 1.14608778e-01 2.85094014e-02 9.93001532e-01 -1.78438009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.263201008 meters Centerline goodness : 0.839917 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60262673e-01 2.52139992e-01 -1.19670478e-01 4.00584184e+00] [-2.54303621e-01 9.67120045e-01 -2.91327996e-03 1.76482037e+00] [ 1.15001163e-01 3.32301497e-02 9.92809392e-01 -1.78638282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.293201008 meters Centerline goodness : 0.840533 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60343350e-01 2.51576335e-01 -1.20208145e-01 4.00761861e+00] [-2.53756123e-01 9.67263790e-01 -2.93096579e-03 1.76420772e+00] [ 1.15535625e-01 3.33182865e-02 9.92744384e-01 -1.78657325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.323201008 meters Centerline goodness : 0.841749 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60390659e-01 2.51238201e-01 -1.20536915e-01 4.00905385e+00] [-2.53437431e-01 9.67347057e-01 -3.02320018e-03 1.76415613e+00] [ 1.15841487e-01 3.34520193e-02 9.92704242e-01 -1.78708103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35320100799998 meters Centerline goodness : 0.842690 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60472993e-01 2.50700027e-01 -1.21000522e-01 4.01119551e+00] [-2.52965766e-01 9.67468935e-01 -3.49005976e-03 1.76454958e+00] [ 1.16189288e-01 3.39610978e-02 9.92646308e-01 -1.78831847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38320100799999 meters Centerline goodness : 0.843565 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60510151e-01 2.50396657e-01 -1.21333278e-01 4.01283656e+00] [-2.52694629e-01 9.67539064e-01 -3.68578853e-03 1.76491124e+00] [ 1.16471777e-01 3.42005049e-02 9.92604982e-01 -1.78898061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41320100799999 meters Centerline goodness : 0.846278 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60314048e-01 2.51347280e-01 -1.20919290e-01 4.01110634e+00] [-2.53545393e-01 9.67319155e-01 -2.89585540e-03 1.76390326e+00] [ 1.16239680e-01 3.34394596e-02 9.92658118e-01 -1.78811683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44320100799999 meters Centerline goodness : 0.848377 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60183302e-01 2.52035477e-01 -1.20524462e-01 4.00948240e+00] [-2.54144356e-01 9.67163787e-01 -2.20354306e-03 1.76330552e+00] [ 1.16011524e-01 3.27464170e-02 9.92707912e-01 -1.78698333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47320100799999 meters Centerline goodness : 0.849507 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.60098924e-01 2.52422011e-01 -1.20387645e-01 4.00853374e+00] [-2.54446262e-01 9.67085760e-01 -1.49392737e-03 1.76270614e+00] [ 1.16048077e-01 3.20665042e-02 9.92725835e-01 -1.78555137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50320100799999 meters Centerline goodness : 0.851182 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 9.60028281e-01 2.52762371e-01 -1.20236781e-01 4.00785271e+00] [-2.54737525e-01 9.67009615e-01 -1.09438299e-03 1.76267319e+00] [ 1.15993505e-01 3.16794586e-02 9.92744639e-01 -1.78478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53320100799999 meters Centerline goodness : 0.853820 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 9.59966308e-01 2.53051066e-01 -1.20124294e-01 4.00808574e+00] [-2.55063686e-01 9.66923200e-01 -1.42850583e-03 1.76478967e+00] [ 1.15789482e-01 3.20106628e-02 9.92757832e-01 -1.78537448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.563201008 meters Centerline goodness : 0.853779 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 9.59954341e-01 2.53075727e-01 -1.20167966e-01 4.00851775e+00] [-2.55108325e-01 9.66911178e-01 -1.58606687e-03 1.76579983e+00] [ 1.15790354e-01 3.21784002e-02 9.92752308e-01 -1.78562747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.593201008 meters Centerline goodness : 0.856619 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 9.59898921e-01 2.53335810e-01 -1.20062602e-01 4.00810893e+00] [-2.55331724e-01 9.66852657e-01 -1.28470720e-03 1.76606367e+00] [ 1.15757384e-01 3.18889802e-02 9.92765491e-01 -1.78501278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.623201008 meters Centerline goodness : 0.858162 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.78 [[ 9.59774944e-01 2.53994574e-01 -1.19661247e-01 4.00622783e+00] [-2.55885255e-01 9.66707057e-01 -4.50513553e-04 1.76517952e+00] [ 1.15562944e-01 3.10519402e-02 9.92814677e-01 -1.78343947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.653201008 meters Centerline goodness : 0.861688 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 9.60439255e-01 2.51460780e-01 -1.19682554e-01 4.00221655e+00] [-2.53669245e-01 9.67285256e-01 -3.33879547e-03 1.76549974e+00] [ 1.14927594e-01 3.35664934e-02 9.92806597e-01 -1.78159049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.683201008 meters Centerline goodness : 0.862787 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60441683e-01 2.51396201e-01 -1.19798678e-01 4.00263269e+00] [-2.53566499e-01 9.67313369e-01 -2.97940553e-03 1.76467714e+00] [ 1.15133851e-01 3.32384766e-02 9.92793735e-01 -1.78124685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.713201008 meters Centerline goodness : 0.862387 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60498491e-01 2.51072653e-01 -1.20021550e-01 4.00384267e+00] [-2.53253777e-01 9.67395140e-01 -3.02784698e-03 1.76443918e+00] [ 1.15348054e-01 3.33041533e-02 9.92766669e-01 -1.78177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74320100799999 meters Centerline goodness : 0.863183 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 9.60557705e-01 2.50767420e-01 -1.20185676e-01 4.00503276e+00] [-2.52971321e-01 9.67468503e-01 -3.19482168e-03 1.76451818e+00] [ 1.15474699e-01 3.34723399e-02 9.92746290e-01 -1.78253033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77320100799999 meters Centerline goodness : 0.865144 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 9.60555346e-01 2.50722250e-01 -1.20298716e-01 4.00563350e+00] [-2.52856269e-01 9.67500454e-01 -2.56486234e-03 1.76323632e+00] [ 1.15745995e-01 3.28819768e-02 9.92734426e-01 -1.78195324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80320100799999 meters Centerline goodness : 0.866382 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 9.60510743e-01 2.50834983e-01 -1.20419785e-01 4.00558956e+00] [-2.52922628e-01 9.67484173e-01 -2.12610685e-03 1.76237908e+00] [ 1.15970934e-01 3.24990370e-02 9.92720784e-01 -1.78122653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83320100799999 meters Centerline goodness : 0.867742 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 9.60449833e-01 2.51060733e-01 -1.20435156e-01 4.00542693e+00] [-2.53109748e-01 9.67435940e-01 -1.77721195e-03 1.76210481e+00] [ 1.16067110e-01 3.21902349e-02 9.92719605e-01 -1.78061361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86320100799999 meters Centerline goodness : 0.867988 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60371694e-01 2.51439079e-01 -1.20268857e-01 4.00498819e+00] [-2.53468324e-01 9.67342312e-01 -1.63087913e-03 1.76269497e+00] [ 1.15931087e-01 3.20505958e-02 9.92740017e-01 -1.78042066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89320100799999 meters Centerline goodness : 0.868553 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60261197e-01 2.52110543e-01 -1.19744346e-01 4.00397541e+00] [-2.54138396e-01 9.67166327e-01 -1.72377480e-03 1.76405340e+00] [ 1.15378118e-01 3.20869102e-02 9.92803264e-01 -1.78082554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92320100799999 meters Centerline goodness : 0.872434 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60245566e-01 2.52174212e-01 -1.19735621e-01 4.00420650e+00] [-2.54210938e-01 9.67147126e-01 -1.79863610e-03 1.76449547e+00] [ 1.15348392e-01 3.21652368e-02 9.92804183e-01 -1.78105698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.953201008 meters Centerline goodness : 0.869896 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60199263e-01 2.52419828e-01 -1.19589323e-01 4.00413039e+00] [-2.54452682e-01 9.67083566e-01 -1.79121783e-03 1.76495674e+00] [ 1.15200730e-01 3.21497501e-02 9.92821830e-01 -1.78128717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.983201008 meters Centerline goodness : 0.870232 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 9.60165838e-01 2.52602805e-01 -1.19471282e-01 4.00407311e+00] [-2.54630536e-01 9.67036794e-01 -1.76891404e-03 1.76540252e+00] [ 1.15086293e-01 3.21194874e-02 9.92836081e-01 -1.78138607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.013201008 meters Centerline goodness : 0.873086 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.60026828e-01 2.53294070e-01 -1.19124320e-01 4.00262527e+00] [-2.55241311e-01 9.66876725e-01 -1.12794027e-03 1.76432648e+00] [ 1.14892832e-01 3.14883005e-02 9.92878706e-01 -1.78054889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.043201008 meters Centerline goodness : 0.875129 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59944797e-01 2.53671900e-01 -1.18981316e-01 4.00212773e+00] [-2.55581243e-01 9.66787237e-01 -8.16344277e-04 1.76378438e+00] [ 1.14822534e-01 3.11930381e-02 9.92896158e-01 -1.78036111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.073201008 meters Centerline goodness : 0.874753 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59901149e-01 2.53879205e-01 -1.18891263e-01 4.00220042e+00] [-2.55784346e-01 9.66733542e-01 -7.91857589e-04 1.76368072e+00] [ 1.14735136e-01 3.11706291e-02 9.92906965e-01 -1.78080469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10320100799998 meters Centerline goodness : 0.876134 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59792577e-01 2.54464160e-01 -1.18516668e-01 4.00128597e+00] [-2.56319257e-01 9.66592085e-01 -4.24226893e-04 1.76326473e+00] [ 1.14449322e-01 3.07852741e-02 9.92951972e-01 -1.78076922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13320100799999 meters Centerline goodness : 0.876360 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59703643e-01 2.54902608e-01 -1.18294457e-01 4.00040956e+00] [-2.56710501e-01 9.66488343e-01 -4.73718514e-05 1.76277628e+00] [ 1.14318138e-01 3.04128921e-02 9.92978559e-01 -1.78028418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16320100799999 meters Centerline goodness : 0.877685 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59650511e-01 2.55146354e-01 -1.18199977e-01 4.00012457e+00] [-2.56914804e-01 9.66434013e-01 2.85042481e-04 1.76259079e+00] [ 1.14305206e-01 3.00937828e-02 9.92989770e-01 -1.77983575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19320100799999 meters Centerline goodness : 0.876843 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59726180e-01 2.54856180e-01 -1.18211623e-01 4.00183493e+00] [-2.56688555e-01 9.66494130e-01 -2.85289546e-04 1.76410476e+00] [ 1.14178132e-01 3.06173706e-02 9.92988384e-01 -1.78152723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22320100799999 meters Centerline goodness : 0.873433 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 9.59775638e-01 2.54575014e-01 -1.18415734e-01 4.00319730e+00] [-2.56463109e-01 9.66553743e-01 -7.31419757e-04 1.76512722e+00] [ 1.14268970e-01 3.10712663e-02 9.92963836e-01 -1.78254264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25320100799999 meters Centerline goodness : 0.875107 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.59888953e-01 2.53959575e-01 -1.18818062e-01 4.00469369e+00] [-2.55833754e-01 9.66720642e-01 -5.38900647e-04 1.76346794e+00] [ 1.14727014e-01 3.09149556e-02 9.92915897e-01 -1.78262393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28320100799999 meters Centerline goodness : 0.876061 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 0.9609595 0.24936907 -0.1198829 4.00544569] [-0.25177677 0.96777174 -0.00512949 1.76467951] [ 0.11474014 0.03511296 0.99277479 -1.78374658] [ 0. 0. 0. 1. ]] SLAMing on 105.313201008 meters Centerline goodness : 0.874822 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 0.96101413 0.24909153 -0.1200219 4.00567189] [-0.25140957 0.96787111 -0.00432971 1.76154975] [ 0.11508724 0.03433557 0.9927618 -1.78278084] [ 0. 0. 0. 1. ]] SLAMing on 105.343201008 meters Centerline goodness : 0.873669 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 0.96099566 0.24916867 -0.12000963 4.00593554] [-0.2514728 0.96785521 -0.00420862 1.7613978 ] [ 0.11510329 0.03422362 0.99276381 -1.78285922] [ 0. 0. 0. 1. ]] SLAMing on 105.373201008 meters Centerline goodness : 0.871839 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 0.96094411 0.24947571 -0.11978438 4.00585448] [-0.25179436 0.96777084 -0.0043828 1.76224898] [ 0.11483043 0.03437266 0.99279026 -1.78357347] [ 0. 0. 0. 1. ]] SLAMing on 105.403201008 meters Centerline goodness : 0.870729 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.78 [[ 0.96087192 0.24994037 -0.11939418 4.00552599] [-0.25229663 0.96763804 -0.00479869 1.76432807] [ 0.11433096 0.03473367 0.99283534 -1.78452726] [ 0. 0. 0. 1. ]] SLAMing on 105.433201008 meters Centerline goodness : 0.869405 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 0.96089192 0.24992041 -0.1192749 4.00618077] [-0.25230293 0.96763504 -0.00506479 1.76513898] [ 0.11414878 0.03496013 0.99284835 -1.78539882] [ 0. 0. 0. 1. ]] SLAMing on 105.463201008 meters Centerline goodness : 0.870799 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 0.96086767 0.24998747 -0.11932971 4.00630012] [-0.25234525 0.96762521 -0.00482877 1.76420922] [ 0.1142593 0.0347521 0.99284294 -1.7853033 ] [ 0. 0. 0. 1. ]] SLAMing on 105.49320100799999 meters Centerline goodness : 0.869484 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 0.96086017 0.24994263 -0.11948394 4.00675802] [-0.2522934 0.96763925 -0.00472355 1.76353986] [ 0.11443674 0.03468368 0.9928249 -1.78533981] [ 0. 0. 0. 1. ]] SLAMing on 105.52320100799999 meters Centerline goodness : 0.870873 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.79 [[ 0.96081766 0.2501256 -0.11944294 4.00715999] [-0.25251091 0.967581 -0.00502465 1.76461928] [ 0.11431393 0.03498841 0.99282835 -1.78613281] [ 0. 0. 0. 1. ]] SLAMing on 105.55320100799999 meters Centerline goodness : 0.870739 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 0.96083276 0.25010156 -0.11937178 4.00771702] [-0.252516 0.9675782 -0.00530135 1.76575405] [ 0.11417565 0.03523699 0.99283547 -1.78682286] [ 0. 0. 0. 1. ]] SLAMing on 105.58320100799999 meters Centerline goodness : 0.867747 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 0.96082929 0.25013754 -0.11932432 4.0079819 ] [-0.25254762 0.96757008 -0.00527599 1.76604499] [ 0.11413492 0.0352044 0.99284131 -1.78697946] [ 0. 0. 0. 1. ]] SLAMing on 105.61320100799999 meters Centerline goodness : 0.868475 Centerline is valid? [False, False] Translation: X:4.01, Y:1.77, Z:-1.79 [[ 0.96077932 0.25035628 -0.11926792 4.00760401] [-0.25272121 0.9675268 -0.00488732 1.76554326] [ 0.11417133 0.03483717 0.99285008 -1.78638811] [ 0. 0. 0. 1. ]] SLAMing on 105.64320100799999 meters Centerline goodness : 0.871251 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 0.96138236 0.24806754 -0.11919082 4.00346625] [-0.25076029 0.96801689 -0.00791123 1.76678088] [ 0.11341621 0.03749404 0.99283985 -1.78486211] [ 0. 0. 0. 1. ]] SLAMing on 105.67320100799999 meters Centerline goodness : 0.869390 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 0.96130009 0.24859198 -0.11876093 4.00204756] [-0.25119502 0.96790945 -0.00723529 1.7663702 ] [ 0.11315119 0.03678744 0.99289652 -1.78370201] [ 0. 0. 0. 1. ]] SLAMing on 105.703201008 meters Centerline goodness : 0.867854 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 0.96130882 0.24857665 -0.11872237 4.00186813] [-0.25111955 0.96793274 -0.00672121 1.76566326] [ 0.11324453 0.03627467 0.99290474 -1.78284669] [ 0. 0. 0. 1. ]] SLAMing on 105.733201008 meters Centerline goodness : 0.867854 Centerline is valid? [False, False] Translation: X:4.00, Y:1.77, Z:-1.78 [[ 0.96130882 0.24857665 -0.11872237 4.00186813] [-0.25111955 0.96793274 -0.00672121 1.76566326] [ 0.11324453 0.03627467 0.99290474 -1.78284669] [ 0. 0. 0. 1. ]] SLAMing on 105.763201008 meters Centerline goodness : 0.864649 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 0.96137539 0.24838842 -0.11857717 4.0020499 ] [-0.25086124 0.96800343 -0.00616461 1.76464158] [ 0.11325189 0.03567292 0.9929257 -1.78213071] [ 0. 0. 0. 1. ]] SLAMing on 105.793201008 meters Centerline goodness : 0.862354 Centerline is valid? [False, False] Translation: X:4.00, Y:1.76, Z:-1.78 [[ 9.64710113e-01 2.37157211e-01 -1.14415278e-01 4.00454642e+00] [-2.38398828e-01 9.71162989e-01 2.90648628e-03 1.76280133e+00] [ 1.11805177e-01 2.44725513e-02 9.93428758e-01 -1.77943517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.823201008 meters Centerline goodness : 0.858073 Centerline is valid? [False, False] Translation: X:4.02, Y:1.76, Z:-1.77 [[ 0.96561713 0.23384598 -0.11357647 4.01508805] [-0.23438195 0.97210475 0.00880073 1.75783703] [ 0.11246625 0.01812214 0.99349028 -1.77260163] [ 0. 0. 0. 1. ]] SLAMing on 105.85320100799998 meters Centerline goodness : 0.857610 Centerline is valid? [False, False] Translation: X:4.04, Y:1.75, Z:-1.76 [[ 0.96767989 0.22653715 -0.11079959 4.03544814] [-0.22582422 0.97398064 0.01910878 1.74806567] [ 0.1122455 0.00653005 0.99365905 -1.7589783 ] [ 0. 0. 0. 1. ]] SLAMing on 105.88320100799999 meters Centerline goodness : 0.862339 Centerline is valid? [False, False] Translation: X:4.04, Y:1.75, Z:-1.76 [[ 0.96864685 0.22179734 -0.11193397 4.036681 ] [-0.22158709 0.97503316 0.0144739 1.74906211] [ 0.11234961 0.01078303 0.99361023 -1.76013598] [ 0. 0. 0. 1. ]] SLAMing on 105.91320100799999 meters Centerline goodness : 0.860579 Centerline is valid? [False, False] Translation: X:4.04, Y:1.75, Z:-1.76 [[ 0.96875547 0.22110118 -0.1123704 4.03806516] [-0.22083068 0.97519672 0.01500593 1.74699954] [ 0.11290108 0.01027776 0.99355308 -1.75896291] [ 0. 0. 0. 1. ]] SLAMing on 105.94320100799999 meters Centerline goodness : 0.862553 Centerline is valid? [False, False] Translation: X:4.04, Y:1.75, Z:-1.76 [[ 0.969663 0.21675512 -0.1130083 4.03807066] [-0.21700413 0.97611695 0.01024232 1.74915609] [ 0.11252939 0.01459167 0.99354125 -1.76019814] [ 0. 0. 0. 1. ]] SLAMing on 105.97320100799999 meters Centerline goodness : 0.859754 Centerline is valid? [False, False] Translation: X:4.04, Y:1.75, Z:-1.76 [[ 0.96975687 0.21607171 -0.11351051 4.0398664 ] [-0.21633873 0.97626603 0.01010923 1.74891463] [ 0.11300077 0.01475323 0.99348536 -1.76034919] [ 0. 0. 0. 1. ]] SLAMing on 106.00320100799999 meters Centerline goodness : 0.854832 Centerline is valid? [False, False] Translation: X:4.01, Y:1.76, Z:-1.77 [[ 0.97173186 0.21185772 -0.10418012 4.01351869] [-0.21111361 0.97729122 0.01824597 1.75898114] [ 0.10567987 0.00426365 0.99439106 -1.76613729] [ 0. 0. 0. 1. ]] SLAMing on 106.03320100799999 meters Centerline goodness : 0.854157 Centerline is valid? [False, False] Translation: X:3.98, Y:1.77, Z:-1.77 [[ 0.97356668 0.20740086 -0.09567027 3.98258764] [-0.20569965 0.97823086 0.02742332 1.76876711] [ 0.09927523 -0.00701909 0.99503526 -1.7699946 ] [ 0. 0. 0. 1. ]] SLAMing on 106.063201008 meters Centerline goodness : 0.853925 Centerline is valid? [False, False] Translation: X:3.96, Y:1.78, Z:-1.77 [[ 0.9745394 0.20460117 -0.09171324 3.96126613] [-0.2027769 0.9787988 0.02888678 1.77741115] [ 0.09567908 -0.00955398 0.99536638 -1.77426673] [ 0. 0. 0. 1. ]] SLAMing on 106.093201008 meters Centerline goodness : 0.854125 Centerline is valid? [False, False] Translation: X:3.94, Y:1.79, Z:-1.78 [[ 0.97512468 0.20310417 -0.0887725 3.93702083] [-0.20107998 0.97907547 0.0312739 1.7854034 ] [ 0.09326684 -0.01264558 0.99556084 -1.77672333] [ 0. 0. 0. 1. ]] SLAMing on 106.123201008 meters Centerline goodness : 0.853881 Centerline is valid? [False, False] Translation: X:3.91, Y:1.80, Z:-1.78 [[ 0.97618727 0.20043782 -0.08296446 3.91090398] [-0.198744 0.97964334 0.02827974 1.79857411] [ 0.08694391 -0.01111763 0.99615117 -1.78197827] [ 0. 0. 0. 1. ]] SLAMing on 106.153201008 meters Centerline goodness : 0.857861 Centerline is valid? [False, False] Translation: X:3.91, Y:1.80, Z:-1.78 [[ 0.97608853 0.20109503 -0.08253472 3.90915066] [-0.19940113 0.9795074 0.02836281 1.80049697] [ 0.08654699 -0.0112271 0.99618451 -1.78072112] [ 0. 0. 0. 1. ]] SLAMing on 106.183201008 meters Centerline goodness : 0.859178 Centerline is valid? [False, False] Translation: X:3.88, Y:1.81, Z:-1.79 [[ 0.9770023 0.19886103 -0.07694667 3.88352362] [-0.19743123 0.97997612 0.02583999 1.81363621] [ 0.08054446 -0.01005405 0.99670031 -1.78552633] [ 0. 0. 0. 1. ]] SLAMing on 106.213201008 meters Centerline goodness : 0.860998 Centerline is valid? [False, False] Translation: X:3.87, Y:1.82, Z:-1.79 [[ 0.97759711 0.19792691 -0.07161587 3.86670688] [-0.19594277 0.98003215 0.03381442 1.81914271] [ 0.07687864 -0.01902427 0.99685894 -1.78513268] [ 0. 0. 0. 1. ]] SLAMing on 106.24320100799999 meters Centerline goodness : 0.858959 Centerline is valid? [False, False] Translation: X:3.85, Y:1.83, Z:-1.79 [[ 0.97852176 0.19513062 -0.0664772 3.84699632] [-0.19326575 0.98057514 0.03347746 1.8295884 ] [ 0.07171837 -0.01991066 0.99722617 -1.79204799] [ 0. 0. 0. 1. ]] SLAMing on 106.27320100799999 meters Centerline goodness : 0.856636 Centerline is valid? [False, False] Translation: X:3.85, Y:1.83, Z:-1.79 [[ 0.9785326 0.1951791 -0.06617448 3.84742506] [-0.19341438 0.98058984 0.03216289 1.83386432] [ 0.07116754 -0.01867334 0.99728957 -1.79408662] [ 0. 0. 0. 1. ]] SLAMing on 106.30320100799999 meters Centerline goodness : 0.856758 Centerline is valid? [False, False] Translation: X:3.85, Y:1.84, Z:-1.79 [[ 0.97782707 0.19877524 -0.06589866 3.84947964] [-0.19680851 0.97981103 0.03516747 1.83808806] [ 0.07155865 -0.02141829 0.99720641 -1.79463894] [ 0. 0. 0. 1. ]] SLAMing on 106.33320100799999 meters Centerline goodness : 0.857098 Centerline is valid? [False, False] Translation: X:3.85, Y:1.84, Z:-1.80 [[ 0.97783464 0.19869505 -0.06602795 3.85021381] [-0.19679357 0.97984767 0.03421757 1.84111552] [ 0.0714962 -0.02046525 0.9972309 -1.79564251] [ 0. 0. 0. 1. ]] SLAMing on 106.36320100799999 meters Centerline goodness : 0.855177 Centerline is valid? [False, False] Translation: X:3.85, Y:1.84, Z:-1.80 [[ 0.97786525 0.19845925 -0.06628336 3.85109044] [-0.19660367 0.97991061 0.03349907 1.84313566] [ 0.07159997 -0.01972603 0.99723835 -1.79626357] [ 0. 0. 0. 1. ]] SLAMing on 106.39320100799999 meters Centerline goodness : 0.857070 Centerline is valid? [False, False] Translation: X:3.85, Y:1.85, Z:-1.80 [[ 0.97837795 0.19577069 -0.06671146 3.85055954] [-0.19416503 0.9805155 0.02982109 1.84693308] [ 0.07124972 -0.01622327 0.99732657 -1.79656374] [ 0. 0. 0. 1. ]] SLAMing on 106.42320100799999 meters Centerline goodness : 0.859391 Centerline is valid? [False, False] Translation: X:3.85, Y:1.85, Z:-1.80 [[ 0.978881 0.1930473 -0.06726615 3.8494443 ] [-0.19172589 0.98111362 0.02563691 1.85114664] [ 0.07094487 -0.01219882 0.99740564 -1.79658637] [ 0. 0. 0. 1. ]] SLAMing on 106.453201008 meters Centerline goodness : 0.861245 Centerline is valid? [False, False] Translation: X:3.85, Y:1.85, Z:-1.80 [[ 0.97888377 0.1930126 -0.0673253 3.84987857] [-0.19172829 0.98112693 0.02510412 1.85310066] [ 0.07090008 -0.01166585 0.9974152 -1.79712361] [ 0. 0. 0. 1. ]] SLAMing on 106.483201008 meters Centerline goodness : 0.858112 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.80 [[ 0.97890228 0.19290191 -0.06737349 3.85087277] [-0.19169013 0.98116026 0.02407153 1.85611628] [ 0.07074764 -0.01064884 0.9974374 -1.7987474 ] [ 0. 0. 0. 1. ]] SLAMing on 106.513201008 meters Centerline goodness : 0.856783 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.80 [[ 0.97888839 0.19299252 -0.06731577 3.85152293] [-0.19183945 0.98115079 0.02325391 1.85913071] [ 0.07053475 -0.00984916 0.9974607 -1.80010345] [ 0. 0. 0. 1. ]] SLAMing on 106.543201008 meters Centerline goodness : 0.854257 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.80 [[ 0.97877408 0.19347155 -0.06760223 3.85297344] [-0.19242967 0.98107169 0.0216603 1.86304995] [ 0.07051328 -0.00819186 0.9974772 -1.80333226] [ 0. 0. 0. 1. ]] SLAMing on 106.573201008 meters Centerline goodness : 0.852491 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.80 [[ 0.97874366 0.19355833 -0.0677939 3.85377661] [-0.19256156 0.98106008 0.02100389 1.86462379] [ 0.07057537 -0.00750292 0.99747823 -1.80448305] [ 0. 0. 0. 1. ]] SLAMing on 106.60320100799998 meters Centerline goodness : 0.853488 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97868415 0.19388295 -0.06772552 3.85395786] [-0.19293661 0.98100104 0.02030796 1.86663366] [ 0.07037617 -0.00680835 0.99749729 -1.80571704] [ 0. 0. 0. 1. ]] SLAMing on 106.63320100799999 meters Centerline goodness : 0.853302 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97858124 0.19451037 -0.06741275 3.85314539] [-0.19359006 0.98087886 0.01998888 1.8684835 ] [ 0.07001179 -0.0065103 0.99752492 -1.80612025] [ 0. 0. 0. 1. ]] SLAMing on 106.66320100799999 meters Centerline goodness : 0.853956 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97827557 0.1962105 -0.06692047 3.8509802 ] [-0.19530435 0.980541 0.01988868 1.87121058] [ 0.06952063 -0.00638675 0.99756007 -1.80615356] [ 0. 0. 0. 1. ]] SLAMing on 106.69320100799999 meters Centerline goodness : 0.853145 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97822228 0.19650413 -0.0668379 3.85052008] [-0.19558701 0.98048109 0.02006374 1.87136425] [ 0.06947591 -0.00655417 0.9975621 -1.80576298] [ 0. 0. 0. 1. ]] SLAMing on 106.72320100799999 meters Centerline goodness : 0.854015 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.78781901e-01 1.93599772e-01 -6.71201761e-02 3.84892293e+00] [-1.92935346e-01 9.81075974e-01 1.63059777e-02 1.87334749e+00] [ 6.90068257e-02 -3.01014146e-03 9.97611646e-01 -1.80581284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75320100799999 meters Centerline goodness : 0.855371 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.78796607e-01 1.93448167e-01 -6.73424722e-02 3.84961770e+00] [-1.92765328e-01 9.81105199e-01 1.65564597e-02 1.87196155e+00] [ 6.92728663e-02 -3.22411280e-03 9.97592540e-01 -1.80583304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78320100799999 meters Centerline goodness : 0.855291 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.79532455e-01 1.89507405e-01 -6.78462432e-02 3.84987698e+00] [-1.89118616e-01 9.81878867e-01 1.21671335e-02 1.87250213e+00] [ 6.89225543e-02 9.12885429e-04 9.97621596e-01 -1.80774733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.813201008 meters Centerline goodness : 0.855380 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.79566724e-01 1.89177601e-01 -6.82705524e-02 3.85135973e+00] [-1.88748361e-01 9.81942805e-01 1.27429808e-02 1.87098471e+00] [ 6.94484642e-02 4.03354864e-04 9.97585459e-01 -1.80726914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.843201008 meters Centerline goodness : 0.856885 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.79599084e-01 1.88869129e-01 -6.86592012e-02 3.85243832e+00] [-1.88411317e-01 9.82002265e-01 1.31425750e-02 1.86934747e+00] [ 6.99057178e-02 6.17160544e-05 9.97553601e-01 -1.80697917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.873201008 meters Centerline goodness : 0.855922 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.80270907e-01 1.85266025e-01 -6.88872210e-02 3.85098400e+00] [-1.85056506e-01 9.82682284e-01 9.46665294e-03 1.86901852e+00] [ 6.94481009e-02 3.46814396e-03 9.97579537e-01 -1.80694192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.903201008 meters Centerline goodness : 0.856212 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98097235 0.18134097 -0.06934481 3.85061384] [-0.18142578 0.98339128 0.00512589 1.87032809] [ 0.06912261 0.00755258 0.99757958 -1.80776652] [ 0. 0. 0. 1. ]] SLAMing on 106.933201008 meters Centerline goodness : 0.859927 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98098591 0.18116958 -0.06960043 3.85135861] [-0.18121821 0.98342658 0.00566762 1.86831934] [ 0.06947371 0.00705301 0.99755885 -1.80743491] [ 0. 0. 0. 1. ]] SLAMing on 106.963201008 meters Centerline goodness : 0.861670 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98101525 0.18076521 -0.07023548 3.85315941] [-0.18078296 0.98350374 0.00615667 1.86696414] [ 0.07018977 0.00665759 0.99751144 -1.80696108] [ 0. 0. 0. 1. ]] SLAMing on 106.99320100799999 meters Centerline goodness : 0.858664 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98101844 0.18064927 -0.07048871 3.85424466] [-0.18066046 0.98352554 0.00626947 1.86648993] [ 0.07046002 0.00658406 0.99749288 -1.80740859] [ 0. 0. 0. 1. ]] SLAMing on 107.02320100799999 meters Centerline goodness : 0.864225 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.9809908 0.1807602 -0.07058902 3.8543823 ] [-0.18075272 0.98350678 0.00654681 1.86619576] [ 0.07060818 0.0063368 0.997484 -1.80702621] [ 0. 0. 0. 1. ]] SLAMing on 107.05320100799999 meters Centerline goodness : 0.863496 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98093292 0.18105258 -0.07064398 3.85408867] [-0.18099799 0.98345691 0.00722679 1.86502693] [ 0.07078374 0.00569742 0.99747541 -1.80601038] [ 0. 0. 0. 1. ]] SLAMing on 107.08320100799999 meters Centerline goodness : 0.864011 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.81 [[ 0.98091137 0.18108168 -0.0708683 3.85442477] [-0.18099377 0.98345399 0.00771366 1.86376132] [ 0.07109252 0.00526031 0.99745586 -1.80540834] [ 0. 0. 0. 1. ]] SLAMing on 107.11320100799999 meters Centerline goodness : 0.865866 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 0.98105084 0.18009729 -0.07144373 3.85695109] [-0.1800364 0.98363253 0.00734421 1.86341446] [ 0.07159705 0.00565742 0.99741759 -1.80640289] [ 0. 0. 0. 1. ]] SLAMing on 107.14320100799999 meters Centerline goodness : 0.864114 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 0.98111365 0.17963174 -0.07175264 3.85843537] [-0.17959244 0.98371583 0.00705184 1.86360445] [ 0.07185095 0.00596757 0.99739753 -1.80720169] [ 0. 0. 0. 1. ]] SLAMing on 107.17320100799999 meters Centerline goodness : 0.866564 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 0.98114938 0.17932782 -0.07202379 3.85937353] [-0.17928588 0.9837714 0.00709965 1.86333141] [ 0.07212811 0.00594703 0.99737765 -1.80714825] [ 0. 0. 0. 1. ]] SLAMing on 107.203201008 meters Centerline goodness : 0.869268 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 0.98115234 0.17920836 -0.0722803 3.85969344] [-0.17914576 0.9837947 0.00740113 1.86240957] [ 0.07243532 0.00568707 0.9973569 -1.80644722] [ 0. 0. 0. 1. ]] SLAMing on 107.233201008 meters Centerline goodness : 0.873304 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.80 [[ 0.98116748 0.17910464 -0.07233185 3.85918188] [-0.17898899 0.98381748 0.00813053 1.86075005] [ 0.07261756 0.0049692 0.99734748 -1.80457046] [ 0. 0. 0. 1. ]] SLAMing on 107.263201008 meters Centerline goodness : 0.875632 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.80 [[ 0.98117728 0.17903932 -0.07236066 3.85928144] [-0.1789175 0.98382978 0.0082148 1.86129993] [ 0.07266135 0.00488641 0.9973447 -1.80412946] [ 0. 0. 0. 1. ]] SLAMing on 107.293201008 meters Centerline goodness : 0.870444 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.80 [[ 0.98121799 0.17874407 -0.07253841 3.86024174] [-0.17863928 0.98388225 0.00798248 1.8625944 ] [ 0.07279607 0.00512565 0.99733368 -1.80424037] [ 0. 0. 0. 1. ]] SLAMing on 107.323201008 meters Centerline goodness : 0.874793 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.80 [[ 9.80624358e-01 1.81903113e-01 -7.27126289e-02 3.86299521e+00] [-1.81465759e-01 9.83316127e-01 1.26322153e-02 1.86091786e+00] [ 7.37973399e-02 8.07394408e-04 9.97272932e-01 -1.80295023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35320100799998 meters Centerline goodness : 0.870523 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.80 [[ 9.80546635e-01 1.82383970e-01 -7.25560745e-02 3.86275347e+00] [-1.81995642e-01 9.83226308e-01 1.19838670e-02 1.86447974e+00] [ 7.35247065e-02 1.45414887e-03 9.97292336e-01 -1.80350843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38320100799999 meters Centerline goodness : 0.872228 Centerline is valid? [False, False] Translation: X:3.86, Y:1.87, Z:-1.80 [[ 9.80443794e-01 1.83058075e-01 -7.22475488e-02 3.86169888e+00] [-1.82688660e-01 9.83100660e-01 1.17450636e-02 1.86692354e+00] [ 7.31766416e-02 1.68343312e-03 9.97317575e-01 -1.80336775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41320100799999 meters Centerline goodness : 0.872260 Centerline is valid? [False, False] Translation: X:3.86, Y:1.87, Z:-1.80 [[ 9.79591435e-01 1.87790181e-01 -7.16621774e-02 3.86157405e+00] [-1.87166697e-01 9.82207777e-01 1.53788646e-02 1.86994535e+00] [ 7.32751477e-02 -1.65223100e-03 9.97310394e-01 -1.80287932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44320100799999 meters Centerline goodness : 0.866395 Centerline is valid? [False, False] Translation: X:3.86, Y:1.87, Z:-1.80 [[ 9.79450807e-01 1.88622481e-01 -7.13980134e-02 3.86086282e+00] [-1.88033299e-01 9.82048922e-01 1.49463189e-02 1.87348814e+00] [ 7.29355538e-02 -1.21398012e-03 9.97335917e-01 -1.80329352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47320100799999 meters Centerline goodness : 0.867375 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.80 [[ 9.79287516e-01 1.89625343e-01 -7.09802078e-02 3.85951949e+00] [-1.89062161e-01 9.81856101e-01 1.46320563e-02 1.87641938e+00] [ 7.24669588e-02 -9.09318649e-04 9.97370399e-01 -1.80347461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50320100799999 meters Centerline goodness : 0.863723 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.80 [[ 9.79126102e-01 1.90622304e-01 -7.05351978e-02 3.85793912e+00] [-1.90078370e-01 9.81663205e-01 1.44071019e-02 1.87905769e+00] [ 7.19881233e-02 -6.99154074e-04 9.97405244e-01 -1.80332839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53320100799999 meters Centerline goodness : 0.862232 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.80 [[ 9.78967201e-01 1.91614964e-01 -7.00494501e-02 3.85630796e+00] [-1.91088680e-01 9.81470039e-01 1.42013456e-02 1.88154056e+00] [ 7.14726269e-02 -5.16994652e-04 9.97442428e-01 -1.80326484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.563201008 meters Centerline goodness : 0.856385 Centerline is valid? [False, False] Translation: X:3.85, Y:1.88, Z:-1.80 [[ 0.97799209 0.19687295 -0.06908335 3.85476335] [-0.19605391 0.98041841 0.01850934 1.88369874] [ 0.07137458 -0.00455793 0.99743917 -1.80175977] [ 0. 0. 0. 1. ]] SLAMing on 107.593201008 meters Centerline goodness : 0.851864 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 0.97782562 0.19787476 -0.06857575 3.85287899] [-0.19706333 0.98021677 0.01846988 1.88569398] [ 0.07087382 -0.00454655 0.99747493 -1.80134048] [ 0. 0. 0. 1. ]] SLAMing on 107.623201008 meters Centerline goodness : 0.851864 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 0.97782562 0.19787476 -0.06857575 3.85287899] [-0.19706333 0.98021677 0.01846988 1.88569398] [ 0.07087382 -0.00454655 0.99747493 -1.80134048] [ 0. 0. 0. 1. ]] SLAMing on 107.653201008 meters Centerline goodness : 0.846028 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 0.97770538 0.19860018 -0.06819204 3.85157908] [-0.19780042 0.98007046 0.01835457 1.88726873] [ 0.07047823 -0.00445695 0.99750336 -1.80125659] [ 0. 0. 0. 1. ]] SLAMing on 107.683201008 meters Centerline goodness : 0.844781 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 0.97761243 0.19919572 -0.06778638 3.85050634] [-0.19840571 0.97994983 0.01826222 1.88852361] [ 0.07006501 -0.00440417 0.99753271 -1.80134324] [ 0. 0. 0. 1. ]] SLAMing on 107.713201008 meters Centerline goodness : 0.839931 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 0.97748072 0.200005 -0.06730111 3.84874077] [-0.19919484 0.9797832 0.01860927 1.8885309 ] [ 0.06966244 -0.00478417 0.99755915 -1.80077432] [ 0. 0. 0. 1. ]] SLAMing on 107.74320100799999 meters Centerline goodness : 0.842712 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 9.78122610e-01 1.96736364e-01 -6.76089004e-02 3.84748462e+00] [-1.96201055e-01 9.80455964e-01 1.45343850e-02 1.89040538e+00] [ 6.91469917e-02 -9.51473028e-04 9.97606029e-01 -1.80122974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77320100799999 meters Centerline goodness : 0.835908 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 9.78831606e-01 1.93060570e-01 -6.79433809e-02 3.84681693e+00] [-1.92800080e-01 9.81182593e-01 1.04330739e-02 1.89055643e+00] [ 6.86790778e-02 2.88726675e-03 9.97634626e-01 -1.80238306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80320100799999 meters Centerline goodness : 0.836683 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 9.78920315e-01 1.92421827e-01 -6.84752332e-02 3.84871403e+00] [-1.92165575e-01 9.81307704e-01 1.03721590e-02 1.88941188e+00] [ 6.91911036e-02 3.00506542e-03 9.97598898e-01 -1.80297135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83320100799999 meters Centerline goodness : 0.835005 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.80 [[ 9.78989583e-01 1.91947075e-01 -6.88165481e-02 3.85013465e+00] [-1.91678162e-01 9.81401110e-01 1.05519357e-02 1.88757779e+00] [ 6.95620499e-02 2.86039439e-03 9.97573526e-01 -1.80341666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86320100799999 meters Centerline goodness : 0.833984 Centerline is valid? [False, False] Translation: X:3.85, Y:1.89, Z:-1.81 [[ 0.97974375 0.18784587 -0.06939827 3.85058501] [-0.18788669 0.9821724 0.00599754 1.88853549] [ 0.06928768 0.00716296 0.99757101 -1.80516691] [ 0. 0. 0. 1. ]] SLAMing on 107.89320100799999 meters Centerline goodness : 0.833898 Centerline is valid? [False, False] Translation: X:3.85, Y:1.88, Z:-1.81 [[ 0.97995795 0.18647412 -0.07007014 3.85352047] [-0.18652013 0.98243316 0.00594371 1.88475018] [ 0.06994758 0.00724491 0.99752436 -1.80630872] [ 0. 0. 0. 1. ]] SLAMing on 107.92320100799999 meters Centerline goodness : 0.835275 Centerline is valid? [False, False] Translation: X:3.85, Y:1.88, Z:-1.81 [[ 0.98000266 0.18614036 -0.0703317 3.85476052] [-0.18618957 0.98249604 0.00591335 1.88379575] [ 0.07020134 0.00729993 0.99750613 -1.80704382] [ 0. 0. 0. 1. ]] SLAMing on 107.953201008 meters Centerline goodness : 0.835460 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.81 [[ 0.98003004 0.18588498 -0.070625 3.85596843] [-0.18593211 0.98254449 0.00596416 1.88305869] [ 0.07050085 0.0072864 0.99748511 -1.80753562] [ 0. 0. 0. 1. ]] SLAMing on 107.983201008 meters Centerline goodness : 0.831610 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.81 [[ 0.98003698 0.18577633 -0.07081437 3.85673935] [-0.1858148 0.98256584 0.00610186 1.88208677] [ 0.07071336 0.00717831 0.99747085 -1.80789845] [ 0. 0. 0. 1. ]] SLAMing on 108.013201008 meters Centerline goodness : 0.833468 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.81 [[ 0.97999725 0.18602454 -0.07071249 3.85647502] [-0.1860161 0.98252342 0.00676268 1.87860254] [ 0.0707347 0.00652626 0.99747381 -1.80800899] [ 0. 0. 0. 1. ]] SLAMing on 108.043201008 meters Centerline goodness : 0.835213 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.81 [[ 0.97996309 0.18617831 -0.07078125 3.85652688] [-0.18614256 0.98249666 0.00715913 1.87707983] [ 0.07087522 0.00615972 0.99746617 -1.807865 ] [ 0. 0. 0. 1. ]] SLAMing on 108.073201008 meters Centerline goodness : 0.837808 Centerline is valid? [False, False] Translation: X:3.86, Y:1.88, Z:-1.81 [[ 0.97992133 0.18639776 -0.07078175 3.856361 ] [-0.18633029 0.98245766 0.0076133 1.87545757] [ 0.07095918 0.00572835 0.99746277 -1.8076648 ] [ 0. 0. 0. 1. ]] SLAMing on 108.10320100799998 meters Centerline goodness : 0.839105 Centerline is valid? [False, False] Translation: X:3.86, Y:1.87, Z:-1.81 [[ 0.97980305 0.18712363 -0.0705034 3.85534033] [-0.18700363 0.98232367 0.0083576 1.87301209] [ 0.07082106 0.00499559 0.99747653 -1.80755304] [ 0. 0. 0. 1. ]] SLAMing on 108.13320100799999 meters Centerline goodness : 0.837716 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97973395 0.18763092 -0.07011435 3.85456579] [-0.18748883 0.98222855 0.00866124 1.87232946] [ 0.07049343 0.00465995 0.99750136 -1.80778698] [ 0. 0. 0. 1. ]] SLAMing on 108.16320100799999 meters Centerline goodness : 0.839716 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.97965334 0.188183 -0.06976027 3.85373911] [-0.18801401 0.98212474 0.00904002 1.87175323] [ 0.07021447 0.00425982 0.99752282 -1.80783808] [ 0. 0. 0. 1. ]] SLAMing on 108.19320100799999 meters Centerline goodness : 0.838746 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.9795794 0.18868818 -0.06943324 3.85298563] [-0.18850016 0.98202903 0.00930958 1.87094887] [ 0.06994206 0.00396871 0.99754316 -1.80811814] [ 0. 0. 0. 1. ]] SLAMing on 108.22320100799999 meters Centerline goodness : 0.838013 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.79432396e-01 1.89597724e-01 -6.90281472e-02 3.85151392e+00] [-1.89351194e-01 9.81856891e-01 1.01572719e-02 1.86811227e+00] [ 6.97015577e-02 3.12220099e-03 9.97563003e-01 -1.80779675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25320100799999 meters Centerline goodness : 0.842646 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 9.79361542e-01 1.90008154e-01 -6.89048083e-02 3.85084005e+00] [-1.89727131e-01 9.81778983e-01 1.06604446e-02 1.86624174e+00] [ 6.96748640e-02 2.63268219e-03 9.97566280e-01 -1.80749596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28320100799999 meters Centerline goodness : 0.845467 Centerline is valid? [False, False] Translation: X:3.85, Y:1.87, Z:-1.81 [[ 0.98008206 0.18612001 -0.06927123 3.85031538] [-0.1861283 0.98250466 0.00639183 1.86676199] [ 0.06924895 0.00662882 0.99757739 -1.80865373] [ 0. 0. 0. 1. ]] SLAMing on 108.313201008 meters Centerline goodness : 0.842162 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.81 [[ 0.98020047 0.18526106 -0.06989548 3.85272499] [-0.18525558 0.98266809 0.00661735 1.86419102] [ 0.06990999 0.0064622 0.99753237 -1.80919139] [ 0. 0. 0. 1. ]] SLAMing on 108.343201008 meters Centerline goodness : 0.842555 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 9.81102524e-01 1.80011192e-01 -7.09493400e-02 3.85520606e+00] [-1.80310541e-01 9.83607239e-01 2.21544319e-03 1.86209420e+00] [ 7.01850890e-02 1.06193370e-02 9.97477460e-01 -1.81144097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.373201008 meters Centerline goodness : 0.842701 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 9.81147981e-01 1.79588274e-01 -7.13911077e-02 3.85678692e+00] [-1.79863382e-01 9.83688140e-01 2.60902420e-03 1.85973541e+00] [ 7.06951361e-02 1.02808073e-02 9.97444987e-01 -1.81171433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.403201008 meters Centerline goodness : 0.838528 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 9.81175848e-01 1.79275566e-01 -7.17929444e-02 3.85812766e+00] [-1.79525578e-01 9.83748708e-01 3.00789309e-03 1.85745886e+00] [ 7.11654580e-02 9.93739776e-03 9.97415022e-01 -1.81191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.433201008 meters Centerline goodness : 0.840440 Centerline is valid? [False, False] Translation: X:3.86, Y:1.86, Z:-1.81 [[ 9.81794909e-01 1.75759096e-01 -7.20242801e-02 3.85643345e+00] [-1.76222062e-01 9.84350435e-01 -7.47071909e-05 1.85565273e+00] [ 7.08840010e-02 1.27656143e-02 9.97402876e-01 -1.81103369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.463201008 meters Centerline goodness : 0.840987 Centerline is valid? [False, False] Translation: X:3.85, Y:1.86, Z:-1.81 [[ 0.98242153 0.17217325 -0.0721409 3.85474508] [-0.17290302 0.98493094 -0.00394903 1.8562537 ] [ 0.07037389 0.01635299 0.99738663 -1.81098087] [ 0. 0. 0. 1. ]] SLAMing on 108.49320100799999 meters Centerline goodness : 0.845025 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82529448e-01 1.71226275e-01 -7.29208274e-02 3.85716191e+00] [-1.71866003e-01 9.85117052e-01 -2.54366409e-03 1.85268127e+00] [ 7.14000084e-02 1.50318360e-02 9.97334489e-01 -1.80890863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52320100799999 meters Centerline goodness : 0.843665 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82580978e-01 1.70731386e-01 -7.33853849e-02 3.85862957e+00] [-1.71346524e-01 9.85208536e-01 -2.12326208e-03 1.85063907e+00] [ 7.19374002e-02 1.46606076e-02 9.97301397e-01 -1.80868546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55320100799999 meters Centerline goodness : 0.841923 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82607360e-01 1.70481223e-01 -7.36133725e-02 3.85983267e+00] [-1.71101193e-01 9.85251109e-01 -2.15283311e-03 1.85024688e+00] [ 7.21606393e-02 1.47107255e-02 9.97284531e-01 -1.80936212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58320100799999 meters Centerline goodness : 0.841977 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82076370e-01 1.73470246e-01 -7.37161910e-02 3.86312221e+00] [-1.73805231e-01 9.84778224e-01 1.89525378e-03 1.84839061e+00] [ 7.29228698e-02 1.09509756e-02 9.97277459e-01 -1.80975678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61320100799999 meters Centerline goodness : 0.841173 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82018895e-01 1.73857858e-01 -7.35685729e-02 3.86255495e+00] [-1.74170420e-01 9.84713079e-01 2.19472855e-03 1.84827509e+00] [ 7.28255067e-02 1.06582043e-02 9.97287746e-01 -1.80938904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64320100799999 meters Centerline goodness : 0.843089 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.81959570e-01 1.74158778e-01 -7.36486402e-02 3.86203287e+00] [-1.74415785e-01 9.84667594e-01 2.97705001e-03 1.84661934e+00] [ 7.30379087e-02 9.92214261e-03 9.97279808e-01 -1.80800774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67320100799999 meters Centerline goodness : 0.845077 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.81911331e-01 1.74430132e-01 -7.36496293e-02 3.86149629e+00] [-1.74645142e-01 9.84625004e-01 3.56045745e-03 1.84557717e+00] [ 7.31383176e-02 9.36649644e-03 9.97277822e-01 -1.80691839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.703201008 meters Centerline goodness : 0.845408 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.81849489e-01 1.74828140e-01 -7.35302817e-02 3.86084401e+00] [-1.75035648e-01 9.84555284e-01 3.66254749e-03 1.84607473e+00] [ 7.30349437e-02 9.27435010e-03 9.97286260e-01 -1.80654500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.733201008 meters Centerline goodness : 0.845324 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.81889778e-01 1.74527575e-01 -7.37060982e-02 3.86199292e+00] [-1.74761220e-01 9.84605256e-01 3.31738536e-03 1.84699091e+00] [ 7.31503869e-02 9.62366089e-03 9.97274489e-01 -1.80733065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.763201008 meters Centerline goodness : 0.845851 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82595626e-01 1.70395662e-01 -7.39672441e-02 3.86112449e+00] [-1.70928222e-01 9.85283087e-01 -8.83615874e-04 1.84824043e+00] [ 7.27281103e-02 1.35113266e-02 9.97260280e-01 -1.80743635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.793201008 meters Centerline goodness : 0.845569 Centerline is valid? [False, False] Translation: X:3.86, Y:1.85, Z:-1.81 [[ 9.82639535e-01 1.69988444e-01 -7.43200730e-02 3.86192043e+00] [-1.70480451e-01 9.85361019e-01 -2.80467085e-04 1.84663876e+00] [ 7.31844266e-02 1.29457176e-02 9.97234400e-01 -1.80628125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.823201008 meters Centerline goodness : 0.850156 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82763059e-01 1.68922118e-01 -7.51138353e-02 3.86517928e+00] [-1.69483241e-01 9.85532440e-01 -1.11352875e-03 1.84717536e+00] [ 7.38390217e-02 1.38248712e-02 9.97174344e-01 -1.80800171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85320100799998 meters Centerline goodness : 0.843295 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82814513e-01 1.68441032e-01 -7.55198706e-02 3.86701308e+00] [-1.69043896e-01 9.85607197e-01 -1.61680899e-03 1.84812082e+00] [ 7.41605910e-02 1.43551965e-02 9.97142986e-01 -1.80905726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88320100799999 meters Centerline goodness : 0.847673 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82855530e-01 1.68044241e-01 -7.58692243e-02 3.86862238e+00] [-1.68691344e-01 9.85666566e-01 -2.15674722e-03 1.84940759e+00] [ 7.44193288e-02 1.49182524e-02 9.97115444e-01 -1.81006232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91320100799999 meters Centerline goodness : 0.844110 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82898478e-01 1.67617250e-01 -7.62564068e-02 3.87038799e+00] [-1.68311991e-01 9.85729991e-01 -2.73091638e-03 1.85045693e+00] [ 7.47104785e-02 1.55190812e-02 9.97084501e-01 -1.81127606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94320100799999 meters Centerline goodness : 0.842665 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82959931e-01 1.66933065e-01 -7.69618411e-02 3.87337379e+00] [-1.67718660e-01 9.85827524e-01 -3.81373864e-03 1.85199609e+00] [ 7.52344621e-02 1.66566891e-02 9.97026745e-01 -1.81360393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97320100799999 meters Centerline goodness : 0.842303 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 0.9829596 0.16678587 -0.07728458 3.8743689 ] [-0.16758448 0.98584993 -0.00391977 1.85218555] [ 0.07553724 0.01680467 0.99700137 -1.81384891] [ 0. 0. 0. 1. ]] SLAMing on 109.00320100799999 meters Centerline goodness : 0.844301 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82926050e-01 1.67012176e-01 -7.72224913e-02 3.87404318e+00] [-1.67793926e-01 9.85815141e-01 -3.70215780e-03 1.85251183e+00] [ 7.55087958e-02 1.65964124e-02 9.97007011e-01 -1.81336835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03320100799999 meters Centerline goodness : 0.842397 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82848673e-01 1.67640924e-01 -7.68440370e-02 3.87249571e+00] [-1.68376432e-01 9.85717742e-01 -3.14818488e-03 1.85317819e+00] [ 7.52187660e-02 1.60329141e-02 9.97038155e-01 -1.81199058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.063201008 meters Centerline goodness : 0.848398 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82826718e-01 1.67798852e-01 -7.67801294e-02 3.87217604e+00] [-1.68519155e-01 9.85693952e-01 -2.95407901e-03 1.85353675e+00] [ 7.51860181e-02 1.58422703e-02 9.97043673e-01 -1.81143526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.093201008 meters Centerline goodness : 0.848837 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82788125e-01 1.68065554e-01 -7.66907449e-02 3.87151886e+00] [-1.68762156e-01 9.85653246e-01 -2.64808939e-03 1.85397976e+00] [ 7.51454291e-02 1.55450063e-02 9.97051412e-01 -1.81050844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.123201008 meters Centerline goodness : 0.846455 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.81 [[ 9.82624098e-01 1.69267304e-01 -7.61476359e-02 3.86866640e+00] [-1.69891313e-01 9.85461260e-01 -1.74565111e-03 1.85475192e+00] [ 7.47450636e-02 1.46521407e-02 9.97095026e-01 -1.80813440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.153201008 meters Centerline goodness : 0.847259 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.81 [[ 9.82579128e-01 1.69611890e-01 -7.59609401e-02 3.86794980e+00] [-1.70229422e-01 9.85403021e-01 -1.68255102e-03 1.85609426e+00] [ 7.45667592e-02 1.45840264e-02 9.97109374e-01 -1.80761950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.183201008 meters Centerline goodness : 0.848903 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.81 [[ 9.82553529e-01 1.69782760e-01 -7.59103286e-02 3.86791973e+00] [-1.70405872e-01 9.85372386e-01 -1.76059762e-03 1.85756425e+00] [ 7.45010225e-02 1.46654471e-02 9.97113094e-01 -1.80753438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.213201008 meters Centerline goodness : 0.845267 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.81 [[ 9.82575706e-01 1.69559702e-01 -7.61215443e-02 3.86851549e+00] [-1.70177876e-01 9.85411959e-01 -1.66166818e-03 1.85789379e+00] [ 7.47293281e-02 1.45869175e-02 9.97097161e-01 -1.80707988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24320100799999 meters Centerline goodness : 0.849432 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.81 [[ 0.98327502 0.16521654 -0.07664027 3.8685377 ] [-0.16617751 0.98607578 -0.00629135 1.85988124] [ 0.07453368 0.01892202 0.99703896 -1.8078437 ] [ 0. 0. 0. 1. ]] SLAMing on 109.27320100799999 meters Centerline goodness : 0.850995 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.81 [[ 9.83163395e-01 1.65634915e-01 -7.71674393e-02 3.87476499e+00] [-1.66331338e-01 9.86066381e-01 -2.64180652e-03 1.85815455e+00] [ 7.56546421e-02 1.54326909e-02 9.97014647e-01 -1.80686837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30320100799999 meters Centerline goodness : 0.856777 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 9.83158438e-01 1.65605014e-01 -7.72946698e-02 3.87502110e+00] [-1.66291262e-01 9.86073552e-01 -2.48313840e-03 1.85824392e+00] [ 7.58070095e-02 1.52947467e-02 9.97005200e-01 -1.80645839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33320100799999 meters Centerline goodness : 0.855202 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 9.83181064e-01 1.65354711e-01 -7.75423453e-02 3.87593607e+00] [-1.66046088e-01 9.86114798e-01 -2.51014163e-03 1.85892563e+00] [ 7.60505905e-02 1.53435268e-02 9.96985900e-01 -1.80631333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36320100799999 meters Centerline goodness : 0.855750 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 9.83181515e-01 1.65306133e-01 -7.76401385e-02 3.87640850e+00] [-1.65985064e-01 9.86125516e-01 -2.32934247e-03 1.85905897e+00] [ 7.61778670e-02 1.51772698e-02 9.96978727e-01 -1.80612503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39320100799999 meters Centerline goodness : 0.856730 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 9.83178606e-01 1.65286135e-01 -7.77195087e-02 3.87675271e+00] [-1.65953082e-01 9.86131289e-01 -2.15763914e-03 1.85889846e+00] [ 7.62850115e-02 1.50191367e-02 9.96972930e-01 -1.80601571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42320100799999 meters Centerline goodness : 0.858550 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 9.83168077e-01 1.65328875e-01 -7.77617933e-02 3.87697467e+00] [-1.65989629e-01 9.86125333e-01 -2.06672802e-03 1.85881192e+00] [ 7.63411845e-02 1.49395922e-02 9.96969825e-01 -1.80603486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.453201008 meters Centerline goodness : 0.860540 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.83069531e-01 1.66044562e-01 -7.74822610e-02 3.87537403e+00] [-1.66638653e-01 9.86017276e-01 -1.22061396e-03 1.85788982e+00] [ 7.61961716e-02 1.41114880e-02 9.96992984e-01 -1.80447674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.483201008 meters Centerline goodness : 0.862993 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82979147e-01 1.66732607e-01 -7.71507283e-02 3.87367108e+00] [-1.67267749e-01 9.85911390e-01 -4.81302008e-04 1.85730955e+00] [ 7.59835330e-02 1.33779385e-02 9.97019325e-01 -1.80296568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.513201008 meters Centerline goodness : 0.863538 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82876184e-01 1.67470027e-01 -7.68647950e-02 3.87209837e+00] [-1.67953429e-01 9.85794915e-01 1.77926340e-04 1.85718676e+00] [ 7.58027214e-02 1.27348263e-02 9.97041509e-01 -1.80163328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.543201008 meters Centerline goodness : 0.863538 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82876184e-01 1.67470027e-01 -7.68647950e-02 3.87209837e+00] [-1.67953429e-01 9.85794915e-01 1.77926340e-04 1.85718676e+00] [ 7.58027214e-02 1.27348263e-02 9.97041509e-01 -1.80163328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.573201008 meters Centerline goodness : 0.866519 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82807132e-01 1.68027166e-01 -7.65311207e-02 3.87098076e+00] [-1.68491025e-01 9.85703106e-01 4.01383953e-04 1.85773929e+00] [ 7.55044068e-02 1.25003240e-02 9.97067112e-01 -1.80120327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60320100799998 meters Centerline goodness : 0.864370 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82781734e-01 1.68157790e-01 -7.65703638e-02 3.87101285e+00] [-1.68595922e-01 9.85684964e-01 7.52416685e-04 1.85700723e+00] [ 7.56007810e-02 1.21699897e-02 9.97063896e-01 -1.80089009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63320100799999 meters Centerline goodness : 0.865194 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.82829192e-01 1.67697703e-01 -7.69692111e-02 3.87234071e+00] [-1.68117678e-01 9.85766388e-01 1.03673859e-03 1.85567365e+00] [ 7.60475199e-02 1.19209481e-02 9.97032931e-01 -1.80074283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66320100799999 meters Centerline goodness : 0.864905 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.80 [[ 9.82883703e-01 1.67176373e-01 -7.74059911e-02 3.87400411e+00] [-1.67603664e-01 9.85853961e-01 9.89331786e-04 1.85487492e+00] [ 7.64763958e-02 1.20011296e-02 9.96999164e-01 -1.80126938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69320100799999 meters Centerline goodness : 0.863226 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 9.82951903e-01 1.66598475e-01 -7.77849843e-02 3.87571854e+00] [-1.67038924e-01 9.85949931e-01 8.55264792e-04 1.85437495e+00] [ 7.68345857e-02 1.21524359e-02 9.96969791e-01 -1.80194870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72320100799999 meters Centerline goodness : 0.859546 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 9.83013355e-01 1.66025116e-01 -7.82330173e-02 3.87746924e+00] [-1.66465884e-01 9.86046805e-01 8.99203759e-04 1.85333521e+00] [ 7.72907072e-02 1.21391991e-02 9.96934695e-01 -1.80237057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75320100799999 meters Centerline goodness : 0.861312 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 9.83702528e-01 1.61525514e-01 -7.89863546e-02 3.87817921e+00] [-1.62286209e-01 9.86738325e-01 -3.26561013e-03 1.85255931e+00] [ 7.74113839e-02 1.60307850e-02 9.96870348e-01 -1.80326156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78320100799999 meters Centerline goodness : 0.860439 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98426085 0.15803255 -0.07909677 3.87637593] [-0.15908379 0.98723933 -0.00713049 1.85303524] [ 0.07696059 0.01960128 0.99684144 -1.80319006] [ 0. 0. 0. 1. ]] SLAMing on 109.813201008 meters Centerline goodness : 0.860540 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98427501 0.15771515 -0.07955271 3.87749886] [-0.15870157 0.98730717 -0.00619328 1.85082004] [ 0.07756618 0.01872103 0.99681142 -1.80181571] [ 0. 0. 0. 1. ]] SLAMing on 109.843201008 meters Centerline goodness : 0.859724 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98432759 0.15721217 -0.07989704 3.87882256] [-0.15818035 0.98739263 -0.00589699 1.84949745] [ 0.07796267 0.01844271 0.99678568 -1.80168752] [ 0. 0. 0. 1. ]] SLAMing on 109.873201008 meters Centerline goodness : 0.856018 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98459252 0.15529843 -0.08037391 3.88266235] [-0.15629358 0.98769116 -0.00620354 1.84777849] [ 0.0784212 0.01866989 0.99674548 -1.80315447] [ 0. 0. 0. 1. ]] SLAMing on 109.903201008 meters Centerline goodness : 0.852696 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98465414 0.15471763 -0.08073833 3.88439781] [-0.15571472 0.98778283 -0.00616465 1.84694112] [ 0.07879816 0.0186422 0.99671627 -1.80367438] [ 0. 0. 0. 1. ]] SLAMing on 109.933201008 meters Centerline goodness : 0.852270 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 0.98471938 0.15399116 -0.08132941 3.88662864] [-0.15497407 0.98790106 -0.0058766 1.84613823] [ 0.07944046 0.01839075 0.99666995 -1.80336918] [ 0. 0. 0. 1. ]] SLAMing on 109.963201008 meters Centerline goodness : 0.852098 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.80 [[ 0.98472839 0.15382682 -0.08153097 3.88706626] [-0.15476536 0.98793714 -0.00528167 1.84474253] [ 0.07973502 0.01781918 0.99665681 -1.80243162] [ 0. 0. 0. 