+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters Centerline goodness : 0.981413 Centerline is valid? [0, True] SLAMing on 0.054839173 meters Centerline goodness : 0.985192 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 0.99998834 -0.00482841 0. 0.02913282] [ 0.00482841 0.99998834 0. -0.00296586] [ 0. 0. 1. -0.00254723] [ 0. 0. 0. 1. ]] SLAMing on 0.08483917299999999 meters Centerline goodness : 0.987943 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 0.99996321 -0.00857792 0. 0.05973421] [ 0.00857792 0.99996321 0. -0.00395444] [ 0. 0. 1. -0.00489962] [ 0. 0. 0. 1. ]] SLAMing on 0.11483917299999999 meters Centerline goodness : 0.986546 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.02 [[ 0.99990732 -0.01361458 0. 0.09368274] [ 0.01361458 0.99990732 0. -0.00437348] [ 0. 0. 1. -0.02450265] [ 0. 0. 0. 1. ]] SLAMing on 0.144839173 meters Centerline goodness : 0.984266 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 0.99973462 -0.02303664 0. 0.12111226] [ 0.02303664 0.99973462 0. -0.00597453] [ 0. 0. 1. -0.04221618] [ 0. 0. 0. 1. ]] SLAMing on 0.174839173 meters Centerline goodness : 0.982462 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.04 [[ 0.99972125 -0.02360977 0. 0.15349449] [ 0.02360977 0.99972125 0. -0.00823094] [ 0. 0. 1. -0.04292381] [ 0. 0. 0. 1. ]] SLAMing on 0.20483917299999999 meters Centerline goodness : 0.986567 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:-0.04 [[ 0.99978188 -0.02088498 0. 0.18746732] [ 0.02088498 0.99978188 0. -0.01082856] [ 0. 0. 1. -0.03605113] [ 0. 0. 0. 1. ]] SLAMing on 0.23483917299999998 meters Centerline goodness : 0.988925 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:-0.04 [[ 0.99969772 -0.02458606 0. 0.21852948] [ 0.02458606 0.99969772 0. -0.00762971] [ 0. 0. 1. -0.04036699] [ 0. 0. 0. 1. ]] SLAMing on 0.264839173 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.00, Z:-0.05 [[ 0.99959437 -0.0284797 0. 0.24649644] [ 0.0284797 0.99959437 0. -0.00477309] [ 0. 0. 1. -0.04934926] [ 0. 0. 0. 1. ]] SLAMing on 0.294839173 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.01, Z:-0.04 [[ 0.99956711 -0.02942079 0. 0.27577259] [ 0.02942079 0.99956711 0. -0.00660018] [ 0. 0. 1. -0.04063747] [ 0. 0. 0. 1. ]] SLAMing on 0.324839173 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.01, Z:-0.05 [[ 0.99962765 -0.02728681 0. 0.3093211 ] [ 0.02728681 0.99962765 0. -0.00756344] [ 0. 0. 1. -0.05310634] [ 0. 0. 0. 1. ]] SLAMing on 0.35483917299999995 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.00, Z:-0.05 [[ 0.99970279 -0.02437875 0. 0.34198698] [ 0.02437875 0.99970279 0. -0.00386625] [ 0. 0. 1. -0.05324628] [ 0. 0. 0. 1. ]] SLAMing on 0.384839173 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:0.37, Y:0.01, Z:-0.04 [[ 0.99987441 -0.01584789 0. 0.37326936] [ 0.01584789 0.99987441 0. 0.00822369] [ 0. 0. 1. -0.03509538] [ 0. 0. 0. 1. ]] SLAMing on 0.414839173 meters Centerline goodness : 0.985077 Centerline is valid? [True, True] Translation: X:0.40, Y:0.01, Z:-0.06 [[ 0.99996981 -0.00777011 0. 0.4046783 ] [ 0.00777011 0.99996981 0. 0.01041064] [ 0. 0. 1. -0.05973829] [ 0. 0. 0. 1. ]] SLAMing on 0.444839173 meters Centerline goodness : 0.983536 Centerline is valid? [True, True] Translation: X:0.44, Y:0.01, Z:-0.07 [[ 0.99999739 0.00228503 0. 0.43653105] [-0.00228503 0.99999739 0. 0.01072038] [ 0. 0. 1. -0.07235057] [ 0. 0. 0. 1. ]] SLAMing on 0.47483917299999995 meters Centerline goodness : 0.982825 Centerline is valid? [True, True] Translation: X:0.47, Y:0.01, Z:-0.07 [[ 0.99998242 0.00593003 0. 0.46589025] [-0.00593003 0.99998242 0. 0.00991602] [ 0. 0. 1. -0.07426129] [ 0. 0. 0. 1. ]] SLAMing on 0.504839173 meters Centerline goodness : 0.981841 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.07 [[ 0.99995714 0.00925802 0. 0.49465398] [-0.00925802 0.99995714 0. 0.01059667] [ 0. 0. 1. -0.07135542] [ 0. 0. 0. 1. ]] SLAMing on 0.5348391730000001 meters Centerline goodness : 0.978080 Centerline is valid? [True, True] Translation: X:0.53, Y:0.01, Z:-0.08 [[ 0.99996313 0.00858751 0. 0.52629772] [-0.00858751 0.99996313 0. 0.01318753] [ 0. 0. 1. -0.07695246] [ 0. 0. 0. 1. ]] SLAMing on 0.5648391730000001 meters Centerline goodness : 0.983107 Centerline is valid? [True, True] Translation: X:0.56, Y:0.02, Z:-0.08 [[ 0.99999818 -0.00190743 0. 0.55615258] [ 0.00190743 0.99999818 0. 0.01546708] [ 0. 0. 1. -0.08332346] [ 0. 0. 0. 1. ]] SLAMing on 0.594839173 meters Centerline goodness : 0.981677 Centerline is valid? [True, True] Translation: X:0.59, Y:0.02, Z:-0.09 [[ 0.99991661 -0.01291419 0. 0.58721858] [ 0.01291419 0.99991661 0. 0.01662098] [ 0. 0. 1. -0.08737304] [ 0. 0. 0. 1. ]] SLAMing on 0.624839173 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:0.61, Y:0.02, Z:-0.06 [[ 0.99970917 -0.02411588 0. 0.61374165] [ 0.02411588 0.99970917 0. 0.01948827] [ 0. 0. 1. -0.06155544] [ 0. 0. 0. 1. ]] SLAMing on 0.654839173 meters Centerline goodness : 0.983943 Centerline is valid? [True, True] Translation: X:0.64, Y:0.02, Z:-0.07 [[ 0.99913518 -0.04157994 0. 0.64444537] [ 0.04157994 0.99913518 0. 0.02100172] [ 0. 0. 1. -0.06676222] [ 0. 0. 0. 1. ]] SLAMing on 0.684839173 meters Centerline goodness : 0.982795 Centerline is valid? [True, True] Translation: X:0.68, Y:0.02, Z:-0.08 [[ 0.99883874 -0.04817848 0. 0.67879764] [ 0.04817848 0.99883874 0. 0.02130903] [ 0. 0. 1. -0.0765137 ] [ 0. 0. 0. 1. ]] SLAMing on 0.714839173 meters Centerline goodness : 0.984093 Centerline is valid? [True, True] Translation: X:0.71, Y:0.02, Z:-0.09 [[ 0.99892307 -0.04639724 0. 0.7087399 ] [ 0.04639724 0.99892307 0. 0.01824413] [ 0. 0. 1. -0.0949151 ] [ 0. 0. 0. 1. ]] SLAMing on 0.744839173 meters Centerline goodness : 0.985123 Centerline is valid? [True, True] Translation: X:0.74, Y:0.02, Z:-0.10 [[ 0.99899478 -0.04482661 0. 0.73948873] [ 0.04482661 0.99899478 0. 0.01702718] [ 0. 0. 1. -0.09881864] [ 0. 0. 0. 1. ]] SLAMing on 0.774839173 meters Centerline goodness : 0.989115 Centerline is valid? [True, True] Translation: X:0.76, Y:0.02, Z:-0.12 [[ 0.99894891 -0.04583746 0. 0.76288898] [ 0.04583746 0.99894891 0. 0.02013472] [ 0. 0. 1. -0.12076992] [ 0. 0. 0. 1. ]] SLAMing on 0.8048391730000001 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:-0.13 [[ 0.9990906 -0.04263772 0. 0.79336351] [ 0.04263772 0.9990906 0. 0.01714872] [ 0. 0. 1. -0.12695395] [ 0. 0. 0. 1. ]] SLAMing on 0.834839173 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.13 [[ 0.99998472 -0.00552746 0. 0.80982753] [ 0.00552746 0.99998472 0. 0.02386362] [ 0. 0. 1. -0.13290338] [ 0. 0. 0. 1. ]] SLAMing on 0.864839173 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:0.87, Y:0.01, Z:-0.14 [[ 0.99952122 -0.0309409 0. 0.87043712] [ 0.0309409 0.99952122 0. 0.00522426] [ 0. 0. 1. -0.14459168] [ 0. 0. 0. 1. ]] SLAMing on 0.894839173 meters Centerline goodness : 0.921417 Centerline is valid? [True, False] Translation: X:0.72, Y:0.02, Z:-0.19 [[ 0.99949192 -0.03114144 -0.00679029 0.7216156 ] [ 0.03111908 0.99950999 -0.00337358 0.01793763] [ 0.00689202 0.00316056 0.99997126 -0.18527157] [ 0. 0. 0. 1. ]] SLAMing on 0.924839173 meters Centerline goodness : 0.951354 Centerline is valid? [False, True] Translation: X:0.73, Y:0.03, Z:-0.17 [[ 0.98835247 0.05477916 -0.14198109 0.73438208] [-0.05967521 0.99775315 -0.03045521 0.03211565] [ 0.13999377 0.03857323 0.98940075 -0.16725593] [ 0. 0. 0. 1. ]] SLAMing on 0.954839173 meters Centerline goodness : 0.951354 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.01, Z:-0.20 [[ 0.98987682 0.06003354 -0.12860737 0.7600056 ] [-0.05396145 0.99728075 0.05019238 -0.01441319] [ 0.13127088 -0.04274444 0.99042459 -0.19932246] [ 0. 0. 0. 1. ]] SLAMing on 0.984839173 meters Centerline goodness : 0.981234 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:-0.17 [[ 0.98707623 0.09586878 -0.12841216 0.72739622] [-0.08991384 0.99462191 0.05140772 -0.00853798] [ 0.13264995 -0.03919731 0.99038758 -0.16899726] [ 0. 0. 0. 1. ]] SLAMing on 1.014839173 meters Centerline goodness : 0.869793 Centerline is valid? [True, False] Translation: X:0.80, Y:0.00, Z:-0.18 [[ 0.9981062 0.03337867 -0.05167096 0.80094171] [-0.03425463 0.99928247 -0.01616088 0.003397 ] [ 0.05109445 0.01790024 0.99853339 -0.18029651] [ 0. 0. 0. 1. ]] SLAMing on 1.044839173 meters Centerline goodness : 0.983321 Centerline is valid? [False, True] Translation: X:0.84, Y:-0.01, Z:-0.13 [[ 0.9978354 0.0118632 -0.0646822 0.84206656] [-0.01159884 0.99992278 0.00446099 -0.00595541] [ 0.06473013 -0.0037011 0.99789594 -0.13413201] [ 0. 0. 0. 1. ]] SLAMing on 1.074839173 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:-0.08 [[ 0.99773282 0.01798372 -0.06485216 0.91669927] [-0.01812404 0.9998345 -0.00157611 -0.0071086 ] [ 0.06481308 0.00274792 0.99789364 -0.07805603] [ 0. 0. 0. 1. ]] SLAMing on 1.104839173 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.09 [[ 0.99735914 -0.03301492 -0.06468974 0.92102221] [ 0.03356382 0.99940906 0.00741662 0.01324361] [ 0.06440665 -0.00956827 0.99787786 -0.09443362] [ 0. 0. 0. 1. ]] SLAMing on 1.1348391729999998 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:0.94, Y:0.02, Z:-0.08 [[ 0.99781162 -0.01334369 -0.06476039 0.93829888] [ 0.01352708 0.99990564 0.00239409 0.01820651] [ 0.06472233 -0.00326487 0.99789797 -0.07966614] [ 0. 0. 0. 1. ]] SLAMing on 1.1648391729999998 meters Centerline goodness : 0.870008 Centerline is valid? [True, False] Translation: X:0.83, Y:0.00, Z:-0.17 [[ 9.89512841e-01 5.94193752e-02 -1.31657420e-01 8.33289240e-01] [-5.36678291e-02 9.97460853e-01 4.68146397e-02 2.84235146e-04] [ 1.34104819e-01 -3.92579192e-02 9.90189231e-01 -1.65600131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1948391729999999 meters Centerline goodness : 0.852332 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.07 [[ 0.49182579 -0.07253788 -0.86766678 0.77874632] [ 0.85154657 0.24790887 0.46196281 -0.21778721] [ 0.18159249 -0.96606389 0.18369736 -0.06601747] [ 0. 0. 0. 1. ]] SLAMing on 1.224839173 meters Centerline goodness : 0.725349 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.17 [[ 0.94665757 -0.28305332 -0.15401381 0.53003736] [ 0.31744439 0.73699578 0.5967129 -0.2023809 ] [-0.05539403 -0.6137736 0.78753633 -0.16639046] [ 0. 0. 0. 1. ]] SLAMing on 1.254839173 meters Centerline goodness : 0.952182 Centerline is valid? [False, True] Translation: X:0.46, Y:0.56, Z:0.42 [[ 0.85110304 -0.51231113 0.11472108 0.46244011] [ 0.51448352 0.77038439 -0.37658279 0.56350287] [ 0.10454823 0.37953286 0.91925213 0.41536248] [ 0. 0. 0. 1. ]] SLAMing on 1.284839173 meters Centerline goodness : 0.971712 Centerline is valid? [True, True] Translation: X:0.59, Y:0.45, Z:0.21 [[ 0.84942003 -0.52087236 -0.08472075 0.59207009] [ 0.51760306 0.85361422 -0.05856476 0.45121084] [ 0.10282361 0.00589436 0.99468214 0.20962327] [ 0. 0. 0. 1. ]] SLAMing on 1.314839173 meters Centerline goodness : 0.966428 Centerline is valid? [True, True] Translation: X:0.64, Y:0.47, Z:0.23 [[ 0.86156851 -0.5000506 -0.0874591 0.6415587 ] [ 0.49713638 0.86599085 -0.05399324 0.46620821] [ 0.10273813 0.00303978 0.99470379 0.22700456] [ 0. 0. 0. 1. ]] SLAMing on 1.3448391729999998 meters Centerline goodness : 0.969124 Centerline is valid? [True, True] Translation: X:0.64, Y:0.48, Z:0.22 [[ 0.85107706 -0.51689171 -0.09214549 0.64261044] [ 0.51491494 0.85600999 -0.04592931 0.48410381] [ 0.10261794 -0.00835771 0.99468573 0.22016847] [ 0. 0. 0. 1. ]] SLAMing on 1.3748391729999998 meters Centerline goodness : 0.949140 Centerline is valid? [True, False] Translation: X:0.64, Y:0.48, Z:0.21 [[ 0.84704098 -0.52298468 -0.09491364 0.63797797] [ 0.52156153 0.85221727 -0.04122258 0.47884752] [ 0.10244582 -0.01458609 0.99463164 0.20900722] [ 0. 0. 0. 1. ]] SLAMing on 1.4048391729999998 meters Centerline goodness : 0.947202 Centerline is valid? [False, False] Translation: X:0.64, Y:0.48, Z:0.21 [[ 0.84539183 -0.52357499 -0.10574447 0.63824389] [ 0.52190836 0.85180867 -0.04509601 0.47687026] [ 0.1136852 -0.01706513 0.99337025 0.20872974] [ 0. 0. 0. 1. ]] SLAMing on 1.4348391729999999 meters Centerline goodness : 0.952843 Centerline is valid? [False, True] Translation: X:0.63, Y:0.47, Z:0.20 [[ 0.84261296 -0.52680378 -0.11171922 0.62773579] [ 0.52654181 0.84945877 -0.03425677 0.4670867 ] [ 0.11294747 -0.02995964 0.99314918 0.19506501] [ 0. 0. 0. 1. ]] SLAMing on 1.4648391729999999 meters Centerline goodness : 0.974910 Centerline is valid? [True, True] Translation: X:0.65, Y:0.50, Z:0.18 [[ 0.83882047 -0.53531917 -0.09906363 0.64536817] [ 0.53235422 0.84463304 -0.05651564 0.50251607] [ 0.11392632 -0.00533046 0.9934749 0.17933504] [ 0. 0. 0. 1. ]] SLAMing on 1.494839173 meters Centerline goodness : 0.973775 Centerline is valid? [True, True] Translation: X:0.67, Y:0.51, Z:0.18 [[ 0.84229519 -0.52978157 -0.09934936 0.67461987] [ 0.52683717 0.84811843 -0.05601537 0.51299812] [ 0.11393594 -0.00515946 0.9934747 0.17731165] [ 0. 0. 0. 1. ]] SLAMing on 1.524839173 meters Centerline goodness : 0.765480 Centerline is valid? [True, False] Translation: X:0.46, Y:0.42, Z:0.10 [[ 0.8277631 -0.55744998 -0.0637006 0.46478761] [ 0.55331211 0.82985205 -0.07205058 0.41910738] [ 0.09302667 0.0243945 0.99536473 0.10154554] [ 0. 0. 0. 1. ]] SLAMing on 1.554839173 meters Centerline goodness : 0.796423 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:0.12 [[ 0.81223044 -0.56936956 -0.12688582 0.4998958 ] [ 0.55818786 0.82178377 -0.11444538 0.45234815] [ 0.16943443 0.0221299 0.98529297 0.11771278] [ 0. 0. 0. 1. ]] SLAMing on 1.584839173 meters Centerline goodness : 0.974125 Centerline is valid? [False, True] Translation: X:0.68, Y:0.58, Z:0.25 [[ 0.83105483 -0.5432606 -0.11923001 0.68448689] [ 0.53747695 0.83956254 -0.07907768 0.57883462] [ 0.14306084 0.00163451 0.98971255 0.24735788] [ 0. 0. 0. 1. ]] SLAMing on 1.6148391729999998 meters Centerline goodness : 0.745087 Centerline is valid? [True, False] Translation: X:0.56, Y:0.50, Z:0.17 [[ 0.84995808 -0.5175087 -0.09877252 0.56067579] [ 0.51583801 0.85556744 -0.04376635 0.49668803] [ 0.10715602 -0.01375106 0.99414712 0.17487195] [ 0. 0. 0. 1. ]] SLAMing on 1.6448391729999998 meters Centerline goodness : 0.972145 Centerline is valid? [False, True] Translation: X:0.37, Y:0.61, Z:1.03 [[ 0.75580781 -0.51385313 0.40584419 0.3652335 ] [ 0.59905711 0.2924055 -0.74540566 0.60946433] [ 0.26435796 0.80650727 0.52882974 1.02654692] [ 0. 0. 0. 1. ]] SLAMing on 1.6748391729999998 meters Centerline goodness : 0.959668 Centerline is valid? [True, True] Translation: X:0.63, Y:0.56, Z:0.36 [[ 0.75721648 -0.62503491 -0.1896169 0.63362871] [ 0.61124941 0.78042693 -0.13155971 0.56106632] [ 0.23021155 -0.01628404 0.97300435 0.35905023] [ 0. 0. 0. 1. ]] SLAMing on 1.7048391729999999 meters Centerline goodness : 0.964591 Centerline is valid? [True, True] Translation: X:0.64, Y:0.60, Z:0.37 [[ 0.74892566 -0.63669293 -0.18366401 0.63871871] [ 0.62130352 0.771057 -0.1394742 0.6000041 ] [ 0.23041766 -0.00965529 0.97304392 0.37097549] [ 0. 0. 0. 1. ]] SLAMing on 1.734839173 meters Centerline goodness : 0.963146 Centerline is valid? [True, True] Translation: X:0.67, Y:0.60, Z:0.39 [[ 0.75812957 -0.6260188 -0.1825925 0.67157997] [ 0.60997477 0.77979463 -0.14089397 0.60381083] [ 0.23058693 -0.00456094 0.97304104 0.39145763] [ 0. 0. 0. 1. ]] SLAMing on 1.764839173 meters Centerline goodness : 0.976803 Centerline is valid? [True, True] Translation: X:0.69, Y:0.63, Z:0.40 [[ 0.75217598 -0.63269755 -0.18418769 0.68575056] [ 0.61736031 0.77434286 -0.13877817 0.62980527] [ 0.23042903 -0.00932457 0.97304446 0.39847428] [ 0. 0. 0. 1. ]] SLAMing on 1.794839173 meters Centerline goodness : 0.978583 Centerline is valid? [True, True] Translation: X:0.71, Y:0.65, Z:0.40 [[ 0.75329821 -0.63145398 -0.18386863 0.70764265] [ 0.61597703 0.77536786 -0.13920119 0.64800472] [ 0.23046497 -0.00839885 0.97304437 0.3990092 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8248391729999998 meters Centerline goodness : 0.962624 Centerline is valid? [True, True] Translation: X:0.73, Y:0.66, Z:0.42 [[ 0.7554508 -0.62916024 -0.18289747 0.72773028] [ 0.61330448 0.77725215 -0.14048743 0.66131689] [ 0.23054655 -0.0060405 0.97304255 0.42058011] [ 0. 0. 0. 1. ]] SLAMing on 1.8548391729999998 meters Centerline goodness : 0.976464 Centerline is valid? [True, True] Translation: X:0.77, Y:0.67, Z:0.41 [[ 0.76530174 -0.61712779 -0.1829386 0.76891072] [ 0.60094206 0.78685909 -0.14043297 0.67318907] [ 0.23061199 -0.0024619 0.97304268 0.40545497] [ 0. 0. 0. 1. ]] SLAMing on 1.8848391729999998 meters Centerline goodness : 0.973558 Centerline is valid? [True, True] Translation: X:0.79, Y:0.69, Z:0.41 [[ 0.76887221 -0.61168537 -0.18621635 0.79452962] [ 0.59638713 0.79107512 -0.13609753 0.68504693] [ 0.23055999 -0.00641543 0.97303696 0.40579432] [ 0. 0. 0. 1. ]] SLAMing on 1.9148391729999998 meters Centerline goodness : 0.965415 Centerline is valid? [True, True] Translation: X:0.80, Y:0.72, Z:0.42 [[ 0.76211362 -0.62044552 -0.18501404 0.79575981] [ 0.60501559 0.78421829 -0.13768738 0.7195296 ] [ 0.23051891 -0.00700295 0.97304265 0.42458241] [ 0. 0. 0. 1. ]] SLAMing on 1.9448391729999999 meters Centerline goodness : 0.958034 Centerline is valid? [True, True] Translation: X:0.81, Y:0.74, Z:0.44 [[ 0.76436883 -0.61807024 -0.18365582 0.80830703] [ 0.60213961 0.78611284 -0.13947937 0.74325154] [ 0.23058225 -0.00397277 0.97304473 0.4368486 ] [ 0. 0. 0. 1. ]] SLAMing on 1.974839173 meters Centerline goodness : 0.960295 Centerline is valid? [True, True] Translation: X:0.83, Y:0.76, Z:0.44 [[ 7.67736350e-01 -6.14239933e-01 -1.82456027e-01 8.27816140e-01] [ 5.97823897e-01 7.89118937e-01 -1.41059885e-01 7.62081059e-01] [ 2.30624120e-01 -7.79771704e-04 9.73042603e-01 4.40786079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.004839173 meters Centerline goodness : 0.965790 Centerline is valid? [True, True] Translation: X:0.87, Y:0.78, Z:0.44 [[ 0.77986237 -0.59927034 -0.18080305 0.86858101] [ 0.58193531 0.80052039 -0.14324248 0.7769568 ] [ 0.2305775 0.00649374 0.9730323 0.43978882] [ 0. 0. 0. 1. ]] SLAMing on 2.034839173 meters Centerline goodness : 0.968797 Centerline is valid? [True, True] Translation: X:0.90, Y:0.80, Z:0.44 [[ 0.77862216 -0.59934688 -0.18582475 0.89617445] [ 0.58357975 0.80048668 -0.13658604 0.79661708] [ 0.23061265 -0.00209465 0.97304338 0.43565874] [ 0. 0. 0. 1. ]] SLAMing on 2.064839173 meters Centerline goodness : 0.974624 Centerline is valid? [True, True] Translation: X:0.91, Y:0.82, Z:0.43 [[ 0.78354407 -0.59250092 -0.18708648 0.90659966] [ 0.57694165 0.80556668 -0.13490977 0.82205147] [ 0.23064479 -0.00223023 0.97303546 0.43178406] [ 0. 0. 0. 1. ]] SLAMing on 2.094839173 meters Centerline goodness : 0.975926 Centerline is valid? [True, True] Translation: X:0.92, Y:0.86, Z:0.44 [[ 7.75991039e-01 -6.03314629e-01 -1.83981970e-01 9.18689988e-01] [ 5.87078424e-01 7.97503254e-01 -1.39023319e-01 8.59042670e-01] [ 2.30601022e-01 -1.30994935e-04 9.73048381e-01 4.39736203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1248391730000002 meters Centerline goodness : 0.980977 Centerline is valid? [True, True] Translation: X:0.95, Y:0.87, Z:0.43 [[ 0.78634926 -0.58926818 -0.1855205 0.94793744] [ 0.57312658 0.80793631 -0.13698483 0.86563374] [ 0.23060955 0.00139119 0.97304537 0.43161967] [ 0. 0. 0. 1. ]] SLAMing on 2.154839173 meters Centerline goodness : 0.984153 Centerline is valid? [True, True] Translation: X:0.97, Y:0.88, Z:0.43 [[ 0.78647409 -0.589598 -0.1839367 0.97019148] [ 0.5729732 0.80768698 -0.13908075 0.88386684] [ 0.23056501 0.00399261 0.97304873 0.43221545] [ 0. 0. 0. 1. ]] SLAMing on 2.1848391730000003 meters Centerline goodness : 0.974041 Centerline is valid? [True, True] Translation: X:0.98, Y:0.91, Z:0.44 [[ 0.7799286 -0.59823368 -0.18392347 0.98483572] [ 0.58183966 0.80132034 -0.13909824 0.91026285] [ 0.23059487 0.00147272 0.97304873 0.44229768] [ 0. 0. 0. 1. ]] SLAMing on 2.214839173 meters Centerline goodness : 0.977095 Centerline is valid? [True, True] Translation: X:1.01, Y:0.93, Z:0.44 [[ 7.77614888e-01 -6.01244997e-01 -1.83900897e-01 1.00619489e+00] [ 5.84926753e-01 7.99064497e-01 -1.39128084e-01 9.33960556e-01] [ 2.30598742e-01 6.19514976e-04 9.73048733e-01 4.40025760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters Centerline goodness : 0.978978 Centerline is valid? [True, True] Translation: X:1.04, Y:0.94, Z:0.44 [[ 0.78810432 -0.58728893 -0.18434559 1.03594253] [ 0.57072814 0.80936761 -0.13854044 0.94185384] [ 0.23056661 0.0039731 0.97304843 0.44329442] [ 0. 0. 0. 1. ]] SLAMing on 2.274839173 meters Centerline goodness : 0.979872 Centerline is valid? [True, True] Translation: X:1.06, Y:0.96, Z:0.44 [[ 0.78521613 -0.59130257 -0.18383931 1.05643168] [ 0.57469376 0.8064415 -0.13920915 0.96192475] [ 0.23057038 0.00365797 0.97304877 0.44423404] [ 0. 0. 0. 1. ]] SLAMing on 2.304839173 meters Centerline goodness : 0.982094 Centerline is valid? [True, True] Translation: X:1.08, Y:0.98, Z:0.44 [[ 0.78212032 -0.59539548 -0.18382609 1.08061987] [ 0.57889365 0.80342896 -0.13922662 0.97807529] [ 0.2305861 0.00247621 0.97304878 0.44487614] [ 0. 0. 0. 1. ]] SLAMing on 2.334839173 meters Centerline goodness : 0.966885 Centerline is valid? [True, True] Translation: X:1.11, Y:1.00, Z:0.45 [[ 0.76356954 -0.61901776 -0.1837895 1.10905557] [ 0.60316318 0.78536405 -0.1392749 1.00474754] [ 0.2305553 -0.00450899 0.97304878 0.4548407 ] [ 0. 0. 0. 1. ]] SLAMing on 2.364839173 meters Centerline goodness : 0.965167 Centerline is valid? [True, True] Translation: X:1.13, Y:1.01, Z:0.44 [[ 0.76314196 -0.61859269 -0.18696909 1.13232558] [ 0.60373044 0.78565132 -0.13513535 1.0116431 ] [ 0.23048625 -0.00975147 0.97302672 0.43843893] [ 0. 0. 0. 1. ]] SLAMing on 2.3948391730000003 meters Centerline goodness : 0.968540 Centerline is valid? [True, True] Translation: X:1.15, Y:1.03, Z:0.44 [[ 7.69441639e-01 -6.12066429e-01 -1.82576698e-01 1.15410529e+00] [ 5.95642325e-01 7.90806259e-01 -1.40839201e-01 1.03425799e+00] [ 2.30585742e-01 -3.82862863e-04 9.73051935e-01 4.38474879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.424839173 meters Centerline goodness : 0.978156 Centerline is valid? [True, True] Translation: X:1.18, Y:1.04, Z:0.45 [[ 0.76381502 -0.61907379 -0.1825767 1.17946151] [ 0.60284565 0.78532887 -0.1408392 1.04485018] [ 0.23057261 -0.00249047 0.97305194 0.4541287 ] [ 0. 0. 0. 1. ]] SLAMing on 2.454839173 meters Centerline goodness : 0.972720 Centerline is valid? [True, True] Translation: X:1.20, Y:1.06, Z:0.46 [[ 0.76642218 -0.61584418 -0.18257324 1.20378511] [ 0.59952431 0.78786653 -0.14084368 1.06200948] [ 0.23058111 -0.00151138 0.97305194 0.45890249] [ 0. 0. 0. 1. ]] SLAMing on 2.484839173 meters Centerline goodness : 0.795196 Centerline is valid? [True, False] Translation: X:1.27, Y:1.11, Z:0.48 [[ 0.7644015 -0.61996521 -0.17701269 1.26549136] [ 0.60331887 0.78462593 -0.14271823 1.11148758] [ 0.22736908 0.00229893 0.97380594 0.4807238 ] [ 0. 0. 0. 1. ]] SLAMing on 2.514839173 meters Centerline goodness : 0.970242 Centerline is valid? [False, True] Translation: X:1.24, Y:1.08, Z:0.47 [[ 0.76641506 -0.61625707 -0.18120478 1.24255345] [ 0.60212573 0.7875009 -0.13147981 1.0828639 ] [ 0.22372429 -0.00833995 0.97461679 0.46738027] [ 0. 0. 0. 1. ]] SLAMing on 2.544839173 meters Centerline goodness : 0.966024 Centerline is valid? [True, True] Translation: X:1.26, Y:1.10, Z:0.48 [[ 0.76658287 -0.6158971 -0.18171809 1.26193957] [ 0.60191371 0.78777405 -0.13081257 1.10001402] [ 0.22371988 -0.00909994 0.974611 0.47906079] [ 0. 0. 0. 1. ]] SLAMing on 2.574839173 meters Centerline goodness : 0.960595 Centerline is valid? [True, True] Translation: X:1.26, Y:1.13, Z:0.49 [[ 0.76654953 -0.61585196 -0.1820115 1.26131787] [ 0.60195771 0.78780364 -0.1304314 1.12506396] [ 0.22371575 -0.0095811 0.97460734 0.48589217] [ 0. 0. 0. 1. ]] SLAMing on 2.6048391730000002 meters Centerline goodness : 0.952688 Centerline is valid? [True, True] Translation: X:1.27, Y:1.15, Z:0.52 [[ 0.76110307 -0.62404991 -0.17687236 1.26716592] [ 0.60881842 0.78137728 -0.13707546 1.15378058] [ 0.22374597 -0.00335459 0.97464172 0.5242418 ] [ 0. 0. 0. 1. ]] SLAMing on 2.634839173 meters Centerline goodness : 0.945872 Centerline is valid? [True, False] Translation: X:1.23, Y:1.12, Z:0.51 [[ 0.76396013 -0.61727391 -0.18798364 1.2313842 ] [ 0.60660977 0.78635946 -0.11689048 1.1169697 ] [ 0.21997616 -0.02473305 0.97519166 0.50627487] [ 0. 0. 0. 1. ]] SLAMing on 2.664839173 meters Centerline goodness : 0.943713 Centerline is valid? [False, False] Translation: X:1.20, Y:1.09, Z:0.49 [[ 0.76743872 -0.60989587 -0.19764824 1.20364825] [ 0.60261835 0.79144204 -0.10232611 1.08747132] [ 0.2188354 -0.04057743 0.97491771 0.49262484] [ 0. 0. 0. 1. ]] SLAMing on 2.694839173 meters Centerline goodness : 0.937569 Centerline is valid? [False, False] Translation: X:1.17, Y:1.06, Z:0.48 [[ 0.77127278 -0.60448404 -0.19934228 1.16890173] [ 0.59740256 0.7955527 -0.10102515 1.05750141] [ 0.21965537 -0.04116964 0.97470846 0.4794573 ] [ 0. 0. 0. 1. ]] SLAMing on 2.724839173 meters Centerline goodness : 0.938125 Centerline is valid? [False, False] Translation: X:1.14, Y:1.03, Z:0.46 [[ 0.7739603 -0.60033042 -0.20146675 1.13508755] [ 0.5934094 0.79864625 -0.10014716 1.02885614] [ 0.22102205 -0.04204234 0.9743622 0.46477533] [ 0. 0. 0. 1. ]] SLAMing on 2.754839173 meters Centerline goodness : 0.940033 Centerline is valid? [False, False] Translation: X:1.10, Y:1.00, Z:0.45 [[ 0.77591363 -0.59630483 -0.20586059 1.10401771] [ 0.58960385 0.80154147 -0.09949155 1.00104249] [ 0.22433309 -0.04417934 0.97351058 0.44897617] [ 0. 0. 0. 1. ]] SLAMing on 2.784839173 meters Centerline goodness : 0.948063 Centerline is valid? [False, False] Translation: X:1.08, Y:0.98, Z:0.44 [[ 0.77174822 -0.59651337 -0.22040072 1.07896236] [ 0.59025199 0.80089829 -0.10081918 0.97865373] [ 0.23665854 -0.05228494 0.97018504 0.43595645] [ 0. 0. 0. 1. ]] SLAMing on 2.814839173 meters Centerline goodness : 0.949956 Centerline is valid? [False, False] Translation: X:1.06, Y:0.97, Z:0.43 [[ 0.77331803 -0.59317864 -0.22387125 1.06471141] [ 0.58606484 0.80349361 -0.10452767 0.97150179] [ 0.2418827 -0.05036994 0.96899723 0.43137471] [ 0. 0. 0. 1. ]] SLAMing on 2.844839173 meters Centerline goodness : 0.949956 Centerline is valid? [False, False] Translation: X:1.03, Y:0.94, Z:0.42 [[ 0.77515758 -0.59098359 -0.22331398 1.0271334 ] [ 0.58360625 0.80520369 -0.10512264 0.94096156] [ 0.24193899 -0.04884082 0.96906145 0.41832479] [ 0. 0. 0. 1. ]] SLAMing on 2.8748391730000002 meters Centerline goodness : 0.952469 Centerline is valid? [False, True] Translation: X:0.99, Y:0.91, Z:0.40 [[ 0.77740625 -0.58683702 -0.22641077 0.98865591] [ 0.58017822 0.80804313 -0.10227186 0.90970217] [ 0.24296658 -0.05185182 0.96864784 0.40135607] [ 0. 0. 0. 1. ]] SLAMing on 2.904839173 meters Centerline goodness : 0.950800 Centerline is valid? [True, True] Translation: X:0.98, Y:0.95, Z:0.44 [[ 0.77822928 -0.59734492 -0.19374788 0.98321852] [ 0.57918704 0.80198297 -0.14617006 0.94959936] [ 0.24269645 0.00153756 0.97010106 0.4355561 ] [ 0. 0. 0. 1. ]] SLAMing on 2.934839173 meters Centerline goodness : 0.951621 Centerline is valid? [True, True] Translation: X:1.01, Y:0.97, Z:0.43 [[ 0.78025241 -0.59470648 -0.19372758 1.00824879] [ 0.5764616 0.80393935 -0.14619696 0.96823016] [ 0.24268951 0.00239402 0.97010106 0.43339156] [ 0. 0. 0. 1. ]] SLAMing on 2.964839173 meters Centerline goodness : 0.945088 Centerline is valid? [True, False] Translation: X:0.98, Y:0.94, Z:0.42 [[ 0.78278571 -0.59052719 -0.19627577 0.97756654] [ 0.5722317 0.80701559 -0.1458654 0.93943495] [ 0.24453509 0.00186613 0.96963865 0.41734053] [ 0. 0. 0. 1. ]] SLAMing on 2.994839173 meters Centerline goodness : 0.938249 Centerline is valid? [False, False] Translation: X:0.94, Y:0.91, Z:0.40 [[ 0.78564797 -0.58534554 -0.20031941 0.93923857] [ 0.56806549 0.81077891 -0.14120611 0.90761684] [ 0.24506912 -0.00285625 0.9695014 0.39992833] [ 0. 0. 0. 1. ]] SLAMing on 3.024839173 meters Centerline goodness : 0.934961 Centerline is valid? [False, False] Translation: X:0.90, Y:0.87, Z:0.38 [[ 0.78779259 -0.58128053 -0.20370512 0.89697549] [ 0.56500147 0.81367026 -0.13679929 0.87323075] [ 0.24526756 -0.00732422 0.96942776 0.38354808] [ 0. 0. 0. 