1. ]] SLAMing on 109.99320100799999 meters Centerline goodness : 0.852456 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.80 [[ 9.84801600e-01 1.53475972e-01 -8.13076563e-02 3.88654391e+00] [-1.54114032e-01 9.88051784e-01 -1.59317014e-03 1.83993337e+00] [ 8.00916615e-02 1.40996072e-02 9.96687778e-01 -1.79528841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02320100799999 meters Centerline goodness : 0.851146 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.79 [[ 9.84779744e-01 1.53703952e-01 -8.11415514e-02 3.88546592e+00] [-1.54265647e-01 9.88029186e-01 -6.61738964e-04 1.83839755e+00] [ 8.00685091e-02 1.31690211e-02 9.96702368e-01 -1.79334748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05320100799999 meters Centerline goodness : 0.852224 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.79 [[ 9.84790578e-01 1.53696726e-01 -8.10236603e-02 3.88533155e+00] [-1.54247148e-01 9.88032148e-01 -5.40977950e-04 1.83874230e+00] [ 7.99708346e-02 1.30304185e-02 9.96712032e-01 -1.79300930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08320100799999 meters Centerline goodness : 0.841215 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.79 [[ 9.84325172e-01 1.56624418e-01 -8.10724815e-02 3.88874323e+00] [-1.56922713e-01 9.87607144e-01 2.71878267e-03 1.84031820e+00] [ 8.04935896e-02 1.00459475e-02 9.96704500e-01 -1.79408092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11320100799999 meters Centerline goodness : 0.837105 Centerline is valid? [False, False] Translation: X:3.89, Y:1.84, Z:-1.80 [[ 9.84322501e-01 1.56610247e-01 -8.11322684e-02 3.88966291e+00] [-1.56980827e-01 9.87599954e-01 1.83050777e-03 1.84313091e+00] [ 8.04129008e-02 1.09344006e-02 9.96701663e-01 -1.79564716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14320100799999 meters Centerline goodness : 0.834169 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 9.84306446e-01 1.56665283e-01 -8.12207391e-02 3.89034767e+00] [-1.57091885e-01 9.87583321e-01 1.15075516e-03 1.84552195e+00] [ 8.03925306e-02 1.16264233e-02 9.96695474e-01 -1.79666622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17320100799999 meters Centerline goodness : 0.832646 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 9.84275355e-01 1.56870903e-01 -8.12006505e-02 3.89051544e+00] [-1.57342896e-01 9.87543853e-01 5.93105497e-04 1.84726342e+00] [ 8.02822442e-02 1.21925664e-02 9.96697598e-01 -1.79756568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.203201008 meters Centerline goodness : 0.832629 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 9.84188208e-01 1.57465236e-01 -8.11065418e-02 3.89012875e+00] [-1.58002950e-01 9.87438617e-01 -2.14349805e-04 1.85086926e+00] [ 8.00539788e-02 1.30260334e-02 9.96705414e-01 -1.79846192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.233201008 meters Centerline goodness : 0.829354 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 9.84165434e-01 1.57730759e-01 -8.08665908e-02 3.88945238e+00] [-1.58282751e-01 9.87393738e-01 -4.21041604e-04 1.85255476e+00] [ 7.97807541e-02 1.32141610e-02 9.96724845e-01 -1.79836198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.263201008 meters Centerline goodness : 0.826870 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 9.84155365e-01 1.57847555e-01 -8.07611741e-02 3.88933736e+00] [-1.58426696e-01 9.87370439e-01 -7.73551343e-04 1.85442969e+00] [ 7.96190928e-02 1.35560207e-02 9.96733181e-01 -1.79861437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.293201008 meters Centerline goodness : 0.822870 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 9.83617438e-01 1.61230860e-01 -8.06309181e-02 3.89159856e+00] [-1.61540961e-01 9.86862299e-01 2.70555641e-03 1.85617389e+00] [ 8.00078324e-02 1.03639635e-02 9.96740355e-01 -1.79893549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.323201008 meters Centerline goodness : 0.821449 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 9.83614499e-01 1.61332335e-01 -8.04636294e-02 3.89156466e+00] [-1.61681816e-01 9.86840498e-01 2.19606386e-03 1.85843345e+00] [ 7.97590642e-02 1.08494255e-02 9.96755126e-01 -1.79953330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35320100799998 meters Centerline goodness : 0.821052 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 9.83593154e-01 1.61499476e-01 -8.03892189e-02 3.89149774e+00] [-1.61869857e-01 9.86810225e-01 1.93124966e-03 1.86041091e+00] [ 7.96407989e-02 1.11130274e-02 9.96761679e-01 -1.79958209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38320100799999 meters Centerline goodness : 0.819278 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 9.83434264e-01 1.62897297e-01 -7.95079787e-02 3.88807568e+00] [-1.63228108e-01 9.86585523e-01 2.36455776e-03 1.86308230e+00] [ 7.88266008e-02 1.06525498e-02 9.96831425e-01 -1.79787379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41320100799999 meters Centerline goodness : 0.820594 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 9.83392299e-01 1.63332004e-01 -7.91343383e-02 3.88706291e+00] [-1.63666433e-01 9.86513090e-01 2.28535445e-03 1.86473711e+00] [ 7.84403321e-02 1.07042349e-02 9.96861341e-01 -1.79766568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44320100799999 meters Centerline goodness : 0.818712 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83378506e-01 1.63480436e-01 -7.89991269e-02 3.88700639e+00] [-1.63842253e-01 9.86484675e-01 1.92400512e-03 1.86648296e+00] [ 7.82459653e-02 1.10513697e-02 9.96872828e-01 -1.79810791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47320100799999 meters Centerline goodness : 0.818675 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83372427e-01 1.63568916e-01 -7.88915662e-02 3.88708447e+00] [-1.63962187e-01 9.86465468e-01 1.51084709e-03 1.86802330e+00] [ 7.80709333e-02 1.14495083e-02 9.96882058e-01 -1.79874289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50320100799999 meters Centerline goodness : 0.817197 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83343173e-01 1.63772841e-01 -7.88331236e-02 3.88697495e+00] [-1.64177997e-01 9.86429795e-01 1.35852877e-03 1.86921191e+00] [ 7.79858320e-02 1.16067644e-02 9.96886901e-01 -1.79886109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53320100799999 meters Centerline goodness : 0.814380 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83343432e-01 1.63811773e-01 -7.87489529e-02 3.88740330e+00] [-1.64262886e-01 9.86416306e-01 7.59040010e-04 1.87082887e+00] [ 7.78035909e-02 1.21891332e-02 9.96894190e-01 -1.80011712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.563201008 meters Centerline goodness : 0.812435 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83371306e-01 1.63510380e-01 -7.90267635e-02 3.88860894e+00] [-1.63984896e-01 9.86462727e-01 4.91657893e-04 1.87141581e+00] [ 7.80373478e-02 1.24757133e-02 9.96872373e-01 -1.80069534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.593201008 meters Centerline goodness : 0.809811 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83384066e-01 1.63393754e-01 -7.91091710e-02 3.88921628e+00] [-1.63873335e-01 9.86481292e-01 4.35539869e-04 1.87111516e+00] [ 7.81108818e-02 1.25355807e-02 9.96865863e-01 -1.80120159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.623201008 meters Centerline goodness : 0.807079 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83437864e-01 1.62937489e-01 -7.93809910e-02 3.89063184e+00] [-1.63430883e-01 9.86554745e-01 2.85137255e-04 1.87049036e+00] [ 7.83601529e-02 1.26928907e-02 9.96844309e-01 -1.80199814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.653201008 meters Centerline goodness : 0.807631 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83482562e-01 1.62547675e-01 -7.96260237e-02 3.89201815e+00] [-1.63062556e-01 9.86615731e-01 3.65751805e-05 1.87080837e+00] [ 7.85662328e-02 1.29480519e-02 9.96824807e-01 -1.80276791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.683201008 meters Centerline goodness : 0.807386 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83497779e-01 1.62379672e-01 -7.97807031e-02 3.89281140e+00] [-1.62892591e-01 9.86643805e-01 8.01739774e-05 1.87062503e+00] [ 7.87281550e-02 1.29168345e-02 9.96812436e-01 -1.80304290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.713201008 meters Centerline goodness : 0.806943 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83479065e-01 1.62475941e-01 -7.98153959e-02 3.89263935e+00] [-1.62948541e-01 9.86634387e-01 5.99785994e-04 1.86955014e+00] [ 7.88460649e-02 1.24159253e-02 9.96809482e-01 -1.80225531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74320100799999 meters Centerline goodness : 0.808779 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83991781e-01 1.59457505e-01 -7.95831640e-02 3.88948013e+00] [-1.60172959e-01 9.87085414e-01 -2.64752328e-03 1.86903167e+00] [ 7.81332129e-02 1.53522120e-02 9.96824714e-01 -1.80116676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77320100799999 meters Centerline goodness : 0.810792 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83957315e-01 1.59650914e-01 -7.96215348e-02 3.88914939e+00] [-1.60325974e-01 9.87061851e-01 -2.11736927e-03 1.86796699e+00] [ 7.82533396e-02 1.48488011e-02 9.96822917e-01 -1.80036026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80320100799999 meters Centerline goodness : 0.807167 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83949226e-01 1.59729175e-01 -7.95645133e-02 3.88924805e+00] [-1.60395411e-01 9.87050790e-01 -2.01260793e-03 1.86782393e+00] [ 7.82127435e-02 1.47420869e-02 9.96827687e-01 -1.80055706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83320100799999 meters Centerline goodness : 0.809477 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83929515e-01 1.59906027e-01 -7.94529522e-02 3.88927960e+00] [-1.60566541e-01 9.87023085e-01 -1.95359004e-03 1.86810085e+00] [ 7.81095072e-02 1.46796806e-02 9.96836703e-01 -1.80085873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86320100799999 meters Centerline goodness : 0.809117 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83815806e-01 1.60861221e-01 -7.89311621e-02 3.88821224e+00] [-1.61535890e-01 9.86864394e-01 -2.19621518e-03 1.87025831e+00] [ 7.75410676e-02 1.49108867e-02 9.96877650e-01 -1.80187670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89320100799999 meters Centerline goodness : 0.808190 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83747626e-01 1.61378775e-01 -7.87242025e-02 3.88752442e+00] [-1.62056407e-01 9.86778922e-01 -2.25384149e-03 1.87133021e+00] [ 7.73196616e-02 1.49749726e-02 9.96893886e-01 -1.80193971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92320100799999 meters Centerline goodness : 0.807176 Centerline is valid? [False, False] Translation: X:3.89, Y:1.87, Z:-1.80 [[ 9.83643727e-01 1.62215911e-01 -7.83008019e-02 3.88593232e+00] [-1.62869276e-01 9.86645653e-01 -1.98872015e-03 1.87165691e+00] [ 7.69325437e-02 1.47089870e-02 9.96927795e-01 -1.80158499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.953201008 meters Centerline goodness : 0.811686 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 9.83357025e-01 1.64303364e-01 -7.75459000e-02 3.88221918e+00] [-1.64892599e-01 9.86310781e-01 -1.21368578e-03 1.87128032e+00] [ 7.62849446e-02 1.39802315e-02 9.96988044e-01 -1.80067454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.983201008 meters Centerline goodness : 0.810821 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 9.83238750e-01 1.65248065e-01 -7.70366008e-02 3.88069835e+00] [-1.65821981e-01 9.86155123e-01 -1.06924906e-03 1.87211845e+00] [ 7.57933473e-02 1.38256888e-02 9.97027692e-01 -1.80079599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.013201008 meters Centerline goodness : 0.807820 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 9.83140231e-01 1.66022715e-01 -7.66273090e-02 3.87991652e+00] [-1.66607600e-01 9.86022475e-01 -1.25942680e-03 1.87413604e+00] [ 7.53471554e-02 1.40048852e-02 9.97059010e-01 -1.80155435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.043201008 meters Centerline goodness : 0.807901 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 9.82489880e-01 1.69940528e-01 -7.63796647e-02 3.88175584e+00] [-1.70232420e-01 9.85400184e-01 2.72058792e-03 1.87337397e+00] [ 7.57268738e-02 1.03293450e-02 9.97075095e-01 -1.80232808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.073201008 meters Centerline goodness : 0.806952 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 0.98169855 0.17473655 -0.07573039 3.88195521] [-0.17471338 0.98459458 0.00698254 1.87233991] [ 0.07578383 0.00637636 0.99710388 -1.80291533] [ 0. 0. 0. 1. ]] SLAMing on 111.10320100799998 meters Centerline goodness : 0.808545 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 0.98159694 0.17543116 -0.07544103 3.88072314] [-0.17537521 0.98447372 0.00741764 1.8714902 ] [ 0.07557099 0.00594936 0.99712268 -1.80254788] [ 0. 0. 0. 1. ]] SLAMing on 111.13320100799999 meters Centerline goodness : 0.810357 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 0.98151486 0.17594077 -0.07532217 3.87985771] [-0.1758465 0.98438562 0.00793404 1.86984135] [ 0.07554198 0.00545777 0.99712769 -1.80201588] [ 0. 0. 0. 1. ]] SLAMing on 111.16320100799999 meters Centerline goodness : 0.810066 Centerline is valid? [False, False] Translation: X:3.88, Y:1.87, Z:-1.80 [[ 0.98143888 0.17639942 -0.07523945 3.87912566] [-0.17625725 0.98430676 0.00857819 1.867901 ] [ 0.07557189 0.00484253 0.9971286 -1.80137642] [ 0. 0. 0. 1. ]] SLAMing on 111.19320100799999 meters Centerline goodness : 0.812355 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.98139349 0.17667842 -0.07517679 3.87878427] [-0.17647388 0.98426036 0.00940774 1.86468449] [ 0.07565568 0.00403405 0.99712584 -1.80094823] [ 0. 0. 0. 1. ]] SLAMing on 111.22320100799999 meters Centerline goodness : 0.812623 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.81373667e-01 1.76753779e-01 -7.52584065e-02 3.87916384e+00] [-1.76520511e-01 9.84248243e-01 9.79312962e-03 1.86334848e+00] [ 7.58039270e-02 3.67393289e-03 9.97115975e-01 -1.80103848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25320100799999 meters Centerline goodness : 0.813653 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.81358292e-01 1.76858393e-01 -7.52131042e-02 3.87932368e+00] [-1.76606410e-01 9.84230334e-01 1.00412089e-02 1.86225271e+00] [ 7.58028907e-02 3.42909266e-03 9.97116925e-01 -1.80138133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28320100799999 meters Centerline goodness : 0.815878 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.81330001e-01 1.77069303e-01 -7.50858880e-02 3.87908050e+00] [-1.76781810e-01 9.84193938e-01 1.05111743e-02 1.86089686e+00] [ 7.57602821e-02 2.95888857e-03 9.97121670e-01 -1.80127376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.313201008 meters Centerline goodness : 0.815849 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.81302943e-01 1.77203050e-01 -7.51239791e-02 3.87853349e+00] [-1.76800750e-01 9.84173198e-01 1.20254012e-02 1.85649461e+00] [ 7.60659446e-02 1.48141425e-03 9.97101689e-01 -1.79940155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.343201008 meters Centerline goodness : 0.815769 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.98192091 0.1737476 -0.0751206 3.87641188] [-0.17362343 0.98477772 0.00823064 1.85656214] [ 0.07540715 0.00496086 0.99714049 -1.79939588] [ 0. 0. 0. 1. ]] SLAMing on 111.373201008 meters Centerline goodness : 0.816071 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 0.98251806 0.17031278 -0.07517863 3.87440855] [-0.17046382 0.98535389 0.00445037 1.85660997] [ 0.07483551 0.00844267 0.99716015 -1.79932991] [ 0. 0. 0. 1. ]] SLAMing on 111.403201008 meters Centerline goodness : 0.818099 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.83128103e-01 1.66678793e-01 -7.53479414e-02 3.87285540e+00] [-1.67123343e-01 9.85935910e-01 4.10788045e-04 1.85713029e+00] [ 7.43567109e-02 1.21885426e-02 9.97157219e-01 -1.79959329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.433201008 meters Centerline goodness : 0.818099 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.83128103e-01 1.66678793e-01 -7.53479414e-02 3.87285540e+00] [-1.67123343e-01 9.85935910e-01 4.10788045e-04 1.85713029e+00] [ 7.43567109e-02 1.21885426e-02 9.97157219e-01 -1.79959329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.463201008 meters Centerline goodness : 0.824330 Centerline is valid? [False, False] Translation: X:3.87, Y:1.86, Z:-1.80 [[ 9.83727527e-01 1.63070614e-01 -7.54196752e-02 3.87103820e+00] [-1.63770020e-01 9.86493542e-01 -3.14200419e-03 1.85664000e+00] [ 7.38886540e-02 1.54423577e-02 9.97146930e-01 -1.79923089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49320100799999 meters Centerline goodness : 0.820979 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.80 [[ 9.83720601e-01 1.62996532e-01 -7.56697459e-02 3.87154206e+00] [-1.63654100e-01 9.86514538e-01 -2.53021732e-03 1.85479152e+00] [ 7.42368878e-02 1.48726910e-02 9.97129725e-01 -1.79857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52320100799999 meters Centerline goodness : 0.822041 Centerline is valid? [False, False] Translation: X:3.87, Y:1.85, Z:-1.80 [[ 9.83744164e-01 1.62691005e-01 -7.60201127e-02 3.87264786e+00] [-1.63335797e-01 9.86567850e-01 -2.30098990e-03 1.85375581e+00] [ 7.46246488e-02 1.46803911e-02 9.97103629e-01 -1.79849769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55320100799999 meters Centerline goodness : 0.824301 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 9.83857546e-01 1.61753558e-01 -7.65513969e-02 3.87581134e+00] [-1.62454949e-01 9.86711450e-01 -2.98412373e-03 1.85482661e+00] [ 7.50514471e-02 1.53721059e-02 9.97061171e-01 -1.80050029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58320100799999 meters Centerline goodness : 0.822042 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 9.83905345e-01 1.61324458e-01 -7.68419920e-02 3.87736951e+00] [-1.62058838e-01 9.86775315e-01 -3.37788936e-03 1.85532921e+00] [ 7.52808447e-02 1.57764473e-02 9.97037561e-01 -1.80152131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61320100799999 meters Centerline goodness : 0.820839 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 9.83933588e-01 1.60989886e-01 -7.71812833e-02 3.87862775e+00] [-1.61736422e-01 9.86827857e-01 -3.48003552e-03 1.85477768e+00] [ 7.56043899e-02 1.59071484e-02 9.97011002e-01 -1.80199878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64320100799999 meters Centerline goodness : 0.821437 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.98455482 0.15672654 -0.07802949 3.87946708] [-0.15783408 0.98743163 -0.0081964 1.8563175 ] [ 0.0757642 0.02038552 0.99691736 -1.80336799] [ 0. 0. 0. 1. ]] SLAMing on 111.67320100799999 meters Centerline goodness : 0.825196 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98459453 0.15616527 -0.0786512 3.88126294] [-0.15725884 0.98752607 -0.00786911 1.85434071] [ 0.07644123 0.02011648 0.99687114 -1.80315504] [ 0. 0. 0. 1. ]] SLAMing on 111.703201008 meters Centerline goodness : 0.824146 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.9852346 0.15179965 -0.07918116 3.88146131] [-0.15323528 0.98811261 -0.01234583 1.85500622] [ 0.07636581 0.02429689 0.99678379 -1.80415307] [ 0. 0. 0. 1. ]] SLAMing on 111.733201008 meters Centerline goodness : 0.827309 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.81 [[ 0.98586217 0.14743949 -0.07960769 3.88159939] [-0.14921372 0.98866249 -0.0167856 1.85581119] [ 0.07623028 0.02842684 0.99668493 -1.80514592] [ 0. 0. 0. 1. ]] SLAMing on 111.763201008 meters Centerline goodness : 0.829534 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.81 [[ 0.98590082 0.14691129 -0.08010401 3.88331957] [-0.14866536 0.98875224 -0.01635921 1.85400274] [ 0.07679967 0.02803725 0.99665226 -1.80501306] [ 0. 0. 0. 1. ]] SLAMing on 111.793201008 meters Centerline goodness : 0.827167 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.81 [[ 0.98600902 0.14580288 -0.0807944 3.8867082 ] [-0.14759877 0.98890652 -0.01668802 1.85386925] [ 0.07746494 0.02837969 0.99659108 -1.80632341] [ 0. 0. 0. 1. ]] SLAMing on 111.823201008 meters Centerline goodness : 0.826691 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.81 [[ 0.98601329 0.14565408 -0.08101038 3.88768691] [-0.14745064 0.98892972 -0.01662302 1.85369687] [ 0.07769236 0.02833555 0.99657463 -1.80660532] [ 0. 0. 0. 1. ]] SLAMing on 111.85320100799998 meters Centerline goodness : 0.827778 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.81 [[ 0.98597011 0.14591446 -0.08106727 3.88753292] [-0.14768956 0.98889916 -0.01631731 1.85407685] [ 0.07778643 0.02806117 0.99657506 -1.80583414] [ 0. 0. 0. 1. ]] SLAMing on 111.88320100799999 meters Centerline goodness : 0.831317 Centerline is valid? [False, False] Translation: X:3.88, Y:1.85, Z:-1.80 [[ 0.98577097 0.1474688 -0.08067563 3.88426664] [-0.14916562 0.9886924 -0.01539326 1.85496932] [ 0.07749335 0.02720825 0.99662154 -1.803143 ] [ 0. 0. 0. 1. ]] SLAMing on 111.91320100799999 meters Centerline goodness : 0.832834 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.98572073 0.147846 -0.080599 3.88360066] [-0.14952895 0.98864009 -0.0152273 1.85572501] [ 0.0774321 0.02706175 0.99663029 -1.80245172] [ 0. 0. 0. 1. ]] SLAMing on 111.94320100799999 meters Centerline goodness : 0.831141 Centerline is valid? [False, False] Translation: X:3.88, Y:1.86, Z:-1.80 [[ 0.98568465 0.1481797 -0.08042722 3.88308294] [-0.14985758 0.9885906 -0.01520948 1.85666599] [ 0.07725586 0.02704437 0.99664444 -1.8023305 ] [ 0. 0. 0. 1. ]] SLAMing on 111.97320100799999 meters Centerline goodness : 0.835260 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 0.98589985 0.14605254 -0.08167089 3.88776174] [-0.14757878 0.98896563 -0.01294165 1.85448719] [ 0.07887955 0.02481207 0.99657533 -1.79720128] [ 0. 0. 0. 1. ]] SLAMing on 112.00320100799999 meters Centerline goodness : 0.836335 Centerline is valid? [False, False] Translation: X:3.89, Y:1.85, Z:-1.80 [[ 0.98597119 0.14525122 -0.08223683 3.89013551] [-0.14681316 0.98907558 -0.01324359 1.85497287] [ 0.07941479 0.02513125 0.99652482 -1.79777906] [ 0. 0. 0. 1. ]] SLAMing on 112.03320100799999 meters Centerline goodness : 0.833289 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.80 [[ 0.98604973 0.14434655 -0.08288549 3.89323513] [-0.14598748 0.98918654 -0.01405864 1.8567769 ] [ 0.07995989 0.02596276 0.99645991 -1.79931445] [ 0. 0. 0. 1. ]] SLAMing on 112.063201008 meters Centerline goodness : 0.831235 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.80 [[ 0.9861082 0.1437168 -0.08328327 3.89566493] [-0.14543313 0.98925603 -0.01488992 1.85900947] [ 0.08024854 0.02679522 0.99641467 -1.80093599] [ 0. 0. 0. 1. ]] SLAMing on 112.093201008 meters Centerline goodness : 0.834413 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.80 [[ 0.98558362 0.14711464 -0.08355968 3.89838913] [-0.14850095 0.98885555 -0.01059089 1.85828462] [ 0.08107037 0.0228469 0.99644649 -1.80013623] [ 0. 0. 0. 1. ]] SLAMing on 112.123201008 meters Centerline goodness : 0.834689 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.80 [[ 0.98482909 0.1525177 -0.08276478 3.89594716] [-0.15346391 0.9881408 -0.00515628 1.85839279] [ 0.08099684 0.01777946 0.99655577 -1.79641663] [ 0. 0. 0. 1. ]] SLAMing on 112.153201008 meters Centerline goodness : 0.837600 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.79 [[ 0.9847341 0.15337374 -0.08231185 3.89382984] [-0.15427324 0.98801731 -0.0046435 1.85916479] [ 0.08061334 0.01727113 0.9965958 -1.79491123] [ 0. 0. 0. 1. ]] SLAMing on 112.183201008 meters Centerline goodness : 0.839025 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.79 [[ 0.98468303 0.15377957 -0.08216556 3.89266494] [-0.15462897 0.98796436 -0.00403805 1.85885033] [ 0.08055567 0.01668137 0.99661051 -1.79332303] [ 0. 0. 0. 1. ]] SLAMing on 112.213201008 meters Centerline goodness : 0.843265 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.79 [[ 9.84686865e-01 1.53742003e-01 -8.21898696e-02 3.89244228e+00] [-1.54560366e-01 9.87976601e-01 -3.65081610e-03 1.85935683e+00] [ 8.06403843e-02 1.62982070e-02 9.96610002e-01 -1.79186071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24320100799999 meters Centerline goodness : 0.842547 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.79 [[ 9.84715199e-01 1.53483960e-01 -8.23325607e-02 3.89327201e+00] [-1.54317760e-01 9.88013873e-01 -3.82305194e-03 1.86035642e+00] [ 8.07589350e-02 1.64699937e-02 9.96597579e-01 -1.79198342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27320100799999 meters Centerline goodness : 0.842464 Centerline is valid? [False, False] Translation: X:3.89, Y:1.86, Z:-1.79 [[ 0.9847546 0.15312354 -0.08253217 3.89456333] [-0.15397688 0.9880662 -0.00403768 1.86074799] [ 0.08092898 0.01668417 0.99658022 -1.79257764] [ 0. 0. 0. 1. ]] SLAMing on 112.30320100799999 meters Centerline goodness : 0.843140 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.79 [[ 0.9848993 0.15165268 -0.08351547 3.89879877] [-0.15253954 0.98828799 -0.0043053 1.86003566] [ 0.08188443 0.01697969 0.99649718 -1.79344134] [ 0. 0. 0. 1. ]] SLAMing on 112.33320100799999 meters Centerline goodness : 0.844496 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.79 [[ 0.98493656 0.15113784 -0.08400788 3.9006847 ] [-0.15201845 0.98836895 -0.00414941 1.85875112] [ 0.08240365 0.01685765 0.99645645 -1.79372389] [ 0. 0. 0. 1. ]] SLAMing on 112.36320100799999 meters Centerline goodness : 0.849972 Centerline is valid? [False, False] Translation: X:3.90, Y:1.86, Z:-1.79 [[ 0.98497604 0.1505455 -0.08460649 3.90285145] [-0.15142744 0.98846 -0.00406821 1.85756659] [ 0.08301768 0.01681883 0.99640614 -1.79403075] [ 0. 0. 0. 1. ]] SLAMing on 112.39320100799999 meters Centerline goodness : 0.847558 Centerline is valid? [False, False] Translation: X:3.91, Y:1.86, Z:-1.80 [[ 0.98503402 0.14984711 -0.08516942 3.90532936] [-0.15076001 0.98856081 -0.00435321 1.85707913] [ 0.08354283 0.0171282 0.99635697 -1.79503333] [ 0. 0. 0. 1. ]] SLAMing on 112.42320100799999 meters Centerline goodness : 0.850884 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 9.84712512e-01 1.51410300e-01 -8.61173058e-02 3.91278606e+00] [-1.51771360e-01 9.88412770e-01 2.37718829e-03 1.85272805e+00] [ 8.54793755e-02 1.07292935e-02 9.96282168e-01 -1.79030306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.453201008 meters Centerline goodness : 0.853991 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 9.84653078e-01 1.51879706e-01 -8.59701775e-02 3.91179894e+00] [-1.52175049e-01 9.88348551e-01 3.14593675e-03 1.85171236e+00] [ 8.54463043e-02 9.98485965e-03 9.96292744e-01 -1.78889733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.483201008 meters Centerline goodness : 0.856083 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 9.84593601e-01 1.52406219e-01 -8.57192283e-02 3.91060613e+00] [-1.52646339e-01 9.88273631e-01 3.78489854e-03 1.85076352e+00] [ 8.52908951e-02 9.35813949e-03 9.96312144e-01 -1.78784801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.513201008 meters Centerline goodness : 0.859092 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 0.98450977 0.15342056 -0.08486844 3.90832052] [-0.15359345 0.98812375 0.00452757 1.85119922] [ 0.08455514 0.0085778 0.99638188 -1.78698983] [ 0. 0. 0. 1. ]] SLAMing on 112.543201008 meters Centerline goodness : 0.858127 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 0.98449979 0.15362431 -0.08461524 3.90813734] [-0.15378276 0.98809359 0.00468118 1.85161318] [ 0.08432692 0.00840374 0.9964027 -1.78706806] [ 0. 0. 0. 1. ]] SLAMing on 112.573201008 meters Centerline goodness : 0.861595 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.79 [[ 0.98447895 0.15381075 -0.08451894 3.90779901] [-0.15392999 0.98806837 0.00514335 1.85066179] [ 0.08430159 0.00794648 0.9964086 -1.78651144] [ 0. 0. 0. 1. ]] SLAMing on 112.60320100799998 meters Centerline goodness : 0.861851 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.78 [[ 0.98443708 0.15397086 -0.08471491 3.90752568] [-0.15400368 0.9880509 0.00618677 1.84858319] [ 0.08465523 0.00695592 0.99638602 -1.7845674 ] [ 0. 0. 0. 1. ]] SLAMing on 112.63320100799999 meters Centerline goodness : 0.863696 Centerline is valid? [False, False] Translation: X:3.91, Y:1.84, Z:-1.78 [[ 0.98452644 0.15298853 -0.08545292 3.91022646] [-0.15285968 0.98821481 0.00808799 1.84478035] [ 0.08568321 0.00509947 0.99630938 -1.78120744] [ 0. 0. 0. 1. ]] SLAMing on 112.66320100799999 meters Centerline goodness : 0.863382 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.78 [[ 9.85182487e-01 1.48404772e-01 -8.59737866e-02 3.91131075e+00] [-1.48708679e-01 9.88876813e-01 2.89450477e-03 1.84719624e+00] [ 8.54470424e-02 9.93343282e-03 9.96293195e-01 -1.78359023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69320100799999 meters Centerline goodness : 0.862930 Centerline is valid? [False, False] Translation: X:3.91, Y:1.85, Z:-1.78 [[ 9.85211839e-01 1.47994977e-01 -8.63430350e-02 3.91295029e+00] [-1.48326590e-01 9.88935020e-01 2.59780648e-03 1.84706758e+00] [ 8.57721134e-02 1.02475783e-02 9.96262080e-01 -1.78452221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72320100799999 meters Centerline goodness : 0.862313 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98480872 0.1505122 -0.0865902 3.91735332] [-0.15054922 0.98858345 0.00614033 1.84575769] [ 0.08652584 0.00698903 0.99622509 -1.78579405] [ 0. 0. 0. 1. ]] SLAMing on 112.75320100799999 meters Centerline goodness : 0.866815 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98481666 0.15037343 -0.08674081 3.91808054] [-0.15042174 0.98860361 0.00601659 1.84645574] [ 0.08665701 0.00712247 0.99621274 -1.78595687] [ 0. 0. 0. 1. ]] SLAMing on 112.78320100799999 meters Centerline goodness : 0.862883 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98480141 0.1503999 -0.08686806 3.91837868] [-0.15044036 0.98860015 0.00611828 1.84663244] [ 0.08679797 0.00704317 0.99620104 -1.78567983] [ 0. 0. 0. 1. ]] SLAMing on 112.813201008 meters Centerline goodness : 0.863496 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98478105 0.15041628 -0.08707029 3.91864255] [-0.15044041 0.98859886 0.0063224 1.84652097] [ 0.08702858 0.00687271 0.99618211 -1.78508183] [ 0. 0. 0. 1. ]] SLAMing on 112.843201008 meters Centerline goodness : 0.865299 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98476396 0.15049953 -0.08711962 3.91893147] [-0.15054572 0.98858437 0.0060777 1.84832486] [ 0.08703978 0.00713038 0.99617932 -1.78509707] [ 0. 0. 0. 1. ]] SLAMing on 112.873201008 meters Centerline goodness : 0.864772 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.79 [[ 0.98473717 0.15071386 -0.08705188 3.91875115] [-0.15077004 0.98855085 0.00596724 1.8497677 ] [ 0.08695455 0.00724866 0.99618591 -1.78501938] [ 0. 0. 0. 1. ]] SLAMing on 112.903201008 meters Centerline goodness : 0.865092 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.78 [[ 0.984723 0.15085117 -0.0869744 3.91861896] [-0.15089534 0.9885309 0.00610455 1.85089836] [ 0.08689776 0.00711274 0.99619184 -1.78444455] [ 0. 0. 0. 1. ]] SLAMing on 112.933201008 meters Centerline goodness : 0.866824 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.78 [[ 0.98469891 0.15112673 -0.08676845 3.91797753] [-0.15116343 0.98848943 0.00618554 1.85201495] [ 0.0867045 0.00702532 0.9962093 -1.78397291] [ 0. 0. 0. 1. ]] SLAMing on 112.963201008 meters Centerline goodness : 0.862970 Centerline is valid? [False, False] Translation: X:3.92, Y:1.85, Z:-1.78 [[ 0.98461428 0.15195031 -0.08628916 3.916079 ] [-0.15196434 0.98836497 0.00644462 1.85439402] [ 0.08626445 0.00676741 0.99624929 -1.78275071] [ 0. 0. 0. 1. ]] SLAMing on 112.99320100799999 meters Centerline goodness : 0.873907 Centerline is valid? [False, False] Translation: X:3.97, Y:1.82, Z:-1.75 [[ 0.5125435 0.1572945 -0.84413127 3.97140339] [-0.5840283 0.78451849 -0.20842666 1.82186582] [ 0.62945223 0.59982429 0.49396429 -1.74835248] [ 0. 0. 0. 1. ]] SLAMing on 113.02320100799999 meters Centerline goodness : 0.865441 Centerline is valid? [False, False] Translation: X:4.11, Y:1.68, Z:-1.72 [[ 0.75653279 0.28230995 -0.5898807 4.10831495] [-0.51650545 0.81119465 -0.27419949 1.67804976] [ 0.40109882 0.5121175 0.75950998 -1.72388554] [ 0. 0. 0. 1. ]] SLAMing on 113.05320100799999 meters Centerline goodness : 0.859161 Centerline is valid? [False, False] Translation: X:4.05, Y:1.69, Z:-1.73 [[ 0.75974172 0.30258153 -0.57553188 4.05407506] [-0.51367927 0.82197632 -0.24594419 1.68768156] [ 0.39865541 0.48249285 0.77991956 -1.73109669] [ 0. 0. 0. 1. ]] SLAMing on 113.08320100799999 meters Centerline goodness : 0.860543 Centerline is valid? [False, False] Translation: X:4.00, Y:1.70, Z:-1.74 [[ 0.76235 0.32251835 -0.56107432 3.99951175] [-0.51093269 0.83205755 -0.21593522 1.69630888] [ 0.39720306 0.45128942 0.79910424 -1.73663282] [ 0. 0. 0. 1. ]] SLAMing on 113.11320100799999 meters Centerline goodness : 0.861799 Centerline is valid? [False, False] Translation: X:3.94, Y:1.71, Z:-1.74 [[ 0.76477125 0.34051937 -0.54696571 3.94432598] [-0.50821802 0.84062503 -0.18725384 1.70758459] [ 0.39602951 0.42118418 0.81594394 -1.74391168] [ 0. 0. 0. 1. ]] SLAMing on 113.14320100799999 meters Centerline goodness : 0.856970 Centerline is valid? [False, False] Translation: X:3.90, Y:1.72, Z:-1.75 [[ 0.7688202 0.35624235 -0.53104321 3.89552292] [-0.50416763 0.8485242 -0.16069126 1.7182102 ] [ 0.39335798 0.39127748 0.83196841 -1.75029947] [ 0. 0. 0. 1. ]] SLAMing on 113.17320100799999 meters Centerline goodness : 0.858337 Centerline is valid? [False, False] Translation: X:3.84, Y:1.73, Z:-1.76 [[ 0.77265525 0.36791316 -0.51734299 3.84266977] [-0.49880548 0.85593543 -0.13626312 1.7320124 ] [ 0.39267919 0.36333793 0.84486011 -1.75850785] [ 0. 0. 0. 1. ]] SLAMing on 113.203201008 meters Centerline goodness : 0.859767 Centerline is valid? [False, False] Translation: X:3.80, Y:1.74, Z:-1.76 [[ 0.77700761 0.37791972 -0.50342413 3.79923461] [-0.49405945 0.86169821 -0.11567821 1.74145857] [ 0.3900826 0.3386043 0.85626088 -1.7641868 ] [ 0. 0. 0. 1. ]] SLAMing on 113.233201008 meters Centerline goodness : 0.860411 Centerline is valid? [False, False] Translation: X:3.76, Y:1.75, Z:-1.77 [[ 0.78017242 0.38532383 -0.49280477 3.76275195] [-0.48943537 0.86660066 -0.09724357 1.74885924] [ 0.38959467 0.31706284 0.86468905 -1.76652663] [ 0. 0. 0. 1. ]] SLAMing on 113.263201008 meters Centerline goodness : 0.862247 Centerline is valid? [False, False] Translation: X:3.72, Y:1.76, Z:-1.77 [[ 0.78501652 0.39260793 -0.47917437 3.72076074] [-0.48411327 0.87142132 -0.07911523 1.76005369] [ 0.3865015 0.29408143 0.87414684 -1.77276284] [ 0. 0. 0. 1. ]] SLAMing on 113.293201008 meters Centerline goodness : 0.861393 Centerline is valid? [False, False] Translation: X:3.69, Y:1.76, Z:-1.77 [[ 0.79099211 0.39609327 -0.46630634 3.69196631] [-0.47509812 0.87786983 -0.06021907 1.76275461] [ 0.3855039 0.26917408 0.88257128 -1.77107519] [ 0. 0. 0. 1. ]] SLAMing on 113.323201008 meters Centerline goodness : 0.858372 Centerline is valid? [False, False] Translation: X:3.65, Y:1.78, Z:-1.78 [[ 0.79323014 0.40288765 -0.4565824 3.64895803] [-0.4726365 0.88013359 -0.04449265 1.77692425] [ 0.38392797 0.25109042 0.8885679 -1.77749649] [ 0. 0. 0. 1. ]] SLAMing on 113.35320100799998 meters Centerline goodness : 0.858372 Centerline is valid? [False, False] Translation: X:3.61, Y:1.79, Z:-1.78 [[ 0.79510863 0.40988274 -0.44698814 3.61212872] [-0.47042997 0.881992 -0.02803124 1.78986378] [ 0.38275045 0.2325645 0.89410058 -1.78259955] [ 0. 0. 0. 1. ]] SLAMing on 113.38320100799999 meters Centerline goodness : 0.861279 Centerline is valid? [False, False] Translation: X:3.58, Y:1.80, Z:-1.79 [[ 0.79878123 0.41454435 -0.43600633 3.57958943] [-0.46584766 0.8847805 -0.01222369 1.80147994] [ 0.38070264 0.21287658 0.89986058 -1.78520948] [ 0. 0. 0. 1. ]] SLAMing on 113.41320100799999 meters Centerline goodness : 0.855006 Centerline is valid? [False, False] Translation: X:3.55, Y:1.81, Z:-1.79 [[ 0.80210691 0.42214851 -0.42239216 3.5474107 ] [-0.46260462 0.88653253 0.00755227 1.80930338] [ 0.37765257 0.18934283 0.90638172 -1.78533365] [ 0. 0. 0. 1. ]] SLAMing on 113.44320100799999 meters Centerline goodness : 0.859184 Centerline is valid? [False, False] Translation: X:3.51, Y:1.83, Z:-1.79 [[ 0.8037356 0.42693436 -0.4144106 3.5053624 ] [-0.46080707 0.88726675 0.02036051 1.82643087] [ 0.37638535 0.17459887 0.90986224 -1.79307044] [ 0. 0. 0. 1. ]] SLAMing on 113.47320100799999 meters Centerline goodness : 0.861700 Centerline is valid? [False, False] Translation: X:3.47, Y:1.84, Z:-1.80 [[ 0.8066027 0.43159941 -0.40387379 3.47128536] [-0.45764782 0.88842779 0.03541934 1.83921151] [ 0.37409966 0.15626262 0.91412879 -1.79777345] [ 0. 0. 0. 1. ]] SLAMing on 113.50320100799999 meters Centerline goodness : 0.858107 Centerline is valid? [False, False] Translation: X:3.44, Y:1.85, Z:-1.80 [[ 0.8099308 0.43883896 -0.38914325 3.44272104] [-0.45467906 0.88888852 0.05607275 1.84852975] [ 0.37051187 0.13152024 0.91946907 -1.79528924] [ 0. 0. 0. 1. ]] SLAMing on 113.53320100799999 meters Centerline goodness : 0.857364 Centerline is valid? [False, False] Translation: X:3.42, Y:1.86, Z:-1.80 [[ 0.81289287 0.44545449 -0.37520059 3.41588516] [-0.45209209 0.88875444 0.07568544 1.85743468] [ 0.36717561 0.10810106 0.9238486 -1.79567809] [ 0. 0. 0. 1. ]] SLAMing on 113.563201008 meters Centerline goodness : 0.857713 Centerline is valid? [False, False] Translation: X:3.38, Y:1.88, Z:-1.81 [[ 0.81419231 0.44922298 -0.36781733 3.37626086] [-0.45101381 0.88830986 0.08655717 1.87792049] [ 0.36561923 0.09541651 0.92586082 -1.80654897] [ 0. 0. 0. 1. ]] SLAMing on 113.593201008 meters Centerline goodness : 0.856714 Centerline is valid? [False, False] Translation: X:3.34, Y:1.90, Z:-1.82 [[ 0.81563012 0.45274228 -0.36023872 3.33815521] [-0.44995364 0.88777069 0.09697899 1.89802044] [ 0.36371587 0.08299174 0.92780555 -1.81784646] [ 0. 0. 0. 1. ]] SLAMing on 113.623201008 meters Centerline goodness : 0.859578 Centerline is valid? [False, False] Translation: X:3.31, Y:1.92, Z:-1.83 [[ 0.8159475 0.45565539 -0.35581995 3.31093472] [-0.45255789 0.88640724 0.09733225 1.91573156] [ 0.35975134 0.08161112 0.92947221 -1.82936004] [ 0. 0. 0. 1. ]] SLAMing on 113.653201008 meters Centerline goodness : 0.866766 Centerline is valid? [False, False] Translation: X:3.30, Y:1.92, Z:-1.82 [[ 0.81557337 0.45996115 -0.35110656 3.30455669] [-0.45461081 0.8847141 0.10300477 1.91556581] [ 0.35800711 0.07560889 0.93065257 -1.82228265] [ 0. 0. 0. 1. ]] SLAMing on 113.683201008 meters Centerline goodness : 0.868491 Centerline is valid? [False, False] Translation: X:3.26, Y:1.94, Z:-1.84 [[ 0.81714238 0.46062283 -0.3465616 3.25893784] [-0.45356452 0.88482509 0.10660109 1.94068693] [ 0.35574929 0.07007978 0.93195025 -1.83895821] [ 0. 0. 0. 1. ]] SLAMing on 113.713201008 meters Centerline goodness : 0.868365 Centerline is valid? [False, False] Translation: X:3.23, Y:1.96, Z:-1.85 [[ 0.8176206 0.46275608 -0.34256878 3.23289864] [-0.45587952 0.88373941 0.10572854 1.95878013] [ 0.35166805 0.06972426 0.93352456 -1.85318428] [ 0. 0. 0. 1. ]] SLAMing on 113.74320100799999 meters Centerline goodness : 0.870252 Centerline is valid? [False, False] Translation: X:3.19, Y:1.98, Z:-1.87 [[ 0.81845834 0.46579166 -0.33639869 3.19380634] [-0.45540196 0.88289272 0.11449669 1.9806181 ] [ 0.35033556 0.05948585 0.93473335 -1.86679611] [ 0. 0. 0. 1. ]] SLAMing on 113.77320100799999 meters Centerline goodness : 0.868548 Centerline is valid? [False, False] Translation: X:3.16, Y:2.00, Z:-1.88 [[ 0.81964295 0.46756934 -0.33100504 3.15525785] [-0.45421333 0.88251587 0.12188519 2.00235555] [ 0.34910698 0.05044456 0.93572414 -1.88134033] [ 0. 0. 0. 1. ]] SLAMing on 113.80320100799999 meters Centerline goodness : 0.869759 Centerline is valid? [False, False] Translation: X:3.13, Y:2.02, Z:-1.90 [[ 0.82109589 0.46632888 -0.32914876 3.12999009] [-0.45398926 0.88307883 0.11859819 2.01900349] [ 0.34597006 0.05204952 0.93680071 -1.89620185] [ 0. 0. 0. 1. ]] SLAMing on 113.83320100799999 meters Centerline goodness : 0.876612 Centerline is valid? [False, False] Translation: X:3.10, Y:2.04, Z:-1.91 [[ 0.82319718 0.46389071 -0.32734051 3.09819167] [-0.45362573 0.88410928 0.11213603 2.03734232] [ 0.34142364 0.05618001 0.93822902 -1.91184701] [ 0. 0. 0. 1. ]] SLAMing on 113.86320100799999 meters Centerline goodness : 0.873962 Centerline is valid? [False, False] Translation: X:3.07, Y:2.05, Z:-1.93 [[ 0.82504937 0.46215998 -0.32511797 3.06803765] [-0.45314558 0.88487926 0.10792484 2.05424091] [ 0.33756869 0.05828245 0.93949483 -1.92541331] [ 0. 0. 0. 1. ]] SLAMing on 113.89320100799999 meters Centerline goodness : 0.868835 Centerline is valid? [False, False] Translation: X:3.04, Y:2.07, Z:-1.94 [[ 0.82683543 0.45998725 -0.32365863 3.03878869] [-0.4523085 0.88583881 0.1034728 2.0706156 ] [ 0.33430554 0.06083857 0.94049906 -1.93958526] [ 0. 0. 0. 1. ]] SLAMing on 113.92320100799999 meters Centerline goodness : 0.873059 Centerline is valid? [False, False] Translation: X:3.01, Y:2.08, Z:-1.95 [[ 0.82905788 0.45785205 -0.32098992 3.01368535] [-0.4503962 0.88699505 0.10189722 2.08405072] [ 0.33137033 0.06009394 0.94158506 -1.95042021] [ 0. 0. 0. 1. ]] SLAMing on 113.953201008 meters Centerline goodness : 0.877552 Centerline is valid? [False, False] Translation: X:2.98, Y:2.10, Z:-1.96 [[ 0.83134879 0.45716388 -0.31600693 2.97560992] [-0.44674189 0.8879593 0.10931591 2.10135492] [ 0.33057658 0.05029389 0.94243814 -1.96352453] [ 0. 0. 0. 1. ]] SLAMing on 113.983201008 meters Centerline goodness : 0.873149 Centerline is valid? [False, False] Translation: X:2.94, Y:2.12, Z:-1.98 [[ 0.83366251 0.45613189 -0.31136878 2.93857117] [-0.44320017 0.88893798 0.11559793 2.12022387] [ 0.32951544 0.04162904 0.943232 -1.97780482] [ 0. 0. 0. 1. ]] SLAMing on 114.013201008 meters Centerline goodness : 0.873333 Centerline is valid? [False, False] Translation: X:2.92, Y:2.13, Z:-1.99 [[ 0.83447771 0.45407691 -0.31218762 2.91599616] [-0.44133459 0.88997197 0.11477662 2.13319195] [ 0.32995564 0.04200066 0.94306162 -1.98967002] [ 0. 0. 0. 1. ]] SLAMing on 114.043201008 meters Centerline goodness : 0.877345 Centerline is valid? [False, False] Translation: X:2.87, Y:2.15, Z:-2.01 [[ 0.83706439 0.45089321 -0.30986856 2.87399593] [-0.43686496 0.8918121 0.11755926 2.152206 ] [ 0.3293512 0.03696605 0.9434836 -2.00596833] [ 0. 0. 0. 1. ]] SLAMing on 114.073201008 meters Centerline goodness : 0.877601 Centerline is valid? [False, False] Translation: X:2.85, Y:2.17, Z:-2.02 [[ 0.83881579 0.44744334 -0.31013308 2.84863819] [-0.4345203 0.89344725 0.11377223 2.16637377] [ 0.32799417 0.03932517 0.94386088 -2.01960092] [ 0. 0. 0. 1. ]] SLAMing on 114.10320100799998 meters Centerline goodness : 0.874245 Centerline is valid? [False, False] Translation: X:2.83, Y:2.17, Z:-2.02 [[ 0.83943771 0.44658697 -0.30968438 2.8283694 ] [-0.43210582 0.89406566 0.11803035 2.1749458 ] [ 0.32958898 0.0347373 0.94348525 -2.02495124] [ 0. 0. 0. 1. ]] SLAMing on 114.13320100799999 meters Centerline goodness : 0.873463 Centerline is valid? [False, False] Translation: X:2.80, Y:2.19, Z:-2.04 [[ 0.84099113 0.444367 -0.30866144 2.80051027] [-0.43083546 0.89510253 0.11477048 2.18989294] [ 0.32728385 0.03646134 0.94422235 -2.03815011] [ 0. 0. 0. 1. ]] SLAMing on 114.16320100799999 meters Centerline goodness : 0.876092 Centerline is valid? [False, False] Translation: X:2.78, Y:2.20, Z:-2.05 [[ 0.84265312 0.44211292 -0.30736279 2.77690199] [-0.42909536 0.89619955 0.11270997 2.20453862] [ 0.32528893 0.03691253 0.94489395 -2.05033847] [ 0. 0. 0. 1. ]] SLAMing on 114.19320100799999 meters Centerline goodness : 0.876208 Centerline is valid? [False, False] Translation: X:2.75, Y:2.22, Z:-2.06 [[ 0.84399493 0.4403887 -0.30615415 2.75202988] [-0.42800901 0.89700807 0.11038484 2.21995363] [ 0.32323497 0.03787249 0.94556059 -2.06315318] [ 0. 0. 0. 1. ]] SLAMing on 114.22320100799999 meters Centerline goodness : 0.872404 Centerline is valid? [False, False] Translation: X:2.73, Y:2.24, Z:-2.08 [[ 0.84507265 0.4391178 -0.30500455 2.72710304] [-0.42719867 0.89760526 0.10865585 2.23500422] [ 0.3214864 0.03847545 0.9461322 -2.07565626] [ 0. 0. 0. 1. ]] SLAMing on 114.25320100799999 meters Centerline goodness : 0.872284 Centerline is valid? [False, False] Translation: X:2.68, Y:2.26, Z:-2.09 [[ 0.84675855 0.4393257 -0.29998815 2.68497391] [-0.42521091 0.89780937 0.11460374 2.25584644] [ 0.31968054 0.03051654 0.94703384 -2.08917582] [ 0. 0. 0. 1. ]] SLAMing on 114.28320100799999 meters Centerline goodness : 0.874105 Centerline is valid? [False, False] Translation: X:2.66, Y:2.27, Z:-2.10 [[ 0.84796846 0.4375073 -0.29922709 2.65516612] [-0.42465631 0.89859358 0.11043819 2.27252047] [ 0.31720106 0.03342057 0.94776925 -2.10289612] [ 0. 0. 0. 1. ]] SLAMing on 114.313201008 meters Centerline goodness : 0.877426 Centerline is valid? [False, False] Translation: X:2.63, Y:2.29, Z:-2.11 [[ 0.85034277 0.43472896 -0.2965264 2.62907775] [-0.42277364 0.89990312 0.10694307 2.28763702] [ 0.31333629 0.03442528 0.94901806 -2.11474664] [ 0. 0. 0. 1. ]] SLAMing on 114.343201008 meters Centerline goodness : 0.875534 Centerline is valid? [False, False] Translation: X:2.60, Y:2.30, Z:-2.12 [[ 0.85305694 0.43078596 -0.29447805 2.60459396] [-0.41935962 0.90179704 0.10440121 2.30093092] [ 0.31053401 0.03443203 0.94993845 -2.12472843] [ 0. 0. 0. 1. ]] SLAMing on 114.373201008 meters Centerline goodness : 0.873991 Centerline is valid? [False, False] Translation: X:2.58, Y:2.31, Z:-2.14 [[ 0.85554472 0.42676856 -0.2931072 2.58122457] [-0.41577155 0.90370602 0.10222253 2.31333965] [ 0.30850811 0.03440969 0.95059914 -2.1353958 ] [ 0. 0. 0. 1. ]] SLAMing on 114.403201008 meters Centerline goodness : 0.873552 Centerline is valid? [False, False] Translation: X:2.57, Y:2.32, Z:-2.14 [[ 0.85542405 0.42714531 -0.29291053 2.56504641] [-0.41336782 0.9038 0.11078179 2.31931356] [ 0.31205246 0.02631438 0.94970038 -2.13615281] [ 0. 0. 0. 1. ]] SLAMing on 114.433201008 meters Centerline goodness : 0.871579 Centerline is valid? [False, False] Translation: X:2.55, Y:2.33, Z:-2.14 [[ 0.85560551 0.42672642 -0.29299108 2.54801036] [-0.41072364 0.90416302 0.11745353 2.32689634] [ 0.31503222 0.01984448 0.94887349 -2.13888756] [ 0. 0. 0. 1. ]] SLAMing on 114.463201008 meters Centerline goodness : 0.873328 Centerline is valid? [False, False] Translation: X:2.52, Y:2.34, Z:-2.15 [[ 0.856127 0.42528656 -0.29356072 2.51802764] [-0.41032258 0.90477256 0.11411392 2.34207014] [ 0.3141368 0.02275858 0.9491049 -2.15288948] [ 0. 0. 0. 1. ]] SLAMing on 114.49320100799999 meters Centerline goodness : 0.875898 Centerline is valid? [False, False] Translation: X:2.52, Y:2.34, Z:-2.15 [[ 0.85611733 0.42524571 -0.29364809 2.5185525 ] [-0.41020025 0.904797 0.11435968 2.34186872] [ 0.31432287 0.02254922 0.94904829 -2.15219894] [ 0. 0. 0. 1. ]] SLAMing on 114.52320100799999 meters Centerline goodness : 0.873350 Centerline is valid? [False, False] Translation: X:2.49, Y:2.36, Z:-2.17 [[ 0.85798088 0.42225148 -0.29252778 2.49265755] [-0.4082904 0.90614333 0.11046815 2.35688706] [ 0.31171744 0.02465672 0.94985488 -2.16516102] [ 0. 0. 0. 1. ]] SLAMing on 114.55320100799999 meters Centerline goodness : 0.876204 Centerline is valid? [False, False] Translation: X:2.47, Y:2.37, Z:-2.18 [[ 0.86010481 0.41951524 -0.29021832 2.46822916] [-0.40626476 0.9073947 0.10762805 2.37102417] [ 0.30849417 0.02533408 0.95088881 -2.17693376] [ 0. 0. 0. 1. ]] SLAMing on 114.58320100799999 meters Centerline goodness : 0.878079 Centerline is valid? [False, False] Translation: X:2.45, Y:2.38, Z:-2.19 [[ 0.86273891 0.41738689 -0.28542906 2.44704113] [-0.40422126 0.90842746 0.10660547 2.38317692] [ 0.30378733 0.02340381 0.95245237 -2.18645584] [ 0. 0. 0. 1. ]] SLAMing on 114.61320100799999 meters Centerline goodness : 0.877345 Centerline is valid? [False, False] Translation: X:2.42, Y:2.40, Z:-2.20 [[ 0.8648187 0.41455127 -0.28325936 2.4239731 ] [-0.40189698 0.90971992 0.10434792 2.39726055] [ 0.30094424 0.02359905 0.9533497 -2.19756241] [ 0. 0. 0. 1. ]] SLAMing on 114.64320100799999 meters Centerline goodness : 0.874945 Centerline is valid? [False, False] Translation: X:2.40, Y:2.41, Z:-2.21 [[ 0.86676681 0.41165305 -0.28152631 2.39952347] [-0.40021845 0.91096569 0.09983342 2.41292866] [ 0.29755754 0.02613973 0.95434597 -2.21215798] [ 0. 0. 0. 1. ]] SLAMing on 114.67320100799999 meters Centerline goodness : 0.872634 Centerline is valid? [False, False] Translation: X:2.38, Y:2.43, Z:-2.23 [[ 0.86872353 0.40904264 -0.27929116 2.37524909] [-0.39872951 0.91207516 0.09557025 2.42905142] [ 0.29382684 0.0283375 0.95543852 -2.22626538] [ 0. 0. 0. 1. ]] SLAMing on 114.703201008 meters Centerline goodness : 0.872710 Centerline is valid? [False, False] Translation: X:2.35, Y:2.44, Z:-2.24 [[ 0.87062922 0.40695182 -0.2763964 2.35024884] [-0.39737161 0.91298054 0.09253288 2.44434663] [ 0.29000096 0.02927025 0.95657864 -2.23778958] [ 0. 0. 0. 1. ]] SLAMing on 114.733201008 meters Centerline goodness : 0.876284 Centerline is valid? [False, False] Translation: X:2.33, Y:2.46, Z:-2.25 [[ 0.87281485 0.40445634 -0.27314702 2.32537363] [-0.39560896 0.91406266 0.08934772 2.4589359 ] [ 0.28581074 0.0300754 0.95781402 -2.24935533] [ 0. 0. 0. 1. ]] SLAMing on 114.763201008 meters Centerline goodness : 0.872521 Centerline is valid? [False, False] Translation: X:2.30, Y:2.47, Z:-2.26 [[ 0.87444025 0.40337287 -0.26952658 2.29866526] [-0.3953625 0.91449628 0.08593625 2.47495292] [ 0.28114541 0.03141459 0.95915087 -2.26200502] [ 0. 0. 0. 1. ]] SLAMing on 114.793201008 meters Centerline goodness : 0.873782 Centerline is valid? [False, False] Translation: X:2.27, Y:2.49, Z:-2.28 [[ 0.87654575 0.40030604 -0.26725011 2.27393174] [-0.39336852 0.91576187 0.08149483 2.49040054] [ 0.27736033 0.03369384 0.96017497 -2.27518084] [ 0. 0. 0. 1. ]] SLAMing on 114.823201008 meters Centerline goodness : 0.871008 Centerline is valid? [False, False] Translation: X:2.25, Y:2.50, Z:-2.29 [[ 0.87902533 0.39705045 -0.26394206 2.2520513 ] [-0.39069374 0.91716384 0.07854232 2.50443696] [ 0.27326338 0.03407983 0.96133537 -2.28654874] [ 0. 0. 0. 1. ]] SLAMing on 114.85320100799998 meters Centerline goodness : 0.869827 Centerline is valid? [False, False] Translation: X:2.23, Y:2.52, Z:-2.30 [[ 0.88156199 0.39353826 -0.26072227 2.22854832] [-0.38803394 0.91862468 0.07455438 2.51917957] [ 0.26884591 0.03544478 0.9625308 -2.29900223] [ 0. 0. 0. 1. ]] SLAMing on 114.88320100799999 meters Centerline goodness : 0.869429 Centerline is valid? [False, False] Translation: X:2.20, Y:2.53, Z:-2.31 [[ 0.88406029 0.39052552 -0.25676296 2.20276801] [-0.3857768 0.91987031 0.07081582 2.53316039] [ 0.263844 0.03644774 0.9638765 -2.3111237 ] [ 0. 0. 0. 1. ]] SLAMing on 114.91320100799999 meters Centerline goodness : 0.867020 Centerline is valid? [False, False] Translation: X:2.20, Y:2.53, Z:-2.31 [[ 0.88416787 0.39036138 -0.25664211 2.20285906] [-0.38550682 0.91995686 0.07116091 2.53198539] [ 0.26387814 0.03601909 0.96388327 -2.31058932] [ 0. 0. 0. 1. ]] SLAMing on 114.94320100799999 meters Centerline goodness : 0.869249 Centerline is valid? [False, False] Translation: X:2.18, Y:2.54, Z:-2.32 [[ 0.8869634 0.38633758 -0.25305967 2.1775354 ] [-0.38209672 0.92163243 0.06779206 2.54482991] [ 0.25941862 0.03656419 0.96507256 -2.32094777] [ 0. 0. 0. 1. ]] SLAMing on 114.97320100799999 meters Centerline goodness : 0.864690 Centerline is valid? [False, False] Translation: X:2.17, Y:2.55, Z:-2.33 [[ 0.89130244 0.38126235 -0.24539556 2.17086782] [-0.37707187 0.92384507 0.06578058 2.5498776 ] [ 0.25178713 0.03390137 0.96718868 -2.3278874 ] [ 0. 0. 0. 1. ]] SLAMing on 115.00320100799999 meters Centerline goodness : 0.862308 Centerline is valid? [False, False] Translation: X:2.15, Y:2.56, Z:-2.33 [[ 0.8937338 0.37786097 -0.24178708 2.15291028] [-0.3728941 0.9253911 0.0678329 2.5579967 ] [ 0.24937902 0.02953642 0.96795543 -2.33382456] [ 0. 0. 0. 1. ]] SLAMing on 115.03320100799999 meters Centerline goodness : 0.857762 Centerline is valid? [False, False] Translation: X:2.14, Y:2.56, Z:-2.34 [[ 0.89442502 0.37477976 -0.24401644 2.13544084] [-0.36853293 0.92677659 0.07258543 2.56296269] [ 0.25335227 0.02500587 0.96705084 -2.33673496] [ 0. 0. 0. 1. ]] SLAMing on 115.063201008 meters Centerline goodness : 0.862234 Centerline is valid? [False, False] Translation: X:2.14, Y:2.56, Z:-2.34 [[ 0.89598132 0.3700218 -0.24556331 2.13660992] [-0.36484736 0.92858074 0.06800163 2.56455597] [ 0.25318744 0.02866493 0.96699247 -2.33835061] [ 0. 0. 0. 1. ]] SLAMing on 115.093201008 meters Centerline goodness : 0.858900 Centerline is valid? [False, False] Translation: X:2.11, Y:2.57, Z:-2.35 [[ 0.89888676 0.36404642 -0.24387044 2.11456932] [-0.35922297 0.93094127 0.06562935 2.5741696 ] [ 0.25092119 0.02861051 0.96758462 -2.34640432] [ 0. 0. 0. 1. ]] SLAMing on 115.123201008 meters Centerline goodness : 0.860485 Centerline is valid? [False, False] Translation: X:2.10, Y:2.58, Z:-2.35 [[ 0.9020183 0.35906482 -0.23965693 2.09693101] [-0.35425898 0.9329274 0.06439759 2.58395383] [ 0.24670543 0.02681281 0.96871952 -2.35484079] [ 0. 0. 0. 1. ]] SLAMing on 115.153201008 meters Centerline goodness : 0.859334 Centerline is valid? [False, False] Translation: X:2.08, Y:2.59, Z:-2.36 [[ 0.90253397 0.35718721 -0.24051972 2.07859512] [-0.35106756 0.93377751 0.06936224 2.59093551] [ 0.24936721 0.02183689 0.96816277 -2.35785958] [ 0. 0. 0. 1. ]] SLAMing on 115.183201008 meters Centerline goodness : 0.855266 Centerline is valid? [False, False] Translation: X:2.06, Y:2.60, Z:-2.36 [[ 0.90300339 0.35516255 -0.24175285 2.06230722] [-0.34753375 0.93466268 0.07500644 2.59726445] [ 0.25259684 0.01628621 0.96743454 -2.36039305] [ 0. 0. 0. 1. ]] SLAMing on 115.21320100799998 meters Centerline goodness : 0.856459 Centerline is valid? [False, False] Translation: X:2.06, Y:2.60, Z:-2.36 [[ 0.90313399 0.35450747 -0.24222605 2.06452475] [-0.34693709 0.93490672 0.07472663 2.59683901] [ 0.25294991 0.01654905 0.96733783 -2.36099872] [ 0. 0. 0. 1. ]] SLAMing on 115.24320100799999 meters Centerline goodness : 0.856459 Centerline is valid? [False, False] Translation: X:2.06, Y:2.60, Z:-2.36 [[ 0.90313399 0.35450747 -0.24222605 2.06452475] [-0.34693709 0.93490672 0.07472663 2.59683901] [ 0.25294991 0.01654905 0.96733783 -2.36099872] [ 0. 0. 0. 1. ]] SLAMing on 115.27320100799999 meters Centerline goodness : 0.858290 Centerline is valid? [False, False] Translation: X:2.05, Y:2.60, Z:-2.36 [[ 0.90338536 0.35242803 -0.24431411 2.04865184] [-0.34347032 0.93576456 0.07983003 2.60387991] [ 0.25675482 0.01179737 0.96640456 -2.36443756] [ 0. 0. 0. 1. ]] SLAMing on 115.30320100799999 meters Centerline goodness : 0.857164 Centerline is valid? [False, False] Translation: X:2.05, Y:2.60, Z:-2.37 [[ 0.90348527 0.35184576 -0.24478344 2.05061004] [-0.34303139 0.93597611 0.07923502 2.60493976] [ 0.25698995 0.01238073 0.96633477 -2.36515071] [ 0. 0. 0. 1. ]] SLAMing on 115.33320100799999 meters Centerline goodness : 0.853967 Centerline is valid? [False, False] Translation: X:2.03, Y:2.62, Z:-2.38 [[ 0.90563487 0.34800899 -0.24231224 2.02826476] [-0.34002778 0.93738544 0.07542974 2.61897736] [ 0.2533902 0.01408109 0.96726167 -2.37703017] [ 0. 0. 0. 1. ]] SLAMing on 115.36320100799999 meters Centerline goodness : 0.850502 Centerline is valid? [False, False] Translation: X:2.03, Y:2.62, Z:-2.38 [[ 0.90564206 0.34770821 -0.24271685 2.02963967] [-0.33998254 0.93748111 0.07443817 2.62166679] [ 0.25342522 0.01510515 0.96723704 -2.37797862] [ 0. 0. 0. 1. ]] SLAMing on 115.39320100799999 meters Centerline goodness : 0.849815 Centerline is valid? [False, False] Translation: X:2.01, Y:2.63, Z:-2.39 [[ 0.90777873 0.34527782 -0.23816173 2.00935313] [-0.33755203 0.93840552 0.07384923 2.63333707] [ 0.24899079 0.01335322 0.9684138 -2.38655401] [ 0. 0. 0. 1. ]] SLAMing on 115.42320100799999 meters Centerline goodness : 0.851418 Centerline is valid? [False, False] Translation: X:1.99, Y:2.65, Z:-2.40 [[ 0.90993833 0.34218024 -0.23436064 1.98670768] [-0.33506398 0.93952897 0.07083393 2.64739964] [ 0.24442659 0.0140713 0.9695657 -2.3971228 ] [ 0. 0. 0. 1. ]] SLAMing on 115.453201008 meters Centerline goodness : 0.852259 Centerline is valid? [False, False] Translation: X:1.99, Y:2.65, Z:-2.40 [[ 0.90988357 0.34241492 -0.23423048 1.98660212] [-0.33536592 0.93943963 0.07058948 2.64925016] [ 0.24421628 0.01432472 0.96961498 -2.39707325] [ 0. 0. 0. 1. ]] SLAMing on 115.483201008 meters Centerline goodness : 0.852245 Centerline is valid? [False, False] Translation: X:1.96, Y:2.66, Z:-2.41 [[ 0.91097155 0.34098367 -0.23207964 1.95926124] [-0.33466057 0.93992787 0.06736394 2.66452133] [ 0.24110813 0.01630127 0.97036134 -2.40894331] [ 0. 0. 0. 1. ]] SLAMing on 115.513201008 meters Centerline goodness : 0.853326 Centerline is valid? [False, False] Translation: X:1.94, Y:2.68, Z:-2.42 [[ 0.91230803 0.33898789 -0.22974173 1.93633051] [-0.33286106 0.94065261 0.06615266 2.67695553] [ 0.2385321 0.01612047 0.97100081 -2.41893684] [ 0. 0. 0. 1. ]] SLAMing on 115.543201008 meters Centerline goodness : 0.850151 Centerline is valid? [False, False] Translation: X:1.94, Y:2.68, Z:-2.42 [[ 0.91234636 0.33872348 -0.22997937 1.93762535] [-0.33276819 0.94073547 0.06543782 2.67909881] [ 0.23851508 0.01682786 0.97099299 -2.41978041] [ 0. 0. 0. 1. ]] SLAMing on 115.573201008 meters Centerline goodness : 0.846703 Centerline is valid? [False, False] Translation: X:1.91, Y:2.69, Z:-2.43 [[ 0.91375613 0.33726688 -0.22649677 1.91109448] [-0.33197756 0.941231 0.06225041 2.69429086] [ 0.23418078 0.01831015 0.97202063 -2.43094692] [ 0. 0. 0. 1. ]] SLAMing on 115.60320100799998 meters Centerline goodness : 0.847360 Centerline is valid? [False, False] Translation: X:1.91, Y:2.70, Z:-2.43 [[ 0.91367833 0.33741725 -0.22658666 1.91101647] [-0.33214183 0.94117513 0.06221874 2.69517591] [ 0.2342514 0.018411 0.97200171 -2.43054059] [ 0. 0. 0. 1. ]] SLAMing on 115.63320100799999 meters Centerline goodness : 0.847704 Centerline is valid? [False, False] Translation: X:1.91, Y:2.70, Z:-2.43 [[ 0.91356545 0.33770182 -0.22661786 1.91063877] [-0.33240802 0.94107359 0.06233303 2.6962037 ] [ 0.23431406 0.01838429 0.97198711 -2.4298244 ] [ 0. 0. 0. 1. ]] SLAMing on 115.66320100799999 meters Centerline goodness : 0.846992 Centerline is valid? [False, False] Translation: X:1.89, Y:2.71, Z:-2.44 [[ 0.91567709 0.3342586 -0.22317406 1.88834408] [-0.3293438 0.94229932 0.0600387 2.70887485] [ 0.23036522 0.01852493 0.9729279 -2.43878139] [ 0. 0. 0. 1. ]] SLAMing on 115.69320100799999 meters Centerline goodness : 0.845968 Centerline is valid? [False, False] Translation: X:1.89, Y:2.71, Z:-2.44 [[ 0.91569651 0.33398647 -0.22350154 1.88977427] [-0.32919823 0.94238446 0.0594984 2.71073393] [ 0.23049604 0.01909383 0.97288591 -2.43934922] [ 0. 0. 0. 1. ]] SLAMing on 115.72320100799999 meters Centerline goodness : 0.844473 Centerline is valid? [False, False] Translation: X:1.87, Y:2.72, Z:-2.44 [[ 0.91569454 0.33295204 -0.22504765 1.87180753] [-0.32682621 0.94284055 0.06508709 2.71740284] [ 0.23385493 0.01395158 0.9721714 -2.44220032] [ 0. 0. 0. 1. ]] SLAMing on 115.75320100799999 meters Centerline goodness : 0.844031 Centerline is valid? [False, False] Translation: X:1.87, Y:2.72, Z:-2.44 [[ 0.9157977 0.33226622 -0.22564071 1.87427374] [-0.32629041 0.94307214 0.06441662 2.7181203 ] [ 0.23419893 0.0146318 0.97207858 -2.44333129] [ 0. 0. 0. 1. ]] SLAMing on 115.78320100799999 meters Centerline goodness : 0.840721 Centerline is valid? [False, False] Translation: X:1.85, Y:2.73, Z:-2.45 [[ 0.91618279 0.33110652 -0.22578212 1.85400051] [-0.32456457 0.94351401 0.06662693 2.72826701] [ 0.23508921 0.01223844 0.97189675 -2.45038822] [ 0. 0. 0. 1. ]] SLAMing on 115.813201008 meters Centerline goodness : 0.841466 Centerline is valid? [False, False] Translation: X:1.85, Y:2.73, Z:-2.45 [[ 0.91617751 0.33095369 -0.2260275 1.85483581] [-0.32446544 0.94356414 0.06639945 2.72899015] [ 0.23524659 0.01250443 0.97185528 -2.45055614] [ 0. 0. 0. 1. ]] SLAMing on 115.843201008 meters Centerline goodness : 0.843794 Centerline is valid? [False, False] Translation: X:1.85, Y:2.73, Z:-2.45 [[ 0.91607597 0.33108804 -0.2262422 1.85486445] [-0.3245747 0.94351727 0.06653135 2.72892169] [ 0.23549116 0.01248472 0.9717963 -2.45008582] [ 0. 0. 0. 1. ]] SLAMing on 115.873201008 meters Centerline goodness : 0.842657 Centerline is valid? [False, False] Translation: X:1.83, Y:2.74, Z:-2.46 [[ 0.91785061 0.32791153 -0.22366108 1.83081771] [-0.32179887 0.94461999 0.06433172 2.74042052] [ 0.23236984 0.01292697 0.97254159 -2.45898064] [ 0. 0. 0. 1. ]] SLAMing on 115.903201008 meters Centerline goodness : 0.843375 Centerline is valid? [False, False] Translation: X:1.83, Y:2.74, Z:-2.46 [[ 0.91754984 0.32884817 -0.22351997 1.82947537] [-0.32270969 0.94429459 0.06454603 2.74155227] [ 0.23229454 0.01290786 0.97255984 -2.45840775] [ 0. 0. 0. 1. ]] SLAMing on 115.933201008 meters Centerline goodness : 0.845445 Centerline is valid? [False, False] Translation: X:1.83, Y:2.74, Z:-2.46 [[ 0.91746174 0.32914422 -0.22344582 1.82961088] [-0.32310562 0.94418553 0.06415946 2.7432997 ] [ 0.23209203 0.01333275 0.97260245 -2.45908261] [ 0. 0. 0. 1. ]] SLAMing on 115.96320100799998 meters Centerline goodness : 0.843932 Centerline is valid? [False, False] Translation: X:1.81, Y:2.75, Z:-2.47 [[ 0.91878818 0.32815115 -0.21941994 1.80790921] [-0.32148986 0.94457769 0.06646239 2.75293794] [ 0.22906889 0.00947643 0.97336408 -2.46519291] [ 0. 0. 0. 1. ]] SLAMing on 115.99320100799999 meters Centerline goodness : 0.842441 Centerline is valid? [False, False] Translation: X:1.81, Y:2.75, Z:-2.46 [[ 0.91871921 0.32851968 -0.2191571 1.80706487] [-0.32184826 0.9444503 0.06653821 2.75379836] [ 0.2288421 0.0094054 0.97341812 -2.46487343] [ 0. 0. 0. 1. ]] SLAMing on 116.02320100799999 meters Centerline goodness : 0.848082 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.91855251 0.32885571 -0.21935181 1.80794621] [-0.32233014 0.94432606 0.06596642 2.7567074 ] [ 0.22883307 0.01011008 0.97341318 -2.46567572] [ 0. 0. 0. 1. ]] SLAMing on 116.05320100799999 meters Centerline goodness : 0.847922 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.91848065 0.32900104 -0.21943474 1.80818965] [-0.32255364 0.94427144 0.0656551 2.7576918 ] [ 0.22880655 0.01047654 0.97341554 -2.46609182] [ 0. 0. 0. 1. ]] SLAMing on 116.08320100799999 meters Centerline goodness : 0.847475 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.91839743 0.32908146 -0.21966238 1.80836475] [-0.3226849 0.94424019 0.06545938 2.75829792] [ 0.22895551 0.01076401 0.97337737 -2.46603315] [ 0. 0. 0. 1. ]] SLAMing on 116.11320100799999 meters Centerline goodness : 0.850769 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.91926292 0.32590639 -0.22077296 1.80721784] [-0.32035891 0.94529591 0.06152888 2.76088796] [ 0.22874843 0.01416537 0.9733825 -2.46655268] [ 0. 0. 0. 1. ]] SLAMing on 116.14320100799999 meters Centerline goodness : 0.853191 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92015774 0.32268701 -0.221772 1.80556339] [-0.31797185 0.94634477 0.05766689 2.76227818] [ 0.22848113 0.01745462 0.97339186 -2.46712374] [ 0. 0. 0. 1. ]] SLAMing on 116.17320100799999 meters Centerline goodness : 0.851646 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92016025 0.32259548 -0.22189473 1.80645962] [-0.31790555 0.94637368 0.05755802 2.7622922 ] [ 0.22856329 0.01757896 0.97337033 -2.46770581] [ 0. 0. 0. 1. ]] SLAMing on 116.203201008 meters Centerline goodness : 0.849802 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92022634 0.3221383 -0.22228449 1.80806024] [-0.31748606 0.94652572 0.05737312 2.761984 ] [ 0.22888006 0.01777597 0.97329232 -2.46819187] [ 0. 0. 0. 1. ]] SLAMing on 116.233201008 meters Centerline goodness : 0.852082 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92150671 0.31766892 -0.22340958 1.80847959] [-0.31395977 0.94796061 0.05291445 2.76401808] [ 0.22859276 0.0213806 0.97328733 -2.4694779 ] [ 0. 0. 0. 1. ]] SLAMing on 116.263201008 meters Centerline goodness : 0.856081 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92173286 0.31621888 -0.22453097 1.81260942] [-0.31258397 0.94843653 0.05253005 2.76168419] [ 0.22956437 0.02176611 0.97305007 -2.47055281] [ 0. 0. 0. 1. ]] SLAMing on 116.293201008 meters Centerline goodness : 0.851079 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92180534 0.31572659 -0.22492584 1.8142812 ] [-0.31213337 0.94859589 0.05233161 2.76130083] [ 0.22988621 0.02196731 0.97296956 -2.47108738] [ 0. 0. 0. 