1. ]] SLAMing on 3.054839173 meters Centerline goodness : 0.920952 Centerline is valid? [False, False] Translation: X:0.86, Y:0.85, Z:0.37 [[ 0.79349507 -0.57355435 -0.20347232 0.86327399] [ 0.55389587 0.81914897 -0.14897761 0.84570729] [ 0.2521209 0.00551052 0.96768005 0.37494952] [ 0. 0. 0. 1. ]] SLAMing on 3.084839173 meters Centerline goodness : 0.914222 Centerline is valid? [False, False] Translation: X:0.81, Y:0.81, Z:0.36 [[ 0.79798664 -0.56646841 -0.20574465 0.81390997] [ 0.54593377 0.8240399 -0.15137556 0.80528006] [ 0.25529128 0.00847272 0.96682707 0.35719669] [ 0. 0. 0. 1. ]] SLAMing on 3.114839173 meters Centerline goodness : 0.905784 Centerline is valid? [False, False] Translation: X:0.76, Y:0.76, Z:0.34 [[ 0.80380012 -0.55600282 -0.21158031 0.76378333] [ 0.53527704 0.83114387 -0.15059332 0.76307752] [ 0.25958399 0.00779284 0.96568909 0.33905493] [ 0. 0. 0. 1. ]] SLAMing on 3.1448391730000003 meters Centerline goodness : 0.902870 Centerline is valid? [False, False] Translation: X:0.72, Y:0.73, Z:0.32 [[ 0.8060195 -0.55120801 -0.21564391 0.7231473 ] [ 0.53117322 0.8343573 -0.14731906 0.72998299] [ 0.26112752 0.00419776 0.96529519 0.32343953] [ 0. 0. 0. 1. ]] SLAMing on 3.174839173 meters Centerline goodness : 0.902342 Centerline is valid? [False, False] Translation: X:0.68, Y:0.70, Z:0.31 [[ 8.07833023e-01 -5.47500401e-01 -2.18286781e-01 6.76127687e-01] [ 5.28364655e-01 8.36805221e-01 -1.43484539e-01 6.95929358e-01] [ 2.61221361e-01 5.76529586e-04 9.65278752e-01 3.09661839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204839173 meters Centerline goodness : 0.898467 Centerline is valid? [False, False] Translation: X:0.64, Y:0.67, Z:0.30 [[ 0.80791204 -0.54489586 -0.22442511 0.64047775] [ 0.52929823 0.83839289 -0.1301566 0.66508088] [ 0.25907821 -0.01363273 0.96576013 0.29502389] [ 0. 0. 0. 1. ]] SLAMing on 3.234839173 meters Centerline goodness : 0.896851 Centerline is valid? [False, False] Translation: X:0.60, Y:0.63, Z:0.28 [[ 0.80418943 -0.55135971 -0.22199509 0.6029801 ] [ 0.53776896 0.83402299 -0.12332959 0.62835005] [ 0.25314798 -0.02020172 0.96721662 0.28393628] [ 0. 0. 0. 1. ]] SLAMing on 3.264839173 meters Centerline goodness : 0.894145 Centerline is valid? [False, False] Translation: X:0.56, Y:0.59, Z:0.27 [[ 0.80276066 -0.55487837 -0.21836968 0.55800374] [ 0.54133137 0.83171036 -0.12336218 0.58848089] [ 0.25007133 -0.01918005 0.96803743 0.27056053] [ 0. 0. 0. 1. ]] SLAMing on 3.294839173 meters Centerline goodness : 0.888659 Centerline is valid? [False, False] Translation: X:0.51, Y:0.55, Z:0.26 [[ 0.8016193 -0.55784023 -0.21499017 0.51197486] [ 0.54444498 0.82974173 -0.12291594 0.54920481] [ 0.24695377 -0.01851853 0.9688503 0.25743271] [ 0. 0. 0. 1. ]] SLAMing on 3.324839173 meters Centerline goodness : 0.884115 Centerline is valid? [False, False] Translation: X:0.47, Y:0.51, Z:0.25 [[ 0.79627078 -0.56544435 -0.21500125 0.47434474] [ 0.55381372 0.82437946 -0.11699944 0.51229516] [ 0.24339928 -0.02590741 0.96958011 0.24695135] [ 0. 0. 0. 1. ]] SLAMing on 3.3548391730000002 meters Centerline goodness : 0.876928 Centerline is valid? [False, False] Translation: X:0.44, Y:0.48, Z:0.23 [[ 0.79200396 -0.57126791 -0.21536642 0.43950064] [ 0.56152082 0.82007695 -0.11030936 0.47964476] [ 0.23963324 -0.03356728 0.97028303 0.23390405] [ 0. 0. 0. 1. ]] SLAMing on 3.384839173 meters Centerline goodness : 0.865322 Centerline is valid? [False, False] Translation: X:0.41, Y:0.45, Z:0.22 [[ 0.79032104 -0.57350575 -0.21560105 0.40745016] [ 0.56543079 0.81823237 -0.10384513 0.45248731] [ 0.23596753 -0.03983648 0.97094407 0.22161943] [ 0. 0. 0. 1. ]] SLAMing on 3.414839173 meters Centerline goodness : 0.860399 Centerline is valid? [False, False] Translation: X:0.37, Y:0.42, Z:0.21 [[ 0.79053276 -0.57352712 -0.21476638 0.3725852 ] [ 0.56785016 0.81778469 -0.09367178 0.42314891] [ 0.22935596 -0.04790452 0.97216305 0.20920068] [ 0. 0. 0. 1. ]] SLAMing on 3.444839173 meters Centerline goodness : 0.851575 Centerline is valid? [False, False] Translation: X:0.31, Y:0.38, Z:0.20 [[ 0.79206599 -0.57320379 -0.20992587 0.31461421] [ 0.56948622 0.81769652 -0.08401098 0.37900753] [ 0.21981107 -0.05300765 0.97410127 0.19579252] [ 0. 0. 0. 1. ]] SLAMing on 3.474839173 meters Centerline goodness : 0.850805 Centerline is valid? [False, False] Translation: X:0.27, Y:0.35, Z:0.18 [[ 0.79328464 -0.57201693 -0.2085572 0.27368134] [ 0.56802757 0.8186382 -0.08471232 0.34832257] [ 0.21918977 -0.05126526 0.9743345 0.18447453] [ 0. 0. 0. 1. ]] SLAMing on 3.504839173 meters Centerline goodness : 0.852231 Centerline is valid? [False, False] Translation: X:0.23, Y:0.32, Z:0.17 [[ 0.79378306 -0.56994272 -0.21230578 0.23164685] [ 0.56617345 0.81995792 -0.08436021 0.31892926] [ 0.22216229 -0.05323819 0.97355514 0.17133301] [ 0. 0. 0. 1. ]] SLAMing on 3.534839173 meters Centerline goodness : 0.849343 Centerline is valid? [False, False] Translation: X:0.18, Y:0.29, Z:0.16 [[ 0.79510923 -0.56783965 -0.21297758 0.18442635] [ 0.5648964 0.82121647 -0.08059501 0.2859171 ] [ 0.22066574 -0.05622843 0.97372737 0.15665403] [ 0. 0. 0. 1. ]] SLAMing on 3.564839173 meters Centerline goodness : 0.841379 Centerline is valid? [False, False] Translation: X:0.14, Y:0.25, Z:0.14 [[ 0.79617994 -0.56755222 -0.20971881 0.14024138] [ 0.56462229 0.82149806 -0.07964048 0.25131271] [ 0.21748373 -0.05500376 0.97451291 0.14375015] [ 0. 0. 0. 1. ]] SLAMing on 3.594839173 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:0.10, Y:0.22, Z:0.13 [[ 0.79763142 -0.56618445 -0.20789248 0.09772844] [ 0.5633321 0.82248138 -0.07862135 0.21796134] [ 0.21550188 -0.05440165 0.97498687 0.13122084] [ 0. 0. 0. 1. ]] SLAMing on 3.624839173 meters Centerline goodness : 0.837748 Centerline is valid? [False, False] Translation: X:0.06, Y:0.19, Z:0.12 [[ 0.79886628 -0.56463863 -0.20735447 0.05623507] [ 0.56190631 0.82354173 -0.07771943 0.18581507] [ 0.21464846 -0.05442635 0.97517373 0.11867897] [ 0. 0. 0. 1. ]] SLAMing on 3.654839173 meters Centerline goodness : 0.836700 Centerline is valid? [False, False] Translation: X:0.00, Y:0.14, Z:0.10 [[ 0.7997176 -0.56210539 -0.21092486 0.00293795] [ 0.55956398 0.82516116 -0.07744167 0.13993051] [ 0.21757738 -0.05609449 0.97442983 0.09853373] [ 0. 0. 0. 1. ]] SLAMing on 3.684839173 meters Centerline goodness : 0.837441 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:0.08 [[ 0.80075713 -0.56040406 -0.21150723 -0.03260689] [ 0.55786973 0.82631873 -0.07732222 0.10962294] [ 0.21810408 -0.05607716 0.97431307 0.08435246] [ 0. 0. 0. 1. ]] SLAMing on 3.714839173 meters Centerline goodness : 0.830654 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.06, Z:0.06 [[ 0.80195109 -0.56012021 -0.20770121 -0.09195189] [ 0.55786283 0.82653599 -0.07501549 0.05796576] [ 0.21369021 -0.05571003 0.97531169 0.06471709] [ 0. 0. 0. 1. ]] SLAMing on 3.744839173 meters Centerline goodness : 0.826446 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:0.05 [[ 0.80260295 -0.56022466 -0.20488249 -0.12825681] [ 0.55795207 0.82653631 -0.07434526 0.01950818] [ 0.21099286 -0.05464488 0.97595899 0.05354364] [ 0. 0. 0. 1. ]] SLAMing on 3.774839173 meters Centerline goodness : 0.826079 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.04 [[ 0.80283774 -0.56041434 -0.20343876 -0.16557032] [ 0.55801386 0.82647326 -0.07458204 -0.01475478] [ 0.20993354 -0.05364437 0.9762429 0.04094805] [ 0. 0. 0. 1. ]] SLAMing on 3.804839173 meters Centerline goodness : 0.826305 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.03 [[ 0.80297307 -0.56053424 -0.20257249 -0.20227759] [ 0.55795322 0.82645703 -0.07521286 -0.04762893] [ 0.20957684 -0.05263207 0.97637463 0.0285833 ] [ 0. 0. 0. 1. ]] SLAMing on 3.834839173 meters Centerline goodness : 0.824800 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.01 [[ 0.8010123 -0.56355593 -0.20195048 -0.24112307] [ 0.5614632 0.82425999 -0.07317477 -0.08715814] [ 0.20769778 -0.05477388 0.97665831 0.01468776] [ 0. 0. 0. 1. ]] SLAMing on 3.864839173 meters Centerline goodness : 0.827968 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.00 [[ 8.00994226e-01 -5.63911009e-01 -2.01028916e-01 -2.82367350e-01] [ 5.62179563e-01 8.23939202e-01 -7.12624000e-02 -1.21028280e-01] [ 2.05821256e-01 -5.59335770e-02 9.76989788e-01 1.88407376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.894839173 meters Centerline goodness : 0.829121 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:-0.01 [[ 0.80232771 -0.5616897 -0.20192802 -0.31228495] [ 0.56215347 0.824804 -0.06067806 -0.14970404] [ 0.20063328 -0.06483085 0.97751893 -0.00882949] [ 0. 0. 0. 1. ]] SLAMing on 3.924839173 meters Centerline goodness : 0.828312 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:-0.01 [[ 0.80279991 -0.56260528 -0.19745279 -0.31342793] [ 0.56266065 0.82440873 -0.06134522 -0.16137444] [ 0.19729495 -0.06185098 0.97839111 -0.00879273] [ 0. 0. 0. 1. ]] SLAMing on 3.954839173 meters Centerline goodness : 0.828129 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:-0.00 [[ 0.80463169 -0.55572019 -0.20914808 -0.31210481] [ 0.55567131 0.82888596 -0.06463325 -0.17074932] [ 0.20927791 -0.06421163 0.97574568 -0.00179215] [ 0. 0. 0. 1. ]] SLAMing on 3.984839173 meters Centerline goodness : 0.830960 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:0.01 [[ 0.80710027 -0.54624567 -0.22406434 -0.31012336] [ 0.54682237 0.83470459 -0.06521915 -0.17780245] [ 0.22265321 -0.069885 0.97238965 0.00536748] [ 0. 0. 0. 1. ]] SLAMing on 4.0148391729999995 meters Centerline goodness : 0.829604 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:0.01 [[ 0.80959503 -0.53722031 -0.23653801 -0.30858882] [ 0.53836049 0.84016344 -0.06552386 -0.1851109 ] [ 0.23393134 -0.07429493 0.96941033 0.00768602] [ 0. 0. 0. 1. ]] SLAMing on 4.044839173 meters Centerline goodness : 0.826739 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.19, Z:0.00 [[ 0.81275823 -0.53489613 -0.23088998 -0.31073008] [ 0.53514376 0.84209291 -0.06708714 -0.19243023] [ 0.23031546 -0.06903371 0.97066428 0.00280424] [ 0. 0. 0. 1. ]] SLAMing on 4.074839173 meters Centerline goodness : 0.829092 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:0.00 [[ 0.81480931 -0.53207099 -0.23018744 -0.31396802] [ 0.53253583 0.84386757 -0.06552181 -0.1962067 ] [ 0.22910997 -0.06919528 0.97093802 0.00385784] [ 0. 0. 0. 1. ]] SLAMing on 4.104839173 meters Centerline goodness : 0.828764 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.20, Z:0.01 [[ 0.81729056 -0.52040359 -0.24741917 -0.31191221] [ 0.52277192 0.85025105 -0.06150348 -0.20279089] [ 0.24237504 -0.07907758 0.96695454 0.01074925] [ 0. 0. 0. 1. ]] SLAMing on 4.134839173 meters Centerline goodness : 0.827940 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:0.02 [[ 0.81759854 -0.51252701 -0.26239034 -0.31081218] [ 0.51555098 0.85455682 -0.06276804 -0.20653211] [ 0.25639777 -0.08395654 0.96291821 0.01872256] [ 0. 0. 0. 1. ]] SLAMing on 4.164839173 meters Centerline goodness : 0.826797 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:0.02 [[ 0.81650403 -0.50791443 -0.27448881 -0.30558726] [ 0.51034732 0.85726136 -0.06818046 -0.21061861] [ 0.26993849 -0.08441501 0.95917012 0.02169778] [ 0. 0. 0. 1. ]] SLAMing on 4.194839173 meters Centerline goodness : 0.829431 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.81629119 -0.50903183 -0.27304815 -0.30494188] [ 0.51128406 0.85667352 -0.06854985 -0.21697467] [ 0.26880718 -0.08364852 0.95955491 0.02230619] [ 0. 0. 0. 1. ]] SLAMing on 4.224839173 meters Centerline goodness : 0.829798 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.81984875 -0.50059144 -0.27795006 -0.30441157] [ 0.5052013 0.8608909 -0.06032005 -0.22044521] [ 0.26948037 -0.09096741 0.95869977 0.02428291] [ 0. 0. 0. 1. ]] SLAMing on 4.254839173 meters Centerline goodness : 0.828517 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:0.03 [[ 0.82349673 -0.49188516 -0.28266965 -0.30568579] [ 0.4987329 0.8651611 -0.05255249 -0.22133737] [ 0.27040458 -0.09769985 0.95777665 0.02650383] [ 0. 0. 0. 1. ]] SLAMing on 4.284839173 meters Centerline goodness : 0.822573 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:0.02 [[ 0.82568615 -0.48749597 -0.28388387 -0.30614747] [ 0.49476909 0.86754288 -0.05072381 -0.21729125] [ 0.27100908 -0.09857502 0.95751608 0.0245585 ] [ 0. 0. 0. 1. ]] SLAMing on 4.314839173 meters Centerline goodness : 0.822571 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.82252564 -0.49555183 -0.27906979 -0.3006822 ] [ 0.50038558 0.86378839 -0.05902446 -0.21433295] [ 0.27030693 -0.09109336 0.95845509 0.01818206] [ 0. 0. 0. 1. ]] SLAMing on 4.344839173 meters Centerline goodness : 0.823791 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.8208664 -0.4990533 -0.27771235 -0.29973313] [ 0.50317883 0.86197805 -0.06168396 -0.21450153] [ 0.27016553 -0.08910469 0.95868188 0.01799291] [ 0. 0. 0. 1. ]] SLAMing on 4.374839173 meters Centerline goodness : 0.821731 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.22, Z:0.02 [[ 0.82025366 -0.49972378 -0.27831649 -0.29844699] [ 0.50405079 0.86149593 -0.06129892 -0.21513123] [ 0.27040105 -0.09000498 0.95853136 0.01848024] [ 0. 0. 0. 1. ]] SLAMing on 4.404839173 meters Centerline goodness : 0.822854 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:0.02 [[ 0.81965868 -0.50007596 -0.27943459 -0.29660232] [ 0.50462301 0.86118383 -0.06097561 -0.21431457] [ 0.27113698 -0.09102993 0.95822664 0.01878413] [ 0. 0. 0. 1. ]] SLAMing on 4.434839173 meters Centerline goodness : 0.821609 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81648294 -0.50598638 -0.27808882 -0.29460336] [ 0.5094684 0.85800592 -0.06532825 -0.21103952] [ 0.27165706 -0.08833807 0.95833127 0.01825275] [ 0. 0. 0. 1. ]] SLAMing on 4.464839173 meters Centerline goodness : 0.821590 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.8147429 -0.5080795 -0.27937293 -0.29007487] [ 0.51177413 0.8566273 -0.06539803 -0.21040964] [ 0.27254588 -0.08969325 0.95795296 0.01788484] [ 0. 0. 0. 1. ]] SLAMing on 4.494839173 meters Centerline goodness : 0.820640 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.8140808 -0.50841721 -0.28068558 -0.28824589] [ 0.51249021 0.85626052 -0.0645888 -0.21103615] [ 0.27317804 -0.09126811 0.95762409 0.01903283] [ 0. 0. 0. 1. ]] SLAMing on 4.524839173 meters Centerline goodness : 0.823384 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81586319 -0.50436018 -0.28282162 -0.28703896] [ 0.50947481 0.85832317 -0.06096521 -0.2117597 ] [ 0.27350077 -0.09435122 0.95723308 0.01865733] [ 0. 0. 0. 1. ]] SLAMing on 4.554839173 meters Centerline goodness : 0.820780 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.02 [[ 0.81683935 -0.50327804 -0.2819303 -0.28774603] [ 0.50814872 0.85908498 -0.06130148 -0.21089057] [ 0.27305377 -0.09318906 0.95747451 0.01685521] [ 0. 0. 0. 1. ]] SLAMing on 4.584839173 meters Centerline goodness : 0.820516 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.21, Z:0.01 [[ 0.81897268 -0.5006005 -0.28050469 -0.28762951] [ 0.50540919 0.86075442 -0.06052581 -0.21366898] [ 0.2717449 -0.09220066 0.95794245 0.01388394] [ 0. 0. 0. 1. ]] SLAMing on 4.614839173 meters Centerline goodness : 0.823375 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.22, Z:0.01 [[ 0.81803935 -0.50325831 -0.2784649 -0.28583669] [ 0.5077894 0.85930047 -0.06125866 -0.22082443] [ 0.27011395 -0.09128953 0.95849083 0.01348063] [ 0. 0. 0. 1. ]] SLAMing on 4.644839173 meters Centerline goodness : 0.822071 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.01 [[ 0.81763367 -0.50335434 -0.27948093 -0.28278049] [ 0.5083668 0.85905255 -0.05993262 -0.2230883 ] [ 0.27025615 -0.0930759 0.95827892 0.01343923] [ 0. 0. 0. 1. ]] SLAMing on 4.674839173 meters Centerline goodness : 0.822937 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.22, Z:0.01 [[ 0.81582962 -0.50701575 -0.27813137 -0.27965633] [ 0.51127582 0.85712092 -0.06277555 -0.22286568] [ 0.27022041 -0.09098769 0.95848953 0.01178958] [ 0. 0. 0. 1. ]] SLAMing on 4.704839173 meters Centerline goodness : 0.825782 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.23, Z:0.01 [[ 0.81494688 -0.51117585 -0.27305828 -0.27876467] [ 0.51398944 0.85518185 -0.06692426 -0.22974614] [ 0.26772455 -0.08580936 0.95966677 0.00902366] [ 0. 0. 0. 1. ]] SLAMing on 4.734839173 meters Centerline goodness : 0.828245 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.23, Z:0.01 [[ 0.81539036 -0.51056916 -0.27286935 -0.27756609] [ 0.51359847 0.85549014 -0.06597897 -0.23227098] [ 0.26712387 -0.08634667 0.95978596 0.0080921 ] [ 0. 0. 0. 1. ]] SLAMing on 4.764839173 meters Centerline goodness : 0.829866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81654196 -0.50890309 -0.27253783 -0.27697401] [ 0.51231663 0.85639449 -0.06418842 -0.23835372] [ 0.26606558 -0.08721312 0.96000155 0.00803792] [ 0. 0. 0. 1. ]] SLAMing on 4.794839173 meters Centerline goodness : 0.829866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81654196 -0.50890309 -0.27253783 -0.27697401] [ 0.51231663 0.85639449 -0.06418842 -0.23835372] [ 0.26606558 -0.08721312 0.96000155 0.00803792] [ 0. 0. 0. 1. ]] SLAMing on 4.824839173 meters Centerline goodness : 0.831393 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:0.01 [[ 0.81782243 -0.50714305 -0.27197868 -0.27818227] [ 0.51083764 0.85738988 -0.06266976 -0.24331591] [ 0.2649743 -0.08768421 0.96026043 0.00847404] [ 0. 0. 0. 1. ]] SLAMing on 4.854839173 meters Centerline goodness : 0.830866 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.25, Z:0.01 [[ 0.81934433 -0.50559302 -0.27027869 -0.27821264] [ 0.50921645 0.85839733 -0.06206959 -0.25106676] [ 0.26338846 -0.08677399 0.96077926 0.00793474] [ 0. 0. 0. 1. ]] SLAMing on 4.884839173 meters Centerline goodness : 0.831493 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.25, Z:0.01 [[ 0.81876736 -0.50773736 -0.26799772 -0.27807691] [ 0.51071434 0.85736307 -0.06402678 -0.25456441] [ 0.26228013 -0.08444724 0.96128965 0.00719005] [ 0. 0. 0. 1. ]] SLAMing on 4.914839173 meters Centerline goodness : 0.829438 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.27, Z:0.01 [[ 0.81842187 -0.51252398 -0.25981689 -0.2846229 ] [ 0.51348572 0.85526665 -0.06965183 -0.26614403] [ 0.25791095 -0.07640768 0.96314267 0.00810829] [ 0. 0. 0. 1. ]] SLAMing on 4.944839173 meters Centerline goodness : 0.829026 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.27, Z:0.01 [[ 0.81881801 -0.51175256 -0.2600892 -0.28475395] [ 0.51298398 0.85565271 -0.06859932 -0.26817658] [ 0.2576519 -0.07725123 0.96314472 0.00872073] [ 0. 0. 0. 1. ]] SLAMing on 4.974839173 meters Centerline goodness : 0.820606 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.27, Z:0.01 [[ 0.81905052 -0.51903973 -0.24444633 -0.28637642] [ 0.51990611 0.85164599 -0.06630794 -0.27267959] [ 0.24259819 -0.07277959 0.96739302 0.00525937] [ 0. 0. 0. 1. ]] SLAMing on 5.004839173 meters Centerline goodness : 0.818737 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.28, Z:0.00 [[ 0.81826031 -0.52174392 -0.24131588 -0.28380888] [ 0.52176539 0.85028111 -0.06915869 -0.27723697] [ 0.24126946 -0.06932047 0.96797919 0.00239321] [ 0. 0. 0. 1. ]] SLAMing on 5.034839173 meters Centerline goodness : 0.817883 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.28, Z:0.00 [[ 0.81699274 -0.52377365 -0.24121366 -0.27749216] [ 0.52382204 0.84900093 -0.069339 -0.28289089] [ 0.24110857 -0.06970357 0.96799177 0.0011418 ] [ 0. 0. 0. 1. ]] SLAMing on 5.064839173 meters Centerline goodness : 0.817654 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.29, Z:0.00 [[ 0.81779577 -0.52211811 -0.24208006 -0.27607486] [ 0.52268163 0.84986955 -0.06727302 -0.2864536 ] [ 0.24086093 -0.07151521 0.96792127 0.00147669] [ 0. 0. 0. 1. ]] SLAMing on 5.0948391729999996 meters Centerline goodness : 0.819420 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.29, Z:0.00 [[ 0.81865758 -0.52024192 -0.24320385 -0.27462663] [ 0.52144491 0.85082404 -0.06475843 -0.29053262] [ 0.24061374 -0.07380243 0.96781105 0.00219341] [ 0. 0. 0. 1. ]] SLAMing on 5.124839173 meters Centerline goodness : 0.817780 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.29, Z:0.00 [[ 0.81753118 -0.5209655 -0.24543371 -0.27037162] [ 0.52286386 0.85009924 -0.06280662 -0.29249654] [ 0.24136309 -0.07698205 0.96737667 0.00351551] [ 0. 0. 0. 1. ]] SLAMing on 5.154839173 meters Centerline goodness : 0.814023 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.30, Z:-0.00 [[ 0.81401902 -0.52695277 -0.24432317 -0.25627599] [ 0.52789741 0.84664401 -0.06721783 -0.29796177] [ 0.24227537 -0.07426098 0.96736134 -0.00238909] [ 0. 0. 0. 1. ]] SLAMing on 5.184839173 meters Centerline goodness : 0.814923 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.00 [[ 0.81318443 -0.52881245 -0.2430812 -0.25239374] [ 0.5294711 0.84557688 -0.06826493 -0.30292566] [ 0.24164318 -0.07319249 0.96760086 -0.00384434] [ 0. 0. 0. 1. ]] SLAMing on 5.214839173 meters Centerline goodness : 0.813875 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:-0.01 [[ 0.81260256 -0.52899656 -0.24462159 -0.24580185] [ 0.53020269 0.84525142 -0.06659686 -0.30646468] [ 0.24199626 -0.07558225 0.96732887 -0.00507678] [ 0. 0. 0. 1. ]] SLAMing on 5.244839173 meters Centerline goodness : 0.814392 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.31, Z:-0.00 [[ 0.81427195 -0.52500394 -0.24765307 -0.24279885] [ 0.52747498 0.84731136 -0.06191615 -0.30944379] [ 0.24234548 -0.08021421 0.96686832 -0.00471682] [ 0. 0. 0. 1. ]] SLAMing on 5.274839173 meters Centerline goodness : 0.814854 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.31, Z:-0.00 [[ 0.81710211 -0.51936956 -0.25019874 -0.24184612] [ 0.52313839 0.85035787 -0.05672496 -0.31318104] [ 0.24221969 -0.08453848 0.96653136 -0.00445702] [ 0. 0. 0. 1. ]] SLAMing on 5.3048391729999995 meters Centerline goodness : 0.813357 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:-0.01 [[ 0.82024274 -0.51451396 -0.24995444 -0.24005248] [ 0.51892398 0.85315818 -0.05328238 -0.32247369] [ 0.2406652 -0.08600287 0.96679045 -0.0062134 ] [ 0. 0. 0. 1. ]] SLAMing on 5.334839173 meters Centerline goodness : 0.812839 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.33, Z:-0.01 [[ 0.82093842 -0.51315504 -0.25046362 -0.23500839] [ 0.51791632 0.85385893 -0.05184229 -0.32623829] [ 0.24046373 -0.08715987 0.96673696 -0.0087206 ] [ 0. 0. 0. 1. ]] SLAMing on 5.364839173 meters Centerline goodness : 0.810474 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.33, Z:-0.01 [[ 0.82062969 -0.51415341 -0.2494257 -0.22875545] [ 0.51858816 0.8533844 -0.05292823 -0.33029914] [ 0.24006923 -0.08591473 0.96694644 -0.01234587] [ 0. 0. 0. 1. ]] SLAMing on 5.394839173 meters Centerline goodness : 0.808021 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.01 [[ 0.82205505 -0.51123636 -0.25072471 -0.22583458] [ 0.51657369 0.85482156 -0.04931245 -0.33771877] [ 0.23953521 -0.08898024 0.96680164 -0.01181367] [ 0. 0. 0. 1. ]] SLAMing on 5.424839173 meters Centerline goodness : 0.808198 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.01 [[ 0.82304996 -0.50947631 -0.25104315 -0.22154048] [ 0.51518323 0.8557539 -0.04766033 -0.34229217] [ 0.23911296 -0.09010639 0.96680186 -0.01401688] [ 0. 0. 0. 1. ]] SLAMing on 5.454839173 meters Centerline goodness : 0.809083 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.01 [[ 0.82361843 -0.50827551 -0.25161217 -0.21926376] [ 0.51427678 0.85636266 -0.04650147 -0.34442481] [ 0.23910683 -0.09109883 0.96671036 -0.01478661] [ 0. 0. 0. 1. ]] SLAMing on 5.484839173 meters Centerline goodness : 0.806950 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:-0.02 [[ 0.82309581 -0.508265 -0.2533377 -0.21326953] [ 0.51472304 0.85615646 -0.04534651 -0.34551165] [ 0.23994475 -0.09307422 0.9663145 -0.01605769] [ 0. 0. 0. 1. ]] SLAMing on 5.514839173 meters Centerline goodness : 0.804936 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.35, Z:-0.02 [[ 0.82238557 -0.510051 -0.25205151 -0.20857406] [ 0.51625456 0.85519116 -0.04614456 -0.35155366] [ 0.23908829 -0.09217412 0.96661301 -0.01785587] [ 0. 0. 0. 1. ]] SLAMing on 5.544839173 meters Centerline goodness : 0.805164 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.35, Z:-0.02 [[ 0.82202022 -0.50988861 -0.25356729 -0.20426548] [ 0.51664737 0.85504157 -0.04449066 -0.35490546] [ 0.23949585 -0.09443265 0.96629406 -0.01743138] [ 0. 0. 0. 1. ]] SLAMing on 5.574839173 meters Centerline goodness : 0.802752 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.02 [[ 0.81926963 -0.51424927 -0.25366307 -0.19846352] [ 0.52073823 0.85245857 -0.04632595 -0.35692497] [ 0.24006034 -0.09413861 0.96618267 -0.01737662] [ 0. 0. 0. 1. ]] SLAMing on 5.604839173 meters Centerline goodness : 0.804136 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.01 [[ 0.81933777 -0.50699944 -0.26765125 -0.19905283] [ 0.51454119 0.85619171 -0.04672381 -0.36104735] [ 0.25284973 -0.09943501 0.9623823 -0.01369292] [ 0. 0. 0. 1. ]] SLAMing on 5.634839173 meters Centerline goodness : 0.803585 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.01 [[ 0.82075603 -0.50340322 -0.27008285 -0.19846371] [ 0.51182693 0.85797288 -0.04376905 -0.35896976] [ 0.25375724 -0.10231197 0.96184174 -0.01363032] [ 0. 0. 0. 1. ]] SLAMing on 5.664839173 meters Centerline goodness : 0.801724 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.36, Z:-0.02 [[ 0.82317814 -0.50082532 -0.26749158 -0.19760823] [ 0.50873679 0.85978695 -0.04419602 -0.36283753] [ 0.25212026 -0.09970161 0.96254608 -0.01865524] [ 0. 0. 0. 1. ]] SLAMing on 5.694839173 meters Centerline goodness : 0.804776 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.02 [[ 0.82447852 -0.49890059 -0.26708308 -0.19697332] [ 0.50706004 0.8608498 -0.04275209 -0.36715733] [ 0.25124746 -0.10017897 0.96272472 -0.01965954] [ 0. 0. 0. 1. ]] SLAMing on 5.724839173 meters Centerline goodness : 0.802728 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.37, Z:-0.02 [[ 0.82447242 -0.49857643 -0.26770649 -0.19498041] [ 0.50699757 0.86092578 -0.04195561 -0.36866449] [ 0.2513935 -0.1011353 0.9625866 -0.01975662] [ 0. 0. 0. 1. ]] SLAMing on 5.754839173 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.37, Z:-0.02 [[ 0.82811684 -0.49027684 -0.27175561 -0.1953999 ] [ 0.50088159 0.86484955 -0.03395412 -0.3735528 ] [ 0.25167464 -0.1079994 0.96176713 -0.01741529] [ 0. 0. 0. 1. ]] SLAMing on 5.784839173 meters Centerline goodness : 0.804152 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.37, Z:-0.02 [[ 0.82981635 -0.48575048 -0.27468399 -0.19413376] [ 0.49769362 0.86685391 -0.02941707 -0.37467735] [ 0.25240025 -0.1122977 0.96108446 -0.01639309] [ 0. 0. 0. 1. ]] SLAMing on 5.814839173 meters Centerline goodness : 0.801054 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.38, Z:-0.02 [[ 0.82866599 -0.48811272 -0.27396832 -0.18722901] [ 0.49970778 0.86564581 -0.03081338 -0.37933597] [ 0.25219993 -0.1113701 0.96124497 -0.01878429] [ 0. 0. 0. 1. ]] SLAMing on 5.8448391729999996 meters Centerline goodness : 0.801649 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.38, Z:-0.02 [[ 0.82745398 -0.4888789 -0.27625592 -0.18077548] [ 0.50118735 0.86484267 -0.0292984 -0.38186042] [ 0.25324128 -0.11421289 0.96063743 -0.01812734] [ 0. 0. 0. 1. ]] SLAMing on 5.874839173 meters Centerline goodness : 0.800178 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.39, Z:-0.02 [[ 0.82167755 -0.49721833 -0.27860355 -0.1678606 ] [ 0.50964894 0.85980956 -0.0313922 -0.38882315] [ 0.25515478 -0.11619574 0.95989301 -0.01636905] [ 0. 0. 0. 1. ]] SLAMing on 5.904839173 meters Centerline goodness : 0.800390 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.39, Z:-0.02 [[ 0.82127477 -0.49698027 -0.28021128 -0.16267308] [ 0.50996291 0.85967139 -0.03004893 -0.39106183] [ 0.25582335 -0.11821894 0.95946793 -0.01654104] [ 0. 0. 0. 1. ]] SLAMing on 5.934839173 meters Centerline goodness : 0.800265 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.39, Z:-0.01 [[ 0.82138068 -0.49611965 -0.2814233 -0.16194884] [ 0.5097372 0.85987085 -0.02810904 -0.39414792] [ 0.25593313 -0.1203637 0.95917194 -0.01445617] [ 0. 0. 0. 1. ]] SLAMing on 5.964839173 meters Centerline goodness : 0.800782 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.02 [[ 0.82152243 -0.49552083 -0.28206381 -0.15909963] [ 0.5094083 0.8600915 -0.02730912 -0.39589959] [ 0.25613292 -0.1212506 0.95900689 -0.01502342] [ 0. 