1. ]] SLAMing on 116.323201008 meters Centerline goodness : 0.851252 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92181958 0.31531887 -0.22543885 1.81581845] [-0.31174787 0.94872781 0.05223807 2.76069089] [ 0.23035176 0.02212601 0.97285585 -2.47130595] [ 0. 0. 0. 1. ]] SLAMing on 116.35320100799998 meters Centerline goodness : 0.853460 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92177934 0.31519459 -0.22577691 1.81643302] [-0.31157974 0.94877184 0.05244103 2.75972368] [ 0.2307399 0.02200845 0.97276653 -2.47095512] [ 0. 0. 0. 1. ]] SLAMing on 116.38320100799999 meters Centerline goodness : 0.859866 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92266722 0.31203643 -0.22653579 1.81399579] [-0.30919436 0.94974239 0.04886967 2.76108654] [ 0.23039976 0.02495315 0.97277608 -2.47075186] [ 0. 0. 0. 1. ]] SLAMing on 116.41320100799999 meters Centerline goodness : 0.860113 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92259364 0.3121072 -0.22673789 1.81421339] [-0.3091986 0.94972491 0.04918153 2.76022198] [ 0.23068853 0.02473247 0.97271327 -2.47031945] [ 0. 0. 0. 1. ]] SLAMing on 116.44320100799999 meters Centerline goodness : 0.860741 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92255558 0.3121857 -0.22678469 1.81441983] [-0.30924053 0.94970249 0.04935062 2.75971921] [ 0.23078454 0.02460233 0.9726938 -2.47031369] [ 0. 0. 0. 1. ]] SLAMing on 116.47320100799999 meters Centerline goodness : 0.857885 Centerline is valid? [False, False] Translation: X:1.81, Y:2.76, Z:-2.47 [[ 0.92253261 0.31235661 -0.22664273 1.81485363] [-0.30944316 0.94964314 0.04922242 2.75990388] [ 0.23060466 0.02472376 0.97273338 -2.47127534] [ 0. 0. 0. 1. ]] SLAMing on 116.50320100799999 meters Centerline goodness : 0.852462 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92255681 0.31228722 -0.22663986 1.81540731] [-0.30940749 0.94966258 0.04907123 2.76042232] [ 0.23055571 0.02485307 0.97274169 -2.47169044] [ 0. 0. 0. 1. ]] SLAMing on 116.53320100799999 meters Centerline goodness : 0.853372 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92267376 0.31156226 -0.22716092 1.81727727] [-0.30867755 0.94990067 0.04906005 2.75937816] [ 0.23106557 0.02485306 0.9726207 -2.47171633] [ 0. 0. 0. 1. ]] SLAMing on 116.563201008 meters Centerline goodness : 0.853576 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92391443 0.30703752 -0.22827633 1.81765151] [-0.3051402 0.95126851 0.04447107 2.76192013] [ 0.23080637 0.02856882 0.9725802 -2.47289389] [ 0. 0. 0. 1. ]] SLAMing on 116.593201008 meters Centerline goodness : 0.849668 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92387013 0.30696658 -0.22855088 1.81791935] [-0.30499026 0.95129977 0.04482961 2.76046793] [ 0.23118159 0.02828906 0.97249926 -2.47225176] [ 0. 0. 0. 1. ]] SLAMing on 116.623201008 meters Centerline goodness : 0.856824 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92387669 0.3064311 -0.22924188 1.81969782] [-0.30441639 0.95147501 0.04501064 2.75815272] [ 0.23191058 0.0282007 0.97232824 -2.47216337] [ 0. 0. 0. 1. ]] SLAMing on 116.653201008 meters Centerline goodness : 0.855866 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92384451 0.30631812 -0.2295224 1.82040608] [-0.30426552 0.95151476 0.04519028 2.75729029] [ 0.23223656 0.02808696 0.97225372 -2.47199846] [ 0. 0. 0. 1. ]] SLAMing on 116.683201008 meters Centerline goodness : 0.848480 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92510245 0.30178935 -0.23045312 1.82031978] [-0.30069177 0.95285068 0.04074364 2.75905046] [ 0.23188341 0.03160331 0.97223007 -2.47314776] [ 0. 0. 0. 1. ]] SLAMing on 116.71320100799998 meters Centerline goodness : 0.852066 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92578829 0.29918714 -0.23109112 1.82387221] [-0.29807615 0.95367992 0.04056131 2.75559161] [ 0.23252238 0.03133156 0.97208625 -2.47260765] [ 0. 0. 0. 1. ]] SLAMing on 116.74320100799999 meters Centerline goodness : 0.845809 Centerline is valid? [False, False] Translation: X:1.83, Y:2.75, Z:-2.47 [[ 0.92584281 0.2987897 -0.23138669 1.82522298] [-0.29764702 0.95380869 0.04068455 2.75460338] [ 0.23285476 0.03120406 0.97201079 -2.47277744] [ 0. 0. 0. 1. ]] SLAMing on 116.77320100799999 meters Centerline goodness : 0.846232 Centerline is valid? [False, False] Translation: X:1.83, Y:2.75, Z:-2.47 [[ 0.92589926 0.29840378 -0.23165869 1.82654256] [-0.29727193 0.95392806 0.04062821 2.75437177] [ 0.23310934 0.031248 0.97194835 -2.47304569] [ 0. 0. 0. 1. ]] SLAMing on 116.80320100799999 meters Centerline goodness : 0.848911 Centerline is valid? [False, False] Translation: X:1.83, Y:2.75, Z:-2.47 [[ 0.92588768 0.29837298 -0.2317446 1.82700323] [-0.29721914 0.95394026 0.04072787 2.75405872] [ 0.2332226 0.0311695 0.9719237 -2.47310614] [ 0. 0. 0. 1. ]] SLAMing on 116.83320100799999 meters Centerline goodness : 0.850134 Centerline is valid? [False, False] Translation: X:1.83, Y:2.75, Z:-2.47 [[ 0.92578299 0.29880436 -0.23160702 1.82630232] [-0.29755423 0.95381704 0.04116472 2.75386171] [ 0.23321092 0.03080605 0.97193809 -2.4724492 ] [ 0. 0. 0. 1. ]] SLAMing on 116.86320100799999 meters Centerline goodness : 0.845713 Centerline is valid? [False, False] Translation: X:1.83, Y:2.75, Z:-2.47 [[ 0.92697734 0.29435213 -0.23252922 1.82515467] [-0.29389657 0.95510442 0.03742137 2.75423744] [ 0.23310475 0.03365078 0.97186923 -2.47188502] [ 0. 0. 0. 1. ]] SLAMing on 116.89320100799999 meters Centerline goodness : 0.848155 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92809747 0.29022197 -0.23325156 1.82389367] [-0.29067642 0.95624477 0.03321388 2.75624739] [ 0.23268498 0.03697501 0.97184904 -2.47234175] [ 0. 0. 0. 1. ]] SLAMing on 116.92320100799999 meters Centerline goodness : 0.849191 Centerline is valid? [False, False] Translation: X:1.82, Y:2.76, Z:-2.47 [[ 0.92806335 0.29016837 -0.23345394 1.82426023] [-0.29057512 0.9562677 0.03343922 2.7558241 ] [ 0.23294746 0.0368022 0.97179271 -2.47187531] [ 0. 0. 0. 1. ]] SLAMing on 116.953201008 meters Centerline goodness : 0.841793 Centerline is valid? [False, False] Translation: X:1.83, Y:2.76, Z:-2.47 [[ 0.92810332 0.28991057 -0.23361527 1.82542852] [-0.29041398 0.95633088 0.03302975 2.75654639] [ 0.23298917 0.03719012 0.97176795 -2.47268287] [ 0. 0. 0. 1. ]] SLAMing on 116.983201008 meters Centerline goodness : 0.842318 Centerline is valid? [False, False] Translation: X:1.83, Y:2.76, Z:-2.47 [[ 0.92701893 0.29363179 -0.23327296 1.82870411] [-0.2933753 0.95529599 0.03661298 2.75692243] [ 0.23359546 0.0344956 0.97172178 -2.47286349] [ 0. 0. 0. 1. ]] SLAMing on 117.013201008 meters Centerline goodness : 0.839732 Centerline is valid? [False, False] Translation: X:1.80, Y:2.77, Z:-2.48 [[ 0.9280321 0.29448273 -0.22811477 1.80363662] [-0.29335074 0.95518212 0.03965434 2.76712985] [ 0.22956867 0.03011714 0.97282639 -2.47877275] [ 0. 0. 0. 1. ]] SLAMing on 117.043201008 meters Centerline goodness : 0.839994 Centerline is valid? [False, False] Translation: X:1.80, Y:2.77, Z:-2.48 [[ 0.92773553 0.29583221 -0.22757434 1.80166312] [-0.29472057 0.95476003 0.03966186 2.7704422 ] [ 0.22901214 0.03027512 0.97295265 -2.47857493] [ 0. 0. 0. 1. ]] SLAMing on 117.073201008 meters Centerline goodness : 0.836950 Centerline is valid? [False, False] Translation: X:1.80, Y:2.77, Z:-2.48 [[ 0.92754021 0.29678604 -0.22712817 1.80019253] [-0.29571891 0.95445678 0.03952952 2.77347387] [ 0.22851583 0.03050088 0.97306229 -2.47844982] [ 0. 0. 0. 1. ]] SLAMing on 117.10320100799998 meters Centerline goodness : 0.840295 Centerline is valid? [False, False] Translation: X:1.78, Y:2.78, Z:-2.48 [[ 0.92898761 0.29774263 -0.21984391 1.77519239] [-0.2959777 0.95428344 0.04171711 2.78480991] [ 0.22221436 0.02631422 0.97464267 -2.48441667] [ 0. 0. 0. 1. ]] SLAMing on 117.13320100799999 meters Centerline goodness : 0.835469 Centerline is valid? [False, False] Translation: X:1.77, Y:2.79, Z:-2.48 [[ 0.92891842 0.29813017 -0.21961096 1.7745111 ] [-0.29636279 0.95416266 0.04174574 2.78647967] [ 0.22199024 0.02630613 0.97469396 -2.48401357] [ 0. 0. 0. 1. ]] SLAMing on 117.16320100799999 meters Centerline goodness : 0.835469 Centerline is valid? [False, False] Translation: X:1.77, Y:2.79, Z:-2.48 [[ 0.92891842 0.29813017 -0.21961096 1.7745111 ] [-0.29636279 0.95416266 0.04174574 2.78647967] [ 0.22199024 0.02630613 0.97469396 -2.48401357] [ 0. 0. 0. 1. ]] SLAMing on 117.19320100799999 meters Centerline goodness : 0.834058 Centerline is valid? [False, False] Translation: X:1.75, Y:2.80, Z:-2.49 [[ 0.92994352 0.29782122 -0.21565615 1.74824832] [-0.29568795 0.95432234 0.04286618 2.79771177] [ 0.21857194 0.0239038 0.97552802 -2.49097724] [ 0. 0. 0. 1. ]] SLAMing on 117.22320100799999 meters Centerline goodness : 0.830739 Centerline is valid? [False, False] Translation: X:1.75, Y:2.80, Z:-2.49 [[ 0.92991795 0.29790258 -0.21565402 1.74811938] [-0.29573158 0.95430082 0.04304384 2.7979602 ] [ 0.21862168 0.02374846 0.97552067 -2.49047428] [ 0. 0. 0. 1. ]] SLAMing on 117.25320100799999 meters Centerline goodness : 0.832496 Centerline is valid? [False, False] Translation: X:1.72, Y:2.81, Z:-2.50 [[ 0.93189258 0.29456258 -0.2116816 1.72362852] [-0.29232884 0.9553727 0.04250708 2.80735619] [ 0.21475582 0.02226861 0.97641387 -2.49732536] [ 0. 0. 0. 1. ]] SLAMing on 117.28320100799999 meters Centerline goodness : 0.829224 Centerline is valid? [False, False] Translation: X:1.72, Y:2.81, Z:-2.50 [[ 0.93191134 0.29436894 -0.21186831 1.72409859] [-0.29210204 0.95543546 0.04265538 2.80673687] [ 0.21498291 0.02213613 0.97636691 -2.49703746] [ 0. 0. 0. 1. ]] SLAMing on 117.313201008 meters Centerline goodness : 0.830236 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93240906 0.29306301 -0.21148857 1.70218432] [-0.28972894 0.955939 0.04730498 2.81230926] [ 0.21603352 0.01716677 0.97623502 -2.49983155] [ 0. 0. 0. 1. ]] SLAMing on 117.343201008 meters Centerline goodness : 0.834287 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93353568 0.28873478 -0.21246966 1.70224957] [-0.28629075 0.95718307 0.04287391 2.81344228] [ 0.21575155 0.02080377 0.97622665 -2.5013868 ] [ 0. 0. 0. 1. ]] SLAMing on 117.373201008 meters Centerline goodness : 0.832666 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93353142 0.28862263 -0.21264069 1.70295869] [-0.28616626 0.95721761 0.04293383 2.81275982] [ 0.21593508 0.02077051 0.97618678 -2.50166667] [ 0. 0. 0. 1. ]] SLAMing on 117.403201008 meters Centerline goodness : 0.835940 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93357662 0.28837359 -0.21278011 1.70412947] [-0.28597151 0.95728745 0.04267364 2.81254271] [ 0.21599768 0.02100994 0.97616781 -2.5026364 ] [ 0. 0. 0. 1. ]] SLAMing on 117.433201008 meters Centerline goodness : 0.835300 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.933551 0.28851483 -0.21270102 1.70410708] [-0.28604383 0.95725153 0.04299351 2.81060006] [ 0.21601264 0.02070518 0.97617101 -2.50302376] [ 0. 0. 0. 1. ]] SLAMing on 117.46320100799998 meters Centerline goodness : 0.836397 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93461329 0.28460073 -0.2133083 1.70269989] [-0.28292509 0.95834839 0.03900975 2.81168377] [ 0.21552587 0.02389124 0.97620582 -2.50360485] [ 0. 0. 0. 1. ]] SLAMing on 117.49320100799999 meters Centerline goodness : 0.836208 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93562727 0.28095629 -0.21369413 1.70073486] [-0.28007048 0.95933923 0.03505387 2.8132404 ] [ 0.21485377 0.02705207 0.9762715 -2.50419304] [ 0. 0. 0. 1. ]] SLAMing on 117.52320100799999 meters Centerline goodness : 0.839958 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93663137 0.27730893 -0.21405943 1.69866534] [-0.27719457 0.96030798 0.03117291 2.81455798] [ 0.21420751 0.03013859 0.97632311 -2.50470842] [ 0. 0. 0. 1. ]] SLAMing on 117.55320100799999 meters Centerline goodness : 0.838489 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93661758 0.27747619 -0.21390297 1.69847126] [-0.27730931 0.96026716 0.0314091 2.81410352] [ 0.21411927 0.02989897 0.97634983 -2.50471868] [ 0. 0. 0. 1. ]] SLAMing on 117.58320100799999 meters Centerline goodness : 0.837104 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93661241 0.27748374 -0.21391578 1.69876594] [-0.27727617 0.96027055 0.03159732 2.81373248] [ 0.21418477 0.02971931 0.97634095 -2.5046957 ] [ 0. 0. 0. 1. ]] SLAMing on 117.61320100799999 meters Centerline goodness : 0.834344 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93661154 0.27765739 -0.21369418 1.69835939] [-0.27738066 0.96023033 0.03190127 2.81332253] [ 0.21405326 0.02939554 0.97637959 -2.5044587 ] [ 0. 0. 0. 1. ]] SLAMing on 117.64320100799999 meters Centerline goodness : 0.836151 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93658689 0.27775424 -0.21367637 1.69813858] [-0.27740947 0.96021135 0.03222022 2.81247714] [ 0.21412377 0.02909882 0.97637302 -2.50403895] [ 0. 0. 0. 1. ]] SLAMing on 117.67320100799999 meters Centerline goodness : 0.834723 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93655443 0.27786268 -0.21367765 1.69823303] [-0.27751115 0.96018051 0.0322637 2.81258136] [ 0.214134 0.02908122 0.9763713 -2.50408083] [ 0. 0. 0. 1. ]] SLAMing on 117.703201008 meters Centerline goodness : 0.832704 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.50 [[ 0.93655539 0.27777249 -0.21379067 1.69899988] [-0.27748958 0.96019703 0.03195629 2.81350182] [ 0.21415774 0.02939585 0.97635667 -2.50462007] [ 0. 0. 0. 1. ]] SLAMing on 117.733201008 meters Centerline goodness : 0.835168 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93646524 0.27796614 -0.21393383 1.69985943] [-0.27782216 0.96012033 0.0313655 2.81543688] [ 0.21412077 0.03006286 0.97634447 -2.50579315] [ 0. 0. 0. 1. ]] SLAMing on 117.763201008 meters Centerline goodness : 0.837208 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93645891 0.27790651 -0.21403898 1.70053682] [-0.27782662 0.96012827 0.03108166 2.81585637] [ 0.21414267 0.03035903 0.9763305 -2.50644851] [ 0. 0. 0. 1. ]] SLAMing on 117.793201008 meters Centerline goodness : 0.837644 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93642585 0.27794733 -0.21413059 1.70074069] [-0.27787537 0.96011475 0.03106349 2.81611361] [ 0.21422395 0.03041297 0.97631099 -2.50643187] [ 0. 0. 0. 1. ]] SLAMing on 117.823201008 meters Centerline goodness : 0.837892 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93640004 0.27789511 -0.21431116 1.70116799] [-0.27779946 0.96013256 0.03119163 2.81579897] [ 0.21443512 0.03032768 0.97626728 -2.50625437] [ 0. 0. 0. 1. ]] SLAMing on 117.85320100799998 meters Centerline goodness : 0.839306 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93640623 0.27776886 -0.21444772 1.70190037] [-0.27768485 0.96016727 0.03114393 2.81564085] [ 0.2145565 0.03038551 0.97623882 -2.50658841] [ 0. 0. 0. 1. ]] SLAMing on 117.88320100799999 meters Centerline goodness : 0.842053 Centerline is valid? [False, False] Translation: X:1.70, Y:2.82, Z:-2.51 [[ 0.93768058 0.27231113 -0.21587443 1.7042439 ] [-0.27323714 0.96159148 0.02613974 2.81737262] [ 0.21470115 0.03447419 0.97607118 -2.50853569] [ 0. 0. 0. 1. ]] SLAMing on 117.91320100799999 meters Centerline goodness : 0.836570 Centerline is valid? [False, False] Translation: X:1.71, Y:2.82, Z:-2.51 [[ 0.9380615 0.27034354 -0.21669101 1.70825071] [-0.2713553 0.96213722 0.0256569 2.81539665] [ 0.21542266 0.0347325 0.97590303 -2.50937206] [ 0. 0. 0. 1. ]] SLAMing on 117.94320100799999 meters Centerline goodness : 0.832867 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.51 [[ 0.93806303 0.27020788 -0.21685355 1.70906859] [-0.27122837 0.96217376 0.02562845 2.81497941] [ 0.21557581 0.03477573 0.97586768 -2.5097866 ] [ 0. 0. 0. 1. ]] SLAMing on 117.97320100799999 meters Centerline goodness : 0.837106 Centerline is valid? [False, False] Translation: X:1.71, Y:2.82, Z:-2.51 [[ 0.93801961 0.2701471 -0.2171169 1.71007804] [-0.27118983 0.96218633 0.02556442 2.815415 ] [ 0.21581307 0.03489997 0.9758108 -2.51001481] [ 0. 0. 0. 1. ]] SLAMing on 118.00320100799999 meters Centerline goodness : 0.836392 Centerline is valid? [False, False] Translation: X:1.71, Y:2.82, Z:-2.51 [[ 0.93795281 0.27040791 -0.21708082 1.71027757] [-0.2715201 0.96210084 0.02527459 2.81658176] [ 0.21568809 0.03523544 0.97582637 -2.5107046 ] [ 0. 0. 0. 1. ]] SLAMing on 118.03320100799999 meters Centerline goodness : 0.831654 Centerline is valid? [False, False] Translation: X:1.71, Y:2.82, Z:-2.51 [[ 0.93772247 0.27180999 -0.21632361 1.70660235] [-0.27262733 0.9617506 0.02664828 2.81547985] [ 0.21529263 0.03398704 0.97595797 -2.50842636] [ 0. 0. 0. 1. ]] SLAMing on 118.063201008 meters Centerline goodness : 0.834672 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.51 [[ 0.93761482 0.27239291 -0.21605682 1.70492558] [-0.2730438 0.96161052 0.02742786 2.81427498] [ 0.21523366 0.03327621 0.97599547 -2.50715304] [ 0. 0. 0. 1. ]] SLAMing on 118.093201008 meters Centerline goodness : 0.834035 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.51 [[ 0.93753533 0.27284142 -0.21583574 1.70389838] [-0.27337006 0.96150134 0.02799956 2.81373323] [ 0.21516579 0.03275245 0.97602815 -2.50632603] [ 0. 0. 0. 1. ]] SLAMing on 118.123201008 meters Centerline goodness : 0.831054 Centerline is valid? [False, False] Translation: X:1.70, Y:2.81, Z:-2.51 [[ 0.9375498 0.27276979 -0.21586341 1.70450692] [-0.27331283 0.96151963 0.02793026 2.81461894] [ 0.21517543 0.03281223 0.97602402 -2.5065142 ] [ 0. 0. 0. 1. ]] SLAMing on 118.153201008 meters Centerline goodness : 0.826361 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.51 [[ 0.93758195 0.27259784 -0.21594095 1.70523235] [-0.27315857 0.96156602 0.02784221 2.81460098] [ 0.21523121 0.03288177 0.97600938 -2.50695433] [ 0. 0. 0. 1. ]] SLAMing on 118.183201008 meters Centerline goodness : 0.827121 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.51 [[ 0.93757422 0.2724613 -0.21614677 1.70595523] [-0.27296669 0.96161274 0.02810924 2.81357459] [ 0.21550817 0.03264637 0.97595617 -2.506817 ] [ 0. 0. 0. 1. ]] SLAMing on 118.21320100799998 meters Centerline goodness : 0.827000 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.51 [[ 0.93754689 0.27233438 -0.21642506 1.70671512] [-0.27279338 0.96165492 0.02834749 2.81233697] [ 0.21584622 0.03246222 0.9758876 -2.50675137] [ 0. 0. 0. 1. ]] SLAMing on 118.24320100799999 meters Centerline goodness : 0.825114 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.51 [[ 0.93750265 0.27233942 -0.21661031 1.70678484] [-0.27266215 0.96167293 0.02899198 2.81048921] [ 0.21620393 0.03188137 0.97582757 -2.50578092] [ 0. 0. 0. 1. ]] SLAMing on 118.27320100799999 meters Centerline goodness : 0.825796 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93744605 0.27249284 -0.2166623 1.70632505] [-0.27265816 0.9616516 0.02972765 2.80909056] [ 0.21645422 0.03120667 0.97579389 -2.50449332] [ 0. 0. 0. 1. ]] SLAMing on 118.30320100799999 meters Centerline goodness : 0.827541 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93737527 0.27270861 -0.21669705 1.70574665] [-0.27271826 0.96161166 0.03045922 2.80723254] [ 0.2166849 0.03054552 0.97576361 -2.50342243] [ 0. 0. 0. 1. ]] SLAMing on 118.33320100799999 meters Centerline goodness : 0.828087 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93727674 0.27297964 -0.21678201 1.70528866] [-0.27278878 0.96156123 0.03140507 2.80539477] [ 0.21702212 0.02970046 0.97571475 -2.50200048] [ 0. 0. 0. 1. ]] SLAMing on 118.36320100799999 meters Centerline goodness : 0.826901 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93732274 0.27302808 -0.21652195 1.7051015 ] [-0.27280523 0.96155286 0.03151824 2.8062086 ] [ 0.21680266 0.02952556 0.97576885 -2.50184696] [ 0. 0. 0. 1. ]] SLAMing on 118.39320100799999 meters Centerline goodness : 0.826175 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93743027 0.27228938 -0.21698613 1.70665773] [-0.2720267 0.96176822 0.03167582 2.80593628] [ 0.21731535 0.02933214 0.97566063 -2.50107881] [ 0. 0. 0. 1. ]] SLAMing on 118.42320100799999 meters Centerline goodness : 0.826347 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93852213 0.2678245 -0.21782161 1.70633396] [-0.26845659 0.96290605 0.02725801 2.8085395 ] [ 0.21704211 0.0328934 0.97560789 -2.50169029] [ 0. 0. 0. 1. ]] SLAMing on 118.453201008 meters Centerline goodness : 0.828634 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93852199 0.26758135 -0.21812083 1.70679033] [-0.26811383 0.96298827 0.02772306 2.80740698] [ 0.21746597 0.03246251 0.97552793 -2.50067928] [ 0. 0. 0. 1. ]] SLAMing on 118.483201008 meters Centerline goodness : 0.824879 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93860315 0.26651386 -0.21907643 1.71005638] [-0.26714479 0.9632695 0.02730429 2.80818703] [ 0.21830661 0.03289723 0.97532558 -2.50082438] [ 0. 0. 0. 1. ]] SLAMing on 118.513201008 meters Centerline goodness : 0.824495 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93864649 0.26605927 -0.21944298 1.71167674] [-0.26677424 0.96338265 0.02693268 2.80943158] [ 0.21857325 0.03326147 0.97525351 -2.5011878 ] [ 0. 0. 0. 1. ]] SLAMing on 118.543201008 meters Centerline goodness : 0.828539 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93859581 0.26620649 -0.21948123 1.71169405] [-0.26691297 0.96334251 0.02699381 2.81027694] [ 0.21862153 0.03324611 0.97524321 -2.50088507] [ 0. 0. 0. 1. ]] SLAMing on 118.573201008 meters Centerline goodness : 0.828410 Centerline is valid? [False, False] Translation: X:1.71, Y:2.81, Z:-2.50 [[ 0.93850406 0.2665967 -0.21939994 1.71101705] [-0.2672336 0.96324393 0.02733745 2.81097612] [ 0.21862373 0.03297472 0.97525193 -2.49996873] [ 0. 0. 0. 1. ]] SLAMing on 118.60320100799998 meters Centerline goodness : 0.831181 Centerline is valid? [False, False] Translation: X:1.69, Y:2.82, Z:-2.50 [[ 0.94064081 0.26535151 -0.21162098 1.69053877] [-0.26508995 0.96375244 0.03014227 2.82022394] [ 0.21194853 0.02774554 0.97688689 -2.50449095] [ 0. 0. 0. 1. ]] SLAMing on 118.63320100799999 meters Centerline goodness : 0.831101 Centerline is valid? [False, False] Translation: X:1.69, Y:2.82, Z:-2.50 [[ 0.94051453 0.26573218 -0.21170457 1.69015739] [-0.26547347 0.96364557 0.0301835 2.82128524] [ 0.2120289 0.02781393 0.97686751 -2.50398112] [ 0. 0. 0. 1. ]] SLAMing on 118.66320100799999 meters Centerline goodness : 0.831792 Centerline is valid? [False, False] Translation: X:1.69, Y:2.82, Z:-2.50 [[ 0.94038067 0.2662896 -0.2115988 1.68933394] [-0.26600878 0.96349321 0.03033436 2.82242212] [ 0.21195173 0.02776129 0.97688575 -2.50342803] [ 0. 0. 0. 1. ]] SLAMing on 118.69320100799999 meters Centerline goodness : 0.834925 Centerline is valid? [False, False] Translation: X:1.69, Y:2.82, Z:-2.50 [[ 0.9402611 0.26678754 -0.21150288 1.68887178] [-0.26654068 0.96334975 0.03022121 2.82418382] [ 0.21181388 0.0279583 0.97691003 -2.50337387] [ 0. 0. 0. 1. ]] SLAMing on 118.72320100799999 meters Centerline goodness : 0.832721 Centerline is valid? [False, False] Translation: X:1.69, Y:2.83, Z:-2.50 [[ 0.93908236 0.2715744 -0.21064581 1.68969974] [-0.27064532 0.96208563 0.03379885 2.82747887] [ 0.21183821 0.0252704 0.97697798 -2.5031981 ] [ 0. 0. 0. 1. ]] SLAMing on 118.75320100799999 meters Centerline goodness : 0.829983 Centerline is valid? [False, False] Translation: X:1.69, Y:2.83, Z:-2.50 [[ 0.93898373 0.27203231 -0.21049459 1.68978126] [-0.27119585 0.96194436 0.03340445 2.83124822] [ 0.21157117 0.02571903 0.97702414 -2.50354074] [ 0. 0. 0. 1. ]] SLAMing on 118.78320100799999 meters Centerline goodness : 0.832141 Centerline is valid? [False, False] Translation: X:1.69, Y:2.83, Z:-2.50 [[ 0.93885843 0.27255721 -0.21037445 1.68916495] [-0.27176749 0.96178897 0.03323273 2.83420269] [ 0.21139364 0.02597211 0.97705587 -2.50314103] [ 0. 0. 0. 1. ]] SLAMing on 118.813201008 meters Centerline goodness : 0.831518 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.93842803 0.27427796 -0.21005817 1.68612281] [-0.27341108 0.96130522 0.03374403 2.83731857] [ 0.21118526 0.02576589 0.97710639 -2.50116857] [ 0. 0. 0. 1. ]] SLAMing on 118.843201008 meters Centerline goodness : 0.833194 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.93822838 0.27522649 -0.20970906 1.6839125 ] [-0.27427748 0.96104269 0.03418783 2.83857783] [ 0.21094876 0.02544248 0.97716595 -2.49971005] [ 0. 0. 0. 1. ]] SLAMing on 118.873201008 meters Centerline goodness : 0.836103 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.93802008 0.27634534 -0.20916877 1.68119344] [-0.27530924 0.96073103 0.03465118 2.84019544] [ 0.21053062 0.02508259 0.97726543 -2.49824943] [ 0. 0. 0. 1. ]] SLAMing on 118.903201008 meters Centerline goodness : 0.833386 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.93786439 0.27719572 -0.20874125 1.67925654] [-0.2761343 0.9604884 0.03481224 2.84236023] [ 0.21014335 0.02499145 0.97735111 -2.49728721] [ 0. 0. 0. 1. ]] SLAMing on 118.933201008 meters Centerline goodness : 0.831842 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.93666048 0.28203817 -0.20765747 1.67900814] [-0.28013657 0.95916196 0.03913865 2.84317047] [ 0.21021574 0.02151283 0.9774183 -2.49596344] [ 0. 0. 0. 1. ]] SLAMing on 118.96320100799998 meters Centerline goodness : 0.829935 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.9366899 0.28194861 -0.20764636 1.67916461] [-0.28003143 0.95919016 0.03919992 2.84353018] [ 0.21022471 0.02142933 0.97741821 -2.49573421] [ 0. 0. 0. 1. ]] SLAMing on 118.99320100799999 meters Centerline goodness : 0.828585 Centerline is valid? [False, False] Translation: X:1.68, Y:2.84, Z:-2.50 [[ 0.93680426 0.28125614 -0.20806914 1.68065861] [-0.27933345 0.95939398 0.03919217 2.84292357] [ 0.21064332 0.02140528 0.97732861 -2.49557572] [ 0. 0. 0. 1. ]] SLAMing on 119.02320100799999 meters Centerline goodness : 0.831040 Centerline is valid? [False, False] Translation: X:1.68, Y:2.85, Z:-2.50 [[ 0.93803631 0.27616774 -0.20933052 1.68209362] [-0.27520835 0.96077272 0.03429509 2.84545876] [ 0.21059025 0.02543947 0.97724336 -2.49703722] [ 0. 0. 0. 1. ]] SLAMing on 119.05320100799999 meters Centerline goodness : 0.831040 Centerline is valid? [False, False] Translation: X:1.68, Y:2.85, Z:-2.50 [[ 0.93803631 0.27616774 -0.20933052 1.68209362] [-0.27520835 0.96077272 0.03429509 2.84545876] [ 0.21059025 0.02543947 0.97724336 -2.49703722] [ 0. 0. 0. 1. ]] SLAMing on 119.08320100799999 meters Centerline goodness : 0.827782 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93845315 0.27350557 -0.21095113 1.68886166] [-0.27282998 0.96150001 0.03288656 2.84583641] [ 0.21182418 0.02669129 0.97694324 -2.49897436] [ 0. 0. 0. 1. ]] SLAMing on 119.11320100799999 meters Centerline goodness : 0.824414 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93851935 0.27283085 -0.21152957 1.69138017] [-0.27230514 0.96167219 0.03219499 2.84674771] [ 0.21220589 0.02738497 0.9768412 -2.50012233] [ 0. 0. 0. 1. ]] SLAMing on 119.14320100799999 meters Centerline goodness : 0.823028 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93852016 0.27252607 -0.21191848 1.69303685] [-0.27211523 0.96174292 0.03168384 2.84787236] [ 0.21244577 0.02793032 0.97677361 -2.50093815] [ 0. 0. 0. 1. ]] SLAMing on 119.17320100799999 meters Centerline goodness : 0.824493 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.938335 0.27311289 -0.21198298 1.69269008] [-0.27275191 0.9615676 0.03153008 2.84939712] [ 0.21244724 0.02823298 0.97676459 -2.50085782] [ 0. 0. 0. 1. ]] SLAMing on 119.203201008 meters Centerline goodness : 0.824182 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93821874 0.27357901 -0.21189649 1.69183136] [-0.27320314 0.96143589 0.03163986 2.85001077] [ 0.21238089 0.02820568 0.97677981 -2.50038553] [ 0. 0. 0. 1. ]] SLAMing on 119.233201008 meters Centerline goodness : 0.827351 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93810164 0.27413233 -0.21169972 1.69065483] [-0.27368205 0.96128713 0.0320185 2.85019991] [ 0.21228152 0.02790181 0.97681014 -2.49958863] [ 0. 0. 0. 1. ]] SLAMing on 119.263201008 meters Centerline goodness : 0.826924 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93802955 0.27439898 -0.21167371 1.69025058] [-0.27392434 0.96121348 0.03215742 2.8504682 ] [ 0.21228759 0.02781797 0.97681121 -2.49924686] [ 0. 0. 0. 1. ]] SLAMing on 119.293201008 meters Centerline goodness : 0.824221 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93800214 0.27461347 -0.21151695 1.69029801] [-0.27411479 0.96115537 0.03227143 2.85093668] [ 0.21216282 0.02770925 0.97684141 -2.4994425 ] [ 0. 0. 0. 1. ]] SLAMing on 119.323201008 meters Centerline goodness : 0.823487 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93796437 0.27481468 -0.2114231 1.69019672] [-0.27428126 0.96110214 0.03244172 2.8507133 ] [ 0.21211465 0.02756021 0.97685608 -2.49951278] [ 0. 0. 0. 1. ]] SLAMing on 119.35320100799998 meters Centerline goodness : 0.819517 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93791032 0.27506063 -0.21134306 1.68998709] [-0.2744534 0.96104087 0.03279894 2.85022042] [ 0.21213102 0.02724136 0.97686147 -2.49925639] [ 0. 0. 0. 1. ]] SLAMing on 119.38320100799999 meters Centerline goodness : 0.816497 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93786207 0.27516928 -0.21141571 1.68996491] [-0.27449085 0.96101818 0.03314856 2.84910963] [ 0.2122958 0.0269429 0.97683395 -2.498968 ] [ 0. 0. 0. 1. ]] SLAMing on 119.41320100799999 meters Centerline goodness : 0.817656 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.93884495 0.27148997 -0.2118097 1.68667851] [-0.27129882 0.96201053 0.03054007 2.84671049] [ 0.21205449 0.02879134 0.97683364 -2.497104 ] [ 0. 0. 0. 1. ]] SLAMing on 119.44320100799999 meters Centerline goodness : 0.820450 Centerline is valid? [False, False] Translation: X:1.68, Y:2.85, Z:-2.50 [[ 0.93991163 0.26719465 -0.21253977 1.68484666] [-0.26768337 0.96312785 0.02702505 2.84634911] [ 0.21192392 0.0314922 0.97677863 -2.49608261] [ 0. 0. 0. 1. ]] SLAMing on 119.47320100799999 meters Centerline goodness : 0.818425 Centerline is valid? [False, False] Translation: X:1.68, Y:2.85, Z:-2.50 [[ 0.94098316 0.26287769 -0.2131807 1.68372324] [-0.26416246 0.96420477 0.02296409 2.84728865] [ 0.2115866 0.03470551 0.97674287 -2.4963501 ] [ 0. 0. 0. 1. ]] SLAMing on 119.50320100799999 meters Centerline goodness : 0.817123 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.94111841 0.26202798 -0.21362929 1.68625715] [-0.26331795 0.96443683 0.02291849 2.84566127] [ 0.21203725 0.03468341 0.97664593 -2.49727274] [ 0. 0. 0. 1. ]] SLAMing on 119.53320100799999 meters Centerline goodness : 0.814442 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.94119495 0.26137842 -0.21408736 1.68880305] [-0.26275691 0.96459936 0.02251406 2.84559776] [ 0.21239322 0.03506282 0.97655503 -2.49854593] [ 0. 0. 0. 1. ]] SLAMing on 119.563201008 meters Centerline goodness : 0.814936 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.94124097 0.26087105 -0.21450345 1.69093551] [-0.26232782 0.96472418 0.02216709 2.84566885] [ 0.21271941 0.03540565 0.97647165 -2.49955096] [ 0. 0. 0. 1. ]] SLAMing on 119.593201008 meters Centerline goodness : 0.812764 Centerline is valid? [False, False] Translation: X:1.69, Y:2.85, Z:-2.50 [[ 0.94122269 0.26079098 -0.21468095 1.69184254] [-0.26227057 0.96474166 0.02208351 2.845559 ] [ 0.21287084 0.03551899 0.97643454 -2.50005898] [ 0. 0. 0. 1. ]] SLAMing on 119.623201008 meters Centerline goodness : 0.814026 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94112739 0.2612494 -0.21454133 1.69120386] [-0.26264145 0.96463081 0.02251387 2.84449124] [ 0.21283491 0.03515903 0.9764554 -2.49987143] [ 0. 0. 0. 1. ]] SLAMing on 119.653201008 meters Centerline goodness : 0.817289 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94096234 0.26181876 -0.21457125 1.69033432] [-0.26309946 0.96449225 0.02309482 2.84204405] [ 0.21299897 0.03472222 0.97643525 -2.49945295] [ 0. 0. 0. 1. ]] SLAMing on 119.683201008 meters Centerline goodness : 0.818243 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94089224 0.26204049 -0.21460794 1.69029513] [-0.26331841 0.96443144 0.0231391 2.84153525] [ 0.21303802 0.03473882 0.97642614 -2.49968908] [ 0. 0. 0. 1. ]] SLAMing on 119.71320100799998 meters Centerline goodness : 0.812643 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94084862 0.2623133 -0.21446585 1.68989454] [-0.26355515 0.9643626 0.02331204 2.84141462] [ 0.2129379 0.03459048 0.97645325 -2.49965262] [ 0. 0. 0. 1. ]] SLAMing on 119.74320100799999 meters Centerline goodness : 0.813474 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94085434 0.26226697 -0.21449743 1.69014475] [-0.26342877 0.96438819 0.02367892 2.84027317] [ 0.21306899 0.03422638 0.97643748 -2.49941913] [ 0. 0. 0. 1. ]] SLAMing on 119.77320100799999 meters Centerline goodness : 0.809620 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94091573 0.26207251 -0.21446583 1.6912011 ] [-0.2632851 0.96443378 0.02341862 2.84086649] [ 0.21297546 0.03443071 0.9764507 -2.50042479] [ 0. 0. 0. 1. ]] SLAMing on 119.80320100799999 meters Centerline goodness : 0.810577 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94096782 0.26189437 -0.2144549 1.69205228] [-0.26318198 0.96447075 0.02305236 2.84209781] [ 0.21287276 0.03474914 0.97646182 -2.50115029] [ 0. 0. 0. 1. ]] SLAMing on 119.83320100799999 meters Centerline goodness : 0.807455 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94092962 0.26217566 -0.21427872 1.69155447] [-0.26345214 0.9643957 0.02310615 2.84285889] [ 0.21270735 0.03471093 0.97649922 -2.50102356] [ 0. 0. 0. 1. ]] SLAMing on 119.86320100799999 meters Centerline goodness : 0.814496 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94082297 0.26284882 -0.21392202 1.68974663] [-0.26399636 0.96423206 0.02371619 2.84261291] [ 0.21250424 0.0341619 0.9765628 -2.4998287 ] [ 0. 0. 0. 1. ]] SLAMing on 119.89320100799999 meters Centerline goodness : 0.812691 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94056679 0.26434884 -0.21319897 1.68598113] [-0.26530581 0.96384925 0.02464643 2.84253102] [ 0.21200692 0.03338131 0.97669788 -2.49802821] [ 0. 0. 0. 1. ]] SLAMing on 119.92320100799999 meters Centerline goodness : 0.813725 Centerline is valid? [False, False] Translation: X:1.69, Y:2.84, Z:-2.50 [[ 0.94050732 0.26476963 -0.212939 1.6851173 ] [-0.26574231 0.96373069 0.02457995 2.84374633] [ 0.21172387 0.03346928 0.97675627 -2.49796163] [ 0. 0. 0. 1. ]] SLAMing on 119.953201008 meters Centerline goodness : 0.815285 Centerline is valid? [False, False] Translation: X:1.66, Y:2.85, Z:-2.50 [[ 0.94186011 0.26450537 -0.20721111 1.65857438] [-0.26489878 0.9639157 0.02636582 2.85270399] [ 0.20670794 0.03005706 0.9779409 -2.5042787 ] [ 0. 0. 0. 1. ]] SLAMing on 119.983201008 meters Centerline goodness : 0.814862 Centerline is valid? [False, False] Translation: X:1.66, Y:2.85, Z:-2.50 [[ 0.94184295 0.26488381 -0.20680527 1.6577973 ] [-0.26530802 0.96380763 0.02620122 2.85456553] [ 0.20626078 0.03018966 0.97803122 -2.50446302] [ 0. 0. 0. 1. ]] SLAMing on 120.013201008 meters Centerline goodness : 0.811232 Centerline is valid? [False, False] Translation: X:1.66, Y:2.86, Z:-2.51 [[ 0.94178225 0.265556 -0.20621884 1.6568743 ] [-0.26604298 0.96361346 0.02588894 2.85764956] [ 0.20559021 0.03048133 0.97816336 -2.50511239] [ 0. 0. 0. 1. ]] SLAMing on 120.043201008 meters Centerline goodness : 0.811062 Centerline is valid? [False, False] Translation: X:1.66, Y:2.86, Z:-2.51 [[ 0.94176013 0.26588598 -0.20589439 1.65629284] [-0.26637962 0.96352165 0.02584429 2.85866158] [ 0.20525534 0.03050695 0.97823288 -2.505327 ] [ 0. 0. 0. 1. ]] SLAMing on 120.073201008 meters Centerline goodness : 0.809583 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.51 [[ 0.94383908 0.26407856 -0.19857068 1.63357308] [-0.26399339 0.96413532 0.02739673 2.86630727] [ 0.1986839 0.02656324 0.97970358 -2.51178701] [ 0. 0. 0. 1. ]] SLAMing on 120.10320100799998 meters Centerline goodness : 0.811158 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.51 [[ 0.94459436 0.26133289 -0.19861172 1.62982334] [-0.26187657 0.9648028 0.02400444 2.86796256] [ 0.19789429 0.0293373 0.97978425 -2.51121644] [ 0. 0. 0. 1. ]] SLAMing on 120.13320100799999 meters Centerline goodness : 0.809767 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.51 [[ 0.94457237 0.26140134 -0.19862624 1.62961425] [-0.26185478 0.96479726 0.02446054 2.86697634] [ 0.19802807 0.02890648 0.97977002 -2.51054578] [ 0. 0. 0. 1. ]] SLAMing on 120.16320100799999 meters Centerline goodness : 0.811817 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.51 [[ 0.9445926 0.2613246 -0.198631 1.629755 ] [-0.26173591 0.9648244 0.02466154 2.86618006] [ 0.1980887 0.02869375 0.97976402 -2.51044316] [ 0. 0. 0. 1. ]] SLAMing on 120.19320100799999 meters Centerline goodness : 0.806632 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.51 [[ 0.94463839 0.26102082 -0.1988126 1.6305781 ] [-0.26136734 0.96491621 0.02497624 2.86511096] [ 0.19835682 0.02836961 0.97971921 -2.51015734] [ 0. 0. 0. 1. ]] SLAMing on 120.22320100799999 meters Centerline goodness : 0.806347 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94494793 0.25943762 -0.19941296 1.63373074] [-0.25982205 0.96534034 0.02470897 2.86250349] [ 0.19891181 0.02846319 0.97960397 -2.51109981] [ 0. 0. 0. 1. ]] SLAMing on 120.25320100799999 meters Centerline goodness : 0.804688 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94497969 0.25891219 -0.19994466 1.63537755] [-0.2592705 0.96548477 0.02485898 2.86076985] [ 0.19947982 0.02834852 0.97949179 -2.51121245] [ 0. 0. 0. 1. ]] SLAMing on 120.28320100799999 meters Centerline goodness : 0.802298 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94499326 0.25859202 -0.20029454 1.63658613] [-0.25889605 0.96557793 0.02514156 2.85928968] [ 0.1999014 0.02809687 0.97941309 -2.51114969] [ 0. 0. 0. 1. ]] SLAMing on 120.313201008 meters Centerline goodness : 0.803023 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94499015 0.25848279 -0.20045017 1.63703131] [-0.25870868 0.96561783 0.02553473 2.85768679] [ 0.20015855 0.02772814 0.97937108 -2.51089297] [ 0. 0. 0. 1. ]] SLAMing on 120.343201008 meters Centerline goodness : 0.804521 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94599076 0.25443551 -0.20090808 1.63584314] [-0.25545172 0.96658718 0.02129895 2.85808196] [ 0.19961438 0.0311737 0.97937853 -2.51220712] [ 0. 0. 0. 1. ]] SLAMing on 120.373201008 meters Centerline goodness : 0.807892 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94597972 0.25455745 -0.20080558 1.635653 ] [-0.25550598 0.96656553 0.02162783 2.85722482] [ 0.19959727 0.03084754 0.97939234 -2.5119748 ] [ 0. 0. 0. 1. ]] SLAMing on 120.403201008 meters Centerline goodness : 0.805515 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94596654 0.25476833 -0.20060011 1.63532784] [-0.25569855 0.96651282 0.02170779 2.85686271] [ 0.19941304 0.03075831 0.97943268 -2.51232049] [ 0. 0. 0. 1. ]] SLAMing on 120.433201008 meters Centerline goodness : 0.805672 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94595495 0.25514911 -0.20017033 1.63434157] [-0.2560049 0.96642404 0.02204691 2.85671369] [ 0.19907466 0.0303892 0.97951303 -2.512136 ] [ 0. 0. 0. 1. ]] SLAMing on 120.46320100799998 meters Centerline goodness : 0.806254 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94591271 0.25549428 -0.19992953 1.63348699] [-0.25626372 0.96634567 0.02247134 2.85590984] [ 0.19894234 0.02997876 0.97955256 -2.51171341] [ 0. 0. 0. 1. ]] SLAMing on 120.49320100799999 meters Centerline goodness : 0.808777 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94589182 0.25557906 -0.19991998 1.63320449] [-0.25629812 0.96633056 0.0227269 2.85516185] [ 0.19899731 0.02974192 0.97954862 -2.51136573] [ 0. 0. 0. 1. ]] SLAMing on 120.52320100799999 meters Centerline goodness : 0.810079 Centerline is valid? [False, False] Translation: X:1.63, Y:2.85, Z:-2.51 [[ 0.94589886 0.25562224 -0.19983147 1.63329719] [-0.2563134 0.96632348 0.02285536 2.85455791] [ 0.19894418 0.02960063 0.97956369 -2.51163403] [ 0. 0. 0. 1. ]] SLAMing on 120.55320100799999 meters Centerline goodness : 0.810189 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94593634 0.25545019 -0.19987407 1.63419505] [-0.25618676 0.9663626 0.02261995 2.85520667] [ 0.1989291 0.02980805 0.97956046 -2.51232451] [ 0. 0. 0. 1. ]] SLAMing on 120.58320100799999 meters Centerline goodness : 0.807505 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.9459568 0.25540161 -0.19983932 1.63466917] [-0.25617723 0.96636986 0.02241714 2.8556878 ] [ 0.19884407 0.02998864 0.97957221 -2.51294198] [ 0. 0. 0. 1. ]] SLAMing on 120.61320100799999 meters Centerline goodness : 0.807622 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94589513 0.25575044 -0.19968505 1.63388589] [-0.25644612 0.966289 0.02282444 2.85503554] [ 0.19879083 0.02961893 0.97959427 -2.51242479] [ 0. 0. 0. 1. ]] SLAMing on 120.64320100799999 meters Centerline goodness : 0.810982 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.9467915 0.25202572 -0.20017216 1.63231674] [-0.2535011 0.9671551 0.01866032 2.85700143] [ 0.1983004 0.03307643 0.97958302 -2.51307918] [ 0. 0. 0. 1. ]] SLAMing on 120.67320100799999 meters Centerline goodness : 0.810586 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94773776 0.24805927 -0.20064828 1.63108979] [-0.25032813 0.96805396 0.01440002 2.85784291] [ 0.19781043 0.03658047 0.9795575 -2.51427796] [ 0. 0. 0. 1. ]] SLAMing on 120.703201008 meters Centerline goodness : 0.812611 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94772987 0.24806447 -0.20067914 1.63139905] [-0.25031475 0.96805595 0.01449836 2.85749748] [ 0.19786516 0.03649242 0.97954973 -2.51441344] [ 0. 0. 0. 1. ]] SLAMing on 120.733201008 meters Centerline goodness : 0.810235 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.9477349 0.24811425 -0.20059383 1.63185759] [-0.25043266 0.96803061 0.01415009 2.85844652] [ 0.19769181 0.03682471 0.9795723 -2.51535436] [ 0. 0. 0. 1. ]] SLAMing on 120.763201008 meters Centerline goodness : 0.809596 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94773202 0.24826131 -0.20042539 1.63172484] [-0.25056729 0.96799511 0.01419527 2.85863381] [ 0.19753493 0.03676674 0.97960612 -2.51554355] [ 0. 0. 0. 1. ]] SLAMing on 120.793201008 meters Centerline goodness : 0.808090 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94775022 0.24817755 -0.20044307 1.63224839] [-0.25050862 0.96801219 0.01406529 2.8588376 ] [ 0.19752202 0.03688234 0.97960438 -2.51602508] [ 0. 0. 0. 1. ]] SLAMing on 120.823201008 meters Centerline goodness : 0.809659 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94775102 0.24798774 -0.20067408 1.63303052] [-0.25029814 0.96806479 0.01419161 2.85817943] [ 0.19778486 0.03677824 0.97955526 -2.51601525] [ 0. 0. 0. 1. ]] SLAMing on 120.85320100799998 meters Centerline goodness : 0.807465 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94879262 0.24316201 -0.20165515 1.63412039] [-0.2464086 0.969122 0.00923852 2.85975599] [ 0.1976749 0.04092412 0.97941301 -2.51821827] [ 0. 0. 0. 1. ]] SLAMing on 120.88320100799999 meters Centerline goodness : 0.807149 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94973474 0.23894109 -0.20226488 1.63338202] [-0.24300722 0.9700123 0.00486191 2.86154264] [ 0.19736113 0.0445343 0.97931878 -2.51908942] [ 0. 0. 0. 1. ]] SLAMing on 120.91320100799999 meters Centerline goodness : 0.807690 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94970105 0.23897444 -0.20238361 1.63345347] [-0.24291603 0.97003167 0.00551014 2.8595345 ] [ 0.19763529 0.04392923 0.97929082 -2.51845669] [ 0. 0. 0. 1. ]] SLAMing on 120.94320100799999 meters Centerline goodness : 0.807191 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94970318 0.23868219 -0.20271825 1.6346228 ] [-0.24257322 0.97011573 0.00580506 2.85832506] [ 0.19804573 0.04366093 0.9792199 -2.5181369 ] [ 0. 0. 0. 1. ]] SLAMing on 120.97320100799999 meters Centerline goodness : 0.807191 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.52 [[ 0.94970149 0.23869347 -0.20271288 1.63460426] [-0.2425877 0.97011221 0.00578921 2.85835309] [ 0.19803609 0.04367763 0.9792211 -2.51815743] [ 0. 0. 0. 1. ]] SLAMing on 121.00320100799999 meters Centerline goodness : 0.808176 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.52 [[ 0.94968953 0.2384571 -0.20304681 1.63578626] [-0.24230712 0.97018069 0.00605739 2.85716958] [ 0.19843652 0.04344705 0.9791503 -2.51810165] [ 0. 0. 0. 1. ]] SLAMing on 121.03320100799999 meters Centerline goodness : 0.808352 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.52 [[ 0.94978419 0.23775735 -0.20342426 1.63803752] [-0.24160934 0.9703547 0.00605746 2.85614096] [ 0.19883389 0.04339593 0.97907195 -2.51852142] [ 0. 0. 0. 1. ]] SLAMing on 121.063201008 meters Centerline goodness : 0.807273 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.52 [[ 0.94978616 0.23774373 -0.203431 1.63825204] [-0.24153382 0.97037154 0.00636221 2.85548984] [ 0.19891623 0.04309273 0.97906861 -2.51824291] [ 0. 0. 0. 1. ]] SLAMing on 121.093201008 meters Centerline goodness : 0.804906 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.52 [[ 0.94974097 0.23795064 -0.20340004 1.63788612] [-0.24161601 0.97034676 0.00699117 2.85449983] [ 0.19903212 0.04250491 0.97907076 -2.51726557] [ 0. 0. 0. 1. ]] SLAMing on 121.123201008 meters Centerline goodness : 0.807108 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.52 [[ 0.94965281 0.23842791 -0.20325273 1.63688528] [-0.24195592 0.9702568 0.00768591 2.85342424] [ 0.19903988 0.04187926 0.97909614 -2.5162302 ] [ 0. 0. 0. 1. ]] SLAMing on 121.153201008 meters Centerline goodness : 0.809924 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.52 [[ 0.94953947 0.23895564 -0.20316251 1.63594064] [-0.2423797 0.97014652 0.00823424 2.8531537 ] [ 0.19906502 0.04142373 0.97911041 -2.51520521] [ 0. 0. 0. 1. ]] SLAMing on 121.183201008 meters Centerline goodness : 0.811265 Centerline is valid? [False, False] Translation: X:1.63, Y:2.85, Z:-2.51 [[ 0.94937271 0.24002866 -0.20267636 1.63388501] [-0.24339569 0.9698896 0.0085263 2.85479264] [ 0.19862025 0.04123592 0.97920866 -2.51448008] [ 0. 0. 0. 1. ]] SLAMing on 121.21320100799998 meters Centerline goodness : 0.811503 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94930934 0.24046205 -0.20245933 1.63337243] [-0.24382264 0.96978208 0.00855818 2.85622245] [ 0.19839935 0.04123981 0.97925328 -2.51438064] [ 0. 0. 0. 1. ]] SLAMing on 121.24320100799999 meters Centerline goodness : 0.807518 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.9483518 0.24454164 -0.20206002 1.63551426] [-0.24716285 0.96889259 0.01255691 2.8557004 ] [ 0.19884514 0.03803336 0.97929264 -2.5143675 ] [ 0. 0. 0. 1. ]] SLAMing on 121.27320100799999 meters Centerline goodness : 0.806783 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94831642 0.24469409 -0.2020415 1.63575753] [-0.24735431 0.96884604 0.01237738 2.85711497] [ 0.19877578 0.03823816 0.97929875 -2.51462626] [ 0. 0. 0. 1. ]] SLAMing on 121.30320100799999 meters Centerline goodness : 0.806493 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94826251 0.2449448 -0.20199075 1.63573658] [-0.24761198 0.96878044 0.01235983 2.85824208] [ 0.19871216 0.03829497 0.97930944 -2.51450286] [ 0. 0. 0. 1. ]] SLAMing on 121.33320100799999 meters Centerline goodness : 0.811156 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94818786 0.24533556 -0.2018669 1.63503896] [-0.24797207 0.96868617 0.01252837 2.85870218] [ 0.19861932 0.03817811 0.97933283 -2.51408251] [ 0. 0. 0. 1. ]] SLAMing on 121.36320100799999 meters Centerline goodness : 0.811786 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94807442 0.24602079 -0.20156555 1.63362657] [-0.24858555 0.96852409 0.01289636 2.85885034] [ 0.19839386 0.03787958 0.97939012 -2.51349019] [ 0. 0. 0. 1. ]] SLAMing on 121.39320100799999 meters Centerline goodness : 0.813883 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94781488 0.24736303 -0.20114296 1.63111307] [-0.24984881 0.96819286 0.01334721 2.8605199 ] [ 0.19804678 0.03760464 0.97947096 -2.51227006] [ 0. 0. 0. 1. ]] SLAMing on 121.42320100799999 meters Centerline goodness : 0.814044 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94774994 0.24776029 -0.20095991 1.63059613] [-0.25026421 0.96808672 0.01326409 2.86181109] [ 0.19783293 0.03772203 0.97950966 -2.51231604] [ 0. 0. 0. 1. ]] SLAMing on 121.453201008 meters Centerline goodness : 0.815804 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94769282 0.24809061 -0.20082174 1.63026705] [-0.25059508 0.96800105 0.01326955 2.86269693] [ 0.1976877 0.03774948 0.97953793 -2.5123482 ] [ 0. 0. 0. 1. ]] SLAMing on 121.483201008 meters Centerline goodness : 0.816363 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94764994 0.24837894 -0.2006676 1.63012428] [-0.25087309 0.96792832 0.01332124 2.86329014] [ 0.19754057 0.03771823 0.97956881 -2.51256061] [ 0. 0. 0. 1. ]] SLAMing on 121.513201008 meters Centerline goodness : 0.816359 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94765492 0.2482526 -0.20080038 1.63091321] [-0.25074395 0.96796142 0.01334756 2.86312054] [ 0.19768059 0.0377006 0.97954124 -2.51277942] [ 0. 0. 0. 1. ]] SLAMing on 121.543201008 meters Centerline goodness : 0.817963 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94763111 0.248297 -0.20085787 1.63122351] [-0.2507502 0.96795696 0.01355248 2.86260796] [ 0.19778681 0.03752239 0.97952664 -2.51274356] [ 0. 0. 0. 1. ]] SLAMing on 121.573201008 meters Centerline goodness : 0.820622 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94763425 0.24826606 -0.20088129 1.6312884 ] [-0.25059041 0.96798918 0.01419149 2.86035665] [ 0.19797418 0.03689058 0.97951279 -2.51219223] [ 0. 0. 0. 1. ]] SLAMing on 121.60320100799998 meters Centerline goodness : 0.823428 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94857841 0.2441507 -0.20146819 1.63021534] [-0.24722414 0.96890503 0.01016218 2.86107879] [ 0.19768465 0.04016817 0.97944234 -2.51268953] [ 0. 0. 0. 1. ]] SLAMing on 121.63320100799999 meters Centerline goodness : 0.824140 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.51 [[ 0.94856166 0.24405766 -0.20165973 1.63028043] [-0.24689312 0.96897602 0.011369 2.85740839] [ 0.19817813 0.0390042 0.97938966 -2.51109395] [ 0. 0. 0. 1. ]] SLAMing on 121.66320100799999 meters Centerline goodness : 0.826789 Centerline is valid? [False, False] Translation: X:1.63, Y:2.85, Z:-2.51 [[ 0.94859933 0.24357683 -0.20206343 1.63159043] [-0.24631344 0.96911733 0.01188616 2.85458086] [ 0.19871837 0.03849574 0.97930031 -2.51083413] [ 0. 0. 0. 1. ]] SLAMing on 121.69320100799999 meters Centerline goodness : 0.826611 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94889868 0.24178783 -0.20280519 1.63601682] [-0.24457931 0.96956023 0.01157213 2.85184544] [ 0.19942984 0.03862118 0.97915073 -2.51242733] [ 0. 0. 0. 1. ]] SLAMing on 121.72320100799999 meters Centerline goodness : 0.826925 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94892067 0.24149845 -0.20304696 1.63699492] [-0.24421454 0.96964749 0.01195852 2.85042929] [ 0.19977194 0.03823933 0.97909597 -2.5121799 ] [ 0. 0. 0. 1. ]] SLAMing on 121.75320100799999 meters Centerline goodness : 0.828712 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94890723 0.24145772 -0.20315814 1.63717984] [-0.24404876 0.96968126 0.0125882 2.84874654] [ 0.20003816 0.03763546 0.97906502 -2.51134234] [ 0. 0. 0. 1. ]] SLAMing on 121.78320100799999 meters Centerline goodness : 0.828186 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94884362 0.24157823 -0.20331194 1.63704965] [-0.24401127 0.96967977 0.01340302 2.84714522] [ 0.20038536 0.03689303 0.97902227 -2.51003204] [ 0. 0. 0. 1. ]] SLAMing on 121.813201008 meters Centerline goodness : 0.828735 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94876043 0.2419628 -0.20324282 1.63645371] [-0.24431389 0.96959755 0.01383165 2.84728131] [ 0.20041049 0.03653212 0.97903066 -2.50917625] [ 0. 0. 0. 1. ]] SLAMing on 121.843201008 meters Centerline goodness : 0.831175 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94878436 0.24175045 -0.20338375 1.63733708] [-0.24417605 0.96963735 0.01347134 2.84861634] [ 0.20046518 0.03688004 0.97900642 -2.50953766] [ 0. 0. 0. 1. ]] SLAMing on 121.873201008 meters Centerline goodness : 0.829177 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94882866 0.24145591 -0.20352693 1.63839709] [-0.24394076 0.9697006 0.01317743 2.84981514] [ 0.20054195 0.03714539 0.97898067 -2.50989415] [ 0. 0. 0. 1. ]] SLAMing on 121.903201008 meters Centerline goodness : 0.831245 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94891033 0.2408187 -0.20390082 1.64043491] [-0.24341633 0.96983966 0.01262992 2.85191655] [ 0.20079262 0.03764813 0.97891008 -2.5103575 ] [ 0. 0. 0. 1. ]] SLAMing on 121.933201008 meters Centerline goodness : 0.832651 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94891629 0.24055347 -0.20418595 1.64121738] [-0.24310497 0.96991446 0.01288053 2.85167701] [ 0.20114136 0.03741608 0.97884738 -2.50962744] [ 0. 0. 0. 1. ]] SLAMing on 121.96320100799998 meters Centerline goodness : 0.830805 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94889084 0.24063841 -0.20420413 1.64101875] [-0.2431147 0.96990692 0.01325899 2.85160273] [ 0.20124962 0.03706369 0.97883853 -2.50873278] [ 0. 0. 0. 1. ]] SLAMing on 121.99320100799999 meters Centerline goodness : 0.832774 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.51 [[ 0.94885126 0.24078743 -0.20421239 1.64076704] [-0.24319981 0.96988104 0.01358741 2.85223175] [ 0.20133341 0.03677198 0.9788323 -2.50763953] [ 0. 0. 0. 1. ]] SLAMing on 122.02320100799999 meters Centerline goodness : 0.834222 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94870074 0.24162767 -0.20391905 1.63983432] [-0.2441161 0.96965545 0.01325264 2.85674295] [ 0.20093342 0.03720714 0.97889805 -2.5074938 ] [ 0. 0. 0. 1. ]] SLAMing on 122.05320100799999 meters Centerline goodness : 0.832494 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94862662 0.24225117 -0.2035237 1.63871484] [-0.24476306 0.96949401 0.0131302 2.85919749] [ 0.20049582 0.03735943 0.97898197 -2.50733122] [ 0. 0. 0. 1. ]] SLAMing on 122.08320100799999 meters Centerline goodness : 0.836441 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94849488 0.24307754 -0.20315211 1.63735822] [-0.24558994 0.96928467 0.01314549 2.8613348 ] [ 0.2001076 0.03742368 0.97905894 -2.50699074] [ 0. 0. 0. 1. ]] SLAMing on 122.11320100799999 meters Centerline goodness : 0.834977 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.51 [[ 0.94831546 0.24419775 -0.2026456 1.63529923] [-0.24668534 0.9690045 0.01329018 2.86380262] [ 0.19960993 0.03738642 0.97916195 -2.50635745] [ 0. 0. 0. 1. ]] SLAMing on 122.14320100799999 meters Centerline goodness : 0.837862 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94704933 0.2504532 -0.20092479 1.63219452] [-0.2520902 0.96753956 0.01782516 2.86686313] [ 0.19886705 0.03376986 0.97944448 -2.50466862] [ 0. 0. 0. 1. ]] SLAMing on 122.17320100799999 meters Centerline goodness : 0.838731 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94688751 0.25143216 -0.20046426 1.63071683] [-0.25309791 0.9672786 0.01770743 2.86974632] [ 0.198357 0.03397014 0.97954098 -2.50466089] [ 0. 0. 0. 1. ]] SLAMing on 122.203201008 meters Centerline goodness : 0.838098 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94674621 0.25239515 -0.19992074 1.62903601] [-0.25407366 0.96702379 0.01765118 2.87211605] [ 0.19778319 0.03408341 0.97965307 -2.50464622] [ 0. 0. 0. 1. ]] SLAMing on 122.233201008 meters Centerline goodness : 0.837893 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94641651 0.25385224 -0.19963677 1.62741336] [-0.25553753 0.9666367 0.01772195 2.8752164 ] [ 0.19747499 0.03424234 0.9797097 -2.50437454] [ 0. 0. 0. 1. ]] SLAMing on 122.263201008 meters Centerline goodness : 0.839449 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94638701 0.25401093 -0.19957471 1.62730228] [-0.25572577 0.96658949 0.01758111 2.87641715] [ 0.19737261 0.03439786 0.97972488 -2.50434802] [ 0. 0. 0. 1. ]] SLAMing on 122.293201008 meters Centerline goodness : 0.839862 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.9463803 0.25405718 -0.19954766 1.62739964] [-0.25580285 0.96657186 0.01742813 2.87724085] [ 0.19730489 0.03455122 0.97973312 -2.50447053] [ 0. 0. 0. 1. ]] SLAMing on 122.323201008 meters Centerline goodness : 0.843094 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94634818 0.25409584 -0.19965078 1.62777491] [-0.25584288 0.96656098 0.01744387 2.87750997] [ 0.19740707 0.03457126 0.97971183 -2.50442344] [ 0. 0. 0. 1. ]] SLAMing on 122.35320100799998 meters Centerline goodness : 0.844734 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94633903 0.25404742 -0.19975574 1.62808134] [-0.25578029 0.96657603 0.01752777 2.87722906] [ 0.197532 0.03450637 0.97968894 -2.50436408] [ 0. 0. 0. 1. ]] SLAMing on 122.38320100799999 meters Centerline goodness : 0.846813 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94632351 0.2539505 -0.19995238 1.62873917] [-0.25565631 0.96660594 0.01768666 2.8771883 ] [ 0.19776669 0.03438179 0.97964597 -2.50411735] [ 0. 0. 0. 1. ]] SLAMing on 122.41320100799999 meters Centerline goodness : 0.844062 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94634865 0.25366988 -0.20018947 1.62966566] [-0.25538468 0.96667833 0.01765442 2.87724496] [ 0.19799721 0.03441809 0.97959813 -2.50416148] [ 0. 0. 0. 1. ]] SLAMing on 122.44320100799999 meters Centerline goodness : 0.845293 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94642987 0.25297564 -0.20068339 1.63126173] [-0.25462083 0.96687322 0.0180115 2.87557816] [ 0.19859186 0.03405155 0.97949056 -2.50358445] [ 0. 0. 0. 1. ]] SLAMing on 122.47320100799999 meters Centerline goodness : 0.846286 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94643514 0.25269545 -0.20101128 1.6319864 ] [-0.25422221 0.96696654 0.01862189 2.87356994] [ 0.19907685 0.03347712 0.97941191 -2.50264992] [ 0. 0. 0. 1. ]] SLAMing on 122.50320100799999 meters Centerline goodness : 0.847922 Centerline is valid? [False, False] Translation: X:1.63, Y:2.88, Z:-2.50 [[ 0.94747672 0.24820348 -0.20170001 1.63169326] [-0.25056812 0.96799567 0.01414194 2.8753617 ] [ 0.19875482 0.03714043 0.97934525 -2.50364477] [ 0. 0. 0. 1. ]] SLAMing on 122.53320100799999 meters Centerline goodness : 0.847150 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94751433 0.24786788 -0.20193589 1.63248008] [-0.25015047 0.96809757 0.01455481 2.87378151] [ 0.19910132 0.03672347 0.97929059 -2.50312316] [ 0. 0. 0. 1. ]] SLAMing on 122.563201008 meters Centerline goodness : 0.849264 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94753724 0.24748884 -0.20229299 1.63350247] [-0.24968143 0.96821149 0.01502316 2.87233758] [ 0.19958046 0.03627379 0.97920981 -2.5023754 ] [ 0. 0. 0. 1. ]] SLAMing on 122.593201008 meters Centerline goodness : 0.849736 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94856121 0.24299009 -0.20294692 1.63258597] [-0.24589113 0.96923285 0.01119105 2.87260338] [ 0.19942213 0.03928745 0.97912579 -2.50214936] [ 0. 0. 0. 1. ]] SLAMing on 122.623201008 meters Centerline goodness : 0.848186 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94952026 0.23877477 -0.20346472 1.63154609] [-0.24245484 0.97013729 0.00702098 2.87429668] [ 0.19906514 0.04266444 0.9790571 -2.50253857] [ 0. 0. 0. 1. ]] SLAMing on 122.653201008 meters Centerline goodness : 0.848386 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94954959 0.23847427 -0.20368015 1.63243115] [-0.2421001 0.9702238 0.0073024 2.87309406] [ 0.19935676 0.04237699 0.97901025 -2.50236369] [ 0. 0. 0. 1. ]] SLAMing on 122.683201008 meters Centerline goodness : 0.847929 Centerline is valid? [False, False] Translation: X:1.63, Y:2.87, Z:-2.50 [[ 0.94959048 0.23800425 -0.20403898 1.63398023] [-0.24162924 0.97034093 0.0073341 2.87282606] [ 0.19973292 0.04233739 0.97893529 -2.50236823] [ 0. 0. 0. 1. ]] SLAMing on 122.71320100799998 meters Centerline goodness : 0.846912 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94962947 0.23742138 -0.20453595 1.63598587] [-0.24106569 0.97048146 0.00728461 2.87219733] [ 0.20022787 0.04238893 0.97883195 -2.50270628] [ 0. 0. 0. 1. ]] SLAMing on 122.74320100799999 meters Centerline goodness : 0.845788 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94968142 0.23642786 -0.2054436 1.63920649] [-0.23982564 0.97077813 0.00857191 2.86982555] [ 0.2014668 0.04113006 0.97863142 -2.50006717] [ 0. 0. 0. 1. ]] SLAMing on 122.77320100799999 meters Centerline goodness : 0.848954 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94959872 0.23664734 -0.20557313 1.6388807 ] [-0.23989601 0.9707536 0.00934614 2.8682084 ] [ 0.2017726 0.04044109 0.97859713 -2.49884803] [ 0. 0. 0. 1. ]] SLAMing on 122.80320100799999 meters Centerline goodness : 0.854456 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.9494646 0.23703928 -0.20574098 1.63874416] [-0.24018162 0.9706771 0.00993799 2.86708016] [ 0.20206375 0.03997943 0.97855602 -2.49798325] [ 0. 0. 0. 1. ]] SLAMing on 122.83320100799999 meters Centerline goodness : 0.852544 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94938731 0.23723478 -0.20587228 1.63923411] [-0.24043607 0.9706165 0.00970034 2.8682983 ] [ 0.20212429 0.04028974 0.97853079 -2.49838913] [ 0. 0. 0. 1. ]] SLAMing on 122.86320100799999 meters Centerline goodness : 0.852544 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94938025 0.23728611 -0.20584566 1.6391638 ] [-0.24050967 0.97059934 0.0095927 2.8685494 ] [ 0.20206987 0.04040075 0.97853745 -2.49848385] [ 0. 0. 0. 1. ]] SLAMing on 122.89320100799999 meters Centerline goodness : 0.853516 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94836709 0.24163083 -0.20546145 1.64089632] [-0.24401568 0.96966958 0.01404461 2.86672263] [ 0.20262333 0.03681636 0.97856443 -2.49797646] [ 0. 0. 0. 1. ]] SLAMing on 122.92320100799999 meters Centerline goodness : 0.853617 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94830565 0.24186075 -0.2054745 1.64164861] [-0.24438506 0.9695857 0.01339819 2.86840759] [ 0.20246563 0.03750932 0.97857075 -2.49954831] [ 0. 0. 0. 1. ]] SLAMing on 122.953201008 meters Centerline goodness : 0.855572 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94802248 0.24313318 -0.20527938 1.64046452] [-0.24562788 0.96926819 0.0136424 2.8695621 ] [ 0.2022877 0.03748904 0.97860833 -2.49972358] [ 0. 0. 0. 1. ]] SLAMing on 122.983201008 meters Centerline goodness : 0.858099 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94788552 0.24399288 -0.20489146 1.63860249] [-0.24634899 0.96907519 0.01433351 2.86882817] [ 0.20205251 0.03688827 0.97867974 -2.49882591] [ 0. 