0. 0. 1. ]] SLAMing on 5.994839173 meters Centerline goodness : 0.798090 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.01 [[ 0.82123552 -0.48912281 -0.29382155 -0.15910867] [ 0.50343679 0.86349893 -0.03034786 -0.40020954] [ 0.26855842 -0.12299784 0.95537841 -0.01361052] [ 0. 0. 0. 1. ]] SLAMing on 6.024839173 meters Centerline goodness : 0.798288 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.01 [[ 0.82325604 -0.48466734 -0.29554537 -0.1573484 ] [ 0.49993975 0.86564032 -0.02696432 -0.40117119] [ 0.26890472 -0.12555634 0.95494809 -0.01489055] [ 0. 0. 0. 1. ]] SLAMing on 6.0548391729999995 meters Centerline goodness : 0.796941 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.40, Z:-0.02 [[ 0.82467 -0.48288464 -0.29451962 -0.15711164] [ 0.49803002 0.86675207 -0.02658853 -0.40320225] [ 0.26811468 -0.12475285 0.95527548 -0.01729447] [ 0. 0. 0. 1. ]] SLAMing on 6.084839173 meters Centerline goodness : 0.800894 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.41, Z:-0.02 [[ 0.82856348 -0.47366167 -0.29854176 -0.15650842] [ 0.49117609 0.87086374 -0.01850397 -0.40664688] [ 0.26875381 -0.13130486 0.95421718 -0.01644149] [ 0. 0. 0. 1. ]] SLAMing on 6.114839173 meters Centerline goodness : 0.800768 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.02 [[ 0.83000589 -0.46924654 -0.3014928 -0.15475889] [ 0.48821543 0.87260944 -0.01408751 -0.4078232 ] [ 0.26969598 -0.13550072 0.95336438 -0.01528828] [ 0. 0. 0. 1. ]] SLAMing on 6.144839173 meters Centerline goodness : 0.800759 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.01 [[ 0.83015426 -0.46846989 -0.30229103 -0.15385342] [ 0.48786308 0.87282527 -0.01287087 -0.40974242] [ 0.26987687 -0.13679183 0.95312878 -0.01424976] [ 0. 0. 0. 1. ]] SLAMing on 6.174839173 meters Centerline goodness : 0.799475 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.41, Z:-0.01 [[ 0.82983158 -0.46810874 -0.30373302 -0.14959827] [ 0.48806759 0.87272898 -0.01158308 -0.41209488] [ 0.27049875 -0.13863024 0.95268677 -0.01390402] [ 0. 0. 0. 1. ]] SLAMing on 6.204839173 meters Centerline goodness : 0.799826 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.42, Z:-0.01 [[ 0.82860969 -0.46824543 -0.30684231 -0.14127894] [ 0.48938147 0.8720216 -0.0091705 -0.41690813] [ 0.27186717 -0.14256418 0.95171619 -0.01257187] [ 0. 0. 0. 1. ]] SLAMing on 6.234839173 meters Centerline goodness : 0.799113 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82550732 -0.47272068 -0.30833882 -0.13291925] [ 0.4940734 0.86936191 -0.01006732 -0.421671 ] [ 0.27281706 -0.14403136 0.95122333 -0.01095787] [ 0. 0. 0. 1. ]] SLAMing on 6.264839173 meters Centerline goodness : 0.797720 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82546941 -0.47210282 -0.30938517 -0.12864318] [ 0.49395292 0.86944407 -0.00880446 -0.42439005] [ 0.27314971 -0.14555389 0.95089605 -0.01138147] [ 0. 0. 0. 1. ]] SLAMing on 6.294839173 meters Centerline goodness : 0.798562 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.42, Z:-0.01 [[ 0.82733121 -0.46743547 -0.31149183 -0.12691542] [ 0.49044663 0.87145632 -0.00509739 -0.42493115] [ 0.27383422 -0.14855289 0.95023516 -0.01205105] [ 0. 0. 0. 1. ]] SLAMing on 6.324839173 meters Centerline goodness : 0.798286 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.43, Z:-0.01 [[ 0.83005865 -0.46202913 -0.3123007 -0.12813855] [ 0.48587999 0.87402397 -0.00165112 -0.42573218] [ 0.27372116 -0.15037014 0.94998187 -0.01342335] [ 0. 0. 0. 1. ]] SLAMing on 6.354839173 meters Centerline goodness : 0.799427 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.43, Z:-0.01 [[ 0.83006446 -0.46173495 -0.31272004 -0.12614451] [ 0.48575852 0.87409217 -0.00124078 -0.42696534] [ 0.27391905 -0.1508765 0.94984453 -0.01368203] [ 0. 0. 0. 1. ]] SLAMing on 6.384839173 meters Centerline goodness : 0.800037 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 8.29542053e-01 -4.61633784e-01 -3.14251860e-01 -1.23905694e-01] [ 4.86299103e-01 8.73792407e-01 1.06479549e-04 -4.29109553e-01] [ 2.74541734e-01 -1.52908727e-01 9.49339643e-01 -1.16805719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414839173 meters Centerline goodness : 0.799024 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83022931 -0.45808164 -0.31761692 -0.12005562] [ 0.48418419 0.87495819 0.00372029 -0.42824247] [ 0.27619733 -0.15687378 0.94821182 -0.01116926] [ 0. 0. 0. 1. ]] SLAMing on 6.444839173 meters Centerline goodness : 0.798235 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83181857 -0.45362247 -0.31985078 -0.11841916] [ 0.48100011 0.8766879 0.00756446 -0.42890425] [ 0.27697789 -0.16014052 0.94743773 -0.01121661] [ 0. 0. 0. 1. ]] SLAMing on 6.474839173 meters Centerline goodness : 0.797638 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83249132 -0.45252458 -0.31965559 -0.11674895] [ 0.47996866 0.87724812 0.00811314 -0.43069974] [ 0.27674587 -0.16017878 0.94749907 -0.01270038] [ 0. 0. 0. 1. ]] SLAMing on 6.504839173 meters Centerline goodness : 0.798582 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.43, Z:-0.01 [[ 0.83313065 -0.45113297 -0.3199568 -0.11517767] [ 0.47901383 0.87775398 0.0096805 -0.43489608] [ 0.27647616 -0.16132885 0.94738268 -0.01252344] [ 0. 0. 0. 1. ]] SLAMing on 6.534839173 meters Centerline goodness : 0.799404 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.83288911 -0.45098084 -0.32079901 -0.11331266] [ 0.47925202 0.87761421 0.01052559 -0.43659198] [ 0.27679093 -0.16251023 0.94708881 -0.0116317 ] [ 0. 0. 0. 1. ]] SLAMing on 6.564839173 meters Centerline goodness : 0.799743 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.8323131 -0.45073684 -0.32263169 -0.11038578] [ 0.47989045 0.87724017 0.01244343 -0.44008727] [ 0.27741677 -0.16518469 0.94644279 -0.00904421] [ 0. 0. 0. 1. ]] SLAMing on 6.5948391729999996 meters Centerline goodness : 0.798529 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.44, Z:-0.01 [[ 0.83295694 -0.44750679 -0.32545417 -0.10725143] [ 0.47807799 0.8781703 0.01607356 -0.44108077] [ 0.27861116 -0.16898106 0.94542119 -0.0079982 ] [ 0. 0. 0. 1. ]] SLAMing on 6.624839173 meters Centerline goodness : 0.801052 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.01 [[ 0.83561773 -0.44168631 -0.32658265 -0.1101367 ] [ 0.47374843 0.8803984 0.02147286 -0.4485361 ] [ 0.27803857 -0.17266112 0.9449247 -0.00516499] [ 0. 0. 0. 1. ]] SLAMing on 6.654839173 meters Centerline goodness : 0.801850 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83734546 -0.43652541 -0.32908683 -0.10783743] [ 0.47026499 0.88212897 0.02644452 -0.45302821] [ 0.27875333 -0.17690121 0.94392931 -0.00388484] [ 0. 0. 0. 1. ]] SLAMing on 6.684839173 meters Centerline goodness : 0.801850 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83734546 -0.43652541 -0.32908683 -0.10783743] [ 0.47026499 0.88212897 0.02644452 -0.45302821] [ 0.27875333 -0.17690121 0.94392931 -0.00388484] [ 0. 0. 0. 1. ]] SLAMing on 6.714839173 meters Centerline goodness : 0.802158 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.00 [[ 0.83772776 -0.43579572 -0.32908099 -0.10739718] [ 0.4695996 0.88247271 0.02679823 -0.45347345] [ 0.27872644 -0.17698592 0.94392137 -0.00446157] [ 0. 0. 0. 1. ]] SLAMing on 6.744839173 meters Centerline goodness : 0.802087 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.45, Z:-0.01 [[ 0.83986958 -0.4307462 -0.33026779 -0.10827725] [ 0.46553078 0.88451531 0.0302286 -0.45296147] [ 0.27910606 -0.1791379 0.94340311 -0.00543027] [ 0. 0. 0. 1. ]] SLAMing on 6.774839173 meters Centerline goodness : 0.802131 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.46, Z:-0.01 [[ 0.8413014 -0.42605957 -0.33269386 -0.104947 ] [ 0.46239519 0.88599684 0.03464532 -0.45564311] [ 0.28000474 -0.18298319 0.94239827 -0.00532502] [ 0. 0. 0. 1. ]] SLAMing on 6.8048391729999995 meters Centerline goodness : 0.803114 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.46, Z:-0.00 [[ 0.84310903 -0.42246649 -0.33269992 -0.10605492] [ 0.45956611 0.88733645 0.03785519 -0.46289169] [ 0.27922421 -0.18481366 0.94227265 -0.00392898] [ 0. 0. 0. 1. ]] SLAMing on 6.834839173 meters Centerline goodness : 0.804210 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.46, Z:-0.01 [[ 0.84603927 -0.41587218 -0.33356841 -0.10733756] [ 0.45408163 0.88996245 0.04215107 -0.46412964] [ 0.2793339 -0.18712875 0.9417831 -0.00531895] [ 0. 0. 0. 1. ]] SLAMing on 6.864839173 meters Centerline goodness : 0.804079 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.848662 -0.40983949 -0.33437166 -0.11038163] [ 0.44909967 0.89228779 0.04617333 -0.46526436] [ 0.27943209 -0.18935175 0.94130952 -0.0051997 ] [ 0. 0. 0. 1. ]] SLAMing on 6.894839173 meters Centerline goodness : 0.805154 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.85022992 -0.40793784 -0.33270978 -0.11291887] [ 0.44670897 0.89349437 0.04603163 -0.4655542 ] [ 0.27849627 -0.18776191 0.94190514 -0.00764032] [ 0. 0. 0. 1. ]] SLAMing on 6.924839173 meters Centerline goodness : 0.803469 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.01 [[ 0.85419087 -0.40076429 -0.33127926 -0.11302643] [ 0.43972111 0.89680219 0.04889972 -0.46948814] [ 0.2774947 -0.18744018 0.94226475 -0.0129047 ] [ 0. 0. 0. 1. ]] SLAMing on 6.954839173 meters Centerline goodness : 0.802446 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.02 [[ 0.85482018 -0.40033015 -0.33017908 -0.11282228] [ 0.43873424 0.89734082 0.04787187 -0.46790582] [ 0.27711862 -0.18578271 0.94270359 -0.01606326] [ 0. 0. 0. 1. ]] SLAMing on 6.984839173 meters Centerline goodness : 0.799397 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.47, Z:-0.02 [[ 0.85336842 -0.40423269 -0.32917817 -0.10907438] [ 0.44175217 0.89601291 0.04489861 -0.46687009] [ 0.27679841 -0.18373023 0.94319979 -0.01837359] [ 0. 0. 0. 1. ]] SLAMing on 7.0148391729999995 meters Centerline goodness : 0.801150 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.47, Z:-0.02 [[ 0.8531788 -0.40830371 -0.32461365 -0.09813376] [ 0.44727477 0.89285299 0.05252448 -0.46814803] [ 0.26838632 -0.19000427 0.94438719 -0.01723844] [ 0. 0. 0. 1. ]] SLAMing on 7.044839173 meters Centerline goodness : 0.802496 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.48, Z:-0.01 [[ 0.84676221 -0.41852554 -0.32837499 -0.08604431] [ 0.46083525 0.88547101 0.05976596 -0.47554418] [ 0.26575296 -0.20193433 0.94265471 -0.00589793] [ 0. 0. 0. 1. ]] SLAMing on 7.074839173 meters Centerline goodness : 0.800968 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.48, Z:-0.00 [[ 0.84426185 -0.42297643 -0.3291092 -0.08077563] [ 0.46536239 0.88316983 0.05872728 -0.48128692] [ 0.26581906 -0.20273625 0.94246392 -0.00278013] [ 0. 0. 0. 1. ]] SLAMing on 7.104839173 meters Centerline goodness : 0.799471 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.49, Z:-0.00 [[ 8.37044501e-01 -4.36060266e-01 -3.30466258e-01 -6.61635816e-02] [ 4.77646506e-01 8.76973240e-01 5.26474219e-02 -4.89169747e-01] [ 2.66852617e-01 -2.01914289e-01 9.42348291e-01 -4.20956513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134839173 meters Centerline goodness : 0.798769 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.49, Z:0.00 [[ 0.83533728 -0.43958468 -0.33011655 -0.06260841] [ 0.48090536 0.8752651 0.05139109 -0.49477744] [ 0.26634876 -0.20168371 0.94254019 0.00146238] [ 0. 0. 0. 1. ]] SLAMing on 7.164839173 meters Centerline goodness : 0.799238 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.50, Z:0.00 [[ 0.83209855 -0.44715294 -0.32812536 -0.05902664] [ 0.48738372 0.8718779 0.0478126 -0.50353935] [ 0.26470571 -0.19970775 0.9434234 0.00443292] [ 0. 0. 0. 1. ]] SLAMing on 7.194839173 meters Centerline goodness : 0.800457 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.83045962 -0.45093818 -0.32709567 -0.05749259] [ 0.49047495 0.87026662 0.04550104 -0.50637891] [ 0.26414229 -0.19821901 0.94389516 0.00555057] [ 0. 0. 0. 1. ]] SLAMing on 7.2248391729999994 meters Centerline goodness : 0.798981 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.82886646 -0.45467433 -0.32596265 -0.05498226] [ 0.49357123 0.86861889 0.04345874 -0.51082064] [ 0.26337775 -0.19690728 0.94438323 0.00646485] [ 0. 0. 0. 1. ]] SLAMing on 7.254839173 meters Centerline goodness : 0.798595 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.82889802 -0.45475495 -0.32576987 -0.05410138] [ 0.49348895 0.8686879 0.04301163 -0.50951536] [ 0.2634326 -0.19641608 0.94447022 0.00500992] [ 0. 0. 0. 1. ]] SLAMing on 7.284839173 meters Centerline goodness : 0.800536 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.83046005 -0.45081299 -0.32726708 -0.0552977 ] [ 0.49054429 0.87019692 0.04608271 -0.50895257] [ 0.26401212 -0.19880885 0.94380752 0.00528681] [ 0. 0. 0. 1. ]] SLAMing on 7.314839173 meters Centerline goodness : 0.799459 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82896471 -0.45523148 -0.32493354 -0.0575184 ] [ 0.49349472 0.86873931 0.04189233 -0.50595754] [ 0.26321183 -0.19508025 0.94480857 0.00457465] [ 0. 0. 0. 1. ]] SLAMing on 7.3448391729999996 meters Centerline goodness : 0.798481 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82747832 -0.4590371 -0.32336447 -0.05578116] [ 0.49632661 0.86726179 0.03894729 -0.50746098] [ 0.2625634 -0.19272243 0.94547265 0.0041279 ] [ 0. 0. 0. 1. ]] SLAMing on 7.374839173 meters Centerline goodness : 0.797378 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82714566 -0.45871429 -0.32467101 -0.05205127] [ 0.49649805 0.86712618 0.03977267 -0.50856947] [ 0.26328644 -0.19409631 0.94499041 0.00419359] [ 0. 0. 0. 1. ]] SLAMing on 7.404839173 meters Centerline goodness : 0.798653 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82682688 -0.45910351 -0.32493271 -0.051244 ] [ 0.49695539 0.86686533 0.03974716 -0.50843435] [ 0.26342484 -0.19434108 0.94490153 0.00423438] [ 0. 0. 0. 1. ]] SLAMing on 7.434839173 meters Centerline goodness : 0.797716 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82682322 -0.45888972 -0.32524389 -0.04905365] [ 0.49670691 0.86702268 0.0394197 -0.50663769] [ 0.26390453 -0.19414401 0.94480818 0.00256986] [ 0. 0. 0. 1. ]] SLAMing on 7.464839173 meters Centerline goodness : 0.797412 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82775003 -0.45760114 -0.32470153 -0.05125303] [ 0.49532048 0.86780219 0.03971113 -0.50531856] [ 0.26360485 -0.1937022 0.94498251 0.00167805] [ 0. 0. 0. 1. ]] SLAMing on 7.494839173 meters Centerline goodness : 0.800790 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.83222032 -0.44732504 -0.32758152 -0.0560271 ] [ 0.48749165 0.8718081 0.04798458 -0.50967971] [ 0.26412352 -0.199627 0.94360364 0.00463188] [ 0. 0. 0. 1. ]] SLAMing on 7.524839173 meters Centerline goodness : 0.801080 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.8349068 -0.44131706 -0.32889192 -0.05785469] [ 0.48273646 0.87419502 0.0524269 -0.51163929] [ 0.26437879 -0.20253969 0.9429112 0.00501598] [ 0. 0. 0. 1. ]] SLAMing on 7.5548391729999995 meters Centerline goodness : 0.800844 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.83472928 -0.44166565 -0.32887457 -0.05642719] [ 0.48297923 0.87408612 0.05200489 -0.51085651] [ 0.26449593 -0.20224959 0.94294062 0.00386193] [ 0. 0. 0. 1. ]] SLAMing on 7.584839173 meters Centerline goodness : 0.799340 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.8327254 -0.44584448 -0.32831557 -0.05153897] [ 0.48627736 0.87245165 0.04860495 -0.50918205] [ 0.26476922 -0.20012701 0.94331672 0.00201884] [ 0. 0. 0. 1. ]] SLAMing on 7.614839173 meters Centerline goodness : 0.796207 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.51, Z:0.00 [[ 0.82652539 -0.45979729 -0.3247187 -0.04233903] [ 0.49749789 0.8665768 0.03924929 -0.51389784] [ 0.26334698 -0.1939874 0.9449959 0.00124405] [ 0. 0. 0. 1. ]] SLAMing on 7.644839173 meters Centerline goodness : 0.797348 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.82175197 -0.47168802 -0.3197407 -0.04090124] [ 0.50669148 0.86156152 0.03123303 -0.51944107] [ 0.26074404 -0.18767569 0.94699017 0.00238408] [ 0. 0. 0. 1. ]] SLAMing on 7.674839173 meters Centerline goodness : 0.797903 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.8218754 -0.47116665 -0.32019183 -0.04055742] [ 0.50641283 0.86170219 0.03186499 -0.52137309] [ 0.26089628 -0.1883383 0.94681667 0.00350907] [ 0. 0. 0. 1. ]] SLAMing on 7.704839173 meters Centerline goodness : 0.799759 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.8247441 -0.46485395 -0.32203724 -0.04152915] [ 0.50130981 0.86452083 0.03594735 -0.51995868] [ 0.26169763 -0.19108779 0.94604429 0.00264213] [ 0. 0. 0. 1. ]] SLAMing on 7.734839173 meters Centerline goodness : 0.800778 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.00 [[ 0.82650166 -0.4607141 -0.32347724 -0.04359139] [ 0.49804791 0.8662842 0.03872938 -0.5180271 ] [ 0.26238005 -0.19311706 0.94544302 0.00275398] [ 0. 0. 0. 1. ]] SLAMing on 7.7648391729999995 meters Centerline goodness : 0.798930 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.00 [[ 0.82820081 -0.45660095 -0.32495997 -0.04603215] [ 0.49503204 0.86784742 0.04223897 -0.51820063] [ 0.26272932 -0.19584795 0.94478404 0.00387228] [ 0. 0. 0. 1. ]] SLAMing on 7.794839173 meters Centerline goodness : 0.799546 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82769671 -0.45792393 -0.32438222 -0.04848608] [ 0.49585426 0.86745337 0.0406597 -0.51416272] [ 0.2627674 -0.19450021 0.94505183 0.00358463] [ 0. 0. 0. 1. ]] SLAMing on 7.824839173 meters Centerline goodness : 0.799626 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82555282 -0.46344941 -0.32198941 -0.04931328] [ 0.49976283 0.86542568 0.03571421 -0.51058033] [ 0.26210618 -0.1904023 0.9460694 0.00235196] [ 0. 0. 0. 1. ]] SLAMing on 7.854839173 meters Centerline goodness : 0.800612 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82308276 -0.46927736 -0.31986486 -0.05064195] [ 0.50443674 0.86285069 0.03212886 -0.51268075] [ 0.26091826 -0.1877963 0.94691827 0.0042576 ] [ 0. 0. 0. 1. ]] SLAMing on 7.884839173 meters Centerline goodness : 0.799867 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82181112 -0.47316826 -0.31739295 -0.05095237] [ 0.50708657 0.8614144 0.02878269 -0.51283156] [ 0.2597878 -0.18459963 0.9478572 0.00317838] [ 0. 0. 0. 1. ]] SLAMing on 7.914839173 meters Centerline goodness : 0.801235 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.82199321 -0.4731764 -0.31690891 -0.05332062] [ 0.50700309 0.86146272 0.02880722 -0.51322343] [ 0.25937432 -0.18435313 0.9480184 0.00398492] [ 0. 0. 0. 1. ]] SLAMing on 7.944839173 meters Centerline goodness : 0.801933 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.01 [[ 0.8235736 -0.46897336 -0.31904627 -0.05379082] [ 0.50413681 0.86300012 0.03281561 -0.51444991] [ 0.25994732 -0.18786904 0.94717085 0.00520256] [ 0. 0. 0. 1. ]] SLAMing on 7.9748391729999994 meters Centerline goodness : 0.800857 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82519502 -0.46556943 -0.31984104 -0.05712385] [ 0.50118474 0.86465429 0.03445007 -0.50941436] [ 0.26051303 -0.18872747 0.94684471 0.00412068] [ 0. 0. 0. 1. ]] SLAMing on 8.004839172999999 meters Centerline goodness : 0.800855 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.00 [[ 0.82658355 -0.46135133 -0.32235785 -0.05555295] [ 0.49823377 0.8662161 0.03785201 -0.5089493 ] [ 0.26176848 -0.19189742 0.94586079 0.00424017] [ 0. 0. 0. 1. ]] SLAMing on 8.034839173 meters Centerline goodness : 0.799696 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82431731 -0.46670993 -0.32044158 -0.05573037] [ 0.50242831 0.86394342 0.03416966 -0.51048394] [ 0.26089608 -0.18916556 0.9466518 0.00546307] [ 0. 0. 0. 1. ]] SLAMing on 8.064839173 meters Centerline goodness : 0.801481 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81847177 -0.48023958 -0.31539484 -0.05366186] [ 0.51271024 0.85823401 0.02371922 -0.50844759] [ 0.25929167 -0.18111967 0.94866406 0.00453847] [ 0. 0. 0. 1. ]] SLAMing on 8.094839173 meters Centerline goodness : 0.799159 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81805373 -0.48089277 -0.31548415 -0.0533219 ] [ 0.51332179 0.85787754 0.02338532 -0.50810528] [ 0.25940093 -0.18107534 0.94864265 0.00469427] [ 0. 0. 0. 1. ]] SLAMing on 8.124839173 meters Centerline goodness : 0.798505 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81773191 -0.48146985 -0.31543828 -0.05268385] [ 0.51373656 0.85764703 0.02272263 -0.50647171] [ 0.25959444 -0.1806332 0.94867401 0.00394223] [ 0. 0. 0. 1. ]] SLAMing on 8.154839173 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.51, Z:0.00 [[ 0.81830809 -0.4807788 -0.31499779 -0.05396438] [ 0.51292195 0.85813466 0.02271517 -0.50564514] [ 0.25938955 -0.18015729 0.94882054 0.00341968] [ 0. 0. 0. 1. ]] SLAMing on 8.184839173 meters Centerline goodness : 0.801416 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82190659 -0.47234755 -0.31836668 -0.0561229 ] [ 0.50679841 0.86153753 0.03014076 -0.51068417] [ 0.26004793 -0.18612061 0.94748836 0.00644064] [ 0. 0. 0. 1. ]] SLAMing on 8.214839173 meters Centerline goodness : 0.802247 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82236381 -0.47153113 -0.31839622 -0.05651591] [ 0.50597786 0.86201597 0.03024694 -0.5100391 ] [ 0.26020025 -0.18597543 0.94747505 0.00613364] [ 0. 0. 0. 1. ]] SLAMing on 8.244839172999999 meters Centerline goodness : 0.801597 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82437077 -0.46638913 -0.32077096 -0.05591301] [ 0.50230794 0.86399219 0.03470209 -0.51218095] [ 0.26095892 -0.18973319 0.94652087 0.00700049] [ 0. 0. 0. 1. ]] SLAMing on 8.274839173 meters Centerline goodness : 0.800300 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82414842 -0.46654456 -0.32111612 -0.05501316] [ 0.50249569 0.86388993 0.03452918 -0.51075796] [ 0.26129958 -0.18981664 0.94641015 0.00647434] [ 0. 0. 0. 1. ]] SLAMing on 8.304839173 meters Centerline goodness : 0.801902 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.51, Z:0.01 [[ 0.82295673 -0.46942914 -0.31996642 -0.05600255] [ 0.50472959 0.8626641 0.03253761 -0.51165903] [ 0.26074945 -0.18827356 0.94687 0.00747288] [ 0. 0. 0. 1. ]] SLAMing on 8.334839173 meters Centerline goodness : 0.802114 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82128182 -0.47306142 -0.3189186 -0.05297757] [ 0.50775516 0.86096188 0.03048498 -0.5151405 ] [ 0.26015549 -0.18696932 0.94729171 0.00771454] [ 0. 0. 0. 1. ]] SLAMing on 8.364839173 meters Centerline goodness : 0.799496 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82153714 -0.4724721 -0.31913453 -0.0525729 ] [ 0.50736402 0.86116874 0.03114733 -0.5168649 ] [ 0.26011244 -0.18750607 0.94719744 0.00814541] [ 0. 0. 0. 1. ]] SLAMing on 8.394839173 meters Centerline goodness : 0.800868 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82254995 -0.47056034 -0.3193502 -0.0521223 ] [ 0.50572803 0.86208721 0.03232349 -0.51790814] [ 0.26009757 -0.18809204 0.94708534 0.00752677] [ 0. 0. 0. 1. ]] SLAMing on 8.424839173 meters Centerline goodness : 0.801056 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.82109241 -0.47443108 -0.31736794 -0.05258508] [ 0.50850711 0.86056405 0.0291554 -0.51805161] [ 0.25928321 -0.18532313 0.94785418 0.00739428] [ 0. 0. 0. 1. ]] SLAMing on 8.454839173 meters Centerline goodness : 0.800050 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886067 -0.47898171 -0.31629689 -0.0501859 ] [ 0.51263071 0.85816572 0.02759254 -0.52405112] [ 0.25821883 -0.18473795 0.94825889 0.00916132] [ 0. 0. 0. 1. ]] SLAMing on 8.484839173 meters Centerline goodness : 0.800556 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81867431 -0.47918383 -0.3164731 -0.04949343] [ 0.51290713 0.85799716 0.02769755 -0.5244767 ] [ 0.2582608 -0.18499658 0.94819704 0.00918643] [ 0. 0. 0. 1. ]] SLAMing on 8.514839173 meters Centerline goodness : 0.800648 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81876652 -0.47843335 -0.31736874 -0.04647384] [ 0.51244596 0.85825573 0.02821774 -0.52202002] [ 0.25888323 -0.18573807 0.94788229 0.00714419] [ 0. 0. 0. 1. ]] SLAMing on 8.544839173 meters Centerline goodness : 0.799098 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886489 -0.4782081 -0.31745442 -0.04567479] [ 0.51223252 0.85838252 0.02823632 -0.52179701] [ 0.25899449 -0.18573221 0.94785305 0.00661807] [ 0. 0. 0. 1. ]] SLAMing on 8.574839172999999 meters Centerline goodness : 0.799098 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.52, Z:0.01 [[ 0.81886489 -0.4782081 -0.31745442 -0.04567479] [ 0.51223252 0.85838252 0.02823632 -0.52179701] [ 0.25899449 -0.18573221 0.94785305 0.00661807] [ 0. 0. 0. 1. ]] SLAMing on 8.604839173 meters Centerline goodness : 0.798736 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.52, Z:0.01 [[ 0.81917588 -0.47742425 -0.31783165 -0.04311483] [ 0.51169536 0.85867762 0.02899327 -0.52444216] [ 0.25907283 -0.18638357 0.94770377 0.00637759] [ 0. 0. 0. 1. ]] SLAMing on 8.634839173 meters Centerline goodness : 0.800108 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.8190651 -0.47780331 -0.31754739 -0.04435657] [ 0.51208675 0.85843772 0.0291862 -0.52793327] [ 0.2586494 -0.18651721 0.94779313 0.00830369] [ 0. 0. 0. 1. ]] SLAMing on 8.664839173 meters Centerline goodness : 0.799734 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.81891629 -0.47804092 -0.31757359 -0.04303962] [ 0.51231183 0.85830707 0.02907863 -0.52781157] [ 0.25867488 -0.18650968 0.94778766 0.007495 ] [ 0. 0. 0. 1. ]] SLAMing on 8.694839173 meters Centerline goodness : 0.798603 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.53, Z:0.01 [[ 0.81891588 -0.47809474 -0.31749363 -0.04286597] [ 0.5122557 0.85835242 0.02872669 -0.52642257] [ 0.25878735 -0.18616267 0.94782518 0.00679346] [ 0. 0. 0. 1. ]] SLAMing on 8.724839173 meters Centerline goodness : 0.800286 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.53, Z:0.00 [[ 0.82332701 -0.46867902 -0.32011344 -0.06499767] [ 0.50440791 0.86279132 0.03411435 -0.5340689 ] [ 0.26020242 -0.18955502 0.94676481 0.00256439] [ 0. 0. 0. 1. ]] SLAMing on 8.754839173 meters Centerline goodness : 0.800494 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82495741 -0.46478523 -0.32158974 -0.06635625] [ 0.50139355 0.86443405 0.03685487 -0.53231389] [ 0.26086352 -0.19164672 0.94616159 0.00241283] [ 0. 0. 0. 1. ]] SLAMing on 8.784839173 meters Centerline goodness : 0.801786 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82631627 -0.46163919 -0.32263087 -0.06955659] [ 0.49901153 0.86570087 0.03936354 -0.53202454] [ 0.26113007 -0.19352326 0.945706 0.00371096] [ 0. 0. 0. 1. ]] SLAMing on 8.814839173 meters Centerline goodness : 0.799797 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.53, Z:0.00 [[ 0.82605328 -0.46218864 -0.32251766 -0.07058976] [ 0.49941755 0.86549049 0.03883703 -0.53105647] [ 0.26118594 -0.19315244 0.94576638 0.00422595] [ 0. 0. 0. 1. ]] SLAMing on 8.844839173 meters Centerline goodness : 0.798160 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:0.00 [[ 0.82427159 -0.46660045 -0.32071852 -0.0693453 ] [ 0.50238671 0.86396544 0.0342245 -0.52492112] [ 0.26112055 -0.189335 0.94655603 0.00105141] [ 0. 0. 0. 1. ]] SLAMing on 8.874839173 meters Centerline goodness : 0.794881 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 8.23718246e-01 -4.67680501e-01 -3.20566998e-01 -6.82002252e-02] [ 5.03200860e-01 8.63532002e-01 3.31869785e-02 -5.22910107e-01] [ 2.61298959e-01 -1.88646309e-01 9.46644297e-01 -1.36327491e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904839173 meters Centerline goodness : 0.794047 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 0.82161213 -0.47307622 -0.31804465 -0.06694162] [ 0.50700361 0.86147766 0.02834733 -0.5204575 ] [ 0.26057792 -0.18454029 0.94765185 -0.00244084] [ 0. 0. 0. 1. ]] SLAMing on 8.934839173 meters Centerline goodness : 0.794342 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.52, Z:-0.00 [[ 0.82194756 -0.4728232 -0.31755382 -0.06903644] [ 0.50657409 0.86173796 0.02811377 -0.51963496] [ 0.26035533 -0.18397258 0.9478234 -0.0023152 ] [ 0. 0. 0. 1. ]] SLAMing on 8.964839173 meters Centerline goodness : 0.793459 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.52, Z:-0.00 [[ 0.82423198 -0.46402316 -0.32453682 -0.08335862] [ 0.49821904 0.86665555 0.02619064 -0.52016378] [ 0.26910857 -0.18327758 0.94551039 -0.00174281] [ 0. 