0. 0. 1. ]] SLAMing on 123.013201008 meters Centerline goodness : 0.857689 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94779653 0.2442546 -0.20499131 1.63799396] [-0.24638176 0.96904909 0.01548805 2.8667494 ] [ 0.20242967 0.0358266 0.97864124 -2.49678828] [ 0. 0. 0. 1. ]] SLAMing on 123.043201008 meters Centerline goodness : 0.856152 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.50 [[ 0.94774543 0.24442831 -0.20502049 1.63745224] [-0.24642779 0.96902693 0.01612914 2.8655423 ] [ 0.20261279 0.03523642 0.97862478 -2.49560252] [ 0. 0. 0. 1. ]] SLAMing on 123.073201008 meters Centerline goodness : 0.854267 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94762937 0.24499525 -0.20488022 1.63621563] [-0.24681441 0.968913 0.01703678 2.8643211 ] [ 0.20268504 0.03442284 0.97863877 -2.49415555] [ 0. 0. 0. 1. ]] SLAMing on 123.10320100799998 meters Centerline goodness : 0.852488 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94760779 0.24495005 -0.20503402 1.63671796] [-0.24672439 0.96893171 0.01727478 2.86345744] [ 0.20289543 0.03421718 0.97860239 -2.49402511] [ 0. 0. 0. 1. ]] SLAMing on 123.13320100799999 meters Centerline goodness : 0.852042 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94759507 0.24494066 -0.20510399 1.63710301] [-0.24667622 0.96894042 0.01747278 2.863406 ] [ 0.20301335 0.03403715 0.97858421 -2.49376218] [ 0. 0. 0. 1. ]] SLAMing on 123.16320100799999 meters Centerline goodness : 0.854624 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94754639 0.24531071 -0.20488655 1.63615696] [-0.24694695 0.96886265 0.01795478 2.86283805] [ 0.20291142 0.03358312 0.97862103 -2.49299975] [ 0. 0. 0. 1. ]] SLAMing on 123.19320100799999 meters Centerline goodness : 0.854148 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94747129 0.24566303 -0.2048117 1.63551914] [-0.24721763 0.96878575 0.01837414 2.862427 ] [ 0.2029325 0.03322409 0.97862892 -2.49231723] [ 0. 0. 0. 1. ]] SLAMing on 123.22320100799999 meters Centerline goodness : 0.850764 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.49 [[ 0.94739646 0.24605414 -0.20468831 1.63469825] [-0.24751873 0.96870011 0.01883009 2.86204891] [ 0.20291481 0.03282463 0.97864607 -2.49151614] [ 0. 0. 0. 1. ]] SLAMing on 123.25320100799999 meters Centerline goodness : 0.850485 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.49 [[ 0.94732385 0.24644564 -0.20455334 1.63396802] [-0.24783991 0.96861093 0.01918955 2.86185913] [ 0.20286178 0.03251776 0.9786673 -2.49096094] [ 0. 0. 0. 1. ]] SLAMing on 123.28320100799999 meters Centerline goodness : 0.845695 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.49 [[ 0.94725513 0.24699159 -0.20421281 1.63293107] [-0.24831007 0.96848312 0.01955896 2.86210241] [ 0.20260756 0.03218077 0.97873111 -2.49052328] [ 0. 0. 0. 1. ]] SLAMing on 123.313201008 meters Centerline goodness : 0.846341 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.49 [[ 0.94723336 0.24702221 -0.20427674 1.63314949] [-0.24828688 0.9684835 0.0198325 2.86154709] [ 0.20273772 0.03193323 0.97871226 -2.49023693] [ 0. 0. 0. 1. ]] SLAMing on 123.343201008 meters Centerline goodness : 0.843222 Centerline is valid? [False, False] Translation: X:1.63, Y:2.86, Z:-2.49 [[ 0.94723821 0.24677153 -0.20455705 1.63416098] [-0.24801208 0.96855115 0.01996668 2.86033381] [ 0.20305117 0.03181942 0.97865098 -2.49036414] [ 0. 0. 0. 1. ]] SLAMing on 123.373201008 meters Centerline goodness : 0.846473 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94724317 0.24644996 -0.20492141 1.63541989] [-0.24763093 0.96864223 0.0202767 2.85881714] [ 0.20349272 0.03153792 0.97856838 -2.49020249] [ 0. 0. 0. 1. ]] SLAMing on 123.403201008 meters Centerline goodness : 0.846004 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.49 [[ 0.94835225 0.24113239 -0.2061145 1.63623707] [-0.24294145 0.96989411 0.01687807 2.85620743] [ 0.20397909 0.0340674 0.97838231 -2.48945705] [ 0. 0. 0. 1. ]] SLAMing on 123.433201008 meters Centerline goodness : 0.842709 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.49 [[ 0.94941667 0.23591089 -0.20725356 1.63690265] [-0.23841016 0.97107479 0.01320381 2.85442802] [ 0.20437363 0.03687544 0.97819815 -2.48904138] [ 0. 0. 0. 1. ]] SLAMing on 123.46320100799998 meters Centerline goodness : 0.846819 Centerline is valid? [False, False] Translation: X:1.64, Y:2.85, Z:-2.49 [[ 0.94974703 0.2338042 -0.20812539 1.64102131] [-0.23628024 0.97159469 0.01324427 2.85146865] [ 0.20531009 0.03659721 0.97801248 -2.48877127] [ 0. 0. 0. 1. ]] SLAMing on 123.49320100799999 meters Centerline goodness : 0.843839 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.49 [[ 0.94994439 0.23198411 -0.20925828 1.64603487] [-0.23458021 0.97201405 0.01268126 2.84985676] [ 0.20634384 0.03704136 0.97777817 -2.49020404] [ 0. 0. 0. 1. ]] SLAMing on 123.52320100799999 meters Centerline goodness : 0.841323 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.49 [[ 0.95006005 0.23057799 -0.21028479 1.6505935 ] [-0.2332981 0.97232961 0.01212928 2.84920063] [ 0.20726287 0.0375355 0.97756493 -2.49165062] [ 0. 0. 0. 1. ]] SLAMing on 123.55320100799999 meters Centerline goodness : 0.838787 Centerline is valid? [False, False] Translation: X:1.66, Y:2.85, Z:-2.49 [[ 0.95018542 0.22894677 -0.21149715 1.6559392 ] [-0.23184846 0.97268604 0.01132071 2.84878313] [ 0.20831217 0.03827851 0.97731305 -2.49350873] [ 0. 0. 0. 1. ]] SLAMing on 123.58320100799999 meters Centerline goodness : 0.840739 Centerline is valid? [False, False] Translation: X:1.66, Y:2.84, Z:-2.49 [[ 0.94929908 0.23260852 -0.21148175 1.65883167] [-0.2342091 0.97202311 0.01780943 2.84390366] [ 0.20970777 0.03262447 0.97721968 -2.48885979] [ 0. 0. 0. 1. ]] SLAMing on 123.61320100799999 meters Centerline goodness : 0.836075 Centerline is valid? [False, False] Translation: X:1.66, Y:2.84, Z:-2.49 [[ 0.94924244 0.23289439 -0.21142136 1.65841234] [-0.23443162 0.97196359 0.01812695 2.84325513] [ 0.20971553 0.03235698 0.9772269 -2.48853769] [ 0. 0. 0. 1. ]] SLAMing on 123.64320100799999 meters Centerline goodness : 0.840603 Centerline is valid? [False, False] Translation: X:1.66, Y:2.84, Z:-2.49 [[ 0.94916994 0.23344848 -0.21113559 1.65728648] [-0.23489622 0.97184323 0.01856101 2.84310001] [ 0.20952373 0.0319774 0.97728054 -2.48797637] [ 0. 0. 0. 1. ]] SLAMing on 123.67320100799999 meters Centerline goodness : 0.839999 Centerline is valid? [False, False] Translation: X:1.65, Y:2.84, Z:-2.49 [[ 0.94891297 0.23527713 -0.210259 1.65361309] [-0.23657166 0.97142145 0.01934439 2.84369698] [ 0.20880139 0.03138518 0.97745432 -2.48704944] [ 0. 0. 0. 1. ]] SLAMing on 123.703201008 meters Centerline goodness : 0.839232 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.49 [[ 0.94876623 0.2361248 -0.20997075 1.65208721] [-0.23740489 0.97121582 0.01946178 2.84532183] [ 0.20852232 0.0313834 0.97751395 -2.48652237] [ 0. 0. 0. 1. ]] SLAMing on 123.733201008 meters Centerline goodness : 0.843222 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.49 [[ 0.94864435 0.23697608 -0.209562 1.6500105 ] [-0.23813253 0.97102521 0.02007366 2.8458022 ] [ 0.20824696 0.03086077 0.97758929 -2.48518528] [ 0. 0. 0. 1. ]] SLAMing on 123.763201008 meters Centerline goodness : 0.841959 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.48 [[ 0.94841758 0.23827431 -0.20911585 1.64787923] [-0.23941936 0.97070604 0.02020307 2.84899803] [ 0.2078039 0.03090543 0.97768215 -2.4845097 ] [ 0. 0. 0. 1. ]] SLAMing on 123.793201008 meters Centerline goodness : 0.841693 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.48 [[ 0.9484236 0.23827144 -0.20909183 1.64830601] [-0.23951457 0.97069213 0.01973743 2.8512455 ] [ 0.20766666 0.03136109 0.9776968 -2.48499471] [ 0. 0. 0. 1. ]] SLAMing on 123.823201008 meters Centerline goodness : 0.838405 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.49 [[ 0.94840349 0.23855145 -0.20886365 1.64796876] [-0.2398341 0.97061709 0.0195468 2.85305215] [ 0.20738954 0.03155437 0.97774941 -2.48516718] [ 0. 0. 0. 1. ]] SLAMing on 123.85320100799998 meters Centerline goodness : 0.835380 Centerline is valid? [False, False] Translation: X:1.65, Y:2.85, Z:-2.48 [[ 0.94835822 0.23893471 -0.20863101 1.64718742] [-0.24019804 0.97052512 0.01964404 2.85465415] [ 0.20717528 0.03148317 0.97779712 -2.4845994 ] [ 0. 0. 0. 1. ]] SLAMing on 123.88320100799999 meters Centerline goodness : 0.834773 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.48 [[ 0.94825069 0.23992407 -0.20798334 1.64485044] [-0.24112192 0.97028951 0.01996208 2.8575693 ] [ 0.20659343 0.03122028 0.97792865 -2.48336465] [ 0. 0. 0. 1. ]] SLAMing on 123.91320100799999 meters Centerline goodness : 0.831614 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.48 [[ 0.94821016 0.24047236 -0.20753443 1.64347308] [-0.24165612 0.97015542 0.02001968 2.85936109] [ 0.20615483 0.0311691 0.97802284 -2.48295209] [ 0. 0. 0. 1. ]] SLAMing on 123.94320100799999 meters Centerline goodness : 0.832070 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.48 [[ 0.9481792 0.24098792 -0.20707734 1.64232619] [-0.24217762 0.97002624 0.01997719 2.86143731] [ 0.20568471 0.03120754 0.97812059 -2.48280767] [ 0. 0. 0. 1. ]] SLAMing on 123.97320100799999 meters Centerline goodness : 0.830467 Centerline is valid? [False, False] Translation: X:1.64, Y:2.86, Z:-2.48 [[ 0.94815456 0.24132405 -0.20679855 1.64183546] [-0.24255428 0.96993622 0.01977766 2.86377816] [ 0.20535423 0.0314076 0.97818362 -2.48284257] [ 0. 0. 0. 1. ]] SLAMing on 124.00320100799999 meters Centerline goodness : 0.826450 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.9479575 0.24249927 -0.20632665 1.63992055] [-0.2437473 0.96963772 0.01974712 2.8669521 ] [ 0.20485076 0.03157213 0.97828389 -2.48250012] [ 0. 0. 0. 1. ]] SLAMing on 124.03320100799999 meters Centerline goodness : 0.830345 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94787725 0.24298875 -0.20611935 1.63901761] [-0.24425103 0.96951192 0.01969975 2.86800177] [ 0.20462199 0.03167191 0.97832854 -2.48239506] [ 0. 0. 0. 1. ]] SLAMing on 124.063201008 meters Centerline goodness : 0.831007 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94779891 0.24352127 -0.20585094 1.63784192] [-0.24476067 0.96938083 0.0198248 2.86876474] [ 0.20437571 0.03159429 0.97838253 -2.48198007] [ 0. 0. 0. 1. ]] SLAMing on 124.093201008 meters Centerline goodness : 0.830731 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94768651 0.24454772 -0.20515043 1.6352889 ] [-0.24568767 0.96913639 0.02030317 2.86958887] [ 0.20378384 0.03116189 0.97851984 -2.4810647 ] [ 0. 0. 0. 1. ]] SLAMing on 124.123201008 meters Centerline goodness : 0.832044 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94769207 0.24469655 -0.20494716 1.63502007] [-0.24580709 0.96910347 0.02042894 2.87024093] [ 0.20361389 0.03101712 0.97855982 -2.48092382] [ 0. 0. 0. 1. ]] SLAMing on 124.153201008 meters Centerline goodness : 0.828624 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94773056 0.24457405 -0.20491542 1.63555112] [-0.24569602 0.96913318 0.02035573 2.87091154] [ 0.20356881 0.03105516 0.97856799 -2.48116372] [ 0. 0. 0. 1. ]] SLAMing on 124.183201008 meters Centerline goodness : 0.826126 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94778582 0.24421232 -0.20509118 1.63666286] [-0.24535484 0.96922192 0.02024514 2.8710654 ] [ 0.20372298 0.03113206 0.97853347 -2.48147669] [ 0. 0. 0. 1. ]] SLAMing on 124.21320100799998 meters Centerline goodness : 0.831532 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94783065 0.2437987 -0.20537591 1.63765221] [-0.24481309 0.96934589 0.02085888 2.86909154] [ 0.20416566 0.03050803 0.97846085 -2.480637 ] [ 0. 0. 0. 1. ]] SLAMing on 124.24320100799999 meters Centerline goodness : 0.835025 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.9478223 0.24381256 -0.20539795 1.63738523] [-0.24470887 0.96935976 0.02142943 2.86802628] [ 0.20432927 0.02995141 0.9784439 -2.47957303] [ 0. 0. 0. 1. ]] SLAMing on 124.27320100799999 meters Centerline goodness : 0.833286 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.94783018 0.24375882 -0.20542537 1.63712126] [-0.24454199 0.96938979 0.02196918 2.86720939] [ 0.20449244 0.02941208 0.97842617 -2.47835233] [ 0. 0. 0. 1. ]] SLAMing on 124.30320100799999 meters Centerline goodness : 0.839120 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.948852 0.23915793 -0.20611495 1.63610522] [-0.2406782 0.97043717 0.01804701 2.86841888] [ 0.20433769 0.03248344 0.97836135 -2.47760853] [ 0. 0. 0. 1. ]] SLAMing on 124.33320100799999 meters Centerline goodness : 0.842204 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.95000071 0.23361951 -0.20717284 1.6372955 ] [-0.23603181 0.97165355 0.01335522 2.87043749] [ 0.20442026 0.03621191 0.97821319 -2.47799081] [ 0. 0. 0. 1. ]] SLAMing on 124.36320100799999 meters Centerline goodness : 0.841279 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.48 [[ 0.95011318 0.23253186 -0.20787946 1.64019904] [-0.23502949 0.97190187 0.01295717 2.87048271] [ 0.20505139 0.03654703 0.97806863 -2.47844655] [ 0. 0. 0. 1. ]] SLAMing on 124.39320100799999 meters Centerline goodness : 0.843342 Centerline is valid? [False, False] Translation: X:1.65, Y:2.87, Z:-2.47 [[ 0.94977791 0.23363872 -0.20817029 1.64785997] [-0.23483586 0.97184336 0.01930306 2.86745076] [ 0.20681886 0.03055223 0.9779021 -2.47246669] [ 0. 0. 0. 1. ]] SLAMing on 124.42320100799999 meters Centerline goodness : 0.837037 Centerline is valid? [False, False] Translation: X:1.65, Y:2.87, Z:-2.48 [[ 0.95018524 0.23126804 -0.20895716 1.65328119] [-0.23284444 0.97235881 0.01737275 2.86994326] [ 0.2071991 0.03214718 0.97777047 -2.47518524] [ 0. 0. 0. 1. ]] SLAMing on 124.453201008 meters Centerline goodness : 0.839947 Centerline is valid? [False, False] Translation: X:1.66, Y:2.87, Z:-2.47 [[ 0.95026678 0.23047014 -0.20946735 1.65523429] [-0.23209786 0.9725417 0.01712405 2.87029492] [ 0.20766231 0.03234451 0.97766569 -2.47498048] [ 0. 0. 0. 1. ]] SLAMing on 124.483201008 meters Centerline goodness : 0.842804 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.47 [[ 0.95021152 0.2309998 -0.2091343 1.64026773] [-0.22956548 0.97278495 0.03145041 2.86946632] [ 0.21070774 0.01812548 0.97738105 -2.46723203] [ 0. 0. 0. 1. ]] SLAMing on 124.513201008 meters Centerline goodness : 0.840892 Centerline is valid? [False, False] Translation: X:1.64, Y:2.87, Z:-2.47 [[ 0.95116801 0.22640155 -0.20981364 1.63996962] [-0.22579232 0.97379624 0.02717911 2.87146264] [ 0.21046913 0.02152241 0.97736356 -2.46746553] [ 0. 0. 0. 1. ]] SLAMing on 124.543201008 meters Centerline goodness : 0.842879 Centerline is valid? [False, False] Translation: X:1.62, Y:2.88, Z:-2.47 [[ 0.95236082 0.22285686 -0.20819149 1.61854453] [-0.22141932 0.9747019 0.03049075 2.87683014] [ 0.20971971 0.01705942 0.97761271 -2.46932874] [ 0. 0. 0. 1. ]] SLAMing on 124.573201008 meters Centerline goodness : 0.843498 Centerline is valid? [False, False] Translation: X:1.58, Y:2.89, Z:-2.47 [[ 0.95410438 0.21873508 -0.20454779 1.57848013] [-0.21495363 0.9757713 0.04080816 2.88655835] [ 0.20851804 0.00503305 0.97800557 -2.47076027] [ 0. 0. 0. 1. ]] SLAMing on 124.60320100799998 meters Centerline goodness : 0.846675 Centerline is valid? [False, False] Translation: X:1.54, Y:2.90, Z:-2.48 [[ 0.95561873 0.21550555 -0.20087358 1.53674357] [-0.21023306 0.97649755 0.04748254 2.89932773] [ 0.20638531 -0.00314494 0.97846575 -2.47810701] [ 0. 0. 0. 1. ]] SLAMing on 124.63320100799999 meters Centerline goodness : 0.844581 Centerline is valid? [False, False] Translation: X:1.51, Y:2.91, Z:-2.48 [[ 0.95640062 0.21312158 -0.19969238 1.51277964] [-0.20770783 0.97701595 0.04793017 2.90827628] [ 0.20531759 -0.00436277 0.97868568 -2.48449004] [ 0. 0. 0. 1. ]] SLAMing on 124.66320100799999 meters Centerline goodness : 0.845810 Centerline is valid? [False, False] Translation: X:1.51, Y:2.91, Z:-2.48 [[ 0.95736796 0.21893279 -0.18845432 1.51296515] [-0.21303303 0.97569904 0.05126713 2.90509752] [ 0.19509875 -0.00893451 0.98074291 -2.48208267] [ 0. 0. 0. 1. ]] SLAMing on 124.69320100799999 meters Centerline goodness : 0.845331 Centerline is valid? [False, False] Translation: X:1.51, Y:2.91, Z:-2.48 [[ 0.95737112 0.21886201 -0.18852046 1.51262816] [-0.21305171 0.975719 0.05080756 2.90804517] [ 0.19506284 -0.00847708 0.98075411 -2.48135118] [ 0. 0. 0. 1. ]] SLAMing on 124.72320100799999 meters Centerline goodness : 0.843951 Centerline is valid? [False, False] Translation: X:1.49, Y:2.92, Z:-2.49 [[ 0.95885455 0.21578015 -0.18449087 1.48960264] [-0.21036156 0.97641016 0.04869504 2.91973115] [ 0.19064619 -0.00788167 0.98162718 -2.48999466] [ 0. 0. 0. 1. ]] SLAMing on 124.75320100799999 meters Centerline goodness : 0.844005 Centerline is valid? [False, False] Translation: X:1.46, Y:2.93, Z:-2.50 [[ 0.95941963 0.21584159 -0.1814563 1.46365096] [-0.21017314 0.97637749 0.05014229 2.92989806] [ 0.18799264 -0.00997025 0.98211983 -2.4961206 ] [ 0. 0. 0. 1. ]] SLAMing on 124.78320100799999 meters Centerline goodness : 0.844005 Centerline is valid? [False, False] Translation: X:1.44, Y:2.94, Z:-2.50 [[ 0.95976869 0.21392953 -0.18187418 1.44002568] [-0.20797964 0.97678123 0.0514092 2.93680753] [ 0.18864923 -0.01151481 0.98197702 -2.50090168] [ 0. 0. 0. 1. ]] SLAMing on 124.813201008 meters Centerline goodness : 0.845678 Centerline is valid? [False, False] Translation: X:1.41, Y:2.95, Z:-2.51 [[ 0.96036883 0.21418105 -0.17837656 1.41308485] [-0.20824711 0.97671546 0.05157576 2.94775001] [ 0.18526969 -0.01238535 0.98260966 -2.50877408] [ 0. 0. 0. 1. ]] SLAMing on 124.843201008 meters Centerline goodness : 0.841476 Centerline is valid? [False, False] Translation: X:1.39, Y:2.96, Z:-2.52 [[ 0.96058582 0.21647072 -0.17439984 1.38825616] [-0.21073856 0.97621279 0.05096914 2.96257847] [ 0.18128468 -0.01220746 0.98335489 -2.51935923] [ 0. 0. 0. 1. ]] SLAMing on 124.873201008 meters Centerline goodness : 0.841052 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.52 [[ 0.96046587 0.21714232 -0.17422549 1.38786653] [-0.21160174 0.9760762 0.04999956 2.96706291] [ 0.18091438 -0.01115646 0.98343557 -2.52049784] [ 0. 0. 0. 1. ]] SLAMing on 124.903201008 meters Centerline goodness : 0.842865 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.52 [[ 0.960172 0.21883138 -0.17373128 1.38594604] [-0.21333913 0.9757022 0.04991619 2.97164112] [ 0.18043323 -0.01086445 0.98352723 -2.52047469] [ 0. 0. 0. 1. ]] SLAMing on 124.933201008 meters Centerline goodness : 0.842072 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.52 [[ 0.95997495 0.21985715 -0.17352502 1.38497007] [-0.21449382 0.97547957 0.04931543 2.97644061] [ 0.18011246 -0.01012153 0.98359395 -2.52082599] [ 0. 0. 0. 1. ]] SLAMing on 124.96320100799998 meters Centerline goodness : 0.841754 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.52 [[ 0.95884156 0.22596033 -0.17194414 1.38200012] [-0.22000755 0.9740476 0.05317848 2.98115494] [ 0.17949801 -0.01316073 0.9836703 -2.51976756] [ 0. 0. 0. 1. ]] SLAMing on 124.99320100799999 meters Centerline goodness : 0.839204 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.52 [[ 0.95874408 0.22672679 -0.17147815 1.38058393] [-0.22088318 0.97387651 0.05267992 2.98425498] [ 0.17894249 -0.01262992 0.98377847 -2.52012657] [ 0. 0. 0. 1. ]] SLAMing on 125.02320100799999 meters Centerline goodness : 0.840209 Centerline is valid? [False, False] Translation: X:1.38, Y:2.99, Z:-2.52 [[ 0.95867112 0.2271027 -0.17138857 1.38018267] [-0.22136968 0.97379668 0.05211043 2.98661255] [ 0.17873204 -0.01201653 0.98382441 -2.52057066] [ 0. 0. 0. 1. ]] SLAMing on 125.05320100799999 meters Centerline goodness : 0.840741 Centerline is valid? [False, False] Translation: X:1.38, Y:2.99, Z:-2.52 [[ 0.95862246 0.22741586 -0.17124544 1.37987642] [-0.22179094 0.97373056 0.05155171 2.98874796] [ 0.17847059 -0.01143794 0.98387876 -2.52120816] [ 0. 0. 0. 1. ]] SLAMing on 125.08320100799999 meters Centerline goodness : 0.841330 Centerline is valid? [False, False] Translation: X:1.38, Y:2.99, Z:-2.52 [[ 0.95860727 0.2275031 -0.17121462 1.38013003] [-0.22197446 0.97371621 0.05103022 2.99098778] [ 0.17832398 -0.01091267 0.98391131 -2.52177639] [ 0. 0. 0. 1. ]] SLAMing on 125.11320100799999 meters Centerline goodness : 0.842869 Centerline is valid? [False, False] Translation: X:1.38, Y:2.99, Z:-2.52 [[ 0.95863327 0.2272436 -0.17141355 1.38185224] [-0.22197968 0.97379223 0.04953488 2.99479107] [ 0.17817767 -0.00943546 0.98395309 -2.52413795] [ 0. 0. 0. 1. ]] SLAMing on 125.14320100799999 meters Centerline goodness : 0.840107 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.52 [[ 0.95865157 0.22687921 -0.17179344 1.38314382] [-0.22169214 0.97388182 0.049059 2.9953865 ] [ 0.17843698 -0.00894523 0.98391068 -2.52473926] [ 0. 0. 0. 1. ]] SLAMing on 125.17320100799999 meters Centerline goodness : 0.838215 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 0.95946274 0.22298665 -0.17236067 1.38247597] [-0.21857035 0.97480887 0.04443735 2.99790781] [ 0.17792765 -0.00496305 0.98403106 -2.52601804] [ 0. 0. 0. 1. ]] SLAMing on 125.203201008 meters Centerline goodness : 0.838948 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 9.60276214e-01 2.19110886e-01 -1.72800501e-01 1.38162755e+00] [-2.15427832e-01 9.75699217e-01 4.00235925e-02 3.00047328e+00] [ 1.77370918e-01 -1.20766658e-03 9.84143333e-01 -2.52703351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.233201008 meters Centerline goodness : 0.836895 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 9.60361552e-01 2.18475067e-01 -1.73130976e-01 1.38298291e+00] [-2.14781870e-01 9.75841731e-01 4.00207888e-02 2.99941826e+00] [ 1.77691976e-01 -1.24903204e-03 9.84085363e-01 -2.52703745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.263201008 meters Centerline goodness : 0.837879 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 9.61233626e-01 2.14066037e-01 -1.73797720e-01 1.38306304e+00] [-2.11114452e-01 9.76815860e-01 3.55170915e-02 3.00189432e+00] [ 1.77371372e-01 2.55098776e-03 9.84140685e-01 -2.52798363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.293201008 meters Centerline goodness : 0.838884 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 0.96210751 0.20959435 -0.17441145 1.38293872] [-0.20737572 0.97776821 0.03105848 3.0037023 ] [ 0.17704366 0.0062871 0.98418292 -2.52886795] [ 0. 0. 0. 1. ]] SLAMing on 125.323201008 meters Centerline goodness : 0.834702 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 0.96296509 0.20481192 -0.17535766 1.38296624] [-0.20308814 0.97876241 0.02791675 3.00161705] [ 0.17735117 0.0087302 0.98410891 -2.52748866] [ 0. 0. 0. 1. ]] SLAMing on 125.35320100799998 meters Centerline goodness : 0.835507 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 0.96380518 0.2002172 -0.1760473 1.38300815] [-0.19916843 0.97967642 0.02379192 3.00225773] [ 0.17723294 0.01213229 0.98409415 -2.52783573] [ 0. 0. 0. 1. ]] SLAMing on 125.38320100799999 meters Centerline goodness : 0.836200 Centerline is valid? [False, False] Translation: X:1.38, Y:3.00, Z:-2.53 [[ 0.96467203 0.19519962 -0.17693214 1.38416122] [-0.19492827 0.98063176 0.01908696 3.00363193] [ 0.17723104 0.01607642 0.98403796 -2.52915815] [ 0. 0. 0. 1. ]] SLAMing on 125.41320100799999 meters Centerline goodness : 0.837028 Centerline is valid? [False, False] Translation: X:1.39, Y:3.00, Z:-2.52 [[ 0.96481736 0.19415732 -0.1772862 1.39343493] [-0.19283903 0.98091681 0.02480583 2.99942872] [ 0.17871925 0.0102546 0.98384667 -2.52383558] [ 0. 0. 0. 1. ]] SLAMing on 125.44320100799999 meters Centerline goodness : 0.832419 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96511202 0.19200798 -0.17802172 1.39707709] [-0.19075464 0.98133707 0.02429451 2.99840305] [ 0.17936406 0.01051154 0.98372661 -2.52407057] [ 0. 0. 0. 1. ]] SLAMing on 125.47320100799999 meters Centerline goodness : 0.836326 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.9658706 0.18758452 -0.17862261 1.39667803] [-0.1870696 0.98214557 0.01987584 3.000918 ] [ 0.17916181 0.01421737 0.98371689 -2.52430138] [ 0. 0. 0. 1. ]] SLAMing on 125.50320100799999 meters Centerline goodness : 0.836851 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96582447 0.18758189 -0.17887465 1.39668994] [-0.18694793 0.98215489 0.02054834 2.99960858] [ 0.17953711 0.01359415 0.98365727 -2.52288487] [ 0. 0. 0. 1. ]] SLAMing on 125.53320100799999 meters Centerline goodness : 0.833540 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.9651678 0.18999175 -0.17987287 1.40216215] [-0.1883476 0.98174924 0.02633652 2.99684794] [ 0.18159378 0.00845947 0.98333724 -2.51846754] [ 0. 0. 0. 1. ]] SLAMing on 125.563201008 meters Centerline goodness : 0.834012 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96516845 0.18977187 -0.18010137 1.40311964] [-0.18818599 0.98178889 0.02601164 2.99882497] [ 0.1817578 0.00878694 0.98330407 -2.51848302] [ 0. 0. 0. 1. ]] SLAMing on 125.593201008 meters Centerline goodness : 0.836383 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96436937 0.19382098 -0.18006982 1.40484359] [-0.19133344 0.98102743 0.03125226 2.99721971] [ 0.18271078 0.00431465 0.98315724 -2.51569089] [ 0. 0. 0. 1. ]] SLAMing on 125.623201008 meters Centerline goodness : 0.831241 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96435332 0.19405645 -0.17990212 1.40437951] [-0.19160023 0.98098015 0.0311014 2.99916332] [ 0.18251584 0.00447655 0.98319272 -2.51542758] [ 0. 0. 0. 1. ]] SLAMing on 125.653201008 meters Centerline goodness : 0.834802 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96429104 0.1944866 -0.17977141 1.40369892] [-0.19203411 0.98089478 0.03111793 3.00083053] [ 0.18238886 0.00451551 0.98321611 -2.51486686] [ 0. 0. 0. 1. ]] SLAMing on 125.683201008 meters Centerline goodness : 0.832248 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96422967 0.19492266 -0.1796282 1.40302686] [-0.19247499 0.98080802 0.03112882 3.00258363] [ 0.18224849 0.00455861 0.98324194 -2.51438467] [ 0. 0. 0. 1. ]] SLAMing on 125.71320100799998 meters Centerline goodness : 0.834532 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.51 [[ 0.96401268 0.19620533 -0.17939624 1.40159354] [-0.19375551 0.9805519 0.03125342 3.00665371] [ 0.18203941 0.00463032 0.98328033 -2.51363899] [ 0. 0. 0. 1. ]] SLAMing on 125.74320100799999 meters Centerline goodness : 0.837490 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.51 [[ 0.96394319 0.19650216 -0.17944476 1.40141702] [-0.1940932 0.98049121 0.03106153 3.0088985 ] [ 0.18204767 0.00488746 0.98327756 -2.51334697] [ 0. 0. 0. 1. ]] SLAMing on 125.77320100799999 meters Centerline goodness : 0.837913 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.51 [[ 0.96390335 0.1966849 -0.17945856 1.40134027] [-0.19432606 0.98045308 0.03080809 3.0112985 ] [ 0.18201019 0.00517745 0.98328301 -2.5131044 ] [ 0. 0. 0. 1. ]] SLAMing on 125.80320100799999 meters Centerline goodness : 0.836574 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.51 [[ 0.96382948 0.19647742 -0.18008152 1.40346252] [-0.19427164 0.98048946 0.02998257 3.01478995] [ 0.18245893 0.00608665 0.98319463 -2.51399675] [ 0. 0. 0. 1. ]] SLAMing on 125.83320100799999 meters Centerline goodness : 0.837644 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 0.96381801 0.19615424 -0.18049477 1.40496462] [-0.19401344 0.98055169 0.02961709 3.01593479] [ 0.18279397 0.00647293 0.98312993 -2.51442178] [ 0. 0. 0. 1. ]] SLAMing on 125.86320100799999 meters Centerline goodness : 0.840530 Centerline is valid? [False, False] Translation: X:1.41, Y:3.01, Z:-2.51 [[ 9.63071666e-01 1.99664273e-01 -1.80629853e-01 1.40766154e+00] [-1.96709616e-01 9.79861213e-01 3.43122614e-02 3.01308469e+00] [ 1.83843119e-01 2.48646219e-03 9.82952453e-01 -2.51295961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89320100799999 meters Centerline goodness : 0.839557 Centerline is valid? [False, False] Translation: X:1.41, Y:3.01, Z:-2.51 [[ 9.63048565e-01 1.99589342e-01 -1.80835715e-01 1.40823492e+00] [-1.96646347e-01 9.79876235e-01 3.42458365e-02 3.01342842e+00] [ 1.84031723e-01 2.58027910e-03 9.82916918e-01 -2.51294866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92320100799999 meters Centerline goodness : 0.837714 Centerline is valid? [False, False] Translation: X:1.41, Y:3.01, Z:-2.51 [[ 9.63018155e-01 1.99497848e-01 -1.81098429e-01 1.40890448e+00] [-1.96569258e-01 9.79894551e-01 3.41642421e-02 3.01412879e+00] [ 1.84273056e-01 2.69759834e-03 9.82871387e-01 -2.51275312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.953201008 meters Centerline goodness : 0.840201 Centerline is valid? [False, False] Translation: X:1.41, Y:3.02, Z:-2.51 [[ 9.62922600e-01 2.00061231e-01 -1.80985001e-01 1.40811393e+00] [-1.97142294e-01 9.79779444e-01 3.41636677e-02 3.01558623e+00] [ 1.84160209e-01 2.78283057e-03 9.82892300e-01 -2.51244550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.983201008 meters Centerline goodness : 0.841228 Centerline is valid? [False, False] Translation: X:1.41, Y:3.02, Z:-2.51 [[ 9.62858638e-01 2.00631686e-01 -1.80693581e-01 1.40684485e+00] [-1.97674657e-01 9.79663343e-01 3.44160430e-02 3.01669555e+00] [ 1.83923826e-01 2.58075722e-03 9.82937112e-01 -2.51171734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.013201008 meters Centerline goodness : 0.842746 Centerline is valid? [False, False] Translation: X:1.41, Y:3.02, Z:-2.51 [[ 9.62798858e-01 2.01241472e-01 -1.80333660e-01 1.40562258e+00] [-1.98278643e-01 9.79538368e-01 3.44987842e-02 3.01826964e+00] [ 1.83586325e-01 2.54092329e-03 9.83000308e-01 -2.51134190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.043201008 meters Centerline goodness : 0.845666 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 9.62339645e-01 2.04029473e-01 -1.79650721e-01 1.40226137e+00] [-2.00933160e-01 9.78962767e-01 3.54649934e-02 3.02131534e+00] [ 1.83107271e-01 1.96841798e-03 9.83090969e-01 -2.51036692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.073201008 meters Centerline goodness : 0.842801 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 9.62229801e-01 2.04894238e-01 -1.79254461e-01 1.40102954e+00] [-2.01831622e-01 9.78781746e-01 3.53594470e-02 3.02329949e+00] [ 1.82695941e-01 2.15530488e-03 9.83167101e-01 -2.51057188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10320100799998 meters Centerline goodness : 0.842144 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 9.62144435e-01 2.05763505e-01 -1.78716160e-01 1.39947965e+00] [-2.02726504e-01 9.78599111e-01 3.52951081e-02 3.02498083e+00] [ 1.82153921e-01 2.27151045e-03 9.83267405e-01 -2.51078250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13320100799999 meters Centerline goodness : 0.842760 Centerline is valid? [False, False] Translation: X:1.40, Y:3.03, Z:-2.51 [[ 9.62067689e-01 2.06467371e-01 -1.78317094e-01 1.39829577e+00] [-2.03439201e-01 9.78450762e-01 3.53071879e-02 3.02597857e+00] [ 1.81764279e-01 2.30878247e-03 9.83339421e-01 -2.51092122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16320100799999 meters Centerline goodness : 0.843334 Centerline is valid? [False, False] Translation: X:1.40, Y:3.03, Z:-2.51 [[ 9.62020146e-01 2.06983759e-01 -1.77974610e-01 1.39738301e+00] [-2.03952461e-01 9.78341735e-01 3.53672544e-02 3.02642130e+00] [ 1.81440436e-01 2.27434857e-03 9.83399306e-01 -2.51107160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19320100799999 meters Centerline goodness : 0.844602 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 9.61930612e-01 2.07711043e-01 -1.77610869e-01 1.39582246e+00] [-2.04571458e-01 9.78188772e-01 3.60172957e-02 3.02474966e+00] [ 1.81218148e-01 1.68797509e-03 9.83441474e-01 -2.51053997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22320100799999 meters Centerline goodness : 0.843276 Centerline is valid? [False, False] Translation: X:1.40, Y:3.03, Z:-2.51 [[ 0.96267052 0.20384534 -0.17808017 1.3950626 ] [-0.20139419 0.97898969 0.03193077 3.02605345] [ 0.18084759 0.0051255 0.98349778 -2.5113025 ] [ 0. 0. 0. 1. ]] SLAMing on 126.25320100799999 meters Centerline goodness : 0.843982 Centerline is valid? [False, False] Translation: X:1.39, Y:3.03, Z:-2.51 [[ 0.96340947 0.19997984 -0.17846642 1.39405946] [-0.19819004 0.97976395 0.02798779 3.02691227] [ 0.18045196 0.00840657 0.98354787 -2.51188181] [ 0. 0. 0. 1. ]] SLAMing on 126.28320100799999 meters Centerline goodness : 0.842476 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 0.96340881 0.19962575 -0.17886597 1.39524052] [-0.19775823 0.97983944 0.02839643 3.02409444] [ 0.18092859 0.00801485 0.98346358 -2.51182778] [ 0. 0. 0. 1. ]] SLAMing on 126.313201008 meters Centerline goodness : 0.839456 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 0.96425205 0.1946804 -0.17977074 1.39656535] [-0.1934461 0.98080383 0.02454505 3.02081532] [ 0.18109827 0.01110833 0.98340227 -2.51319826] [ 0. 0. 0. 1. ]] SLAMing on 126.343201008 meters Centerline goodness : 0.842206 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 0.96503725 0.19029995 -0.18024717 1.39642795] [-0.18973469 0.98162064 0.02053467 3.02012436] [ 0.18084208 0.01438242 0.98340698 -2.51430187] [ 0. 0. 0. 1. ]] SLAMing on 126.373201008 meters Centerline goodness : 0.842504 Centerline is valid? [False, False] Translation: X:1.40, Y:3.02, Z:-2.51 [[ 0.96507068 0.189599 -0.18080598 1.39824078] [-0.18893381 0.98176406 0.02105573 3.01616353] [ 0.18150096 0.01384009 0.98329337 -2.51423107] [ 0. 0. 0. 1. ]] SLAMing on 126.403201008 meters Centerline goodness : 0.841729 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.51 [[ 0.96509955 0.18902987 -0.18124725 1.39988267] [-0.18828418 0.98187985 0.02147149 3.01241207] [ 0.18202177 0.01340387 0.98320314 -2.51454383] [ 0. 0. 0. 1. ]] SLAMing on 126.433201008 meters Centerline goodness : 0.842269 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.52 [[ 0.96534858 0.1873852 -0.18162851 1.40281433] [-0.18661272 0.9821985 0.02148968 3.00732865] [ 0.1824221 0.01314916 0.98313238 -2.51574733] [ 0. 0. 0. 1. ]] SLAMing on 126.46320100799998 meters Centerline goodness : 0.840522 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96530128 0.18735449 -0.18191133 1.40365208] [-0.18648575 0.98221075 0.02202537 3.00477878] [ 0.18280181 0.01266276 0.98306823 -2.51575023] [ 0. 0. 0. 1. ]] SLAMing on 126.49320100799999 meters Centerline goodness : 0.842650 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.52 [[ 0.96524077 0.18767501 -0.18190201 1.40356942] [-0.18668506 0.98215737 0.02270654 3.00235985] [ 0.18291785 0.01204112 0.98305446 -2.5155616 ] [ 0. 0. 0. 1. ]] SLAMing on 126.52320100799999 meters Centerline goodness : 0.842297 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96511717 0.18841474 -0.18179313 1.40243728] [-0.18723303 0.98202718 0.02379952 2.99962784] [ 0.18300998 0.01106835 0.98304875 -2.51451739] [ 0. 0. 0. 1. ]] SLAMing on 126.55320100799999 meters Centerline goodness : 0.840995 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96501801 0.18911723 -0.18158997 1.40119779] [-0.18776728 0.98190148 0.02475735 2.99734013] [ 0.1829855 0.01020537 0.98306264 -2.51357471] [ 0. 0. 0. 1. ]] SLAMing on 126.58320100799999 meters Centerline goodness : 0.839624 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96490918 0.19043471 -0.18078962 1.39855695] [-0.18891967 0.98165551 0.0257258 2.99550245] [ 0.18237221 0.00933166 0.98318528 -2.51318676] [ 0. 0. 0. 1. ]] SLAMing on 126.61320100799999 meters Centerline goodness : 0.838187 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.9648492 0.19112327 -0.18038267 1.39738135] [-0.1895472 0.98152469 0.02609866 2.99556663] [ 0.18203811 0.00900976 0.9832502 -2.5130809 ] [ 0. 0. 0. 1. ]] SLAMing on 126.64320100799999 meters Centerline goodness : 0.837925 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96477786 0.19191171 -0.17992659 1.39601309] [-0.19027665 0.98137364 0.02646856 2.99533746] [ 0.18165484 0.00869955 0.98332387 -2.51310897] [ 0. 0. 0. 1. ]] SLAMing on 126.67320100799999 meters Centerline goodness : 0.837925 Centerline is valid? [False, False] Translation: X:1.40, Y:3.00, Z:-2.51 [[ 0.96477786 0.19191171 -0.17992659 1.39601309] [-0.19027665 0.98137364 0.02646856 2.99533746] [ 0.18165484 0.00869955 0.98332387 -2.51310897] [ 0. 0. 0. 1. ]] SLAMing on 126.703201008 meters Centerline goodness : 0.838031 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96470231 0.1927918 -0.17938999 1.39439006] [-0.19109242 0.98120411 0.02687338 2.99495747] [ 0.18119916 0.00835525 0.98341093 -2.5131366 ] [ 0. 0. 0. 1. ]] SLAMing on 126.733201008 meters Centerline goodness : 0.836989 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96454102 0.19461263 -0.17828782 1.39066321] [-0.1927999 0.98084961 0.02760879 2.99451288] [ 0.18024656 0.00774406 0.98359098 -2.513011 ] [ 0. 0. 0. 1. ]] SLAMing on 126.763201008 meters Centerline goodness : 0.838583 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96445679 0.19537297 -0.1779115 1.38911334] [-0.19348001 0.9807017 0.02810098 2.99374821] [ 0.17996828 0.00732014 0.98364518 -2.51257795] [ 0. 0. 0. 1. ]] SLAMing on 126.793201008 meters Centerline goodness : 0.837297 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96436322 0.19617859 -0.17753181 1.38739232] [-0.19418177 0.98054482 0.02872806 2.99268118] [ 0.17971373 0.00676916 0.98369566 -2.51193527] [ 0. 0. 0. 1. ]] SLAMing on 126.823201008 meters Centerline goodness : 0.837413 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96429362 0.19673535 -0.17729359 1.38640013] [-0.19466649 0.98043581 0.02916475 2.99135772] [ 0.17956272 0.00638974 0.98372577 -2.5117673 ] [ 0. 0. 0. 1. ]] SLAMing on 126.85320100799998 meters Centerline goodness : 0.838514 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96425902 0.19712865 -0.17704474 1.38603115] [-0.1949722 0.98035983 0.02967222 2.98874087] [ 0.1794168 0.00590709 0.98375542 -2.51227255] [ 0. 0. 0. 1. ]] SLAMing on 126.88320100799999 meters Centerline goodness : 0.837881 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96423894 0.19722309 -0.17704893 1.38622373] [-0.19500514 0.98034275 0.03001812 2.98711145] [ 0.1794889 0.00558081 0.98374417 -2.5124503 ] [ 0. 0. 0. 1. ]] SLAMing on 126.91320100799999 meters Centerline goodness : 0.837168 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96502737 0.19307016 -0.17733045 1.38573308] [-0.1916025 0.9811405 0.0255303 2.9884537 ] [ 0.17891522 0.00933952 0.98382016 -2.51417439] [ 0. 0. 0. 1. ]] SLAMing on 126.94320100799999 meters Centerline goodness : 0.833608 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96664241 0.18409424 -0.17807795 1.38825194] [-0.18373117 0.98279915 0.01867338 2.98480918] [ 0.17845252 0.01466799 0.98383919 -2.51699199] [ 0. 0. 0. 1. ]] SLAMing on 126.97320100799999 meters Centerline goodness : 0.835325 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96744517 0.17896302 -0.17894715 1.38953817] [-0.17927319 0.98369142 0.01457084 2.98297096] [ 0.17863642 0.01798393 0.98375079 -2.51810042] [ 0. 0. 0. 1. ]] SLAMing on 127.00320100799999 meters Centerline goodness : 0.828722 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96819671 0.17409525 -0.179683 1.3901882 ] [-0.17505224 0.98450164 0.01064128 2.98165126] [ 0.1787508 0.02115106 0.98366701 -2.51872201] [ 0. 0. 0. 1. ]] SLAMing on 127.03320100799999 meters Centerline goodness : 0.828166 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96893449 0.16937057 -0.18022086 1.39032816] [-0.17097313 0.98525278 0.00671988 2.98065661] [ 0.17870125 0.0243018 0.98360322 -2.51930778] [ 0. 0. 0. 1. ]] SLAMing on 127.063201008 meters Centerline goodness : 0.823658 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96965407 0.16472546 -0.18065577 1.38991486] [-0.16685267 0.98597575 0.00346485 2.97708263] [ 0.17869296 0.02678319 0.98354028 -2.51918064] [ 0. 0. 0. 1. ]] SLAMing on 127.093201008 meters Centerline goodness : 0.825620 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.9696096 0.16500781 -0.18063676 1.3894359 ] [-0.16701619 0.98594545 0.004142 2.97594099] [ 0.17878145 0.02615314 0.98354116 -2.51821994] [ 0. 0. 0. 1. ]] SLAMing on 127.123201008 meters Centerline goodness : 0.821634 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96960177 0.16518686 -0.18051515 1.38936574] [-0.16714795 0.985922 0.00440081 2.97566628] [ 0.17870081 0.0259057 0.98356236 -2.51811466] [ 0. 0. 0. 1. ]] SLAMing on 127.153201008 meters Centerline goodness : 0.818523 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96963387 0.16503293 -0.18048349 1.38996933] [-0.16706221 0.98593822 0.00400647 2.97674557] [ 0.17860677 0.02626716 0.98356985 -2.5189296 ] [ 0. 0. 0. 1. ]] SLAMing on 127.183201008 meters Centerline goodness : 0.819088 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96965501 0.16477929 -0.1806016 1.39103466] [-0.16688254 0.98597023 0.00359343 2.97812301] [ 0.17865993 0.02665486 0.98354977 -2.51966569] [ 0. 0. 0. 1. ]] SLAMing on 127.21320100799998 meters Centerline goodness : 0.819006 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96966837 0.16461316 -0.18068139 1.39181115] [-0.16677373 0.98598976 0.00327472 2.97889326] [ 0.17868906 0.02695752 0.98353623 -2.52032072] [ 0. 0. 0. 1. ]] SLAMing on 127.24320100799999 meters Centerline goodness : 0.819793 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.52 [[ 0.96910149 0.1677009 -0.18088313 1.39475065] [-0.16894606 0.98558766 0.00861361 2.97507639] [ 0.17972069 0.02221203 0.98346688 -2.51735601] [ 0. 0. 0. 1. ]] SLAMing on 127.27320100799999 meters Centerline goodness : 0.821228 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.52 [[ 0.96907257 0.16781523 -0.18093202 1.39484555] [-0.16897115 0.98557882 0.0091185 2.97427574] [ 0.17985299 0.02173581 0.98345333 -2.51664366] [ 0. 0. 0. 1. ]] SLAMing on 127.30320100799999 meters Centerline goodness : 0.819983 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.52 [[ 0.96904527 0.16780112 -0.18109125 1.3950983 ] [-0.16891888 0.98558565 0.00934523 2.97373306] [ 0.18004908 0.02153378 0.9834219 -2.51627388] [ 0. 0. 0. 1. ]] SLAMing on 127.33320100799999 meters Centerline goodness : 0.817011 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.51 [[ 0.96845974 0.17067715 -0.18153521 1.39940463] [-0.17100419 0.9851713 0.01396731 2.97150666] [ 0.18122718 0.01751651 0.98328525 -2.51484536] [ 0. 0. 0. 1. ]] SLAMing on 127.36320100799999 meters Centerline goodness : 0.816453 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.52 [[ 0.96848313 0.17026002 -0.18180196 1.40115528] [-0.17067458 0.98523524 0.01348015 2.97313892] [ 0.18141282 0.01797367 0.98324276 -2.51564312] [ 0. 0. 0. 1. ]] SLAMing on 127.39320100799999 meters Centerline goodness : 0.815928 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.52 [[ 0.96850725 0.17016133 -0.18176589 1.40178058] [-0.17063853 0.98524624 0.01312764 2.97420579] [ 0.18131797 0.01830205 0.9832542 -2.51647924] [ 0. 0. 0. 1. ]] SLAMing on 127.42320100799999 meters Centerline goodness : 0.814331 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.52 [[ 0.96847868 0.17028937 -0.18179819 1.40178783] [-0.17074567 0.98522596 0.01325626 2.97439952] [ 0.1813697 0.01820285 0.9832465 -2.51624203] [ 0. 0. 0. 1. ]] SLAMing on 127.453201008 meters Centerline goodness : 0.815363 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.51 [[ 0.96832994 0.17194992 -0.18102581 1.39736795] [-0.17203794 0.98497094 0.01533585 2.97184024] [ 0.18094216 0.01629314 0.98335877 -2.51271899] [ 0. 0. 0. 1. ]] SLAMing on 127.483201008 meters Centerline goodness : 0.815396 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96824838 0.17305406 -0.18040887 1.39448713] [-0.17294661 0.98479386 0.01644761 2.97124358] [ 0.18051187 0.01527573 0.98345418 -2.51073763] [ 0. 0. 0. 1. ]] SLAMing on 127.513201008 meters Centerline goodness : 0.815896 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.9682016 0.1737514 -0.17998921 1.39274406] [-0.17358152 0.98467591 0.01681718 2.97182078] [ 0.18015305 0.01496038 0.98352482 -2.50997841] [ 0. 0. 0. 1. ]] SLAMing on 127.543201008 meters Centerline goodness : 0.815168 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96816773 0.17426747 -0.17967219 1.39172633] [-0.17410248 0.98458402 0.01681149 2.97316949] [ 0.17983206 0.01500503 0.98358288 -2.50990334] [ 0. 0. 0. 1. ]] SLAMing on 127.573201008 meters Centerline goodness : 0.815444 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96802873 0.17675428 -0.17798398 1.39010252] [-0.17616213 0.98417286 0.01925316 2.97387178] [ 0.17857008 0.01271643 0.98384502 -2.50984055] [ 0. 0. 0. 1. ]] SLAMing on 127.60320100799998 meters Centerline goodness : 0.818140 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96726382 0.18147317 -0.17739276 1.39058026] [-0.18026382 0.98334822 0.02304855 2.97507054] [ 0.17862155 0.00968346 0.9838702 -2.51002594] [ 0. 0. 0. 1. ]] SLAMing on 127.63320100799999 meters Centerline goodness : 0.819102 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96724451 0.18171473 -0.17725069 1.39054982] [-0.18059434 0.98329862 0.02257233 2.97756034] [ 0.17839208 0.01017751 0.98390685 -2.51070088] [ 0. 0. 0. 1. ]] SLAMing on 127.66320100799999 meters Centerline goodness : 0.817316 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96724535 0.18215868 -0.17678982 1.38972058] [-0.18110418 0.98321283 0.02222172 2.98007502] [ 0.1778699 0.01052351 0.98399774 -2.51128994] [ 0. 0. 0. 1. ]] SLAMing on 127.69320100799999 meters Centerline goodness : 0.817538 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96723381 0.18246823 -0.17653355 1.38918982] [-0.18146088 0.98315264 0.02197326 2.98222428] [ 0.17756885 0.01078065 0.98404933 -2.51151506] [ 0. 0. 0. 1. ]] SLAMing on 127.72320100799999 meters Centerline goodness : 0.816073 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96717693 0.18315714 -0.17613133 1.38781025] [-0.18216407 0.98302352 0.02193183 2.98460485] [ 0.17715822 0.01087284 0.98412232 -2.51132838] [ 0. 0. 0. 1. ]] SLAMing on 127.75320100799999 meters Centerline goodness : 0.816194 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96717089 0.18328013 -0.17603651 1.38765457] [-0.18230849 0.98299928 0.02181807 2.98557805] [ 0.17704258 0.01099115 0.98414182 -2.51143722] [ 0. 0. 0. 1. ]] SLAMing on 127.78320100799999 meters Centerline goodness : 0.814296 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.9671643 0.18344942 -0.17589636 1.38723785] [-0.182438 0.98297017 0.02204583 2.9855786 ] [ 0.17694517 0.01076824 0.9841618 -2.51109646] [ 0. 0. 0. 1. ]] SLAMing on 127.813201008 meters Centerline goodness : 0.815926 Centerline is valid? [False, False] Translation: X:1.39, Y:2.99, Z:-2.51 [[ 0.96786544 0.17964171 -0.17596974 1.38501371] [-0.17925588 0.98363376 0.01821951 2.98627162] [ 0.17636276 0.01390957 0.98422696 -2.51096022] [ 0. 0. 0. 1. ]] SLAMing on 127.843201008 meters Centerline goodness : 0.817262 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96783354 0.17960118 -0.1761864 1.38516877] [-0.17910355 0.98364951 0.01885614 2.98444486] [ 0.17669225 0.01330601 0.9841762 -2.50995525] [ 0. 0. 0. 1. ]] SLAMing on 127.873201008 meters Centerline goodness : 0.818415 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96780959 0.17942088 -0.17650141 1.38578028] [-0.1788296 0.98368909 0.0193843 2.98295157] [ 0.17710046 0.01280336 0.9841095 -2.50911525] [ 0. 0. 0. 1. ]] SLAMing on 127.903201008 meters Centerline goodness : 0.816158 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96782466 0.17914107 -0.17670289 1.3868497 ] [-0.1785419 0.9837407 0.01941734 2.9822984 ] [ 0.17730826 0.01275629 0.98407269 -2.50943129] [ 0. 0. 0. 1. ]] SLAMing on 127.933201008 meters Centerline goodness : 0.816894 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96785139 0.17863329 -0.17707013 1.38859499] [-0.17806903 0.98383058 0.01920442 2.98221586] [ 0.17763756 0.01294368 0.98401085 -2.51004634] [ 0. 0. 0. 1. ]] SLAMing on 127.96320100799998 meters Centerline goodness : 0.818177 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96789872 0.17773297 -0.17771625 1.39126645] [-0.17718848 0.98399235 0.01906065 2.98148335] [ 0.17825914 0.01304049 0.98389716 -2.51053336] [ 0. 0. 0. 1. ]] SLAMing on 127.99320100799999 meters Centerline goodness : 0.816001 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96788265 0.17754168 -0.17799475 1.39197166] [-0.17692597 0.98403184 0.01945611 2.98016036] [ 0.17860677 0.01266066 0.98383908 -2.51007343] [ 0. 0. 0. 1. ]] SLAMing on 128.023201008 meters Centerline goodness : 0.819618 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96785057 0.17747743 -0.1782331 1.39244177] [-0.17675763 0.98405038 0.02003982 2.97835047] [ 0.17894696 0.0121085 0.98378421 -2.50939537] [ 0. 0. 0. 1. ]] SLAMing on 128.053201008 meters Centerline goodness : 0.819115 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.9678229 0.17734677 -0.17851318 1.39292963] [-0.17653077 0.98408006 0.02057495 2.97666074] [ 0.17932016 0.01160016 0.98372238 -2.50858802] [ 0. 0. 0. 1. ]] SLAMing on 128.083201008 meters Centerline goodness : 0.818179 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96777613 0.17751325 -0.17860126 1.39269386] [-0.17657197 0.98405761 0.02128275 2.97484981] [ 0.1795319 0.01093904 0.98369133 -2.50760965] [ 0. 0. 0. 1. ]] SLAMing on 128.113201008 meters Centerline goodness : 0.819288 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96777634 0.17751837 -0.17859504 1.39290751] [-0.17651327 0.98406052 0.02163247 2.97372807] [ 0.17958849 0.010589 0.98368483 -2.50748521] [ 0. 0. 0. 1. ]] SLAMing on 128.143201008 meters Centerline goodness : 0.820675 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96780187 0.177391 -0.17858322 1.3935892 ] [-0.17643152 0.98408091 0.02137006 2.97432791] [ 0.17953119 0.01082573 0.98369271 -2.50827669] [ 0. 0. 0. 1. ]] SLAMing on 128.173201008 meters Centerline goodness : 0.820527 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96780481 0.17751836 -0.17844069 1.39366444] [-0.17658011 0.98405671 0.02125666 2.97509566] [ 0.17936921 0.01093678 0.98372103 -2.50872292] [ 0. 0. 0. 1. ]] SLAMing on 128.203201008 meters Centerline goodness : 0.820192 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96768216 0.17878054 -0.17784476 1.39101276] [-0.17773531 0.98383408 0.02192418 2.97510371] [ 0.17888935 0.01039366 0.9838143 -2.50781756] [ 0. 0. 0. 1. ]] SLAMing on 128.233201008 meters Centerline goodness : 0.822241 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96735543 0.18121179 -0.17716024 1.38749429] [-0.18004543 0.98339461 0.02277468 2.97642947] [ 0.17834547 0.00986569 0.98391847 -2.50718197] [ 0. 0. 0. 1. ]] SLAMing on 128.263201008 meters Centerline goodness : 0.822241 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96735543 0.18121179 -0.17716024 1.38749429] [-0.18004543 0.98339461 0.02277468 2.97642947] [ 0.17834547 0.00986569 0.98391847 -2.50718197] [ 0. 0. 0. 1. ]] SLAMing on 128.293201008 meters Centerline goodness : 0.819879 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96728339 0.18195912 -0.17678724 1.38650213] [-0.18082985 0.98325431 0.02261688 2.97803624] [ 0.17794217 0.01009148 0.9839892 -2.50780621] [ 0. 0. 0. 1. ]] SLAMing on 128.323201008 meters Centerline goodness : 0.821473 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.51 [[ 0.96710393 0.18386667 -0.17579257 1.383129 ] [-0.18270175 0.98290093 0.02293119 2.97949936] [ 0.17700296 0.00994077 0.98416011 -2.50820304] [ 0. 0. 0. 1. ]] SLAMing on 128.353201008 meters Centerline goodness : 0.819600 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.51 [[ 0.96709687 0.18400639 -0.17568522 1.38287763] [-0.18280282 0.98287694 0.02315279 2.97902183] [ 0.17693722 0.00972477 0.9841741 -2.50808849] [ 0. 0. 0. 1. ]] SLAMing on 128.38320100800001 meters Centerline goodness : 0.819062 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.51 [[ 0.96710413 0.18394314 -0.17571145 1.38323964] [-0.18270986 0.98289042 0.02331375 2.97853239] [ 0.17699351 0.00955739 0.98416561 -2.50812949] [ 0. 0. 0. 1. ]] SLAMing on 128.41320100800002 meters Centerline goodness : 0.820027 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.51 [[ 0.96711512 0.18385468 -0.17574358 1.38376985] [-0.182599 0.98290821 0.02343196 2.97771937] [ 0.17704788 0.0094292 0.98415707 -2.50844147] [ 0. 0. 0. 1. ]] SLAMing on 128.44320100800002 meters Centerline goodness : 0.818915 Centerline is valid? [False, False] Translation: X:1.38, Y:2.98, Z:-2.51 [[ 0.96793191 0.17880677 -0.17645384 1.38485464] [-0.17827622 0.98379727 0.01898721 2.97759372] [ 0.17698985 0.0130792 0.98412577 -2.50984881] [ 0. 0. 0. 1. ]] SLAMing on 128.47320100800002 meters Centerline goodness : 0.819583 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.51 [[ 0.96791699 0.17855828 -0.17678701 1.38574704] [-0.17796346 0.9838469 0.01934621 2.97612418] [ 0.17738578 0.01273611 0.98405898 -2.5094212 ] [ 0. 0. 0. 1. ]] SLAMing on 128.50320100800002 meters Centerline goodness : 0.819985 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96879381 0.17237215 -0.17811903 1.38850993] [-0.17245369 0.9849012 0.01514416 2.97367768] [ 0.17804008 0.01604572 0.98389241 -2.5096827 ] [ 0. 0. 0. 1. ]] SLAMing on 128.533201008 meters Centerline goodness : 0.820597 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96950312 0.1678278 -0.17859878 1.38814026] [-0.16862617 0.98562078 0.01081176 2.9746362 ] [ 0.17784519 0.01963439 0.98386258 -2.51026193] [ 0. 0. 0. 1. ]] SLAMing on 128.563201008 meters Centerline goodness : 0.820355 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96945906 0.16767642 -0.17897972 1.38895716] [-0.16837223 0.98565749 0.01140649 2.97285362] [ 0.1783253 0.01907709 0.98378664 -2.50948891] [ 0. 0. 0. 1. ]] SLAMing on 128.593201008 meters Centerline goodness : 0.820355 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96945906 0.16767642 -0.17897972 1.38895716] [-0.16837223 0.98565749 0.01140649 2.97285362] [ 0.1783253 0.01907709 0.98378664 -2.50948891] [ 0. 0. 0. 1. ]] SLAMing on 128.623201008 meters Centerline goodness : 0.820522 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96948831 0.16734181 -0.1791344 1.39021669] [-0.16807858 0.98571035 0.01116667 2.97304359] [ 0.17844328 0.0192827 0.98376124 -2.51029379] [ 0. 0. 0. 1. ]] SLAMing on 128.653201008 meters Centerline goodness : 0.819694 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96888438 0.17071325 -0.17922064 1.39351237] [-0.17074247 0.98519566 0.01537905 2.97125936] [ 0.1791928 0.01570005 0.98368869 -2.51009598] [ 0. 0. 0. 1. ]] SLAMing on 128.683201008 meters Centerline goodness : 0.813971 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96891542 0.1709701 -0.17880755 1.39354538] [-0.17105941 0.98514599 0.01503525 2.97376796] [ 0.17872212 0.01601883 0.98376918 -2.51122164] [ 0. 0. 0. 1. ]] SLAMing on 128.713201008 meters Centerline goodness : 0.815960 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96885211 0.17152421 -0.1786198 1.39235398] [-0.1714967 0.98505939 0.01571265 2.9733291 ] [ 0.17864621 0.01540947 0.9837927 -2.51009321] [ 0. 0. 0. 1. ]] SLAMing on 128.743201008 meters Centerline goodness : 0.819582 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96876904 0.17233719 -0.17828753 1.39037156] [-0.17215608 0.98492972 0.01660543 2.97227606] [ 0.17846242 0.01460645 0.98383831 -2.50859664] [ 0. 0. 0. 1. ]] SLAMing on 128.773201008 meters Centerline goodness : 0.817564 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96869762 0.17307719 -0.17795843 1.38820748] [-0.17276104 0.98481021 0.0173916 2.97120412] [ 0.17826537 0.01389708 0.98388431 -2.50700532] [ 0. 0. 0. 1. ]] SLAMing on 128.803201008 meters Centerline goodness : 0.821706 Centerline is valid? [False, False] Translation: X:1.38, Y:2.97, Z:-2.50 [[ 0.96853855 0.17498413 -0.17695659 1.38274044] [-0.17429698 0.98449917 0.01954369 2.96992712] [ 0.17763345 0.01191418 0.9840246 -2.5027384 ] [ 0. 0. 0. 1. ]] SLAMing on 128.833201008 meters Centerline goodness : 0.821313 Centerline is valid? [False, False] Translation: X:1.38, Y:2.97, Z:-2.50 [[ 0.96852504 0.1752258 -0.17679131 1.38209237] [-0.17452294 0.98445719 0.01964159 2.9706839 ] [ 0.17748519 0.01183076 0.98405236 -2.50237898] [ 0. 0. 0. 1. ]] SLAMing on 128.863201008 meters Centerline goodness : 0.822605 Centerline is valid? [False, False] Translation: X:1.38, Y:2.97, Z:-2.50 [[ 0.96855763 0.17494773 -0.17688815 1.38298424] [-0.17430644 0.98450266 0.01928154 2.9720614 ] [ 0.17752011 0.01215746 0.98404207 -2.50288299] [ 0. 0. 0. 1. ]] SLAMing on 128.893201008 meters Centerline goodness : 0.822367 Centerline is valid? [False, False] Translation: X:1.38, Y:2.97, Z:-2.50 [[ 0.96860758 0.17442393 -0.17713171 1.38472659] [-0.1738781 0.9845892 0.01872209 2.97326619] [ 0.17766755 0.01266497 0.98400907 -2.50399929] [ 0. 0. 0. 1. ]] SLAMing on 128.923201008 meters Centerline goodness : 0.824941 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96866603 0.17377733 -0.17744737 1.38680834] [-0.1733173 0.98469765 0.01821133 2.97394295] [ 0.17789673 0.013114 0.98396178 -2.50515929] [ 0. 0. 0. 1. ]] SLAMing on 128.953201008 meters Centerline goodness : 0.824163 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96878684 0.17219212 -0.17833098 1.39092921] [-0.17183431 0.98496919 0.01756907 2.97274945] [ 0.17867577 0.0136227 0.9838137 -2.50652674] [ 0. 0. 0. 1. ]] SLAMing on 128.983201008 meters Centerline goodness : 0.829159 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96875763 0.17184682 -0.17882202 1.39214212] [-0.17143188 0.98503355 0.01788898 2.97149724] [ 0.17921985 0.01332571 0.9837188 -2.50593203] [ 0. 0. 0. 1. ]] SLAMing on 129.013201008 meters Centerline goodness : 0.826819 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.51 [[ 0.96874391 0.17146674 -0.17926069 1.39335111] [-0.17102132 0.98510191 0.01805389 2.97045912] [ 0.17968568 0.01316781 0.98363594 -2.50559625] [ 0. 0. 0. 1. ]] SLAMing on 129.043201008 meters Centerline goodness : 0.830330 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.50 [[ 0.96870938 0.17116243 -0.17973748 1.39430529] [-0.17065959 0.98515871 0.01837465 2.96992302] [ 0.180215 0.01287423 0.98354299 -2.50456222] [ 0. 0. 0. 1. ]] SLAMing on 129.073201008 meters Centerline goodness : 0.832565 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96818685 0.1736487 -0.18016757 1.40014207] [-0.17168596 0.98479381 0.02655346 2.96624121] [ 0.18203888 0.00522353 0.98327746 -2.49578162] [ 0. 0. 0. 1. ]] SLAMing on 129.103201008 meters Centerline goodness : 0.835206 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96815018 0.17378265 -0.18023544 1.40013438] [-0.17182306 0.98476997 0.02655086 2.96706414] [ 0.18210453 0.00526339 0.98326509 -2.49550365] [ 0. 0. 0. 1. ]] SLAMing on 129.13320100800001 meters Centerline goodness : 0.836153 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96813247 0.17389673 -0.18022054 1.40010932] [-0.17194128 0.98474966 0.02653867 2.96831143] [ 0.1820871 0.0052944 0.98326815 -2.49520455] [ 0. 0. 0. 1. ]] SLAMing on 129.16320100800002 meters Centerline goodness : 0.837892 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96806054 0.17475057 -0.1797805 1.39871302] [-0.17281756 0.98459775 0.02648314 2.97125568] [ 0.18163942 0.00543194 0.9833502 -2.4951726 ] [ 0. 0. 0. 1. ]] SLAMing on 129.19320100800002 meters Centerline goodness : 0.835404 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96804629 0.17515599 -0.17946244 1.39791069] [-0.17322965 0.98452556 0.02647475 2.97284161] [ 0.18132257 0.00545943 0.98340852 -2.49510973] [ 0. 0. 0. 1. ]] SLAMing on 129.22320100800002 meters Centerline goodness : 0.840952 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.9680207 0.17571096 -0.17905749 1.3967546 ] [-0.17377149 0.9844271 0.02658494 2.97429533] [ 0.18094031 0.00538032 0.98347936 -2.49482355] [ 0. 0. 0. 1. ]] SLAMing on 129.25320100800002 meters Centerline goodness : 0.840940 Centerline is valid? [False, False] Translation: X:1.40, Y:2.98, Z:-2.49 [[ 0.96796843 0.1764155 -0.1786468 1.39513675] [-0.17444676 0.98430192 0.02679679 2.97538592] [ 0.18056976 0.00522591 0.9835483 -2.4943053 ] [ 0. 0. 0. 1. ]] SLAMing on 129.283201008 meters Centerline goodness : 0.838235 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.49 [[ 0.96793375 0.17700924 -0.17824698 1.39374197] [-0.17503797 0.98419541 0.02685332 2.97640754] [ 0.18018314 0.00520776 0.98361929 -2.49409852] [ 0. 0. 0. 1. ]] SLAMing on 129.313201008 meters Centerline goodness : 0.839720 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.49 [[ 0.96779708 0.1786556 -0.17734428 1.38980493] [-0.17658871 0.98390044 0.02750183 2.97748464] [ 0.17940247 0.0047008 0.98376453 -2.49276352] [ 0. 0. 0. 1. ]] SLAMing on 129.343201008 meters Centerline goodness : 0.843196 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.49 [[ 0.96774789 0.17884038 -0.17742645 1.38938722] [-0.17664519 0.98386986 0.02822379 2.97616167] [ 0.17961209 0.00402802 0.98372927 -2.49132934] [ 0. 0. 0. 1. ]] SLAMing on 129.373201008 meters Centerline goodness : 0.840297 Centerline is valid? [False, False] Translation: X:1.39, Y:2.98, Z:-2.49 [[ 0.96773213 0.17870496 -0.17764868 1.38996434] [-0.17650078 0.98389457 0.0282657 2.97569118] [ 0.17983879 0.00400151 0.98368796 -2.49123847] [ 0. 0. 0. 1. ]] SLAMing on 129.403201008 meters Centerline goodness : 0.838725 Centerline is valid? [False, False] Translation: X:1.39, Y:2.97, Z:-2.49 [[ 0.96773676 0.17840602 -0.17792375 1.39100481] [-0.17615523 0.98394976 0.02849909 2.97459468] [ 0.18015244 0.00376259 0.98363151 -2.4910119 ] [ 0. 0. 0. 1. ]] SLAMing on 129.433201008 meters Centerline goodness : 0.838807 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.9677994 0.17707925 -0.17890574 1.39570936] [-0.17496788 0.98418607 0.02764091 2.97480613] [ 0.18097117 0.00455191 0.98347787 -2.49312748] [ 0. 0. 0. 1. ]] SLAMing on 129.463201008 meters Centerline goodness : 0.841441 Centerline is valid? [False, False] Translation: X:1.40, Y:2.98, Z:-2.50 [[ 0.96783935 0.17649796 -0.17926366 1.39808702] [-0.1745381 0.98428633 0.02677447 2.97593326] [ 0.18117241 0.00537495 0.98343666 -2.49508582] [ 0. 0. 0. 1. ]] SLAMing on 129.493201008 meters Centerline goodness : 0.841238 Centerline is valid? [False, False] Translation: X:1.40, Y:2.98, Z:-2.50 [[ 0.96786719 0.17615097 -0.17945454 1.39950976] [-0.17421371 0.98434783 0.02662565 2.9754468 ] [ 0.18133582 0.00549334 0.98340589 -2.49588903] [ 0. 0. 0. 1. ]] SLAMing on 129.523201008 meters Centerline goodness : 0.841868 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.50 [[ 0.96785765 0.17582327 -0.17982697 1.40083367] [-0.17386581 0.98440689 0.02671614 2.97486849] [ 0.18172023 0.00540834 0.9833354 -2.49585743] [ 0. 