0. 0. 1. ]] SLAMing on 8.994839172999999 meters Centerline goodness : 0.793553 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.52, Z:-0.00 [[ 0.82639845 -0.45961472 -0.32529972 -0.08637294] [ 0.4943975 0.86876864 0.02849826 -0.51702165] [ 0.26951198 -0.18437828 0.94518143 -0.00275187] [ 0. 0. 0. 1. ]] SLAMing on 9.024839173 meters Centerline goodness : 0.792263 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:-0.01 [[ 0.83117227 -0.44973783 -0.32693812 -0.09165603] [ 0.48585712 0.87338616 0.03375614 -0.51118211] [ 0.27036182 -0.18690239 0.94444269 -0.00529699] [ 0. 0. 0. 1. ]] SLAMing on 9.054839173 meters Centerline goodness : 0.794427 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:-0.00 [[ 0.83262765 -0.44615311 -0.32814417 -0.09433515] [ 0.48321859 0.87472548 0.0368121 -0.51184467] [ 0.27061223 -0.18921613 0.9439101 -0.00382358] [ 0. 0. 0. 1. ]] SLAMing on 9.084839173 meters Centerline goodness : 0.790199 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.51, Z:-0.00 [[ 0.83016225 -0.45215939 -0.32616333 -0.09504801] [ 0.48771531 0.87241907 0.03191762 -0.50814036] [ 0.27011926 -0.18557166 0.94477444 -0.00433164] [ 0. 0. 0. 1. ]] SLAMing on 9.114839173 meters Centerline goodness : 0.789885 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.51, Z:0.00 [[ 0.83070011 -0.4482736 -0.33013346 -0.09388003] [ 0.48615626 0.87305343 0.03781275 -0.51318756] [ 0.27127369 -0.1919075 0.9431766 0.00128258] [ 0. 0. 0. 1. ]] SLAMing on 9.144839173 meters Centerline goodness : 0.791450 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.52, Z:0.00 [[ 0.83080679 -0.44790068 -0.33037108 -0.09455368] [ 0.48611648 0.87302958 0.03886035 -0.51694275] [ 0.27101815 -0.19288427 0.9430508 0.0034908 ] [ 0. 0. 0. 1. ]] SLAMing on 9.174839173 meters Centerline goodness : 0.792138 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.01 [[ 0.83033113 -0.4454422 -0.33486036 -0.10279129] [ 0.4824608 0.87533553 0.03192626 -0.52146787] [ 0.27889386 -0.18806637 0.94172674 0.00579872] [ 0. 0. 0. 1. ]] SLAMing on 9.204839173 meters Centerline goodness : 0.789488 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.52, Z:0.01 [[ 0.82775085 -0.44762447 -0.33832065 -0.10630349] [ 0.48181925 0.87604776 0.01976194 -0.52305839] [ 0.28753912 -0.17936737 0.94082336 0.00507344] [ 0. 0. 0. 1. ]] SLAMing on 9.234839173 meters Centerline goodness : 0.789729 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.01 [[ 0.82688982 -0.44830633 -0.33952122 -0.10390323] [ 0.48312982 0.87529947 0.02089071 -0.52691693] [ 0.28781731 -0.18130714 0.94036638 0.00753378] [ 0. 0. 0. 1. ]] SLAMing on 9.264839173 meters Centerline goodness : 0.795622 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.53, Z:0.01 [[ 0.824647 -0.45351798 -0.33805142 -0.10867363] [ 0.48775813 0.87277285 0.01896192 -0.53104687] [ 0.28644253 -0.18052422 0.9409366 0.01300453] [ 0. 0. 0. 1. ]] SLAMing on 9.294839173 meters Centerline goodness : 0.795229 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.53, Z:0.01 [[ 0.8256754 -0.45045885 -0.33962768 -0.11037753] [ 0.48574473 0.8738258 0.02192079 -0.53147513] [ 0.28690101 -0.18307182 0.94030448 0.01461898] [ 0. 0. 0. 1. ]] SLAMing on 9.324839172999999 meters Centerline goodness : 0.796702 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.53, Z:0.01 [[ 0.82900202 -0.44288807 -0.34147594 -0.11716625] [ 0.47959575 0.87708151 0.02675709 -0.52637566] [ 0.28765183 -0.18595209 0.93950958 0.01487768] [ 0. 0. 0. 1. ]] SLAMing on 9.354839173 meters Centerline goodness : 0.795107 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.53, Z:0.02 [[ 0.82752831 -0.43985062 -0.34889587 -0.12373246] [ 0.4757593 0.87935181 0.01983644 -0.52663674] [ 0.29807714 -0.18240567 0.93695154 0.01570188] [ 0. 0. 0. 1. ]] SLAMing on 9.384839173 meters Centerline goodness : 0.796187 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.01 [[ 0.82948532 -0.43550642 -0.34969739 -0.12613174] [ 0.47201247 0.88131624 0.02204344 -0.52406018] [ 0.29859393 -0.18334624 0.93660334 0.01491665] [ 0. 0. 0. 1. ]] SLAMing on 9.414839172999999 meters Centerline goodness : 0.795439 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.01 [[ 0.8291324 -0.43634338 -0.34949094 -0.12484521] [ 0.47247046 0.88110043 0.02082522 -0.52176921] [ 0.29884967 -0.18239101 0.93670827 0.0134216 ] [ 0. 0. 0. 1. ]] SLAMing on 9.444839173 meters Centerline goodness : 0.796195 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.02 [[ 0.82679353 -0.44154872 -0.34849273 -0.1263864 ] [ 0.47685215 0.87880203 0.01786082 -0.52291301] [ 0.2983697 -0.18094672 0.93714129 0.01662638] [ 0. 0. 0. 1. ]] SLAMing on 9.474839173 meters Centerline goodness : 0.798516 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.52, Z:0.02 [[ 0.82639562 -0.44175427 -0.34917538 -0.12702774] [ 0.47734556 0.87852544 0.01828281 -0.52357647] [ 0.29868295 -0.18178615 0.93687902 0.0187291 ] [ 0. 0. 0. 1. ]] SLAMing on 9.504839173 meters Centerline goodness : 0.796477 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.8257342 -0.44243012 -0.34988373 -0.12487966] [ 0.47804036 0.8781585 0.01775019 -0.52145736] [ 0.29940015 -0.18191549 0.93662496 0.01829339] [ 0. 0. 0. 1. ]] SLAMing on 9.534839173 meters Centerline goodness : 0.794661 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82532775 -0.44259985 -0.35062725 -0.12120405] [ 0.47809335 0.87814695 0.01687262 -0.51757784] [ 0.30043443 -0.181558 0.93636309 0.01618415] [ 0. 0. 0. 1. ]] SLAMing on 9.564839173 meters Centerline goodness : 0.793823 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82666169 -0.43816029 -0.35305242 -0.11998012] [ 0.47520407 0.87962482 0.02100632 -0.51922567] [ 0.30134954 -0.18513707 0.93536769 0.01731106] [ 0. 0. 0. 1. ]] SLAMing on 9.594839173 meters Centerline goodness : 0.795484 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82841896 -0.43323184 -0.35501014 -0.12105379] [ 0.47176684 0.88135983 0.02531605 -0.52116415] [ 0.30192395 -0.18845431 0.93451961 0.01894702] [ 0. 0. 0. 1. ]] SLAMing on 9.624839173 meters Centerline goodness : 0.794060 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82880794 -0.43049557 -0.35742267 -0.12044124] [ 0.47021203 0.88211256 0.02789391 -0.51913866] [ 0.30327882 -0.19118313 0.93352609 0.02021064] [ 0. 0. 0. 1. ]] SLAMing on 9.654839173 meters Centerline goodness : 0.795031 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82832165 -0.43136201 -0.35750534 -0.12124545] [ 0.47094776 0.88173967 0.02726458 -0.51746298] [ 0.30346574 -0.19095018 0.93351303 0.02075357] [ 0. 0. 0. 1. ]] SLAMing on 9.684839173 meters Centerline goodness : 0.794151 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82578816 -0.43712938 -0.35635911 -0.11733834] [ 0.47522913 0.8795793 0.02230514 -0.51327518] [ 0.30369586 -0.18777155 0.93408279 0.01856455] [ 0. 0. 0. 1. ]] SLAMing on 9.714839173 meters Centerline goodness : 0.795076 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82593993 -0.43677115 -0.35644662 -0.11819877] [ 0.47506944 0.8796495 0.02292992 -0.51485355] [ 0.30353297 -0.18827563 0.93403427 0.01968069] [ 0. 0. 0. 1. ]] SLAMing on 9.744839172999999 meters Centerline goodness : 0.795325 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.52, Z:0.02 [[ 0.82625712 -0.43594163 -0.35672689 -0.1169866 ] [ 0.47444167 0.87997238 0.02353121 -0.51609662] [ 0.30365158 -0.18868893 0.93391231 0.01944635] [ 0. 0. 0. 1. ]] SLAMing on 9.774839173 meters Centerline goodness : 0.796862 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.02 [[ 0.82949212 -0.43021873 -0.35616663 -0.1234498 ] [ 0.46920163 0.88269254 0.02652743 -0.51463811] [ 0.30297303 -0.18911826 0.93404584 0.01833927] [ 0. 0. 0. 1. ]] SLAMing on 9.804839173 meters Centerline goodness : 0.795873 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.51, Z:0.01 [[ 0.83484451 -0.41678179 -0.35962143 -0.12451615] [ 0.45812314 0.88823457 0.03409584 -0.50758457] [ 0.30521766 -0.19321562 0.93247515 0.01385634] [ 0. 0. 0. 1. ]] SLAMing on 9.834839173 meters Centerline goodness : 0.797433 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.50, Z:0.01 [[ 0.83729036 -0.41179981 -0.35967453 -0.12866868] [ 0.45353124 0.89050403 0.0362215 -0.50382976] [ 0.30537561 -0.19345154 0.93237452 0.01206277] [ 0. 0. 0. 1. ]] SLAMing on 9.864839173 meters Centerline goodness : 0.795157 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.50, Z:0.01 [[ 0.84067523 -0.40320099 -0.36151641 -0.133283 ] [ 0.44638778 0.89389668 0.04106903 -0.49784275] [ 0.30659925 -0.19590222 0.9314608 0.01065986] [ 0. 0. 0. 1. ]] SLAMing on 9.894839173 meters Centerline goodness : 0.796516 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.49, Z:0.01 [[ 0.84090198 -0.4084817 -0.35500219 -0.12588291] [ 0.45192976 0.89089806 0.04538866 -0.49189225] [ 0.29773032 -0.19860347 0.93376299 0.00816513] [ 0. 0. 0. 1. ]] SLAMing on 9.924839173 meters Centerline goodness : 0.795452 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.49, Z:0.01 [[ 0.83750762 -0.41468349 -0.35583505 -0.12026929] [ 0.45780566 0.88803033 0.04261583 -0.49294695] [ 0.29832024 -0.19859438 0.93357662 0.01034601] [ 0. 0. 0. 1. ]] SLAMing on 9.954839173 meters Centerline goodness : 0.795165 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.50, Z:0.01 [[ 0.83580131 -0.41860904 -0.35525011 -0.11619021] [ 0.46121599 0.88635525 0.04067167 -0.49679068] [ 0.29785227 -0.19784047 0.93388606 0.01077881] [ 0. 0. 0. 1. ]] SLAMing on 9.984839173 meters Centerline goodness : 0.793806 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.50, Z:0.01 [[ 0.83470067 -0.42107407 -0.35492453 -0.1119885 ] [ 0.46367812 0.88508103 0.04042482 -0.5045294 ] [ 0.29711513 -0.19831336 0.93402056 0.01224243] [ 0. 0. 0. 1. ]] SLAMing on 10.014839173 meters Centerline goodness : 0.794162 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.51, Z:0.01 [[ 0.83506093 -0.42017733 -0.35513975 -0.11107402] [ 0.46309784 0.88533799 0.0414371 -0.507232 ] [ 0.29700778 -0.19906696 0.93389439 0.0126189 ] [ 0. 0. 0. 1. ]] SLAMing on 10.044839173 meters Centerline goodness : 0.791302 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.51, Z:0.01 [[ 0.83468906 -0.42200106 -0.35384922 -0.10783956] [ 0.46427376 0.88478956 0.03996644 -0.51228312] [ 0.29621621 -0.19764246 0.93444819 0.0118378 ] [ 0. 0. 0. 1. ]] SLAMing on 10.074839172999999 meters Centerline goodness : 0.792764 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.51, Z:0.01 [[ 0.8332121 -0.42561337 -0.35300262 -0.10444744] [ 0.46715518 0.88337677 0.03757022 -0.51433023] [ 0.29584393 -0.19621096 0.93486771 0.01145343] [ 0. 0. 0. 1. ]] SLAMing on 10.104839173 meters Centerline goodness : 0.792987 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.01 [[ 0.83217215 -0.42567195 -0.35537714 -0.100368 ] [ 0.46845137 0.88259325 0.03978026 -0.51869266] [ 0.29672012 -0.19958093 0.93387613 0.01465423] [ 0. 0. 0. 1. ]] SLAMing on 10.134839173 meters Centerline goodness : 0.792774 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.52, Z:0.02 [[ 0.83178874 -0.42579777 -0.35612323 -0.09915244] [ 0.46894 0.88230721 0.04036404 -0.51976713] [ 0.29702318 -0.20057479 0.93356681 0.01575112] [ 0. 0. 0. 1. ]] SLAMing on 10.164839172999999 meters Centerline goodness : 0.792807 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.02 [[ 0.83246738 -0.42438596 -0.35622272 -0.09985824] [ 0.46813753 0.88263404 0.04247829 -0.52547441] [ 0.29638711 -0.20212301 0.93343504 0.01769087] [ 0. 0. 0. 1. ]] SLAMing on 10.194839173 meters Centerline goodness : 0.793880 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.53, Z:0.02 [[ 0.83349999 -0.42275447 -0.3557477 -0.10198489] [ 0.46680046 0.88326443 0.04405985 -0.52968523] [ 0.29559279 -0.20278708 0.93354288 0.01887854] [ 0. 0. 0. 1. ]] SLAMing on 10.224839173 meters Centerline goodness : 0.796046 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.8326898 -0.42495842 -0.35501836 -0.10074412] [ 0.4688213 0.88221652 0.04359599 -0.5368549 ] [ 0.29467658 -0.2027421 0.93384225 0.02133743] [ 0. 0. 0. 1. ]] SLAMing on 10.254839173 meters Centerline goodness : 0.794342 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.8310463 -0.42883198 -0.35421064 -0.09789044] [ 0.47186603 0.88072471 0.04082204 -0.5378126 ] [ 0.29445626 -0.20106498 0.93427426 0.02122078] [ 0. 0. 0. 1. ]] SLAMing on 10.284839173 meters Centerline goodness : 0.794665 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.54, Z:0.02 [[ 0.82946296 -0.43268918 -0.35322977 -0.09527883] [ 0.47488674 0.87922009 0.0381393 -0.5389418 ] [ 0.29406425 -0.19937927 0.93475886 0.02096344] [ 0. 0. 0. 1. ]] SLAMing on 10.314839173 meters Centerline goodness : 0.794203 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.54, Z:0.02 [[ 0.82989403 -0.43123355 -0.35399651 -0.09167796] [ 0.47398227 0.8796428 0.03961499 -0.54164546] [ 0.29430717 -0.20066432 0.93440736 0.02028387] [ 0. 0. 0. 1. ]] SLAMing on 10.344839173 meters Centerline goodness : 0.792866 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.02 [[ 0.82889417 -0.43388507 -0.35309801 -0.09055465] [ 0.4760998 0.87856722 0.03806066 -0.54541836] [ 0.29370639 -0.19965815 0.93481184 0.02149922] [ 0. 0. 0. 1. ]] SLAMing on 10.374839173 meters Centerline goodness : 0.793538 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.02 [[ 0.82743286 -0.43776346 -0.35173573 -0.08984301] [ 0.47900833 0.87710408 0.03520574 -0.54632879] [ 0.29309706 -0.19761473 0.93543708 0.02168537] [ 0. 0. 0. 1. ]] SLAMing on 10.404839173 meters Centerline goodness : 0.793073 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.55, Z:0.03 [[ 0.82737237 -0.43760569 -0.35207418 -0.08935966] [ 0.47939555 0.87682983 0.03673346 -0.55421553] [ 0.29263437 -0.19917504 0.935251 0.02513614] [ 0. 0. 0. 1. ]] SLAMing on 10.434839173 meters Centerline goodness : 0.793015 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.56, Z:0.03 [[ 0.82767722 -0.43640129 -0.3528517 -0.0866315 ] [ 0.47878397 0.87709717 0.03829441 -0.55788826] [ 0.2927735 -0.20063515 0.9348953 0.02553247] [ 0. 0. 0. 1. ]] SLAMing on 10.464839173 meters Centerline goodness : 0.793015 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.56, Z:0.03 [[ 0.82767722 -0.43640129 -0.3528517 -0.0866315 ] [ 0.47878397 0.87709717 0.03829441 -0.55788826] [ 0.2927735 -0.20063515 0.9348953 0.02553247] [ 0. 0. 0. 1. ]] SLAMing on 10.494839172999999 meters Centerline goodness : 0.793975 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.56, Z:0.03 [[ 0.82840693 -0.43407733 -0.354004 -0.08442186] [ 0.4773737 0.87775212 0.04081136 -0.5641878 ] [ 0.29301247 -0.20280061 0.93435304 0.02753023] [ 0. 0. 0. 1. ]] SLAMing on 10.524839173 meters Centerline goodness : 0.789834 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.56, Z:0.03 [[ 0.82660916 -0.43796114 -0.35342232 -0.07924208] [ 0.48046392 0.87619238 0.03796495 -0.56473626] [ 0.29303877 -0.20118884 0.93469317 0.02629844] [ 0. 0. 0. 1. ]] SLAMing on 10.554839173 meters Centerline goodness : 0.792411 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.57, Z:0.03 [[ 0.82268066 -0.44801645 -0.34996827 -0.08138455] [ 0.48896793 0.87165556 0.03357001 -0.574068 ] [ 0.29001187 -0.19874066 0.93615985 0.0313159 ] [ 0. 0. 0. 1. ]] SLAMing on 10.584839172999999 meters Centerline goodness : 0.790432 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.58, Z:0.03 [[ 0.82115517 -0.45209889 -0.34829697 -0.08171331] [ 0.49216292 0.86994654 0.03112364 -0.57709231] [ 0.28892878 -0.19697619 0.93686741 0.03237326] [ 0. 0. 0. 1. ]] SLAMing on 10.614839173 meters Centerline goodness : 0.790556 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.59, Z:0.02 [[ 0.82141222 -0.45351496 -0.34584121 -0.09900728] [ 0.49064212 0.87105541 0.02308221 -0.59189445] [ 0.29077873 -0.18864427 0.9380091 0.02203678] [ 0. 0. 0. 1. ]] SLAMing on 10.644839173 meters Centerline goodness : 0.789834 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.61, Z:0.01 [[ 0.82456864 -0.45192541 -0.34036743 -0.1252875 ] [ 0.48661109 0.87340809 0.01918202 -0.60873138] [ 0.28861082 -0.18144346 0.94009684 0.00777625] [ 0. 0. 0. 1. ]] SLAMing on 10.674839173 meters Centerline goodness : 0.789395 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.63, Z:-0.02 [[ 0.82855086 -0.44950117 -0.33384452 -0.15601074] [ 0.48194503 0.8760447 0.01657314 -0.6315577 ] [ 0.28501308 -0.1746264 0.94248245 -0.01502278] [ 0. 0. 0. 1. ]] SLAMing on 10.704839173 meters Centerline goodness : 0.794843 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.64, Z:-0.02 [[ 0.83283255 -0.44657295 -0.32705129 -0.1663935 ] [ 0.47842582 0.87791006 0.01956178 -0.63820056] [ 0.27838585 -0.17276147 0.9448041 -0.0241346 ] [ 0. 0. 0. 1. ]] SLAMing on 10.734839173 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.66, Z:-0.04 [[ 0.83515829 -0.44577885 -0.32216742 -0.19624999] [ 0.47896577 0.87740018 0.02758127 -0.65626541] [ 0.2703746 -0.17734189 0.94628084 -0.03564871] [ 0. 0. 0. 1. ]] SLAMing on 10.764839173 meters Centerline goodness : 0.789032 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.68, Z:-0.05 [[ 0.83564381 -0.44819017 -0.31752952 -0.22832675] [ 0.48162582 0.87581831 0.03128678 -0.67836215] [ 0.26407574 -0.17907502 0.94773211 -0.05195559] [ 0. 0. 0. 1. ]] SLAMing on 10.794839173 meters Centerline goodness : 0.789882 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.70, Z:-0.07 [[ 0.83749503 -0.44661888 -0.31485497 -0.25414074] [ 0.48027319 0.87644953 0.03426182 -0.69854211] [ 0.26065251 -0.17991051 0.94852121 -0.06521864] [ 0. 0. 0. 1. ]] SLAMing on 10.824839172999999 meters Centerline goodness : 0.789636 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.72, Z:-0.08 [[ 0.83968034 -0.44648085 -0.30917918 -0.28319045] [ 0.47943675 0.8768445 0.03583467 -0.71739999] [ 0.25510258 -0.17832153 0.95032842 -0.07870531] [ 0. 0. 0. 1. ]] SLAMing on 10.854839173 meters Centerline goodness : 0.789639 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.74, Z:-0.09 [[ 0.84040654 -0.44997165 -0.3020635 -0.31123684] [ 0.48164208 0.87564373 0.03562263 -0.7374074 ] [ 0.24847084 -0.17542398 0.952622 -0.09038651] [ 0. 0. 0. 1. ]] SLAMing on 10.884839173 meters Centerline goodness : 0.790383 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.74, Z:-0.09 [[ 0.83977118 -0.45156354 -0.30145436 -0.31297819] [ 0.48299613 0.87492663 0.03490169 -0.7384553 ] [ 0.24799011 -0.17491072 0.95284161 -0.08922471] [ 0. 0. 0. 1. ]] SLAMing on 10.914839172999999 meters Centerline goodness : 0.790573 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.75, Z:-0.10 [[ 0.83882611 -0.45608952 -0.29724251 -0.33388025] [ 0.48560553 0.87366888 0.0298321 -0.7525253 ] [ 0.24608542 -0.16936655 0.95433586 -0.10243272] [ 0. 0. 0. 1. ]] SLAMing on 10.944839173 meters Centerline goodness : 0.789367 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.77, Z:-0.12 [[ 0.83948986 -0.45582887 -0.29576481 -0.3675972 ] [ 0.48396093 0.87471628 0.02555868 -0.77131202] [ 0.24705991 -0.16459486 0.95491881 -0.11978616] [ 0. 0. 0. 1. ]] SLAMing on 10.974839173 meters Centerline goodness : 0.793565 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.78, Z:-0.13 [[ 0.84562972 -0.44822024 -0.28984304 -0.38348638] [ 0.47614486 0.8788517 0.03009603 -0.77555011] [ 0.2412394 -0.16345737 0.95660088 -0.12501091] [ 0. 0. 0. 1. ]] SLAMing on 11.004839173 meters Centerline goodness : 0.792493 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.79, Z:-0.14 [[ 0.84962857 -0.44488526 -0.28321086 -0.41491559] [ 0.47271805 0.88051948 0.0349726 -0.78910319] [ 0.23381388 -0.16359261 0.95841981 -0.13642079] [ 0. 0. 0. 1. ]] SLAMing on 11.034839173 meters Centerline goodness : 0.791320 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.80, Z:-0.15 [[ 0.85223901 -0.44058118 -0.28209375 -0.44709906] [ 0.47036336 0.88134964 0.04450981 -0.79812449] [ 0.22901304 -0.17061956 0.95835379 -0.15331485] [ 0. 0. 0. 1. ]] SLAMing on 11.064839173 meters Centerline goodness : 0.792638 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.81, Z:-0.17 [[ 0.85341857 -0.44050032 -0.27863277 -0.47416551] [ 0.47028477 0.88125021 0.04722616 -0.80930814] [ 0.22474205 -0.17134043 0.95923588 -0.16546796] [ 0. 0. 0. 1. ]] SLAMing on 11.094839173 meters Centerline goodness : 0.791796 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.83, Z:-0.18 [[ 0.85644801 -0.44007408 -0.26987331 -0.50778457] [ 0.4685486 0.88210386 0.04852822 -0.82536837] [ 0.21670028 -0.16801066 0.96167219 -0.17942939] [ 0. 0. 0. 1. ]] SLAMing on 11.124839173 meters Centerline goodness : 0.788824 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.84, Z:-0.19 [[ 0.85768571 -0.44236193 -0.26208997 -0.53578982] [ 0.46915084 0.88187505 0.04683897 -0.83999044] [ 0.21041083 -0.16313284 0.96390609 -0.19182435] [ 0. 0. 0. 1. ]] SLAMing on 11.154839173 meters Centerline goodness : 0.789584 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.86, Z:-0.21 [[ 0.85766387 -0.44502346 -0.25761755 -0.56647514] [ 0.47140728 0.88059625 0.04822266 -0.85571197] [ 0.20539683 -0.16280162 0.96504289 -0.20844008] [ 0. 0. 0. 1. ]] SLAMing on 11.184839173 meters Centerline goodness : 0.790837 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.87, Z:-0.22 [[ 0.85555301 -0.44919855 -0.25739018 -0.58941382] [ 0.47586044 0.87814375 0.04919741 -0.86660732] [ 0.20392617 -0.1645728 0.96505435 -0.21753088] [ 0. 0. 0. 1. ]] SLAMing on 11.214839173 meters Centerline goodness : 0.789517 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.88, Z:-0.23 [[ 0.85385874 -0.45655621 -0.24996335 -0.62275216] [ 0.48138179 0.87532427 0.04559596 -0.8835509 ] [ 0.19798187 -0.15926032 0.96718113 -0.23100721] [ 0. 0. 0. 1. ]] SLAMing on 11.244839172999999 meters Centerline goodness : 0.791649 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.90, Z:-0.24 [[ 0.85423438 -0.45953542 -0.24312716 -0.65250612] [ 0.48295784 0.87454185 0.04391215 -0.89808778] [ 0.19244569 -0.15493144 0.96899995 -0.24350705] [ 0. 0. 0. 1. ]] SLAMing on 11.274839173 meters Centerline goodness : 0.794388 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.91, Z:-0.26 [[ 0.85746 -0.4589107 -0.23273013 -0.69151677] [ 0.48112983 0.87541773 0.04645308 -0.9130124 ] [ 0.18241827 -0.15180506 0.97143131 -0.25873532] [ 0. 0. 0. 1. ]] SLAMing on 11.304839173 meters Centerline goodness : 0.795457 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.92, Z:-0.27 [[ 0.86013674 -0.45669067 -0.22715286 -0.72300223] [ 0.4781998 0.87695881 0.04762568 -0.92429473] [ 0.1774535 -0.14958905 0.97269387 -0.27108649] [ 0. 0. 0. 1. ]] SLAMing on 11.334839172999999 meters Centerline goodness : 0.796516 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:-0.28 [[ 0.86384204 -0.45148637 -0.22346588 -0.75396243] [ 0.47254268 0.87995312 0.0488459 -0.93036037] [ 0.17458624 -0.14779231 0.97348707 -0.28325866] [ 0. 0. 0. 1. ]] SLAMing on 11.364839173 meters Centerline goodness : 0.796361 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.93, Z:-0.29 [[ 0.8634324 -0.45028257 -0.22744251 -0.77015231] [ 0.47137941 0.88073914 0.04582599 -0.93299787] [ 0.17968287 -0.14677936 0.97271264 -0.28718271] [ 0. 0. 0. 1. ]] SLAMing on 11.394839173 meters Centerline goodness : 0.799287 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.92, Z:-0.29 [[ 0.86190101 -0.45422943 -0.2253936 -0.77521995] [ 0.47444406 0.87926877 0.04229963 -0.92401095] [ 0.17896782 -0.14339475 0.9733491 -0.28882222] [ 0. 0. 0. 1. ]] SLAMing on 11.424839173 meters Centerline goodness : 0.798012 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.92, Z:-0.29 [[ 0.85947428 -0.4599478 -0.22305151 -0.7758924 ] [ 0.47897991 0.87704103 0.03711169 -0.92009282] [ 0.17855588 -0.13873373 0.97409997 -0.2897955 ] [ 0. 0. 0. 1. ]] SLAMing on 11.454839173 meters Centerline goodness : 0.796812 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.91, Z:-0.29 [[ 0.85728843 -0.46495599 -0.22107118 -0.77437231] [ 0.48288397 0.87509699 0.03206773 -0.91222235] [ 0.17854865 -0.13424302 0.97473032 -0.29391267] [ 0. 0. 0. 1. ]] SLAMing on 11.484839173 meters Centerline goodness : 0.796783 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.91, Z:-0.29 [[ 0.85683459 -0.46617582 -0.22026026 -0.77630138] [ 0.48374596 0.87467358 0.03059381 -0.90908427] [ 0.17839374 -0.13276384 0.97496125 -0.294214 ] [ 0. 0. 0. 1. ]] SLAMing on 11.514839173 meters Centerline goodness : 0.797825 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.85836086 -0.46326172 -0.22046591 -0.77955963] [ 0.48097272 0.87616814 0.03153772 -0.90262733] [ 0.17855499 -0.13310883 0.97488469 -0.2957705 ] [ 0. 0. 0. 1. ]] SLAMing on 11.544839173 meters Centerline goodness : 0.798323 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.85971716 -0.46017118 -0.22165035 -0.78057589] [ 0.47839856 0.87749227 0.03379557 -0.90006482] [ 0.17894472 -0.13509184 0.97454039 -0.29652561] [ 0. 0. 0. 1. ]] SLAMing on 11.574839172999999 meters Centerline goodness : 0.797610 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.90, Z:-0.30 [[ 0.86085046 -0.45733235 -0.22312238 -0.78123797] [ 0.47614358 0.87862433 0.03614647 -0.89778199] [ 0.1795098 -0.137355 0.97412003 -0.2968097 ] [ 0. 0. 0. 1. ]] SLAMing on 11.604839173 meters Centerline goodness : 0.798497 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.89, Z:-0.30 [[ 0.86170129 -0.45498621 -0.22462956 -0.78285724] [ 0.47427497 0.87956439 0.03781197 -0.8937086 ] [ 0.18037224 -0.1391188 0.97371033 -0.29647062] [ 0. 0. 0. 1. ]] SLAMing on 11.634839173 meters Centerline goodness : 0.798470 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.89, Z:-0.30 [[ 0.86299278 -0.45189469 -0.22590848 -0.78543225] [ 0.47176483 0.88080399 0.04027736 -0.89205968] [ 0.18077997 -0.14133475 0.97331552 -0.29530571] [ 0. 0. 0. 1. ]] SLAMing on 11.664839172999999 meters Centerline goodness : 0.799938 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.89, Z:-0.29 [[ 0.86568809 -0.44522953 -0.22881171 -0.78980198] [ 0.46634145 0.88344274 0.04532741 -0.88762352] [ 0.18196094 -0.14594378 0.97241484 -0.29352872] [ 0. 0. 0. 1. ]] SLAMing on 11.694839173 meters Centerline goodness : 0.798972 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86440293 -0.44257585 -0.23860887 -0.79502084] [ 0.46403666 0.88492694 0.03967726 -0.88936986] [ 0.19359122 -0.14502041 0.97030486 -0.29046242] [ 0. 0. 0. 1. ]] SLAMing on 11.724839173 meters Centerline goodness : 0.797937 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86444247 -0.44249815 -0.23860972 -0.79522135] [ 0.46398209 0.88494997 0.03980181 -0.8894277 ] [ 0.19354544 -0.14511701 0.97029955 -0.29040168] [ 0. 0. 0. 1. ]] SLAMing on 11.754839173 meters Centerline goodness : 0.798811 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86449935 -0.44226889 -0.23882861 -0.79582587] [ 0.46390865 0.88495944 0.04044193 -0.89062959] [ 0.19346742 -0.14575668 0.97021923 -0.28920681] [ 0. 0. 0. 1. ]] SLAMing on 11.784839173 meters Centerline goodness : 0.799288 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86552886 -0.4389478 -0.2412149 -0.79684114] [ 0.4615613 0.8860241 0.04384597 -0.8904192 ] [ 0.19447612 -0.14928541 0.96948074 -0.28668326] [ 0. 0. 0. 1. ]] SLAMing on 11.814839173 meters Centerline goodness : 0.798031 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.29 [[ 0.86331438 -0.43853181 -0.24975613 -0.79953312] [ 0.46053835 0.88696765 0.03453709 -0.88934819] [ 0.20638 -0.14483864 0.96769265 -0.28523672] [ 0. 0. 0. 1. ]] SLAMing on 11.844839173 meters Centerline goodness : 0.798248 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.89, Z:-0.28 [[ 0.86075737 -0.43793109 -0.25944771 -0.80214343] [ 0.4598922 0.88754433 0.02764466 -0.89272418] [ 0.21816488 -0.14311332 0.96536141 -0.28263313] [ 0. 0. 0. 1. ]] SLAMing on 11.874839173 meters Centerline goodness : 0.798547 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86216049 -0.43363384 -0.26199425 -0.80087204] [ 0.45691955 0.88892003 0.03233724 -0.89589898] [ 0.21886942 -0.14759018 0.96452751 -0.2810758 ] [ 0. 0. 0. 1. ]] SLAMing on 11.904839173 meters Centerline goodness : 0.797843 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86195292 -0.43359107 -0.26274693 -0.79979325] [ 0.45710661 0.88880577 0.03283055 -0.8966796 ] [ 0.21929595 -0.14840175 0.96430608 -0.28022805] [ 0. 0. 0. 1. ]] SLAMing on 11.934839173 meters Centerline goodness : 0.798523 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.90, Z:-0.28 [[ 0.86194895 -0.43359644 -0.26275108 -0.80028126] [ 0.45715735 0.88877242 0.03302647 -0.89723407] [ 0.21920575 -0.14858572 0.96429825 -0.27966077] [ 0. 0. 0. 1. ]] SLAMing on 11.964839173 meters Centerline goodness : 0.800874 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.90, Z:-0.28 [[ 0.86516841 -0.42503623 -0.26613499 -0.80588871] [ 0.45057277 0.891823 0.04044653 -0.89653291] [ 0.22015406 -0.15490623 0.96308683 -0.27581959] [ 0. 0. 0. 1. ]] SLAMing on 11.994839172999999 meters Centerline goodness : 0.800393 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.90, Z:-0.27 [[ 0.86445155 -0.42127311 -0.27432188 -0.81228637] [ 0.44655383 0.89410576 0.03412573 -0.89560096] [ 0.23089652 -0.15199953 0.96103223 -0.27433186] [ 0. 0. 0. 1. ]] SLAMing on 12.024839173 meters Centerline goodness : 0.799627 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.86479409 -0.41670956 -0.28015053 -0.82561535] [ 0.44154026 0.89676983 0.02908739 -0.89349981] [ 0.23910955 -0.14885234 0.9595153 -0.27260971] [ 0. 0. 0. 1. ]] SLAMing on 12.054839173 meters Centerline goodness : 0.799246 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.86168934 -0.41559995 -0.29114972 -0.82923327] [ 0.44074682 0.89732219 0.02356099 -0.89229737] [ 0.25146316 -0.14862557 0.95638733 -0.2703025 ] [ 0. 0. 0. 1. ]] SLAMing on 12.084839172999999 meters Centerline goodness : 0.796678 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.85733899 -0.41721792 -0.30149471 -0.83034706] [ 0.44177531 0.89700122 0.01494623 -0.88702798] [ 0.26420529 -0.14600691 0.9533507 -0.2705864 ] [ 0. 0. 0. 1. ]] SLAMing on 12.114839173 meters Centerline goodness : 0.796709 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.89, Z:-0.27 [[ 0.85733022 -0.41707189 -0.30172162 -0.82882312] [ 0.44168334 0.89704504 0.01503441 -0.88720027] [ 0.26438745 -0.14615486 0.95327752 -0.27135955] [ 0. 0. 0. 1. ]] SLAMing on 12.144839173 meters Centerline goodness : 0.798397 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.89, Z:-0.27 [[ 0.86190309 -0.40725668 -0.30210108 -0.83884681] [ 0.43338056 0.90094486 0.02190074 -0.88633095] [ 0.26325719 -0.14980105 0.95302429 -0.27002133] [ 0. 0. 0. 1. ]] SLAMing on 12.174839173 meters Centerline goodness : 0.799343 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.89, Z:-0.27 [[ 0.86513746 -0.39784084 -0.30538474 -0.83877884] [ 0.42611108 0.90419949 0.02919982 -0.88625559] [ 0.26451185 -0.15538968 0.95178124 -0.27007877] [ 0. 0. 0. 1. ]] SLAMing on 12.204839173 meters Centerline goodness : 0.799830 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.88, Z:-0.27 [[ 0.86702736 -0.39383598 -0.30521595 -0.84451027] [ 0.42212759 0.90603892 0.03002939 -0.87833349] [ 0.26471088 -0.15487637 0.95180957 -0.27138561] [ 0. 0. 0. 1. ]] SLAMing on 12.234839173 meters Centerline goodness : 0.799515 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.88, Z:-0.27 [[ 0.8660402 -0.3951065 -0.30637434 -0.84284407] [ 0.42354531 0.90538978 0.02964308 -0.87637608] [ 0.26567602 -0.15543552 0.95144945 -0.27029329] [ 0. 0. 0. 1. ]] SLAMing on 12.264839173 meters Centerline goodness : 0.799379 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.87, Z:-0.27 [[ 0.86332546 -0.39891704 -0.30908632 -0.8373353 ] [ 0.42763085 0.90350911 0.02833973 -0.87240496] [ 0.26795711 -0.15664125 0.95061165 -0.26871783] [ 0. 0. 0. 1. ]] SLAMing on 12.294839173 meters Centerline goodness : 0.799136 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.87, Z:-0.27 [[ 0.86277723 -0.39944567 -0.30993322 -0.83356374] [ 0.42817206 0.90327017 0.02777936 -0.87020149] [ 0.26885708 -0.15667214 0.95035241 -0.27020484] [ 0. 0. 0. 1. ]] SLAMing on 12.324839172999999 meters Centerline goodness : 0.796315 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86496238 -0.39473049 -0.30988371 -0.83184853] [ 0.42336743 0.90551674 0.02827459 -0.8634342 ] [ 0.26944405 -0.15565113 0.95035395 -0.2769236 ] [ 0. 0. 0. 1. ]] SLAMing on 12.354839173 meters Centerline goodness : 0.796259 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86627057 -0.39143641 -0.31040753 -0.83369598] [ 0.42034592 0.90688549 0.02946221 -0.85788056] [ 0.2699715 -0.15600078 0.95014691 -0.2787492 ] [ 0. 0. 0. 1. ]] SLAMing on 12.384839173 meters Centerline goodness : 0.796259 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.86, Z:-0.28 [[ 0.86627057 -0.39143641 -0.31040753 -0.83369598] [ 0.42034592 0.90688549 0.02946221 -0.85788056] [ 0.2699715 -0.15600078 0.95014691 -0.2787492 ] [ 0. 0. 0. 1. ]] SLAMing on 12.414839172999999 meters Centerline goodness : 0.796019 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.85, Z:-0.28 [[ 0.86645433 -0.39055311 -0.31100668 -0.83909129] [ 0.4194894 0.90728595 0.02934041 -0.84646271] [ 0.27071301 -0.15588613 0.94995473 -0.27897134] [ 0. 0. 0. 1. ]] SLAMing on 12.444839173 meters Centerline goodness : 0.796781 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.84, Z:-0.28 [[ 0.86923915 -0.39314088 -0.29977249 -0.83795935] [ 0.42101407 0.90649056 0.03196897 -0.83767857] [ 0.25917262 -0.15399712 0.95347493 -0.28350178] [ 0. 0. 0. 1. ]] SLAMing on 12.474839173 meters Centerline goodness : 0.798567 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.82, Z:-0.29 [[ 0.87542905 -0.38655418 -0.29017209 -0.84249174] [ 0.41441009 0.9092552 0.03897765 -0.8216267 ] [ 0.24877351 -0.15437241 0.95618037 -0.28845901] [ 0. 0. 0. 1. ]] SLAMing on 12.504839173 meters Centerline goodness : 0.799598 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.82, Z:-0.29 [[ 0.87682576 -0.38313747 -0.29048625 -0.84447761] [ 0.41116074 0.91068813 0.03992471 -0.81614288] [ 0.24924573 -0.15444356 0.95604589 -0.2905677 ] [ 0. 0. 0. 1. ]] SLAMing on 12.534839173 meters Centerline goodness : 0.797151 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.80, Z:-0.30 [[ 0.87866742 -0.38688643 -0.27975429 -0.84251767] [ 0.41219495 0.91039965 0.03560628 -0.7981233 ] [ 0.24091262 -0.14659938 0.95941114 -0.29735344] [ 0. 0. 0. 1. ]] SLAMing on 12.564839173 meters Centerline goodness : 0.797489 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.79, Z:-0.30 [[ 0.88072355 -0.38968741 -0.26920206 -0.84026374] [ 0.41431677 0.90928686 0.03923034 -0.78894169] [ 0.22949433 -0.14608601 0.96228438 -0.30209902] [ 0. 0. 0. 1. ]] SLAMing on 12.594839173 meters Centerline goodness : 0.797350 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.78, Z:-0.30 [[ 0.87908999 -0.39182312 -0.2714322 -0.83852205] [ 0.4168049 0.90816139 0.038943 -0.78117122] [ 0.23124547 -0.14736867 0.96166938 -0.30102726] [ 0. 0. 0. 1. ]] SLAMing on 12.624839173 meters Centerline goodness : 0.788333 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.78, Z:-0.30 [[ 0.87731891 -0.39445676 -0.27334116 -0.83383818] [ 0.41977664 0.90680109 0.03872144 -0.77755889] [ 0.23259213 -0.14871329 0.96113748 -0.3009497 ] [ 0. 0. 0. 1. ]] SLAMing on 12.654839173 meters Centerline goodness : 0.797846 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.77, Z:-0.30 [[ 0.87524192 -0.4075299 -0.26052055 -0.83021142] [ 0.43015048 0.90211848 0.0339531 -0.77149269] [ 0.2211835 -0.14178021 0.9648711 -0.30100849] [ 0. 0. 0. 1. ]] SLAMing on 12.684839173 meters Centerline goodness : 0.795373 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.77, Z:-0.30 [[ 0.87483578 -0.40788403 -0.26132924 -0.82741915] [ 0.43070367 0.90184374 0.03423775 -0.77196613] [ 0.22171311 -0.14250787 0.96464232 -0.30129483] [ 0. 0. 0. 1. ]] SLAMing on 12.714839173 meters Centerline goodness : 0.795150 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.77, Z:-0.30 [[ 0.87450486 -0.40827772 -0.2618216 -0.82331934] [ 0.4309959 0.90173484 0.03341879 -0.77010799] [ 0.22244951 -0.14206893 0.96453752 -0.30415407] [ 0. 0. 0. 1. ]] SLAMing on 12.744839172999999 meters Centerline goodness : 0.798512 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.76, Z:-0.31 [[ 0.87407361 -0.40998783 -0.26058646 -0.82311456] [ 0.43186575 0.90142718 0.03034803 -0.7649959 ] [ 0.22245739 -0.13906478 0.96497342 -0.30742073] [ 0. 0. 0. 1. ]] SLAMing on 12.774839173 meters Centerline goodness : 0.826217 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.81, Z:-0.29 [[ 0.87312803 -0.46750468 -0.13815508 -1.08171642] [ 0.46349616 0.88393418 -0.06190053 -0.80652047] [ 0.15105878 -0.00998726 0.98847433 -0.2922603 ] [ 0. 0. 0. 1. ]] SLAMing on 12.804839173 meters Centerline goodness : 0.713522 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.97, Z:0.30 [[ 0.84265962 -0.52222554 0.13116881 -2.26958527] [ 0.50413602 0.67962735 -0.53287291 0.97009001] [ 0.18913393 0.5151574 0.83596723 0.30239308] [ 0. 0. 0. 1. ]] SLAMing on 12.834839172999999 meters Centerline goodness : 0.796158 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.85, Z:0.21 [[ 5.19858931e-02 9.33402356e-01 3.55045785e-01 -2.52258414e+00] [-9.89972389e-01 1.40664311e-03 1.41253993e-01 -8.52531958e-01] [ 1.31347387e-01 -3.58828739e-01 9.24115686e-01 2.06526461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864839173 meters Centerline goodness : 0.794679 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.89, Z:0.59 [[ 0.98142532 -0.10794773 0.15859268 -1.84516132] [ 0.17912405 0.81162439 -0.55603995 0.89303884] [-0.06869443 0.57411945 0.81588475 0.58851949] [ 0. 0. 0. 1. ]] SLAMing on 12.894839173 meters Centerline goodness : 0.795541 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.89, Z:0.58 [[ 0.98350357 -0.10598193 0.14658975 -1.84104632] [ 0.1700923 0.81761765 -0.55006362 0.89034224] [-0.06155756 0.56592332 0.82215659 0.58106611] [ 0. 0. 0. 1. ]] SLAMing on 12.924839173 meters Centerline goodness : 0.791066 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.90, Z:0.58 [[ 0.98544255 -0.10430785 0.13424921 -1.83897916] [ 0.1615435 0.8205805 -0.54822562 0.89593457] [-0.05297804 0.56193194 0.8254852 0.57700804] [ 0. 0. 0. 1. ]] SLAMing on 12.954839173 meters Centerline goodness : 0.794299 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.89, Z:0.57 [[ 0.989603 -0.09245235 0.11017467 -1.84067849] [ 0.13741281 0.8339527 -0.53445357 0.88691042] [-0.04246898 0.54403627 0.83798623 0.57468145] [ 0. 0. 0. 1. ]] SLAMing on 12.984839173 meters Centerline goodness : 0.797399 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.89, Z:0.57 [[ 0.99178411 -0.08575839 0.09491984 -1.8335535 ] [ 0.12314959 0.84087693 -0.52702957 0.88584445] [-0.03461869 0.53438889 0.84452949 0.57009183] [ 0. 0. 0. 1. ]] SLAMing on 13.014839173 meters Centerline goodness : 0.783695 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.90, Z:0.57 [[ 0.99279313 -0.08096417 0.08835504 -1.82121581] [ 0.11522929 0.84747325 -0.51818077 0.8972544 ] [-0.03292446 0.52462739 0.85069506 0.57346234] [ 0. 0. 0. 1. ]] SLAMing on 13.044839173 meters Centerline goodness : 0.794520 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.89, Z:0.57 [[ 0.99447611 -0.07463384 0.07380414 -1.82600543] [ 0.10163981 0.860266 -0.49961161 0.8935765 ] [-0.02620326 0.50435325 0.86309976 0.56917679] [ 0. 0. 0. 1. ]] SLAMing on 13.074839172999999 meters Centerline goodness : 0.791739 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.90, Z:0.57 [[ 9.98307312e-01 -4.96688985e-02 3.02574263e-02 -1.95508509e+00] [ 5.81506677e-02 8.61435869e-01 -5.04526257e-01 8.95722877e-01] [-1.00556884e-03 5.05431740e-01 8.62866006e-01 5.70771502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104839173 meters Centerline goodness : 0.794449 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.87, Z:0.61 [[ 0.99798093 -0.03720665 0.05147556 -1.80843339] [ 0.05791348 0.86583334 -0.49696947 0.86523772] [-0.02607869 0.49894718 0.86623993 0.61355009] [ 0. 0. 0. 1. ]] SLAMing on 13.134839173 meters Centerline goodness : 0.810773 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.86, Z:0.60 [[ 0.99777945 -0.04395138 0.05004452 -1.82713619] [ 0.06228375 0.88192537 -0.46725622 0.85535803] [-0.02359898 0.46933561 0.88270447 0.59545318] [ 0. 0. 0. 1. ]] SLAMing on 13.164839172999999 meters Centerline goodness : 0.800186 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.85, Z:0.59 [[ 0.9980915 -0.04574681 0.04147996 -1.82112374] [ 0.05952749 0.89143816 -0.44921541 0.84947645] [-0.01642665 0.45082728 0.89246004 0.58870036] [ 0. 0. 0. 1. ]] SLAMing on 13.194839173 meters Centerline goodness : 0.795176 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.84, Z:0.58 [[ 0.99843392 -0.04647297 0.03114429 -1.8352495 ] [ 0.05530348 0.90390073 -0.4241521 0.84249 ] [-0.00843974 0.42521023 0.90505526 0.58020849] [ 0. 0. 0. 1. ]] SLAMing on 13.224839173 meters Centerline goodness : 0.791938 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.84, Z:0.58 [[ 0.998672 -0.04199411 0.02984528 -1.8440553 ] [ 0.05041909 0.91573034 -0.39861743 0.83703296] [-0.01059064 0.39959284 0.91663155 0.57758612] [ 0. 0. 0. 1. ]] SLAMing on 13.254839172999999 meters Centerline goodness : 0.795811 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.83, Z:0.57 [[ 0.99868298 -0.04234631 0.02896723 -1.85761547] [ 0.05009717 0.92669708 -0.37245508 0.82872928] [-0.01107175 0.37341573 0.92759803 0.57038116] [ 0. 0. 0. 1. ]] SLAMing on 13.284839173 meters Centerline goodness : 0.798699 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.83, Z:0.57 [[ 0.99896907 -0.04151091 0.01837504 -1.84891416] [ 0.04533156 0.93374 -0.35506993 0.82719012] [-0.00241824 0.35553685 0.93465914 0.56984644] [ 0. 0. 0. 1. ]] SLAMing on 13.314839173 meters Centerline goodness : 0.793416 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.83, Z:0.57 [[ 0.99912586 -0.04103317 0.00798694 -1.84641291] [ 0.04131766 0.9402911 -0.33785426 0.82958496] [ 0.00635318 0.33788893 0.94116455 0.56785595] [ 0. 0. 0. 1. ]] SLAMing on 13.344839173 meters Centerline goodness : 0.769731 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.83, Z:0.57 [[ 0.99912935 -0.04157277 0.00350061 -1.83671768] [ 0.04043985 0.94443346 -0.32620554 0.827067 ] [ 0.01025518 0.32606309 0.94529238 0.57033047] [ 0. 0. 0. 1. ]] SLAMing on 13.374839173 meters Centerline goodness : 0.764579 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.80, Z:0.54 [[ 0.99939878 -0.03242537 0.01227471 -1.82325942] [ 0.03449334 0.96566966 -0.25747296 0.80229311] [-0.00350466 0.25774155 0.96620754 0.53587797] [ 0. 0. 0. 1. ]] SLAMing on 13.404839173 meters Centerline goodness : 0.789817 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.78, Z:0.54 [[ 9.99928525e-01 -1.19159608e-02 -9.76853367e-04 -1.95595712e+00] [ 1.12995562e-02 9.68572491e-01 -2.48474645e-01 7.78072835e-01] [ 3.90696743e-03 2.48445848e-01 9.68637908e-01 5.37768985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434839173 meters Centerline goodness : 0.792042 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.77, Z:0.53 [[ 0.99991301 -0.01217916 -0.00506416 -1.98587527] [ 0.0107533 0.97504795 -0.22173374 0.77399448] [ 0.00763833 0.22166 0.9750941 0.5305244 ] [ 0. 0. 0. 1. ]] SLAMing on 13.464839173 meters Centerline goodness : 0.767130 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.80, Z:0.54 [[ 0.99971789 -0.01586366 -0.01767747 -1.91812781] [ 0.01121263 0.97131303 -0.23754003 0.80220998] [ 0.02093861 0.23727481 0.97121689 0.53830012] [ 0. 0. 0. 1. ]] SLAMing on 13.494839172999999 meters Centerline goodness : 0.791619 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.57, Z:0.68 [[ 9.83850136e-01 5.54924039e-02 -1.70174917e-01 -2.26849086e+00] [ 2.44997412e-04 9.50310498e-01 3.11303544e-01 5.66164691e-01] [ 1.78993992e-01 -3.06317727e-01 9.34949518e-01 6.81165975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524839173 meters Centerline goodness : 0.799929 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.57, Z:0.68 [[ 0.98447986 0.06097299 -0.16456521 -2.32276886] [-0.01167966 0.95839045 0.28522154 0.56928445] [ 0.17510853 -0.27887279 0.94422824 0.67532321] [ 0. 0. 0. 1. ]] SLAMing on 13.554839173 meters Centerline goodness : 0.804693 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.59, Z:0.69 [[ 0.98436877 0.05951256 -0.16576002 -2.31981585] [-0.01526537 0.9664673 0.25633558 0.58924607] [ 0.17545682 -0.24979835 0.9522687 0.68569724] [ 0. 0. 0. 1. ]] SLAMing on 13.584839172999999 meters Centerline goodness : 0.804957 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.61, Z:0.69 [[ 0.9845733 0.06222865 -0.16353291 -2.32251641] [-0.02427906 0.97416675 0.22452099 0.61258798] [ 0.17327996 -0.21708695 0.96064942 0.68875702] [ 0. 0. 0. 1. ]] SLAMing on 13.614839173 meters Centerline goodness : 0.801509 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.63, Z:0.69 [[ 0.98410771 0.06162752 -0.16653548 -2.32452053] [-0.02645238 0.97825841 0.20569579 0.62610279] [ 0.17559125 -0.19802155 0.96434184 0.69029561] [ 0. 0. 0. 1. ]] SLAMing on 13.644839173 meters Centerline goodness : 0.809521 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.64, Z:0.69 [[ 0.98456365 0.05634875 -0.16570827 -2.33100165] [-0.02502068 0.98234762 0.1853837 0.64195076] [ 0.17322926 -0.17837592 0.96859365 0.68808027] [ 0. 0. 0. 1. ]] SLAMing on 13.674839173 meters Centerline goodness : 0.816425 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.66, Z:0.69 [[ 0.98464539 0.0522904 -0.16655083 -2.31352822] [-0.02429629 0.98584695 0.1658779 0.65739267] [ 0.17286745 -0.15928434 0.97198012 0.69451491] [ 0. 0. 0. 1. ]] SLAMing on 13.704839173 meters Centerline goodness : 0.819296 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.67, Z:0.69 [[ 0.98518796 0.05120977 -0.16365279 -2.32105337] [-0.02632626 0.98822165 0.1507478 0.6687938 ] [ 0.16944499 -0.14420655 0.97493224 0.69221815] [ 0. 0. 0. 1. ]] SLAMing on 13.734839173 meters Centerline goodness : 0.811078 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.68, Z:0.69 [[ 0.98548712 0.04933908 -0.16242164 -2.32201864] [-0.02535202 0.9888754 0.14656983 0.67577263] [ 0.16784638 -0.14032497 0.97577482 0.69083429] [ 0. 0. 0. 1. ]] SLAMing on 13.764839173 meters Centerline goodness : 0.814733 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.69, Z:0.70 [[ 0.98554117 0.05227998 -0.16116887 -2.30072988] [-0.03111407 0.99087307 0.13115823 0.69041714] [ 0.16655484 -0.12424722 0.97817284 0.69686948] [ 0. 0. 0. 1. ]] SLAMing on 13.794839173 meters Centerline goodness : 0.808842 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.70, Z:0.70 [[ 0.98530193 0.05085273 -0.16307698 -2.29835205] [-0.03047065 0.99167186 0.12513375 0.7006702 ] [ 0.16808224 -0.11832546 0.97864572 0.70145621] [ 0. 0. 0. 1. ]] SLAMing on 13.824839172999999 meters Centerline goodness : 0.806168 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.71, Z:0.70 [[ 0.98517635 0.04993784 -0.1641151 -2.29628281] [-0.03017627 0.99222155 0.12077165 0.71142117] [ 0.16886961 -0.11402899 0.97902014 0.70261925] [ 0. 0. 0. 1. ]] SLAMing on 13.854839173 meters Centerline goodness : 0.434219 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.57, Z:0.66 [[ 0.97736589 0.06604944 -0.20098108 -2.21461131] [-0.00520681 0.95723616 0.28926084 0.56750152] [ 0.21149188 -0.2816672 0.93591387 0.65556852] [ 0. 0. 0. 1. ]] SLAMing on 13.884839173 meters Centerline goodness : 0.647183 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.55, Z:0.69 [[ 0.96374175 0.05350758 -0.26141687 -2.21453834] [ 0.03158395 0.94992702 0.31087155 0.54735445] [ 0.26496093 -0.30785647 0.91379434 0.69301416] [ 0. 0. 0. 1. ]] SLAMing on 13.914839172999999 meters Centerline goodness : 0.879480 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.13, Z:1.42 [[ 0.90235596 -0.31287385 -0.29641806 -2.04065073] [ 0.11194525 0.83429727 -0.5398299 1.12874688] [ 0.41619944 0.45393613 0.78785786 1.42294805] [ 0. 0. 0. 1. ]] SLAMing on 13.944839173 meters Centerline goodness : 0.679039 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.93, Z:1.07 [[ 0.99913601 -0.03842403 -0.01583751 -2.51565208] [ 0.0339965 0.97482913 -0.22034611 0.93088054] [ 0.02390545 0.21961732 0.97529317 1.06856827] [ 0. 0. 0. 1. ]] SLAMing on 13.974839173 meters Centerline goodness : 0.831261 Centerline is valid? [False, False] Translation: X:-2.68, Y:1.19, Z:1.43 [[ 0.92022433 0.12886424 0.36956892 -2.6801654 ] [ 0.20464545 0.64646885 -0.73498181 1.18669658] [-0.33362767 0.75197875 0.56852488 1.43408965] [ 0. 0. 0. 1. ]] SLAMing on 14.004839172999999 meters Centerline goodness : 0.812095 Centerline is valid? [False, False] Translation: X:-2.76, Y:1.17, Z:1.44 [[ 0.92150989 0.11294581 0.37156799 -2.76146863] [ 0.20080452 0.68037222 -0.70481997 1.17216857] [-0.332411 0.7241111 0.6042897 1.44005786] [ 0. 0. 0. 1. ]] SLAMing on 14.034839173 meters Centerline goodness : 0.811436 Centerline is valid? [False, False] Translation: X:-2.82, Y:1.16, Z:1.45 [[ 0.9256 0.10052957 0.36490881 -2.81856445] [ 0.19305787 0.70385742 -0.68360324 1.1577139 ] [-0.32556612 0.70319168 0.6320824 1.44564637] [ 0. 0. 0. 1. ]] SLAMing on 14.064839173 meters Centerline goodness : 0.724062 Centerline is valid? [False, False] Translation: X:-2.96, Y:1.12, Z:1.46 [[ 0.96552415 -0.01953597 0.25957938 -2.96196617] [ 0.17506274 0.78673355 -0.59194878 1.11517315] [-0.19265552 0.61698353 0.76303026 1.46036607] [ 0. 0. 0. 1. ]] SLAMing on 14.094839173 meters Centerline goodness : 0.804165 Centerline is valid? [False, False] Translation: X:-2.89, Y:1.12, Z:1.50 [[ 0.94739526 0.05234204 0.31575708 -2.88696052] [ 0.17152796 0.7498758 -0.63895575 1.12362875] [-0.27022284 0.65950481 0.70145065 1.50053636] [ 0. 0. 0. 1. ]] SLAMing on 14.124839173 meters Centerline goodness : 0.824744 Centerline is valid? [False, False] Translation: X:-2.96, Y:1.09, Z:1.49 [[ 9.66552156e-01 -1.66290754e-03 2.56464743e-01 -2.95670217e+00] [ 1.55425733e-01 7.99231464e-01 -5.80578942e-01 1.08966985e+00] [-2.04009243e-01 6.01021049e-01 7.72757354e-01 1.48857015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154839173 meters Centerline goodness : 0.693926 Centerline is valid? [False, False] Translation: X:-3.02, Y:1.07, Z:1.48 [[ 0.96935494 -0.02971921 0.24386016 -3.01504709] [ 0.1598554 0.83005938 -0.53427304 1.06923631] [-0.18654024 0.55688257 0.80937293 1.47602493] [ 0. 0. 0. 1. ]] SLAMing on 14.184839173 meters Centerline goodness : 0.687041 Centerline is valid? [False, False] Translation: X:-3.17, Y:1.04, Z:1.42 [[ 0.9582605 -0.07640979 0.27549657 -3.16964928] [ 0.19991439 0.86795318 -0.45463338 1.04087606] [-0.20437968 0.49073294 0.84700067 1.41957718] [ 0. 0. 0. 1. ]] SLAMing on 14.214839173 meters Centerline goodness : 0.822521 Centerline is valid? [False, False] Translation: X:-2.17, Y:-1.18, Z:1.22 [[ 0.80474807 0.20401225 -0.55745811 -2.16880233] [ 0.25907841 0.72422061 0.63904842 -1.18134946] [ 0.53409636 -0.65869834 0.52995997 1.21835829] [ 0. 0. 0. 1. ]] SLAMing on 14.244839172999999 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-2.10, Y:-1.09, Z:1.27 [[ 0.82990168 0.16406344 -0.5332414 -2.0963758 ] [ 0.23525861 0.76374343 0.60112341 -1.09169688] [ 0.505882 -0.62432296 0.59523462 1.2692497 ] [ 0. 0. 0. 1. ]] SLAMing on 14.274839173 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-2.10, Y:-1.07, Z:1.27 [[ 0.83080706 0.14243804 -0.53802513 -2.09507094] [ 0.23488795 0.78665229 0.5709692 -1.06557552] [ 0.50456643 -0.60074086 0.62009929 1.27310765] [ 0. 0. 0. 1. ]] SLAMing on 14.304839173 meters Centerline goodness : 0.786670 Centerline is valid? [False, False] Translation: X:-2.16, Y:-1.08, Z:1.19 [[ 0.85696246 0.12322835 -0.50042993 -2.15560628] [ 0.22736694 0.78100028 0.58167245 -1.08426464] [ 0.46251445 -0.61225268 0.64126987 1.19339796] [ 0. 0. 0. 1. ]] SLAMing on 14.334839172999999 meters Centerline goodness : 0.761092 Centerline is valid? [False, False] Translation: X:-2.19, Y:-1.09, Z:1.14 [[ 0.87071262 0.11544952 -0.4780491 -2.18668628] [ 0.22352832 0.77294168 0.59379815 -1.09265902] [ 0.43805779 -0.62388506 0.64720384 1.1385985 ] [ 0. 0. 0. 1. ]] SLAMing on 14.364839173 meters Centerline goodness : 0.787931 Centerline is valid? [False, False] Translation: X:-2.22, Y:-1.08, Z:1.11 [[ 0.88030036 0.09528892 -0.46474864 -2.22493531] [ 0.22205177 0.78293442 0.58112537 -1.07995271] [ 0.41924252 -0.61476313 0.66805838 1.11446693] [ 0. 0. 0. 1. ]] SLAMing on 14.394839173 meters Centerline goodness : 0.796333 Centerline is valid? [False, False] Translation: X:-2.25, Y:-1.07, Z:1.10 [[ 0.88654024 0.07858633 -0.45592827 -2.25484236] [ 0.22167652 0.79282782 0.56770024 -1.06657285] [ 0.4060861 -0.6043577 0.68545302 1.10109116] [ 0. 0. 0. 1. ]] SLAMing on 14.424839172999999 meters Centerline goodness : 0.741550 Centerline is valid? [False, False] Translation: X:-2.27, Y:-1.06, Z:1.09 [[ 0.89030567 0.06935867 -0.4500502 -2.27491833] [ 0.22108435 0.79819076 0.56036883 -1.06063102] [ 0.39809235 -0.5983986 0.69529964 1.09454228] [ 0. 0. 0. 1. ]] SLAMing on 14.454839173 meters Centerline goodness : 0.779461 Centerline is valid? [False, False] Translation: X:-2.30, Y:-1.04, Z:1.09 [[ 0.89362591 0.05059357 -0.44595182 -2.29618801] [ 0.22383964 0.8109874 0.54055088 -1.04355879] [ 0.3890097 -0.58287197 0.71339451 1.09238608] [ 0. 0. 0. 1. ]] SLAMing on 14.484839173 meters Centerline goodness : 0.755717 Centerline is valid? [False, False] Translation: X:-2.31, Y:-1.02, Z:1.09 [[ 0.89363778 0.03999158 -0.44700356 -2.30670491] [ 0.22678929 0.81924872 0.52668602 -1.02041903] [ 0.3872701 -0.57204214 0.72304195 1.0937683 ] [ 0. 0. 0. 1. ]] SLAMing on 14.514839173 meters Centerline goodness : 0.686059 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.99, Z:1.10 [[ 0.89450481 0.0291512 -0.44610689 -2.29949474] [ 0.22480497 0.8332016 0.50521066 -0.98972213] [ 0.38642448 -0.55220041 0.7387495 1.09836649] [ 0. 0. 0. 1. ]] SLAMing on 14.544839173 meters Centerline goodness : 0.688273 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.97, Z:1.11 [[ 0.89578896 0.01647445 -0.44417421 -2.29195224] [ 0.22418231 0.84614802 0.48350368 -0.96752705] [ 0.38380258 -0.53269326 0.75427678 1.10633088] [ 0. 0. 0. 1. ]] SLAMing on 14.574839172999999 meters Centerline goodness : 0.712211 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.95, Z:1.11 [[ 8.96214838e-01 8.11766313e-04 -4.43619550e-01 -2.29439912e+00] [ 2.25478445e-01 8.60363382e-01 4.57093340e-01 -9.47494609e-01] [ 3.82045069e-01 -5.09680480e-01 7.70887394e-01 1.10679612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604839173 meters Centerline goodness : 0.749270 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.93, Z:1.11 [[ 0.89847164 -0.01316576 -0.43883412 -2.29516799] [ 0.22518534 0.87187376 0.43488817 -0.927652 ] [ 0.37688232 -0.48955369 0.78631858 1.10800124] [ 0. 0. 0. 1. ]] SLAMing on 14.634839173 meters Centerline goodness : 0.671758 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.91, Z:1.10 [[ 0.90071489 -0.02414896 -0.433739 -2.30482471] [ 0.22514432 0.87984195 0.41855487 -0.90920697] [ 0.3715141 -0.47465247 0.79792375 1.10206715] [ 0. 0. 0. 1. ]] SLAMing on 14.664839172999999 meters Centerline goodness : 0.754971 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.90, Z:1.10 [[ 0.90108556 -0.03383613 -0.43231924 -2.31413232] [ 0.22526101 0.88841062 0.39998006 -0.89693433] [ 0.37054322 -0.45780093 0.80815594 1.09929603] [ 0. 0. 0. 1. ]] SLAMing on 14.694839173 meters Centerline goodness : 0.759608 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.88, Z:1.10 [[ 0.90065615 -0.04202912 -0.43249514 -2.32439499] [ 0.22511999 0.89645685 0.38168849 -0.88148386] [ 0.3716712 -0.44113338 0.81686098 1.09635061] [ 0. 0. 0. 1. ]] SLAMing on 14.724839173 meters Centerline goodness : 0.759942 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.87, Z:1.09 [[ 0.90104195 -0.05022318 -0.4308144 -2.33565544] [ 0.22454247 0.90382175 0.36426216 -0.8703721 ] [ 0.37108502 -0.42495161 0.82565854 1.09394879] [ 0. 0. 0. 1. ]] SLAMing on 14.754839172999999 meters Centerline goodness : 0.760961 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.86, Z:1.09 [[ 0.90117715 -0.06135233 -0.42908697 -2.34617118] [ 0.23037128 0.90633517 0.35423952 -0.85512486] [ 0.36716319 -0.41808188 0.83090236 1.09371036] [ 0. 0. 0. 1. ]] SLAMing on 14.784839173 meters Centerline goodness : 0.762394 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.85, Z:1.09 [[ 0.90444637 -0.07142301 -0.42056572 -2.35982662] [ 0.23061587 0.91126455 0.34119385 -0.85038373] [ 0.35887754 -0.40558066 0.84066119 1.08900226] [ 0. 