0. 0. 1. ]] SLAMing on 129.553201008 meters Centerline goodness : 0.844207 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.9678201 0.17597018 -0.17988538 1.40064389] [-0.1738184 0.98438576 0.02778213 2.97220577] [ 0.18196544 0.00437928 0.98329518 -2.49437906] [ 0. 0. 0. 1. ]] SLAMing on 129.583201008 meters Centerline goodness : 0.842423 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.967782 0.17614498 -0.17991925 1.40032461] [-0.17388983 0.98435674 0.02835743 2.97054277] [ 0.18209975 0.00384232 0.98327256 -2.49351363] [ 0. 0. 0. 1. ]] SLAMing on 129.613201008 meters Centerline goodness : 0.849257 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.9683984 0.17231149 -0.1803144 1.3990435 ] [-0.17073739 0.98501604 0.02433399 2.97245243] [ 0.1818056 0.00722142 0.98330798 -2.4935671 ] [ 0. 0. 0. 1. ]] SLAMing on 129.643201008 meters Centerline goodness : 0.845902 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.96836308 0.17191389 -0.18088272 1.40045449] [-0.17017806 0.98509127 0.02519158 2.97076131] [ 0.18251677 0.00638767 0.98318199 -2.49180966] [ 0. 0. 0. 1. ]] SLAMing on 129.673201008 meters Centerline goodness : 0.845837 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.96836512 0.17155475 -0.18121249 1.40159578] [-0.16980725 0.98515421 0.02523263 2.97011845] [ 0.18285102 0.0063368 0.98312021 -2.49176874] [ 0. 0. 0. 1. ]] SLAMing on 129.703201008 meters Centerline goodness : 0.847669 Centerline is valid? [False, False] Translation: X:1.40, Y:2.97, Z:-2.49 [[ 0.96836748 0.17113051 -0.18160056 1.40301988] [-0.16934947 0.98522905 0.02538668 2.96940405] [ 0.18326258 0.00617033 0.98304464 -2.49161688] [ 0. 0. 0. 1. ]] SLAMing on 129.733201008 meters Centerline goodness : 0.849905 Centerline is valid? [False, False] Translation: X:1.41, Y:2.97, Z:-2.49 [[ 9.68077535e-01 1.72301825e-01 -1.82038369e-01 1.40934929e+00] [-1.69423855e-01 9.85044086e-01 3.13640779e-02 2.96557893e+00] [ 1.84719907e-01 4.78783028e-04 9.82791090e-01 -2.48655084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.763201008 meters Centerline goodness : 0.847583 Centerline is valid? [False, False] Translation: X:1.41, Y:2.96, Z:-2.49 [[ 9.68283306e-01 1.70557341e-01 -1.82585962e-01 1.41253429e+00] [-1.67689006e-01 9.85347648e-01 3.11514070e-02 2.96378808e+00] [ 1.85223750e-01 4.54271140e-04 9.82696269e-01 -2.48666006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.793201008 meters Centerline goodness : 0.848282 Centerline is valid? [False, False] Translation: X:1.42, Y:2.96, Z:-2.47 [[ 0.96862378 0.1719603 -0.17943696 1.42278728] [-0.16654508 0.98500943 0.04493497 2.95612745] [ 0.18447413 -0.01364074 0.98274271 -2.47283163] [ 0. 0. 0. 1. ]] SLAMing on 129.823201008 meters Centerline goodness : 0.844922 Centerline is valid? [False, False] Translation: X:1.42, Y:2.96, Z:-2.47 [[ 0.96861556 0.17153608 -0.17988684 1.42433595] [-0.16597276 0.98507317 0.04564979 2.95508547] [ 0.18503229 -0.01436078 0.98262751 -2.47129106] [ 0. 0. 0. 1. ]] SLAMing on 129.853201008 meters Centerline goodness : 0.847385 Centerline is valid? [False, False] Translation: X:1.43, Y:2.95, Z:-2.47 [[ 0.96829498 0.17312935 -0.18008624 1.42921057] [-0.16646363 0.98469613 0.05160806 2.9508639 ] [ 0.1862651 -0.01999401 0.98229606 -2.46630284] [ 0. 0. 0. 1. ]] SLAMing on 129.88320100800001 meters Centerline goodness : 0.852100 Centerline is valid? [False, False] Translation: X:1.43, Y:2.95, Z:-2.46 [[ 0.96825681 0.1732364 -0.1801885 1.42921372] [-0.16646434 0.98466657 0.05216681 2.95065071] [ 0.18646278 -0.02051591 0.98224779 -2.46493679] [ 0. 0. 0. 1. ]] SLAMing on 129.91320100800002 meters Centerline goodness : 0.853238 Centerline is valid? [False, False] Translation: X:1.43, Y:2.95, Z:-2.46 [[ 0.96822945 0.17364169 -0.17994527 1.42862768] [-0.1668576 0.98459327 0.05229366 2.95202396] [ 0.18625326 -0.02060703 0.98228564 -2.46458021] [ 0. 0. 0. 1. ]] SLAMing on 129.94320100800002 meters Centerline goodness : 0.848392 Centerline is valid? [False, False] Translation: X:1.43, Y:2.95, Z:-2.46 [[ 0.96823437 0.17377125 -0.17979365 1.42846279] [-0.16705617 0.98457737 0.05195798 2.95410302] [ 0.18604956 -0.02027186 0.98233121 -2.46474931] [ 0. 0. 0. 1. ]] SLAMing on 129.97320100800002 meters Centerline goodness : 0.842795 Centerline is valid? [False, False] Translation: X:1.43, Y:2.96, Z:-2.47 [[ 0.96813854 0.17464119 -0.17946647 1.42709135] [-0.16807044 0.98443882 0.05130819 2.95797546] [ 0.18563428 -0.01951042 0.98242519 -2.46536582] [ 0. 0. 0. 1. ]] SLAMing on 130.00320100800002 meters Centerline goodness : 0.844815 Centerline is valid? [False, False] Translation: X:1.43, Y:2.96, Z:-2.47 [[ 0.9681284 0.17489707 -0.17927189 1.42705802] [-0.16842483 0.98440307 0.0508298 2.96034892] [ 0.18536579 -0.01901593 0.98248558 -2.46601667] [ 0. 0. 0. 1. ]] SLAMing on 130.033201008 meters Centerline goodness : 0.846709 Centerline is valid? [False, False] Translation: X:1.43, Y:2.96, Z:-2.47 [[ 0.96809528 0.17510197 -0.17925072 1.42725728] [-0.16873099 0.98437717 0.05031336 2.96257663] [ 0.18526029 -0.01846298 0.98251603 -2.466715 ] [ 0. 0. 0. 1. ]] SLAMing on 130.063201008 meters Centerline goodness : 0.847697 Centerline is valid? [False, False] Translation: X:1.43, Y:2.96, Z:-2.47 [[ 0.96807559 0.17536995 -0.17909506 1.42685647] [-0.1690922 0.98433836 0.04985809 2.9644594 ] [ 0.18503375 -0.01798282 0.98256762 -2.46720587] [ 0. 0. 0. 1. ]] SLAMing on 130.093201008 meters Centerline goodness : 0.847974 Centerline is valid? [False, False] Translation: X:1.43, Y:2.97, Z:-2.47 [[ 0.96790152 0.17624444 -0.17917741 1.42646193] [-0.17011066 0.98419779 0.0491637 2.96757985] [ 0.18501084 -0.01710563 0.9825876 -2.46801332] [ 0. 0. 0. 1. ]] SLAMing on 130.123201008 meters Centerline goodness : 0.848399 Centerline is valid? [False, False] Translation: X:1.43, Y:2.97, Z:-2.47 [[ 0.96788797 0.1764245 -0.17907339 1.42623053] [-0.17040329 0.9841756 0.04859122 2.96917674] [ 0.18481235 -0.01651616 0.98263504 -2.46872147] [ 0. 0. 0. 1. ]] SLAMing on 130.153201008 meters Centerline goodness : 0.847976 Centerline is valid? [False, False] Translation: X:1.43, Y:2.97, Z:-2.47 [[ 0.96786533 0.17675719 -0.17886756 1.42541128] [-0.17078192 0.98411963 0.04839514 2.97001836] [ 0.18458127 -0.01629264 0.9826822 -2.46880612] [ 0. 0. 0. 1. ]] SLAMing on 130.183201008 meters Centerline goodness : 0.849026 Centerline is valid? [False, False] Translation: X:1.42, Y:2.97, Z:-2.47 [[ 0.96826396 0.17435122 -0.17907137 1.42250064] [-0.16905481 0.98459959 0.04454348 2.973113 ] [ 0.18407981 -0.01285697 0.98282721 -2.46913708] [ 0. 0. 0. 1. ]] SLAMing on 130.213201008 meters Centerline goodness : 0.850327 Centerline is valid? [False, False] Translation: X:1.42, Y:2.97, Z:-2.47 [[ 0.96822245 0.17493714 -0.17872402 1.42120256] [-0.16966402 0.98449693 0.04449632 2.97397146] [ 0.18373731 -0.0127593 0.98289257 -2.46915626] [ 0. 0. 0. 1. ]] SLAMing on 130.243201008 meters Centerline goodness : 0.848521 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96824117 0.17460018 -0.178952 1.42252946] [-0.16943865 0.98456458 0.04385355 2.97513254] [ 0.18384664 -0.01213943 0.98287998 -2.47023918] [ 0. 0. 0. 1. ]] SLAMing on 130.273201008 meters Centerline goodness : 0.846792 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96827948 0.17419319 -0.17914121 1.42390919] [-0.1691665 0.98464536 0.04308367 2.97677172] [ 0.18389545 -0.01141234 0.98287956 -2.47149331] [ 0. 0. 0. 1. ]] SLAMing on 130.303201008 meters Centerline goodness : 0.847204 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96831993 0.17394138 -0.17916727 1.42483098] [-0.16901831 0.98469594 0.04250541 2.97806754] [ 0.18381874 -0.01087628 0.98289998 -2.47258852] [ 0. 0. 0. 1. ]] SLAMing on 130.333201008 meters Centerline goodness : 0.844562 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.47 [[ 0.96830491 0.17389416 -0.17929423 1.42536245] [-0.16905207 0.98470924 0.04206071 2.9792525 ] [ 0.1838668 -0.01041753 0.98289596 -2.47317902] [ 0. 0. 0. 1. ]] SLAMing on 130.363201008 meters Centerline goodness : 0.849376 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.47 [[ 0.96827789 0.17388744 -0.17944663 1.42551388] [-0.16903087 0.98470998 0.04212864 2.9791985 ] [ 0.18402853 -0.01046021 0.98286524 -2.47280062] [ 0. 0. 0. 1. ]] SLAMing on 130.393201008 meters Centerline goodness : 0.841432 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96891584 0.16997718 -0.17974943 1.42466031] [-0.16587688 0.98542505 0.03771382 2.98199033] [ 0.18354008 -0.00672524 0.98298922 -2.4738076 ] [ 0. 0. 0. 1. ]] SLAMing on 130.423201008 meters Centerline goodness : 0.845041 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96959064 0.16587311 -0.17994473 1.42363701] [-0.16246425 0.98614136 0.03362431 2.98304079] [ 0.18302831 -0.00336724 0.98310188 -2.47447169] [ 0. 0. 0. 1. ]] SLAMing on 130.453201008 meters Centerline goodness : 0.841628 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.47 [[ 0.96959776 0.16561664 -0.18014246 1.42432557] [-0.16215019 0.9861834 0.03390608 2.98191731] [ 0.18326891 -0.00366513 0.98305599 -2.4741176 ] [ 0. 0. 0. 1. ]] SLAMing on 130.483201008 meters Centerline goodness : 0.841814 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.48 [[ 9.70317987e-01 1.60962865e-01 -1.80482573e-01 1.42443179e+00] [-1.58284964e-01 9.86960444e-01 2.92395717e-02 2.98400625e+00] [ 1.82835646e-01 1.95995188e-04 9.83143473e-01 -2.47550999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.513201008 meters Centerline goodness : 0.841814 Centerline is valid? [False, False] Translation: X:1.42, Y:2.98, Z:-2.48 [[ 9.70317987e-01 1.60962865e-01 -1.80482573e-01 1.42443179e+00] [-1.58284964e-01 9.86960444e-01 2.92395717e-02 2.98400625e+00] [ 1.82835646e-01 1.95995188e-04 9.83143473e-01 -2.47550999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.543201008 meters Centerline goodness : 0.840202 Centerline is valid? [False, False] Translation: X:1.42, Y:2.99, Z:-2.48 [[ 0.97102895 0.15641159 -0.18066042 1.42402017] [-0.15450554 0.98768401 0.02466434 2.98563109] [ 0.1822932 0.00396325 0.98323623 -2.47682817] [ 0. 0. 0. 1. ]] SLAMing on 130.573201008 meters Centerline goodness : 0.842322 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.48 [[ 0.97103061 0.15560218 -0.18134916 1.42630741] [-0.15356903 0.98781431 0.02528732 2.98369652] [ 0.18307406 0.00329486 0.9830936 -2.47554538] [ 0. 0. 0. 1. ]] SLAMing on 130.603201008 meters Centerline goodness : 0.843017 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.48 [[ 0.97169288 0.1507566 -0.18189389 1.42658253] [-0.14938311 0.98854976 0.02130855 2.98292752] [ 0.18302356 0.00646651 0.98308726 -2.47577871] [ 0. 0. 0. 1. ]] SLAMing on 130.63320100800001 meters Centerline goodness : 0.843940 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.48 [[ 0.97168818 0.15050258 -0.18212923 1.42722974] [-0.14904667 0.98859125 0.02173539 2.98107205] [ 0.18332259 0.00602574 0.98303434 -2.4751789 ] [ 0. 0. 0. 1. ]] SLAMing on 130.66320100800002 meters Centerline goodness : 0.839230 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.47 [[ 0.97165577 0.15018981 -0.18255981 1.42870053] [-0.14864969 0.98864135 0.02217098 2.98002687] [ 0.18381603 0.0055949 0.98294474 -2.47458611] [ 0. 0. 0. 1. ]] SLAMing on 130.69320100800002 meters Centerline goodness : 0.843606 Centerline is valid? [False, False] Translation: X:1.43, Y:2.98, Z:-2.48 [[ 0.97168558 0.14945217 -0.18300599 1.43104885] [-0.14801143 0.98875006 0.0215855 2.98027861] [ 0.18417318 0.00611266 0.9828748 -2.47575135] [ 0. 0. 0. 1. ]] SLAMing on 130.72320100800002 meters Centerline goodness : 0.841169 Centerline is valid? [False, False] Translation: X:1.44, Y:2.98, Z:-2.48 [[ 0.97174595 0.14819646 -0.18370525 1.43514516] [-0.14697908 0.98893121 0.02030307 2.98205187] [ 0.1846807 0.00727141 0.98277168 -2.47824702] [ 0. 0. 0. 1. ]] SLAMing on 130.75320100800002 meters Centerline goodness : 0.840936 Centerline is valid? [False, False] Translation: X:1.44, Y:2.98, Z:-2.48 [[ 0.97176536 0.14780633 -0.18391679 1.43634844] [-0.14664028 0.98898764 0.02000191 2.98237652] [ 0.18484784 0.00753244 0.98273829 -2.47883603] [ 0. 0. 0. 1. ]] SLAMing on 130.783201008 meters Centerline goodness : 0.837536 Centerline is valid? [False, False] Translation: X:1.44, Y:2.98, Z:-2.48 [[ 0.97172359 0.14739352 -0.1844679 1.4379993 ] [-0.14617779 0.98905107 0.02024911 2.98199859] [ 0.18543276 0.00728857 0.98262992 -2.47813754] [ 0. 0. 0. 1. ]] SLAMing on 130.813201008 meters Centerline goodness : 0.837081 Centerline is valid? [False, False] Translation: X:1.44, Y:2.98, Z:-2.48 [[ 0.97176078 0.14608859 -0.18530813 1.44107074] [-0.14480856 0.98924734 0.02049815 2.98035807] [ 0.18631012 0.0069149 0.98246665 -2.47724402] [ 0. 0. 0. 1. ]] SLAMing on 130.843201008 meters Centerline goodness : 0.836612 Centerline is valid? [False, False] Translation: X:1.44, Y:2.98, Z:-2.48 [[ 0.97172178 0.14565128 -0.18585607 1.44257826] [-0.14428338 0.98931484 0.02093915 2.97972214] [ 0.18691999 0.00646891 0.98235384 -2.47616037] [ 0. 0. 0. 1. ]] SLAMing on 130.873201008 meters Centerline goodness : 0.837984 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.71316993e-01 1.48093651e-01 -1.86041851e-01 1.44646337e+00] [-1.45871823e-01 9.88970847e-01 2.56529550e-02 2.97738548e+00] [ 1.87789007e-01 2.22111283e-03 9.82206880e-01 -2.47390812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.903201008 meters Centerline goodness : 0.837733 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.71334316e-01 1.47761862e-01 -1.86215139e-01 1.44732584e+00] [-1.45565361e-01 9.89020186e-01 2.54911279e-02 2.97833153e+00] [ 1.87937148e-01 2.34606649e-03 9.82178255e-01 -2.47387050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.933201008 meters Centerline goodness : 0.837874 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.70817182e-01 1.50609699e-01 -1.86629894e-01 1.45127692e+00] [-1.47453349e-01 9.88590522e-01 3.07618255e-02 2.97709947e+00] [ 1.89133574e-01 -2.34490587e-03 9.81948569e-01 -2.47006405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.963201008 meters Centerline goodness : 0.840233 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.70858248e-01 1.50419983e-01 -1.86569265e-01 1.45175863e+00] [-1.47373905e-01 9.88620554e-01 3.01717230e-02 2.97926902e+00] [ 1.88984640e-01 -1.79702515e-03 9.81978399e-01 -2.47051348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.993201008 meters Centerline goodness : 0.840727 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.70921352e-01 1.50532182e-01 -1.86149913e-01 1.45130038e+00] [-1.47602392e-01 9.88604326e-01 2.95807417e-02 2.98177457e+00] [ 1.88481463e-01 -1.24440127e-03 9.82075959e-01 -2.47110008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.023201008 meters Centerline goodness : 0.839149 Centerline is valid? [False, False] Translation: X:1.45, Y:2.98, Z:-2.47 [[ 9.70895504e-01 1.51082613e-01 -1.85838546e-01 1.44984673e+00] [-1.48136047e-01 9.88520248e-01 2.97225758e-02 2.98332254e+00] [ 1.88195730e-01 -1.32812765e-03 9.82130645e-01 -2.47037310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.053201008 meters Centerline goodness : 0.835982 Centerline is valid? [False, False] Translation: X:1.45, Y:2.99, Z:-2.47 [[ 9.70827307e-01 1.52545443e-01 -1.84997915e-01 1.44603254e+00] [-1.49490807e-01 9.88294650e-01 3.04332496e-02 2.98570580e+00] [ 1.87474903e-01 -1.88994218e-03 9.82267575e-01 -2.46845865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.083201008 meters Centerline goodness : 0.836073 Centerline is valid? [False, False] Translation: X:1.44, Y:2.99, Z:-2.47 [[ 9.70801420e-01 1.53302044e-01 -1.84507685e-01 1.44417580e+00] [-1.50239990e-01 9.88177481e-01 3.05484945e-02 2.98701984e+00] [ 1.87009486e-01 -1.93608910e-03 9.82356200e-01 -2.46813159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.113201008 meters Centerline goodness : 0.834964 Centerline is valid? [False, False] Translation: X:1.44, Y:2.99, Z:-2.47 [[ 9.70789457e-01 1.54062069e-01 -1.83936698e-01 1.44239023e+00] [-1.51022912e-01 9.88059467e-01 3.05052451e-02 2.98880133e+00] [ 1.86440097e-01 -1.83551459e-03 9.82464616e-01 -2.46817372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.143201008 meters Centerline goodness : 0.830651 Centerline is valid? [False, False] Translation: X:1.44, Y:2.99, Z:-2.47 [[ 0.9700846 0.15939199 -0.18311216 1.4411499 ] [-0.15564884 0.98720173 0.03473014 2.98993569] [ 0.18630435 -0.00518998 0.98247837 -2.46734099] [ 0. 0. 0. 1. ]] SLAMing on 131.173201008 meters Centerline goodness : 0.831591 Centerline is valid? [False, False] Translation: X:1.44, Y:2.99, Z:-2.47 [[ 0.97001921 0.16030991 -0.18265667 1.43963138] [-0.15665765 0.98705552 0.03434781 2.99265722] [ 0.18579857 -0.00470347 0.9825766 -2.46795753] [ 0. 0. 0. 1. ]] SLAMing on 131.203201008 meters Centerline goodness : 0.832234 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.96996475 0.16127452 -0.18209589 1.43794367] [-0.15772583 0.98690081 0.03390225 2.99567666] [ 0.18517815 -0.00416277 0.98269615 -2.46870609] [ 0. 0. 0. 1. ]] SLAMing on 131.233201008 meters Centerline goodness : 0.830667 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.9692139 0.16686138 -0.18105718 1.4362021 ] [-0.16262501 0.98595195 0.03810334 2.99715472] [ 0.18487165 -0.00748587 0.98273416 -2.46808976] [ 0. 0. 0. 1. ]] SLAMing on 131.263201008 meters Centerline goodness : 0.830508 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.96917156 0.16742035 -0.18076755 1.43510656] [-0.16322436 0.98585876 0.03795156 2.99832323] [ 0.18456514 -0.0072759 0.98279335 -2.46825261] [ 0. 0. 0. 1. ]] SLAMing on 131.293201008 meters Centerline goodness : 0.828885 Centerline is valid? [False, False] Translation: X:1.43, Y:3.00, Z:-2.47 [[ 0.96915676 0.16769842 -0.1805891 1.43465544] [-0.16356154 0.98581371 0.03766907 2.9990611 ] [ 0.18434425 -0.00696981 0.98283703 -2.46877706] [ 0. 0. 0. 1. ]] SLAMing on 131.323201008 meters Centerline goodness : 0.831529 Centerline is valid? [False, False] Translation: X:1.43, Y:3.00, Z:-2.47 [[ 0.96915731 0.167778 -0.18051218 1.43473831] [-0.1637025 0.98580238 0.03735196 2.99979027] [ 0.18421617 -0.00664963 0.98286326 -2.46940926] [ 0. 0. 0. 1. ]] SLAMing on 131.353201008 meters Centerline goodness : 0.831124 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.96918497 0.16763092 -0.18050033 1.43556343] [-0.16365778 0.98583084 0.03679254 3.00099055] [ 0.18411036 -0.00611849 0.98288653 -2.47063147] [ 0. 0. 0. 1. ]] SLAMing on 131.38320100800001 meters Centerline goodness : 0.831674 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.96921711 0.16711436 -0.18080649 1.43712801] [-0.16320011 0.98592051 0.03642087 3.00082984] [ 0.18434727 -0.00579209 0.9828441 -2.47146461] [ 0. 0. 0. 1. ]] SLAMing on 131.41320100800002 meters Centerline goodness : 0.832922 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.96923041 0.16647216 -0.18132685 1.43914422] [-0.162561 0.98602948 0.03632883 2.99987261] [ 0.18484136 -0.00573433 0.98275164 -2.47179914] [ 0. 0. 0. 1. ]] SLAMing on 131.44320100800002 meters Centerline goodness : 0.834553 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 9.69921863e-01 1.61926862e-01 -1.81745073e-01 1.43927645e+00] [-1.58825606e-01 9.86801169e-01 3.15892406e-02 3.00182986e+00] [ 1.84461397e-01 -1.77332383e-03 9.82838160e-01 -2.47338172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47320100800002 meters Centerline goodness : 0.832014 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 9.70611047e-01 1.57121915e-01 -1.82282471e-01 1.43943910e+00] [-1.54683144e-01 9.87578227e-01 2.76110644e-02 3.00109017e+00] [ 1.84356502e-01 1.39642164e-03 9.82858449e-01 -2.47375538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50320100800002 meters Centerline goodness : 0.831612 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.48 [[ 0.97129312 0.15250707 -0.18256854 1.43953121] [-0.1508512 0.98828873 0.02300661 3.00265931] [ 0.1839391 0.00519452 0.98292392 -2.47525402] [ 0. 0. 0. 1. ]] SLAMing on 131.533201008 meters Centerline goodness : 0.833433 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.47 [[ 0.97126271 0.1518094 -0.18331025 1.44186613] [-0.15002824 0.98839931 0.02362918 3.00038944] [ 0.18477086 0.00455157 0.98277109 -2.47439863] [ 0. 0. 0. 1. ]] SLAMing on 131.563201008 meters Centerline goodness : 0.833122 Centerline is valid? [False, False] Translation: X:1.44, Y:3.00, Z:-2.48 [[ 0.97189316 0.14619711 -0.18452669 1.44448803] [-0.14509985 0.98922463 0.01951061 2.99824736] [ 0.18539074 0.00781257 0.98263383 -2.47506616] [ 0. 0. 0. 1. ]] SLAMing on 131.593201008 meters Centerline goodness : 0.834143 Centerline is valid? [False, False] Translation: X:1.45, Y:2.99, Z:-2.47 [[ 0.97189786 0.14508307 -0.18537923 1.44739237] [-0.14389248 0.98939254 0.01993377 2.9949124 ] [ 0.18630488 0.00730108 0.98246485 -2.47461975] [ 0. 0. 0. 1. ]] SLAMing on 131.623201008 meters Centerline goodness : 0.831929 Centerline is valid? [False, False] Translation: X:1.45, Y:2.99, Z:-2.47 [[ 0.97190526 0.14365905 -0.18644634 1.45140149] [-0.14232494 0.98960575 0.02059287 2.99154672] [ 0.18746673 0.00652165 0.9822493 -2.4738096 ] [ 0. 0. 0. 1. ]] SLAMing on 131.653201008 meters Centerline goodness : 0.836095 Centerline is valid? [False, False] Translation: X:1.46, Y:2.99, Z:-2.46 [[ 9.72312926e-01 1.41083967e-01 -1.86287112e-01 1.46492484e+00] [-1.38197424e-01 9.89995760e-01 2.84581521e-02 2.98643783e+00] [ 1.88438440e-01 -1.92583015e-03 9.82083115e-01 -2.46472760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.683201008 meters Centerline goodness : 0.834129 Centerline is valid? [False, False] Translation: X:1.47, Y:2.99, Z:-2.47 [[ 9.72398987e-01 1.39747291e-01 -1.86844602e-01 1.46818034e+00] [-1.36898294e-01 9.90185611e-01 2.81302985e-02 2.98516565e+00] [ 1.88941969e-01 -1.77516661e-03 9.81986650e-01 -2.46561295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.713201008 meters Centerline goodness : 0.837114 Centerline is valid? [False, False] Translation: X:1.47, Y:2.99, Z:-2.46 [[ 9.72447355e-01 1.38796368e-01 -1.87301122e-01 1.46986052e+00] [-1.35930292e-01 9.90319140e-01 2.81239481e-02 2.98513588e+00] [ 1.89391388e-01 -1.88916285e-03 9.81899859e-01 -2.46497346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.743201008 meters Centerline goodness : 0.837074 Centerline is valid? [False, False] Translation: X:1.44, Y:2.99, Z:-2.46 [[ 0.97439056 0.13438115 -0.18029074 1.440023 ] [-0.12864832 0.9907499 0.04317689 2.98720537] [ 0.18442519 -0.01887706 0.98266526 -2.46326037] [ 0. 0. 0. 1. ]] SLAMing on 131.773201008 meters Centerline goodness : 0.838258 Centerline is valid? [False, False] Translation: X:1.42, Y:2.99, Z:-2.46 [[ 0.97459015 0.13157466 -0.18127919 1.41771608] [-0.12495557 0.99102401 0.0475133 2.98952039] [ 0.18590358 -0.02365415 0.98228323 -2.46274806] [ 0. 0. 0. 1. ]] SLAMing on 131.803201008 meters Centerline goodness : 0.836992 Centerline is valid? [False, False] Translation: X:1.39, Y:3.00, Z:-2.47 [[ 0.97588556 0.12745075 -0.17721085 1.39160911] [-0.12088665 0.99153388 0.0474023 2.99542494] [ 0.18175202 -0.02483679 0.98303069 -2.46732894] [ 0. 0. 0. 1. ]] SLAMing on 131.833201008 meters Centerline goodness : 0.842433 Centerline is valid? [False, False] Translation: X:1.36, Y:3.00, Z:-2.47 [[ 0.97698276 0.1239875 -0.17358511 1.36411862] [-0.11728585 0.99191871 0.04838703 3.00131823] [ 0.1781817 -0.02691422 0.98362946 -2.46982407] [ 0. 0. 0. 1. ]] SLAMing on 131.863201008 meters Centerline goodness : 0.842872 Centerline is valid? [False, False] Translation: X:1.37, Y:3.00, Z:-2.47 [[ 0.97699323 0.12334337 -0.17398463 1.36569024] [-0.116714 0.99201109 0.04787323 3.00239366] [ 0.17849952 -0.02646538 0.98358401 -2.47024848] [ 0. 0. 0. 1. ]] SLAMing on 131.893201008 meters Centerline goodness : 0.840264 Centerline is valid? [False, False] Translation: X:1.37, Y:3.00, Z:-2.47 [[ 0.9770193 0.12298199 -0.17409397 1.36680064] [-0.1164772 0.99207404 0.04713985 3.004048 ] [ 0.17851146 -0.02577856 0.98360008 -2.47146785] [ 0. 0. 0. 1. ]] SLAMing on 131.923201008 meters Centerline goodness : 0.841798 Centerline is valid? [False, False] Translation: X:1.34, Y:3.01, Z:-2.48 [[ 0.97740485 0.12330285 -0.17168626 1.34216846] [-0.11685297 0.99202605 0.04721978 3.01383951] [ 0.17613957 -0.02609079 0.98401937 -2.48172327] [ 0. 0. 0. 1. ]] SLAMing on 131.953201008 meters Centerline goodness : 0.843204 Centerline is valid? [False, False] Translation: X:1.34, Y:3.02, Z:-2.48 [[ 0.97740454 0.12356609 -0.17149865 1.34209914] [-0.11727636 0.99201598 0.04637405 3.0167742 ] [ 0.17585966 -0.02521347 0.9840923 -2.48311758] [ 0. 0. 0. 1. ]] SLAMing on 131.983201008 meters Centerline goodness : 0.838243 Centerline is valid? [False, False] Translation: X:1.34, Y:3.02, Z:-2.48 [[ 0.97735683 0.12459298 -0.17102697 1.34014499] [-0.11832611 0.99189008 0.04640035 3.01896568] [ 0.17542111 -0.02511275 0.98417315 -2.48283362] [ 0. 0. 0. 1. ]] SLAMing on 132.013201008 meters Centerline goodness : 0.838028 Centerline is valid? [False, False] Translation: X:1.34, Y:3.02, Z:-2.48 [[ 0.97730597 0.12572235 -0.17049025 1.33776321] [-0.11949239 0.99175192 0.04636487 3.0209928 ] [ 0.17491313 -0.02494037 0.98426794 -2.48260763] [ 0. 0. 0. 1. ]] SLAMing on 132.043201008 meters Centerline goodness : 0.843181 Centerline is valid? [False, False] Translation: X:1.33, Y:3.02, Z:-2.48 [[ 0.9766406 0.13236379 -0.16927189 1.3333978 ] [-0.12537317 0.99077788 0.05138825 3.02201667] [ 0.17451279 -0.0289657 0.98422877 -2.48026116] [ 0. 0. 0. 1. ]] SLAMing on 132.073201008 meters Centerline goodness : 0.843077 Centerline is valid? [False, False] Translation: X:1.33, Y:3.02, Z:-2.48 [[ 0.97600569 0.13724234 -0.16904862 1.33339969] [-0.12950277 0.98999416 0.0560411 3.02196609] [ 0.17504836 -0.03280417 0.98401319 -2.47843116] [ 0. 0. 0. 1. ]] SLAMing on 132.103201008 meters Centerline goodness : 0.844673 Centerline is valid? [False, False] Translation: X:1.35, Y:3.02, Z:-2.48 [[ 0.97640543 0.13977429 -0.16460738 1.34829216] [-0.13361982 0.98987237 0.04794192 3.0241591 ] [ 0.16964134 -0.02481594 0.98519337 -2.48218115] [ 0. 0. 0. 1. ]] SLAMing on 132.13320100800001 meters Centerline goodness : 0.843670 Centerline is valid? [False, False] Translation: X:1.35, Y:3.03, Z:-2.48 [[ 0.97636982 0.14015028 -0.16449888 1.34829242] [-0.13417109 0.98984444 0.04696918 3.02727978] [ 0.16941104 -0.0237883 0.98525835 -2.48376924] [ 0. 0. 0. 1. ]] SLAMing on 132.16320100800002 meters Centerline goodness : 0.844512 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.49 [[ 0.9761538 0.14519676 -0.16137426 1.36406168] [-0.14057264 0.98927114 0.03977367 3.02987087] [ 0.16541791 -0.01614041 0.98609148 -2.48842549] [ 0. 0. 0. 1. ]] SLAMing on 132.19320100800002 meters Centerline goodness : 0.844672 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.49 [[ 0.97610389 0.14593867 -0.16100652 1.36282669] [-0.14137748 0.98916767 0.0394935 3.03169506] [ 0.16502607 -0.01578707 0.98616285 -2.48893638] [ 0. 0. 0. 1. ]] SLAMing on 132.22320100800002 meters Centerline goodness : 0.845524 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.49 [[ 0.97607812 0.14600359 -0.16110386 1.36338505] [-0.14155095 0.9891687 0.03884071 3.03309446] [ 0.16502978 -0.01510717 0.98617288 -2.49003306] [ 0. 0. 0. 1. ]] SLAMing on 132.25320100800002 meters Centerline goodness : 0.846589 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.49 [[ 0.97602894 0.14669218 -0.16077596 1.36234157] [-0.14225668 0.98906812 0.03882373 3.03366401] [ 0.16471351 -0.01502163 0.98622706 -2.49043084] [ 0. 0. 0. 1. ]] SLAMing on 132.283201008 meters Centerline goodness : 0.844751 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.49 [[ 0.97593335 0.14786516 -0.16028099 1.36020684] [-0.14340717 0.98889115 0.03909829 3.03344059] [ 0.16428172 -0.01517188 0.98629678 -2.49037553] [ 0. 0. 0. 1. ]] SLAMing on 132.313201008 meters Centerline goodness : 0.844275 Centerline is valid? [False, False] Translation: X:1.36, Y:3.04, Z:-2.49 [[ 0.97641381 0.1447747 -0.16017599 1.35779573] [-0.14096166 0.98939694 0.03497865 3.03544535] [ 0.16354166 -0.01157497 0.98646852 -2.49120036] [ 0. 0. 0. 1. ]] SLAMing on 132.343201008 meters Centerline goodness : 0.844834 Centerline is valid? [False, False] Translation: X:1.36, Y:3.04, Z:-2.49 [[ 0.97691481 0.14155388 -0.15999988 1.35556525] [-0.13835588 0.98989693 0.03101155 3.0370007 ] [ 0.16277319 -0.00815872 0.98662978 -2.49199309] [ 0. 0. 0. 1. ]] SLAMing on 132.373201008 meters Centerline goodness : 0.843197 Centerline is valid? [False, False] Translation: X:1.35, Y:3.04, Z:-2.49 [[ 0.97748151 0.1379258 -0.15970716 1.35364183] [-0.13529731 0.9904297 0.02726986 3.03719535] [ 0.16193993 -0.00504784 0.98678771 -2.49275851] [ 0. 0. 0. 1. ]] SLAMing on 132.403201008 meters Centerline goodness : 0.843197 Centerline is valid? [False, False] Translation: X:1.35, Y:3.04, Z:-2.49 [[ 0.97748151 0.1379258 -0.15970716 1.35364183] [-0.13529731 0.9904297 0.02726986 3.03719535] [ 0.16193993 -0.00504784 0.98678771 -2.49275851] [ 0. 0. 0. 1. ]] SLAMing on 132.433201008 meters Centerline goodness : 0.842258 Centerline is valid? [False, False] Translation: X:1.35, Y:3.04, Z:-2.49 [[ 9.78061449e-01 1.33743119e-01 -1.59714056e-01 1.35309558e+00] [-1.31757991e-01 9.91014964e-01 2.30037428e-02 3.03786741e+00] [ 1.61355611e-01 -1.45547101e-03 9.86895257e-01 -2.49418671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.463201008 meters Centerline goodness : 0.842924 Centerline is valid? [False, False] Translation: X:1.35, Y:3.04, Z:-2.50 [[ 9.78626259e-01 1.29462911e-01 -1.59781101e-01 1.35270924e+00] [-1.28115079e-01 9.91582002e-01 1.87526027e-02 3.03801099e+00] [ 1.60863831e-01 2.11857901e-03 9.86974336e-01 -2.49558881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.493201008 meters Centerline goodness : 0.846814 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.50 [[ 9.78822066e-01 1.26854413e-01 -1.60671472e-01 1.35708458e+00] [-1.25472216e-01 9.91919721e-01 1.87613944e-02 3.03213732e+00] [ 1.61753167e-01 1.79573880e-03 9.86829615e-01 -2.49550058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.523201008 meters Centerline goodness : 0.843550 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.50 [[ 0.97935234 0.12244287 -0.1608625 1.35690771] [-0.12168664 0.99246145 0.01458222 3.03207444] [ 0.16143531 0.00529369 0.9868691 -2.49655839] [ 0. 0. 0. 1. ]] SLAMing on 132.553201008 meters Centerline goodness : 0.846063 Centerline is valid? [False, False] Translation: X:1.36, Y:3.03, Z:-2.50 [[ 0.97930613 0.12168808 -0.1617143 1.35928138] [-0.12076087 0.99255923 0.01558773 3.02839219] [ 0.16240787 0.0042636 0.9867145 -2.49510693] [ 0. 0. 0. 1. ]] SLAMing on 132.583201008 meters Centerline goodness : 0.847654 Centerline is valid? [False, False] Translation: X:1.36, Y:3.02, Z:-2.49 [[ 0.97980446 0.11622292 -0.16271278 1.36161629] [-0.11575618 0.99320052 0.01237917 3.02376061] [ 0.16304516 0.00670584 0.98659582 -2.49470578] [ 0. 0. 0. 1. ]] SLAMing on 132.613201008 meters Centerline goodness : 0.845824 Centerline is valid? [False, False] Translation: X:1.36, Y:3.02, Z:-2.50 [[ 0.98030381 0.11125659 -0.16317601 1.36271972] [-0.11144165 0.99373839 0.00804814 3.02358942] [ 0.16304967 0.01029498 0.98656415 -2.49587909] [ 0. 0. 0. 1. ]] SLAMing on 132.643201008 meters Centerline goodness : 0.845289 Centerline is valid? [False, False] Translation: X:1.37, Y:3.02, Z:-2.49 [[ 0.98029506 0.10995293 -0.16410955 1.36630598] [-0.11001052 0.99389177 0.00876573 3.0205727 ] [ 0.16407095 0.00946078 0.98640317 -2.49485454] [ 0. 0. 0. 1. ]] SLAMing on 132.673201008 meters Centerline goodness : 0.847653 Centerline is valid? [False, False] Translation: X:1.38, Y:3.02, Z:-2.49 [[ 9.80279605e-01 1.08948925e-01 -1.64869730e-01 1.37682692e+00] [-1.07908205e-01 9.94043380e-01 1.52832480e-02 3.01662198e+00] [ 1.65552757e-01 2.80894022e-03 9.86196935e-01 -2.48842137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.703201008 meters Centerline goodness : 0.845623 Centerline is valid? [False, False] Translation: X:1.38, Y:3.02, Z:-2.49 [[ 9.80261200e-01 1.08748831e-01 -1.65111090e-01 1.37760800e+00] [-1.07689699e-01 9.94065581e-01 1.53801687e-02 3.01645298e+00] [ 1.65803827e-01 2.70418091e-03 9.86155048e-01 -2.48823102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.733201008 meters Centerline goodness : 0.848361 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.48 [[ 0.9805844 0.10784463 -0.16377962 1.39572082] [-0.10464733 0.9941137 0.0280516 3.01049574] [ 0.16584077 -0.01036786 0.98609804 -2.47645168] [ 0. 0. 0. 1. ]] SLAMing on 132.763201008 meters Centerline goodness : 0.848659 Centerline is valid? [False, False] Translation: X:1.40, Y:3.01, Z:-2.48 [[ 0.98055366 0.10748027 -0.16420267 1.39702245] [-0.10423639 0.99415065 0.02827121 3.00973005] [ 0.16628078 -0.01060554 0.98602141 -2.47597492] [ 0. 0. 0. 1. ]] SLAMing on 132.793201008 meters Centerline goodness : 0.850915 Centerline is valid? [False, False] Translation: X:1.41, Y:3.00, Z:-2.46 [[ 0.98057274 0.10921034 -0.16294233 1.40789268] [-0.10395881 0.99375906 0.04044121 3.00496077] [ 0.16634202 -0.02271625 0.98580642 -2.46481962] [ 0. 0. 0. 1. ]] SLAMing on 132.823201008 meters Centerline goodness : 0.849777 Centerline is valid? [False, False] Translation: X:1.41, Y:3.00, Z:-2.46 [[ 0.98053499 0.10875104 -0.16347584 1.40961121] [-0.10341987 0.99380057 0.04080138 3.00454777] [ 0.16689957 -0.02310053 0.98570325 -2.46387651] [ 0. 0. 0. 1. ]] SLAMing on 132.853201008 meters Centerline goodness : 0.853838 Centerline is valid? [False, False] Translation: X:1.42, Y:3.00, Z:-2.46 [[ 0.9801105 0.11120672 -0.16436686 1.415105 ] [-0.10468756 0.99335414 0.04783373 3.00120796] [ 0.16859393 -0.02967517 0.98523879 -2.45726497] [ 0. 0. 0. 1. ]] SLAMing on 132.88320100800001 meters Centerline goodness : 0.848319 Centerline is valid? [False, False] Translation: X:1.41, Y:3.00, Z:-2.46 [[ 0.98056595 0.1070333 -0.16442105 1.41461317] [-0.10135475 0.9939391 0.04257099 3.00463087] [ 0.16798102 -0.02507881 0.98547117 -2.45956965] [ 0. 0. 0. 1. ]] SLAMing on 132.91320100800002 meters Centerline goodness : 0.847505 Centerline is valid? [False, False] Translation: X:1.41, Y:3.00, Z:-2.46 [[ 0.98053523 0.10715328 -0.16452611 1.41474608] [-0.10138004 0.99391286 0.04311976 3.00480785] [ 0.16814504 -0.02560078 0.98542978 -2.45824473] [ 0. 0. 0. 1. ]] SLAMing on 132.94320100800002 meters Centerline goodness : 0.847725 Centerline is valid? [False, False] Translation: X:1.42, Y:3.00, Z:-2.45 [[ 0.97999067 0.11143229 -0.16492764 1.41601473] [-0.10473784 0.99330319 0.04877257 3.00321008] [ 0.16925799 -0.0305225 0.98509904 -2.45419728] [ 0. 0. 0. 1. ]] SLAMing on 132.97320100800002 meters Centerline goodness : 0.845103 Centerline is valid? [False, False] Translation: X:1.42, Y:3.01, Z:-2.45 [[ 0.9800059 0.11172253 -0.16464056 1.41531646] [-0.10506682 0.99327582 0.0486222 3.00502614] [ 0.16896568 -0.03035179 0.98515449 -2.45419606] [ 0. 0. 0. 1. ]] SLAMing on 133.00320100800002 meters Centerline goodness : 0.845816 Centerline is valid? [False, False] Translation: X:1.42, Y:3.00, Z:-2.45 [[ 0.97947278 0.11551398 -0.16519563 1.4178597 ] [-0.107987 0.9926916 0.05387212 3.00340147] [ 0.1702113 -0.0349273 0.9847884 -2.45100131] [ 0. 0. 0. 1. ]] SLAMing on 133.033201008 meters Centerline goodness : 0.846655 Centerline is valid? [False, False] Translation: X:1.42, Y:3.00, Z:-2.45 [[ 0.97947987 0.11533756 -0.16527685 1.41830078] [-0.10788694 0.992728 0.05339975 3.00487885] [ 0.17023395 -0.03447277 0.9848005 -2.45125834] [ 0. 0. 0. 1. ]] SLAMing on 133.063201008 meters Centerline goodness : 0.850427 Centerline is valid? [False, False] Translation: X:1.42, Y:3.01, Z:-2.45 [[ 0.97984175 0.11223708 -0.16526642 1.41617723] [-0.10557593 0.99322384 0.04858116 3.00974337] [ 0.16959916 -0.03015369 0.98505171 -2.45280721] [ 0. 0. 0. 1. ]] SLAMing on 133.093201008 meters Centerline goodness : 0.846801 Centerline is valid? [False, False] Translation: X:1.42, Y:3.01, Z:-2.45 [[ 0.97932328 0.11542075 -0.16614442 1.42015952] [-0.10781273 0.99269624 0.05413498 3.00796631] [ 0.17117924 -0.03510316 0.98461436 -2.4489119 ] [ 0. 0. 0. 1. ]] SLAMing on 133.123201008 meters Centerline goodness : 0.844354 Centerline is valid? [False, False] Translation: X:1.42, Y:3.01, Z:-2.45 [[ 0.97932495 0.11490558 -0.16649132 1.42160797] [-0.10739592 0.99277812 0.0534577 3.00991652] [ 0.17143152 -0.03447197 0.98459277 -2.44939195] [ 0. 0. 0. 1. ]] SLAMing on 133.153201008 meters Centerline goodness : 0.844172 Centerline is valid? [False, False] Translation: X:1.43, Y:3.01, Z:-2.45 [[ 0.97884362 0.11807903 -0.16710028 1.42527253] [-0.10965676 0.99222909 0.05879482 3.00975129] [ 0.17274419 -0.03922726 0.98418528 -2.44543172] [ 0. 0. 0. 1. ]] SLAMing on 133.183201008 meters Centerline goodness : 0.842886 Centerline is valid? [False, False] Translation: X:1.43, Y:3.01, Z:-2.45 [[ 0.97887278 0.11741004 -0.16740059 1.42691405] [-0.10914442 0.99234506 0.05778218 3.01217157] [ 0.17290336 -0.03829056 0.98419422 -2.44650364] [ 0. 0. 0. 1. ]] SLAMing on 133.213201008 meters Centerline goodness : 0.846478 Centerline is valid? [False, False] Translation: X:1.43, Y:3.01, Z:-2.45 [[ 0.97887825 0.11681743 -0.1677828 1.42831357] [-0.10869591 0.9924492 0.0568312 3.01428947] [ 0.17315478 -0.03739352 0.98418451 -2.44732726] [ 0. 0. 0. 1. ]] SLAMing on 133.243201008 meters Centerline goodness : 0.845875 Centerline is valid? [False, False] Translation: X:1.43, Y:3.02, Z:-2.45 [[ 0.97885673 0.11724355 -0.16761104 1.42735972] [-0.10928758 0.99243371 0.05596032 3.01798339] [ 0.17290384 -0.03645933 0.98426367 -2.44785567] [ 0. 0. 0. 1. ]] SLAMing on 133.273201008 meters Centerline goodness : 0.847166 Centerline is valid? [False, False] Translation: X:1.44, Y:3.02, Z:-2.45 [[ 0.97936003 0.11817472 -0.16397767 1.44341644] [-0.11200984 0.99262419 0.046379 3.02077985] [ 0.16824903 -0.02705462 0.98537318 -2.45206272] [ 0. 0. 0. 1. ]] SLAMing on 133.303201008 meters Centerline goodness : 0.847628 Centerline is valid? [False, False] Translation: X:1.44, Y:3.02, Z:-2.45 [[ 0.97938003 0.11798575 -0.16399429 1.44395844] [-0.11200408 0.99267521 0.04528802 3.02409058] [ 0.16813641 -0.02598615 0.98542116 -2.45328993] [ 0. 0. 0. 1. ]] SLAMing on 133.333201008 meters Centerline goodness : 0.849687 Centerline is valid? [False, False] Translation: X:1.44, Y:3.03, Z:-2.45 [[ 0.97939366 0.11810238 -0.16382881 1.44371807] [-0.11226148 0.9926819 0.04449715 3.0272871 ] [ 0.16788512 -0.02518856 0.98548472 -2.45408697] [ 0. 0. 0. 1. ]] SLAMing on 133.363201008 meters Centerline goodness : 0.849406 Centerline is valid? [False, False] Translation: X:1.46, Y:3.03, Z:-2.46 [[ 0.97992176 0.11960225 -0.15952631 1.45928757] [-0.11535623 0.99268423 0.03565049 3.03027806] [ 0.16262313 -0.01653234 0.98654974 -2.4580018 ] [ 0. 0. 0. 1. ]] SLAMing on 133.393201008 meters Centerline goodness : 0.850072 Centerline is valid? [False, False] Translation: X:1.46, Y:3.03, Z:-2.46 [[ 0.97939843 0.12473202 -0.15881006 1.45812346] [-0.11994069 0.99199718 0.03944387 3.03316169] [ 0.16245905 -0.01958348 0.98652093 -2.4575492 ] [ 0. 0. 0. 1. ]] SLAMing on 133.423201008 meters Centerline goodness : 0.848888 Centerline is valid? [False, False] Translation: X:1.46, Y:3.04, Z:-2.46 [[ 0.97941409 0.12483531 -0.15863224 1.45815416] [-0.12020123 0.99200205 0.03851742 3.03606321] [ 0.16217184 -0.01865671 0.98658614 -2.45878627] [ 0. 0. 0. 1. ]] SLAMing on 133.453201008 meters Centerline goodness : 0.852997 Centerline is valid? [False, False] Translation: X:1.46, Y:3.04, Z:-2.46 [[ 0.9792573 0.12659209 -0.1582074 1.45641832] [-0.12211247 0.99179765 0.03776189 3.04037089] [ 0.16169008 -0.01765951 0.98668357 -2.46058705] [ 0. 0. 0. 1. ]] SLAMing on 133.483201008 meters Centerline goodness : 0.851086 Centerline is valid? [False, False] Translation: X:1.46, Y:3.04, Z:-2.46 [[ 0.97923819 0.12683673 -0.15812975 1.45644611] [-0.12247618 0.99177919 0.03706245 3.04238578] [ 0.16153067 -0.01692583 0.98672253 -2.46163676] [ 0. 0. 0. 1. ]] SLAMing on 133.513201008 meters Centerline goodness : 0.851594 Centerline is valid? [False, False] Translation: X:1.46, Y:3.04, Z:-2.46 [[ 0.979234 0.12713436 -0.15791652 1.45625791] [-0.12288387 0.99175201 0.03643505 3.0439972 ] [ 0.16124618 -0.01627305 0.98678005 -2.46283067] [ 0. 0. 0. 1. ]] SLAMing on 133.543201008 meters Centerline goodness : 0.853665 Centerline is valid? [False, False] Translation: X:1.46, Y:3.05, Z:-2.46 [[ 0.9792544 0.12724432 -0.15770133 1.45637432] [-0.12310094 0.99174788 0.03580912 3.04520786] [ 0.16095647 -0.01565306 0.98683737 -2.46418573] [ 0. 0. 0. 1. ]] SLAMing on 133.573201008 meters Centerline goodness : 0.850600 Centerline is valid? [False, False] Translation: X:1.46, Y:3.05, Z:-2.47 [[ 0.97929531 0.12676805 -0.15783081 1.45756779] [-0.12270371 0.99181626 0.03527478 3.04519013] [ 0.16101088 -0.015178 0.98683592 -2.46516245] [ 0. 0. 0. 1. ]] SLAMing on 133.603201008 meters Centerline goodness : 0.850008 Centerline is valid? [False, False] Translation: X:1.46, Y:3.05, Z:-2.47 [[ 0.97985766 0.12203552 -0.15807058 1.45803769] [-0.11870148 0.9924645 0.03040011 3.04768419] [ 0.16058933 -0.01102457 0.98695974 -2.46687536] [ 0. 0. 0. 1. ]] SLAMing on 133.63320100800001 meters Centerline goodness : 0.845083 Centerline is valid? [False, False] Translation: X:1.46, Y:3.05, Z:-2.47 [[ 0.98040816 0.11711254 -0.15838084 1.45916556] [-0.11452196 0.99309549 0.0254177 3.04999556] [ 0.16026403 -0.00678164 0.98705089 -2.46901514] [ 0. 0. 0. 1. ]] SLAMing on 133.66320100800002 meters Centerline goodness : 0.846315 Centerline is valid? [False, False] Translation: X:1.46, Y:3.05, Z:-2.47 [[ 0.98043123 0.11575181 -0.15923605 1.46279971] [-0.11319435 0.99325654 0.02506948 3.04885222] [ 0.16106408 -0.00655428 0.98692219 -2.46972902] [ 0. 0. 0. 1. ]] SLAMing on 133.69320100800002 meters Centerline goodness : 0.846534 Centerline is valid? [False, False] Translation: X:1.47, Y:3.05, Z:-2.47 [[ 0.98043622 0.11422671 -0.16030306 1.46729854] [-0.11171842 0.99343528 0.02460374 3.04714352] [ 0.16206112 -0.00621359 0.98676116 -2.47098759] [ 0. 0. 0. 1. ]] SLAMing on 133.72320100800002 meters Centerline goodness : 0.846772 Centerline is valid? [False, False] Translation: X:1.48, Y:3.04, Z:-2.47 [[ 0.98104916 0.10630132 -0.1619956 1.48114302] [-0.10372926 0.99430922 0.02427775 3.0427881 ] [ 0.16365448 -0.00701398 0.98649279 -2.46905496] [ 0. 0. 0. 1. ]] SLAMing on 133.75320100800002 meters Centerline goodness : 0.844242 Centerline is valid? [False, False] Translation: X:1.49, Y:3.04, Z:-2.46 [[ 0.98147146 0.10310122 -0.16150515 1.4922776 ] [-0.09933433 0.99456331 0.03124906 3.03722853] [ 0.16384891 -0.01462706 0.986377 -2.46042123] [ 0. 0. 0. 1. ]] SLAMing on 133.783201008 meters Centerline goodness : 0.842057 Centerline is valid? [False, False] Translation: X:1.50, Y:3.03, Z:-2.45 [[ 0.98228563 0.09683403 -0.16043101 1.50198491] [-0.0921485 0.99507935 0.03641066 3.03087396] [ 0.16316737 -0.02098219 0.98637526 -2.44992893] [ 0. 0. 0. 1. ]] SLAMing on 133.813201008 meters Centerline goodness : 0.842125 Centerline is valid? [False, False] Translation: X:1.50, Y:3.03, Z:-2.45 [[ 0.98227402 0.09616966 -0.16090104 1.50359611] [-0.09134236 0.99512629 0.03715157 3.02928182] [ 0.16368971 -0.02179594 0.98627107 -2.44838389] [ 0. 0. 0. 1. ]] SLAMing on 133.843201008 meters Centerline goodness : 0.843210 Centerline is valid? [False, False] Translation: X:1.51, Y:3.02, Z:-2.43 [[ 0.98278761 0.0970564 -0.1571896 1.51499607] [-0.08960317 0.99452103 0.05384417 3.0226133 ] [ 0.16155428 -0.0388327 0.98609951 -2.4308455 ] [ 0. 0. 0. 1. ]] SLAMing on 133.873201008 meters Centerline goodness : 0.842392 Centerline is valid? [False, False] Translation: X:1.51, Y:3.03, Z:-2.43 [[ 0.98325734 0.09241024 -0.15705204 1.51459597] [-0.08576259 0.99512933 0.04860454 3.02518707] [ 0.16077865 -0.03432158 0.98639356 -2.43299163] [ 0. 0. 0. 1. ]] SLAMing on 133.903201008 meters Centerline goodness : 0.840362 Centerline is valid? [False, False] Translation: X:1.52, Y:3.02, Z:-2.43 [[ 0.98350129 0.09154577 -0.15602752 1.52181659] [-0.08384657 0.99494605 0.05524596 3.02236892] [ 0.1602965 -0.0412521 0.98620652 -2.42582794] [ 0. 0. 0. 1. ]] SLAMing on 133.933201008 meters Centerline goodness : 0.840321 Centerline is valid? [False, False] Translation: X:1.52, Y:3.02, Z:-2.43 [[ 0.98351094 0.09087318 -0.1563595 1.52349732] [-0.08324905 0.99502911 0.05465036 3.02324482] [ 0.16054851 -0.04073245 0.98618712 -2.42644724] [ 0. 0. 0. 1. ]] SLAMing on 133.963201008 meters Centerline goodness : 0.838399 Centerline is valid? [False, False] Translation: X:1.52, Y:3.02, Z:-2.43 [[ 0.98351842 0.09058737 -0.15647829 1.52446983] [-0.08303936 0.99507497 0.05413201 3.02469482] [ 0.16061131 -0.04024597 0.98619687 -2.42695943] [ 0. 0. 0. 1. ]] SLAMing on 133.993201008 meters Centerline goodness : 0.839738 Centerline is valid? [False, False] Translation: X:1.53, Y:3.02, Z:-2.42 [[ 0.9831209 0.09438134 -0.15673374 1.52641863] [-0.08600333 0.99452154 0.05941668 3.0225989 ] [ 0.16148291 -0.04493416 0.98585201 -2.42408769] [ 0. 0. 0. 1. ]] SLAMing on 134.023201008 meters Centerline goodness : 0.837311 Centerline is valid? [False, False] Translation: X:1.53, Y:3.03, Z:-2.43 [[ 0.9831109 0.09378341 -0.15715479 1.52827025] [-0.08562104 0.99464151 0.05794218 3.02574112] [ 0.16174669 -0.04350783 0.98587275 -2.42587613] [ 0. 0. 0. 1. ]] SLAMing on 134.053201008 meters Centerline goodness : 0.838601 Centerline is valid? [False, False] Translation: X:1.53, Y:3.03, Z:-2.42 [[ 0.98272278 0.09812988 -0.15692822 1.52936543] [-0.08905379 0.99397663 0.0638739 3.02504919] [ 0.16225092 -0.04879528 0.98554232 -2.42196081] [ 0. 0. 0. 1. ]] SLAMing on 134.083201008 meters Centerline goodness : 0.837755 Centerline is valid? [False, False] Translation: X:1.53, Y:3.03, Z:-2.43 [[ 0.98313264 0.09402065 -0.1568768 1.52938658] [-0.08599669 0.99465266 0.05718968 3.0310212 ] [ 0.16141493 -0.04273416 0.98596096 -2.42717215] [ 0. 0. 0. 1. ]] SLAMing on 134.113201008 meters Centerline goodness : 0.838707 Centerline is valid? [False, False] Translation: X:1.53, Y:3.03, Z:-2.43 [[ 0.98316189 0.09319231 -0.15718743 1.53132639] [-0.08533889 0.99477661 0.05600694 3.03454953] [ 0.1615858 -0.04164969 0.98597938 -2.4282292 ] [ 0. 0. 0. 1. ]] SLAMing on 134.143201008 meters Centerline goodness : 0.837290 Centerline is valid? [False, False] Translation: X:1.53, Y:3.03, Z:-2.43 [[ 0.98278253 0.09652085 -0.15755071 1.53397474] [-0.0878617 0.99426035 0.06104649 3.03327857] [ 0.16253868 -0.04615275 0.98562219 -2.42511514] [ 0. 0. 0. 1. ]] SLAMing on 134.173201008 meters Centerline goodness : 0.837518 Centerline is valid? [False, False] Translation: X:1.55, Y:3.04, Z:-2.43 [[ 0.98349032 0.09497296 -0.15403546 1.5503554 ] [-0.08839843 0.99487928 0.04899933 3.03672719] [ 0.1579003 -0.03457388 0.9868496 -2.43003681] [ 0. 0. 0. 1. ]] SLAMing on 134.203201008 meters Centerline goodness : 0.838867 Centerline is valid? [False, False] Translation: X:1.55, Y:3.04, Z:-2.43 [[ 0.98351189 0.09470383 -0.15406343 1.55075227] [-0.08825194 0.99493099 0.04820702 3.03890549] [ 0.15784788 -0.03381578 0.98688426 -2.43074272] [ 0. 0. 0. 1. ]] SLAMing on 134.233201008 meters Centerline goodness : 0.835606 Centerline is valid? [False, False] Translation: X:1.57, Y:3.04, Z:-2.43 [[ 0.98403773 0.09592399 -0.14989439 1.56755338] [-0.09090197 0.99505541 0.04001959 3.04318851] [ 0.15299206 -0.02575509 0.98789175 -2.43346007] [ 0. 0. 0. 1. ]] SLAMing on 134.263201008 meters Centerline goodness : 0.838139 Centerline is valid? [False, False] Translation: X:1.57, Y:3.05, Z:-2.43 [[ 0.9840671 0.09579276 -0.14978547 1.56787313] [-0.09090723 0.99508966 0.03914644 3.04592851] [ 0.15279991 -0.02490615 0.98794325 -2.43445962] [ 0. 0. 0. 1. ]] SLAMing on 134.293201008 meters Centerline goodness : 0.838652 Centerline is valid? [False, False] Translation: X:1.57, Y:3.05, Z:-2.44 [[ 0.98406669 0.09557427 -0.14992765 1.56873245] [-0.09082615 0.9951331 0.03821929 3.04872042] [ 0.15285075 -0.02399298 0.98795799 -2.43556618] [ 0. 0. 0. 1. ]] SLAMing on 134.323201008 meters Centerline goodness : 0.838652 Centerline is valid? [False, False] Translation: X:1.57, Y:3.05, Z:-2.44 [[ 0.98406799 0.09561755 -0.14989155 1.56865148] [-0.09088044 0.99513054 0.038157 3.0488633 ] [ 0.15281014 -0.02392687 0.98796587 -2.43562559] [ 0. 0. 0. 1. ]] SLAMing on 134.353201008 meters Centerline goodness : 0.836253 Centerline is valid? [False, False] Translation: X:1.59, Y:3.05, Z:-2.44 [[ 0.98402506 0.10071739 -0.1468015 1.58856983] [-0.09672521 0.99472674 0.03410215 3.05284205] [ 0.14946206 -0.01935796 0.98857795 -2.43747192] [ 0. 0. 0. 1. ]] SLAMing on 134.38320100800001 meters Centerline goodness : 0.836082 Centerline is valid? [False, False] Translation: X:1.59, Y:3.06, Z:-2.44 [[ 0.98397751 0.10136314 -0.14667575 1.588011 ] [-0.09753852 0.99468265 0.03305558 3.05688641] [ 0.14924644 -0.01821942 0.98863216 -2.438801 ] [ 0. 0. 0. 1. ]] SLAMing on 134.41320100800002 meters Centerline goodness : 0.837181 Centerline is valid? [False, False] Translation: X:1.60, Y:3.06, Z:-2.44 [[ 0.98435171 0.10366741 -0.14249482 1.60346476] [-0.10119179 0.99456444 0.02453148 3.06071334] [ 0.1442634 -0.0097283 0.9894915 -2.4427624 ] [ 0. 0. 0. 1. ]] SLAMing on 134.44320100800002 meters Centerline goodness : 0.837436 Centerline is valid? [False, False] Translation: X:1.60, Y:3.06, Z:-2.44 [[ 0.98381964 0.10956781 -0.14175266 1.60123239] [-0.1065714 0.99389412 0.02858337 3.06420779] [ 0.14401896 -0.0130141 0.98948935 -2.44186416] [ 0. 0. 0. 1. ]] SLAMing on 134.47320100800002 meters Centerline goodness : 0.837436 Centerline is valid? [False, False] Translation: X:1.60, Y:3.06, Z:-2.44 [[ 0.98381964 0.10956781 -0.14175266 1.60123239] [-0.1065714 0.99389412 0.02858337 3.06420779] [ 0.14401896 -0.0130141 0.98948935 -2.44186416] [ 0. 0. 0. 1. ]] SLAMing on 134.50320100800002 meters Centerline goodness : 0.837481 Centerline is valid? [False, False] Translation: X:1.62, Y:3.07, Z:-2.45 [[ 0.98377887 0.11614863 -0.13670638 1.61586471] [-0.11397671 0.99320222 0.02363608 3.0682837 ] [ 0.13852238 -0.00767133 0.99032959 -2.44593079] [ 0. 0. 0. 1. ]] SLAMing on 134.533201008 meters Centerline goodness : 0.837711 Centerline is valid? [False, False] Translation: X:1.62, Y:3.07, Z:-2.45 [[ 0.98375414 0.11649216 -0.13659196 1.61592892] [-0.11443439 0.99316801 0.02284895 3.0711451 ] [ 0.13832049 -0.00684694 0.99036385 -2.4471956 ] [ 0. 0. 0. 1. ]] SLAMing on 134.563201008 meters Centerline goodness : 0.836889 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98373641 0.11716458 -0.13614384 1.61481499] [-0.11515877 0.99309124 0.02254412 3.07330623] [ 0.13784463 -0.00649931 0.99043254 -2.44779489] [ 0. 0. 0. 1. ]] SLAMing on 134.593201008 meters Centerline goodness : 0.837377 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98366789 0.11819467 -0.13574792 1.61336833] [-0.11623811 0.99297149 0.02227833 3.07474838] [ 0.13742699 -0.0061354 0.9904929 -2.44841249] [ 0. 0. 0. 1. ]] SLAMing on 134.623201008 meters Centerline goodness : 0.837984 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98364262 0.11845883 -0.13570081 1.61294709] [-0.11648826 0.99293945 0.02239947 3.07415916] [ 0.1373961 -0.00622552 0.99049662 -2.44820757] [ 0. 0. 0. 1. ]] SLAMing on 134.653201008 meters Centerline goodness : 0.836033 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98363106 0.11854851 -0.13570623 1.6128794 ] [-0.11655914 0.99292793 0.02254085 3.07326573] [ 0.13741869 -0.00635408 0.99049267 -2.44807656] [ 0. 0. 0. 1. ]] SLAMing on 134.683201008 meters Centerline goodness : 0.838688 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98362092 0.1185876 -0.13574561 1.61289647] [-0.11656701 0.99292186 0.02276663 3.0723836 ] [ 0.13748462 -0.00657027 0.99048211 -2.44777178] [ 0. 0. 0. 1. ]] SLAMing on 134.713201008 meters Centerline goodness : 0.838801 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98361666 0.11848966 -0.13586191 1.61316527] [-0.11642185 0.99293132 0.02309418 3.07097008] [ 0.13763797 -0.00689853 0.99045858 -2.44735247] [ 0. 0. 0. 1. ]] SLAMing on 134.743201008 meters Centerline goodness : 0.838164 Centerline is valid? [False, False] Translation: X:1.61, Y:3.07, Z:-2.45 [[ 0.98362147 0.11801277 -0.13624169 1.6148935 ] [-0.11595175 0.99298866 0.02299379 3.07000009] [ 0.13800001 -0.00681972 0.99040875 -2.44800336] [ 0. 0. 0. 1. ]] SLAMing on 134.773201008 meters Centerline goodness : 0.837912 Centerline is valid? [False, False] Translation: X:1.62, Y:3.07, Z:-2.45 [[ 0.98364258 0.11682919 -0.13710657 1.6185993 ] [-0.11484419 0.99313257 0.02232746 3.06920726] [ 0.1387735 -0.00621635 0.99030464 -2.44952906] [ 0. 0. 0. 1. ]] SLAMing on 134.803201008 meters Centerline goodness : 0.840300 Centerline is valid? [False, False] Translation: X:1.62, Y:3.07, Z:-2.45 [[ 0.98366512 0.11591967 -0.13771554 1.6214504 ] [-0.11397759 0.9932412 0.02193222 3.06784443] [ 0.13932712 -0.00587747 0.99022897 -2.4508833 ] [ 0. 0. 0. 1. ]] SLAMing on 134.833201008 meters Centerline goodness : 0.839415 Centerline is valid? [False, False] Translation: X:1.63, Y:3.07, Z:-2.45 [[ 0.98374074 0.11438513 -0.13845651 1.62531196] [-0.1124893 0.99342102 0.02146722 3.06502876] [ 0.14000114 -0.0055433 0.99013583 -2.45241765] [ 0. 0. 0. 1. ]] SLAMing on 134.863201008 meters Centerline goodness : 0.837642 Centerline is valid? [False, False] Translation: X:1.63, Y:3.06, Z:-2.45 [[ 0.98373079 0.11366658 -0.1391174 1.62748754] [-0.11174467 0.99350273 0.02157446 3.06302417] [ 0.14066581 -0.00567783 0.99004085 -2.45244975] [ 0. 0. 0. 1. ]] SLAMing on 134.893201008 meters Centerline goodness : 0.836368 Centerline is valid? [False, False] Translation: X:1.63, Y:3.06, Z:-2.45 [[ 0.98372014 0.11311833 -0.13963858 1.62912934] [-0.11113615 0.99356303 0.0219375 3.06029901] [ 0.14122127 -0.00606147 0.9899595 -2.45222167] [ 0. 0. 0. 1. ]] SLAMing on 134.923201008 meters Centerline goodness : 0.840342 Centerline is valid? [False, False] Translation: X:1.63, Y:3.06, Z:-2.45 [[ 0.98417089 0.10819403 -0.14036279 1.630506 ] [-0.10667471 0.99412508 0.01832576 3.05756374] [ 0.14152091 -0.00306252 0.98993053 -2.45230284] [ 0. 0. 0. 1. ]] SLAMing on 134.953201008 meters Centerline goodness : 0.838125 Centerline is valid? [False, False] Translation: X:1.63, Y:3.06, Z:-2.45 [[ 9.84184585e-01 1.07284227e-01 -1.40963817e-01 1.63308738e+00] [-1.05769187e-01 9.94223803e-01 1.82183501e-02 3.05576706e+00] [ 1.42104124e-01 -3.02059097e-03 9.89847106e-01 -2.45295600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.983201008 meters Centerline goodness : 0.835457 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 9.84337564e-01 1.05364658e-01 -1.41343021e-01 1.63683295e+00] [-1.03915797e-01 9.94430121e-01 1.76136552e-02 3.05396995e+00] [ 1.42411615e-01 -2.65000978e-03 9.89803975e-01 -2.45465229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.013201008 meters Centerline goodness : 0.836098 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 9.84317758e-01 1.04940780e-01 -1.41795572e-01 1.63844562e+00] [-1.03460618e-01 9.94474410e-01 1.77917820e-02 3.05242265e+00] [ 1.42879152e-01 -2.84250938e-03 9.89736060e-01 -2.45472500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.043201008 meters Centerline goodness : 0.834674 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.98428763 0.10483425 -0.14208324 1.63912536] [-0.10329664 0.99448452 0.01817551 3.05041572] [ 0.143205 -0.00321321 0.98968783 -2.45438868] [ 0. 0. 0. 1. ]] SLAMing on 135.073201008 meters Centerline goodness : 0.836080 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.9842581 0.104976 -0.14218308 1.63920301] [-0.10336805 0.99446795 0.01866908 3.04865343] [ 0.14335633 -0.003678 0.9896643 -2.45386671] [ 0. 0. 0. 1. ]] SLAMing on 135.103201008 meters Centerline goodness : 0.834403 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.98423959 0.10549724 -0.1419252 1.63832044] [-0.10383216 0.99441126 0.01910811 3.04773206] [ 0.14314787 -0.00407056 0.98969294 -2.45354363] [ 0. 0. 0. 1. ]] SLAMing on 135.13320100800001 meters Centerline goodness : 0.836236 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.98422553 0.10556731 -0.14197057 1.6386336 ] [-0.10389762 0.99440374 0.01914368 3.0480745 ] [ 0.14319701 -0.00409129 0.98968575 -2.45358405] [ 0. 0. 0. 1. ]] SLAMing on 135.16320100800002 meters Centerline goodness : 0.835737 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.98421845 0.10589764 -0.14177351 1.63821878] [-0.10420615 0.99436797 0.01932382 3.04806799] [ 0.14302138 -0.00424519 0.98971049 -2.4536393 ] [ 0. 0. 0. 1. ]] SLAMing on 135.19320100800002 meters Centerline goodness : 0.836055 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.98373159 0.11004887 -0.14199083 1.63980702] [-0.10762554 0.99388565 0.02465898 3.04478418] [ 0.14383634 -0.00897598 0.98956078 -2.45152557] [ 0. 0. 0. 1. ]] SLAMing on 135.22320100800002 meters Centerline goodness : 0.835690 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.98374272 0.1101196 -0.14185887 1.63988866] [-0.10772771 0.9938796 0.02445578 3.04508439] [ 0.1436837 -0.00877607 0.98958475 -2.45216301] [ 0. 0. 0. 1. ]] SLAMing on 135.25320100800002 meters Centerline goodness : 0.837979 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.9837355 0.1103084 -0.14176223 1.63959274] [-0.10790732 0.99385808 0.02453845 3.04490246] [ 0.14359833 -0.00884217 0.98959655 -2.45213942] [ 0. 0. 0. 1. ]] SLAMing on 135.283201008 meters Centerline goodness : 0.837134 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.98371311 0.11010211 -0.14207762 1.64028331] [-0.10767859 0.99387991 0.02465857 3.04446035] [ 0.14392306 -0.00895824 0.98954833 -2.45156872] [ 0. 0. 0. 1. ]] SLAMing on 135.313201008 meters Centerline goodness : 0.834732 Centerline is valid? [False, False] Translation: X:1.64, Y:3.05, Z:-2.45 [[ 0.9841087 0.1065781 -0.14202529 1.63860558] [-0.10471557 0.99428996 0.02054583 3.04623312] [ 0.14340406 -0.00534707 0.98964978 -2.4520015 ] [ 0. 0. 0. 1. ]] SLAMing on 135.343201008 meters Centerline goodness : 0.834307 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.9840815 0.10650399 -0.14226909 1.63891572] [-0.10458793 0.99429601 0.02090014 3.04489249] [ 0.14368354 -0.00568781 0.98960734 -2.45130979] [ 0. 0. 0. 1. ]] SLAMing on 135.373201008 meters Centerline goodness : 0.837047 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.98412422 0.10555497 -0.14268029 1.64081026] [-0.10362184 0.99439646 0.020933 3.04315456] [ 0.14409036 -0.00581588 0.98954744 -2.45125944] [ 0. 0. 0. 1. ]] SLAMing on 135.403201008 meters Centerline goodness : 0.833362 Centerline is valid? [False, False] Translation: X:1.64, Y:3.04, Z:-2.45 [[ 0.98413779 0.10490655 -0.14306439 1.64268282] [-0.10298783 0.9944657 0.02077209 3.04280058] [ 0.14445175 -0.00570871 0.98949538 -2.45176076] [ 0. 0. 0. 1. ]] SLAMing on 135.433201008 meters Centerline goodness : 0.834450 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.98413841 0.10403759 -0.1436933 1.64527152] [-0.10213623 0.9945578 0.0205661 3.04276828] [ 0.14505094 -0.0055636 0.98940855 -2.45215803] [ 0. 0. 0. 1. ]] SLAMing on 135.463201008 meters Centerline goodness : 0.833488 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.98415656 0.10373374 -0.14378867 1.64595309] [-0.10181428 0.99458879 0.02066379 3.04251101] [ 0.14515413 -0.00569667 0.98939266 -2.45207727] [ 0. 0. 0. 1. ]] SLAMing on 135.493201008 meters Centerline goodness : 0.837148 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.98419128 0.10316418 -0.14396069 1.64657826] [-0.10117591 0.99464511 0.02108421 3.04178444] [ 0.14536493 -0.00618554 0.98935877 -2.45073422] [ 0. 0. 0. 1. ]] SLAMing on 135.523201008 meters Centerline goodness : 0.834698 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.98419452 0.10270823 -0.14426425 1.64745431] [-0.10072519 0.99469258 0.02100264 3.04167486] [ 0.14565572 -0.00613963 0.98931629 -2.45040844] [ 0. 0. 0. 1. ]] SLAMing on 135.553201008 meters Centerline goodness : 0.835945 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.9841774 0.1022236 -0.14472451 1.64868037] [-0.10023992 0.99474266 0.0209523 3.04169081] [ 0.14610547 -0.0061136 0.98925013 -2.44994354] [ 0. 0. 0. 1. ]] SLAMing on 135.583201008 meters Centerline goodness : 0.837691 Centerline is valid? [False, False] Translation: X:1.65, Y:3.04, Z:-2.45 [[ 0.98417903 0.10185567 -0.14497263 1.64949965] [-0.09989883 0.99478155 0.02073361 3.04234843] [ 0.14632793 -0.00592299 0.98921841 -2.44987809] [ 0. 0. 0. 1. ]] SLAMing on 135.613201008 meters Centerline goodness : 0.835111 Centerline is valid? [False, False] Translation: X:1.66, Y:3.04, Z:-2.45 [[ 0.98381436 0.10369605 -0.14613843 1.65577078] [-0.10118135 0.99456486 0.02455745 3.04232168] [ 0.14789066 -0.00937349 0.9889593 -2.44889561] [ 0. 0. 0. 1. ]] SLAMing on 135.643201008 meters Centerline goodness : 0.835056 Centerline is valid? [False, False] Translation: X:1.66, Y:3.04, Z:-2.45 [[ 0.98383715 0.10287853 -0.14656214 1.65813773] [-0.10050629 0.99465838 0.02352022 3.0443279 ] [ 0.14819898 -0.00840965 0.98892181 -2.45049027] [ 0. 0. 0. 1. ]] SLAMing on 135.673201008 meters Centerline goodness : 0.833524 Centerline is valid? [False, False] Translation: X:1.66, Y:3.04, Z:-2.45 [[ 0.98343446 0.1056021 -0.14732572 1.66281084] [-0.10273164 0.99434314 0.02698028 3.04339653] [ 0.14934149 -0.01139832 0.98871998 -2.45101754] [ 0. 0. 0. 1. ]] SLAMing on 135.703201008 meters Centerline goodness : 0.832844 Centerline is valid? [False, False] Translation: X:1.67, Y:3.05, Z:-2.45 [[ 0.98344658 0.10466676 -0.14791111 1.66629161] [-0.10204515 0.99445992 0.02522427 3.0473455 ] [ 0.14973181 -0.00971311 0.98867894 -2.45404165] [ 0. 0. 0. 1. ]] SLAMing on 135.733201008 meters Centerline goodness : 0.833805 Centerline is valid? [False, False] Translation: X:1.67, Y:3.05, Z:-2.46 [[ 0.98346001 0.10410922 -0.14821498 1.66803345] [-0.10160673 0.99452591 0.02437783 3.04885195] [ 0.1499416 -0.00891498 0.98865466 -2.45530331] [ 0. 0. 0. 1. ]] SLAMing on 135.763201008 meters Centerline goodness : 0.835508 Centerline is valid? [False, False] Translation: X:1.67, Y:3.05, Z:-2.45 [[ 0.98298311 0.10700264 -0.14931391 1.67273138] [-0.10373597 0.99416669 0.02952002 3.04731253] [ 0.15160163 -0.01352846 0.98834909 -2.45228108] [ 0. 0. 0. 