0. 0. 1. ]] SLAMing on 14.814839173 meters Centerline goodness : 0.760120 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.84, Z:1.08 [[ 0.90906066 -0.08226236 -0.40846251 -2.38149705] [ 0.22856424 0.91810855 0.32378244 -0.84380457] [ 0.34837781 -0.3876978 0.8534186 1.08336648] [ 0. 0. 0. 1. ]] SLAMing on 14.844839173 meters Centerline goodness : 0.762428 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.83, Z:1.08 [[ 0.91093995 -0.08511543 -0.40366295 -2.39675589] [ 0.22321126 0.92457662 0.30876334 -0.8328175 ] [ 0.3469368 -0.37136697 0.8612325 1.08115989] [ 0. 0. 0. 1. ]] SLAMing on 14.874839173 meters Centerline goodness : 0.761883 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.83, Z:1.08 [[ 0.91133597 -0.08696745 -0.40237223 -2.40530085] [ 0.21896589 0.93009815 0.29490909 -0.82521642] [ 0.34859818 -0.35686706 0.8666748 1.08038517] [ 0. 0. 0. 1. ]] SLAMing on 14.904839173 meters Centerline goodness : 0.760107 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.82, Z:1.08 [[ 0.91030191 -0.08723118 -0.40464942 -2.41236232] [ 0.21492607 0.93505272 0.28192765 -0.81793338] [ 0.35377566 -0.34360899 0.86992853 1.08094629] [ 0. 0. 0. 1. ]] SLAMing on 14.934839173 meters Centerline goodness : 0.759230 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.81, Z:1.08 [[ 0.90992305 -0.0829844 -0.40639098 -2.42241957] [ 0.20428732 0.94236625 0.26497647 -0.81476386] [ 0.36098023 -0.32412873 0.87443344 1.07577973] [ 0. 0. 0. 1. ]] SLAMing on 14.964839173 meters Centerline goodness : 0.757020 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.81, Z:1.07 [[ 0.91052523 -0.08757075 -0.40407321 -2.42830827] [ 0.20182955 0.94709773 0.24954101 -0.81199034] [ 0.36084433 -0.3087673 0.88003075 1.07346711] [ 0. 0. 0. 1. ]] SLAMing on 14.994839172999999 meters Centerline goodness : 0.756866 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.81, Z:1.07 [[ 0.91390077 -0.09277093 -0.39519482 -2.44175508] [ 0.19917553 0.95077136 0.2374088 -0.80896721] [ 0.35371528 -0.29568122 0.88738837 1.06773336] [ 0. 0. 0. 1. ]] SLAMing on 15.024839173 meters Centerline goodness : 0.755653 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.81, Z:1.06 [[ 0.9160669 -0.1004207 -0.38824878 -2.45150485] [ 0.20138825 0.95240678 0.22883203 -0.80665416] [ 0.3467913 -0.28781419 0.89269188 1.06377303] [ 0. 0. 0. 1. ]] SLAMing on 15.054839173 meters Centerline goodness : 0.755067 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.81, Z:1.06 [[ 0.91879063 -0.10714382 -0.37992628 -2.4636144 ] [ 0.20207294 0.95445288 0.21951361 -0.80787548] [ 0.33910221 -0.27845987 0.89859323 1.06019806] [ 0. 0. 0. 1. ]] SLAMing on 15.084839172999999 meters Centerline goodness : 0.757394 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.81, Z:1.06 [[ 0.9185803 -0.11227978 -0.37895051 -2.47062137] [ 0.20573666 0.95449456 0.21589943 -0.80737615] [ 0.33746506 -0.27628498 0.89987996 1.06305096] [ 0. 0. 0. 1. ]] SLAMing on 15.114839173 meters Centerline goodness : 0.757471 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.81, Z:1.06 [[ 0.92019417 -0.11278717 -0.37486229 -2.47914327] [ 0.2047386 0.9548463 0.215292 -0.80680535] [ 0.3336537 -0.27485922 0.90173589 1.06071946] [ 0. 0. 0. 1. ]] SLAMing on 15.144839173 meters Centerline goodness : 0.759682 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.80, Z:1.06 [[ 0.91827592 -0.11267541 -0.37957026 -2.49098042] [ 0.20271103 0.95727337 0.20624241 -0.80386577] [ 0.34011406 -0.26633052 0.90188164 1.0612444 ] [ 0. 0. 0. 1. ]] SLAMing on 15.174839172999999 meters Centerline goodness : 0.760436 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.80, Z:1.06 [[ 0.91632521 -0.11713677 -0.38291917 -2.49800581] [ 0.20279368 0.96030936 0.19152197 -0.80257212] [ 0.3452866 -0.25314999 0.90371027 1.06289882] [ 0. 0. 0. 1. ]] SLAMing on 15.204839173 meters Centerline goodness : 0.755487 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.81, Z:1.06 [[ 0.9178198 -0.1200151 -0.37842198 -2.50489267] [ 0.1977132 0.96477329 0.17355686 -0.81028572] [ 0.34426197 -0.23411295 0.9092166 1.05910401] [ 0. 0. 0. 1. ]] SLAMing on 15.234839173 meters Centerline goodness : 0.754653 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.81, Z:1.05 [[ 0.92055611 -0.12054684 -0.37154394 -2.51279712] [ 0.193141 0.96724647 0.16471434 -0.8147085 ] [ 0.33951877 -0.22338916 0.91368719 1.05382573] [ 0. 0. 0. 1. ]] SLAMing on 15.264839173 meters Centerline goodness : 0.756451 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.82, Z:1.05 [[ 0.9223772 -0.1212251 -0.3667762 -2.51702858] [ 0.19208866 0.96770811 0.16322674 -0.82084352] [ 0.33514512 -0.22101017 0.91587786 1.05025084] [ 0. 0. 0. 1. ]] SLAMing on 15.294839173 meters Centerline goodness : 0.760446 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.83, Z:1.05 [[ 0.92423845 -0.12365506 -0.36123774 -2.52421103] [ 0.19204006 0.96827444 0.15989131 -0.82536342] [ 0.3300059 -0.21714981 0.91866319 1.04717597] [ 0. 0. 0. 1. ]] SLAMing on 15.324839172999999 meters Centerline goodness : 0.754719 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.83, Z:1.05 [[ 0.92383064 -0.12844042 -0.3606106 -2.52600409] [ 0.19577863 0.96803686 0.15676531 -0.83229284] [ 0.32894935 -0.21542445 0.91944801 1.05063202] [ 0. 0. 0. 1. ]] SLAMing on 15.354839173 meters Centerline goodness : 0.755692 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.84, Z:1.05 [[ 0.9261734 -0.13052019 -0.35378992 -2.53134197] [ 0.19453884 0.96908361 0.15176161 -0.8385756 ] [ 0.32304407 -0.20938345 0.92293071 1.04539167] [ 0. 0. 0. 1. ]] SLAMing on 15.384839173 meters Centerline goodness : 0.754418 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.84, Z:1.04 [[ 0.92738027 -0.13354249 -0.34947423 -2.53277251] [ 0.19545174 0.96944963 0.14820941 -0.84230701] [ 0.31900541 -0.20575183 0.92514957 1.04116498] [ 0. 0. 0. 1. ]] SLAMing on 15.414839172999999 meters Centerline goodness : 0.755171 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.85, Z:1.03 [[ 0.92938282 -0.1368385 -0.34281598 -2.53583371] [ 0.19507681 0.97053289 0.14146007 -0.84880648] [ 0.313357 -0.198346 0.92869061 1.03494795] [ 0. 0. 0. 1. ]] SLAMing on 15.444839173 meters Centerline goodness : 0.759370 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.86, Z:1.03 [[ 0.93258879 -0.13757376 -0.33369388 -2.54569695] [ 0.19085204 0.97265122 0.13238238 -0.85942697] [ 0.30635542 -0.18714448 0.93333986 1.02949094] [ 0. 0. 0. 1. ]] SLAMing on 15.474839173 meters Centerline goodness : 0.760397 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.86, Z:1.03 [[ 0.93446316 -0.13757485 -0.32840792 -2.55092746] [ 0.18902076 0.97331519 0.13011029 -0.86487644] [ 0.30174451 -0.18365919 0.93553169 1.02595846] [ 0. 0. 0. 1. ]] SLAMing on 15.504839172999999 meters Centerline goodness : 0.761918 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.87, Z:1.03 [[ 0.93468771 -0.13636189 -0.32827475 -2.55098205] [ 0.18820454 0.97327563 0.13158113 -0.87066525] [ 0.30155916 -0.18477006 0.9353727 1.02711488] [ 0. 0. 0. 1. ]] SLAMing on 15.534839173 meters Centerline goodness : 0.762830 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.87, Z:1.03 [[ 0.93478487 -0.1362156 -0.32805876 -2.5528945 ] [ 0.18806877 0.97327627 0.13177038 -0.87280571] [ 0.30134262 -0.18487457 0.93542184 1.02883081] [ 0. 0. 0. 1. ]] SLAMing on 15.564839173 meters Centerline goodness : 0.767601 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.88, Z:1.03 [[ 0.93747733 -0.13313519 -0.32157624 -2.56231247] [ 0.18297888 0.97448578 0.12998536 -0.88197445] [ 0.29606585 -0.18069999 0.93791925 1.02718709] [ 0. 0. 0. 1. ]] SLAMing on 15.594839173 meters Centerline goodness : 0.769930 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.89, Z:1.03 [[ 0.93894892 -0.13152858 -0.31792319 -2.56685869] [ 0.1806737 0.97487637 0.13028077 -0.88661344] [ 0.29280017 -0.17976735 0.93912287 1.02524318] [ 0. 0. 0. 1. ]] SLAMing on 15.624839173 meters Centerline goodness : 0.771168 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.89, Z:1.03 [[ 0.94013086 -0.13242291 -0.31403524 -2.56689793] [ 0.17908875 0.97590869 0.1246172 -0.89094395] [ 0.28996755 -0.17339666 0.94119733 1.02814952] [ 0. 0. 0. 1. ]] SLAMing on 15.654839173 meters Centerline goodness : 0.770982 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.90, Z:1.03 [[ 0.94001552 -0.13573905 -0.31296282 -2.56554316] [ 0.18158818 0.97575081 0.12221332 -0.89566103] [ 0.2887846 -0.17171277 0.94186951 1.02756715] [ 0. 0. 0. 1. ]] SLAMing on 15.684839173 meters Centerline goodness : 0.772451 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.91, Z:1.02 [[ 0.94139707 -0.13996098 -0.30689166 -2.56881038] [ 0.18309951 0.9761708 0.11646948 -0.90859883] [ 0.28327749 -0.16583574 0.94459111 1.02369874] [ 0. 0. 0. 1. ]] SLAMing on 15.714839173 meters Centerline goodness : 0.775751 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.92, Z:1.02 [[ 0.94157611 -0.14312078 -0.30487845 -2.57158294] [ 0.18542981 0.97596106 0.11452422 -0.91552068] [ 0.2811587 -0.16436683 0.94548048 1.02456712] [ 0. 0. 0. 1. ]] SLAMing on 15.744839172999999 meters Centerline goodness : 0.778242 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.92, Z:1.03 [[ 0.94447267 -0.15293784 -0.29082881 -2.59795799] [ 0.18869787 0.9770313 0.09900989 -0.92286487] [ 0.2690065 -0.14839091 0.9516384 1.03134447] [ 0. 0. 0. 1. ]] SLAMing on 15.774839173 meters Centerline goodness : 0.781955 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.92, Z:1.03 [[ 0.94758751 -0.15819868 -0.27758078 -2.6043758 ] [ 0.19250606 0.9760979 0.10086772 -0.9221018 ] [ 0.25498888 -0.14901698 0.95539239 1.0312496 ] [ 0. 0. 0. 1. ]] SLAMing on 15.804839173 meters Centerline goodness : 0.786470 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.92, Z:1.04 [[ 0.94776997 -0.1668046 -0.27186082 -2.62012186] [ 0.19844306 0.97567315 0.0931786 -0.92399804] [ 0.24970468 -0.14226077 0.95781493 1.04146209] [ 0. 0. 0. 1. ]] SLAMing on 15.834839172999999 meters Centerline goodness : 0.785263 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.92, Z:1.04 [[ 0.94966724 -0.17851324 -0.25742021 -2.6215465 ] [ 0.20670032 0.97455269 0.08672962 -0.92313559] [ 0.23538717 -0.13557312 0.96239951 1.03699663] [ 0. 0. 0. 1. ]] SLAMing on 15.864839173 meters Centerline goodness : 0.783480 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94932749 -0.19546955 -0.24610766 -2.63298395] [ 0.2166279 0.97429727 0.06178342 -0.92818535] [ 0.22770525 -0.11196648 0.96727133 1.0337565 ] [ 0. 0. 0. 1. ]] SLAMing on 15.894839173 meters Centerline goodness : 0.777955 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94956754 -0.21354029 -0.22961278 -2.63341059] [ 0.23102482 0.97156531 0.05184958 -0.93269079] [ 0.21201183 -0.10228093 0.97189999 1.0290023 ] [ 0. 0. 0. 1. ]] SLAMing on 15.924839172999999 meters Centerline goodness : 0.796112 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.93, Z:1.03 [[ 0.94872403 -0.21589423 -0.23089478 -2.62887644] [ 0.23439147 0.97055136 0.05559409 -0.93448172] [ 0.2120928 -0.10686322 0.97138916 1.02746442] [ 0. 0. 0. 1. ]] SLAMing on 15.954839173 meters Centerline goodness : 0.774584 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.93, Z:1.03 [[ 0.95019701 -0.22878744 -0.21161744 -2.64320769] [ 0.24313153 0.96899085 0.04408857 -0.93380874] [ 0.19496845 -0.0933437 0.97635765 1.02993302] [ 0. 0. 0. 1. ]] SLAMing on 15.984839173 meters Centerline goodness : 0.775443 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.02 [[ 0.95130694 -0.23882019 -0.19488463 -2.64387611] [ 0.25050821 0.96739412 0.03733977 -0.9376701 ] [ 0.17961276 -0.08434178 0.98011516 1.02289632] [ 0. 0. 0. 1. ]] SLAMing on 16.014839173 meters Centerline goodness : 0.773891 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95243622 -0.24568962 -0.1802827 -2.64130509] [ 0.25575899 0.96612321 0.03454398 -0.944099 ] [ 0.1656882 -0.07900986 0.98300807 1.01410467] [ 0. 0. 0. 1. ]] SLAMing on 16.044839173 meters Centerline goodness : 0.770635 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95388359 -0.25032263 -0.16566433 -2.6442978 ] [ 0.25904987 0.96530003 0.0330003 -0.94380085] [ 0.15165506 -0.07439376 0.98562991 1.01027028] [ 0. 0. 0. 1. ]] SLAMing on 16.074839173 meters Centerline goodness : 0.781524 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.94, Z:1.01 [[ 0.95397926 -0.25019103 -0.16531187 -2.64445966] [ 0.25884711 0.96536388 0.03272232 -0.94253754] [ 0.15139928 -0.07400692 0.98569835 1.00937952] [ 0. 0. 0. 1. ]] SLAMing on 16.104839173 meters Centerline goodness : 0.757824 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.94, Z:1.01 [[ 0.9550173 -0.2465886 -0.16473012 -2.64604849] [ 0.25548044 0.96618662 0.03483054 -0.9439192 ] [ 0.15057122 -0.07534909 0.9857235 1.00899791] [ 0. 0. 0. 1. ]] SLAMing on 16.134839173 meters Centerline goodness : 0.756869 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.94, Z:1.01 [[ 0.95539898 -0.25213329 -0.15375824 -2.64656908] [ 0.26027364 0.96490029 0.0350009 -0.93996991] [ 0.13953648 -0.07345904 0.9874884 1.00848018] [ 0. 0. 0. 1. ]] SLAMing on 16.164839173 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.95, Z:1.00 [[ 0.95761379 -0.24968749 -0.14363836 -2.64187181] [ 0.25793044 0.96526516 0.04165401 -0.94751885] [ 0.12824862 -0.07693716 0.98875324 1.00147763] [ 0. 0. 0. 1. ]] SLAMing on 16.194839173 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.95, Z:1.00 [[ 0.95761379 -0.24968749 -0.14363836 -2.64187181] [ 0.25793044 0.96526516 0.04165401 -0.94751885] [ 0.12824862 -0.07693716 0.98875324 1.00147763] [ 0. 0. 0. 1. ]] SLAMing on 16.224839173 meters Centerline goodness : 0.776447 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.96, Z:1.00 [[ 0.95972954 -0.24304078 -0.14089141 -2.6473545 ] [ 0.25131143 0.96690767 0.04395586 -0.95670882] [ 0.12554592 -0.07759336 0.98904878 1.00067807] [ 0. 0. 0. 1. ]] SLAMing on 16.254839173 meters Centerline goodness : 0.781133 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.96000337 -0.24780939 -0.13032282 -2.64307813] [ 0.25566272 0.96561403 0.04718169 -0.95759328] [ 0.11414948 -0.07861326 0.99034835 0.99568977] [ 0. 0. 0. 1. ]] SLAMing on 16.284839172999998 meters Centerline goodness : 0.780872 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.95935496 -0.24969585 -0.1314916 -2.64075204] [ 0.25786682 0.96493633 0.04901619 -0.96065722] [ 0.11464188 -0.08093125 0.99010473 0.99763087] [ 0. 0. 0. 1. ]] SLAMing on 16.314839173 meters Centerline goodness : 0.789852 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:1.00 [[ 0.95782897 -0.25526589 -0.13192042 -2.63739679] [ 0.26332779 0.9635368 0.0474901 -0.96495792] [ 0.11498758 -0.0802257 0.99012206 0.99906148] [ 0. 0. 0. 1. ]] SLAMing on 16.344839173 meters Centerline goodness : 0.801279 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.97, Z:1.00 [[ 0.95806804 -0.25391182 -0.13279461 -2.63491282] [ 0.2624019 0.96363015 0.05061795 -0.97048285] [ 0.1151124 -0.083341 0.9898502 0.99909309] [ 0. 0. 0. 1. ]] SLAMing on 16.374839172999998 meters Centerline goodness : 0.791599 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.97, Z:1.00 [[ 0.95786879 -0.25541555 -0.1313403 -2.63530928] [ 0.26351343 0.96345064 0.04820317 -0.97389784] [ 0.11422806 -0.08078225 0.99016472 0.99818557] [ 0. 0. 0. 1. ]] SLAMing on 16.404839173 meters Centerline goodness : 0.790085 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.97, Z:0.99 [[ 0.95751928 -0.25941001 -0.12594951 -2.62178 ] [ 0.26762265 0.96206048 0.05308255 -0.97243519] [ 0.1074009 -0.08453451 0.99061545 0.99106485] [ 0. 0. 0. 1. ]] SLAMing on 16.434839173 meters Centerline goodness : 0.775232 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.00, Z:0.97 [[ 0.95544314 -0.25930904 -0.1410221 -2.66691372] [ 0.27096291 0.95999876 0.07057966 -0.99755319] [ 0.1170791 -0.10564661 0.98748736 0.96782361] [ 0. 0. 0. 1. ]] SLAMing on 16.464839172999998 meters Centerline goodness : 0.845466 Centerline is valid? [False, False] Translation: X:-4.10, Y:0.79, Z:1.55 [[ 0.71964314 0.05024598 0.69252371 -4.10021129] [ 0.34710968 0.83777293 -0.42148712 0.79474973] [-0.60135565 0.54370199 0.58545668 1.54901902] [ 0. 0. 0. 1. ]] SLAMing on 16.494839173 meters Centerline goodness : 0.806909 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.04, Z:1.89 [[-0.71548341 -0.11618563 0.68890086 -4.81546268] [-0.56223575 -0.48956335 -0.66649733 -0.04115692] [ 0.41469802 -0.86419247 0.28495074 1.88697193] [ 0. 0. 0. 1. ]] SLAMing on 16.524839173 meters Centerline goodness : 0.626107 Centerline is valid? [False, False] Translation: X:-3.72, Y:-0.42, Z:1.21 [[ 0.71674198 -0.69719622 -0.01408418 -3.72352807] [ 0.42038244 0.415877 0.80642726 -0.4195881 ] [-0.55638075 -0.58392101 0.59116556 1.21185052] [ 0. 0. 0. 1. ]] SLAMing on 16.554839173 meters Centerline goodness : 0.654319 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.03, Z:1.17 [[ 0.74468938 -0.55744838 0.36700004 -3.97565532] [ 0.3748539 0.80430576 0.46106052 -0.03408523] [-0.55219768 -0.20577548 0.80791966 1.1651605 ] [ 0. 0. 0. 1. ]] SLAMing on 16.584839173 meters Centerline goodness : 0.801571 Centerline is valid? [False, False] Translation: X:-3.83, Y:0.24, Z:1.45 [[ 0.77638942 -0.48002316 0.40840817 -3.83380442] [ 0.40472886 0.87646845 0.2607635 0.24210951] [-0.4831294 -0.03715945 0.87476006 1.44912141] [ 0. 0. 0. 1. ]] SLAMing on 16.614839173 meters Centerline goodness : 0.753301 Centerline is valid? [False, False] Translation: X:-3.91, Y:0.24, Z:1.49 [[ 0.78257127 -0.47404339 0.40356545 -3.91330451] [ 0.4252819 0.88046832 0.20954914 0.24048636] [-0.45466198 0.00764195 0.89063129 1.49356449] [ 0. 0. 0. 1. ]] SLAMing on 16.644839173 meters Centerline goodness : 0.778662 Centerline is valid? [False, False] Translation: X:-3.85, Y:0.21, Z:1.48 [[ 0.76330369 -0.53026235 0.36903837 -3.85273209] [ 0.44750593 0.8459706 0.28995206 0.21163317] [-0.46594627 -0.05617461 0.88302802 1.47969436] [ 0. 0. 0. 1. ]] SLAMing on 16.674839173 meters Centerline goodness : 0.772731 Centerline is valid? [False, False] Translation: X:-3.76, Y:0.43, Z:1.67 [[ 0.81151002 -0.39940066 0.42653323 -3.75572427] [ 0.46447242 0.88380863 -0.05610413 0.43236599] [-0.35456572 0.24364198 0.90273015 1.66843716] [ 0. 0. 0. 1. ]] SLAMing on 16.704839173 meters Centerline goodness : 0.761304 Centerline is valid? [False, False] Translation: X:-3.65, Y:0.46, Z:1.67 [[ 0.80991777 -0.45232742 0.37340743 -3.6502239 ] [ 0.49027424 0.8715345 -0.00766688 0.45612372] [-0.32196952 0.18928158 0.92763576 1.66756696] [ 0. 0. 0. 1. ]] SLAMing on 16.734839173 meters Centerline goodness : 0.783241 Centerline is valid? [False, False] Translation: X:-3.68, Y:0.36, Z:1.75 [[ 0.87799087 -0.3960091 0.26890302 -3.67788506] [ 0.4221683 0.90539734 -0.04505093 0.3601571 ] [-0.2256235 0.15307664 0.96211308 1.74549932] [ 0. 0. 0. 1. ]] SLAMing on 16.764839173 meters Centerline goodness : 0.936198 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.62, Z:2.04 [[ 0.91698468 -0.30359648 -0.25878229 -3.29138665] [ 0.35377479 0.31911537 0.87920918 -0.61613825] [-0.1843434 -0.897772 0.40002869 2.04006901] [ 0. 0. 0. 1. ]] SLAMing on 16.794839173 meters Centerline goodness : 0.983077 Centerline is valid? [False, True] Translation: X:-4.21, Y:0.07, Z:2.18 [[ 0.86384553 -0.47436774 0.1695469 -4.21013877] [ 0.50151669 0.84153646 -0.2007421 0.07234751] [-0.04745432 0.25844076 0.96486085 2.17545016] [ 0. 0. 0. 1. ]] SLAMing on 16.824839173 meters Centerline goodness : 0.860588 Centerline is valid? [True, False] Translation: X:-3.82, Y:-0.11, Z:1.91 [[ 0.99864975 -0.01074506 -0.05082537 -3.81705831] [ 0.00719479 0.99755416 -0.0695265 -0.11367505] [ 0.05144813 0.06906694 0.99628452 1.9121899 ] [ 0. 0. 0. 1. ]] SLAMing on 16.854839173 meters Centerline goodness : 0.997780 Centerline is valid? [False, True] Translation: X:-4.45, Y:-0.64, Z:1.44 [[ 0.91304466 -0.30189343 0.27424406 -4.44918066] [ 0.03166753 0.72284171 0.69028764 -0.64381575] [-0.40662835 -0.62157881 0.66954699 1.44390721] [ 0. 0. 0. 1. ]] SLAMing on 16.884839173 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:-4.34, Y:0.61, Z:1.68 [[ 0.90724084 -0.11601973 0.40429381 -4.33696598] [ 0.12117448 0.99254723 0.01291294 0.61257227] [-0.40277885 0.03727494 0.91453801 1.68094281] [ 0. 0. 0. 1. ]] SLAMing on 16.914839173 meters Centerline goodness : 0.811849 Centerline is valid? [True, False] Translation: X:-4.48, Y:0.82, Z:1.25 [[ 0.67108018 -0.02825738 0.74084608 -4.48203701] [ 0.4236057 0.83471001 -0.35187697 0.815373 ] [-0.60844852 0.54996428 0.57212733 1.24781691] [ 0. 0. 0. 1. ]] SLAMing on 16.944839173 meters Centerline goodness : 0.867644 Centerline is valid? [False, False] Translation: X:-4.11, Y:1.03, Z:0.79 [[ 0.86695547 -0.06609102 0.493984 -4.11450955] [ 0.2734944 0.89168582 -0.3606899 1.03207608] [-0.41664016 0.44780394 0.79112743 0.78637114] [ 0. 0. 0. 1. ]] SLAMing on 16.974839173 meters Centerline goodness : 0.780977 Centerline is valid? [False, False] Translation: X:-4.14, Y:0.90, Z:0.94 [[ 0.87731079 -0.30414214 0.37124566 -4.1409205 ] [ 0.3966544 0.89498055 -0.20414483 0.90444155] [-0.2701686 0.32635468 0.9058154 0.93513575] [ 0. 0. 0. 1. ]] SLAMing on 17.004839173 meters Centerline goodness : 0.762124 Centerline is valid? [False, False] Translation: X:-4.10, Y:0.88, Z:0.85 [[ 0.84344897 -0.32964316 0.42418065 -4.09874681] [ 0.39506994 0.91566797 -0.07397239 0.88095705] [-0.36402414 0.22997297 0.9025513 0.85207942] [ 0. 0. 0. 1. ]] SLAMing on 17.034839172999998 meters Centerline goodness : 0.786554 Centerline is valid? [False, False] Translation: X:-4.24, Y:0.68, Z:1.16 [[ 0.92267175 -0.31265779 0.22565893 -4.23649168] [ 0.3165599 0.94836898 0.01964944 0.67577768] [-0.22015148 0.05330459 0.97400819 1.15717212] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters Centerline goodness : 0.779226 Centerline is valid? [False, False] Translation: X:-4.26, Y:0.64, Z:1.18 [[ 0.94245285 -0.29181573 0.16317536 -4.26093599] [ 0.29477214 0.95554653 0.00634082 0.64080714] [-0.157772 0.04212363 0.98657671 1.17983394] [ 0. 0. 0. 1. ]] SLAMing on 17.094839173 meters Centerline goodness : 0.780103 Centerline is valid? [False, False] Translation: X:-4.23, Y:0.64, Z:1.23 [[ 0.95396884 -0.26210425 0.14575604 -4.22860379] [ 0.26926314 0.96255409 -0.03141639 0.64188323] [-0.13206371 0.06921698 0.98882161 1.2348086 ] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters Centerline goodness : 0.775463 Centerline is valid? [False, False] Translation: X:-4.28, Y:0.68, Z:1.20 [[ 0.93736843 -0.31335391 0.15215046 -4.28248472] [ 0.32032812 0.9470255 -0.02307797 0.68421663] [-0.13685879 0.07037063 0.98808787 1.20025786] [ 0. 0. 0. 1. ]] SLAMing on 17.154839173 meters Centerline goodness : 0.787497 Centerline is valid? [False, False] Translation: X:-4.25, Y:0.66, Z:1.20 [[ 9.30103964e-01 -3.49816251e-01 1.11960737e-01 -4.25169586e+00] [ 3.47611893e-01 9.36815304e-01 3.92817846e-02 6.63428352e-01] [-1.18627938e-01 2.38274004e-03 9.92935917e-01 1.20168083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184839173 meters Centerline goodness : 0.777447 Centerline is valid? [False, False] Translation: X:-4.30, Y:0.63, Z:1.25 [[ 0.93932471 -0.32243163 0.11707662 -4.30345268] [ 0.32747023 0.94449885 -0.02617575 0.63281056] [-0.10213884 0.06292663 0.99277787 1.25253271] [ 0. 0. 0. 1. ]] SLAMing on 17.214839172999998 meters Centerline goodness : 0.778410 Centerline is valid? [False, False] Translation: X:-4.31, Y:0.63, Z:1.26 [[ 0.94399619 -0.31596753 0.09505637 -4.30965051] [ 0.31993901 0.94697785 -0.02952931 0.62925194] [-0.08068598 0.0582878 0.99503382 1.26172507] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters Centerline goodness : 0.766237 Centerline is valid? [False, False] Translation: X:-4.35, Y:0.62, Z:1.26 [[ 0.94565879 -0.31215473 0.09104323 -4.3517122 ] [ 0.31550691 0.94860094 -0.0247313 0.61844378] [-0.0786437 0.05211214 0.9955398 1.25878701] [ 0. 0. 0. 1. ]] SLAMing on 17.274839173 meters Centerline goodness : 0.675736 Centerline is valid? [False, False] Translation: X:-4.37, Y:0.65, Z:1.27 [[ 0.94666825 -0.31055791 0.08586622 -4.3659181 ] [ 0.31666341 0.94596111 -0.06987027 0.65163023] [-0.05952734 0.09333465 0.99385368 1.27190863] [ 0. 0. 0. 1. ]] SLAMing on 17.304839173 meters Centerline goodness : 0.719956 Centerline is valid? [False, False] Translation: X:-4.38, Y:0.65, Z:1.32 [[ 0.95616835 -0.29273574 0.00691904 -4.3810016 ] [ 0.29168941 0.9501466 -0.11017592 0.64573955] [ 0.02567833 0.10736494 0.99388802 1.32411517] [ 0. 0. 0. 1. ]] SLAMing on 17.334839173 meters Centerline goodness : 0.759020 Centerline is valid? [False, False] Translation: X:-4.30, Y:0.64, Z:1.34 [[ 9.45558388e-01 -3.07502083e-01 -1.06591764e-01 -4.29866650e+00] [ 3.05908944e-01 9.51542928e-01 -3.13970345e-02 6.39484988e-01] [ 1.11081292e-01 -2.91964445e-03 9.93807035e-01 1.33779096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364839173 meters Centerline goodness : 0.755011 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.67, Z:1.36 [[ 0.94163335 -0.31125462 -0.12824666 -4.20727194] [ 0.31106964 0.95013277 -0.02198623 0.6723926 ] [ 0.12869468 -0.01919068 0.99149856 1.35996922] [ 0. 0. 0. 1. ]] SLAMing on 17.394839173 meters Centerline goodness : 0.780544 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.69, Z:1.37 [[ 0.93851479 -0.3335989 -0.08889191 -4.19561951] [ 0.3339386 0.94252512 -0.01146364 0.68723123] [ 0.08760711 -0.01892564 0.99597531 1.37289977] [ 0. 0. 0. 1. ]] SLAMing on 17.424839173 meters Centerline goodness : 0.767797 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.69, Z:1.38 [[ 0.93933431 -0.32688606 -0.10390649 -4.19802886] [ 0.32803291 0.94464502 -0.00633957 0.686342 ] [ 0.10022706 -0.02812977 0.99456687 1.37703698] [ 0. 0. 0. 1. ]] SLAMing on 17.454839173 meters Centerline goodness : 0.764385 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.68, Z:1.38 [[ 0.94037958 -0.32171653 -0.11038442 -4.20930677] [ 0.32260125 0.94647955 -0.01024134 0.6847623 ] [ 0.1077714 -0.02597941 0.9938362 1.38309275] [ 0. 0. 0. 1. ]] SLAMing on 17.484839173 meters Centerline goodness : 0.777372 Centerline is valid? [False, False] Translation: X:-4.21, Y:0.70, Z:1.38 [[ 0.94086296 -0.31901282 -0.11405136 -4.20549097] [ 0.32037202 0.94726809 -0.0067031 0.69615243] [ 0.11017559 -0.03023217 0.99345224 1.38219875] [ 0. 0. 0. 1. ]] SLAMing on 17.514839173 meters Centerline goodness : 0.777576 Centerline is valid? [False, False] Translation: X:-4.20, Y:0.70, Z:1.38 [[ 0.94018161 -0.31650159 -0.1260368 -4.19521108] [ 0.3182409 0.94798672 -0.00662555 0.69958175] [ 0.12157821 -0.03388085 0.99200344 1.37831457] [ 0. 0. 0. 1. ]] SLAMing on 17.544839173 meters Centerline goodness : 0.777613 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.70, Z:1.38 [[ 0.93836133 -0.3210595 -0.12805786 -4.18844447] [ 0.32276159 0.94644814 -0.00780252 0.70195724] [ 0.1237052 -0.03401058 0.99173601 1.37731457] [ 0. 0. 0. 1. ]] SLAMing on 17.574839173 meters Centerline goodness : 0.771298 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.71, Z:1.38 [[ 0.93643338 -0.32548381 -0.13096872 -4.18169001] [ 0.32723399 0.94490476 -0.00853921 0.70858023] [ 0.12653234 -0.03486102 0.99134972 1.37670451] [ 0. 0. 0. 1. ]] SLAMing on 17.604839173 meters Centerline goodness : 0.767043 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.72, Z:1.39 [[ 0.93374515 -0.32778772 -0.14378878 -4.17941662] [ 0.3284537 0.94431321 -0.01976668 0.72218312] [ 0.14226092 -0.02877092 0.98941097 1.3867154 ] [ 0. 0. 0. 1. ]] SLAMing on 17.634839173 meters Centerline goodness : 0.770361 Centerline is valid? [False, False] Translation: X:-4.19, Y:0.72, Z:1.37 [[ 0.93385621 -0.32962181 -0.13878776 -4.18949436] [ 0.33124208 0.94347036 -0.01193144 0.72457272] [ 0.134875 -0.0348301 0.99025027 1.37403872] [ 0. 0. 0. 1. ]] SLAMing on 17.664839173 meters Centerline goodness : 0.741772 Centerline is valid? [False, False] Translation: X:-4.16, Y:0.76, Z:1.39 [[ 0.92913791 -0.33161451 -0.16350708 -4.16215658] [ 0.32867404 0.94334559 -0.04552448 0.75971234] [ 0.16934027 -0.01144201 0.98549123 1.39162435] [ 0. 0. 0. 1. ]] SLAMing on 17.694839173 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:-4.18, Y:0.73, Z:1.45 [[ 0.93754435 -0.31512272 -0.14733726 -4.17585111] [ 0.30927465 0.94897205 -0.06165414 0.7315214 ] [ 0.15924756 0.01223581 0.98716285 1.44742416] [ 0. 0. 0. 1. ]] SLAMing on 17.724839173 meters Centerline goodness : 0.781880 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.73, Z:1.45 [[ 0.93751131 -0.31498013 -0.1478515 -4.17385792] [ 0.30909389 0.94901888 -0.06183959 0.73258973] [ 0.1597921 0.01227532 0.98707436 1.44609963] [ 0. 0. 0. 1. ]] SLAMing on 17.754839173 meters Centerline goodness : 0.775443 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.73, Z:1.44 [[ 0.9378793 -0.31300377 -0.14970322 -4.17054121] [ 0.3075452 0.94970707 -0.05892733 0.73435795] [ 0.16061869 0.00922621 0.98697341 1.44462584] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters Centerline goodness : 0.776863 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.74, Z:1.44 [[ 0.93854492 -0.31771254 -0.13487839 -4.17447429] [ 0.31203109 0.94805148 -0.06192728 0.74160621] [ 0.14754673 0.01603528 0.98892509 1.44267595] [ 0. 0. 0. 1. ]] SLAMing on 17.814839173 meters Centerline goodness : 0.783597 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.74, Z:1.44 [[ 0.93958253 -0.31409228 -0.13612754 -4.17382568] [ 0.30886348 0.94930425 -0.05852165 0.74194661] [ 0.14760765 0.01294109 0.98896133 1.44220635] [ 0. 0. 0. 1. ]] SLAMing on 17.844839173 meters Centerline goodness : 0.777935 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.74, Z:1.44 [[ 0.93968895 -0.3134897 -0.13678044 -4.17130038] [ 0.30835872 0.94951441 -0.05776927 0.74264481] [ 0.14798507 0.0121077 0.98891548 1.44017397] [ 0. 0. 0. 1. ]] SLAMing on 17.874839172999998 meters Centerline goodness : 0.762054 Centerline is valid? [False, False] Translation: X:-4.17, Y:0.75, Z:1.44 [[ 0.93973207 -0.31234044 -0.13909378 -4.16615351] [ 0.30751848 0.94992424 -0.05546459 0.74668518] [ 0.14945239 0.00934795 0.98872473 1.43768905] [ 0. 0. 0. 1. ]] SLAMing on 17.904839173 meters Centerline goodness : 0.775466 Centerline is valid? [False, False] Translation: X:-4.16, Y:0.75, Z:1.44 [[ 0.94078644 -0.30810693 -0.14138951 -4.16306797] [ 0.30394035 0.9513399 -0.0507213 0.7457067 ] [ 0.15013707 0.00474394 0.98865381 1.43584497] [ 0. 0. 0. 1. ]] SLAMing on 17.934839173 meters Centerline goodness : 0.774037 Centerline is valid? [False, False] Translation: X:-4.16, Y:0.75, Z:1.44 [[ 9.40080719e-01 -3.09342123e-01 -1.43372569e-01 -4.15974417e+00] [ 3.05330452e-01 9.50946112e-01 -4.97474355e-02 7.50148256e-01] [ 1.51728564e-01 2.99059358e-03 9.88417674e-01 1.43602157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964839172999998 meters Centerline goodness : 0.767045 Centerline is valid? [False, False] Translation: X:-4.15, Y:0.75, Z:1.44 [[ 9.38942386e-01 -3.11758447e-01 -1.45581132e-01 -4.15492097e+00] [ 3.07951531e-01 9.50161072e-01 -4.85776882e-02 7.50665652e-01] [ 1.53470029e-01 7.79718160e-04 9.88152995e-01 1.43684699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994839173 meters Centerline goodness : 0.767791 Centerline is valid? [False, False] Translation: X:-4.15, Y:0.75, Z:1.43 [[ 9.38595062e-01 -3.12603510e-01 -1.46008065e-01 -4.15118382e+00] [ 3.08741690e-01 9.49883269e-01 -4.89933076e-02 7.50724183e-01] [ 1.54006098e-01 9.06099884e-04 9.88069482e-01 1.43433787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024839173 meters Centerline goodness : 0.765901 Centerline is valid? [False, False] Translation: X:-4.15, Y:0.76, Z:1.43 [[ 9.38039899e-01 -3.13821217e-01 -1.46960509e-01 -4.14749861e+00] [ 3.09793085e-01 9.49480894e-01 -5.01425533e-02 7.55817227e-01] [ 1.55271992e-01 1.50836626e-03 9.87870606e-01 1.43210506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054839172999998 meters Centerline goodness : 0.740300 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.63, Z:2.19 [[ 0.93502297 -0.17718936 0.30714162 -5.12779161] [ 0.33883278 0.70180107 -0.62663195 2.62809653] [-0.1045198 0.68998492 0.71623769 2.18863868] [ 0. 0. 0. 1. ]] SLAMing on 18.084839173 meters Centerline goodness : 0.740300 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.59, Z:2.18 [[ 0.93941498 -0.20416658 0.27534615 -5.16790287] [ 0.33239396 0.73882813 -0.58621434 2.58992284] [-0.0837481 0.64222193 0.76192995 2.18290058] [ 0. 0. 0. 1. ]] SLAMing on 18.114839173 meters Centerline goodness : 0.732096 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.45, Z:2.36 [[ 0.93424852 -0.21981578 0.28082153 -5.52963444] [ 0.35498247 0.64864109 -0.67324006 2.44667663] [-0.03416359 0.72866025 0.68402272 2.3637332 ] [ 0. 0. 0. 1. ]] SLAMing on 18.144839173 meters Centerline goodness : 0.749496 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.38, Z:2.36 [[ 0.95752809 -0.19097799 0.2160263 -5.51396956] [ 0.2876197 0.68554462 -0.6688075 2.38205625] [-0.02036816 0.70253539 0.71135727 2.35749453] [ 0. 0. 0. 1. ]] SLAMing on 18.174839173 meters Centerline goodness : 0.752702 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.37, Z:2.36 [[ 0.96698672 -0.1787332 0.1816346 -5.50051654] [ 0.25473482 0.69713749 -0.67015632 2.37173489] [-0.00684511 0.69430091 0.71965227 2.36442099] [ 0. 0. 0. 1. ]] SLAMing on 18.204839173 meters Centerline goodness : 0.750135 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.36, Z:2.36 [[ 0.97626988 -0.16805346 0.13658391 -5.4837909 ] [ 0.21599786 0.71033815 -0.66989897 2.36106944] [ 0.01555808 0.68350402 0.72978093 2.36478853] [ 0. 0. 0. 1. ]] SLAMing on 18.234839173 meters Centerline goodness : 0.737290 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.36, Z:2.36 [[ 0.97828941 -0.16918857 0.11968738 -5.47263839] [ 0.20538157 0.71423782 -0.66909099 2.36243495] [ 0.02771729 0.67914621 0.7334795 2.3626638 ] [ 0. 0. 0. 1. ]] SLAMing on 18.264839173 meters Centerline goodness : 0.743027 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.36, Z:2.37 [[ 0.98211449 -0.16571493 0.08938503 -5.4624081 ] [ 0.18268575 0.72377443 -0.66541453 2.359863 ] [ 0.04557452 0.66984262 0.74110311 2.36501354] [ 0. 0. 0. 1. ]] SLAMing on 18.294839173 meters Centerline goodness : 0.746310 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.36, Z:2.37 [[ 0.98471472 -0.16064609 0.06730349 -5.4528975 ] [ 0.16489185 0.73535376 -0.65731691 2.35501867] [ 0.05610351 0.65836743 0.7506029 2.36875017] [ 0. 0. 0. 1. ]] SLAMing on 18.324839173 meters Centerline goodness : 0.751019 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.35, Z:2.37 [[ 0.98696778 -0.15461523 0.04459519 -5.44408292] [ 0.14607944 0.74462886 -0.65129768 2.35181537] [ 0.06749367 0.64932426 0.7575108 2.36967874] [ 0. 0. 0. 1. ]] SLAMing on 18.354839173 meters Centerline goodness : 0.747893 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.35, Z:2.37 [[ 0.98915637 -0.14605107 0.01545203 -5.43499084] [ 0.12094308 0.75035149 -0.64988108 2.3513069 ] [ 0.08332138 0.64470282 0.75987882 2.37188234] [ 0. 0. 0. 1. ]] SLAMing on 18.384839173 meters Centerline goodness : 0.743269 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.35, Z:2.37 [[ 9.89935425e-01 -1.41517900e-01 -7.34195252e-04 -5.42589354e+00] [ 1.07309410e-01 7.54004810e-01 -6.48044317e-01 2.35477538e+00] [ 9.22634579e-02 6.41443240e-01 7.61602274e-01 2.37009218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414839173 meters Centerline goodness : 0.732626 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.36, Z:2.37 [[ 0.98988808 -0.14086127 -0.01672406 -5.41960851] [ 0.09663804 0.75598042 -0.64742157 2.35870103] [ 0.10383969 0.63925871 0.76194857 2.37458454] [ 0. 0. 0. 1. ]] SLAMing on 18.444839173 meters Centerline goodness : 0.737747 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.36, Z:2.38 [[ 0.99035229 -0.13471362 -0.03247438 -5.41601935] [ 0.0828103 0.76324974 -0.64077475 2.35505101] [ 0.11110715 0.63190353 0.7670418 2.37854285] [ 0. 0. 0. 1. ]] SLAMing on 18.474839173 meters Centerline goodness : 0.739017 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.36, Z:2.38 [[ 0.99183541 -0.12285637 -0.03418809 -5.41688425] [ 0.07357859 0.77028235 -0.63344399 2.36006175] [ 0.10415711 0.62575667 0.77303291 2.38294601] [ 0. 0. 0. 1. ]] SLAMing on 18.504839173 meters Centerline goodness : 0.735851 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.36, Z:2.38 [[ 0.9924237 -0.11352227 -0.04698814 -5.41651569] [ 0.05869043 0.77402145 -0.63043337 2.35922101] [ 0.10793805 0.62289927 0.7748199 2.38438186] [ 0. 0. 0. 1. ]] SLAMing on 18.534839172999998 meters Centerline goodness : 0.737437 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.36, Z:2.38 [[ 0.99187606 -0.11718314 -0.04949735 -5.40779261] [ 0.05995284 0.77381027 -0.63057381 2.36389192] [ 0.11219418 0.62248356 0.77454934 2.38123761] [ 0. 0. 0. 1. ]] SLAMing on 18.564839173 meters Centerline goodness : 0.736624 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.37, Z:2.37 [[ 0.99122089 -0.12206958 -0.0507954 -5.40158866] [ 0.06335159 0.77570647 -0.62790608 2.36532728] [ 0.11605055 0.61917565 0.77662976 2.37357104] [ 0. 0. 0. 1. ]] SLAMing on 18.594839173 meters Centerline goodness : 0.746139 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.36, Z:2.37 [[ 0.99074513 -0.12604847 -0.05035737 -5.39906056] [ 0.0662888 0.77306381 -0.63085509 2.36480237] [ 0.11844778 0.62167848 0.7742648 2.36933663] [ 0. 0. 0. 1. ]] SLAMing on 18.624839172999998 meters Centerline goodness : 0.741885 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.36, Z:2.37 [[ 0.99081044 -0.12506491 -0.05151161 -5.39543746] [ 0.06543068 0.77649675 -0.62671494 2.36365595] [ 0.11837864 0.61758527 0.77754417 2.36667211] [ 0. 0. 0. 1. ]] SLAMing on 18.654839173 meters Centerline goodness : 0.751659 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.37, Z:2.36 [[ 0.99092953 -0.12425797 -0.0511725 -5.39785174] [ 0.06682779 0.78602999 -0.61456563 2.36530027] [ 0.1165878 0.60557148 0.78720421 2.36156054] [ 0. 0. 0. 1. ]] SLAMing on 18.684839173 meters Centerline goodness : 0.745259 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.36, Z:2.36 [[ 0.99132124 -0.12006409 -0.05354267 -5.39450074] [ 0.06305357 0.79162977 -0.60773888 2.36480861] [ 0.11535359 0.59908841 0.79232987 2.3624914 ] [ 0. 0. 0. 1. ]] SLAMing on 18.714839172999998 meters Centerline goodness : 0.757546 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.37, Z:2.37 [[ 0.99201773 -0.11273447 -0.05649576 -5.3911804 ] [ 0.05649697 0.79790171 -0.60013411 2.36835036] [ 0.11273386 0.59215184 0.79790179 2.36551613] [ 0. 0. 0. 1. ]] SLAMing on 18.744839173 meters Centerline goodness : 0.748669 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.37, Z:2.36 [[ 0.99265414 -0.10897014 -0.05256687 -5.39419898] [ 0.05622889 0.80022881 -0.5970529 2.37481623] [ 0.10712646 0.58971126 0.8004777 2.35803765] [ 0. 0. 0. 1. ]] SLAMing on 18.774839173 meters Centerline goodness : 0.748720 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.39, Z:2.35 [[ 0.99279894 -0.10701118 -0.05384115 -5.38538711] [ 0.05358972 0.7987171 -0.59931555 2.38683011] [ 0.10713731 0.59211452 0.79870019 2.35220593] [ 0. 0. 0. 1. ]] SLAMing on 18.804839172999998 meters Centerline goodness : 0.745881 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.39, Z:2.35 [[ 0.99242939 -0.10896076 -0.05666977 -5.37681145] [ 0.053647 0.79966407 -0.5980463 2.39164557] [ 0.11048036 0.59047856 0.79945554 2.35054693] [ 0. 0. 0. 1. ]] SLAMing on 18.834839173 meters Centerline goodness : 0.746441 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.41, Z:2.35 [[ 0.99198949 -0.1102242 -0.06170482 -5.3599915 ] [ 0.0533275 0.80823227 -0.58644418 2.40577815] [ 0.11451217 0.57845589 0.8076359 2.34529011] [ 0. 0. 0. 1. ]] SLAMing on 18.864839173 meters Centerline goodness : 0.745312 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.41, Z:2.33 [[ 0.99183314 -0.10833874 -0.06730333 -5.38475067] [ 0.05141175 0.82253078 -0.56639204 2.40665089] [ 0.11672126 0.55830622 0.82138317 2.3347551 ] [ 0. 0. 0. 1. ]] SLAMing on 18.894839173 meters Centerline goodness : 0.750142 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.40, Z:2.32 [[ 0.99182486 -0.1063146 -0.0705737 -5.41524604] [ 0.05077992 0.83621213 -0.54605006 2.40456073] [ 0.11706768 0.5380023 0.83477463 2.32484336] [ 0. 0. 0. 1. ]] SLAMing on 18.924839173 meters Centerline goodness : 0.748392 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.40, Z:2.32 [[ 0.99248622 -0.10255758 -0.06673109 -5.43925709] [ 0.05211035 0.84774183 -0.52784306 2.40450594] [ 0.11070504 0.52039959 0.8467164 2.31887373] [ 0. 0. 0. 1. ]] SLAMing on 18.954839173 meters Centerline goodness : 0.745054 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.40, Z:2.31 [[ 0.9926504 -0.09988098 -0.06832982 -5.46798294] [ 0.0516606 0.86033575 -0.50710312 2.40397737] [ 0.10943655 0.49984616 0.85917254 2.30806884] [ 0. 0. 0. 1. ]] SLAMing on 18.984839173 meters Centerline goodness : 0.742570 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.41, Z:2.30 [[ 0.99259739 -0.09615366 -0.07419498 -5.49414333] [ 0.04849226 0.87386225 -0.48374918 2.40708216] [ 0.11135045 0.47657029 0.8720561 2.29651027] [ 0. 0. 0. 1. ]] SLAMing on 19.014839173 meters Centerline goodness : 0.742256 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.41, Z:2.29 [[ 0.99271428 -0.08884857 -0.08138976 -5.51649111] [ 0.04162375 0.88676445 -0.46034364 2.41067199] [ 0.11307442 0.45360196 0.88400195 2.28515736] [ 0. 0. 0. 1. ]] SLAMing on 19.044839173 meters Centerline goodness : 0.738951 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.41, Z:2.28 [[ 0.99334625 -0.08124421 -0.08162479 -5.51202737] [ 0.0354619 0.89009768 -0.45438813 2.41275355] [ 0.10957044 0.44847018 0.88705627 2.28060247] [ 0. 0. 0. 1. ]] SLAMing on 19.074839173 meters Centerline goodness : 0.738760 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.41, Z:2.28 [[ 0.99409666 -0.07112156 -0.08193634 -5.50987859] [ 0.0273537 0.89507914 -0.44506753 2.41322943] [ 0.10499341 0.44019888 0.89174062 2.27576831] [ 0. 0. 0. 1. ]] SLAMing on 19.104839173 meters Centerline goodness : 0.734402 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.42, Z:2.28 [[ 0.99445049 -0.06261746 -0.08454157 -5.50151892] [ 0.01900803 0.89729883 -0.44101417 2.42135449] [ 0.10347424 0.43695979 0.8935095 2.27867168] [ 0. 0. 0. 1. ]] SLAMing on 19.134839173 meters Centerline goodness : 0.735404 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.42, Z:2.27 [[ 0.99446991 -0.06055674 -0.08580485 -5.51894186] [ 0.01843992 0.90500891 -0.42499275 2.42055337] [ 0.10339033 0.42106027 0.90112079 2.26658234] [ 0. 0. 0. 1. ]] SLAMing on 19.164839173 meters Centerline goodness : 0.735031 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.42, Z:2.26 [[ 0.99487816 -0.05599046 -0.0841577 -5.52898786] [ 0.01625757 0.91036762 -0.41348094 2.42257827] [ 0.09976543 0.40999495 0.90661513 2.25839297] [ 0. 0. 0. 1. ]] SLAMing on 19.194839173 meters Centerline goodness : 0.733681 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.43, Z:2.25 [[ 0.99493468 -0.05399603 -0.08479039 -5.54910035] [ 0.0161807 0.91851276 -0.39506011 2.4266018 ] [ 0.09921274 0.39168704 0.91473389 2.24598228] [ 0. 0. 0. 1. ]] SLAMing on 19.224839173 meters Centerline goodness : 0.729720 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.43, Z:2.24 [[ 0.99486344 -0.04934274 -0.08838572 -5.54962831] [ 0.0116977 0.92334144 -0.38380171 2.42633139] [ 0.10054803 0.38079638 0.91917583 2.24333415] [ 0. 0. 0. 1. ]] SLAMing on 19.254839173 meters Centerline goodness : 0.735211 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.43, Z:2.23 [[ 0.99515257 -0.04271827 -0.08858055 -5.57062929] [ 0.00770391 0.93182484 -0.36282657 2.43137129] [ 0.09804088 0.36038538 0.92763698 2.2329664 ] [ 0. 0. 0. 1. ]] SLAMing on 19.284839172999998 meters Centerline goodness : 0.730457 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.43, Z:2.24 [[ 0.9950552 -0.04365257 -0.0892166 -5.5672923 ] [ 0.00955127 0.93613489 -0.35151137 2.43113698] [ 0.09886315 0.34892108 0.93192283 2.2358251 ] [ 0. 0. 0. 1. ]] SLAMing on 19.314839173 meters Centerline goodness : 0.729415 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.44, Z:2.24 [[ 0.99450636 -0.04500796 -0.09450596 -5.55941926] [ 0.00927126 0.93716716 -0.34875745 2.43749941] [ 0.10426474 0.34596532 0.93243598 2.24365243] [ 0. 0. 0. 1. ]] SLAMing on 19.344839173 meters Centerline goodness : 0.733671 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.44, Z:2.23 [[ 0.99440515 -0.0446776 -0.09571999 -5.57904365] [ 0.01034755 0.94299427 -0.33264806 2.43846461] [ 0.10512532 0.32979648 0.93818066 2.23230109] [ 0. 0. 0. 1. ]] SLAMing on 19.374839172999998 meters Centerline goodness : 0.730138 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.44, Z:2.22 [[ 0.99424978 -0.04928198 -0.09507184 -5.59903176] [ 0.01626298 0.94700161 -0.32081687 2.44338242] [ 0.10584367 0.31742596 0.94235762 2.22010576] [ 0. 0. 0. 1. ]] SLAMing on 19.404839173 meters Centerline goodness : 0.726985 Centerline is valid? [False, False] Translation: X:-5.62, Y:2.44, Z:2.21 [[ 0.99417122 -0.05049748 -0.09525535 -5.6157437 ] [ 0.01885778 0.9513541 -0.30752198 2.44448747] [ 0.10615065 0.3039332 0.94676114 2.20824312] [ 0. 0. 0. 1. ]] SLAMing on 19.434839173 meters Centerline goodness : 0.724221 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.45, Z:2.19 [[ 0.99386569 -0.05527992 -0.0957868 -5.6346036 ] [ 0.02472084 0.95524352 -0.29478586 2.45118833] [ 0.10779546 0.29060962 0.95075033 2.19434031] [ 0. 0. 0. 1. ]] SLAMing on 19.464839172999998 meters Centerline goodness : 0.721109 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.45, Z:2.18 [[ 0.99366838 -0.05791186 -0.0962776 -5.65382992] [ 0.02861535 0.95911129 -0.28157894 2.45172699] [ 0.10864769 0.27704107 0.95469572 2.18261253] [ 0. 0. 0. 1. ]] SLAMing on 19.494839173 meters Centerline goodness : 0.717674 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.45, Z:2.18 [[ 0.99368466 -0.06010734 -0.09475179 -5.6578434 ] [ 0.03116329 0.95903644 -0.28156342 2.44862768] [ 0.10779444 0.27683247 0.95485294 2.18092339] [ 0. 0. 0. 1. ]] SLAMing on 19.524839173 meters Centerline goodness : 0.719323 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.44, Z:2.18 [[ 0.99378934 -0.05908139 -0.0942981 -5.65962049] [ 0.03052008 0.95963118 -0.27960065 2.44475271] [ 0.1070106 0.27498616 0.95547441 2.17958194] [ 0. 0. 0. 1. ]] SLAMing on 19.554839172999998 meters Centerline goodness : 0.722314 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.17 [[ 0.99399058 -0.05473714 -0.09479756 -5.66930027] [ 0.02755183 0.96322386 -0.26728391 2.44145244] [ 0.10594163 0.26306585 0.95894355 2.17306294] [ 0. 0. 0. 1. ]] SLAMing on 19.584839173 meters Centerline goodness : 0.723872 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.18 [[ 0.99418433 -0.04569405 -0.09751706 -5.66765067] [ 0.01909847 0.96597646 -0.25792389 2.44274109] [ 0.10598477 0.25456146 0.96123134 2.17503861] [ 0. 0. 0. 1. ]] SLAMing on 19.614839173 meters Centerline goodness : 0.723103 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.17 [[ 0.99455537 -0.0376348 -0.09717634 -5.6694498 ] [ 0.01227421 0.96832404 -0.24939504 2.44007287] [ 0.10348412 0.24684442 0.96351381 2.17297504] [ 0. 0. 0. 1. ]] SLAMing on 19.644839173 meters Centerline goodness : 0.721030 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.17 [[ 0.99469202 -0.03256532 -0.09760781 -5.66775389] [ 0.00770161 0.96949921 -0.24497341 2.43964287] [ 0.10260833 0.24292136 0.96460393 2.17161265] [ 0. 0. 0. 1. ]] SLAMing on 19.674839173 meters Centerline goodness : 0.719643 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.44, Z:2.17 [[ 9.94792003e-01 -2.63869947e-02 -9.84509938e-02 -5.66290380e+00] [ 2.08875830e-03 9.70983159e-01 -2.39138749e-01 2.43895135e+00] [ 1.01904410e-01 2.37687674e-01 9.65981398e-01 2.16722082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704839173 meters Centerline goodness : 0.720464 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.44, Z:2.16 [[ 9.94910231e-01 -2.34814454e-02 -9.79910866e-02 -5.66429571e+00] [-1.51684768e-04 9.72119146e-01 -2.34487403e-01 2.43641599e+00] [ 1.00765115e-01 2.33308780e-01 9.67167723e-01 2.16420397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734839173 meters Centerline goodness : 0.720877 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.43, Z:2.16 [[ 0.99520076 -0.02869042 -0.09355372 -5.69486949] [ 0.00735213 0.97527325 -0.22088015 2.43382718] [ 0.09757758 0.21913228 0.97080362 2.15774248] [ 0. 0. 0. 1. ]] SLAMing on 19.764839173 meters Centerline goodness : 0.722745 Centerline is valid? [False, False] Translation: X:-5.70, Y:2.43, Z:2.16 [[ 9.95275447e-01 -2.61119902e-02 -9.35144305e-02 -5.69662666e+00] [ 5.20954106e-03 9.76131148e-01 -2.17119418e-01 2.43192254e+00] [ 9.69517686e-02 2.15606459e-01 9.71655397e-01 2.15726791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794839173 meters Centerline goodness : 0.718537 Centerline is valid? [False, False] Translation: X:-5.69, Y:2.43, Z:2.15 [[ 9.95308591e-01 -1.95871994e-02 -9.47478198e-02 -5.68964223e+00] [-7.56049364e-04 9.77688315e-01 -2.10059486e-01 2.43238226e+00] [ 9.67483133e-02 2.09145645e-01 9.73086770e-01 2.15002234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824839173 meters Centerline goodness : 0.715200 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.14 [[ 9.95254023e-01 -1.44466899e-02 -9.62326448e-02 -5.67861891e+00] [-5.65515489e-03 9.78660599e-01 -2.05405576e-01 2.43020986e+00] [ 9.71465285e-02 2.04974936e-01 9.73934201e-01 2.14063341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854839173 meters Centerline goodness : 0.714221 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.14 [[ 0.9953217 -0.01036514 -0.09605868 -5.67883805] [-0.00924027 0.97945896 -0.2014318 2.43015256] [ 0.09617341 0.20137705 0.97478098 2.13974443] [ 0. 0. 0. 1. ]] SLAMing on 19.884839173 meters Centerline goodness : 0.716264 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.14 [[ 0.99538417 -0.0069766 -0.0957167 -5.68041247] [-0.01217612 0.98011398 -0.19806143 2.43117941] [ 0.09519507 0.19831267 0.97550499 2.14010874] [ 0. 0. 0. 1. ]] SLAMing on 19.914839173 meters Centerline goodness : 0.717898 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.43, Z:2.14 [[ 9.94840269e-01 -4.64750324e-03 -1.01347123e-01 -5.67554438e+00] [-1.46708375e-02 9.81860398e-01 -1.89036834e-01 2.43408741e+00] [ 1.00387276e-01 1.89548302e-01 9.76726080e-01 2.14471559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944839173 meters Centerline goodness : 0.717097 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.43, Z:2.15 [[ 9.94398682e-01 -5.36886783e-03 -1.05557743e-01 -5.67071741e+00] [-1.43590968e-02 9.82587446e-01 -1.85245047e-01 2.43272872e+00] [ 1.04714269e-01 1.85723144e-01 9.77006569e-01 2.14511916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974839173 meters Centerline goodness : 0.720385 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.43, Z:2.14 [[ 9.94451602e-01 -1.41548791e-03 -1.05185585e-01 -5.67166290e+00] [-1.77641536e-02 9.83289674e-01 -1.81179062e-01 2.43255871e+00] [ 1.03684357e-01 1.82042341e-01 9.77808846e-01 2.14442902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004839173 meters Centerline goodness : 0.720385 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.43, Z:2.14 [[ 9.94451602e-01 -1.41548791e-03 -1.05185585e-01 -5.67166290e+00] [-1.77641536e-02 9.83289674e-01 -1.81179062e-01 2.43255871e+00] [ 1.03684357e-01 1.82042341e-01 9.77808846e-01 2.14442902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034839172999998 meters Centerline goodness : 0.718388 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.14 [[ 9.94433754e-01 4.11315332e-03 -1.05283388e-01 -5.66958265e+00] [-2.28666375e-02 9.83846806e-01 -1.77545991e-01 2.43771660e+00] [ 1.02852451e-01 1.78965203e-01 9.78464526e-01 2.14436192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064839173 meters Centerline goodness : 0.718270 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.44, Z:2.14 [[ 9.94361349e-01 5.35503571e-03 -1.05909542e-01 -5.66605336e+00] [-2.41338687e-02 9.83944215e-01 -1.76837039e-01 2.43838591e+00] [ 1.03262113e-01 1.78395924e-01 9.78525335e-01 2.14253937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094839173 meters Centerline goodness : 0.714450 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.43, Z:2.13 [[ 0.99426369 0.00756895 -0.10668842 -5.65985199] [-0.02609942 0.98450849 -0.17338352 2.43270675] [ 0.10372333 0.17517344 0.9790586 2.13484635] [ 0. 0. 0. 1. ]] SLAMing on 20.124839172999998 meters Centerline goodness : 0.715156 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.43, Z:2.13 [[ 0.99424784 0.00818847 -0.10679034 -5.65808234] [-0.02660439 0.98470459 -0.17218906 2.43056038] [ 0.10374698 0.17403969 0.97925827 2.13209494] [ 0. 0. 0. 1. ]] SLAMing on 20.154839173 meters Centerline goodness : 0.714286 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.43, Z:2.13 [[ 0.99424788 0.00819009 -0.10678989 -5.65808395] [-0.02659883 0.98471643 -0.17212224 2.43149128] [ 0.10374806 0.17397265 0.97927006 2.13211645] [ 0. 0. 0. 1. ]] SLAMing on 20.184839173 meters Centerline goodness : 0.716948 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.43, Z:2.14 [[ 9.94268156e-01 5.61219269e-03 -1.06767683e-01 -5.66210836e+00] [-2.27611883e-02 9.86840043e-01 -1.60089530e-01 2.42841418e+00] [ 1.04464172e-01 1.61602081e-01 9.81311370e-01 2.13877919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.214839172999998 meters Centerline goodness : 0.724607 Centerline is valid? [False, False] Translation: X:-5.67, Y:2.42, Z:2.14 [[ 9.94461621e-01 1.91622876e-03 -1.05082879e-01 -5.67421658e+00] [-1.86208259e-02 9.87228706e-01 -1.58217407e-01 2.42256226e+00] [ 1.03437654e-01 1.59297869e-01 9.81796741e-01 2.13899116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244839173 meters Centerline goodness : 0.725836 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.42, Z:2.14 [[ 9.94503626e-01 1.23035949e-03 -1.04694911e-01 -5.67677984e+00] [-1.77934849e-02 9.87371747e-01 -1.57417996e-01 2.41721528e+00] [ 1.03179116e-01 1.58415655e-01 9.81966675e-01 2.13903207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274839173 meters Centerline goodness : 0.728840 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.41, Z:2.14 [[ 9.94559663e-01 -2.49101265e-04 -1.04168201e-01 -5.68085128e+00] [-1.62108640e-02 9.87443807e-01 -1.57136677e-01 2.40933316e+00] [ 1.02899388e-01 1.57970457e-01 9.82067742e-01 2.14013410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304839172999998 meters Centerline goodness : 0.727355 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.41, Z:2.14 [[ 9.94541439e-01 5.94042124e-04 -1.04340659e-01 -5.68035766e+00] [-1.69637743e-02 9.87600235e-01 -1.56070515e-01 2.40577255e+00] [ 1.02954147e-01 1.56988606e-01 9.82219436e-01 2.13980697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334839173 meters Centerline goodness : 0.726714 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.39, Z:2.14 [[ 9.94458787e-01 2.98402562e-03 -1.05084807e-01 -5.67731326e+00] [-1.91032838e-02 9.88084247e-01 -1.52723883e-01 2.39466674e+00] [ 1.03376910e-01 1.53885072e-01 9.82666067e-01 2.13650486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364839173 meters Centerline goodness : 0.725132 Centerline is valid? [False, False] Translation: X:-5.68, Y:2.39, Z:2.14 [[ 9.94404134e-01 4.41175144e-03 -1.05550720e-01 -5.67565841e+00] [-2.04118717e-02 9.88324086e-01 -1.50992901e-01 2.38964843e+00] [ 1.03652175e-01 1.52302453e-01 9.82883609e-01 2.13518377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.394839173 meters Centerline goodness : 0.724913 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.38, Z:2.13 [[ 0.9941007 0.00954482 -0.10804025 -5.66482865] [-0.0252625 0.9890998 -0.14506343 2.37950886] [ 0.10547798 0.14693702 0.98350593 2.1269962 ] [ 0. 0. 0. 1. ]] SLAMing on 20.424839173 meters Centerline goodness : 0.722066 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.38, Z:2.12 [[ 0.99389897 0.01249993 -0.10958371 -5.657783 ] [-0.02814946 0.98940154 -0.14245068 2.37572271] [ 0.10664167 0.14466631 0.98371704 2.12311242] [ 0. 0. 0. 1. ]] SLAMing on 20.454839173 meters Centerline goodness : 0.724206 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.37, Z:2.12 [[ 0.99377632 0.01848474 -0.10984962 -5.65569064] [-0.03342623 0.99017537 -0.13577712 2.36898413] [ 0.10626058 0.13860394 0.98463071 2.11979328] [ 0. 