1. ]] SLAMing on 135.793201008 meters Centerline goodness : 0.834373 Centerline is valid? [False, False] Translation: X:1.67, Y:3.05, Z:-2.45 [[ 0.98300717 0.10638599 -0.14959585 1.67419108] [-0.10326747 0.99424568 0.02848437 3.04956227] [ 0.15176537 -0.01255196 0.98833685 -2.45341961] [ 0. 0. 0. 1. ]] SLAMing on 135.823201008 meters Centerline goodness : 0.839043 Centerline is valid? [False, False] Translation: X:1.68, Y:3.05, Z:-2.45 [[ 0.98263001 0.10793022 -0.15096137 1.6816885 ] [-0.10378915 0.99398083 0.03507017 3.0493459 ] [ 0.15383784 -0.01879285 0.98791738 -2.44646877] [ 0. 0. 0. 1. ]] SLAMing on 135.853201008 meters Centerline goodness : 0.839892 Centerline is valid? [False, False] Translation: X:1.68, Y:3.05, Z:-2.45 [[ 0.98264336 0.10732012 -0.15130903 1.68306877] [-0.10329477 0.99406127 0.03424018 3.05122707] [ 0.1540851 -0.01801646 0.98789331 -2.4471183 ] [ 0. 0. 0. 1. ]] SLAMing on 135.88320100800001 meters Centerline goodness : 0.838555 Centerline is valid? [False, False] Translation: X:1.69, Y:3.06, Z:-2.45 [[ 0.98267371 0.1062491 -0.15186677 1.68563063] [-0.10238775 0.9941955 0.03304625 3.05529681] [ 0.15449639 -0.01692438 0.98784838 -2.44803319] [ 0. 0. 0. 1. ]] SLAMing on 135.91320100800002 meters Centerline goodness : 0.836613 Centerline is valid? [False, False] Translation: X:1.69, Y:3.05, Z:-2.45 [[ 0.98227046 0.10857806 -0.15282523 1.69060452] [-0.10408954 0.99387591 0.03709492 3.05463347] [ 0.15591701 -0.02052974 0.98755679 -2.4466961 ] [ 0. 0. 0. 1. ]] SLAMing on 135.94320100800002 meters Centerline goodness : 0.836776 Centerline is valid? [False, False] Translation: X:1.70, Y:3.05, Z:-2.44 [[ 0.98186083 0.1109526 -0.15374924 1.69563106] [-0.10555637 0.99348955 0.04285279 3.05291532] [ 0.15750289 -0.02584627 0.98718023 -2.44221013] [ 0. 0. 0. 1. ]] SLAMing on 135.97320100800002 meters Centerline goodness : 0.837603 Centerline is valid? [False, False] Translation: X:1.70, Y:3.05, Z:-2.44 [[ 0.98185439 0.11090515 -0.15382458 1.69547898] [-0.10549253 0.99349259 0.04293944 3.05371565] [ 0.15758578 -0.02593294 0.98716473 -2.44140351] [ 0. 0. 0. 1. ]] SLAMing on 136.00320100800002 meters Centerline goodness : 0.837539 Centerline is valid? [False, False] Translation: X:1.69, Y:3.06, Z:-2.44 [[ 0.98190709 0.11101276 -0.15340999 1.69396781] [-0.10564403 0.99348505 0.042741 3.05671186] [ 0.15715533 -0.02576084 0.98723786 -2.44023887] [ 0. 0. 0. 1. ]] SLAMing on 136.033201008 meters Centerline goodness : 0.836949 Centerline is valid? [False, False] Translation: X:1.69, Y:3.06, Z:-2.44 [[ 0.98190787 0.11112892 -0.15332092 1.6936244 ] [-0.10586096 0.99348802 0.04213087 3.05922588] [ 0.15700446 -0.02513793 0.98727792 -2.44041413] [ 0. 0. 0. 1. ]] SLAMing on 136.063201008 meters Centerline goodness : 0.837602 Centerline is valid? [False, False] Translation: X:1.69, Y:3.06, Z:-2.44 [[ 0.9813969 0.11536316 -0.15346488 1.69476371] [-0.10940421 0.99289725 0.04675213 3.0591805 ] [ 0.15776833 -0.02909269 0.9870475 -2.43834973] [ 0. 0. 0. 1. ]] SLAMing on 136.093201008 meters Centerline goodness : 0.841618 Centerline is valid? [False, False] Translation: X:1.70, Y:3.06, Z:-2.44 [[ 0.9814057 0.11523484 -0.153505 1.69524784] [-0.10946445 0.99294625 0.04555525 3.06254875] [ 0.15767176 -0.02790484 0.98709723 -2.43970182] [ 0. 0. 0. 1. ]] SLAMing on 136.123201008 meters Centerline goodness : 0.837957 Centerline is valid? [False, False] Translation: X:1.70, Y:3.07, Z:-2.44 [[ 0.98090758 0.11936912 -0.1535296 1.69752146] [-0.11325434 0.99240554 0.04800725 3.06666813] [ 0.15809421 -0.02970278 0.98697719 -2.44149795] [ 0. 0. 0. 1. ]] SLAMing on 136.153201008 meters Centerline goodness : 0.838698 Centerline is valid? [False, False] Translation: X:1.70, Y:3.07, Z:-2.44 [[ 0.98038057 0.12330544 -0.1537846 1.69977486] [-0.11666737 0.9918348 0.05150188 3.06772183] [ 0.15887938 -0.0325498 0.98676129 -2.4417672 ] [ 0. 0. 0. 1. ]] SLAMing on 136.183201008 meters Centerline goodness : 0.842293 Centerline is valid? [False, False] Translation: X:1.72, Y:3.07, Z:-2.45 [[ 0.98054691 0.12610431 -0.1504176 1.71590303] [-0.12094561 0.99172728 0.04300188 3.07094903] [ 0.15459596 -0.02397301 0.98768688 -2.44636537] [ 0. 0. 0. 1. ]] SLAMing on 136.213201008 meters Centerline goodness : 0.842293 Centerline is valid? [False, False] Translation: X:1.72, Y:3.07, Z:-2.45 [[ 0.98055046 0.12617392 -0.15033609 1.71574346] [-0.12102576 0.99171965 0.04295237 3.07111282] [ 0.15451072 -0.02392243 0.98770145 -2.4463965 ] [ 0. 0. 0. 1. ]] SLAMing on 136.243201008 meters Centerline goodness : 0.841521 Centerline is valid? [False, False] Translation: X:1.71, Y:3.07, Z:-2.45 [[ 0.97985471 0.1320089 -0.14986127 1.71499753] [-0.12639425 0.99089272 0.04643399 3.07463169] [ 0.15462614 -0.02655696 0.98761606 -2.44702201] [ 0. 0. 0. 1. ]] SLAMing on 136.273201008 meters Centerline goodness : 0.840368 Centerline is valid? [False, False] Translation: X:1.73, Y:3.08, Z:-2.45 [[ 0.98004462 0.13405778 -0.14676869 1.72957134] [-0.13010348 0.99083708 0.03626256 3.07752073] [ 0.15028514 -0.01644381 0.98850593 -2.45192706] [ 0. 0. 0. 1. ]] SLAMing on 136.303201008 meters Centerline goodness : 0.838883 Centerline is valid? [False, False] Translation: X:1.73, Y:3.08, Z:-2.45 [[ 0.97994322 0.1347599 -0.14680275 1.72929863] [-0.13088341 0.99075125 0.03579792 3.07936167] [ 0.15026913 -0.01586588 0.98851781 -2.45264399] [ 0. 0. 0. 1. ]] SLAMing on 136.333201008 meters Centerline goodness : 0.840666 Centerline is valid? [False, False] Translation: X:1.73, Y:3.08, Z:-2.45 [[ 0.97988894 0.13533656 -0.14663453 1.72875001] [-0.13154402 0.99068146 0.03530474 3.08103667] [ 0.15004613 -0.01530583 0.98856051 -2.45347595] [ 0. 0. 0. 1. ]] SLAMing on 136.363201008 meters Centerline goodness : 0.840803 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 0.98000404 0.1388625 -0.14251066 1.74361186] [-0.13625414 0.99027958 0.02794937 3.08122098] [ 0.14500652 -0.00797283 0.98939858 -2.45748072] [ 0. 0. 0. 1. ]] SLAMing on 136.393201008 meters Centerline goodness : 0.840433 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 0.97999784 0.13872394 -0.14268815 1.74450255] [-0.1361348 0.99030023 0.02779869 3.08067997] [ 0.14516045 -0.00781783 0.98937724 -2.45813263] [ 0. 0. 0. 1. ]] SLAMing on 136.423201008 meters Centerline goodness : 0.840351 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 0.9804652 0.13545478 -0.14261832 1.74283456] [-0.13338721 0.99077326 0.02400429 3.08142778] [ 0.14455392 -0.00451191 0.98948664 -2.45887855] [ 0. 0. 0. 1. ]] SLAMing on 136.453201008 meters Centerline goodness : 0.839186 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 9.80972634e-01 1.31789592e-01 -1.42562949e-01 1.74151443e+00] [-1.30246676e-01 9.91276997e-01 2.01424372e-02 3.08154595e+00] [ 1.43973935e-01 -1.19082938e-03 9.89580764e-01 -2.45965396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.483201008 meters Centerline goodness : 0.837532 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 9.81470211e-01 1.28060543e-01 -1.42536738e-01 1.74022333e+00] [-1.26934825e-01 9.91765354e-01 1.70009521e-02 3.07816492e+00] [ 1.43540150e-01 1.40694784e-03 9.89643494e-01 -2.46004870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.513201008 meters Centerline goodness : 0.838458 Centerline is valid? [False, False] Translation: X:1.74, Y:3.08, Z:-2.46 [[ 9.81449929e-01 1.27595298e-01 -1.43092546e-01 1.74220299e+00] [-1.26432756e-01 9.91825607e-01 1.72256651e-02 3.07553294e+00] [ 1.44120765e-01 1.18545713e-03 9.89559397e-01 -2.46050563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.543201008 meters Centerline goodness : 0.838075 Centerline is valid? [False, False] Translation: X:1.74, Y:3.07, Z:-2.46 [[ 0.9819533 0.12358946 -0.143155 1.74213967] [-0.12295074 0.9923232 0.01333386 3.07371451] [ 0.14370395 0.00450779 0.98961046 -2.4623516 ] [ 0. 0. 0. 1. ]] SLAMing on 136.573201008 meters Centerline goodness : 0.839730 Centerline is valid? [False, False] Translation: X:1.74, Y:3.07, Z:-2.46 [[ 0.98191588 0.12345733 -0.1435252 1.7430817 ] [-0.12271556 0.99234252 0.01404356 3.0704858 ] [ 0.14415994 0.00382318 0.98954701 -2.46191724] [ 0. 0. 0. 1. ]] SLAMing on 136.603201008 meters Centerline goodness : 0.843054 Centerline is valid? [False, False] Translation: X:1.74, Y:3.07, Z:-2.46 [[ 9.81876398e-01 1.23405744e-01 -1.43839360e-01 1.74370581e+00] [-1.22540047e-01 9.92351765e-01 1.48966755e-02 3.06670654e+00] [ 1.44577578e-01 2.99938778e-03 9.89488922e-01 -2.46126849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63320100800001 meters Centerline goodness : 0.844293 Centerline is valid? [False, False] Translation: X:1.74, Y:3.06, Z:-2.46 [[ 9.81864569e-01 1.23012884e-01 -1.44256018e-01 1.74498323e+00] [-1.22035570e-01 9.92402524e-01 1.56381287e-02 3.06292699e+00] [ 1.45083727e-01 2.24984083e-03 9.89416823e-01 -2.46079388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66320100800002 meters Centerline goodness : 0.842296 Centerline is valid? [False, False] Translation: X:1.75, Y:3.06, Z:-2.46 [[ 9.81864561e-01 1.22518831e-01 -1.44675912e-01 1.74640613e+00] [-1.21421974e-01 9.92465139e-01 1.64210857e-02 3.05913145e+00] [ 1.45597692e-01 1.44355270e-03 9.89342826e-01 -2.46027584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69320100800002 meters Centerline goodness : 0.842287 Centerline is valid? [False, False] Translation: X:1.75, Y:3.05, Z:-2.46 [[ 0.98241432 0.11657507 -0.14585046 1.75035075] [-0.11598446 0.99317141 0.01257614 3.05474586] [ 0.14632057 0.00456141 0.98922671 -2.46179979] [ 0. 0. 0. 1. ]] SLAMing on 136.72320100800002 meters Centerline goodness : 0.839485 Centerline is valid? [False, False] Translation: X:1.75, Y:3.05, Z:-2.46 [[ 0.98290435 0.11180698 -0.14628137 1.75125392] [-0.1117949 0.99369639 0.00832977 3.05380513] [ 0.14629059 0.00816615 0.98920795 -2.46315754] [ 0. 0. 0. 1. ]] SLAMing on 136.75320100800002 meters Centerline goodness : 0.840728 Centerline is valid? [False, False] Translation: X:1.75, Y:3.05, Z:-2.46 [[ 0.98291434 0.11118534 -0.14668746 1.75268194] [-0.11106194 0.99377222 0.00905689 3.04955885] [ 0.14678092 0.00738924 0.98914143 -2.46270642] [ 0. 0. 0. 1. ]] SLAMing on 136.783201008 meters Centerline goodness : 0.840800 Centerline is valid? [False, False] Translation: X:1.75, Y:3.05, Z:-2.46 [[ 0.9828642 0.11087176 -0.14725972 1.75393961] [-0.11056804 0.99381547 0.01027233 3.04541589] [ 0.1474879 0.00618591 0.98904452 -2.46124162] [ 0. 0. 0. 1. ]] SLAMing on 136.813201008 meters Centerline goodness : 0.839674 Centerline is valid? [False, False] Translation: X:1.76, Y:3.04, Z:-2.46 [[ 0.98282172 0.11036938 -0.14791912 1.75542193] [-0.10966479 0.99388445 0.01293593 3.03913075] [ 0.14844224 0.00350781 0.98891486 -2.45736841] [ 0. 0. 0. 1. ]] SLAMing on 136.843201008 meters Centerline goodness : 0.839918 Centerline is valid? [False, False] Translation: X:1.76, Y:3.04, Z:-2.46 [[ 9.82767230e-01 1.10597198e-01 -1.48110874e-01 1.75567346e+00] [-1.09757719e-01 9.93861806e-01 1.38547632e-02 3.03681457e+00] [ 1.48734039e-01 2.64030450e-03 9.88873710e-01 -2.45645344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.873201008 meters Centerline goodness : 0.842398 Centerline is valid? [False, False] Translation: X:1.75, Y:3.04, Z:-2.46 [[ 9.82730424e-01 1.11091594e-01 -1.47985039e-01 1.75496406e+00] [-1.10154788e-01 9.93808129e-01 1.45370609e-02 3.03520527e+00] [ 1.48683680e-01 2.01524856e-03 9.88882754e-01 -2.45584406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.903201008 meters Centerline goodness : 0.840312 Centerline is valid? [False, False] Translation: X:1.75, Y:3.03, Z:-2.46 [[ 9.82693744e-01 1.11509789e-01 -1.47914070e-01 1.75474368e+00] [-1.10532833e-01 9.93761756e-01 1.48345649e-02 3.03469015e+00] [ 1.48645545e-01 1.77152702e-03 9.88888954e-01 -2.45586518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.933201008 meters Centerline goodness : 0.838122 Centerline is valid? [False, False] Translation: X:1.75, Y:3.03, Z:-2.46 [[ 9.82665332e-01 1.11959425e-01 -1.47763093e-01 1.75445440e+00] [-1.10969440e-01 9.93711319e-01 1.49531692e-02 3.03454356e+00] [ 1.48508007e-01 1.70322667e-03 9.88909739e-01 -2.45628659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.963201008 meters Centerline goodness : 0.839331 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 9.82098440e-01 1.16218285e-01 -1.48242926e-01 1.75659420e+00] [-1.14492359e-01 9.93219694e-01 2.01528828e-02 3.03053256e+00] [ 1.49579928e-01 -2.81943239e-03 9.88745617e-01 -2.45471040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.993201008 meters Centerline goodness : 0.837965 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 9.82069913e-01 1.16716198e-01 -1.48040587e-01 1.75592271e+00] [-1.14958040e-01 9.93160708e-01 2.04073041e-02 3.02992152e+00] [ 1.49409957e-01 -3.02294370e-03 9.88770715e-01 -2.45479148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.023201008 meters Centerline goodness : 0.836312 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 0.9820364 0.11710952 -0.14795224 1.75546715] [-0.11530732 0.99311353 0.02073013 3.02914709] [ 0.14936107 -0.00329776 0.98877722 -2.45466801] [ 0. 0. 0. 1. ]] SLAMing on 137.053201008 meters Centerline goodness : 0.835328 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 0.98201131 0.117494 -0.14781387 1.75506691] [-0.11563501 0.99306683 0.02113809 3.02755775] [ 0.14927265 -0.00366539 0.98878928 -2.45472676] [ 0. 0. 0. 1. ]] SLAMing on 137.083201008 meters Centerline goodness : 0.836172 Centerline is valid? [False, False] Translation: X:1.75, Y:3.03, Z:-2.45 [[ 0.98200125 0.11759483 -0.14780055 1.75496464] [-0.11568909 0.99305372 0.02145566 3.02656957] [ 0.14929697 -0.00397057 0.98878443 -2.45444912] [ 0. 0. 0. 1. ]] SLAMing on 137.113201008 meters Centerline goodness : 0.834762 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 0.98191563 0.1184401 -0.14769438 1.75312553] [-0.11631834 0.99294675 0.02295223 3.02252617] [ 0.14937112 -0.00535759 0.98876669 -2.45222625] [ 0. 0. 0. 1. ]] SLAMing on 137.143201008 meters Centerline goodness : 0.833958 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82278285e-01 1.15703482e-01 -1.47451939e-01 1.75000803e+00] [-1.14089166e-01 9.93281314e-01 1.93879830e-02 3.02402566e+00] [ 1.48704513e-01 -2.22172595e-03 9.88879180e-01 -2.45200439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.173201008 meters Centerline goodness : 0.834276 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82236905e-01 1.16242022e-01 -1.47303955e-01 1.74883431e+00] [-1.14543414e-01 9.93217074e-01 1.99912689e-02 3.02327424e+00] [ 1.48628629e-01 -2.76346422e-03 9.88889222e-01 -2.45099035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.203201008 meters Centerline goodness : 0.833036 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82236899e-01 1.16274994e-01 -1.47277968e-01 1.74895107e+00] [-1.14581113e-01 9.93213299e-01 1.99627454e-02 3.02350489e+00] [ 1.48599605e-01 -2.73287155e-03 9.88893669e-01 -2.45110704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.233201008 meters Centerline goodness : 0.831662 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82235943e-01 1.16369979e-01 -1.47209305e-01 1.74917947e+00] [-1.14697695e-01 9.93202556e-01 1.98272960e-02 3.02398757e+00] [ 1.48515960e-01 -2.59051485e-03 9.88906618e-01 -2.45171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.263201008 meters Centerline goodness : 0.830366 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82240876e-01 1.16325062e-01 -1.47211893e-01 1.74985688e+00] [-1.14696857e-01 9.93208536e-01 1.95303733e-02 3.02445515e+00] [ 1.48483980e-01 -2.29878957e-03 9.88912141e-01 -2.45271542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.293201008 meters Centerline goodness : 0.826488 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82231654e-01 1.16253582e-01 -1.47329845e-01 1.75056624e+00] [-1.14561660e-01 9.93215856e-01 1.99471656e-02 3.02203375e+00] [ 1.48649267e-01 -2.71438587e-03 9.88886256e-01 -2.45288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.323201008 meters Centerline goodness : 0.826257 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 9.82692981e-01 1.12090366e-01 -1.47479680e-01 1.74989156e+00] [-1.11003180e-01 9.93697481e-01 1.56080362e-02 3.02305958e+00] [ 1.48299696e-01 1.03280586e-03 9.88941926e-01 -2.45373548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.353201008 meters Centerline goodness : 0.826373 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 0.98314281 0.10815707 -0.14741866 1.74868958] [-0.10766539 0.99412257 0.01133455 3.02431437] [ 0.14777813 0.00472841 0.98900923 -2.45460866] [ 0. 0. 0. 1. ]] SLAMing on 137.38320100800001 meters Centerline goodness : 0.827844 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 0.98310769 0.10800588 -0.14776332 1.74959194] [-0.10744304 0.9941411 0.01180948 3.02249148] [ 0.14817309 0.00426615 0.98895224 -2.45413446] [ 0. 0. 0. 1. ]] SLAMing on 137.41320100800002 meters Centerline goodness : 0.825697 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 0.98309976 0.1072419 -0.14837131 1.75204944] [-0.10666204 0.99422432 0.01188286 3.02048181] [ 0.1487887 0.00414355 0.98886033 -2.4544969 ] [ 0. 0. 0. 1. ]] SLAMing on 137.44320100800002 meters Centerline goodness : 0.824455 Centerline is valid? [False, False] Translation: X:1.75, Y:3.02, Z:-2.45 [[ 0.98309065 0.10699804 -0.1486075 1.75308565] [-0.10640345 0.994251 0.01196889 3.01946244] [ 0.1490338 0.00404585 0.98882382 -2.4547624 ] [ 0. 0. 0. 1. ]] SLAMing on 137.47320100800002 meters Centerline goodness : 0.826279 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 0.98306202 0.10568174 -0.14973458 1.75690928] [-0.10500711 0.99439382 0.01242709 3.01666307] [ 0.15020846 0.00350659 0.98864813 -2.45408016] [ 0. 0. 0. 1. ]] SLAMing on 137.50320100800002 meters Centerline goodness : 0.827063 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 0.98304909 0.1050718 -0.15024781 1.75880375] [-0.10437567 0.99445896 0.0125339 3.01521114] [ 0.15073224 0.00336078 0.98856891 -2.45415832] [ 0. 0. 0. 1. ]] SLAMing on 137.533201008 meters Centerline goodness : 0.826273 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 0.9830352 0.10465056 -0.15063216 1.76029782] [-0.10392272 0.99450406 0.01271786 3.0141325 ] [ 0.15113523 0.003152 0.98850807 -2.45414263] [ 0. 0. 0. 1. ]] SLAMing on 137.563201008 meters Centerline goodness : 0.826866 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.83002469e-01 1.04106441e-01 -1.51221677e-01 1.76236060e+00] [-1.03347202e-01 9.94561773e-01 1.28932062e-02 3.01319569e+00] [ 1.51741565e-01 2.95428370e-03 9.88415788e-01 -2.45401964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.593201008 meters Centerline goodness : 0.828139 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.82960932e-01 1.04010895e-01 -1.51557050e-01 1.76285697e+00] [-1.03186853e-01 9.94572884e-01 1.33136016e-02 3.01169374e+00] [ 1.52119292e-01 2.55194484e-03 9.88358846e-01 -2.45323015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.623201008 meters Centerline goodness : 0.827944 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.82946383e-01 1.04211149e-01 -1.51513841e-01 1.76255681e+00] [-1.03369005e-01 9.94552189e-01 1.34458783e-02 3.01195820e+00] [ 1.52089633e-01 2.44525750e-03 9.88363680e-01 -2.45297443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.653201008 meters Centerline goodness : 0.825456 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.82459879e-01 1.08158899e-01 -1.51902067e-01 1.76441864e+00] [-1.06604468e-01 9.94131900e-01 1.83644555e-02 3.00965299e+00] [ 1.52996970e-01 -1.84890168e-03 9.88224928e-01 -2.45100243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.683201008 meters Centerline goodness : 0.824033 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.82458254e-01 1.08248715e-01 -1.51848590e-01 1.76433337e+00] [-1.06732439e-01 9.94122555e-01 1.81254474e-02 3.01114335e+00] [ 1.52918164e-01 -1.60032506e-03 9.88237559e-01 -2.45115702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.713201008 meters Centerline goodness : 0.823697 Centerline is valid? [False, False] Translation: X:1.76, Y:3.01, Z:-2.45 [[ 9.82414908e-01 1.09196330e-01 -1.51450023e-01 1.76259657e+00] [-1.07713664e-01 9.94019278e-01 1.79844626e-02 3.01459226e+00] [ 1.52508080e-01 -1.35496723e-03 9.88301295e-01 -2.45101732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.743201008 meters Centerline goodness : 0.824870 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82435163e-01 1.09511661e-01 -1.51090523e-01 1.76169921e+00] [-1.08068244e-01 9.93984884e-01 1.77568573e-02 3.01685678e+00] [ 1.52126279e-01 -1.11687349e-03 9.88360434e-01 -2.45111457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.773201008 meters Centerline goodness : 0.825031 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82434412e-01 1.09947867e-01 -1.50778287e-01 1.76048377e+00] [-1.08521323e-01 9.93936843e-01 1.76826051e-02 3.01860267e+00] [ 1.51808259e-01 -1.00934049e-03 9.88409446e-01 -2.45086728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.803201008 meters Centerline goodness : 0.822444 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82345727e-01 1.10896083e-01 -1.50661645e-01 1.75902472e+00] [-1.09481028e-01 9.93831623e-01 1.76807757e-02 3.02115299e+00] [ 1.51693036e-01 -8.74042674e-04 9.88427265e-01 -2.45027521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.833201008 meters Centerline goodness : 0.823079 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82339552e-01 1.11197798e-01 -1.50479418e-01 1.75860945e+00] [-1.09827962e-01 9.93798128e-01 1.74097733e-02 3.02274062e+00] [ 1.51482092e-01 -5.75461132e-04 9.88459835e-01 -2.45067465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.863201008 meters Centerline goodness : 0.821155 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82348706e-01 1.11177373e-01 -1.50434741e-01 1.75896225e+00] [-1.09881919e-01 9.93800575e-01 1.69227954e-02 3.02432356e+00] [ 1.51383565e-01 -9.40281738e-05 9.88475092e-01 -2.45150740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.893201008 meters Centerline goodness : 0.821707 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 9.82358936e-01 1.11036183e-01 -1.50472210e-01 1.75951333e+00] [-1.09796985e-01 9.93816328e-01 1.65447273e-02 3.02537292e+00] [ 1.51378803e-01 2.68534333e-04 9.88475789e-01 -2.45215508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.923201008 meters Centerline goodness : 0.819842 Centerline is valid? [False, False] Translation: X:1.76, Y:3.03, Z:-2.45 [[ 9.82344731e-01 1.10294748e-01 -1.51108897e-01 1.76180960e+00] [-1.09070048e-01 9.93898852e-01 1.63950435e-02 3.02535649e+00] [ 1.51995246e-01 3.75869929e-04 9.88381153e-01 -2.45220958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.953201008 meters Centerline goodness : 0.819163 Centerline is valid? [False, False] Translation: X:1.76, Y:3.02, Z:-2.45 [[ 9.82330359e-01 1.09915220e-01 -1.51478417e-01 1.76287009e+00] [-1.08619146e-01 9.93940963e-01 1.68298258e-02 3.02346997e+00] [ 1.52410458e-01 -7.89925656e-05 9.88317280e-01 -2.45155619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.983201008 meters Centerline goodness : 0.818190 Centerline is valid? [False, False] Translation: X:1.77, Y:3.02, Z:-2.45 [[ 9.82343684e-01 1.08897709e-01 -1.52125522e-01 1.76506979e+00] [-1.07552429e-01 9.94052878e-01 1.70690069e-02 3.02132497e+00] [ 1.53079589e-01 -4.06161685e-04 9.88213780e-01 -2.45094209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.013201008 meters Centerline goodness : 0.819384 Centerline is valid? [False, False] Translation: X:1.77, Y:3.02, Z:-2.45 [[ 9.82343970e-01 1.08122097e-01 -1.52675923e-01 1.76694787e+00] [-1.06713790e-01 9.94137290e-01 1.74130960e-02 3.01944697e+00] [ 1.53663569e-01 -8.13023462e-04 9.88122890e-01 -2.45031969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.043201008 meters Centerline goodness : 0.817999 Centerline is valid? [False, False] Translation: X:1.77, Y:3.02, Z:-2.45 [[ 9.82418139e-01 1.04908458e-01 -1.54430616e-01 1.77473406e+00] [-1.03347518e-01 9.94480171e-01 1.81240318e-02 3.01706747e+00] [ 1.55479549e-01 -1.84535682e-03 9.87837388e-01 -2.44828161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.073201008 meters Centerline goodness : 0.819176 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 9.82393487e-01 1.04434975e-01 -1.54907628e-01 1.77630936e+00] [-1.02833077e-01 9.94529525e-01 1.83407442e-02 3.01564580e+00] [ 1.55975624e-01 -2.08819961e-03 9.87758697e-01 -2.44806174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.103201008 meters Centerline goodness : 0.818371 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 9.82381436e-01 1.04034047e-01 -1.55253441e-01 1.77746952e+00] [-1.02407265e-01 9.94571219e-01 1.84618925e-02 3.01474675e+00] [ 1.56331269e-01 -2.23754018e-03 9.87702145e-01 -2.44784125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13320100800001 meters Centerline goodness : 0.818371 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 9.82381436e-01 1.04034047e-01 -1.55253441e-01 1.77746952e+00] [-1.02407265e-01 9.94571219e-01 1.84618925e-02 3.01474675e+00] [ 1.56331269e-01 -2.23754018e-03 9.87702145e-01 -2.44784125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16320100800002 meters Centerline goodness : 0.820708 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 9.82359059e-01 1.03749013e-01 -1.55585415e-01 1.77861922e+00] [-1.02083147e-01 9.94600446e-01 1.86811257e-02 3.01423844e+00] [ 1.56683471e-01 -2.46892437e-03 9.87645784e-01 -2.44743523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19320100800002 meters Centerline goodness : 0.819976 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 9.82357816e-01 1.03610165e-01 -1.55685760e-01 1.77908295e+00] [-1.01931696e-01 9.94614720e-01 1.87479997e-02 3.01418107e+00] [ 1.56789832e-01 -2.54793048e-03 9.87628704e-01 -2.44736710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22320100800002 meters Centerline goodness : 0.816787 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 9.82382516e-01 1.03460419e-01 -1.55629477e-01 1.77939984e+00] [-1.01778375e-01 9.94630201e-01 1.87596924e-02 3.01434325e+00] [ 1.56734663e-01 -2.58947859e-03 9.87637352e-01 -2.44750546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25320100800002 meters Centerline goodness : 0.820337 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 0.98192387 0.10715643 -0.15602249 1.78171431] [-0.10468381 0.99421584 0.02400348 3.01143463] [ 0.15769216 -0.00723656 0.9874618 -2.44505551] [ 0. 0. 0. 1. ]] SLAMing on 138.283201008 meters Centerline goodness : 0.821329 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.45 [[ 0.98193883 0.10716237 -0.15592423 1.78158531] [-0.10472095 0.99421651 0.02381307 3.0122826 ] [ 0.15757431 -0.00705444 0.98748194 -2.44518869] [ 0. 0. 0. 1. ]] SLAMing on 138.313201008 meters Centerline goodness : 0.823491 Centerline is valid? [False, False] Translation: X:1.78, Y:3.01, Z:-2.44 [[ 0.98195813 0.10709452 -0.15584927 1.78147982] [-0.10467257 0.99422456 0.023689 3.01372127] [ 0.15748613 -0.00694847 0.98749675 -2.44487057] [ 0. 0. 0. 1. ]] SLAMing on 138.343201008 meters Centerline goodness : 0.824455 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.44 [[ 0.98226426 0.1046242 -0.15559787 1.77962092] [-0.10263822 0.99450197 0.02076587 3.01624094] [ 0.15691501 -0.00442728 0.98760219 -2.44498052] [ 0. 0. 0. 1. ]] SLAMing on 138.373201008 meters Centerline goodness : 0.825798 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.44 [[ 0.98224966 0.10463647 -0.15568179 1.77954991] [-0.10261874 0.99449982 0.02096407 3.01585399] [ 0.15701912 -0.00461608 0.98758477 -2.44442742] [ 0. 0. 0. 1. ]] SLAMing on 138.403201008 meters Centerline goodness : 0.826024 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.44 [[ 0.98224113 0.10455296 -0.15579167 1.77976398] [-0.10250251 0.99450766 0.02115991 3.0153394 ] [ 0.15714834 -0.0048151 0.98756327 -2.44398766] [ 0. 0. 0. 1. ]] SLAMing on 138.433201008 meters Centerline goodness : 0.824051 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.44 [[ 0.98229457 0.1037089 -0.15601873 1.78147997] [-0.10171804 0.99459762 0.02071261 3.01576722] [ 0.15732394 -0.00447596 0.98753691 -2.44464712] [ 0. 0. 0. 1. ]] SLAMing on 138.463201008 meters Centerline goodness : 0.822421 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.44 [[ 0.98230435 0.10318495 -0.1563043 1.78291087] [-0.10122228 0.99465288 0.0204865 3.01599775] [ 0.15758242 -0.0043025 0.98749646 -2.44495896] [ 0. 0. 0. 1. ]] SLAMing on 138.493201008 meters Centerline goodness : 0.821294 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 0.98229126 0.10299727 -0.1565102 1.78364613] [-0.10103559 0.99467241 0.0204598 3.01576017] [ 0.15778368 -0.00428438 0.98746441 -2.44503723] [ 0. 0. 0. 1. ]] SLAMing on 138.523201008 meters Centerline goodness : 0.820752 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 0.98228143 0.10301995 -0.15655695 1.78389341] [-0.10105751 0.99467008 0.02046508 3.01547965] [ 0.15783082 -0.00428122 0.98745689 -2.44513678] [ 0. 0. 0. 1. ]] SLAMing on 138.553201008 meters Centerline goodness : 0.820207 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 0.98226754 0.10308944 -0.15659834 1.78429955] [-0.10117769 0.99466424 0.0201523 3.01669842] [ 0.15784026 -0.0039507 0.98745676 -2.44563211] [ 0. 0. 0. 1. ]] SLAMing on 138.583201008 meters Centerline goodness : 0.819840 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 0.98228284 0.10310471 -0.15649231 1.78456936] [-0.10126639 0.99466435 0.0196965 3.01824592] [ 0.15768813 -0.00350013 0.98748276 -2.44651755] [ 0. 0. 0. 1. ]] SLAMing on 138.613201008 meters Centerline goodness : 0.817464 Centerline is valid? [False, False] Translation: X:1.78, Y:3.02, Z:-2.45 [[ 9.82304279e-01 1.03062185e-01 -1.56385705e-01 1.78496553e+00] [-1.01318087e-01 9.94670622e-01 1.91049217e-02 3.01993919e+00] [ 1.57521262e-01 -2.92214582e-03 9.87511272e-01 -2.44765658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.643201008 meters Centerline goodness : 0.821264 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.45 [[ 0.98183876 0.10661408 -0.15692703 1.78808979] [-0.10424331 0.99427921 0.02328501 3.01856687] [ 0.1585118 -0.00650353 0.98733566 -2.44704067] [ 0. 0. 0. 1. ]] SLAMing on 138.673201008 meters Centerline goodness : 0.821894 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.45 [[ 0.98182393 0.10662527 -0.15701219 1.78865015] [-0.10433169 0.99428114 0.0228017 3.02038611] [ 0.1585455 -0.0060059 0.98733341 -2.44775859] [ 0. 0. 0. 1. ]] SLAMing on 138.703201008 meters Centerline goodness : 0.816305 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.45 [[ 0.98178846 0.1073616 -0.15673198 1.78670273] [-0.10499712 0.99419923 0.02331285 3.02053364] [ 0.15832572 -0.00643188 0.98736599 -2.44640651] [ 0. 0. 0. 1. ]] SLAMing on 138.733201008 meters Centerline goodness : 0.818951 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.45 [[ 0.98178895 0.10765258 -0.15652916 1.7857365 ] [-0.10530039 0.99416822 0.02326732 3.02091174] [ 0.1581211 -0.00636102 0.98739924 -2.44616339] [ 0. 0. 0. 1. ]] SLAMing on 138.763201008 meters Centerline goodness : 0.818158 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.45 [[ 0.98180015 0.10784443 -0.15632675 1.78509709] [-0.10550911 0.99414801 0.02318522 3.0216096 ] [ 0.15791232 -0.00626935 0.98743323 -2.44615481] [ 0. 0. 0. 1. ]] SLAMing on 138.793201008 meters Centerline goodness : 0.816472 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.44 [[ 0.98136465 0.11134334 -0.15660806 1.78760354] [-0.10824882 0.99372438 0.02817876 3.01909271] [ 0.15876276 -0.010701 0.98725877 -2.44407615] [ 0. 0. 0. 1. ]] SLAMing on 138.823201008 meters Centerline goodness : 0.814816 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.44 [[ 0.98140419 0.11143753 -0.15629298 1.78691274] [-0.10835502 0.99371411 0.02813293 3.02017116] [ 0.1584456 -0.01067464 0.98731 -2.44398217] [ 0. 0. 0. 1. ]] SLAMing on 138.853201008 meters Centerline goodness : 0.814376 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.44 [[ 0.98142888 0.11143031 -0.15614302 1.78681507] [-0.10837631 0.99371653 0.02796473 3.02082723] [ 0.15827802 -0.01052318 0.98733851 -2.44429947] [ 0. 0. 0. 1. ]] SLAMing on 138.88320100800001 meters Centerline goodness : 0.812131 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.44 [[ 0.98145262 0.11156064 -0.15590053 1.78629995] [-0.10854415 0.99370404 0.02775695 3.02180446] [ 0.15801557 -0.01032004 0.98738269 -2.44454903] [ 0. 0. 0. 1. ]] SLAMing on 138.91320100800002 meters Centerline goodness : 0.811833 Centerline is valid? [False, False] Translation: X:1.79, Y:3.02, Z:-2.44 [[ 0.98146126 0.1116123 -0.15580913 1.78591584] [-0.10862582 0.99370006 0.02757934 3.02313332] [ 0.15790574 -0.01014315 0.98740209 -2.44438765] [ 0. 0. 0. 1. ]] SLAMing on 138.94320100800002 meters Centerline goodness : 0.812246 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.44 [[ 0.98145425 0.1118165 -0.15570686 1.78555019] [-0.10893171 0.99368342 0.02696554 3.02539763] [ 0.15773852 -0.00950403 0.98743518 -2.44492886] [ 0. 0. 0. 1. ]] SLAMing on 138.97320100800002 meters Centerline goodness : 0.811818 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98146889 0.11189003 -0.15556166 1.78552552] [-0.10909569 0.99368026 0.0264133 3.02670025] [ 0.15753394 -0.00895272 0.98747299 -2.44585494] [ 0. 0. 0. 1. ]] SLAMing on 139.003201008 meters Centerline goodness : 0.812592 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98148541 0.11190941 -0.15544347 1.7854834 ] [-0.10918355 0.99368173 0.02599195 3.02774572] [ 0.15737008 -0.00853885 0.98750278 -2.44641156] [ 0. 0. 0. 1. ]] SLAMing on 139.033201008 meters Centerline goodness : 0.812061 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98147727 0.11160192 -0.1557157 1.78645009] [-0.10896461 0.99372111 0.02539815 3.02936664] [ 0.15757246 -0.0079602 0.98747534 -2.44687902] [ 0. 0. 0. 1. ]] SLAMing on 139.063201008 meters Centerline goodness : 0.812234 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98145693 0.11205978 -0.15551498 1.78615471] [-0.10956858 0.99367658 0.02452712 3.03269346] [ 0.1572801 -0.00703275 0.98752899 -2.44831239] [ 0. 0. 0. 1. ]] SLAMing on 139.093201008 meters Centerline goodness : 0.811591 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98147515 0.11177758 -0.15560303 1.78741392] [-0.10941483 0.99371372 0.02369474 3.03504054] [ 0.15727341 -0.00623052 0.98753545 -2.44976695] [ 0. 0. 0. 1. ]] SLAMing on 139.123201008 meters Centerline goodness : 0.809479 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98149356 0.11158052 -0.15562834 1.78828446] [-0.10932616 0.99373985 0.02299767 3.03709211] [ 0.15722017 -0.00555781 0.98754794 -2.45100158] [ 0. 0. 0. 1. ]] SLAMing on 139.153201008 meters Centerline goodness : 0.808572 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98149568 0.11139839 -0.15574541 1.78904031] [-0.10921166 0.9937626 0.02255462 3.03821995] [ 0.15728651 -0.00512804 0.9875397 -2.45168727] [ 0. 0. 0. 1. ]] SLAMing on 139.183201008 meters Centerline goodness : 0.809366 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98147198 0.11103045 -0.15615697 1.79052657] [-0.10884892 0.99380409 0.02247963 3.03830636] [ 0.15768536 -0.00506561 0.98747641 -2.45167255] [ 0. 0. 0. 1. ]] SLAMing on 139.213201008 meters Centerline goodness : 0.814119 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98143998 0.11062123 -0.1566477 1.79195085] [-0.10844227 0.99385 0.02241546 3.03716604] [ 0.15816394 -0.00501219 0.98740015 -2.45171324] [ 0. 0. 0. 1. ]] SLAMing on 139.243201008 meters Centerline goodness : 0.812377 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98144037 0.1103608 -0.15682886 1.79268726] [-0.10818356 0.99387903 0.02237835 3.03659129] [ 0.15833861 -0.00499672 0.98737223 -2.45180984] [ 0. 0. 0. 1. ]] SLAMing on 139.273201008 meters Centerline goodness : 0.812173 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98143621 0.10997955 -0.15712246 1.79383106] [-0.10781617 0.99392178 0.02225252 3.03633299] [ 0.15861475 -0.00489909 0.98732839 -2.45196616] [ 0. 0. 0. 1. ]] SLAMing on 139.303201008 meters Centerline goodness : 0.814330 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 0.98142123 0.10977625 -0.15735802 1.7945871 ] [-0.10759771 0.99394386 0.02232337 3.03574475] [ 0.15885562 -0.00497727 0.98728928 -2.45193892] [ 0. 0. 0. 1. ]] SLAMing on 139.333201008 meters Centerline goodness : 0.814602 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98142354 0.10985696 -0.15728723 1.79415047] [-0.10757672 0.99393153 0.02296416 3.0342874 ] [ 0.15885551 -0.00561712 0.98728586 -2.45089278] [ 0. 0. 0. 1. ]] SLAMing on 139.363201008 meters Centerline goodness : 0.816215 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98141676 0.10971242 -0.15743038 1.79465837] [-0.10741682 0.99394701 0.02304294 3.03392271] [ 0.15900555 -0.00570405 0.98726121 -2.45079574] [ 0. 0. 0. 1. ]] SLAMing on 139.393201008 meters Centerline goodness : 0.817743 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98140975 0.10977855 -0.15742802 1.79479161] [-0.1074633 0.99393902 0.02317034 3.03341558] [ 0.15901745 -0.00582187 0.98725861 -2.45089235] [ 0. 0. 0. 1. ]] SLAMing on 139.423201008 meters Centerline goodness : 0.818659 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98137082 0.11009697 -0.15744831 1.79453695] [-0.10776269 0.99390327 0.02331291 3.0327158 ] [ 0.15905508 -0.00591156 0.98725201 -2.45076159] [ 0. 0. 0. 1. ]] SLAMing on 139.453201008 meters Centerline goodness : 0.822732 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98134373 0.11054577 -0.15730261 1.79387329] [-0.10820154 0.99385317 0.02341577 3.0328083 ] [ 0.15892421 -0.00595853 0.98727281 -2.45075088] [ 0. 0. 0. 1. ]] SLAMing on 139.483201008 meters Centerline goodness : 0.819514 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98134002 0.11058461 -0.15729844 1.79428332] [-0.10832012 0.99385173 0.02292352 3.03368497] [ 0.15886632 -0.00545718 0.98728502 -2.45170457] [ 0. 0. 0. 1. ]] SLAMing on 139.513201008 meters Centerline goodness : 0.823240 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 0.98128724 0.11147716 -0.15699743 1.79247203] [-0.10915971 0.9937503 0.02333436 3.03392223] [ 0.15861749 -0.00575992 0.98732331 -2.45095571] [ 0. 0. 0. 1. ]] SLAMing on 139.543201008 meters Centerline goodness : 0.823294 Centerline is valid? [False, False] Translation: X:1.79, Y:3.04, Z:-2.45 [[ 9.81748883e-01 1.07401328e-01 -1.56952497e-01 1.79105764e+00] [-1.05720682e-01 9.94213528e-01 1.90420143e-02 3.03569552e+00] [ 1.58089433e-01 -2.10135118e-03 9.87422562e-01 -2.45136798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.573201008 meters Centerline goodness : 0.824912 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 9.81735509e-01 1.06904450e-01 -1.57374806e-01 1.79250421e+00] [-1.05199743e-01 9.94266773e-01 1.91467756e-02 3.03469658e+00] [ 1.58519416e-01 -2.24128042e-03 9.87353316e-01 -2.45120369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.603201008 meters Centerline goodness : 0.824410 Centerline is valid? [False, False] Translation: X:1.79, Y:3.03, Z:-2.45 [[ 9.81724222e-01 1.06322396e-01 -1.57838844e-01 1.79427370e+00] [-1.04628887e-01 9.94329359e-01 1.90242578e-02 3.03404039e+00] [ 1.58966501e-01 -2.16207206e-03 9.87281610e-01 -2.45153077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63320100800001 meters Centerline goodness : 0.825994 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81751968e-01 1.04938404e-01 -1.58590685e-01 1.79792757e+00] [-1.03305434e-01 9.94477081e-01 1.85289823e-02 3.03270399e+00] [ 1.59659204e-01 -1.80758518e-03 9.87170538e-01 -2.45274999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66320100800002 meters Centerline goodness : 0.827724 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81723016e-01 1.04663214e-01 -1.58951348e-01 1.79905668e+00] [-1.02980712e-01 9.94505515e-01 1.88083202e-02 3.03146755e+00] [ 1.60046531e-01 -2.09563785e-03 9.87107247e-01 -2.45250951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69320100800002 meters Centerline goodness : 0.827250 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81689476e-01 1.04313821e-01 -1.59387579e-01 1.80051680e+00] [-1.02583680e-01 9.94541613e-01 1.90674619e-02 3.03003399e+00] [ 1.60506579e-01 -2.36776235e-03 9.87031930e-01 -2.45234501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72320100800002 meters Centerline goodness : 0.828518 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.82051447e-01 1.00907379e-01 -1.59350736e-01 1.79870630e+00] [-9.98048267e-02 9.94895046e-01 1.49279327e-02 3.03169328e+00] [ 1.60043596e-01 1.24397470e-03 9.87109163e-01 -2.45300457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.753201008 meters Centerline goodness : 0.830970 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81996921e-01 1.00929389e-01 -1.59672492e-01 1.79935186e+00] [-9.97389003e-02 9.94893323e-01 1.54734362e-02 3.03086485e+00] [ 1.60418821e-01 7.30692088e-04 9.87048767e-01 -2.45205509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.783201008 meters Centerline goodness : 0.832067 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81972456e-01 1.00834846e-01 -1.59882547e-01 1.79995460e+00] [-9.96069926e-02 9.94903046e-01 1.56963469e-02 3.03030521e+00] [ 1.60650372e-01 5.12039307e-04 9.87011244e-01 -2.45172129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.813201008 meters Centerline goodness : 0.833218 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81960798e-01 1.00806563e-01 -1.59971960e-01 1.80044452e+00] [-9.95959334e-02 9.94905848e-01 1.55885840e-02 3.03068298e+00] [ 1.60728470e-01 6.25178278e-04 9.86998464e-01 -2.45201600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.843201008 meters Centerline goodness : 0.834225 Centerline is valid? [False, False] Translation: X:1.80, Y:3.03, Z:-2.45 [[ 9.81949271e-01 1.00771512e-01 -1.60064771e-01 1.80095636e+00] [-9.95739639e-02 9.94909340e-01 1.55058297e-02 3.03142552e+00] [ 1.60812482e-01 7.12345569e-04 9.86984720e-01 -2.45221857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.873201008 meters Centerline goodness : 0.836033 Centerline is valid? [False, False] Translation: X:1.81, Y:3.03, Z:-2.45 [[ 0.9816645 0.10142181 -0.16139524 1.80910389] [-0.09951594 0.99483755 0.01987024 3.02920815] [ 0.16257732 -0.00344451 0.98668979 -2.45006691] [ 0. 0. 0. 1. ]] SLAMing on 139.903201008 meters Centerline goodness : 0.833016 Centerline is valid? [False, False] Translation: X:1.81, Y:3.03, Z:-2.45 [[ 0.98159621 0.10081023 -0.16219182 1.81139743] [-0.09886763 0.99489908 0.02002512 3.02821248] [ 0.16338323 -0.00362106 0.98655603 -2.44968072] [ 0. 0. 0. 1. ]] SLAMing on 139.933201008 meters Centerline goodness : 0.834224 Centerline is valid? [False, False] Translation: X:1.81, Y:3.03, Z:-2.45 [[ 9.82009725e-01 9.62918758e-02 -1.62433910e-01 1.81143857e+00] [-9.50485361e-02 9.95353098e-01 1.54267677e-02 3.03001765e+00] [ 1.63164568e-01 2.89869498e-04 9.86598824e-01 -2.45078507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.963201008 meters Centerline goodness : 0.836808 Centerline is valid? [False, False] Translation: X:1.81, Y:3.03, Z:-2.45 [[ 9.81929658e-01 9.56580897e-02 -1.63290162e-01 1.81367998e+00] [-9.42994437e-02 9.95414177e-01 1.60695424e-02 3.02784499e+00] [ 1.64078525e-01 -3.80988776e-04 9.86447207e-01 -2.44958043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.993201008 meters Centerline goodness : 0.836959 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.45 [[ 9.81895307e-01 9.42173756e-02 -1.64331044e-01 1.81732424e+00] [-9.27102859e-02 9.95550808e-01 1.68342486e-02 3.02418037e+00] [ 1.65185983e-01 -1.29429163e-03 9.86261586e-01 -2.44825936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.023201008 meters Centerline goodness : 0.836959 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.45 [[ 9.81895307e-01 9.42173756e-02 -1.64331044e-01 1.81732424e+00] [-9.27102859e-02 9.95550808e-01 1.68342486e-02 3.02418037e+00] [ 1.65185983e-01 -1.29429163e-03 9.86261586e-01 -2.44825936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.053201008 meters Centerline goodness : 0.839587 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.45 [[ 9.81829087e-01 9.38182163e-02 -1.64953893e-01 1.81888707e+00] [-9.22070193e-02 9.95587552e-01 1.74152589e-02 3.02218199e+00] [ 1.65859911e-01 -1.88890091e-03 9.86147515e-01 -2.44723669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.083201008 meters Centerline goodness : 0.839205 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.45 [[ 9.81795038e-01 9.39403015e-02 -1.65087015e-01 1.81886477e+00] [-9.22424096e-02 9.95574977e-01 1.79388638e-02 3.02064152e+00] [ 1.66041683e-01 -2.38426343e-03 9.86115853e-01 -2.44648222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.113201008 meters Centerline goodness : 0.840365 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98130831 0.09758581 -0.16586446 1.8217604 ] [-0.09494724 0.99519817 0.02378272 3.0164179 ] [ 0.16738886 -0.00758981 0.98586174 -2.44289071] [ 0. 0. 0. 1. ]] SLAMing on 140.143201008 meters Centerline goodness : 0.839460 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98129511 0.09762912 -0.16591705 1.82205898] [-0.09497882 0.99519348 0.02385299 3.01698087] [ 0.16744832 -0.00764822 0.98585119 -2.44275483] [ 0. 0. 0. 1. ]] SLAMing on 140.173201008 meters Centerline goodness : 0.836503 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98123122 0.09843155 -0.16582078 1.82091371] [-0.09576121 0.99511394 0.02404238 3.01862701] [ 0.1673771 -0.00771194 0.98586279 -2.4421672 ] [ 0. 0. 0. 1. ]] SLAMing on 140.203201008 meters Centerline goodness : 0.839582 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98070607 0.10271675 -0.16632763 1.82240069] [-0.09920077 0.994635 0.02933292 3.01581082] [ 0.16844826 -0.01226715 0.98563416 -2.43938616] [ 0. 0. 0. 1. ]] SLAMing on 140.233201008 meters Centerline goodness : 0.839144 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98068528 0.10298307 -0.16628551 1.82186658] [-0.09948047 0.99460863 0.02927983 3.01655832] [ 0.16840433 -0.01217214 0.98564285 -2.43913017] [ 0. 0. 0. 1. ]] SLAMing on 140.263201008 meters Centerline goodness : 0.835854 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98063782 0.10325955 -0.16639388 1.8215893 ] [-0.09980286 0.99458376 0.02902638 3.01843924] [ 0.1684899 -0.01185778 0.98563205 -2.4388325 ] [ 0. 0. 0. 1. ]] SLAMing on 140.293201008 meters Centerline goodness : 0.838839 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98060694 0.10308211 -0.16668564 1.82233337] [-0.09967986 0.99460635 0.02867288 3.01963307] [ 0.16874225 -0.01150162 0.9855931 -2.4389196 ] [ 0. 0. 0. 1. ]] SLAMing on 140.323201008 meters Centerline goodness : 0.836996 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98058001 0.10279618 -0.16702032 1.8232878 ] [-0.09944563 0.99463978 0.02832456 3.02067304] [ 0.16903671 -0.01116506 0.98554651 -2.43896671] [ 0. 0. 0. 1. ]] SLAMing on 140.353201008 meters Centerline goodness : 0.838230 Centerline is valid? [False, False] Translation: X:1.82, Y:3.02, Z:-2.44 [[ 0.98054763 0.10268575 -0.16727818 1.82379821] [-0.09935605 0.99465293 0.02817664 3.02132643] [ 0.16927707 -0.01100844 0.98550702 -2.43881301] [ 0. 0. 0. 1. ]] SLAMing on 140.38320100800001 meters Centerline goodness : 0.839021 Centerline is valid? [False, False] Translation: X:1.83, Y:3.02, Z:-2.44 [[ 0.98048467 0.1021323 -0.16798452 1.82545486] [-0.0987596 0.99470788 0.02833313 3.02080129] [ 0.16998926 -0.01119012 0.98538238 -2.4377966 ] [ 0. 0. 0. 1. ]] SLAMing on 140.41320100800002 meters Centerline goodness : 0.840891 Centerline is valid? [False, False] Translation: X:1.83, Y:3.02, Z:-2.44 [[ 0.98090593 0.0977504 -0.16813213 1.82509435] [-0.09512876 0.99518526 0.02359687 3.02343621] [ 0.16962922 -0.00715211 0.985482 -2.43900087] [ 0. 0. 0. 1. ]] SLAMing on 140.44320100800002 meters Centerline goodness : 0.839104 Centerline is valid? [False, False] Translation: X:1.83, Y:3.02, Z:-2.44 [[ 0.98086396 0.09716348 -0.16871619 1.82680902] [-0.09452876 0.99524241 0.02359801 3.02272583] [ 0.17020638 -0.00719791 0.98538215 -2.4387324 ] [ 0. 0. 0. 1. ]] SLAMing on 140.47320100800002 meters Centerline goodness : 0.841212 Centerline is valid? [False, False] Translation: X:1.83, Y:3.02, Z:-2.44 [[ 0.98082585 0.09633882 -0.1694092 1.82925556] [-0.09368532 0.99532196 0.02360649 3.02199551] [ 0.17089092 -0.0072827 0.98526304 -2.43853963] [ 0. 0. 0. 1. ]] SLAMing on 140.503201008 meters Centerline goodness : 0.838760 Centerline is valid? [False, False] Translation: X:1.83, Y:3.02, Z:-2.44 [[ 0.98078926 0.09563044 -0.1700213 1.83139847] [-0.09295846 0.99538965 0.02362579 3.02111787] [ 0.17149678 -0.007367 0.98515713 -2.43845704] [ 0. 0. 0. 1. ]] SLAMing on 140.533201008 meters Centerline goodness : 0.835712 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.44 [[ 0.98072691 0.09403508 -0.17126628 1.83580808] [-0.09135521 0.99554152 0.02347987 3.02090894] [ 0.17271063 -0.00738128 0.98494495 -2.43794917] [ 0. 0. 0. 1. ]] SLAMing on 140.563201008 meters Centerline goodness : 0.835122 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.44 [[ 0.98067574 0.09369875 -0.17174294 1.83713824] [-0.09096793 0.99557129 0.02371998 3.02081511] [ 0.17320487 -0.00763851 0.9848562 -2.43712542] [ 0. 0. 0. 1. ]] SLAMing on 140.593201008 meters Centerline goodness : 0.834522 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.44 [[ 0.98062776 0.0936682 -0.17203333 1.83749692] [-0.09088054 0.99557191 0.02402704 3.02037722] [ 0.17352212 -0.0079271 0.98479807 -2.43627977] [ 0. 0. 0. 1. ]] SLAMing on 140.623201008 meters Centerline goodness : 0.837071 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.44 [[ 0.98057997 0.09377261 -0.17224874 1.83747222] [-0.09090482 0.99555865 0.02448022 3.01967248] [ 0.1737793 -0.00834657 0.98474925 -2.43523246] [ 0. 0. 0. 1. ]] SLAMing on 140.653201008 meters Centerline goodness : 0.836478 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.98007611 0.09712058 -0.17325822 1.84121938] [-0.09320693 0.99517633 0.03060299 3.01693326] [ 0.17539466 -0.0138444 0.98440086 -2.43042685] [ 0. 0. 0. 1. ]] SLAMing on 140.683201008 meters Centerline goodness : 0.835866 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.98007879 0.0971931 -0.1732024 1.84104083] [-0.09332743 0.99517296 0.03034428 3.01854498] [ 0.1753156 -0.01357525 0.98441869 -2.43051696] [ 0. 0. 0. 1. ]] SLAMing on 140.713201008 meters Centerline goodness : 0.836833 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.97956678 0.10143222 -0.17366756 1.84258851] [-0.09667683 0.99467724 0.03564805 3.01703342] [ 0.17635903 -0.01813002 0.98415893 -2.42744072] [ 0. 0. 0. 1. ]] SLAMing on 140.743201008 meters Centerline goodness : 0.837658 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.97956474 0.1015675 -0.17360003 1.84207426] [-0.09686962 0.99466927 0.03534564 3.01881677] [ 0.17626458 -0.01780677 0.98418175 -2.42731071] [ 0. 0. 0. 1. ]] SLAMing on 140.773201008 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.97951146 0.10224969 -0.17350014 1.84039735] [-0.09756242 0.99460121 0.03535536 3.02048325] [ 0.17617853 -0.01770389 0.98419901 -2.42631658] [ 0. 0. 0. 1. ]] SLAMing on 140.803201008 meters Centerline goodness : 0.835289 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.97949039 0.10232285 -0.17357596 1.84021409] [-0.09768146 0.99459866 0.03509768 3.02141091] [ 0.17622971 -0.01742269 0.98419487 -2.42622822] [ 0. 0. 0. 1. ]] SLAMing on 140.833201008 meters Centerline goodness : 0.834863 Centerline is valid? [False, False] Translation: X:1.84, Y:3.02, Z:-2.43 [[ 0.97948546 0.10217265 -0.17369219 1.84076798] [-0.09765674 0.9946264 0.03437266 3.02347199] [ 0.17627079 -0.01670531 0.98419995 -2.42690557] [ 0. 0. 0. 1. ]] SLAMing on 140.863201008 meters Centerline goodness : 0.831863 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.43 [[ 0.97943704 0.10316543 -0.17337814 1.84002071] [-0.09884435 0.99454228 0.03339845 3.02848008] [ 0.17587745 -0.01557423 0.98428886 -2.42883653] [ 0. 0. 0. 1. ]] SLAMing on 140.893201008 meters Centerline goodness : 0.830666 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.43 [[ 0.97946356 0.10326469 -0.17316908 1.84008926] [-0.09910446 0.99454536 0.03252436 3.03086859] [ 0.17558312 -0.0146946 0.98435493 -2.43030171] [ 0. 0. 0. 1. ]] SLAMing on 140.923201008 meters Centerline goodness : 0.828657 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.43 [[ 0.97948772 0.10350373 -0.17288953 1.83979968] [-0.09945033 0.99452885 0.03196877 3.03247501] [ 0.17525251 -0.0141191 0.98442227 -2.43138577] [ 0. 0. 0. 1. ]] SLAMing on 140.953201008 meters Centerline goodness : 0.822450 Centerline is valid? [False, False] Translation: X:1.84, Y:3.04, Z:-2.43 [[ 0.97939966 0.10445716 -0.17281497 1.83924309] [-0.10056078 0.99444239 0.03117458 3.03523715] [ 0.17511094 -0.01315396 0.98446083 -2.43279372] [ 0. 0. 0. 1. ]] SLAMing on 140.983201008 meters Centerline goodness : 0.823602 Centerline is valid? [False, False] Translation: X:1.84, Y:3.04, Z:-2.43 [[ 0.97937445 0.10486353 -0.17271166 1.83875579] [-0.10105002 0.99440598 0.03075137 3.03693453] [ 0.17497021 -0.01266459 0.98449227 -2.43328676] [ 0. 0. 0. 1. ]] SLAMing on 141.013201008 meters Centerline goodness : 0.823657 Centerline is valid? [False, False] Translation: X:1.84, Y:3.04, Z:-2.43 [[ 0.97935886 0.10541661 -0.17246319 1.83784089] [-0.10168927 0.9943537 0.03033176 3.0386517 ] [ 0.17468688 -0.01216803 0.98454885 -2.43389104] [ 0. 0. 0. 1. ]] SLAMing on 141.043201008 meters Centerline goodness : 0.823792 Centerline is valid? [False, False] Translation: X:1.84, Y:3.04, Z:-2.43 [[ 0.97935345 0.10592081 -0.17218477 1.83707895] [-0.10226754 0.99430516 0.02997672 3.04014634] [ 0.17437936 -0.01174889 0.98460845 -2.43455587] [ 0. 0. 0. 1. ]] SLAMing on 141.073201008 meters Centerline goodness : 0.824386 Centerline is valid? [False, False] Translation: X:1.84, Y:3.04, Z:-2.44 [[ 0.97936182 0.10652993 -0.17176089 1.83601023] [-0.10291139 0.99424219 0.02986165 3.04093052] [ 0.17395308 -0.01156921 0.98468598 -2.43511132] [ 0. 0. 0. 1. ]] SLAMing on 141.103201008 meters Centerline goodness : 0.824334 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.97935535 0.10747602 -0.1712075 1.83446024] [-0.10392218 0.99414448 0.02961292 3.0413462 ] [ 0.17338767 -0.01120931 0.98478986 -2.43616433] [ 0. 0. 0. 1. ]] SLAMing on 141.13320100800001 meters Centerline goodness : 0.823366 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.97935349 0.10769845 -0.17107828 1.83410728] [-0.10414775 0.99412059 0.02962261 3.0414471 ] [ 0.17326275 -0.01119359 0.98481202 -2.43627707] [ 0. 0. 0. 1. ]] SLAMing on 141.16320100800002 meters Centerline goodness : 0.819752 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.97934572 0.10800568 -0.17092903 1.8335287 ] [-0.10441698 0.9940848 0.02987486 3.04102711] [ 0.17314461 -0.01140992 0.98483032 -2.43607635] [ 0. 0. 0. 1. ]] SLAMing on 141.19320100800002 meters Centerline goodness : 0.815502 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.97933219 0.10799673 -0.17101216 1.83393301] [-0.10431282 0.99407952 0.03040971 3.03883643] [ 0.17328384 -0.01194245 0.98479952 -2.43567265] [ 0. 0. 0. 1. ]] SLAMing on 141.22320100800002 meters Centerline goodness : 0.816315 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.97980352 0.10397977 -0.17080184 1.83270834] [-0.10099002 0.99454438 0.02612448 3.03971821] [ 0.17258642 -0.00834758 0.98495901 -2.43687051] [ 0. 0. 0. 1. ]] SLAMing on 141.253201008 meters Centerline goodness : 0.817590 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 0.98025008 0.09977314 -0.17074868 1.8318917 ] [-0.0974596 0.99499851 0.02189966 3.040136 ] [ 0.17207968 -0.00482605 0.98507121 -2.43780816] [ 0. 0. 0. 1. ]] SLAMing on 141.283201008 meters Centerline goodness : 0.817071 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 9.80704283e-01 9.56884844e-02 -1.70478219e-01 1.83048963e+00] [-9.40237340e-02 9.95410261e-01 1.78311374e-02 3.04030865e+00] [ 1.71402003e-01 -1.45807410e-03 9.85200095e-01 -2.43862070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.313201008 meters Centerline goodness : 0.815275 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 9.80696056e-01 9.52559935e-02 -1.70767507e-01 1.83178404e+00] [-9.34999999e-02 9.95450811e-01 1.83148126e-02 3.03776352e+00] [ 1.71735249e-01 -1.99450262e-03 9.85141120e-01 -2.43831851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.343201008 meters Centerline goodness : 0.814915 Centerline is valid? [False, False] Translation: X:1.83, Y:3.04, Z:-2.44 [[ 9.81166370e-01 8.96863402e-02 -1.71081601e-01 1.83427079e+00] [-8.86712000e-02 9.95968353e-01 1.35815716e-02 3.03719633e+00] [ 1.71609942e-01 1.84422954e-03 9.85163249e-01 -2.44085254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.373201008 meters Centerline goodness : 0.812785 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.44 [[ 9.81141145e-01 8.88932911e-02 -1.71639265e-01 1.83671342e+00] [-8.78242102e-02 9.96040014e-01 1.38274234e-02 3.03483475e+00] [ 1.72188741e-01 1.50742890e-03 9.85062823e-01 -2.44093535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.403201008 meters Centerline goodness : 0.813514 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.44 [[ 9.81140270e-01 8.80074728e-02 -1.72100130e-01 1.83906725e+00] [-8.68689982e-02 9.96119243e-01 1.41502790e-02 3.03191725e+00] [ 1.72677582e-01 1.06675736e-03 9.84977824e-01 -2.44094782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.433201008 meters Centerline goodness : 0.816339 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.44 [[ 9.81537486e-01 8.50138246e-02 -1.71338302e-01 1.83965360e+00] [-8.41290894e-02 9.96377315e-01 1.24314964e-02 3.02995325e+00] [ 1.71774446e-01 2.21255557e-03 9.85133821e-01 -2.44194933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.463201008 meters Centerline goodness : 0.817829 Centerline is valid? [False, False] Translation: X:1.84, Y:3.03, Z:-2.44 [[ 9.81506238e-01 8.43702516e-02 -1.71834704e-01 1.84125024e+00] [-8.32956811e-02 9.96433872e-01 1.34672792e-02 3.02627837e+00] [ 1.72358157e-01 1.09487018e-03 9.85033739e-01 -2.44041182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.493201008 meters Centerline goodness : 0.818456 Centerline is valid? [False, False] Translation: X:1.87, Y:3.02, Z:-2.42 [[ 0.98270306 0.07846351 -0.16774439 1.86768956] [-0.07488707 0.99681135 0.0275512 3.01784468] [ 0.16937127 -0.01451276 0.98544546 -2.42499526] [ 0. 0. 0. 1. ]] SLAMing on 141.523201008 meters Centerline goodness : 0.819033 Centerline is valid? [False, False] Translation: X:1.87, Y:3.02, Z:-2.42 [[ 0.98266768 0.07753583 -0.16838178 1.87026609] [-0.07377116 0.99686762 0.02850917 3.01536753] [ 0.17006482 -0.01559332 0.9853095 -2.42327842] [ 0. 0. 0. 1. ]] SLAMing on 141.553201008 meters Centerline goodness : 0.818996 Centerline is valid? [False, False] Translation: X:1.87, Y:3.01, Z:-2.42 [[ 0.98260672 0.07664653 -0.16914295 1.87306518] [-0.07271634 0.99692164 0.02931849 3.01298 ] [ 0.17086943 -0.01650909 0.98515536 -2.42172997] [ 0. 0. 0. 1. ]] SLAMing on 141.583201008 meters Centerline goodness : 0.821172 Centerline is valid? [False, False] Translation: X:1.88, Y:3.01, Z:-2.42 [[ 0.98255547 0.07583254 -0.16980628 1.87547949] [-0.07171041 0.99696554 0.03028733 3.01084499] [ 0.17158778 -0.0175821 0.98501193 -2.41992731] [ 0. 0. 0. 1. ]] SLAMing on 141.613201008 meters Centerline goodness : 0.823216 Centerline is valid? [False, False] Translation: X:1.88, Y:3.01, Z:-2.42 [[ 0.98290313 0.07031778 -0.1701671 1.87741038] [-0.06689742 0.99742732 0.02575814 3.01093888] [ 0.17154057 -0.01393402 0.98507851 -2.42130251] [ 0. 0. 0. 1. ]] SLAMing on 141.643201008 meters Centerline goodness : 0.824793 Centerline is valid? [False, False] Translation: X:1.88, Y:3.01, Z:-2.42 [[ 0.98286245 0.06963907 -0.17068043 1.87927274] [-0.06621991 0.99747528 0.02565134 3.01045846] [ 0.17203584 -0.0139093 0.98499249 -2.42127437] [ 0. 0. 0. 1. ]] SLAMing on 141.673201008 meters Centerline goodness : 0.826699 Centerline is valid? [False, False] Translation: X:1.88, Y:3.01, Z:-2.42 [[ 0.98286281 0.06929576 -0.17081799 1.88017667] [-0.06588779 0.99749995 0.02554683 3.01040075] [ 0.17216123 -0.01385421 0.98497136 -2.42150201] [ 0. 0. 0. 1. ]] SLAMing on 141.703201008 meters Centerline goodness : 0.829144 Centerline is valid? [False, False] Translation: X:1.85, Y:3.01, Z:-2.42 [[ 0.98429608 0.06692438 -0.16334735 1.85317563] [-0.06054547 0.99720717 0.0437277 3.01010225] [ 0.1658176 -0.03315107 0.98559907 -2.41931411] [ 0. 0. 0. 1. ]] SLAMing on 141.733201008 meters Centerline goodness : 0.829108 Centerline is valid? [False, False] Translation: X:1.85, Y:3.01, Z:-2.42 [[ 0.98432612 0.06673715 -0.16324288 1.85354593] [-0.06042846 0.99723221 0.04331659 3.01152351] [ 0.16568189 -0.03277313 0.98563453 -2.4199924 ] [ 0. 0. 0. 1. ]] SLAMing on 141.763201008 meters Centerline goodness : 0.831230 Centerline is valid? [False, False] Translation: X:1.85, Y:3.01, Z:-2.42 [[ 0.98434898 0.06641822 -0.16323513 1.854334 ] [-0.06020522 0.99727128 0.04272386 3.01285586] [ 0.16562735 -0.03222759 0.98566169 -2.42099011] [ 0. 0. 0. 1. ]] SLAMing on 141.793201008 meters Centerline goodness : 0.832680 Centerline is valid? [False, False] Translation: X:1.85, Y:3.01, Z:-2.42 [[ 0.98439277 0.06615557 -0.16307765 1.85465076] [-0.06004927 0.99730727 0.04209872 3.01478565] [ 0.16542359 -0.03164898 0.98571465 -2.42185879] [ 0. 0. 0. 1. ]] SLAMing on 141.823201008 meters Centerline goodness : 0.833071 Centerline is valid? [False, False] Translation: X:1.85, Y:3.02, Z:-2.42 [[ 0.9844461 0.06611507 -0.16277186 1.85443344] [-0.06012642 0.99732969 0.04145252 3.01706401] [ 0.16507785 -0.03102088 0.98579258 -2.42286805] [ 0. 0. 0. 1. ]] SLAMing on 141.853201008 meters Centerline goodness : 0.835894 Centerline is valid? [False, False] Translation: X:1.85, Y:3.02, Z:-2.42 [[ 0.9845148 0.06686831 -0.16204703 1.85277479] [-0.06107235 0.99731159 0.04049384 3.02233563] [ 0.16431913 -0.02997019 0.98595183 -2.42443384] [ 0. 0. 0. 1. ]] SLAMing on 141.88320100800001 meters Centerline goodness : 0.834476 Centerline is valid? [False, False] Translation: X:1.85, Y:3.03, Z:-2.43 [[ 0.98455105 0.0669436 -0.16179549 1.85247124] [-0.06133952 0.99733929 0.0393929 3.02541983] [ 0.1640021 -0.02885986 0.98603774 -2.42591521] [ 0. 0. 0. 1. ]] SLAMing on 141.91320100800002 meters Centerline goodness : 0.834103 Centerline is valid? [False, False] Translation: X:1.87, Y:3.03, Z:-2.43 [[ 0.98512368 0.06874422 -0.15749781 1.86784461] [-0.06469877 0.99743322 0.03067648 3.02873692] [ 0.15920237 -0.02003022 0.98704275 -2.42990056] [ 0. 0. 0. 1. ]] SLAMing on 141.94320100800002 meters Centerline goodness : 0.834103 Centerline is valid? [False, False] Translation: X:1.87, Y:3.03, Z:-2.43 [[ 0.98512527 0.06876527 -0.15747872 1.86779913] [-0.06472729 0.99743267 0.03063424 3.02882457] [ 0.15918099 -0.01998539 0.98704711 -2.42994607] [ 0. 0. 0. 1. ]] SLAMing on 141.97320100800002 meters Centerline goodness : 0.834196 Centerline is valid? [False, False] Translation: X:1.87, Y:3.03, Z:-2.43 [[ 0.98478289 0.07319508 -0.1576234 1.86874677] [-0.06853219 0.99704092 0.03482449 3.0291623 ] [ 0.15970596 -0.02349229 0.98688506 -2.42901001] [ 0. 0. 0. 1. ]] SLAMing on 142.003201008 meters Centerline goodness : 0.833266 Centerline is valid? [False, False] Translation: X:1.87, Y:3.03, Z:-2.43 [[ 0.98453775 0.07850449 -0.15659652 1.86654756] [-0.07331013 0.99655868 0.03868374 3.03206123] [ 0.15909447 -0.02660549 0.98690481 -2.4288829 ] [ 0. 0. 0. 1. ]] SLAMing on 142.033201008 meters Centerline goodness : 0.832863 Centerline is valid? [False, False] Translation: X:1.88, Y:3.04, Z:-2.43 [[ 0.98517437 0.08022448 -0.15164263 1.8815649 ] [-0.07645018 0.99660474 0.03056749 3.03526018] [ 0.15358002 -0.0185212 0.98796262 -2.43228338] [ 0. 0. 0. 1. ]] SLAMing on 142.063201008 meters Centerline goodness : 0.832557 Centerline is valid? [False, False] Translation: X:1.88, Y:3.04, Z:-2.43 [[ 0.9852526 0.08067871 -0.15089152 1.88002281] [-0.07702437 0.99658024 0.0299178 3.03813668] [ 0.15278924 -0.01785426 0.9880975 -2.43339501] [ 0. 0. 0. 1. ]] SLAMing on 142.093201008 meters Centerline goodness : 0.832430 Centerline is valid? [False, False] Translation: X:1.88, Y:3.04, Z:-2.43 [[ 0.98530207 0.08098427 -0.15040403 1.8790412 ] [-0.07745048 0.99656803 0.02921604 3.04106169] [ 0.15225389 -0.01713776 0.98819282 -2.43438071] [ 0. 0. 0. 1. ]] SLAMing on 142.123201008 meters Centerline goodness : 0.829936 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.44 [[ 0.98537816 0.08154447 -0.14960071 1.87790863] [-0.07832081 0.99655366 0.02732487 3.04591003] [ 0.15131333 -0.01520849 0.98836885 -2.43789761] [ 0. 0. 0. 1. ]] SLAMing on 142.153201008 meters Centerline goodness : 0.830086 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.44 [[ 0.98541423 0.08177869 -0.14923487 1.87721613] [-0.07863924 0.99654209 0.02682801 3.04738901] [ 0.15091279 -0.01470099 0.98843776 -2.43874697] [ 0. 0. 0. 1. ]] SLAMing on 142.183201008 meters Centerline goodness : 0.830566 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.44 [[ 0.98544584 0.08198044 -0.14891512 1.87661416] [-0.0789067 0.99653123 0.02644322 3.04835161] [ 0.15056639 -0.01430796 0.98849636 -2.43940345] [ 0. 0. 0. 1. ]] SLAMing on 142.213201008 meters Centerline goodness : 0.828080 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.44 [[ 0.98548358 0.08180133 -0.14876373 1.87709568] [-0.07884149 0.99655594 0.02569586 3.04961161] [ 0.15035333 -0.01359409 0.98853886 -2.44077693] [ 0. 0. 0. 1. ]] SLAMing on 142.243201008 meters Centerline goodness : 0.828953 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.44 [[ 0.98550802 0.08140777 -0.1488177 1.87846744] [-0.07858268 0.99659968 0.02477594 3.05142912] [ 0.15032863 -0.0127224 0.98855422 -2.44256157] [ 0. 0. 0. 1. ]] SLAMing on 142.273201008 meters Centerline goodness : 0.827711 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.45 [[ 0.98556428 0.08158189 -0.14834905 1.87928584] [-0.07891678 0.9965977 0.02377336 3.05408145] [ 0.14978379 -0.01172294 0.98864927 -2.44572818] [ 0. 0. 0. 1. ]] SLAMing on 142.303201008 meters Centerline goodness : 0.829323 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.45 [[ 0.98558391 0.0813169 -0.14836412 1.88041482] [-0.07874714 0.99662641 0.02312321 3.0546227 ] [ 0.14974391 -0.01110661 0.98866243 -2.44733095] [ 0. 0. 0. 1. ]] SLAMing on 142.333201008 meters Centerline goodness : 0.828535 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.45 [[ 0.98559402 0.08133402 -0.14828754 1.88072567] [-0.07878912 0.99662673 0.02296598 3.05418205] [ 0.14965525 -0.01095169 0.98867759 -2.4481089 ] [ 0. 0. 0. 1. ]] SLAMing on 142.363201008 meters Centerline goodness : 0.829000 Centerline is valid? [False, False] Translation: X:1.88, Y:3.05, Z:-2.45 [[ 0.98559546 0.08139401 -0.14824511 1.88090937] [-0.07885763 0.99662243 0.0229173 3.05361751] [ 0.14960973 -0.01089693 0.98868508 -2.44856921] [ 0. 0. 0. 1. ]] SLAMing on 142.393201008 meters Centerline goodness : 0.831660 Centerline is valid? [False, False] Translation: X:1.90, Y:3.05, Z:-2.45 [[ 0.98620529 0.08342178 -0.14296829 1.89538644] [-0.08202902 0.99650755 0.01561876 3.05361379] [ 0.14377192 -0.00367575 0.98960402 -2.45127112] [ 0. 0. 0. 1. ]] SLAMing on 142.423201008 meters Centerline goodness : 0.833479 Centerline is valid? [False, False] Translation: X:1.89, Y:3.05, Z:-2.45 [[ 0.98623732 0.08408043 -0.14236019 1.89390265] [-0.08265589 0.99645128 0.01590141 3.05343448] [ 0.14319199 -0.00391565 0.98968718 -2.45150675] [ 0. 0. 0. 1. ]] SLAMing on 142.453201008 meters Centerline goodness : 0.834297 Centerline is valid? [False, False] Translation: X:1.89, Y:3.05, Z:-2.45 [[ 0.98623562 0.08457612 -0.14207805 1.89302064] [-0.08312931 0.99640872 0.0160989 3.05317075] [ 0.14292939 -0.00406646 0.98972453 -2.45159059] [ 0. 0. 0. 1. ]] SLAMing on 142.483201008 meters Centerline goodness : 0.833154 Centerline is valid? [False, False] Translation: X:1.89, Y:3.05, Z:-2.45 [[ 0.98626657 0.08532247 -0.14141545 1.89193094] [-0.08391321 0.99634605 0.01590994 3.05276686] [ 0.1422562 -0.00382482 0.98982248 -2.45322124] [ 0. 0. 0. 1. ]] SLAMing on 142.513201008 meters Centerline goodness : 0.834250 Centerline is valid? [False, False] Translation: X:1.89, Y:3.05, Z:-2.45 [[ 0.98627713 0.08509185 -0.14148074 1.89291986] [-0.08371219 0.99636651 0.0156859 3.0523582 ] [ 0.14230142 -0.00362698 0.98981673 -2.45418092] [ 0. 0. 0. 1. ]] SLAMing on 142.543201008 meters Centerline goodness : 0.836260 Centerline is valid? [False, False] Translation: X:1.89, Y:3.05, Z:-2.45 [[ 0.9862737 0.08454798 -0.14183025 1.89459406] [-0.08319268 0.99641341 0.01546909 3.05192236] [ 0.14262944 -0.00345752 0.98977012 -2.45480778] [ 0. 0. 0. 1. ]] SLAMing on 142.573201008 meters Centerline goodness : 0.834937 Centerline is valid? [False, False] Translation: X:1.90, Y:3.05, Z:-2.46 [[ 0.9862562 0.08408552 -0.14222636 1.89619189] [-0.08273671 0.99645273 0.01538146 3.05122237] [ 0.1430152 -0.00340272 0.98971464 -2.45523491] [ 0. 0. 0. 1. ]] SLAMing on 142.603201008 meters Centerline goodness : 0.837130 Centerline is valid? [False, False] Translation: X:1.91, Y:3.05, Z:-2.45 [[ 0.9862004 0.08310361 -0.14318718 1.90520232] [-0.08130304 0.99651975 0.01839058 3.04902359] [ 0.14421718 -0.00649525 0.98952474 -2.45475058] [ 0. 0. 0. 1. ]] SLAMing on 142.63320100800001 meters Centerline goodness : 0.838656 Centerline is valid? [False, False] Translation: X:1.91, Y:3.05, Z:-2.46 [[ 0.98616073 0.08224576 -0.14395364 1.90820394] [-0.0804852 0.99659288 0.018021 3.04825042] [ 0.14494532 -0.00618546 0.98942033 -2.45565727] [ 0. 0. 0. 1. ]] SLAMing on 142.66320100800002 meters Centerline goodness : 0.836989 Centerline is valid? [False, False] Translation: X:1.91, Y:3.05, Z:-2.46 [[ 0.98612929 0.08145031 -0.14461975 1.91080868] [-0.07970657 0.99665906 0.0178206 3.04681634] [ 0.14558808 -0.00604627 0.98932682 -2.45624114] [ 0. 0. 0. 1. ]] SLAMing on 142.69320100800002 meters Centerline goodness : 0.838614 Centerline is valid? [False, False] Translation: X:1.91, Y:3.05, Z:-2.46 [[ 0.98607399 0.08078229 -0.14536954 1.91309173] [-0.07904118 0.9967138 0.01772291 3.0458645 ] [ 0.14632352 -0.00598592 0.98921868 -2.45625895] [ 0. 0. 0. 1. ]] SLAMing on 142.72320100800002 meters Centerline goodness : 0.838699 Centerline is valid? [False, False] Translation: X:1.91, Y:3.05, Z:-2.46 [[ 0.98604379 0.08030755 -0.14583672 1.91490143] [-0.07859688 0.9967535 0.01746381 3.04535867] [ 0.14676573 -0.00575777 0.98915452 -2.45680527] [ 0. 0. 0. 1. ]] SLAMing on 142.753201008 meters Centerline goodness : 0.840724 Centerline is valid? [False, False] Translation: X:1.92, Y:3.04, Z:-2.46 [[ 0.98570938 0.08239398 -0.14692939 1.92073859] [-0.08001348 0.99654989 0.02204919 3.0420882 ] [ 0.14823918 -0.00997776 0.9889012 -2.45520102] [ 0. 0. 0. 1. ]] SLAMing on 142.783201008 meters Centerline goodness : 0.841694 Centerline is valid? [False, False] Translation: X:1.92, Y:3.04, Z:-2.46 [[ 0.98569939 0.08219437 -0.14710812 1.92163687] [-0.0798093 0.99656618 0.02205283 3.04188159] [ 0.1484156 -0.00999686 0.98887455 -2.45538054] [ 0. 0. 0. 1. ]] SLAMing on 142.813201008 meters Centerline goodness : 0.839705 Centerline is valid? [False, False] Translation: X:1.92, Y:3.04, Z:-2.46 [[ 0.98570435 0.08205429 -0.1471531 1.92228898] [-0.07966293 0.99657726 0.02208137 3.04150674] [ 0.1484613 -0.01004306 0.98886722 -2.45573691] [ 0. 0. 0. 1. ]] SLAMing on 142.843201008 meters Centerline goodness : 0.838086 Centerline is valid? [False, False] Translation: X:1.92, Y:3.04, Z:-2.46 [[ 0.98566673 0.08135496 -0.14779196 1.92477258] [-0.07895833 0.99663466 0.02202132 3.04075987] [ 0.14908614 -0.01003628 0.98877328 -2.45598849] [ 0. 0. 0. 1. ]] SLAMing on 142.873201008 meters Centerline goodness : 0.839703 Centerline is valid? [False, False] Translation: X:1.93, Y:3.04, Z:-2.46 [[ 0.98561957 0.0807131 -0.14845691 1.92720333] [-0.0782867 0.99668534 0.02212532 3.03936646] [ 0.14975063 -0.01018495 0.98867134 -2.45600657] [ 0. 0. 0. 1. ]] SLAMing on 142.903201008 meters Centerline goodness : 0.839812 Centerline is valid? [False, False] Translation: X:1.94, Y:3.04, Z:-2.45 [[ 0.98577826 0.075733 -0.15001915 1.93690784] [-0.07302884 0.99705384 0.02346125 3.03524762] [ 0.15135396 -0.01217187 0.98840469 -2.45223216] [ 0. 0. 0. 1. ]] SLAMing on 142.933201008 meters Centerline goodness : 0.841470 Centerline is valid? [False, False] Translation: X:1.94, Y:3.04, Z:-2.45 [[ 0.98609854 0.07083637 -0.15030596 1.9377354 ] [-0.06873999 0.99745168 0.01910404 3.03545754] [ 0.1512762 -0.00850644 0.98845493 -2.45312264] [ 0. 0. 0. 1. ]] SLAMing on 142.963201008 meters Centerline goodness : 0.842385 Centerline is valid? [False, False] Translation: X:1.94, Y:3.03, Z:-2.45 [[ 0.98605103 0.0700574 -0.15098124 1.93998766] [-0.06782004 0.99749861 0.01992395 3.03264784] [ 0.15199939 -0.00940648 0.98833582 -2.45176943] [ 0. 0. 0. 1. ]] SLAMing on 142.993201008 meters Centerline goodness : 0.842160 Centerline is valid? [False, False] Translation: X:1.94, Y:3.03, Z:-2.45 [[ 0.98598394 0.06927097 -0.15178014 1.94220226] [-0.0669168 0.9975465 0.02057005 3.03014565] [ 0.15283266 -0.0101251 0.98820021 -2.45043157] [ 0. 0. 0. 1. ]] SLAMing on 143.023201008 meters Centerline goodness : 0.843607 Centerline is valid? [False, False] Translation: X:1.94, Y:3.03, Z:-2.45 [[ 0.98590636 0.06854206 -0.1526127 1.9441018 ] [-0.0658178 0.99757027 0.02283778 3.02507853] [ 0.15380724 -0.01247128 0.98802217 -2.446163 ] [ 0. 0. 0. 1. ]] SLAMing on 143.053201008 meters Centerline goodness : 0.842853 Centerline is valid? [False, False] Translation: X:1.95, Y:3.02, Z:-2.45 [[ 0.98585227 0.06806899 -0.15317283 1.94570457] [-0.06528661 0.9975985 0.02312791 3.02414471] [ 0.15437928 -0.01280057 0.98792873 -2.44539741] [ 0. 0. 0. 1. ]] SLAMing on 143.083201008 meters Centerline goodness : 0.842223 Centerline is valid? [False, False] Translation: X:1.95, Y:3.02, Z:-2.44 [[ 0.98553812 0.07122023 -0.15376052 1.94878039] [-0.06771319 0.99731373 0.02793294 3.02081602] [ 0.15533687 -0.01711736 0.98771324 -2.44344962] [ 0. 0. 0. 1. ]] SLAMing on 143.113201008 meters Centerline goodness : 0.841521 Centerline is valid? [False, False] Translation: X:1.95, Y:3.02, Z:-2.44 [[ 0.9854951 0.07071488 -0.15426863 1.95088319] [-0.06725921 0.99735614 0.02751235 3.02083511] [ 0.1558063 -0.0167373 0.98764582 -2.44429353] [ 0. 0. 0. 1. ]] SLAMing on 143.143201008 meters Centerline goodness : 0.842382 Centerline is valid? [False, False] Translation: X:1.95, Y:3.02, Z:-2.45 [[ 0.985454 0.07025414 -0.15474095 1.95298853] [-0.06689752 0.99739986 0.0267999 3.02118233] [ 0.15622141 -0.01605828 0.98759152 -2.44573073] [ 0. 0. 0. 1. ]] SLAMing on 143.173201008 meters Centerline goodness : 0.842704 Centerline is valid? [False, False] Translation: X:1.95, Y:3.02, Z:-2.45 [[ 0.98542536 0.07001561 -0.15503122 1.95410938] [-0.06670726 0.99742203 0.02644687 3.02166436] [ 0.15648325 -0.0157197 0.98755551 -2.44623853] [ 0. 0. 0. 1. ]] SLAMing on 143.203201008 meters Centerline goodness : 0.844847 Centerline is valid? [False, False] Translation: X:1.96, Y:3.02, Z:-2.45 [[ 0.9853852 0.0696233 -0.15546255 1.95570516] [-0.06636368 0.99745497 0.02606623 3.02217003] [ 0.15688171 -0.01536821 0.98749782 -2.44671423] [ 0. 0. 0. 1. ]] SLAMing on 143.233201008 meters Centerline goodness : 0.846814 Centerline is valid? [False, False] Translation: X:1.96, Y:3.02, Z:-2.45 [[ 0.98537355 0.06958253 -0.15555461 1.95613181] [-0.06639059 0.99746453 0.02562811 3.0227334 ] [ 0.15694347 -0.0149259 0.98749479 -2.44738682] [ 0. 0. 0. 1. ]] SLAMing on 143.263201008 meters Centerline goodness : 0.847350 Centerline is valid? [False, False] Translation: X:1.96, Y:3.02, Z:-2.45 [[ 0.98530397 0.06981322 -0.15589163 1.95649737] [-0.06664386 0.99745164 0.02547188 3.02456578] [ 0.15727264 -0.01470832 0.98744569 -2.44708255] [ 0. 0. 0. 1. ]] SLAMing on 143.293201008 meters Centerline goodness : 0.848462 Centerline is valid? [False, False] Translation: X:1.96, Y:3.03, Z:-2.45 [[ 0.9852808 0.06942941 -0.15620915 1.95778101] [-0.06634622 0.99748662 0.02487208 3.02577437] [ 0.15754339 -0.01414209 0.9874108 -2.44775461] [ 0. 0. 0. 1. ]] SLAMing on 143.323201008 meters Centerline goodness : 0.844875 Centerline is valid? [False, False] Translation: X:1.96, Y:3.03, Z:-2.45 [[ 0.98525089 0.06873732 -0.1567031 1.95972938] [-0.06574346 0.99754269 0.02421528 3.02742414] [ 0.15798252 -0.01355592 0.98734885 -2.44831115] [ 0. 0. 0. 1. ]] SLAMing on 143.353201008 meters Centerline goodness : 0.847030 Centerline is valid? [False, False] Translation: X:1.96, Y:3.03, Z:-2.45 [[ 0.98522274 0.06800186 -0.15720017 1.96176889] [-0.06511584 0.99760231 0.0234428 3.02906943] [ 0.15841741 -0.01286016 0.98728848 -2.44909531] [ 0. 0. 0. 1. ]] SLAMing on 143.38320100800001 meters Centerline goodness : 0.846163 Centerline is valid? [False, False] Translation: X:1.96, Y:3.03, Z:-2.45 [[ 0.98521233 0.06748371 -0.15748845 1.96307323] [-0.06467419 0.99764359 0.02290251 3.0309976 ] [ 0.15866289 -0.0123784 0.98725522 -2.44947297] [ 0. 0. 0. 1. ]] SLAMing on 143.41320100800002 meters Centerline goodness : 0.846460 Centerline is valid? [False, False] Translation: X:1.97, Y:3.03, Z:-2.45 [[ 0.98516493 0.06678783 -0.1580805 1.96501948] [-0.06402978 0.99769472 0.02248205 3.03172539] [ 0.1592176 -0.01202667 0.98717026 -2.44959597] [ 0. 0. 0. 1. ]] SLAMing on 143.44320100800002 meters Centerline goodness : 0.846312 Centerline is valid? [False, False] Translation: X:1.97, Y:3.03, Z:-2.45 [[ 0.98511259 0.06615769 -0.15867056 1.9667544 ] [-0.06341318 0.9977381 0.02230357 3.03227845] [ 0.15978722 -0.01190972 0.98707963 -2.44916043] [ 0. 0. 0. 1. ]] SLAMing on 143.47320100800002 meters Centerline goodness : 0.847771 Centerline is valid? [False, False] Translation: X:1.97, Y:3.03, Z:-2.45 [[ 0.98506041 0.06556409 -0.15923987 1.9683111 ] [-0.06281141 0.99777705 0.02226399 3.0323292 ] [ 0.1603456 -0.01192929 0.98698884 -2.44850324] [ 0. 0. 0. 1. ]] SLAMing on 143.503201008 meters Centerline goodness : 0.845993 Centerline is valid? [False, False] Translation: X:1.97, Y:3.03, Z:-2.45 [[ 0.98499212 0.0650912 -0.15985512 1.96978628] [-0.06230998 0.99780645 0.02235512 3.03215695] [ 0.1609596 -0.01205905 0.98688732 -2.44765807] [ 0. 0. 0. 1. ]] SLAMing on 143.533201008 meters Centerline goodness : 0.846391 Centerline is valid? [False, False] Translation: X:1.97, Y:3.03, Z:-2.45 [[ 0.9849529 0.06450822 -0.16033241 1.97140283] [-0.0617614 0.99784708 0.02206209 3.03260971] [ 0.16141041 -0.01182776 0.98681649 -2.44772138] [ 0. 0. 0. 1. ]] SLAMing on 143.563201008 meters Centerline goodness : 0.840922 Centerline is valid? [False, False] Translation: X:1.98, Y:3.04, Z:-2.45 [[ 0.98489368 0.06260513 -0.16144671 1.97662911] [-0.0600853 0.99798378 0.02044805 3.03586411] [ 0.16240135 -0.01043858 0.98666957 -2.44984895] [ 0. 0. 0. 1. ]] SLAMing on 143.593201008 meters Centerline goodness : 0.838915 Centerline is valid? [False, False] Translation: X:1.98, Y:3.04, Z:-2.45 [[ 0.98486672 0.06156061 -0.16201182 1.97966375] [-0.05918096 0.99805722 0.01947796 3.03773418] [ 0.16289615 -0.00959518 0.98659656 -2.45132639] [ 0. 0. 0. 1. ]] SLAMing on 143.623201008 meters Centerline goodness : 0.837429 Centerline is valid? [False, False] Translation: X:1.99, Y:3.04, Z:-2.45 [[ 0.98443538 0.06293159 -0.16409324 1.98813925] [-0.05975929 0.99791937 0.02420264 3.03685981] [ 0.16527494 -0.01401984 0.98614788 -2.44823016] [ 0. 0. 0. 1. ]] SLAMing on 143.653201008 meters Centerline goodness : 0.835688 Centerline is valid? [False, False] Translation: X:1.99, Y:3.04, Z:-2.45 [[ 0.98433475 0.06144064 -0.16525782 1.99222162] [-0.05840362 0.99802392 0.02317905 3.03883619] [ 0.16635539 -0.01316429 0.98597798 -2.44878613] [ 0. 0. 0. 1. ]] SLAMing on 143.683201008 meters Centerline goodness : 0.835954 Centerline is valid? [False, False] Translation: X:1.99, Y:3.04, Z:-2.45 [[ 0.98425477 0.06083953 -0.16595511 1.99399007] [-0.0577652 0.9980584 0.02329383 3.03903259] [ 0.16705008 -0.01334063 0.98585815 -2.44764426] [ 0. 0. 0. 1. ]] SLAMing on 143.713201008 meters Centerline goodness : 0.836468 Centerline is valid? [False, False] Translation: X:2.00, Y:3.04, Z:-2.45 [[ 0.98416976 0.06005191 -0.16674428 1.99607354] [-0.05698038 0.9981069 0.02314836 3.03932738] [ 0.16781872 -0.01328076 0.98572841 -2.44692642] [ 0. 0. 0. 1. ]] SLAMing on 143.743201008 meters Centerline goodness : 0.838687 Centerline is valid? [False, False] Translation: X:2.00, Y:3.04, Z:-2.45 [[ 0.9840932 0.05934628 -0.16744726 1.99821165] [-0.05628111 0.9981501 0.02299611 3.04005201] [ 0.16850223 -0.0132062 0.9856128 -2.44642262] [ 0. 0. 0. 1. ]] SLAMing on 143.773201008 meters Centerline goodness : 0.837337 Centerline is valid? [False, False] Translation: X:2.01, Y:3.04, Z:-2.45 [[ 0.98369105 0.06086189 -0.16925648 2.00596721] [-0.05717855 0.99801072 0.02655609 3.04124633] [ 0.17053604 -0.01644515 0.9852142 -2.44510148] [ 0. 0. 0. 1. ]] SLAMing on 143.803201008 meters Centerline goodness : 0.832356 Centerline is valid? [False, False] Translation: X:2.01, Y:3.04, Z:-2.45 [[ 0.98364442 0.0597301 -0.1699293 2.00908902] [-0.05623252 0.99809644 0.02532579 3.04421315] [ 0.17111854 -0.01535602 0.98513077 -2.44649083] [ 0. 0. 0. 1. ]] SLAMing on 143.833201008 meters Centerline goodness : 0.832356 Centerline is valid? [False, False] Translation: X:2.01, Y:3.04, Z:-2.45 [[ 0.98364446 0.05973043 -0.16992897 2.00908821] [-0.05623289 0.99809643 0.02532561 3.04421363] [ 0.1711182 -0.0153558 0.98513083 -2.44649109] [ 0. 0. 0. 1. ]] SLAMing on 143.863201008 meters Centerline goodness : 0.832409 Centerline is valid? [False, False] Translation: X:2.01, Y:3.04, Z:-2.44 [[ 0.98324418 0.06282416 -0.17112572 2.01370842] [-0.05854669 0.99783577 0.02993413 3.0433523 ] [ 0.17263595 -0.01941372 0.98479436 -2.44447119] [ 0. 0. 0. 1. ]] SLAMing on 143.893201008 meters Centerline goodness : 0.832676 Centerline is valid? [False, False] Translation: X:2.02, Y:3.05, Z:-2.45 [[ 0.98321528 0.0621519 -0.17153674 2.01549791] [-0.05801247 0.99789326 0.0290446 3.04536354] [ 0.17298053 -0.01860583 0.98474949 -2.44533128] [ 0. 0. 0. 1. ]] SLAMing on 143.923201008 meters Centerline goodness : 0.835003 Centerline is valid? [False, False] Translation: X:2.02, Y:3.05, Z:-2.45 [[ 0.98313662 0.06161402 -0.17218044 2.01715277] [-0.05752284 0.99793287 0.02865509 3.0465484 ] [ 0.17359007 -0.01826756 0.98464856 -2.44505498] [ 0. 0. 0. 1. ]] SLAMing on 143.953201008 meters Centerline goodness : 0.837111 Centerline is valid? [False, False] Translation: X:2.02, Y:3.05, Z:-2.44 [[ 0.98306075 0.06126553 -0.17273706 2.01839601] [-0.05717697 0.99795572 0.02855124 3.04715856] [ 0.17413314 -0.01819103 0.98455408 -2.44443381] [ 0. 0. 0. 1. ]] SLAMing on 143.983201008 meters Centerline goodness : 0.833755 Centerline is valid? [False, False] Translation: X:2.02, Y:3.05, Z:-2.44 [[ 0.98265016 0.06497168 -0.17371627 2.02093705] [-0.05998185 0.99762614 0.03382685 3.04564043] [ 0.17550168 -0.02282014 0.98421461 -2.44064336] [ 0. 0. 0. 1. ]] SLAMing on 144.013201008 meters Centerline goodness : 0.836717 Centerline is valid? [False, False] Translation: X:2.02, Y:3.04, Z:-2.44 [[ 0.98226142 0.06855398 -0.17453612 2.02403298] [-0.06278857 0.99728978 0.03834963 3.04404415] [ 0.17669211 -0.02671049 0.98390368 -2.43895167] [ 0. 0. 0. 1. ]] SLAMing on 144.043201008 meters Centerline goodness : 0.835357 Centerline is valid? [False, False] Translation: X:2.04, Y:3.05, Z:-2.44 [[ 0.98279609 0.07108033 -0.17046826 2.04133543] [-0.06681004 0.99729438 0.0306648 3.04805654] [ 0.17218671 -0.01874826 0.9848859 -2.44283228] [ 0. 0. 0. 1. ]] SLAMing on 144.073201008 meters Centerline goodness : 0.834623 Centerline is valid? [False, False] Translation: X:2.04, Y:3.05, Z:-2.44 [[ 0.9827819 0.07094384 -0.17060691 2.04201949] [-0.06681646 0.99731954 0.02982105 3.05076776] [ 0.17226522 -0.01790824 0.9848878 -2.4437749 ] [ 0. 0. 0. 1. ]] SLAMing on 144.103201008 meters Centerline goodness : 0.832954 Centerline is valid? [False, False] Translation: X:2.04, Y:3.05, Z:-2.44 [[ 0.98277346 0.07091323 -0.1706682 2.04241032] [-0.06690595 0.9973341 0.02912547 3.0531891 ] [ 0.17227859 -0.01720502 0.984898 -2.44454714] [ 0. 0. 0. 1. ]] SLAMing on 144.13320100800001 meters Centerline goodness : 0.832250 Centerline is valid? [False, False] Translation: X:2.04, Y:3.06, Z:-2.44 [[ 0.98276087 0.07078552 -0.1707937 2.04283491] [-0.06687568 0.9973529 0.02854521 3.05506546] [ 0.17236218 -0.01663117 0.98489323 -2.44499307] [ 0. 0. 0. 1. ]] SLAMing on 144.16320100800002 meters Centerline goodness : 0.833975 Centerline is valid? [False, False] Translation: X:2.06, Y:3.06, Z:-2.45 [[ 0.98361847 0.07027308 -0.16600119 2.057497 ] [-0.06807748 0.99750125 0.01888668 3.05692541] [ 0.16691362 -0.00727635 0.98594467 -2.44713472] [ 0. 0. 0. 1. ]] SLAMing on 144.19320100800002 meters Centerline goodness : 0.834097 Centerline is valid? [False, False] Translation: X:2.06, Y:3.05, Z:-2.44 [[ 0.983205 0.07404716 -0.1668081 2.05929863] [-0.07079594 0.99716835 0.02536185 3.05454826] [ 0.16821373 -0.01312656 0.98566314 -2.44091531] [ 0. 0. 0. 1. ]] SLAMing on 144.22320100800002 meters Centerline goodness : 0.834299 Centerline is valid? [False, False] Translation: X:2.06, Y:3.06, Z:-2.44 [[ 0.98318117 0.07357247 -0.16715826 2.06068879] [-0.07045148 0.99721348 0.02453298 3.05664616] [ 0.16849742 -0.01234382 0.9856248 -2.44173943] [ 0. 0. 0. 1. ]] SLAMing on 144.253201008 meters Centerline goodness : 0.832307 Centerline is valid? [False, False] Translation: X:2.06, Y:3.06, Z:-2.44 [[ 0.98318167 0.07302717 -0.16739426 2.06244014] [-0.07006178 0.99726438 0.02356078 3.05896343] [ 0.16865691 -0.01143658 0.98560847 -2.44322223] [ 0. 0. 0. 1. ]] SLAMing on 144.283201008 meters Centerline goodness : 0.834997 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.44 [[ 0.9827758 0.07621787 -0.16835252 2.06688143] [-0.07266025 0.99698575 0.0272012 3.05848561] [ 0.16991828 -0.01450014 0.98535147 -2.44336497] [ 0. 0. 0. 1. ]] SLAMing on 144.313201008 meters Centerline goodness : 0.831835 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.45 [[ 0.98281318 0.07567504 -0.16837915 2.06839528] [-0.0723144 0.99704266 0.02601092 3.06143024] [ 0.16984957 -0.01338764 0.98537906 -2.44534042] [ 0. 0. 0. 1. ]] SLAMing on 144.343201008 meters Centerline goodness : 0.832342 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.44 [[ 0.98245334 0.07955566 -0.16869003 2.07031844] [-0.0755689 0.99669118 0.02993367 3.06224675] [ 0.17051326 -0.01666071 0.98521452 -2.44466509] [ 0. 0. 0. 1. ]] SLAMing on 144.373201008 meters Centerline goodness : 0.829450 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.44 [[ 0.98241486 0.07912329 -0.16911695 2.07150363] [-0.07520494 0.9967328 0.02946089 3.06344122] [ 0.17089546 -0.01622439 0.98515558 -2.44468447] [ 0. 0. 0. 1. ]] SLAMing on 144.403201008 meters Centerline goodness : 0.833112 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.44 [[ 0.98238314 0.07886014 -0.16942389 2.07221773] [-0.0749777 0.99675752 0.02920255 3.06411177] [ 0.17117745 -0.01598508 0.98511053 -2.44451006] [ 0. 0. 0. 1. ]] SLAMing on 144.433201008 meters Centerline goodness : 0.832218 Centerline is valid? [False, False] Translation: X:2.07, Y:3.06, Z:-2.44 [[ 0.98231416 0.07840866 -0.17003228 2.07355961] [-0.0745617 0.99679744 0.02890353 3.06467957] [ 0.17175403 -0.01571445 0.98501452 -2.44404874] [ 0. 0. 0. 1. ]] SLAMing on 144.463201008 meters Centerline goodness : 0.833854 Centerline is valid? [False, False] Translation: X:2.08, Y:3.07, Z:-2.44 [[ 0.98227113 0.0776107 -0.17064585 2.07593971] [-0.07388999 0.99687163 0.02805758 3.06640979] [ 0.17228958 -0.01495113 0.98493287 -2.44487541] [ 0. 0. 0. 1. ]] SLAMing on 144.493201008 meters Centerline goodness : 0.833619 Centerline is valid? [False, False] Translation: X:2.08, Y:3.07, Z:-2.45 [[ 0.98224042 0.07679548 -0.17119054 2.07819831] [-0.07323377 0.99694833 0.02703395 3.06858662] [ 0.17274421 -0.01401691 0.98486698 -2.44592469] [ 0. 0. 0. 1. ]] SLAMing on 144.523201008 meters Centerline goodness : 0.834192 Centerline is valid? [False, False] Translation: X:2.08, Y:3.07, Z:-2.44 [[ 0.98180458 0.08038358 -0.17204139 2.08153391] [-0.07609545 0.9966064 0.03138738 3.0671385 ] [ 0.17398058 -0.01772471 0.98458955 -2.44470828] [ 0. 0. 0. 1. ]] SLAMing on 144.553201008 meters Centerline goodness : 0.834905 Centerline is valid? [False, False] Translation: X:2.08, Y:3.07, Z:-2.45 [[ 0.9817682 0.07963086 -0.17259818 2.08393827] [-0.0755557 0.99668827 0.03006378 3.07045869] [ 0.17442059 -0.01647489 0.98453341 -2.44623032] [ 0. 0. 0. 1. ]] SLAMing on 144.583201008 meters Centerline goodness : 0.837276 Centerline is valid? [False, False] Translation: X:2.08, Y:3.07, Z:-2.45 [[ 0.98200671 0.07595653 -0.17289716 2.08371696] [-0.07256621 0.99702841 0.02585533 3.07336334] [ 0.17434726 -0.01284362 0.98460046 -2.44712914] [ 0. 0. 0. 1. ]] SLAMing on 144.613201008 meters Centerline goodness : 0.838572 Centerline is valid? [False, False] Translation: X:2.09, Y:3.07, Z:-2.45 [[ 0.98194342 0.07545136 -0.17347685 2.08561214] [-0.07204798 0.99706634 0.0258419 3.07272546] [ 0.17491773 -0.01287663 0.98449885 -2.44689046] [ 0. 0. 0. 1. ]] SLAMing on 144.643201008 meters Centerline goodness : 0.836790 Centerline is valid? [False, False] Translation: X:2.08, Y:3.08, Z:-2.45 [[ 0.98224578 0.07143006 -0.1734675 2.0846524 ] [-0.06874903 0.99740394 0.02142293 3.07523662] [ 0.17454741 -0.00911686 0.98460656 -2.44767912] [ 0. 0. 0. 1. ]] SLAMing on 144.673201008 meters Centerline goodness : 0.836110 Centerline is valid? [False, False] Translation: X:2.09, Y:3.08, Z:-2.45 [[ 0.98219191 0.0708286 -0.17401828 2.08656897] [-0.06814178 0.99744667 0.02137391 3.07511455] [ 0.17508784 -0.00913537 0.98451043 -2.44746024] [ 0. 0. 0. 1. ]] SLAMing on 144.703201008 meters Centerline goodness : 0.840309 Centerline is valid? [False, False] Translation: X:2.10, Y:3.07, Z:-2.44 [[ 0.98223871 0.07027601 -0.17397813 2.103578 ] [-0.06583256 0.99734317 0.03118786 3.07275536] [ 0.17570766 -0.0191805 0.98425552 -2.44028292] [ 0. 0. 0. 1. ]] SLAMing on 144.733201008 meters Centerline goodness : 0.839142 Centerline is valid? [False, False] Translation: X:2.11, Y:3.07, Z:-2.44 [[ 0.98221256 0.06953031 -0.17442481 2.10563052] [-0.06516297 0.99740385 0.03064883 3.07311675] [ 0.176103 -0.01873763 0.98419339 -2.44103379] [ 0. 0. 0. 1. ]] SLAMing on 144.763201008 meters Centerline goodness : 0.838077 Centerline is valid? [False, False] Translation: X:2.12, Y:3.07, Z:-2.43 [[ 0.98230138 0.07096209 -0.17334471 2.11731371] [-0.06455067 0.99701516 0.04235534 3.06920408] [ 0.17583293 -0.03041619 0.98395002 -2.43086307] [ 0. 0. 0. 1. ]] SLAMing on 144.793201008 meters Centerline goodness : 0.839341 Centerline is valid? [False, False] Translation: X:2.13, Y:3.07, Z:-2.43 [[ 0.98324224 0.06952788 -0.1685247 2.13453927] [-0.06499936 0.99736412 0.03224747 3.07189892] [ 0.17032258 -0.02075308 0.9851698 -2.43460279] [ 0. 0. 0. 1. ]] SLAMing on 144.823201008 meters Centerline goodness : 0.839631 Centerline is valid? [False, False] Translation: X:2.14, Y:3.07, Z:-2.44 [[ 0.98325484 0.06923019 -0.16857373 2.13515011] [-0.06478481 0.99739449 0.03173584 3.07270906] [ 0.17033159 -0.0202834 0.98517802 -2.43530609] [ 0. 0. 0. 1. ]] SLAMing on 144.853201008 meters Centerline goodness : 0.841568 Centerline is valid? [False, False] Translation: X:2.14, Y:3.07, Z:-2.44 [[ 0.98323033 0.06882826 -0.16888097 2.13628236] [-0.06445313 0.99743101 0.03125973 3.07397689] [ 0.17059867 -0.01985061 0.98514062 -2.43556788] [ 0. 0. 0. 1. ]] SLAMing on 144.88320100800001 meters Centerline goodness : 0.841929 Centerline is valid? [False, False] Translation: X:2.14, Y:3.07, Z:-2.44 [[ 0.98322645 0.06892157 -0.16886554 2.13589818] [-0.06456749 0.99742712 0.03114775 3.07495728] [ 0.17057782 -0.01972207 0.98514681 -2.4352722 ] [ 0. 0. 0. 1. ]] SLAMing on 144.91320100800002 meters Centerline goodness : 0.841379 Centerline is valid? [False, False] Translation: X:2.15, Y:3.08, Z:-2.44 [[ 0.98395128 0.07059087 -0.16388046 2.14964992] [-0.06761886 0.99743087 0.02365047 3.07725754] [ 0.16512893 -0.0121895 0.98619666 -2.43599653] [ 0. 0. 0. 1. ]] SLAMing on 144.94320100800002 meters Centerline goodness : 0.843069 Centerline is valid? [False, False] Translation: X:2.15, Y:3.08, Z:-2.44 [[ 0.98393983 0.07076112 -0.1638758 2.14917696] [-0.06780184 0.99741991 0.02358869 3.07789951] [ 0.16512215 -0.01209877 0.98619891 -2.43566319] [ 0. 0. 0. 1. ]] SLAMing on 144.97320100800002 meters Centerline goodness : 0.845827 Centerline is valid? [False, False] Translation: X:2.15, Y:3.08, Z:-2.44 [[ 0.98391267 0.07034089 -0.16421943 2.1504862 ] [-0.06747386 0.99745639 0.02297894 3.07924745] [ 0.16541808 -0.01152875 0.98615615 -2.4362351 ] [ 0. 0. 0. 1. ]] SLAMing on 145.003201008 meters Centerline goodness : 0.844881 Centerline is valid? [False, False] Translation: X:2.15, Y:3.08, Z:-2.44 [[ 0.98390635 0.0697772 -0.16449754 2.15194606] [-0.067036 0.99750435 0.02216394 3.08096632] [ 0.16563355 -0.01077999 0.98612845 -2.43723623] [ 0. 0. 0. 1. ]] SLAMing on 145.033201008 meters Centerline goodness : 0.844274 Centerline is valid? [False, False] Translation: X:2.15, Y:3.08, Z:-2.44 [[ 0.98388392 0.06911476 -0.16491081 2.15411255] [-0.06651123 0.99755906 0.02126439 3.08295726] [ 0.16597796 -0.00995327 0.98607923 -2.43856546] [ 0. 0. 0. 1. ]] SLAMing on 145.063201008 meters Centerline goodness : 0.842202 Centerline is valid? [False, False] Translation: X:2.16, Y:3.09, Z:-2.44 [[ 0.98389344 0.06859388 -0.16507142 2.15550715] [-0.06613632 0.99760316 0.02034503 3.08543664] [ 0.16607132 -0.00910013 0.98607175 -2.43991669] [ 0. 0. 0. 1. ]] SLAMing on 145.093201008 meters Centerline goodness : 0.844569 Centerline is valid? [False, False] Translation: X:2.16, Y:3.09, Z:-2.44 [[ 0.98386421 0.0681553 -0.16542692 2.15699469] [-0.0657538 0.99763629 0.01995682 3.08595913] [ 0.16639606 -0.00875735 0.98602011 -2.44037292] [ 0. 0. 0. 1. ]] SLAMing on 145.123201008 meters Centerline goodness : 0.846135 Centerline is valid? [False, False] Translation: X:2.16, Y:3.09, Z:-2.44 [[ 0.98382558 0.06745631 -0.16594235 2.15896037] [-0.06514857 0.99768858 0.01931734 3.08640829] [ 0.16686187 -0.00819399 0.98594623 -2.4411239 ] [ 0. 0. 0. 1. ]] SLAMing on 145.153201008 meters Centerline goodness : 0.846301 Centerline is valid? [False, False] Translation: X:2.16, Y:3.09, Z:-2.44 [[ 0.98372811 0.06603439 -0.16708819 2.16308684] [-0.06386083 0.99779002 0.01835414 3.08718881] [ 0.16793094 -0.00738509 0.9857711 -2.44205137] [ 0. 0. 0. 1. ]] SLAMing on 145.183201008 meters Centerline goodness : 0.846023 Centerline is valid? [False, False] Translation: X:2.16, Y:3.09, Z:-2.44 [[ 0.98369839 0.0655561 -0.16745114 2.16461235] [-0.06344148 0.99782408 0.01795253 3.08762951] [ 0.16826367 -0.00703653 0.98571691 -2.4425928 ] [ 0. 0. 0. 1. ]] SLAMing on 145.213201008 meters Centerline goodness : 0.848389 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98368348 0.06530022 -0.16763856 2.1655246 ] [-0.06322889 0.99784262 0.01766974 3.08802565] [ 0.16843074 -0.00678183 0.98569016 -2.44301834] [ 0. 0. 0. 1. ]] SLAMing on 145.243201008 meters Centerline goodness : 0.851338 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98366259 0.06522338 -0.16779102 2.1659278 ] [-0.06314473 0.99784741 0.0176998 3.08794937] [ 0.16858427 -0.00681552 0.98566368 -2.44285042] [ 0. 0. 0. 1. ]] SLAMing on 145.273201008 meters Centerline goodness : 0.852228 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98365858 0.06489887 -0.16794028 2.1669505 ] [-0.06287795 0.99787077 0.01732911 3.08830399] [ 0.16870734 -0.00648619 0.98564485 -2.44347706] [ 0. 0. 0. 1. ]] SLAMing on 145.303201008 meters Centerline goodness : 0.851304 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98324763 0.06853013 -0.16890149 2.17007907] [-0.0656511 0.99758717 0.02257822 3.08508437] [ 0.17004125 -0.01111141 0.9853743 -2.44093937] [ 0. 0. 0. 1. ]] SLAMing on 145.333201008 meters Centerline goodness : 0.852943 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98322734 0.06803533 -0.16921934 2.17146568] [-0.06520948 0.99762445 0.02220764 3.08547432] [ 0.17032825 -0.01080045 0.98532819 -2.44138735] [ 0. 0. 0. 1. ]] SLAMing on 145.363201008 meters Centerline goodness : 0.851753 Centerline is valid? [False, False] Translation: X:2.17, Y:3.09, Z:-2.44 [[ 0.98322181 0.06811717 -0.16921856 2.17129118] [-0.06528228 0.99761837 0.02226693 3.08549435] [ 0.17033231 -0.01084636 0.98532698 -2.4411893 ] [ 0. 0. 0. 1. ]] SLAMing on 145.393201008 meters Centerline goodness : 0.849672 Centerline is valid? [False, False] Translation: X:2.17, Y:3.08, Z:-2.44 [[ 0.98320627 0.06819119 -0.16927903 2.17104849] [-0.06533885 0.99761235 0.02237021 3.08498367] [ 0.1704003 -0.01093404 0.98531426 -2.44065285] [ 0. 0. 0. 1. ]] SLAMing on 145.423201008 meters Centerline goodness : 0.847883 Centerline is valid? [False, False] Translation: X:2.17, Y:3.08, Z:-2.44 [[ 0.98317006 0.06787319 -0.16961684 2.17219931] [-0.06504057 0.99763548 0.02220745 3.08469034] [ 0.17072307 -0.01080172 0.98525984 -2.44082236] [ 0. 0. 0. 1. ]] SLAMing on 145.453201008 meters Centerline goodness : 0.846494 Centerline is valid? [False, False] Translation: X:2.17, Y:3.08, Z:-2.44 [[ 0.98312415 0.06734697 -0.17009203 2.17405009] [-0.06455431 0.99767381 0.0219023 3.08455724] [ 0.17117142 -0.01055251 0.98518475 -2.44125861] [ 0. 0. 0. 1. ]] SLAMing on 145.483201008 meters Centerline goodness : 0.844347 Centerline is valid? [False, False] Translation: X:2.18, Y:3.08, Z:-2.44 [[ 0.98309063 0.06678572 -0.17050654 2.17594754] [-0.0640219 0.99771334 0.02166295 3.08372079] [ 0.17156343 -0.01038049 0.98511839 -2.44184306] [ 0. 0. 0. 1. ]] SLAMing on 145.513201008 meters Centerline goodness : 0.845035 Centerline is valid? [False, False] Translation: X:2.18, Y:3.08, Z:-2.44 [[ 0.98307855 0.06660027 -0.17064865 2.17680998] [-0.06385851 0.99772708 0.02151182 3.0832699 ] [ 0.17169347 -0.01025044 0.98509709 -2.44237409] [ 0. 0. 0. 1. ]] SLAMing on 145.543201008 meters Centerline goodness : 0.847081 Centerline is valid? [False, False] Translation: X:2.18, Y:3.08, Z:-2.44 [[ 0.98304683 0.06601916 -0.17105671 2.17882803] [-0.06337976 0.99777163 0.02085144 3.08397853] [ 0.17205212 -0.00965641 0.98504052 -2.44346138] [ 0. 0. 0. 1. ]] SLAMing on 145.573201008 meters Centerline goodness : 0.846099 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.44 [[ 0.98303631 0.06575334 -0.1712195 2.1800299 ] [-0.06321962 0.99779489 0.02021476 3.08513885] [ 0.17217113 -0.00904741 0.98502551 -2.44462798] [ 0. 0. 0. 1. ]] SLAMing on 145.603201008 meters Centerline goodness : 0.846150 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98302133 0.0660102 -0.17120665 2.18118169] [-0.06366772 0.99778753 0.01914312 3.08656994] [ 0.1720915 -0.00791775 0.98504915 -2.44738067] [ 0. 0. 0. 1. ]] SLAMing on 145.63320100800001 meters Centerline goodness : 0.841798 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98301194 0.06600129 -0.17126399 2.18199985] [-0.06374137 0.99779185 0.01866721 3.08751532] [ 0.17211787 -0.00743349 0.98504831 -2.44851021] [ 0. 0. 0. 1. ]] SLAMing on 145.66320100800002 meters Centerline goodness : 0.842892 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98301105 0.06599838 -0.17127022 2.1827234 ] [-0.06382765 0.99779576 0.01815618 3.08864663] [ 0.17209098 -0.00691595 0.98505678 -2.4497107 ] [ 0. 0. 0. 1. ]] SLAMing on 145.69320100800002 meters Centerline goodness : 0.841919 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98302786 0.06623421 -0.17108263 2.18257706] [-0.06411362 0.99778211 0.01789681 3.0897174 ] [ 0.17188857 -0.00662434 0.98509413 -2.45042235] [ 0. 0. 0. 1. ]] SLAMing on 145.72320100800002 meters Centerline goodness : 0.845953 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98296314 0.06675829 -0.17125069 2.18226713] [-0.0645927 0.99774586 0.01819306 3.08909536] [ 0.1720792 -0.00682156 0.9850595 -2.44992427] [ 0. 0. 0. 1. ]] SLAMing on 145.753201008 meters Centerline goodness : 0.845953 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98296314 0.06675829 -0.17125069 2.18226713] [-0.0645927 0.99774586 0.01819306 3.08909536] [ 0.1720792 -0.00682156 0.9850595 -2.44992427] [ 0. 0. 0. 1. ]] SLAMing on 145.783201008 meters Centerline goodness : 0.845600 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98294152 0.06705636 -0.17125835 2.1818126 ] [-0.06483153 0.99772366 0.01855743 3.08773679] [ 0.1721129 -0.00713793 0.98505137 -2.44941448] [ 0. 0. 0. 1. ]] SLAMing on 145.813201008 meters Centerline goodness : 0.843939 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98289297 0.06698953 -0.17156287 2.18243217] [-0.06472049 0.99772649 0.01879144 3.08693619] [ 0.17243165 -0.00736634 0.98499394 -2.448951 ] [ 0. 0. 0. 1. ]] SLAMing on 145.843201008 meters Centerline goodness : 0.843762 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98290011 0.06689809 -0.17155764 2.1828607 ] [-0.06463857 0.99773296 0.01872941 3.08664131] [ 0.17242168 -0.0073199 0.98499603 -2.44937021] [ 0. 0. 0. 1. ]] SLAMing on 145.873201008 meters Centerline goodness : 0.844631 Centerline is valid? [False, False] Translation: X:2.18, Y:3.09, Z:-2.45 [[ 0.98288663 0.06660687 -0.17174804 2.18403645] [-0.06435657 0.9977528 0.01864343 3.08641087] [ 0.17260387 -0.00727126 0.98496448 -2.44986665] [ 0. 0. 0. 1. ]] SLAMing on 145.903201008 meters Centerline goodness : 0.843791 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 0.9828605 0.06593984 -0.17215451 2.18573939] [-0.06358952 0.99779262 0.01913784 3.08433251] [ 0.17303645 -0.00786261 0.98488404 -2.44920406] [ 0. 0. 0. 1. ]] SLAMing on 145.933201008 meters Centerline goodness : 0.843382 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 0.98278789 0.06522368 -0.17284049 2.18769381] [-0.06277977 0.99783542 0.01957465 3.08272611] [ 0.17374309 -0.00838684 0.9847553 -2.44816339] [ 0. 0. 0. 1. ]] SLAMing on 145.963201008 meters Centerline goodness : 0.843086 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 0.98309649 0.06062887 -0.1727583 2.18731492] [-0.05887764 0.99814875 0.01524802 3.08377765] [ 0.17336295 -0.00481868 0.98484621 -2.44886296] [ 0. 0. 0. 1. ]] SLAMing on 145.993201008 meters Centerline goodness : 0.843128 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 9.83299021e-01 5.51228262e-02 -1.73448869e-01 2.18935748e+00] [-5.39786097e-02 9.98478031e-01 1.13106357e-02 3.08224112e+00] [ 1.73808360e-01 -1.75920816e-03 9.84777924e-01 -2.44878134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.023201008 meters Centerline goodness : 0.841902 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 9.83231894e-01 5.42049266e-02 -1.74117401e-01 2.19181309e+00] [-5.30136863e-02 9.98527696e-01 1.14886463e-02 3.08044524e+00] [ 1.74483788e-01 -2.06539814e-03 9.84657881e-01 -2.44848860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.053201008 meters Centerline goodness : 0.843974 Centerline is valid? [False, False] Translation: X:2.19, Y:3.08, Z:-2.45 [[ 9.83160973e-01 5.31424143e-02 -1.74843887e-01 2.19464638e+00] [-5.19152977e-02 9.98584258e-01 1.15879590e-02 3.07891166e+00] [ 1.75212165e-01 -2.31575662e-03 9.84527975e-01 -2.44826919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.083201008 meters Centerline goodness : 0.842092 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.45 [[ 9.83105907e-01 5.22182680e-02 -1.75430976e-01 2.19692572e+00] [-5.09662569e-02 9.98632566e-01 1.16378234e-02 3.07764573e+00] [ 1.75798793e-01 -2.50015271e-03 9.84422945e-01 -2.44810308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.113201008 meters Centerline goodness : 0.840846 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.45 [[ 9.83056469e-01 5.16474234e-02 -1.75876442e-01 2.19866467e+00] [-5.03582201e-02 9.98661644e-01 1.17885414e-02 3.07647739e+00] [ 1.76249904e-01 -2.73197736e-03 9.84341662e-01 -2.44793480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.143201008 meters Centerline goodness : 0.841215 Centerline is valid? [False, False] Translation: X:2.20, Y:3.07, Z:-2.45 [[ 0.98294725 0.05060824 -0.17678665 2.201708 ] [-0.04923919 0.99871341 0.01212537 3.07497737] [ 0.17717284 -0.00321376 0.98417451 -2.44713243] [ 0. 0. 0. 1. ]] SLAMing on 146.173201008 meters Centerline goodness : 0.842433 Centerline is valid? [False, False] Translation: X:2.20, Y:3.07, Z:-2.45 [[ 0.98290818 0.0504681 -0.17704375 2.20242226] [-0.04904625 0.99871952 0.01240096 3.07472216] [ 0.1774429 -0.00350567 0.98412485 -2.44656551] [ 0. 0. 0. 1. ]] SLAMing on 146.203201008 meters Centerline goodness : 0.838243 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.45 [[ 0.9828985 0.05038233 -0.17712186 2.20281481] [-0.04895193 0.99872367 0.01243917 3.07525773] [ 0.17752251 -0.00355599 0.98411032 -2.44643713] [ 0. 0. 0. 1. ]] SLAMing on 146.233201008 meters Centerline goodness : 0.837713 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.45 [[ 0.98288304 0.05043893 -0.17719155 2.20313819] [-0.04905317 0.99872171 0.01219545 3.07747795] [ 0.17758017 -0.0032949 0.98410082 -2.44661622] [ 0. 0. 0. 1. ]] SLAMing on 146.263201008 meters Centerline goodness : 0.837702 Centerline is valid? [False, False] Translation: X:2.21, Y:3.08, Z:-2.45 [[ 0.98255085 0.05441252 -0.17785697 2.20530406] [-0.05228245 0.99849361 0.01664477 3.07573957] [ 0.17849473 -0.00705554 0.98391557 -2.44529207] [ 0. 0. 0. 1. ]] SLAMing on 146.293201008 meters Centerline goodness : 0.840908 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.45 [[ 0.98256958 0.05464701 -0.17768155 2.20477242] [-0.05256782 0.99848281 0.01639201 3.07733479] [ 0.17830775 -0.00676596 0.98395151 -2.44549502] [ 0. 0. 0. 1. ]] SLAMing on 146.323201008 meters Centerline goodness : 0.839918 Centerline is valid? [False, False] Translation: X:2.21, Y:3.08, Z:-2.44 [[ 0.98224616 0.05913004 -0.17803403 2.20559493] [-0.05635936 0.99819833 0.02058451 3.07786188] [ 0.17893043 -0.01018517 0.98380901 -2.44412069] [ 0. 0. 0. 1. ]] SLAMing on 146.353201008 meters Centerline goodness : 0.836633 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.44 [[ 0.98226834 0.05940018 -0.1778216 2.20499201] [-0.05667632 0.99818492 0.02036318 3.07938673] [ 0.17870841 -0.00992383 0.98385203 -2.4443188 ] [ 0. 0. 0. 1. ]] SLAMing on 146.38320100800001 meters Centerline goodness : 0.833955 Centerline is valid? [False, False] Translation: X:2.20, Y:3.08, Z:-2.44 [[ 0.98228424 0.05978307 -0.17760536 2.2042309 ] [-0.05709481 0.99816412 0.02021323 3.08092216] [ 0.17848771 -0.00971479 0.98389418 -2.4444288 ] [ 0. 0. 0. 1. ]] SLAMing on 146.41320100800002 meters Centerline goodness : 0.836074 Centerline is valid? [False, False] Translation: X:2.21, Y:3.08, Z:-2.44 [[ 0.98195094 0.06429602 -0.17787179 2.20505291] [-0.06085401 0.9978399 0.02474529 3.08113095] [ 0.17907859 -0.01347445 0.9837425 -2.44275547] [ 0. 0. 0. 1. ]] SLAMing on 146.44320100800002 meters Centerline goodness : 0.834652 Centerline is valid? [False, False] Translation: X:2.21, Y:3.08, Z:-2.44 [[ 0.98196043 0.06405185 -0.17790751 2.20566037] [-0.06072735 0.997864 0.02407532 3.0834137 ] [ 0.17906957 -0.01283716 0.98375266 -2.44350352] [ 0. 0. 0. 1. ]] SLAMing on 146.47320100800002 meters Centerline goodness : 0.835108 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.44 [[ 0.98199407 0.06408738 -0.1777089 2.20547173] [-0.0608473 0.99786737 0.02362864 3.08517616] [ 0.17884421 -0.01239008 0.98379939 -2.44412481] [ 0. 0. 0. 1. ]] SLAMing on 146.503201008 meters Centerline goodness : 0.832026 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.44 [[ 0.98197258 0.06374984 -0.17794888 2.20663804] [-0.06059516 0.9978948 0.02311248 3.08655861] [ 0.17904768 -0.01191298 0.98376827 -2.44474956] [ 0. 0. 0. 1. ]] SLAMing on 146.533201008 meters Centerline goodness : 0.833620 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.98196274 0.06334772 -0.17814672 2.20781876] [-0.06030439 0.99792749 0.02245208 3.08781392] [ 0.1791998 -0.01130407 0.98374776 -2.44562662] [ 0. 0. 0. 1. ]] SLAMing on 146.563201008 meters Centerline goodness : 0.834633 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.9819806 0.06356707 -0.17797002 2.20705429] [-0.06052863 0.99791383 0.02245613 3.08889752] [ 0.17902622 -0.0112792 0.98377965 -2.44521046] [ 0. 0. 0. 1. ]] SLAMing on 146.593201008 meters Centerline goodness : 0.833643 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.98194876 0.06315224 -0.1782931 2.20821151] [-0.06014034 0.99794186 0.02225284 3.08913432] [ 0.17933146 -0.01112854 0.98372577 -2.44526862] [ 0. 0. 0. 1. ]] SLAMing on 146.623201008 meters Centerline goodness : 0.835750 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.98191008 0.06252289 -0.17872743 2.210031 ] [-0.05956795 0.99798492 0.02185747 3.08943689] [ 0.17973387 -0.01081564 0.98365581 -2.44568583] [ 0. 0. 0. 1. ]] SLAMing on 146.653201008 meters Centerline goodness : 0.834081 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.98188604 0.06222008 -0.17896499 2.21098884] [-0.05927189 0.99800427 0.02177897 3.0891858 ] [ 0.17996291 -0.01077687 0.98361436 -2.44580107] [ 0. 0. 0. 1. ]] SLAMing on 146.683201008 meters Centerline goodness : 0.834973 Centerline is valid? [False, False] Translation: X:2.21, Y:3.09, Z:-2.45 [[ 0.98179578 0.0612544 -0.17979137 2.21381276] [-0.0582996 0.99806374 0.02167788 3.08792045] [ 0.18077111 -0.01080149 0.98346588 -2.4456977 ] [ 0. 0. 0. 1. ]] SLAMing on 146.713201008 meters Centerline goodness : 0.836757 Centerline is valid? [False, False] Translation: X:2.22, Y:3.09, Z:-2.45 [[ 0.98173149 0.06049925 -0.18039711 2.21619661] [-0.05756132 0.99811084 0.02148145 3.08780326] [ 0.18135592 -0.01070512 0.98335926 -2.44589024] [ 0. 0. 0. 1. ]] SLAMing on 146.743201008 meters Centerline goodness : 0.836965 Centerline is valid? [False, False] Translation: X:2.22, Y:3.09, Z:-2.45 [[ 0.98166739 0.05969412 -0.1810131 2.21866674] [-0.05680637 0.99816222 0.0211004 3.0878431 ] [ 0.18194001 -0.01043088 0.98325431 -2.44635632] [ 0. 0. 0. 1. ]] SLAMing on 146.773201008 meters Centerline goodness : 0.836130 Centerline is valid? [False, False] Translation: X:2.22, Y:3.09, Z:-2.45 [[ 0.98162511 0.05911879 -0.18143075 2.22043566] [-0.05625081 0.99819753 0.02091718 3.0874906 ] [ 0.18234032 -0.0103272 0.98318124 -2.44664773] [ 0. 0. 0. 1. ]] SLAMing on 146.803201008 meters Centerline goodness : 0.834875 Centerline is valid? [False, False] Translation: X:2.22, Y:3.09, Z:-2.45 [[ 0.98157095 0.05821065 -0.18201643 2.22300265] [-0.05536559 0.99825202 0.02067753 3.08647581] [ 0.18290192 -0.01021902 0.98307805 -2.4471149 ] [ 0. 0. 0. 1. ]] SLAMing on 146.833201008 meters Centerline goodness : 0.834732 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98150087 0.05753382 -0.18260862 2.2251707 ] [-0.05474345 0.9982943 0.020289 3.08669661] [ 0.18346445 -0.00991704 0.98297632 -2.44747387] [ 0. 0. 0. 1. ]] SLAMing on 146.863201008 meters Centerline goodness : 0.840010 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98144025 0.05704578 -0.18308693 2.22695394] [-0.05427547 0.99832346 0.02011072 3.08639056] [ 0.18392721 -0.00980034 0.98289101 -2.44768701] [ 0. 0. 0. 1. ]] SLAMing on 146.893201008 meters Centerline goodness : 0.836723 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98140191 0.05667044 -0.1834087 2.22837824] [-0.05395017 0.99834747 0.0197918 3.08644774] [ 0.18422722 -0.00952878 0.98283749 -2.44826987] [ 0. 0. 0. 1. ]] SLAMing on 146.923201008 meters Centerline goodness : 0.841920 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98135664 0.05582138 -0.1839106 2.23139558] [-0.05329654 0.99840461 0.01864715 3.08844043] [ 0.1846581 -0.0084977 0.98276608 -2.45031785] [ 0. 0. 0. 1. ]] SLAMing on 146.953201008 meters Centerline goodness : 0.836713 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98133751 0.05563972 -0.18406768 2.23245987] [-0.05318957 0.99841809 0.01822579 3.08938389] [ 0.18479058 -0.00809517 0.98274458 -2.45119882] [ 0. 0. 0. 1. ]] SLAMing on 146.983201008 meters Centerline goodness : 0.836791 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98128003 0.05536195 -0.18445745 2.23391371] [-0.0529734 0.99843627 0.01785582 3.08993414] [ 0.18515754 -0.00775022 0.98267829 -2.45170903] [ 0. 0. 0. 1. ]] SLAMing on 147.013201008 meters Centerline goodness : 0.838385 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98129234 0.05551179 -0.18434689 2.23390254] [-0.05314594 0.99842892 0.01775384 3.09027162] [ 0.18504282 -0.00762442 0.98270088 -2.45216116] [ 0. 0. 0. 1. ]] SLAMing on 147.043201008 meters Centerline goodness : 0.838476 Centerline is valid? [False, False] Translation: X:2.23, Y:3.09, Z:-2.45 [[ 0.98094914 0.06003476 -0.18475553 2.23479829] [-0.05683725 0.99812855 0.02255929 3.08924138] [ 0.18576411 -0.01162852 0.98252556 -2.45015364] [ 0. 0. 0. 1. ]] SLAMing on 147.073201008 meters Centerline goodness : 0.838054 Centerline is valid? [False, False] Translation: X:2.24, Y:3.09, Z:-2.45 [[ 0.9809073 0.05998947 -0.18499224 2.23531892] [-0.05682335 0.99813351 0.02237426 3.09045423] [ 0.18598917 -0.01143519 0.98248525 -2.45009666] [ 0. 0. 0. 1. ]] SLAMing on 147.103201008 meters Centerline goodness : 0.838981 Centerline is valid? [False, False] Translation: X:2.24, Y:3.09, Z:-2.45 [[ 0.98087974 0.0598191 -0.18519344 2.23602711] [-0.0567003 0.9981467 0.02209616 3.091272 ] [ 0.18617199 -0.01117315 0.98245364 -2.45029251] [ 0. 0. 0. 1. ]] SLAMing on 147.13320100800001 meters Centerline goodness : 0.840608 Centerline is valid? [False, False] Translation: X:2.24, Y:3.09, Z:-2.45 [[ 0.98084096 0.05991699 -0.18536711 2.23617048] [-0.05678581 0.99814043 0.02215992 3.09132425] [ 0.18635016 -0.01120913 0.98241945 -2.44995091] [ 0. 0. 0. 1. ]] SLAMing on 147.16320100800002 meters Centerline goodness : 0.844095 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.9817077 0.06146335 -0.18020055 2.25027061] [-0.05973931 0.99810155 0.01498401 3.09242477] [ 0.18077942 -0.00394486 0.98351576 -2.45080315] [ 0. 0. 0. 1. ]] SLAMing on 147.19320100800002 meters Centerline goodness : 0.840693 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.98129167 0.06537961 -0.18108606 2.25256635] [-0.06275465 0.99782467 0.02019357 3.08964325] [ 0.18201239 -0.00845179 0.98325991 -2.44786332] [ 0. 0. 0. 1. ]] SLAMing on 147.22320100800002 meters Centerline goodness : 0.843523 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.9812936 0.06588711 -0.18089157 2.2514427 ] [-0.06319803 0.99778847 0.02059563 3.08948081] [ 0.18184851 -0.00877837 0.98328737 -2.44722475] [ 0. 0. 0. 1. ]] SLAMing on 147.253201008 meters Centerline goodness : 0.847729 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.98126173 0.06655085 -0.18082146 2.24986423] [-0.06375176 0.99773943 0.02125441 3.08938353] [ 0.18182719 -0.00932845 0.98328625 -2.44570167] [ 0. 0. 0. 1. ]] SLAMing on 147.283201008 meters Centerline goodness : 0.847329 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.98121048 0.06624149 -0.18121274 2.25108327] [-0.06344145 0.99776013 0.02121102 3.08915579] [ 0.18221189 -0.00931608 0.98321515 -2.44561249] [ 0. 0. 0. 1. ]] SLAMing on 147.313201008 meters Centerline goodness : 0.845671 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.98114976 0.06574861 -0.18172029 2.25273895] [-0.06296013 0.99779344 0.02107754 3.08862094] [ 0.18270513 -0.00923909 0.98312434 -2.44567136] [ 0. 0. 0. 1. ]] SLAMing on 147.343201008 meters Centerline goodness : 0.847245 Centerline is valid? [False, False] Translation: X:2.25, Y:3.09, Z:-2.45 [[ 0.98107225 0.06524115 -0.1823207 2.25462841] [-0.06243799 0.99782622 0.02107905 3.08800465] [ 0.1832996 -0.00929634 0.98301314 -2.44553987] [ 0. 0. 0. 1. ]] SLAMing on 147.373201008 meters Centerline goodness : 0.842742 Centerline is valid? [False, False] Translation: X:2.26, Y:3.09, Z:-2.45 [[ 0.98101677 0.06447069 -0.1828924 2.25706773] [-0.06166794 0.99787627 0.02097671 3.08674335] [ 0.18385637 -0.0092999 0.98290912 -2.4459387 ] [ 0. 0. 0. 1. ]] SLAMing on 147.403201008 meters Centerline goodness : 0.847060 Centerline is valid? [False, False] Translation: X:2.26, Y:3.09, Z:-2.45 [[ 0.98093475 0.06396966 -0.18350721 2.25894025] [-0.06114725 0.99790774 0.02100387 3.08571136] [ 0.18446688 -0.00938247 0.98279395 -2.44579473] [ 0. 0. 0. 1. ]] SLAMing on 147.433201008 meters Centerline goodness : 0.848607 Centerline is valid? [False, False] Translation: X:2.26, Y:3.08, Z:-2.44 [[ 0.98084467 0.06367599 -0.18408993 2.26020292] [-0.06077532 0.99792285 0.02136226 3.08410853] [ 0.18506781 -0.00976493 0.98267724 -2.44496369] [ 0. 0. 0. 1. ]] SLAMing on 147.463201008 meters Centerline goodness : 0.853440 Centerline is valid? [False, False] Translation: X:2.26, Y:3.08, Z:-2.44 [[ 0.98077222 0.06352858 -0.18452633 2.26101486] [-0.06053606 0.99792767 0.02181176 3.08198409] [ 0.1855296 -0.01022187 0.98258551 -2.44410543] [ 0. 0. 0. 1. ]] SLAMing on 147.493201008 meters Centerline goodness : 0.848156 Centerline is valid? [False, False] Translation: X:2.26, Y:3.08, Z:-2.44 [[ 0.98064291 0.06305547 -0.1853739 2.263216 ] [-0.05994891 0.99795184 0.02232164 3.07956736] [ 0.18640173 -0.0107766 0.98241451 -2.44318498] [ 0. 0. 0. 1. ]] SLAMing on 147.523201008 meters Centerline goodness : 0.849464 Centerline is valid? [False, False] Translation: X:2.26, Y:3.08, Z:-2.44 [[ 0.98062183 0.06257834 -0.18564692 2.26489069] [-0.05951974 0.99798448 0.02200874 3.07997784] [ 0.18665001 -0.01053259 0.98237001 -2.44393194] [ 0. 0. 0. 1. ]] SLAMing on 147.553201008 meters Centerline goodness : 0.847431 Centerline is valid? [False, False] Translation: X:2.27, Y:3.08, Z:-2.44 [[ 0.98062924 0.06234117 -0.18568755 2.26573416] [-0.05931067 0.99800071 0.0218364 3.08035915] [ 0.18667762 -0.01040016 0.98236618 -2.44452832] [ 0. 0. 0. 1. ]] SLAMing on 147.583201008 meters Centerline goodness : 0.850791 Centerline is valid? [False, False] Translation: X:2.27, Y:3.08, Z:-2.44 [[ 0.98061209 0.06201795 -0.18588628 2.2667211 ] [-0.05899596 0.99802124 0.02175026 3.08026739] [ 0.18686736 -0.01036203 0.9823305 -2.44476103] [ 0. 0. 0. 1. ]] SLAMing on 147.613201008 meters Centerline goodness : 0.850926 Centerline is valid? [False, False] Translation: X:2.27, Y:3.08, Z:-2.44 [[ 0.9804683 0.06117073 -0.18692259 2.26889536] [-0.05795253 0.99806263 0.02263826 3.07712822] [ 0.18794525 -0.01136346 0.98211377 -2.44239741] [ 0. 0. 0. 1. ]] SLAMing on 147.643201008 meters Centerline goodness : 0.846401 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98034922 0.0607817 -0.18767255 2.2701365 ] [-0.05742486 0.99807843 0.02327716 3.07460885] [ 0.18872675 -0.01204267 0.9819558 -2.44066758] [ 0. 0. 0. 1. ]] SLAMing on 147.673201008 meters Centerline goodness : 0.846401 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98034922 0.0607817 -0.18767255 2.2701365 ] [-0.05742486 0.99807843 0.02327716 3.07460885] [ 0.18872675 -0.01204267 0.9819558 -2.44066758] [ 0. 0. 0. 1. ]] SLAMing on 147.703201008 meters Centerline goodness : 0.847400 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98024001 0.06048238 -0.18833853 2.27106154] [-0.05697947 0.99808773 0.02396304 3.07243864] [ 0.18942772 -0.0127581 0.98181178 -2.43887358] [ 0. 0. 0. 1. ]] SLAMing on 147.733201008 meters Centerline goodness : 0.849170 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98014678 0.06010277 -0.18894428 2.2720965 ] [-0.05648629 0.9981034 0.02447241 3.07124864] [ 0.19005679 -0.01331379 0.98168282 -2.43736478] [ 0. 0. 0. 1. ]] SLAMing on 147.763201008 meters Centerline goodness : 0.849251 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98009674 0.05958163 -0.18936847 2.27309496] [-0.0559372 0.99813274 0.0245369 3.07111671] [ 0.19047681 -0.01345579 0.98159947 -2.43654243] [ 0. 0. 0. 1. ]] SLAMing on 147.793201008 meters Centerline goodness : 0.847997 Centerline is valid? [False, False] Translation: X:2.27, Y:3.07, Z:-2.44 [[ 0.98006486 0.05913914 -0.18967192 2.27434598] [-0.05554895 0.9981628 0.02419395 3.07159519] [ 0.19075427 -0.01317557 0.98154939 -2.43689526] [ 0. 0. 0. 1. ]] SLAMing on 147.823201008 meters Centerline goodness : 0.846647 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.98001826 0.05882768 -0.19000924 2.27576488] [-0.05528281 0.99818446 0.02390787 3.07189252] [ 0.19107072 -0.01292591 0.98149116 -2.43743579] [ 0. 0. 0. 1. ]] SLAMing on 147.853201008 meters Centerline goodness : 0.848519 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.97996157 0.05818832 -0.19049788 2.27792522] [-0.05475437 0.99822925 0.02324486 3.07283982] [ 0.19151314 -0.01234848 0.98141237 -2.43837233] [ 0. 0. 0. 1. ]] SLAMing on 147.88320100800001 meters Centerline goodness : 0.848227 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.97989418 0.05785254 -0.19094626 2.27949736] [-0.0545494 0.99825721 0.02251462 3.074373 ] [ 0.191916 -0.01164594 0.98134225 -2.43923066] [ 0. 0. 0. 1. ]] SLAMing on 147.91320100800002 meters Centerline goodness : 0.848591 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.97982913 0.05765639 -0.191339 2.2805717 ] [-0.05439405 0.99827132 0.02226336 3.07470544] [ 0.19229186 -0.01140659 0.98127149 -2.43935854] [ 0. 0. 0. 1. ]] SLAMing on 147.94320100800002 meters Centerline goodness : 0.847514 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.97973852 0.05741431 -0.19187504 2.28189061] [-0.05418212 0.99828749 0.02205436 3.0745502 ] [ 0.19281269 -0.01121131 0.98117153 -2.43933489] [ 0. 0. 0. 1. ]] SLAMing on 147.97320100800002 meters Centerline goodness : 0.846792 Centerline is valid? [False, False] Translation: X:2.28, Y:3.07, Z:-2.44 [[ 0.97968955 0.05728064 -0.19216479 2.28262928] [-0.05408591 0.99829755 0.02183396 3.07466264] [ 0.1930883 -0.01099709 0.98111975 -2.43938457] [ 0. 0. 0. 1. ]] SLAMing on 148.003201008 meters Centerline goodness : 0.846224 Centerline is valid? [False, False] Translation: X:2.28, Y:3.08, Z:-2.44 [[ 0.97967707 0.05771525 -0.1920984 2.28215994] [-0.05454959 0.99827454 0.021732 3.07603375] [ 0.19302121 -0.01081145 0.98113502 -2.4394864 ] [ 0. 0. 0. 1. ]] SLAMing on 148.033201008 meters Centerline goodness : 0.846610 Centerline is valid? [False, False] Translation: X:2.28, Y:3.08, Z:-2.44 [[ 0.97964126 0.05755407 -0.19232922 2.28286362] [-0.05445305 0.99828752 0.02137511 3.07760825] [ 0.19323008 -0.01046702 0.98109764 -2.43965554] [ 0. 0. 0. 1. ]] SLAMing on 148.063201008 meters Centerline goodness : 0.845513 Centerline is valid? [False, False] Translation: X:2.28, Y:3.08, Z:-2.44 [[ 0.97965066 0.05774123 -0.19222524 2.28249003] [-0.05466923 0.99827834 0.0212515 3.07862301] [ 0.19312138 -0.01031025 0.9811207 -2.43974867] [ 0. 0. 0. 1. ]] SLAMing on 148.093201008 meters Centerline goodness : 0.847305 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80549876e-01 5.84413375e-02 -1.87367423e-01 2.29708405e+00] [-5.70290031e-02 9.98288866e-01 1.29240964e-02 3.08053117e+00] [ 1.87802113e-01 -1.98734378e-03 9.82204875e-01 -2.44120020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.123201008 meters Centerline goodness : 0.845610 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80508890e-01 5.88583429e-02 -1.87451359e-01 2.29632843e+00] [-5.73890383e-02 9.98263822e-01 1.32604644e-02 3.08052574e+00] [ 1.87906399e-01 -2.24434994e-03 9.82184376e-01 -2.44023797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.153201008 meters Centerline goodness : 0.844236 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80496795e-01 5.91567605e-02 -1.87420683e-01 2.29579773e+00] [-5.76813537e-02 9.98246169e-01 1.33209794e-02 3.08113113e+00] [ 1.87880005e-01 -2.25049890e-03 9.82189411e-01 -2.43987518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.183201008 meters Centerline goodness : 0.843482 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80471095e-01 5.92936894e-02 -1.87511838e-01 2.29585358e+00] [-5.78528589e-02 9.98238482e-01 1.31521650e-02 3.08240897e+00] [ 1.87961373e-01 -2.04722172e-03 9.82174288e-01 -2.43986040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.213201008 meters Centerline goodness : 0.843002 Centerline is valid? [False, False] Translation: X:2.29, Y:3.08, Z:-2.44 [[ 9.80457110e-01 6.00910013e-02 -1.87331062e-01 2.29429897e+00] [-5.86487993e-02 9.98190917e-01 1.32367766e-02 3.08395248e+00] [ 1.87787576e-01 -1.99134989e-03 9.82207647e-01 -2.43926310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.243201008 meters Centerline goodness : 0.843816 Centerline is valid? [False, False] Translation: X:2.29, Y:3.08, Z:-2.44 [[ 9.80450801e-01 6.04228468e-02 -1.87257324e-01 2.29375470e+00] [-5.89595175e-02 9.98170709e-01 1.33795013e-02 3.08413209e+00] [ 1.87723204e-01 -2.07734131e-03 9.82219773e-01 -2.43898214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.273201008 meters Centerline goodness : 0.843414 Centerline is valid? [False, False] Translation: X:2.29, Y:3.09, Z:-2.44 [[ 9.80422053e-01 6.01963756e-02 -1.87480651e-01 2.29469473e+00] [-5.87883892e-02 9.98184951e-01 1.30663244e-02 3.08507152e+00] [ 1.87926910e-01 -1.78882714e-03 9.82181387e-01 -2.43928537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.303201008 meters Centerline goodness : 0.843476 Centerline is valid? [False, False] Translation: X:2.30, Y:3.09, Z:-2.44 [[ 9.80410080e-01 6.01545705e-02 -1.87556664e-01 2.29516057e+00] [-5.87974297e-02 9.98187921e-01 1.27959882e-02 3.08610557e+00] [ 1.87986534e-01 -1.51746602e-03 9.82170434e-01 -2.43969006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.333201008 meters Centerline goodness : 0.842482 Centerline is valid? [False, False] Translation: X:2.30, Y:3.09, Z:-2.44 [[ 9.80373199e-01 5.99058631e-02 -1.87828854e-01 2.29634303e+00] [-5.86126359e-02 9.98203329e-01 1.24367189e-02 3.08767795e+00] [ 1.88236419e-01 -1.18348172e-03 9.82123032e-01 -2.44010716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.363201008 meters Centerline goodness : 0.843345 Centerline is valid? [False, False] Translation: X:2.30, Y:3.09, Z:-2.44 [[ 9.80325347e-01 5.96641050e-02 -1.88155278e-01 2.29733481e+00] [-5.83743732e-02 9.98217829e-01 1.23934646e-02 3.08755069e+00] [ 1.88559399e-01 -1.16618101e-03 9.82061094e-01 -2.44007339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.393201008 meters Centerline goodness : 0.843705 Centerline is valid? [False, False] Translation: X:2.30, Y:3.09, Z:-2.44 [[ 9.80262448e-01 5.94905955e-02 -1.88537535e-01 2.29829387e+00] [-5.81532363e-02 9.98227872e-01 1.26220848e-02 3.08645658e+00] [ 1.88954318e-01 -1.40888791e-03 9.81984868e-01 -2.43967621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.423201008 meters Centerline goodness : 0.844055 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80189212e-01 5.96018875e-02 -1.88882833e-01 2.29857668e+00] [-5.81300780e-02 9.98220053e-01 1.33274360e-02 3.08444796e+00] [ 1.89340972e-01 -2.08363520e-03 9.81909189e-01 -2.43850303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.453201008 meters Centerline goodness : 0.846365 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 9.80080248e-01 5.95148315e-02 -1.89474779e-01 2.29951222e+00] [-5.78979058e-02 9.98223460e-01 1.40625949e-02 3.08246587e+00] [ 1.89975102e-01 -2.81227855e-03 9.81784880e-01 -2.43702436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.483201008 meters Centerline goodness : 0.848344 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.44 [[ 0.97998099 0.05934314 -0.19004117 2.30022401] [-0.05754969 0.99823075 0.01494698 3.08079831] [ 0.19059193 -0.00371095 0.98166234 -2.43502562] [ 0. 0. 0. 1. ]] SLAMing on 148.513201008 meters Centerline goodness : 0.846930 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.43 [[ 0.97995296 0.05951875 -0.19013081 2.30005318] [-0.05761383 0.99821805 0.0155359 3.08000077] [ 0.19071668 -0.00427029 0.98163583 -2.43398864] [ 0. 0. 0. 1. ]] SLAMing on 148.543201008 meters Centerline goodness : 0.847627 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.43 [[ 0.97991541 0.05951789 -0.19032448 2.30033782] [-0.05755874 0.99821693 0.01581019 3.07917985] [ 0.19092611 -0.00453781 0.98159392 -2.43345864] [ 0. 0. 0. 1. ]] SLAMing on 148.573201008 meters Centerline goodness : 0.848729 Centerline is valid? [False, False] Translation: X:2.30, Y:3.08, Z:-2.43 [[ 0.97954182 0.06231683 -0.191349 2.30444506] [-0.05933169 0.99801113 0.0212963 3.07547291] [ 0.19229555 -0.00950755 0.981291 -2.42980287] [ 0. 0. 0. 1. ]] SLAMing on 148.603201008 meters Centerline goodness : 0.881869 Centerline is valid? [False, False] Translation: X:2.31, Y:3.08, Z:-2.43 [[ 0.97952821 0.06194352 -0.19153978 2.30566964] [-0.05899154 0.99803585 0.02108164 3.07536301] [ 0.19246944 -0.00935083 0.98125842 -2.43028363] [ 0. 0. 0. 1. ]] SLAMing on 148.63320100800001 meters Centerline goodness : 0.885027 Centerline is valid? [False, False] Translation: X:2.31, Y:3.07, Z:-2.43 [[ 0.97919253 0.06524964 -0.19215741 2.30846891] [-0.06151939 0.99778463 0.02532176 3.07280661] [ 0.19338394 -0.01297347 0.98103738 -2.4289061 ] [ 0. 0. 0. 1. ]] SLAMing on 148.66320100800002 meters Centerline goodness : 0.877422 Centerline is valid? [False, False] Translation: X:2.31, Y:3.07, Z:-2.43 [[ 0.97915785 0.06505699 -0.19239929 2.3092389 ] [-0.0613485 0.99779883 0.02517639 3.07252655] [ 0.19361368 -0.01284825 0.98099371 -2.42904001] [ 0. 0. 0. 1. ]] SLAMing on 148.69320100800002 meters Centerline goodness : 0.877155 Centerline is valid? [False, False] Translation: X:2.31, Y:3.07, Z:-2.43 [[ 0.97906972 0.06423814 -0.1931216 2.31236748] [-0.06066641 0.99786085 0.02435811 3.07264376] [ 0.1942732 -0.01213229 0.98087243 -2.43040425] [ 0. 0. 0. 1. ]] SLAMing on 148.72320100800002 meters Centerline goodness : 0.874933 Centerline is valid? [False, False] Translation: X:2.31, Y:3.07, Z:-2.43 [[ 0.9790116 0.06352466 -0.1936515 2.31488498] [-0.06005677 0.9979128 0.02373234 3.07328969] [ 0.1947549 -0.01160415 0.9807833 -2.43139105] [ 0. 0. 0. 1. ]] SLAMing on 148.753201008 meters Centerline goodness : 0.874408 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.43 [[ 0.97898898 0.06344694 -0.19379127 2.31552446] [-0.06000672 0.99791949 0.02357701 3.07325004] [ 0.19488397 -0.01145286 0.98075944 -2.43176371] [ 0. 0. 0. 1. ]] SLAMing on 148.783201008 meters Centerline goodness : 0.873941 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97853213 0.06587257 -0.19528356 2.32205353] [-0.06096176 0.99765678 0.03105829 3.06922267] [ 0.19687186 -0.0184867 0.98025492 -2.42411961] [ 0. 0. 0. 1. ]] SLAMing on 148.813201008 meters Centerline goodness : 0.871663 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.43 [[ 0.97881487 0.06252086 -0.1949682 2.32010281] [-0.05836131 0.99793001 0.02701223 3.07167406] [ 0.19625344 -0.01506138 0.98043753 -2.42500765] [ 0. 0. 0. 1. ]] SLAMing on 148.843201008 meters Centerline goodness : 0.870117 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97847069 0.06613456 -0.19550276 2.32275994] [-0.06106206 0.99762514 0.03186688 3.06832839] [ 0.19714597 -0.01924301 0.98018528 -2.42302594] [ 0. 0. 0. 1. ]] SLAMing on 148.873201008 meters Centerline goodness : 0.870645 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97878484 0.06275228 -0.19504456 2.32056694] [-0.0584572 0.99790539 0.02770555 3.07060027] [ 0.19637461 -0.01571601 0.98040299 -2.42415796] [ 0. 0. 0. 1. ]] SLAMing on 148.903201008 meters Centerline goodness : 0.870802 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.9787383 0.06270099 -0.19529444 2.32102322] [-0.05838219 0.99790719 0.02779846 3.07004534] [ 0.19662872 -0.0158057 0.98035061 -2.42383168] [ 0. 0. 0. 1. ]] SLAMing on 148.933201008 meters Centerline goodness : 0.872509 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97903925 0.05871726 -0.19502416 2.31975766] [-0.05516613 0.99819836 0.02359535 3.07170674] [ 0.19605825 -0.01234205 0.98051458 -2.42465813] [ 0. 0. 0. 1. ]] SLAMing on 148.963201008 meters Centerline goodness : 0.874971 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97900501 0.05868345 -0.19520615 2.32020735] [-0.05505264 0.99819549 0.02397844 3.070296 ] [ 0.19626104 -0.0127284 0.98046907 -2.42420913] [ 0. 0. 0. 1. ]] SLAMing on 148.993201008 meters Centerline goodness : 0.873376 Centerline is valid? [False, False] Translation: X:2.32, Y:3.07, Z:-2.42 [[ 0.97891352 0.05806747 -0.19584811 2.32232943] [-0.05438248 0.9982282 0.02414542 3.06885934] [ 0.19690317 -0.01298558 0.98033694 -2.42380709] [ 0. 0. 0. 1. ]] SLAMing on 149.023201008 meters Centerline goodness : 0.876248 Centerline is valid? [False, False] Translation: X:2.34, Y:3.07, Z:-2.42 [[ 0.97905507 0.05418354 -0.19625321 2.33613001] [-0.0493864 0.99835109 0.02925906 3.06511582] [ 0.19751497 -0.018954 0.98011662 -2.41768145] [ 0. 0. 0. 1. ]] SLAMing on 149.053201008 meters Centerline goodness : 0.877127 Centerline is valid? [False, False] Translation: X:2.34, Y:3.07, Z:-2.42 [[ 0.97934609 0.04948132 -0.19604293 2.33599944] [-0.04550909 0.99865807 0.02471792 3.06643574] [ 0.19700293 -0.01528566 0.98028373 -2.41908721] [ 0. 0. 0. 1. ]] SLAMing on 149.083201008 meters Centerline goodness : 0.877375 Centerline is valid? [False, False] Translation: X:2.34, Y:3.06, Z:-2.42 [[ 0.97922681 0.04854976 -0.19686995 2.3387176 ] [-0.04448455 0.99869667 0.02502168 3.06464342] [ 0.19782816 -0.01574423 0.98011027 -2.41826186] [ 0. 0. 0. 1. ]] SLAMing on 149.113201008 meters Centerline goodness : 0.877392 Centerline is valid? [False, False] Translation: X:2.34, Y:3.06, Z:-2.42 [[ 0.97914044 0.04771186 -0.19750338 2.34099341] [-0.04359123 0.99873255 0.02516133 3.06258762] [ 0.19845355 -0.01602706 0.97997925 -2.4178418 ] [ 0. 0. 0. 1. ]] SLAMing on 149.143201008 meters Centerline goodness : 0.871022 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.41 [[ 0.97945204 0.04291144 -0.19705914 2.35746117] [-0.03734466 0.99879377 0.03188064 3.05822905] [ 0.19818949 -0.02386645 0.97987311 -2.40923232] [ 0. 0. 0. 1. ]] SLAMing on 149.173201008 meters Centerline goodness : 0.880369 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.41 [[ 0.97932306 0.04205468 -0.19788317 2.36002718] [-0.03639312 0.99881986 0.03216254 3.05666173] [ 0.19900222 -0.02429594 0.97969782 -2.40830022] [ 0. 0. 0. 1. ]] SLAMing on 149.203201008 meters Centerline goodness : 0.876252 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.41 [[ 0.97954331 0.03716818 -0.19777116 2.36044654] [-0.03235861 0.99909803 0.02749637 3.05839073] [ 0.19861476 -0.02053429 0.9798625 -2.40978517] [ 0. 0. 0. 1. ]] SLAMing on 149.233201008 meters Centerline goodness : 0.875832 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.41 [[ 0.97947856 0.03677173 -0.19816556 2.36184162] [-0.03184985 0.99910127 0.02796872 3.05735964] [ 0.19901592 -0.02108322 0.97976944 -2.4089169 ] [ 0. 0. 0. 1. ]] SLAMing on 149.263201008 meters Centerline goodness : 0.880591 Centerline is valid? [False, False] Translation: X:2.37, Y:3.05, Z:-2.40 [[ 0.97935736 0.03724914 -0.19867476 2.36838818] [-0.03109756 0.99893808 0.03399503 3.05452701] [ 0.19973006 -0.02711498 0.97947572 -2.40326363] [ 0. 0. 0. 1. ]] SLAMing on 149.293201008 meters Centerline goodness : 0.878223 Centerline is valid? [False, False] Translation: X:2.37, Y:3.05, Z:-2.40 [[ 0.9793476 0.0375221 -0.19867149 2.36799636] [-0.03123948 0.99891063 0.03466487 3.05400188] [ 0.19975576 -0.02774257 0.9794529 -2.40208822] [ 0. 0. 0. 1. ]] SLAMing on 149.323201008 meters Centerline goodness : 0.878351 Centerline is valid? [False, False] Translation: X:2.37, Y:3.05, Z:-2.40 [[ 0.97933698 0.03802658 -0.19862795 2.36702977] [-0.03162845 0.99887661 0.03528683 3.05347263] [ 0.19974665 -0.0282754 0.97943952 -2.40091722] [ 0. 0. 0. 1. ]] SLAMing on 149.353201008 meters Centerline goodness : 0.868254 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.40 [[ 0.97956102 0.03465385 -0.19813963 2.36492526] [-0.02906764 0.99909559 0.03103356 3.05670478] [ 0.19903587 -0.02463981 0.9796824 -2.40205192] [ 0. 0. 0. 1. ]] SLAMing on 149.38320100800001 meters Centerline goodness : 0.868715 Centerline is valid? [False, False] Translation: X:2.36, Y:3.06, Z:-2.40 [[ 0.97961546 0.03507099 -0.19779681 2.3641041 ] [-0.02968368 0.99910492 0.03013702 3.05966874] [ 0.1986767 -0.02365135 0.97977966 -2.40346044] [ 0. 0. 0. 1. ]] SLAMing on 149.41320100800002 meters Centerline goodness : 0.868216 Centerline is valid? [False, False] Translation: X:2.37, Y:3.06, Z:-2.40 [[ 0.97960876 0.03480775 -0.19787645 2.36500288] [-0.02956777 0.99913104 0.02937519 3.06152266] [ 0.19872699 -0.02292543 0.97978672 -2.40452812] [ 0. 0. 0. 1. ]] SLAMing on 149.44320100800002 meters Centerline goodness : 0.867458 Centerline is valid? [False, False] Translation: X:2.37, Y:3.06, Z:-2.41 [[ 0.9796013 0.03468867 -0.19793431 2.36551662] [-0.02958984 0.99915114 0.0286609 3.06323397] [ 0.1987605 -0.02221941 0.97979618 -2.4054423 ] [ 0. 0. 0. 1. ]] SLAMing on 149.47320100800002 meters Centerline goodness : 0.868865 Centerline is valid? [False, False] Translation: X:2.36, Y:3.07, Z:-2.41 [[ 0.97967972 0.03532766 -0.19743253 2.36444675] [-0.03043518 0.99915115 0.02776108 3.06592869] [ 0.19824567 -0.02118807 0.97992332 -2.40720055] [ 0. 0. 0. 1. ]] SLAMing on 149.503201008 meters Centerline goodness : 0.867994 Centerline is valid? [False, False] Translation: X:2.36, Y:3.07, Z:-2.41 [[ 0.97972168 0.03547457 -0.19719783 2.36405737] [-0.03069556 0.99915754 0.02723951 3.06787273] [ 0.19799801 -0.02063404 0.97998522 -2.40794186] [ 0. 0. 0. 1. ]] SLAMing on 149.533201008 meters Centerline goodness : 0.867994 Centerline is valid? [False, False] Translation: X:2.36, Y:3.07, Z:-2.41 [[ 0.97972168 0.03547457 -0.19719783 2.36405737] [-0.03069556 0.99915754 0.02723951 3.06787273] [ 0.19799801 -0.02063404 0.97998522 -2.40794186] [ 0. 0. 0. 1. ]] SLAMing on 149.563201008 meters Centerline goodness : 0.868414 Centerline is valid? [False, False] Translation: X:2.36, Y:3.07, Z:-2.41 [[ 0.9797193 0.03525826 -0.19724845 2.36480711] [-0.03064114 0.99918143 0.02641179 3.07014987] [ 0.19801823 -0.01983222 0.97999769 -2.40907223] [ 0. 0. 0. 1. ]] SLAMing on 149.593201008 meters Centerline goodness : 0.866758 Centerline is valid? [False, False] Translation: X:2.36, Y:3.07, Z:-2.41 [[ 0.97978289 0.03542807 -0.19690188 2.36440545] [-0.03091683 0.99918533 0.02593896 3.07158538] [ 0.19766043 -0.01932697 0.98008001 -2.41010419] [ 0. 0. 0. 1. ]] SLAMing on 149.623201008 meters Centerline goodness : 0.866250 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97974197 0.03500326 -0.19718124 2.3658242 ] [-0.03060661 0.99921121 0.02530191 3.07287949] [ 0.19791135 -0.01875429 0.9800405 -2.41088849] [ 0. 0. 0. 1. ]] SLAMing on 149.653201008 meters Centerline goodness : 0.865429 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97979327 0.03475833 -0.19696958 2.36619994] [-0.03046746 0.9992287 0.0247739 3.07390925] [ 0.19767875 -0.01827213 0.98009655 -2.41189276] [ 0. 0. 0. 1. ]] SLAMing on 149.683201008 meters Centerline goodness : 0.865049 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97971398 0.0342776 -0.19744762 2.36774214] [-0.02996921 0.99924391 0.02476821 3.07366812] [ 0.19814732 -0.01834841 0.9800005 -2.41145968] [ 0. 0. 0. 1. ]] SLAMing on 149.713201008 meters Centerline goodness : 0.864681 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97965013 0.03385777 -0.19783647 2.36897776] [-0.02950759 0.99925446 0.02489642 3.0724907 ] [ 0.19853191 -0.0185521 0.97991882 -2.4110194 ] [ 0. 0. 0. 1. ]] SLAMing on 149.743201008 meters Centerline goodness : 0.863501 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97953822 0.03322796 -0.19849627 2.37101899] [-0.02882801 0.9992713 0.02501611 3.07143196] [ 0.19918286 -0.01878198 0.97978233 -2.41041504] [ 0. 0. 0. 1. ]] SLAMing on 149.773201008 meters Centerline goodness : 0.863200 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.97948662 0.03210647 -0.19893502 2.37344055] [-0.02769415 0.99930569 0.02492337 3.06963167] [ 0.1995971 -0.01890278 0.97969571 -2.41033323] [ 0. 0. 0. 1. ]] SLAMing on 149.803201008 meters Centerline goodness : 0.866521 Centerline is valid? [False, False] Translation: X:2.38, Y:3.07, Z:-2.41 [[ 0.97940557 0.03162959 -0.19940986 2.37521878] [-0.02719032 0.99931856 0.02496212 3.0691977 ] [ 0.20006352 -0.01902602 0.97959818 -2.41007586] [ 0. 0. 0. 1. ]] SLAMing on 149.833201008 meters Centerline goodness : 0.864529 Centerline is valid? [False, False] Translation: X:2.38, Y:3.07, Z:-2.41 [[ 0.97935688 0.03124586 -0.19970928 2.37630933] [-0.02679204 0.99932922 0.02496595 3.06852934] [ 0.2003554 -0.01909995 0.97953709 -2.40993152] [ 0. 0. 0. 1. ]] SLAMing on 149.863201008 meters Centerline goodness : 0.864296 Centerline is valid? [False, False] Translation: X:2.38, Y:3.07, Z:-2.41 [[ 0.97935035 0.03085238 -0.19980248 2.37704609] [-0.02616547 0.99931798 0.02605665 3.0664018 ] [ 0.20047012 -0.02029066 0.97948967 -2.40810753] [ 0. 0. 0. 1. ]] SLAMing on 149.893201008 meters Centerline goodness : 0.862734 Centerline is valid? [False, False] Translation: X:2.38, Y:3.07, Z:-2.41 [[ 0.97929688 0.03049199 -0.2001196 2.37832373] [-0.02571077 0.9993195 0.026448 3.06523761] [ 0.20078987 -0.02075522 0.97941444 -2.40748982] [ 0. 0. 0. 1. ]] SLAMing on 149.923201008 meters Centerline goodness : 0.863608 Centerline is valid? [False, False] Translation: X:2.38, Y:3.07, Z:-2.41 [[ 0.97950307 0.02580355 -0.19976966 2.37811729] [-0.02187041 0.99952157 0.02187058 3.06729934] [ 0.20023843 -0.01705325 0.97959877 -2.40893209] [ 0. 0. 0. 1. ]] SLAMing on 149.953201008 meters Centerline goodness : 0.861311 Centerline is valid? [False, False] Translation: X:2.38, Y:3.06, Z:-2.41 [[ 0.97938861 0.02398904 -0.20055544 2.38175334] [-0.01985824 0.99954771 0.02258356 3.06441573] [ 0.20100649 -0.0181354 0.97942202 -2.40701742] [ 0. 0. 0. 1. ]] SLAMing on 149.983201008 meters Centerline goodness : 0.860491 Centerline is valid? [False, False] Translation: X:2.38, Y:3.06, Z:-2.41 [[ 0.97934181 0.02363123 -0.20082625 2.38268472] [-0.01937404 0.99954454 0.02313771 3.06270102] [ 0.20128156 -0.01876892 0.97935359 -2.40605153] [ 0. 0. 0. 1. ]] SLAMing on 150.013201008 meters Centerline goodness : 0.858612 Centerline is valid? [False, False] Translation: X:2.38, Y:3.06, Z:-2.41 [[ 0.97928864 0.02298995 -0.2011597 2.38424369] [-0.01872121 0.99955791 0.02309763 3.06168469] [ 0.20160179 -0.01885329 0.9792861 -2.40595856] [ 0. 0. 0. 1. ]] SLAMing on 150.043201008 meters Centerline goodness : 0.859510 Centerline is valid? [False, False] Translation: X:2.39, Y:3.06, Z:-2.41 [[ 0.97922427 0.02245149 -0.20153353 2.38580054] [-0.01817167 0.99956889 0.02306148 3.06096611] [ 0.20196441 -0.01892016 0.97921009 -2.40601918] [ 0. 0. 0. 1. ]] SLAMing on 150.073201008 meters Centerline goodness : 0.856088 Centerline is valid? [False, False] Translation: X:2.39, Y:3.06, Z:-2.41 [[ 0.97916363 0.02160844 -0.20191994 2.38792053] [-0.01740492 0.99959374 0.02257032 3.06151045] [ 0.20232561 -0.01858564 0.97914193 -2.40665829] [ 0. 0. 0. 1. ]] SLAMing on 150.103201008 meters Centerline goodness : 0.853820 Centerline is valid? [False, False] Translation: X:2.37, Y:3.06, Z:-2.41 [[ 0.98025135 0.01889432 -0.19685096 2.36981749] [-0.01365364 0.99951619 0.02794588 3.06455616] [ 0.19728374 -0.02470626 0.98003506 -2.41104822] [ 0. 0. 0. 1. ]] SLAMing on 150.13320100800001 meters Centerline goodness : 0.854375 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.98022818 0.01856452 -0.19699767 2.37101816] [-0.01347423 0.9995406 0.02714839 3.0669152 ] [ 0.19741117 -0.02395723 0.980028 -2.41220092] [ 0. 0. 0. 1. ]] SLAMing on 150.16320100800002 meters Centerline goodness : 0.853805 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.98022966 0.01842007 -0.19700386 2.37175526] [-0.01346221 0.9995588 0.02647604 3.06918016] [ 0.19740463 -0.02330049 0.98004515 -2.41327465] [ 0. 0. 0. 1. ]] SLAMing on 150.19320100800002 meters Centerline goodness : 0.852809 Centerline is valid? [False, False] Translation: X:2.37, Y:3.07, Z:-2.41 [[ 0.98025187 0.01868984 -0.19686788 2.37156074] [-0.01389961 0.99957342 0.025686 3.0738492 ] [ 0.19726397 -0.02244236 0.9800935 -2.41427994] [ 0. 0. 0. 1. ]] SLAMing on 150.22320100800002 meters Centerline goodness : 0.851392 Centerline is valid? [False, False] Translation: X:2.37, Y:3.08, Z:-2.41 [[ 0.98026751 0.01882956 -0.19677666 2.37126995] [-0.01411297 0.99957916 0.02534423 3.07597141] [ 0.19717107 -0.02206703 0.98012071 -2.41451149] [ 0. 0. 0. 1. ]] SLAMing on 150.253201008 meters Centerline goodness : 0.851829 Centerline is valid? [False, False] Translation: X:2.37, Y:3.08, Z:-2.41 [[ 0.98030776 0.0189514 -0.19656433 2.3707316 ] [-0.01433182 0.99958727 0.02489762 3.07799358] [ 0.19695505 -0.02159021 0.98017477 -2.41495196] [ 0. 0. 0. 1. ]] SLAMing on 150.283201008 meters Centerline goodness : 0.850655 Centerline is valid? [False, False] Translation: X:2.37, Y:3.08, Z:-2.41 [[ 0.98035746 0.01972807 -0.19623979 2.36855701] [-0.01517981 0.99958078 0.02465433 3.0811779 ] [ 0.19664391 -0.02119118 0.98024594 -2.41448687] [ 0. 0. 0. 1. ]] SLAMing on 150.313201008 meters Centerline goodness : 0.850316 Centerline is valid? [False, False] Translation: X:2.37, Y:3.08, Z:-2.41 [[ 0.98044866 0.02027544 -0.19572771 2.36684376] [-0.01575779 0.9995729 0.02461108 3.08364777] [ 0.19614312 -0.02104566 0.98034941 -2.41414544] [ 0. 0. 0. 1. ]] SLAMing on 150.343201008 meters Centerline goodness : 0.847939 Centerline is valid? [False, False] Translation: X:2.37, Y:3.08, Z:-2.41 [[ 0.98030781 0.02507624 -0.19587696 2.36671026] [-0.01968617 0.99937337 0.02941653 3.08320682] [ 0.19649188 -0.02498119 0.98018717 -2.41222445] [ 0. 0. 0. 1. ]] SLAMing on 150.373201008 meters Centerline goodness : 0.850181 Centerline is valid? [False, False] Translation: X:2.37, Y:3.09, Z:-2.41 [[ 0.98030164 0.02521031 -0.19589062 2.36687417] [-0.0199834 0.99939077 0.02861385 3.08650244] [ 0.19649264 -0.02413564 0.9802082 -2.41319312] [ 0. 0. 0. 1. ]] SLAMing on 150.403201008 meters Centerline goodness : 0.850472 Centerline is valid? [False, False] Translation: X:2.37, Y:3.09, Z:-2.41 [[ 0.98019928 0.03050095 -0.19565036 2.3658231 ] [-0.02471141 0.99918346 0.03196485 3.09025737] [ 0.19646556 -0.02649713 0.98015263 -2.41352632] [ 0. 0. 0. 1. ]] SLAMing on 150.433201008 meters Centerline goodness : 0.848491 Centerline is valid? [False, False] Translation: X:2.38, Y:3.09, Z:-2.42 [[ 0.98098243 0.03337548 -0.1912055 2.38170469] [-0.029157 0.99926629 0.02483448 3.09404221] [ 0.19189407 -0.01878721 0.98123581 -2.41661932] [ 0. 0. 0. 1. ]] SLAMing on 150.463201008 meters Centerline goodness : 0.848932 Centerline is valid? [False, False] Translation: X:2.38, Y:3.10, Z:-2.42 [[ 0.98098631 0.03417959 -0.19104348 2.38076495] [-0.03006852 0.99925053 0.02437748 3.09714229] [ 0.19173351 -0.01816958 0.98127882 -2.41726959] [ 0. 0. 0. 1. ]] SLAMing on 150.493201008 meters Centerline goodness : 0.847922 Centerline is valid? [False, False] Translation: X:2.38, Y:3.10, Z:-2.42 [[ 0.98074474 0.03874794 -0.19141145 2.38181496] [-0.03390943 0.99901874 0.02849058 3.09697764] [ 0.19232758 -0.02145133 0.9810963 -2.41658622] [ 0. 0. 0. 1. ]] SLAMing on 150.523201008 meters Centerline goodness : 0.846260 Centerline is valid? [False, False] Translation: X:2.38, Y:3.10, Z:-2.42 [[ 0.980694 0.04108106 -0.19118477 2.37940236] [-0.03626744 0.99893248 0.02861074 3.10090841] [ 0.19215604 -0.0211246 0.981137 -2.41698469] [ 0. 0. 0. 1. ]] SLAMing on 150.553201008 meters Centerline goodness : 0.847470 Centerline is valid? [False, False] Translation: X:2.38, Y:3.10, Z:-2.42 [[ 0.98067338 0.04119718 -0.19126558 2.37968699] [-0.03647436 0.99893805 0.02814934 3.10273497] [ 0.19222214 -0.02062902 0.98113459 -2.41752512] [ 0. 0. 0. 1. ]] SLAMing on 150.583201008 meters Centerline goodness : 0.847626 Centerline is valid? [False, False] Translation: X:2.38, Y:3.10, Z:-2.42 [[ 0.98067677 0.04126465 -0.19123362 2.37977715] [-0.03662416 0.99894405 0.02773891 3.10388977] [ 0.19217632 -0.02019914 0.98115251 -2.41811225] [ 0. 0. 0. 1. ]] SLAMing on 150.613201008 meters Centerline goodness : 0.847608 Centerline is valid? [False, False] Translation: X:2.38, Y:3.11, Z:-2.42 [[ 0.98059671 0.04070321 -0.19176378 2.38156137] [-0.03614754 0.99897632 0.02719691 3.10545198] [ 0.19267448 -0.01973741 0.98106421 -2.41840818] [ 0. 0. 0. 1. ]] SLAMing on 150.643201008 meters Centerline goodness : 0.847851 Centerline is valid? [False, False] Translation: X:2.38, Y:3.11, Z:-2.42 [[ 0.98058009 0.04035408 -0.19192247 2.38273855] [-0.03585621 0.99899612 0.02685294 3.10602809] [ 0.19281343 -0.01944985 0.98104265 -2.41914746] [ 0. 0. 0. 1. ]] SLAMing on 150.673201008 meters Centerline goodness : 0.847790 Centerline is valid? [False, False] Translation: X:2.38, Y:3.11, Z:-2.42 [[ 0.98053483 0.03971871 -0.19228589 2.38449133] [-0.03529541 0.9990288 0.02637612 3.10608819] [ 0.19314677 -0.0190759 0.98098442 -2.41982846] [ 0. 0. 0. 1. ]] SLAMing on 150.703201008 meters Centerline goodness : 0.848568 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.98041829 0.03902556 -0.19302065 2.3868003 ] [-0.03461162 0.99905766 0.02618847 3.10564178] [ 0.19386078 -0.0189949 0.98084514 -2.41968515] [ 0. 0. 0. 1. ]] SLAMing on 150.733201008 meters Centerline goodness : 0.852508 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.98056022 0.03456368 -0.19315021 2.38696885] [-0.03093884 0.99928455 0.02175283 3.10693094] [ 0.19376387 -0.01535412 0.98092804 -2.42054589] [ 0. 0. 0. 1. ]] SLAMing on 150.763201008 meters Centerline goodness : 0.853454 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.98048558 0.03418255 -0.19359642 2.38843728] [-0.03056574 0.99929849 0.02163936 3.10726087] [ 0.1942003 -0.01529966 0.98084258 -2.42047255] [ 0. 0. 0. 1. ]] SLAMing on 150.793201008 meters Centerline goodness : 0.854124 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.9804854 0.03412193 -0.19360802 2.38870514] [-0.0305052 0.9993005 0.02163219 3.10730947] [ 0.19421072 -0.01530399 0.98084045 -2.42058045] [ 0. 0. 0. 1. ]] SLAMing on 150.823201008 meters Centerline goodness : 0.853486 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.98046159 0.03420844 -0.19371331 2.38877889] [-0.03054936 0.9992945 0.02184582 3.10681918] [ 0.19432396 -0.01550117 0.98081492 -2.42020707] [ 0. 0. 0. 1. ]] SLAMing on 150.853201008 meters Centerline goodness : 0.855459 Centerline is valid? [False, False] Translation: X:2.39, Y:3.11, Z:-2.42 [[ 0.98045375 0.03452659 -0.19369654 2.38842934] [-0.03081003 0.9992794 0.02216816 3.10561356] [ 0.19432235 -0.01576706 0.980811 -2.41987229] [ 0. 0. 0. 1. ]] SLAMing on 150.88320100800001 meters Centerline goodness : 0.855739 Centerline is valid? [False, False] Translation: X:2.39, Y:3.10, Z:-2.42 [[ 0.98018844 0.03824496 -0.19433979 2.39121371] [-0.03375708 0.99908255 0.02635367 3.10301957] [ 0.19516939 -0.01927122 0.9805802 -2.41939494] [ 0. 0. 0. 1. ]] SLAMing on 150.91320100800002 meters Centerline goodness : 0.856957 Centerline is valid? [False, False] Translation: X:2.39, Y:3.10, Z:-2.42 [[ 0.98014682 0.03807711 -0.19458249 2.39226045] [-0.03365875 0.99909607 0.02596415 3.10393795] [ 0.19539524 -0.01889928 0.98054246 -2.41999312] [ 0. 0. 0. 1. ]] SLAMing on 150.94320100800002 meters Centerline goodness : 0.858126 Centerline is valid? [False, False] Translation: X:2.39, Y:3.10, Z:-2.42 [[ 0.97984181 0.04229595 -0.19524621 2.39424262] [-0.03701856 0.99884593 0.03060135 3.10115654] [ 0.19631519 -0.02275675 0.98027673 -2.41866898] [ 0. 0. 0. 1. ]] SLAMing on 150.97320100800002 meters Centerline goodness : 0.858442 Centerline is valid? [False, False] Translation: X:2.41, Y:3.10, Z:-2.42 [[ 0.98072022 0.04436969 -0.19031336 2.40877055] [-0.04069179 0.99890255 0.02319192 3.10223177] [ 0.19113352 -0.0150006 0.98144942 -2.42105405] [ 0. 0. 0. 1. ]] SLAMing on 151.003201008 meters Centerline goodness : 0.857808 Centerline is valid? [False, False] Translation: X:2.41, Y:3.10, Z:-2.42 [[ 0.98069935 0.04456782 -0.1903746 2.40917532] [-0.04096935 0.99890027 0.02279814 3.10316363] [ 0.1911813 -0.01455859 0.98144677 -2.42189277] [ 0. 0. 0. 1. ]] SLAMing on 151.033201008 meters Centerline goodness : 0.859193 Centerline is valid? [False, False] Translation: X:2.41, Y:3.10, Z:-2.42 [[ 0.98072372 0.04491098 -0.1901683 2.4090931 ] [-0.0413868 0.99889061 0.02246503 3.10398535] [ 0.19096625 -0.01416153 0.98149444 -2.42293198] [ 0. 0. 0. 1. ]] SLAMing on 151.063201008 meters Centerline goodness : 0.859234 Centerline is valid? [False, False] Translation: X:2.41, Y:3.10, Z:-2.42 [[ 0.98072372 0.04534563 -0.19006515 2.40877833] [-0.04182873 0.99887194 0.02247676 3.10403059] [ 0.19086997 -0.01409331 0.98151415 -2.4232576 ] [ 0. 0. 0. 1. ]] SLAMing on 151.093201008 meters Centerline goodness : 0.859387 Centerline is valid? [False, False] Translation: X:2.42, Y:3.10, Z:-2.43 [[ 0.98152835 0.04563755 -0.18579371 2.42481907] [-0.04393154 0.99894613 0.01329108 3.10447012] [ 0.18620448 -0.00488337 0.98249888 -2.4266098 ] [ 0. 0. 0. 1. ]] SLAMing on 151.123201008 meters Centerline goodness : 0.862177 Centerline is valid? [False, False] Translation: X:2.42, Y:3.10, Z:-2.43 [[ 0.98151201 0.04605173 -0.18577788 2.42466228] [-0.04425107 0.99892471 0.01382971 3.10298956] [ 0.186215 -0.00535315 0.98249444 -2.42638719] [ 0. 0. 0. 1. ]] SLAMing on 151.153201008 meters Centerline goodness : 0.861650 Centerline is valid? [False, False] Translation: X:2.42, Y:3.10, Z:-2.43 [[ 0.98148557 0.04632255 -0.18585018 2.42482344] [-0.04444163 0.99890997 0.01427619 3.10156928] [ 0.18630891 -0.00575239 0.98247438 -2.42623834] [ 0. 0. 0. 1. ]] SLAMing on 151.183201008 meters Centerline goodness : 0.859865 Centerline is valid? [False, False] Translation: X:2.43, Y:3.10, Z:-2.43 [[ 0.98144055 0.04616753 -0.18612633 2.42610978] [-0.04425868 0.99891632 0.01440006 3.10029361] [ 0.18658944 -0.0058951 0.98242029 -2.42662195] [ 0. 0. 0. 1. ]] SLAMing on 151.213201008 meters Centerline goodness : 0.858313 Centerline is valid? [False, False] Translation: X:2.43, Y:3.10, Z:-2.43 [[ 0.98139897 0.04515883 -0.18659243 2.43001429] [-0.04335512 0.99896526 0.01373811 3.09928874] [ 0.18701975 -0.00539283 0.98234135 -2.42915032] [ 0. 0. 0. 1. ]] SLAMing on 151.243201008 meters Centerline goodness : 0.855731 Centerline is valid? [False, False] Translation: X:2.43, Y:3.10, Z:-2.43 [[ 0.98132359 0.04443231 -0.18716243 2.4327412 ] [-0.04266214 0.99899865 0.01347733 3.09844842] [ 0.18757385 -0.00524088 0.98223652 -2.4300498 ] [ 0. 0. 0. 1. ]] SLAMing on 151.273201008 meters Centerline goodness : 0.855579 Centerline is valid? [False, False] Translation: X:2.43, Y:3.10, Z:-2.43 [[ 0.98124691 0.04426619 -0.18760334 2.43410165] [-0.04239638 0.9990032 0.01396964 3.09588737] [ 0.18803472 -0.00575396 0.98214553 -2.4297977 ] [ 0. 0. 0. 1. ]] SLAMing on 151.303201008 meters Centerline goodness : 0.857143 Centerline is valid? [False, False] Translation: X:2.44, Y:3.09, Z:-2.43 [[ 0.98121196 0.04335863 -0.18799767 2.43586643] [-0.04133108 0.99903746 0.01469354 3.08996153] [ 0.1884538 -0.00664733 0.98205956 -2.42890287] [ 0. 0. 0. 1. ]] SLAMing on 151.333201008 meters Centerline goodness : 0.855279 Centerline is valid? [False, False] Translation: X:2.44, Y:3.09, Z:-2.43 [[ 0.98113697 0.04330033 -0.18840205 2.43681235] [-0.04113864 0.99903521 0.01537094 3.08783046] [ 0.18888585 -0.0073304 0.98197169 -2.42806049] [ 0. 0. 0. 1. ]] SLAMing on 151.363201008 meters Centerline goodness : 0.856125 Centerline is valid? [False, False] Translation: X:2.44, Y:3.09, Z:-2.43 [[ 0.98112937 0.04350412 -0.18839466 2.43683854] [-0.04125374 0.99902295 0.01585161 3.08624869] [ 0.18890019 -0.0077805 0.98196547 -2.42786912] [ 0. 0. 0. 1. ]] SLAMing on 151.393201008 meters Centerline goodness : 0.854351 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 0.98117645 0.04363232 -0.18811964 2.43709127] [-0.04133316 0.99901522 0.01612926 3.0844496 ] [ 0.18863814 -0.00805007 0.98201367 -2.42866954] [ 0. 0. 0. 1. ]] SLAMing on 151.423201008 meters Centerline goodness : 0.853818 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 0.98118567 0.04358896 -0.18808157 2.43772195] [-0.04130218 0.99901758 0.01606234 3.08389637] [ 0.18859694 -0.00799196 0.98202206 -2.42943083] [ 0. 0. 0. 1. ]] SLAMing on 151.453201008 meters Centerline goodness : 0.850200 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 0.98119605 0.04374392 -0.18799144 2.43773709] [-0.04141121 0.99900889 0.01632011 3.08303045] [ 0.18851902 -0.00822827 0.98203507 -2.42957947] [ 0. 0. 0. 1. ]] SLAMing on 151.483201008 meters Centerline goodness : 0.850200 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 0.98119605 0.04374392 -0.18799144 2.43773709] [-0.04141121 0.99900889 0.01632011 3.08303045] [ 0.18851902 -0.00822827 0.98203507 -2.42957947] [ 0. 0. 0. 1. ]] SLAMing on 151.513201008 meters Centerline goodness : 0.847891 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 0.98139512 0.03882936 -0.18803163 2.43798823] [-0.03725318 0.99923488 0.01191058 3.08350324] [ 0.18835024 -0.00468421 0.98209075 -2.43037024] [ 0. 0. 0. 1. ]] SLAMing on 151.543201008 meters Centerline goodness : 0.846803 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 9.81474089e-01 3.34788689e-02 -1.88647229e-01 2.43929589e+00] [-3.24421480e-02 9.99436773e-01 8.58154651e-03 3.08007076e+00] [ 1.88828279e-01 -2.30244420e-03 9.82007424e-01 -2.42904601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.573201008 meters Centerline goodness : 0.850264 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 9.81379942e-01 3.26079802e-02 -1.89288481e-01 2.44171404e+00] [-3.14999378e-02 9.99464483e-01 8.86007942e-03 3.07771943e+00] [ 1.89476023e-01 -2.73252887e-03 9.81881546e-01 -2.42865946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.603201008 meters Centerline goodness : 0.845010 Centerline is valid? [False, False] Translation: X:2.44, Y:3.08, Z:-2.43 [[ 9.81306226e-01 3.14805126e-02 -1.89860652e-01 2.44490414e+00] [-3.04188483e-02 9.99501062e-01 8.50413474e-03 3.07681479e+00] [ 1.90033638e-01 -2.56981799e-03 9.81774217e-01 -2.42961668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63320100800001 meters Centerline goodness : 0.844817 Centerline is valid? [False, False] Translation: X:2.45, Y:3.08, Z:-2.43 [[ 9.81333221e-01 2.73456327e-02 -1.90361040e-01 2.45157445e+00] [-2.65955609e-02 9.99625179e-01 6.49437264e-03 3.07632363e+00] [ 1.90467282e-01 -1.31038499e-03 9.81692670e-01 -2.43230276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66320100800002 meters Centerline goodness : 0.843070 Centerline is valid? [False, False] Translation: X:2.45, Y:3.07, Z:-2.43 [[ 9.81233727e-01 2.64500254e-02 -1.90999395e-01 2.45412622e+00] [-2.56266033e-02 9.99648590e-01 6.78035208e-03 3.07424621e+00] [ 1.91111617e-01 -1.75844441e-03 9.81566736e-01 -2.43197321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69320100800002 meters Centerline goodness : 0.841256 Centerline is valid? [False, False] Translation: X:2.46, Y:3.07, Z:-2.43 [[ 9.81075498e-01 2.55035129e-02 -1.91938630e-01 2.45714206e+00] [-2.45423978e-02 9.99671523e-01 7.38356040e-03 3.07148220e+00] [ 1.92063890e-01 -2.53319598e-03 9.81379155e-01 -2.43093921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72320100800002 meters Centerline goodness : 0.839805 Centerline is valid? [False, False] Translation: X:2.46, Y:3.07, Z:-2.43 [[ 0.98097246 0.0246032 -0.19258169 2.45944085] [-0.02353447 0.99969232 0.00783544 3.06883691] [ 0.19271522 -0.00315404 0.98124966 -2.43015319] [ 0. 0. 0. 1. ]] SLAMing on 151.753201008 meters Centerline goodness : 0.839763 Centerline is valid? [False, False] Translation: X:2.47, Y:3.06, Z:-2.42 [[ 0.98072854 0.02112066 -0.1942304 2.46656788] [-0.01937907 0.9997532 0.01086256 3.06433977] [ 0.19441189 -0.00688922 0.98089579 -2.42285056] [ 0. 0. 0. 1. ]] SLAMing on 151.783201008 meters Centerline goodness : 0.836569 Centerline is valid? [False, False] Translation: X:2.47, Y:3.06, Z:-2.42 [[ 0.98055792 0.02056457 -0.19514934 2.4684593 ] [-0.01860025 0.99975626 0.01189311 3.06192335] [ 0.19534635 -0.00803206 0.98070143 -2.42048576] [ 0. 0. 0. 1. ]] SLAMing on 151.813201008 meters Centerline goodness : 0.836021 Centerline is valid? [False, False] Translation: X:2.47, Y:3.06, Z:-2.42 [[ 0.98042591 0.01996044 -0.195874 2.47068747] [-0.01788977 0.99976387 0.01233517 3.06036158] [ 0.19607396 -0.00858958 0.98055149 -2.41957954] [ 0. 0. 0. 1. ]] SLAMing on 151.843201008 meters Centerline goodness : 0.836224 Centerline is valid? [False, False] Translation: X:2.48, Y:3.06, Z:-2.42 [[ 0.98007022 0.02071973 -0.19756784 2.47866961] [-0.01775849 0.99970202 0.01674863 3.05868268] [ 0.19785599 -0.01290632 0.98014613 -2.41654596] [ 0. 0. 0. 1. ]] SLAMing on 151.873201008 meters Centerline goodness : 0.831423 Centerline is valid? [False, False] Translation: X:2.50, Y:3.06, Z:-2.41 [[ 0.97992848 0.02054282 -0.19828811 2.4961476 ] [-0.01539497 0.99950412 0.02746843 3.05804098] [ 0.19875406 -0.02386446 0.9797588 -2.40717531] [ 0. 0. 0. 1. ]] SLAMing on 151.903201008 meters Centerline goodness : 0.832281 Centerline is valid? [False, False] Translation: X:2.50, Y:3.06, Z:-2.41 [[ 0.97983148 0.01975072 -0.19884714 2.49816807] [-0.01467131 0.99952816 0.02698548 3.05933629] [ 0.1992863 -0.02352387 0.97965892 -2.40725594] [ 0. 0. 0. 1. ]] SLAMing on 151.933201008 meters Centerline goodness : 0.830419 Centerline is valid? [False, False] Translation: X:2.50, Y:3.06, Z:-2.40 [[ 0.97946399 0.02321985 -0.20027761 2.5017972 ] [-0.01688772 0.99930379 0.03326767 3.05613359] [ 0.20091065 -0.02920226 0.97917421 -2.40190868] [ 0. 0. 0. 1. ]] SLAMing on 151.963201008 meters Centerline goodness : 0.828267 Centerline is valid? [False, False] Translation: X:2.51, Y:3.05, Z:-2.39 [[ 0.97892515 0.02499426 -0.2026841 2.50975196] [-0.01730883 0.99906557 0.03960281 3.05495519] [ 0.20348455 -0.03525996 0.97844303 -2.39458244] [ 0. 0. 0. 1. ]] SLAMing on 151.993201008 meters Centerline goodness : 0.829804 Centerline is valid? [False, False] Translation: X:2.51, Y:3.06, Z:-2.40 [[ 0.9788243 0.02407103 -0.20328203 2.51205105] [-0.01657379 0.99912101 0.03850335 3.05694197] [ 0.20403017 -0.03431886 0.97836287 -2.39553906] [ 0. 0. 0. 1. ]] SLAMing on 152.023201008 meters Centerline goodness : 0.832212 Centerline is valid? [False, False] Translation: X:2.52, Y:3.06, Z:-2.39 [[ 0.9784538 0.02751103 -0.20462478 2.51596941] [-0.0191225 0.99889806 0.04286008 3.05626944] [ 0.20557843 -0.03802367 0.97790169 -2.39351567] [ 0. 0. 0. 1. ]] SLAMing on 152.053201008 meters Centerline goodness : 0.829458 Centerline is valid? [False, False] Translation: X:2.52, Y:3.06, Z:-2.39 [[ 0.97809957 0.03090725 -0.20582997 2.51980171] [-0.02169399 0.99866543 0.04686937 3.0567139 ] [ 0.20700387 -0.04137763 0.97746472 -2.39202032] [ 0. 0. 0. 1. ]] SLAMing on 152.083201008 meters Centerline goodness : 0.822596 Centerline is valid? [False, False] Translation: X:2.52, Y:3.07, Z:-2.40 [[ 0.97810918 0.03036575 -0.2058649 2.52082924] [-0.02175851 0.99879692 0.04394643 3.0650465 ] [ 0.2069517 -0.0385051 0.97759314 -2.39582647] [ 0. 0. 0. 1. ]] SLAMing on 152.113201008 meters Centerline goodness : 0.822229 Centerline is valid? [False, False] Translation: X:2.52, Y:3.07, Z:-2.39 [[ 0.97779179 0.03428763 -0.20675485 2.52333194] [-0.02486361 0.99853741 0.04800876 3.06550739] [ 0.20809856 -0.0418019 0.9772142 -2.39446374] [ 0. 0. 0. 1. ]] SLAMing on 152.143201008 meters Centerline goodness : 0.821430 Centerline is valid? [False, False] Translation: X:2.54, Y:3.07, Z:-2.40 [[ 0.97865424 0.03412179 -0.20266124 2.53984371] [-0.02691844 0.99890767 0.03819513 3.07020036] [ 0.20374315 -0.0319245 0.97850373 -2.39777594] [ 0. 0. 0. 1. ]] SLAMing on 152.173201008 meters Centerline goodness : 0.823021 Centerline is valid? [False, False] Translation: X:2.56, Y:3.08, Z:-2.40 [[ 0.97943777 0.03532715 -0.19862942 2.55544143] [-0.03004448 0.99911173 0.02954783 3.07697281] [ 0.19949682 -0.02297255 0.97962915 -2.39971068] [ 0. 0. 0. 1. ]] SLAMing on 152.203201008 meters Centerline goodness : 0.821604 Centerline is valid? [False, False] Translation: X:2.56, Y:3.08, Z:-2.40 [[ 0.97945325 0.0352514 -0.19856654 2.55512687] [-0.03015098 0.9991346 0.02865241 3.08051101] [ 0.19940474 -0.02207672 0.9796685 -2.4002801 ] [ 0. 0. 0. 1. ]] SLAMing on 152.233201008 meters Centerline goodness : 0.820101 Centerline is valid? [False, False] Translation: X:2.56, Y:3.08, Z:-2.40 [[ 0.97940139 0.03488626 -0.19888656 2.55585666] [-0.02995205 0.99916564 0.02776493 3.08417461] [ 0.19968923 -0.02123595 0.97962914 -2.40059779] [ 0. 0. 0. 1. ]] SLAMing on 152.263201008 meters Centerline goodness : 0.822235 Centerline is valid? [False, False] Translation: X:2.56, Y:3.08, Z:-2.40 [[ 0.97906282 0.03882996 -0.1998205 2.55798132] [-0.03305114 0.99893559 0.03217632 3.08416817] [ 0.20085721 -0.02489835 0.97930407 -2.39840366] [ 0. 0. 0. 1. ]] SLAMing on 152.293201008 meters Centerline goodness : 0.818996 Centerline is valid? [False, False] Translation: X:2.56, Y:3.09, Z:-2.40 [[ 0.97901234 0.03904373 -0.20002604 2.55738261] [-0.03345434 0.99895161 0.03124886 3.09033597] [ 0.20103641 -0.02390128 0.97929214 -2.39817355] [ 0. 0. 0. 1. ]] SLAMing on 152.323201008 meters Centerline goodness : 0.819570 Centerline is valid? [False, False] Translation: X:2.56, Y:3.09, Z:-2.40 [[ 0.9790033 0.03866088 -0.20014465 2.55764087] [-0.03324651 0.99898643 0.03034431 3.09356445] [ 0.20111493 -0.02305307 0.97929635 -2.39849897] [ 0. 0. 0. 1. ]] SLAMing on 152.353201008 meters Centerline goodness : 0.818167 Centerline is valid? [False, False] Translation: X:2.56, Y:3.09, Z:-2.39 [[ 0.97853981 0.0420301 -0.20172581 2.56154909] [-0.03542296 0.99871462 0.03625365 3.09258911] [ 0.20299026 -0.02832991 0.97877085 -2.39316719] [ 0. 0. 0. 1. ]] SLAMing on 152.38320100800001 meters Centerline goodness : 0.820474 Centerline is valid? [False, False] Translation: X:2.56, Y:3.10, Z:-2.39 [[ 0.97847906 0.04120212 -0.20219077 2.5632348 ] [-0.03477095 0.99877316 0.03525845 3.09510282] [ 0.20339543 -0.0274693 0.97871126 -2.39372206] [ 0. 0. 0. 1. ]] SLAMing on 152.41320100800002 meters Centerline goodness : 0.818207 Centerline is valid? [False, False] Translation: X:2.57, Y:3.10, Z:-2.39 [[ 0.97834071 0.03991029 -0.20311728 2.56568637] [-0.03370941 0.99885663 0.03389851 3.09972467] [ 0.20423794 -0.02631733 0.97856745 -2.39369947] [ 0. 0. 0. 1. ]] SLAMing on 152.44320100800002 meters Centerline goodness : 0.819403 Centerline is valid? [False, False] Translation: X:2.57, Y:3.10, Z:-2.39 [[ 0.97788901 0.04245134 -0.20477055 2.57088286] [-0.03505028 0.99859919 0.03963752 3.09845145] [ 0.20616637 -0.03158383 0.9780071 -2.38838728] [ 0. 0. 0. 1. ]] SLAMing on 152.47320100800002 meters Centerline goodness : 0.819592 Centerline is valid? [False, False] Translation: X:2.57, Y:3.10, Z:-2.39 [[ 0.97751624 0.04547256 -0.20589861 2.57431254] [-0.03705799 0.9983199 0.04454314 3.09695436] [ 0.20757817 -0.03591146 0.97755904 -2.38505092] [ 0. 0. 0. 1. ]] SLAMing on 152.503201008 meters Centerline goodness : 0.821308 Centerline is valid? [False, False] Translation: X:2.58, Y:3.10, Z:-2.38 [[ 0.97744775 0.04456797 -0.2064209 2.57628259] [-0.03624551 0.998377 0.04392746 3.09939093] [ 0.20804364 -0.03545497 0.97747675 -2.38490644] [ 0. 0. 0. 1. ]] SLAMing on 152.533201008 meters Centerline goodness : 0.820142 Centerline is valid? [False, False] Translation: X:2.58, Y:3.10, Z:-2.39 [[ 0.97737657 0.04288348 -0.20711363 2.57897198] [-0.03480982 0.99849108 0.04247171 3.103895 ] [ 0.20862245 -0.03430126 0.97739455 -2.38536429] [ 0. 0. 0. 1. ]] SLAMing on 152.563201008 meters Centerline goodness : 0.820715 Centerline is valid? [False, False] Translation: X:2.56, Y:3.11, Z:-2.39 [[ 0.97704581 0.04076312 -0.20909294 2.55901871] [-0.03161469 0.99839863 0.04691141 3.10677642] [ 0.21067036 -0.03922419 0.97676991 -2.38626821] [ 0. 0. 0. 1. ]] SLAMing on 152.593201008 meters Centerline goodness : 0.820473 Centerline is valid? [False, False] Translation: X:2.54, Y:3.11, Z:-2.39 [[ 0.97647358 0.03871121 -0.21213391 2.54064997] [-0.02822009 0.99823456 0.05226271 3.10892589] [ 0.21378255 -0.04504672 0.97584211 -2.38570067] [ 0. 0. 0. 1. ]] SLAMing on 152.623201008 meters Centerline goodness : 0.818710 Centerline is valid? [False, False] Translation: X:2.52, Y:3.12, Z:-2.39 [[ 0.97617711 0.03538601 -0.21407026 2.51761337] [-0.02487656 0.99835844 0.05159046 3.11555291] [ 0.21554444 -0.0450361 0.97545494 -2.39092148] [ 0. 0. 0. 1. ]] SLAMing on 152.653201008 meters Centerline goodness : 0.818252 Centerline is valid? [False, False] Translation: X:2.52, Y:3.12, Z:-2.39 [[ 0.97612326 0.03456892 -0.21444901 2.51900088] [-0.02428776 0.99843405 0.05039401 3.11900126] [ 0.21585526 -0.04398228 0.9754343 -2.39163739] [ 0. 0. 0. 1. ]] SLAMing on 152.683201008 meters Centerline goodness : 0.817180 Centerline is valid? [False, False] Translation: X:2.50, Y:3.12, Z:-2.39 [[ 0.97558868 0.03501979 -0.21679564 2.49720185] [-0.02356551 0.99819737 0.05519678 3.12252376] [ 0.21833782 -0.04874045 0.97465531 -2.3939128 ] [ 0. 0. 0. 1. ]] SLAMing on 152.713201008 meters Centerline goodness : 0.816521 Centerline is valid? [False, False] Translation: X:2.47, Y:3.13, Z:-2.40 [[ 0.97553681 0.03444186 -0.21712138 2.47230597] [-0.02273895 0.9981622 0.0561708 3.12815645] [ 0.21865698 -0.04985957 0.97452714 -2.40048965] [ 0. 0. 0. 1. ]] SLAMing on 152.743201008 meters Centerline goodness : 0.815141 Centerline is valid? [False, False] Translation: X:2.47, Y:3.13, Z:-2.40 [[ 0.97527515 0.03813837 -0.2176783 2.47451638] [-0.02595922 0.99794753 0.05853921 3.1334554 ] [ 0.21946411 -0.05144107 0.97426348 -2.40127783] [ 0. 0. 0. 1. ]] SLAMing on 152.773201008 meters Centerline goodness : 0.814157 Centerline is valid? [False, False] Translation: X:2.48, Y:3.14, Z:-2.40 [[ 0.97526484 0.03779901 -0.21778365 2.47500717] [-0.02587826 0.99801971 0.05733212 3.13728657] [ 0.21951947 -0.05027814 0.97431171 -2.40226621] [ 0. 0. 0. 1. ]] SLAMing on 152.803201008 meters Centerline goodness : 0.816146 Centerline is valid? [False, False] Translation: X:2.48, Y:3.14, Z:-2.40 [[ 0.97523483 0.03758128 -0.21795567 2.47530517] [-0.02584422 0.99807062 0.05645458 3.14055871] [ 0.21965679 -0.04942358 0.97432449 -2.40268696] [ 0. 0. 0. 1. ]] SLAMing on 152.833201008 meters Centerline goodness : 0.817588 Centerline is valid? [False, False] Translation: X:2.48, Y:3.14, Z:-2.40 [[ 0.97517878 0.0375171 -0.21821735 2.47557467] [-0.02589621 0.99810199 0.05587302 3.14311037] [ 0.21989937 -0.04883518 0.97429944 -2.40268118] [ 0. 0. 0. 1. ]] SLAMing on 152.863201008 meters Centerline goodness : 0.818990 Centerline is valid? [False, False] Translation: X:2.48, Y:3.15, Z:-2.40 [[ 0.97510484 0.03735276 -0.21857569 2.47559983] [-0.0259504 0.99815965 0.05480783 3.1483568 ] [ 0.22022066 -0.04777125 0.97427962 -2.40263189] [ 0. 0. 0. 1. ]] SLAMing on 152.893201008 meters Centerline goodness : 0.820320 Centerline is valid? [False, False] Translation: X:2.45, Y:3.15, Z:-2.41 [[ 0.97513987 0.03685278 -0.21850425 2.45138466] [-0.02458164 0.99797794 0.05861546 3.15224898] [ 0.22022256 -0.05178708 0.97407398 -2.40506684] [ 0. 0. 0. 1. ]] SLAMing on 152.923201008 meters Centerline goodness : 0.818318 Centerline is valid? [False, False] Translation: X:2.43, Y:3.16, Z:-2.41 [[ 0.97523326 0.03506146 -0.21838219 2.42940831] [-0.02216034 0.99787654 0.06124818 3.1570374 ] [ 0.22006591 -0.05489183 0.97393936 -2.40858916] [ 0. 0. 0. 1. ]] SLAMing on 152.953201008 meters Centerline goodness : 0.820520 Centerline is valid? [False, False] Translation: X:2.43, Y:3.16, Z:-2.41 [[ 0.97522124 0.0349383 -0.21845562 2.42895842] [-0.02214899 0.99790894 0.06072207 3.15998299] [ 0.22012034 -0.05437888 0.97395584 -2.40830708] [ 0. 0. 0. 1. ]] SLAMing on 152.983201008 meters Centerline goodness : 0.821366 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.41 [[ 0.97783695 0.04293284 -0.2049187 2.42249063] [-0.02955331 0.99725345 0.06791283 3.15859142] [ 0.20727157 -0.06035164 0.97642008 -2.40545384] [ 0. 0. 0. 1. ]] SLAMing on 153.013201008 meters Centerline goodness : 0.823765 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.40 [[ 0.97983033 0.04875877 -0.1937914 2.42372809] [-0.0352065 0.99672694 0.072773 3.15571059] [ 0.19670543 -0.06448247 0.97833991 -2.40423749] [ 0. 0. 0. 1. ]] SLAMing on 153.043201008 meters Centerline goodness : 0.826953 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.40 [[ 0.98004745 0.04443676 -0.19373271 2.42242068] [-0.03177832 0.99718141 0.06796603 3.16035865] [ 0.19620685 -0.06045344 0.97869722 -2.40470697] [ 0. 0. 0. 1. ]] SLAMing on 153.073201008 meters Centerline goodness : 0.828366 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.40 [[ 0.98221063 0.0501031 -0.18097501 2.42071592] [-0.03732623 0.99660895 0.07333047 3.15736733] [ 0.18403539 -0.06527085 0.98075006 -2.40431005] [ 0. 0. 0. 1. ]] SLAMing on 153.103201008 meters Centerline goodness : 0.830637 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.40 [[ 0.9841468 0.05400774 -0.16893263 2.42110576] [-0.04125911 0.99609231 0.07808836 3.15767337] [ 0.17248987 -0.0698804 0.98252938 -2.40440199] [ 0. 0. 0. 1. ]] SLAMing on 153.13320100800001 meters Centerline goodness : 0.827878 Centerline is valid? [False, False] Translation: X:2.42, Y:3.16, Z:-2.41 [[ 0.98622216 0.05968075 -0.15428564 2.41904644] [-0.04765278 0.99561343 0.08051775 3.15574844] [ 0.15841421 -0.07205625 0.98473998 -2.40961406] [ 0. 0. 0. 1. ]] SLAMing on 153.16320100800002 meters Centerline goodness : 0.828071 Centerline is valid? [False, False] Translation: X:2.42, Y:3.15, Z:-2.41 [[ 0.98768524 0.06509027 -0.14227127 2.41998613] [-0.05325634 0.99491701 0.0854629 3.15342415] [ 0.14711091 -0.0768336 0.98613132 -2.40970343] [ 0. 0. 0. 1. ]] SLAMing on 153.19320100800002 meters Centerline goodness : 0.831064 Centerline is valid? [False, False] Translation: X:2.42, Y:3.15, Z:-2.41 [[ 0.98924565 0.07022387 -0.12830294 2.4182458 ] [-0.05947945 0.99454052 0.08573999 3.15418626] [ 0.13362347 -0.07718652 0.98802177 -2.41343462] [ 0. 0. 0. 1. ]] SLAMing on 153.22320100800002 meters Centerline goodness : 0.832851 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.42 [[ 0.99070132 0.07616254 -0.11273939 2.41434907] [-0.06628773 0.99383316 0.08889092 3.1525845 ] [ 0.1188143 -0.08059112 0.98964046 -2.41856783] [ 0. 0. 0. 1. ]] SLAMing on 153.253201008 meters Centerline goodness : 0.832094 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.42 [[ 0.99174819 0.08240742 -0.09820664 2.41286347] [-0.07348899 0.99311622 0.09121154 3.15042261] [ 0.10504712 -0.08324177 0.99097725 -2.42458602] [ 0. 0. 0. 1. ]] SLAMing on 153.283201008 meters Centerline goodness : 0.832766 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.43 [[ 0.99252739 0.08799992 -0.08453042 2.41333138] [-0.08011485 0.99248112 0.09253558 3.14845819] [ 0.09203797 -0.08507196 0.9921148 -2.43073591] [ 0. 0. 0. 1. ]] SLAMing on 153.313201008 meters Centerline goodness : 0.830988 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.43 [[ 0.9930993 0.09240352 -0.07221752 2.41481469] [-0.08511032 0.99151418 0.09826425 3.14752799] [ 0.08068466 -0.0914397 0.99253653 -2.43263971] [ 0. 0. 0. 1. ]] SLAMing on 153.343201008 meters Centerline goodness : 0.830988 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.43 [[ 0.9930993 0.09240352 -0.07221752 2.41481469] [-0.08511032 0.99151418 0.09826425 3.14752799] [ 0.08068466 -0.0914397 0.99253653 -2.43263971] [ 0. 0. 0. 1. ]] SLAMing on 153.373201008 meters Centerline goodness : 0.831165 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.44 [[ 0.99352605 0.09780596 -0.05779252 2.41392552] [-0.09163132 0.99063199 0.10125202 3.14575583] [ 0.06715417 -0.09530092 0.99318078 -2.43907634] [ 0. 0. 0. 1. ]] SLAMing on 153.403201008 meters Centerline goodness : 0.829641 Centerline is valid? [False, False] Translation: X:2.42, Y:3.15, Z:-2.44 [[ 0.99361062 0.09705421 -0.05760573 2.41581028] [-0.0909196 0.9907278 0.10095569 3.14761695] [ 0.06686977 -0.09507315 0.99322179 -2.44197352] [ 0. 0. 0. 1. ]] SLAMing on 153.433201008 meters Centerline goodness : 0.830223 Centerline is valid? [False, False] Translation: X:2.42, Y:3.15, Z:-2.44 [[ 0.99374706 0.0960383 -0.05695111 2.4154047 ] [-0.08999351 0.99084954 0.10059007 3.1498707 ] [ 0.06609048 -0.09483585 0.99329664 -2.44310337] [ 0. 0. 0. 1. ]] SLAMing on 153.463201008 meters Centerline goodness : 0.830282 Centerline is valid? [False, False] Translation: X:2.41, Y:3.15, Z:-2.44 [[ 0.99412375 0.09295322 -0.05547664 2.4123412 ] [-0.0871348 0.99122444 0.09940641 3.15482916] [ 0.06422995 -0.09398833 0.99349922 -2.44318816] [ 0. 0. 0. 1. ]] SLAMing on 153.493201008 meters Centerline goodness : 0.832082 Centerline is valid? [False, False] Translation: X:2.41, Y:3.16, Z:-2.45 [[ 0.99432985 0.09128869 -0.05453914 2.41190831] [-0.08559273 0.99140451 0.09894943 3.15785366] [ 0.06310331 -0.09372022 0.99359675 -2.445229 ] [ 0. 0. 0. 1. ]] SLAMing on 153.523201008 meters Centerline goodness : 0.833471 Centerline is valid? [False, False] Translation: X:2.41, Y:3.16, Z:-2.45 [[ 0.99475847 0.08882627 -0.05065054 2.40609129] [-0.08329155 0.99123723 0.10252452 3.16399858] [ 0.05931357 -0.09776837 0.99344011 -2.4475748 ] [ 0. 0. 0. 1. ]] SLAMing on 153.553201008 meters Centerline goodness : 0.834822 Centerline is valid? [False, False] Translation: X:2.41, Y:3.17, Z:-2.45 [[ 0.99494278 0.08716306 -0.04991458 2.40582041] [-0.08175661 0.99145281 0.10167196 3.1670555 ] [ 0.05834999 -0.09707694 0.99356497 -2.44931247] [ 0. 0. 0. 1. ]] SLAMing on 153.583201008 meters Centerline goodness : 0.839924 Centerline is valid? [False, False] Translation: X:2.41, Y:3.17, Z:-2.45 [[ 0.99507777 0.08556574 -0.04998745 2.40696279] [-0.08025483 0.99174398 0.1000152 3.17004536] [ 0.05813263 -0.09551116 0.99372945 -2.45073031] [ 0. 0. 0. 1. ]] SLAMing on 153.613201008 meters Centerline goodness : 0.839980 Centerline is valid? [False, False] Translation: X:2.41, Y:3.17, Z:-2.45 [[ 0.99514268 0.08500561 -0.04964977 2.40633652] [-0.07982141 0.99193833 0.09842204 3.17378229] [ 0.05761593 -0.09398086 0.99390543 -2.45054856] [ 0. 0. 0. 1. ]] SLAMing on 153.643201008 meters Centerline goodness : 0.841861 Centerline is valid? [False, False] Translation: X:2.41, Y:3.18, Z:-2.45 [[ 0.99519141 0.08418286 -0.05007292 2.40805062] [-0.07910563 0.99223835 0.09594457 3.17769556] [ 0.05776116 -0.09152217 0.99412642 -2.45163938] [ 0. 0. 0. 1. ]] SLAMing on 153.673201008 meters Centerline goodness : 0.847503 Centerline is valid? [False, False] Translation: X:2.41, Y:3.19, Z:-2.45 [[ 0.99524812 0.08489502 -0.04768658 2.40609208] [-0.08002918 0.99215452 0.09604547 3.18792426] [ 0.05546624 -0.09177276 0.99423401 -2.45464608] [ 0. 0. 0. 1. ]] SLAMing on 153.703201008 meters Centerline goodness : 0.848052 Centerline is valid? [False, False] Translation: X:2.41, Y:3.19, Z:-2.46 [[ 0.99519472 0.08607512 -0.04667481 2.40608042] [-0.08121995 0.99191797 0.09747852 3.19347646] [ 0.05468806 -0.09321919 0.99414254 -2.45670782] [ 0. 0. 0. 1. ]] SLAMing on 153.733201008 meters Centerline goodness : 0.850650 Centerline is valid? [False, False] Translation: X:2.41, Y:3.20, Z:-2.46 [[ 0.99512354 0.08763589 -0.04526699 2.40522843] [-0.08281444 0.99161539 0.09920019 3.19917898] [ 0.05358094 -0.09496768 0.99403733 -2.45856041] [ 0. 0. 0. 1. ]] SLAMing on 153.763201008 meters Centerline goodness : 0.852117 Centerline is valid? [False, False] Translation: X:2.40, Y:3.20, Z:-2.46 [[ 0.99499495 0.08962781 -0.04418033 2.40428574] [-0.08483435 0.99131483 0.10048898 3.20483558] [ 0.05280322 -0.09623802 0.99395677 -2.45930031] [ 0. 0. 0. 1. ]] SLAMing on 153.793201008 meters Centerline goodness : 0.853483 Centerline is valid? [False, False] Translation: X:2.40, Y:3.22, Z:-2.46 [[ 0.99479391 0.09297542 -0.04172117 2.40078677] [-0.08842282 0.99103336 0.10017127 3.21801541] [ 0.05066054 -0.09596067 0.9940951 -2.45950726] [ 0. 0. 0. 1. ]] SLAMing on 153.823201008 meters Centerline goodness : 0.854528 Centerline is valid? [False, False] Translation: X:2.40, Y:3.22, Z:-2.46 [[ 0.99462403 0.09498278 -0.04124699 2.40128009] [-0.09046172 0.99083648 0.1002983 3.22457959] [ 0.05039563 -0.09602782 0.99410208 -2.4603667 ] [ 0. 0. 0. 1. ]] SLAMing on 153.853201008 meters Centerline goodness : 0.858986 Centerline is valid? [False, False] Translation: X:2.40, Y:3.23, Z:-2.46 [[ 0.99434518 0.09869611 -0.03920137 2.39725357] [-0.09414921 0.9900551 0.10453147 3.23174421] [ 0.04912837 -0.10024958 0.99374867 -2.45895424] [ 0. 0. 0. 1. ]] SLAMing on 153.88320100800001 meters Centerline goodness : 0.860131 Centerline is valid? [False, False] Translation: X:2.40, Y:3.24, Z:-2.46 [[ 0.99403164 0.10207573 -0.03849218 2.39793114] [-0.09752901 0.98960595 0.10567955 3.23847483] [ 0.04887941 -0.10129471 0.99365496 -2.46016097] [ 0. 0. 0. 1. ]] SLAMing on 153.91320100800002 meters Centerline goodness : 0.861565 Centerline is valid? [False, False] Translation: X:2.40, Y:3.25, Z:-2.46 [[ 0.99360875 0.10615899 -0.03836556 2.39911736] [-0.10159857 0.98917835 0.10584859 3.2534628 ] [ 0.04918717 -0.1012742 0.99364187 -2.46339457] [ 0. 0. 0. 1. ]] SLAMing on 153.94320100800002 meters Centerline goodness : 0.858855 Centerline is valid? [False, False] Translation: X:2.41, Y:3.26, Z:-2.47 [[ 0.99321061 0.10993051 -0.03805215 2.40842049] [-0.10600647 0.98999453 0.09313142 3.26189439] [ 0.0479094 -0.08846534 0.99492642 -2.46797172] [ 0. 0. 0. 1. ]] SLAMing on 153.97320100800002 meters Centerline goodness : 0.857423 Centerline is valid? [False, False] Translation: X:2.42, Y:3.27, Z:-2.47 [[ 0.99306556 0.11239113 -0.0344824 2.42105558] [-0.10926841 0.9906259 0.08198012 3.26971333] [ 0.04337299 -0.07764379 0.99603726 -2.47387843] [ 0. 0. 0. 1. ]] SLAMing on 154.003201008 meters Centerline goodness : 0.854255 Centerline is valid? [False, False] Translation: X:2.43, Y:3.28, Z:-2.48 [[ 0.99295005 0.11453303 -0.03053508 2.43399546] [-0.11212939 0.99112981 0.07133508 3.27764403] [ 0.03843445 -0.06740829 0.99698491 -2.47930685] [ 0. 0. 0. 1. ]] SLAMing on 154.033201008 meters Centerline goodness : 0.851290 Centerline is valid? [False, False] Translation: X:2.44, Y:3.30, Z:-2.48 [[ 0.99239876 0.11888965 -0.03177991 2.44382749] [-0.11693801 0.99147414 0.05748508 3.2951257 ] [ 0.03834334 -0.05333184 0.99784042 -2.48476758] [ 0. 0. 0. 1. ]] SLAMing on 154.063201008 meters Centerline goodness : 0.848405 Centerline is valid? [False, False] Translation: X:2.45, Y:3.30, Z:-2.49 [[ 0.99245059 0.11827065 -0.03246337 2.44582818] [-0.11636961 0.99166729 0.05526389 3.30284904] [ 0.03872895 -0.05106893 0.9979439 -2.48598266] [ 0. 0. 0. 1. ]] SLAMing on 154.093201008 meters Centerline goodness : 0.846130 Centerline is valid? [False, False] Translation: X:2.46, Y:3.31, Z:-2.49 [[ 0.9916966 0.12250471 -0.03912106 2.4576158 ] [-0.12064367 0.99159006 0.04684285 3.30924798] [ 0.04453052 -0.04173418 0.99813591 -2.48517373] [ 0. 0. 0. 1. ]] SLAMing on 154.123201008 meters Centerline goodness : 0.845938 Centerline is valid? [False, False] Translation: X:2.47, Y:3.32, Z:-2.49 [[ 0.99130377 0.12705188 -0.03427328 2.47121251] [-0.12570312 0.991301 0.03900064 3.32204106] [ 0.03893024 -0.03435323 0.99865124 -2.48932689] [ 0. 0. 0. 1. ]] SLAMing on 154.153201008 meters Centerline goodness : 0.845814 Centerline is valid? [False, False] Translation: X:2.48, Y:3.33, Z:-2.49 [[ 0.99120944 0.12321612 -0.04818338 2.475547 ] [-0.12175509 0.99203851 0.03217588 3.33217307] [ 0.05176435 -0.02602647 0.99832013 -2.48920703] [ 0. 0. 0. 1. ]] SLAMing on 154.183201008 meters Centerline goodness : 0.843028 Centerline is valid? [False, False] Translation: X:2.48, Y:3.34, Z:-2.49 [[ 0.99091895 0.12564165 -0.04789366 2.47708942] [-0.12416017 0.99172135 0.03275677 3.33912386] [ 0.05161278 -0.02651282 0.99831518 -2.48999228] [ 0. 0. 0. 1. ]] SLAMing on 154.213201008 meters Centerline goodness : 0.843571 Centerline is valid? [False, False] Translation: X:2.48, Y:3.35, Z:-2.49 [[ 0.99059601 0.12823613 -0.04769746 2.47937128] [-0.12671387 0.9913671 0.03368792 3.34579821] [ 0.0516057 -0.02732719 0.99829358 -2.49147034] [ 0. 0. 0. 1. ]] SLAMing on 154.243201008 meters Centerline goodness : 0.841013 Centerline is valid? [False, False] Translation: X:2.49, Y:3.36, Z:-2.50 [[ 0.98963681 0.13397173 -0.05167738 2.48954839] [-0.13265071 0.99076123 0.02821292 3.35992666] [ 0.05497968 -0.0210655 0.99826524 -2.49541388] [ 0. 0. 0. 1. ]] SLAMing on 154.273201008 meters Centerline goodness : 0.841298 Centerline is valid? [False, False] Translation: X:2.49, Y:3.37, Z:-2.50 [[ 0.98928465 0.13591849 -0.05331083 2.49424727] [-0.13474243 0.99056312 0.02508351 3.36549845] [ 0.05621706 -0.0176315 0.99826288 -2.49514685] [ 0. 0. 0. 1. ]] SLAMing on 154.303201008 meters Centerline goodness : 0.840289 Centerline is valid? [False, False] Translation: X:2.50, Y:3.37, Z:-2.49 [[ 0.98895951 0.13765714 -0.05485981 2.49863825] [-0.13662575 0.99037518 0.02214519 3.37058054] [ 0.05738024 -0.01440544 0.99824846 -2.49483642] [ 0. 0. 0. 1. ]] SLAMing on 154.333201008 meters Centerline goodness : 0.837661 Centerline is valid? [False, False] Translation: X:2.50, Y:3.38, Z:-2.49 [[ 0.98862892 0.13941151 -0.05636752 2.50312442] [-0.13851534 0.99016782 0.01952395 3.37548997] [ 0.05853517 -0.01149418 0.99821917 -2.49480778] [ 0. 0. 0. 1. ]] SLAMing on 154.363201008 meters Centerline goodness : 0.834974 Centerline is valid? [False, False] Translation: X:2.52, Y:3.39, Z:-2.50 [[ 9.87676636e-01 1.43496993e-01 -6.24777957e-02 2.51647360e+00] [-1.43055505e-01 9.89647777e-01 1.15064902e-02 3.38782482e+00] [ 6.34821584e-02 -2.42689889e-03 9.97980023e-01 -2.49842929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.393201008 meters Centerline goodness : 0.834893 Centerline is valid? [False, False] Translation: X:2.52, Y:3.40, Z:-2.50 [[ 9.87113299e-01 1.41109260e-01 -7.54686140e-02 2.51801480e+00] [-1.40931455e-01 9.89989386e-01 7.70329306e-03 3.39777137e+00] [ 7.58001328e-02 3.03187851e-03 9.97118422e-01 -2.49684760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.423201008 meters Centerline goodness : 0.834037 Centerline is valid? [False, False] Translation: X:2.52, Y:3.40, Z:-2.50 [[ 9.86664862e-01 1.44297735e-01 -7.53034795e-02 2.51971823e+00] [-1.43998611e-01 9.89533097e-01 9.41544001e-03 3.40242453e+00] [ 7.58739119e-02 1.55371261e-03 9.97116210e-01 -2.49724571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.453201008 meters Centerline goodness : 0.834250 Centerline is valid? [False, False] Translation: X:2.53, Y:3.41, Z:-2.49 [[ 0.9860378 0.14717712 -0.07789956 2.5251634 ] [-0.14721542 0.98909035 0.00528244 3.40949075] [ 0.07782716 0.00625933 0.99694722 -2.49461842] [ 0. 0. 0. 1. ]] SLAMing on 154.483201008 meters Centerline goodness : 0.836045 Centerline is valid? [False, False] Translation: X:2.53, Y:3.41, Z:-2.49 [[ 9.85782512e-01 1.48135770e-01 -7.93009047e-02 2.52793698e+00] [-1.48350981e-01 9.88929585e-01 3.20353184e-03 3.41201176e+00] [ 7.88975684e-02 8.60638133e-03 9.96845577e-01 -2.49311914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.513201008 meters Centerline goodness : 0.839223 Centerline is valid? [False, False] Translation: X:2.53, Y:3.41, Z:-2.49 [[ 9.85545805e-01 1.48980088e-01 -8.06498608e-02 2.53134180e+00] [-1.49337839e-01 9.88784917e-01 1.61169728e-03 3.41431134e+00] [ 7.99854767e-02 1.04556745e-02 9.96741191e-01 -2.49268150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.543201008 meters Centerline goodness : 0.843125 Centerline is valid? [False, False] Translation: X:2.54, Y:3.42, Z:-2.49 [[ 9.85488989e-01 1.48721074e-01 -8.18137781e-02 2.53544860e+00] [-1.49210255e-01 9.88805482e-01 1.36293597e-04 3.41702963e+00] [ 8.09181820e-02 1.20731388e-02 9.96647624e-01 -2.49398135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8181.94 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%| | 0/5150 [00:00