0. 0. 1. ]] SLAMing on 20.484839173 meters Centerline goodness : 0.727834 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.36, Z:2.12 [[ 0.99373566 0.02162833 -0.10964329 -5.65886577] [-0.03608065 0.99064662 -0.1315958 2.3621283 ] [ 0.10577156 0.13472744 0.98522124 2.12112974] [ 0. 0. 0. 1. ]] SLAMing on 20.514839173 meters Centerline goodness : 0.728517 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.36, Z:2.12 [[ 0.99363465 0.02617049 -0.10956867 -5.65913283] [-0.0401049 0.99109519 -0.12697213 2.35879617] [ 0.10527006 0.13055814 0.98583608 2.1207352 ] [ 0. 0. 0. 1. ]] SLAMing on 20.544839173 meters Centerline goodness : 0.732169 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.35, Z:2.12 [[ 0.99348402 0.03105288 -0.1096596 -5.66010401] [-0.04443814 0.99155792 -0.12181194 2.353302 ] [ 0.10495123 0.12589128 0.98647687 2.12126868] [ 0. 0. 0. 1. ]] SLAMing on 20.574839173 meters Centerline goodness : 0.733359 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.35, Z:2.12 [[ 0.99344498 0.03162022 -0.109851 -5.66012798] [-0.04487741 0.99171164 -0.12039118 2.347718 ] [ 0.10513372 0.12453184 0.98662998 2.12068853] [ 0. 0. 0. 1. ]] SLAMing on 20.604839173 meters Centerline goodness : 0.739520 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.34, Z:2.12 [[ 0.99351299 0.02847028 -0.11009714 -5.65955366] [-0.04199332 0.9915757 -0.1225324 2.34105251] [ 0.10568112 0.12636088 0.9863389 2.11967341] [ 0. 0. 0. 1. ]] SLAMing on 20.634839173 meters Centerline goodness : 0.737518 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.34, Z:2.12 [[ 0.99281724 0.02500896 -0.11699775 -5.65065595] [-0.03865805 0.9925096 -0.11588895 2.33749124] [ 0.11322313 0.11957946 0.98634744 2.12306688] [ 0. 0. 0. 1. ]] SLAMing on 20.664839173 meters Centerline goodness : 0.734919 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.34, Z:2.12 [[ 0.99265152 0.02552738 -0.11828486 -5.64917938] [-0.03917762 0.99264408 -0.11455501 2.33588897] [ 0.11449048 0.11834733 0.98634976 2.12367102] [ 0. 0. 0. 1. ]] SLAMing on 20.694839173 meters Centerline goodness : 0.738039 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.33, Z:2.12 [[ 0.9926227 0.02587876 -0.11845024 -5.64922884] [-0.03943759 0.9927438 -0.11359766 2.33271873] [ 0.11465098 0.117431 0.98644063 2.12349251] [ 0. 0. 0. 1. ]] SLAMing on 20.724839173 meters Centerline goodness : 0.741097 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.33, Z:2.13 [[ 0.99275299 0.02276451 -0.11799694 -5.65483804] [-0.03645852 0.99266966 -0.11522901 2.32518701] [ 0.11450885 0.11869594 0.98630573 2.12695159] [ 0. 0. 0. 1. ]] SLAMing on 20.754839173 meters Centerline goodness : 0.744385 Centerline is valid? [False, False] Translation: X:-5.66, Y:2.32, Z:2.13 [[ 0.992831 0.02251171 -0.11738753 -5.65767985] [-0.03606697 0.99274959 -0.1146622 2.3207183 ] [ 0.11395518 0.118074 0.9864445 2.12767891] [ 0. 0. 0. 1. ]] SLAMing on 20.784839172999998 meters Centerline goodness : 0.747384 Centerline is valid? [False, False] Translation: X:-5.65, Y:2.31, Z:2.12 [[ 0.99380584 0.01692052 -0.10983467 -5.6506492 ] [-0.02897246 0.99361084 -0.10907839 2.31246665] [ 0.10728726 0.11158492 0.98794648 2.12432335] [ 0. 0. 0. 1. ]] SLAMing on 20.814839173 meters Centerline goodness : 0.748924 Centerline is valid? [False, False] Translation: X:-5.64, Y:2.31, Z:2.12 [[ 0.99408447 0.01256923 -0.10787991 -5.64438823] [-0.02323241 0.99489909 -0.09816338 2.30528023] [ 0.10609579 0.100089 0.98930575 2.12159596] [ 0. 0. 0. 1. ]] SLAMing on 20.844839173 meters Centerline goodness : 0.745870 Centerline is valid? [False, False] Translation: X:-5.64, Y:2.30, Z:2.12 [[ 9.94012989e-01 5.47935513e-03 -1.09124492e-01 -5.63970275e+00] [-1.68215724e-02 9.94508911e-01 -1.03291146e-01 2.29847918e+00] [ 1.07959311e-01 1.04508387e-01 9.88646946e-01 2.11809307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874839172999998 meters Centerline goodness : 0.748034 Centerline is valid? [False, False] Translation: X:-5.64, Y:2.29, Z:2.12 [[ 9.93965905e-01 2.24151104e-03 -1.09666560e-01 -5.63722568e+00] [-1.38574616e-02 9.94346729e-01 -1.05273706e-01 2.29332306e+00] [ 1.08810613e-01 1.06158174e-01 9.88377809e-01 2.11575472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904839173 meters Centerline goodness : 0.742009 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.29, Z:2.12 [[ 9.93545056e-01 -1.88676433e-03 -1.13422494e-01 -5.62762602e+00] [-9.14837030e-03 9.95272209e-01 -9.66930086e-02 2.29049630e+00] [ 1.13068693e-01 9.71064916e-02 9.88830521e-01 2.11699708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934839173 meters Centerline goodness : 0.743004 Centerline is valid? [False, False] Translation: X:-5.63, Y:2.28, Z:2.11 [[ 9.94027827e-01 -6.76824786e-03 -1.08916804e-01 -5.62529734e+00] [-2.52693311e-03 9.96379581e-01 -8.49784927e-02 2.28360761e+00] [ 1.09097635e-01 8.47462119e-02 9.90411927e-01 2.11420775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964839172999998 meters Centerline goodness : 0.743497 Centerline is valid? [False, False] Translation: X:-5.62, Y:2.28, Z:2.11 [[ 9.94705558e-01 -9.34977889e-03 -1.02339796e-01 -5.61600317e+00] [ 1.45735759e-03 9.97035867e-01 -7.69243590e-02 2.27734103e+00] [ 1.02755673e-01 7.63679418e-02 9.91770744e-01 2.11123253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994839173 meters Centerline goodness : 0.743115 Centerline is valid? [False, False] Translation: X:-5.62, Y:2.27, Z:2.11 [[ 9.94682304e-01 -9.66866720e-03 -1.02536002e-01 -5.61628097e+00] [ 1.89971932e-03 9.97136679e-01 -7.55965254e-02 2.27049090e+00] [ 1.02973327e-01 7.49997364e-02 9.91852577e-01 2.11057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024839173 meters Centerline goodness : 0.743589 Centerline is valid? [False, False] Translation: X:-5.61, Y:2.27, Z:2.11 [[ 9.95072923e-01 -1.00833843e-02 -9.86316547e-02 -5.60680593e+00] [ 3.91889698e-03 9.98037569e-01 -6.24952312e-02 2.26650130e+00] [ 9.90682603e-02 6.18007851e-02 9.93159676e-01 2.10542475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054839172999998 meters Centerline goodness : 0.744123 Centerline is valid? [False, False] Translation: X:-5.60, Y:2.27, Z:2.10 [[ 9.95044431e-01 -9.71395351e-03 -9.89556403e-02 -5.60403563e+00] [ 3.62110836e-03 9.98096448e-01 -6.15659579e-02 2.26602979e+00] [ 9.93653220e-02 6.09025345e-02 9.93185488e-01 2.10246736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084839173 meters Centerline goodness : 0.740345 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.26, Z:2.10 [[ 0.99565318 -0.01302535 -0.092223 -5.59289653] [ 0.00808308 0.99852103 -0.05376257 2.2589813 ] [ 0.09278688 0.05278343 0.99428593 2.09637861] [ 0. 0. 0. 1. ]] SLAMing on 21.114839173 meters Centerline goodness : 0.737438 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.26, Z:2.09 [[ 0.9955158 -0.01961976 -0.09253837 -5.58908152] [ 0.01404485 0.99806845 -0.06051536 2.25750484] [ 0.09354692 0.05894431 0.99386847 2.0940705 ] [ 0. 0. 0. 1. ]] SLAMing on 21.144839172999998 meters Centerline goodness : 0.740162 Centerline is valid? [False, False] Translation: X:-5.59, Y:2.26, Z:2.09 [[ 0.99563348 -0.01638386 -0.09189962 -5.59122893] [ 0.011176 0.99831732 -0.05690006 2.25742507] [ 0.09267722 0.05562453 0.99414126 2.09405375] [ 0. 0. 0. 1. ]] SLAMing on 21.174839173 meters Centerline goodness : 0.740975 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.26, Z:2.09 [[ 0.99632169 -0.01055666 -0.08503914 -5.58264058] [ 0.00713603 0.99915696 -0.04042822 2.25837678] [ 0.08539424 0.03967267 0.99555708 2.08948283] [ 0. 0. 0. 1. ]] SLAMing on 21.204839173 meters Centerline goodness : 0.742093 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.26, Z:2.08 [[ 9.97434772e-01 -5.93349657e-03 -7.13349112e-02 -5.58159320e+00] [ 3.68797644e-03 9.99494766e-01 -3.15691544e-02 2.25652135e+00] [ 7.14861859e-02 3.12250908e-02 9.96952716e-01 2.08071442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234839173 meters Centerline goodness : 0.743764 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.26, Z:2.08 [[ 9.97407073e-01 -4.65979950e-03 -7.18151595e-02 -5.57950229e+00] [ 2.39589588e-03 9.99498419e-01 -3.15779949e-02 2.26012370e+00] [ 7.19262856e-02 3.13240538e-02 9.96917957e-01 2.08047097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264839173 meters Centerline goodness : 0.739473 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.26, Z:2.08 [[ 9.97398816e-01 -3.90507166e-04 -7.20794609e-02 -5.57762704e+00] [-1.65381553e-03 9.99598101e-01 -2.83002099e-02 2.26438688e+00] [ 7.20615436e-02 2.83458020e-02 9.96997317e-01 2.07905721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294839173 meters Centerline goodness : 0.742670 Centerline is valid? [False, False] Translation: X:-5.58, Y:2.27, Z:2.07 [[ 9.98371595e-01 1.10666003e-03 -5.70344957e-02 -5.58098671e+00] [-2.35223195e-03 9.99760099e-01 -2.17764179e-02 2.26801876e+00] [ 5.69967140e-02 2.18751154e-02 9.98134687e-01 2.07258848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324839173 meters Centerline goodness : 0.743932 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.27, Z:2.07 [[ 9.98803560e-01 4.50392284e-04 -4.89003737e-02 -5.57423867e+00] [-1.04147112e-03 9.99926702e-01 -1.20626029e-02 2.26958961e+00] [ 4.88913565e-02 1.20990990e-02 9.98730818e-01 2.06913752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354839173 meters Centerline goodness : 0.742573 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.27, Z:2.06 [[ 9.99365456e-01 2.99425120e-03 -3.54925403e-02 -5.57328224e+00] [-3.26889237e-03 9.99965146e-01 -7.68249530e-03 2.26884408e+00] [ 3.54682999e-02 7.79364171e-03 9.99340412e-01 2.05937315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384839173 meters Centerline goodness : 0.739034 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.27, Z:2.06 [[ 9.99317696e-01 5.00009419e-03 -3.65942718e-02 -5.56807023e+00] [-5.27606670e-03 9.99958339e-01 -7.44873242e-03 2.27097961e+00] [ 3.65555029e-02 7.63672394e-03 9.99302445e-01 2.05712302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414839173 meters Centerline goodness : 0.740373 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.28, Z:2.05 [[ 9.99258785e-01 9.57965844e-03 -3.72841969e-02 -5.56284823e+00] [-9.75093730e-03 9.99942713e-01 -4.41474186e-03 2.27677457e+00] [ 3.72397693e-02 4.77502545e-03 9.99294951e-01 2.05335378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444839173 meters Centerline goodness : 0.738940 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.28, Z:2.05 [[ 9.99234449e-01 1.06190339e-02 -3.76530602e-02 -5.56023605e+00] [-1.08002475e-02 9.99931037e-01 -4.61258184e-03 2.28205801e+00] [ 3.76014824e-02 5.01571304e-03 9.99280227e-01 2.05195772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474839173 meters Centerline goodness : 0.741280 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.29, Z:2.05 [[ 9.99213519e-01 1.38199471e-02 -3.71665436e-02 -5.56199303e+00] [-1.39104190e-02 9.99900876e-01 -2.17672810e-03 2.28667966e+00] [ 3.71327772e-02 2.69201834e-03 9.99306715e-01 2.05320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504839173 meters Centerline goodness : 0.741608 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.30, Z:2.06 [[ 9.99164405e-01 1.75572181e-02 -3.69084888e-02 -5.56321015e+00] [-1.76566474e-02 9.99841301e-01 -2.36969356e-03 2.29737958e+00] [ 3.68610263e-02 3.01939363e-03 9.99315840e-01 2.05823085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534839172999998 meters Centerline goodness : 0.739553 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.30, Z:2.06 [[ 9.99134367e-01 1.79840638e-02 -3.75111878e-02 -5.56132107e+00] [-1.81168811e-02 9.99830743e-01 -3.20380873e-03 2.30190001e+00] [ 3.74472213e-02 3.88062113e-03 9.99291072e-01 2.05844815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564839173 meters Centerline goodness : 0.737137 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.31, Z:2.05 [[ 9.99122719e-01 1.71880328e-02 -3.81885438e-02 -5.55678248e+00] [-1.73584987e-02 9.99840772e-01 -4.13669517e-03 2.30602907e+00] [ 3.81113615e-02 4.79596191e-03 9.99261989e-01 2.05457413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594839173 meters Centerline goodness : 0.734193 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.31, Z:2.04 [[ 9.99590354e-01 1.30635175e-02 -2.54650440e-02 -5.55393955e+00] [-1.31394367e-02 9.99909708e-01 -2.81626242e-03 2.30677982e+00] [ 2.54259545e-02 3.14970508e-03 9.99671746e-01 2.04355761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624839172999998 meters Centerline goodness : 0.737811 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.31, Z:2.04 [[ 9.99884628e-01 1.12042373e-02 -1.02564832e-02 -5.55607183e+00] [-1.12293044e-02 9.99934094e-01 -2.38969744e-03 2.30694237e+00] [ 1.02290325e-02 2.50459490e-03 9.99944545e-01 2.03623446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654839173 meters Centerline goodness : 0.737640 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.31, Z:2.04 [[ 0.99992486 0.00684205 -0.01017112 -5.55666107] [-0.00691433 0.99995097 -0.00708873 2.3103227 ] [ 0.01012212 0.00715853 0.99992315 2.03692985] [ 0. 0. 0. 1. ]] SLAMing on 21.684839173 meters Centerline goodness : 0.735923 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.32, Z:2.04 [[ 0.99993508 0.00562929 -0.00990662 -5.55653208] [-0.00571504 0.99994626 -0.00864942 2.31919806] [ 0.0098574 0.00870547 0.99991352 2.03558791] [ 0. 0. 0. 1. ]] SLAMing on 21.714839172999998 meters Centerline goodness : 0.736057 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.32, Z:2.04 [[ 9.99941148e-01 4.90882703e-03 -9.67494387e-03 -5.55735945e+00] [-5.00220568e-03 9.99940915e-01 -9.65114648e-03 2.32298439e+00] [ 9.62699642e-03 9.69897455e-03 9.99906621e-01 2.03596520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744839173 meters Centerline goodness : 0.737509 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.33, Z:2.04 [[ 9.99957414e-01 3.15160990e-03 -8.67398552e-03 -5.56016243e+00] [-3.25267851e-03 9.99926699e-01 -1.16625861e-02 2.32832575e+00] [ 8.63659379e-03 1.16903031e-02 9.99894367e-01 2.03650944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774839173 meters Centerline goodness : 0.735346 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.34, Z:2.04 [[ 9.99967595e-01 1.33831401e-03 -7.93838720e-03 -5.56298032e+00] [-1.45007443e-03 9.99899687e-01 -1.40894713e-02 2.33517083e+00] [ 7.91873474e-03 1.41005259e-02 9.99869226e-01 2.03810933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804839172999998 meters Centerline goodness : 0.737149 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.34, Z:2.04 [[ 9.99970307e-01 6.31975340e-04 -7.68018516e-03 -5.56408665e+00] [-7.47983711e-04 9.99885536e-01 -1.51114195e-02 2.33881860e+00] [ 7.66975601e-03 1.51167154e-02 9.99856320e-01 2.03885446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834839173 meters Centerline goodness : 0.737125 Centerline is valid? [False, False] Translation: X:-5.57, Y:2.34, Z:2.03 [[ 9.99966856e-01 3.83858889e-03 7.18004450e-03 -5.56577951e+00] [-3.77142927e-03 9.99949232e-01 -9.34391814e-03 2.34104845e+00] [-7.21554744e-03 9.31652941e-03 9.99930567e-01 2.03198573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864839173 meters Centerline goodness : 0.736836 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.34, Z:2.03 [[ 0.99995683 0.00668558 0.00645292 -5.56240182] [-0.00664202 0.99995517 -0.0067486 2.34342185] [-0.00649775 0.00670544 0.99995641 2.02965617] [ 0. 0. 0. 1. ]] SLAMing on 21.894839172999998 meters Centerline goodness : 0.736836 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.34, Z:2.03 [[ 0.99995683 0.00668558 0.00645292 -5.56240182] [-0.00664202 0.99995517 -0.0067486 2.34342185] [-0.00649775 0.00670544 0.99995641 2.02965617] [ 0. 0. 0. 1. ]] SLAMing on 21.924839173 meters Centerline goodness : 0.734617 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.35, Z:2.02 [[ 9.99904145e-01 1.29878796e-02 4.79747239e-03 -5.55258362e+00] [-1.29728281e-02 9.99910871e-01 -3.15528627e-03 2.34967088e+00] [-4.83802528e-03 3.09274703e-03 9.99983514e-01 2.02363866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954839173 meters Centerline goodness : 0.734186 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.36, Z:2.02 [[ 9.99893641e-01 1.39461211e-02 4.26764339e-03 -5.55023832e+00] [-1.39285883e-02 9.99894542e-01 -4.11081869e-03 2.35533816e+00] [-4.32452331e-03 4.05093922e-03 9.99982444e-01 2.02382644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839173 meters Centerline goodness : 0.734542 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.36, Z:2.03 [[ 9.99878804e-01 1.49274271e-02 4.42135744e-03 -5.55048649e+00] [-1.49065990e-02 9.99877812e-01 -4.70685678e-03 2.36232130e+00] [-4.49107846e-03 4.64037893e-03 9.99979148e-01 2.02510204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014839173 meters Centerline goodness : 0.736477 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.37, Z:2.03 [[ 9.99887377e-01 1.43206887e-02 4.48903926e-03 -5.55159002e+00] [-1.42937989e-02 9.99880040e-01 -5.96601468e-03 2.36528299e+00] [-4.57393819e-03 5.90117734e-03 9.99972127e-01 2.02688725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839173 meters Centerline goodness : 0.741156 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.37, Z:2.03 [[ 0.99991534 0.01170211 0.0056901 -5.55783536] [-0.01164721 0.99988622 -0.00958624 2.37292331] [-0.00580163 0.00951916 0.99993786 2.03256045] [ 0. 0. 0. 1. ]] SLAMing on 22.074839173 meters Centerline goodness : 0.742662 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.38, Z:2.03 [[ 0.99992357 0.01094968 0.00574097 -5.55900869] [-0.01088884 0.99988533 -0.01052421 2.37551562] [-0.00585555 0.0104609 0.99992814 2.03399835] [ 0. 0. 0. 1. ]] SLAMing on 22.104839173 meters Centerline goodness : 0.737847 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.03 [[ 9.99933565e-01 1.04108531e-02 4.94761909e-03 -5.55433168e+00] [-1.03552208e-02 9.99884329e-01 -1.11399086e-02 2.37783692e+00] [-5.06302274e-03 1.10879349e-02 9.99925709e-01 2.02990976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134839173 meters Centerline goodness : 0.737835 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.03 [[ 9.99928543e-01 1.11098107e-02 4.41381078e-03 -5.55166339e+00] [-1.10616190e-02 9.99880528e-01 -1.07967680e-02 2.37796457e+00] [-4.53323350e-03 1.07471726e-02 9.99931972e-01 2.02816215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839173 meters Centerline goodness : 0.734244 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.38, Z:2.03 [[ 9.99926370e-01 1.12923139e-02 4.44274079e-03 -5.55104379e+00] [-1.12381137e-02 9.99864348e-01 -1.20411945e-02 2.38342096e+00] [-4.57811108e-03 1.19903799e-02 9.99917632e-01 2.02845206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194839173 meters Centerline goodness : 0.738746 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.03 [[ 9.99936885e-01 1.01497819e-02 4.81741268e-03 -5.55385948e+00] [-1.00824071e-02 9.99853807e-01 -1.38097508e-02 2.38727837e+00] [-4.95687437e-03 1.37603081e-02 9.99893036e-01 2.03157867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839173 meters Centerline goodness : 0.741184 Centerline is valid? [False, False] Translation: X:-5.56, Y:2.39, Z:2.03 [[ 9.99948364e-01 8.71191944e-03 5.23175724e-03 -5.55705014e+00] [-8.62889862e-03 9.99839719e-01 -1.56868937e-02 2.39029551e+00] [-5.36758165e-03 1.56409394e-02 9.99863266e-01 2.03495446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254839173 meters Centerline goodness : 0.737324 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.03 [[ 9.99945362e-01 9.40016228e-03 4.57268158e-03 -5.55426743e+00] [-9.32983276e-03 9.99841462e-01 -1.51659350e-02 2.39039260e+00] [-4.71451888e-03 1.51224441e-02 9.99874535e-01 2.03326392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters Centerline goodness : 0.734379 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.02 [[ 9.99929026e-01 1.14503910e-02 3.29107043e-03 -5.54703539e+00] [-1.14119362e-02 9.99869037e-01 -1.14750356e-02 2.38841621e+00] [-3.42203307e-03 1.14366637e-02 9.99928744e-01 2.02454304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314839173 meters Centerline goodness : 0.731351 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.39, Z:2.02 [[ 9.99925967e-01 1.18308057e-02 2.84489924e-03 -5.54487441e+00] [-1.18007494e-02 9.99876706e-01 -1.03593431e-02 2.38663707e+00] [-2.96710785e-03 1.03250042e-02 9.99942294e-01 2.02211695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839173 meters Centerline goodness : 0.733873 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.02 [[ 9.99934490e-01 1.09705492e-02 3.26539980e-03 -5.54711378e+00] [-1.09347683e-02 9.99882095e-01 -1.07808625e-02 2.38738215e+00] [-3.38328678e-03 1.07444499e-02 9.99936553e-01 2.02346455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374839172999998 meters Centerline goodness : 0.735509 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.03 [[ 9.99934046e-01 1.10413205e-02 3.16130259e-03 -5.54781598e+00] [-1.10038272e-02 9.99871687e-01 -1.16415132e-02 2.38910877e+00] [-3.28943463e-03 1.16059590e-02 9.99927238e-01 2.02579485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839173 meters Centerline goodness : 0.740101 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.03 [[ 9.99939999e-01 1.04105517e-02 3.40873121e-03 -5.55131955e+00] [-1.03663813e-02 9.99865247e-01 -1.27289531e-02 2.38729189e+00] [-3.54078729e-03 1.26928531e-02 9.99913173e-01 2.03085482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434839173 meters Centerline goodness : 0.737742 Centerline is valid? [False, False] Translation: X:-5.55, Y:2.39, Z:2.03 [[ 9.99934623e-01 1.10668257e-02 2.87672889e-03 -5.54989890e+00] [-1.10316798e-02 9.99867636e-01 -1.19587969e-02 2.38543117e+00] [-3.00869403e-03 1.19262799e-02 9.99924353e-01 2.03062829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464839172999998 meters Centerline goodness : 0.734415 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.03 [[ 9.99900360e-01 1.40835880e-02 9.60552956e-04 -5.54157517e+00] [-1.40739593e-02 9.99856903e-01 -9.38600698e-03 2.38381292e+00] [-1.09260416e-03 9.37155298e-03 9.99955489e-01 2.02561022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494839173 meters Centerline goodness : 0.732315 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.38, Z:2.02 [[ 9.99870618e-01 1.60846650e-02 -1.75001133e-04 -5.53586860e+00] [-1.60855520e-02 9.99838326e-01 -8.03601764e-03 2.38297471e+00] [ 4.57161887e-05 8.03779292e-03 9.99967695e-01 2.02209681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524839173 meters Centerline goodness : 0.730677 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.02 [[ 9.99833763e-01 1.81990845e-02 -1.11383534e-03 -5.53135564e+00] [-1.82068602e-02 9.99806692e-01 -7.42218650e-03 2.38255680e+00] [ 9.78543029e-04 7.44123210e-03 9.99971835e-01 2.02075224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554839172999998 meters Centerline goodness : 0.732399 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.02 [[ 9.99824385e-01 1.86770634e-02 -1.53822848e-03 -5.53036841e+00] [-1.86887733e-02 9.99793449e-01 -7.98681348e-03 2.38488972e+00] [ 1.38874054e-03 8.01415848e-03 9.99966922e-01 2.02179438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584839173 meters Centerline goodness : 0.735827 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.39, Z:2.03 [[ 9.99844974e-01 1.75709347e-02 -1.13605947e-03 -5.53396313e+00] [-1.75810694e-02 9.99799069e-01 -9.62950290e-03 2.38739187e+00] [ 9.66631839e-04 9.64798322e-03 9.99952990e-01 2.02607466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614839173 meters Centerline goodness : 0.735790 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.03 [[ 9.99848746e-01 1.73501437e-02 -1.20696473e-03 -5.53413792e+00] [-1.73603397e-02 9.99808576e-01 -9.02380928e-03 2.38398930e+00] [ 1.05016930e-03 9.04339771e-03 9.99958556e-01 2.02579776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters Centerline goodness : 0.733967 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.02 [[ 9.99827891e-01 1.84777322e-02 -1.66180412e-03 -5.53105815e+00] [-1.84893687e-02 9.99802530e-01 -7.28309235e-03 2.38063569e+00] [ 1.52690094e-03 7.31256457e-03 9.99972097e-01 2.02253184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674839173 meters Centerline goodness : 0.733738 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.02 [[ 9.99814000e-01 1.91487537e-02 -2.30033647e-03 -5.52838586e+00] [-1.91641715e-02 9.99792689e-01 -6.87853061e-03 2.38161734e+00] [ 2.16814430e-03 6.92133524e-03 9.99973697e-01 2.02107492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839173 meters Centerline goodness : 0.734458 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.38, Z:2.02 [[ 9.99747204e-01 2.23923150e-02 -2.02772310e-03 -5.53014366e+00] [-2.24000421e-02 9.99741590e-01 -3.87174618e-03 2.38392665e+00] [ 1.94050175e-03 3.91618850e-03 9.99990449e-01 2.02293922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734839173 meters Centerline goodness : 0.737017 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.39, Z:2.03 [[ 9.99761265e-01 2.17711496e-02 -1.85203695e-03 -5.53219941e+00] [-2.17814939e-02 9.99746153e-01 -5.76166195e-03 2.38747567e+00] [ 1.72612881e-03 5.80062657e-03 9.99981686e-01 2.02665443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839173 meters Centerline goodness : 0.735010 Centerline is valid? [False, False] Translation: X:-5.53, Y:2.39, Z:2.03 [[ 9.99756502e-01 2.19666996e-02 -2.09777740e-03 -5.53238391e+00] [-2.19783201e-02 9.99742272e-01 -5.68707666e-03 2.38522813e+00] [ 1.97231044e-03 5.73179749e-03 9.99981628e-01 2.02798853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794839173 meters Centerline goodness : 0.729084 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.38, Z:2.02 [[ 9.99761514e-01 2.14471208e-02 -4.11530849e-03 -5.52350351e+00] [-2.14731235e-02 9.99749057e-01 -6.38192507e-03 2.37902297e+00] [ 3.97740186e-03 6.46877160e-03 9.99971167e-01 2.02238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824839173 meters Centerline goodness : 0.726867 Centerline is valid? [False, False] Translation: X:-5.52, Y:2.38, Z:2.02 [[ 9.99756798e-01 2.14377459e-02 -5.17376397e-03 -5.51674265e+00] [-2.14756220e-02 9.99742135e-01 -7.37976731e-03 2.37671518e+00] [ 5.01422426e-03 7.48908233e-03 9.99959385e-01 2.01817879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854839173 meters Centerline goodness : 0.726896 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.38, Z:2.01 [[ 0.99967432 0.02473586 -0.00627665 -5.5101025 ] [-0.02477077 0.99967777 -0.00554629 2.37695805] [ 0.00613744 0.00569996 0.99996492 2.01461617] [ 0. 0. 0. 1. ]] SLAMing on 22.884839173 meters Centerline goodness : 0.726341 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.38, Z:2.01 [[ 0.99965162 0.02551852 -0.0067419 -5.50844562] [-0.02555747 0.99965678 -0.0057559 2.3787598 ] [ 0.00659271 0.0059262 0.99996071 2.01495191] [ 0. 0. 0. 1. ]] SLAMing on 22.914839173 meters Centerline goodness : 0.728423 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.38, Z:2.02 [[ 0.99966227 0.02514756 -0.00655287 -5.509862 ] [-0.02518739 0.99966433 -0.00606751 2.37823698] [ 0.00639808 0.00623051 0.99996012 2.01635808] [ 0. 0. 0. 1. ]] SLAMing on 22.944839173 meters Centerline goodness : 0.729726 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.37, Z:2.02 [[ 0.99978771 0.01957719 -0.00642391 -5.51324236] [-0.01964308 0.99975338 -0.01035967 2.37418426] [ 0.00621951 0.01048366 0.9999257 2.01916441] [ 0. 0. 0. 1. ]] SLAMing on 22.974839173 meters Centerline goodness : 0.729094 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.37, Z:2.02 [[ 0.99990064 0.01200589 -0.00738694 -5.51065704] [-0.01212923 0.99978385 -0.01688584 2.37092652] [ 0.00718261 0.01697376 0.99983014 2.01745614] [ 0. 0. 0. 1. ]] SLAMing on 23.004839173 meters Centerline goodness : 0.729740 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.36, Z:2.02 [[ 0.99990379 0.01167856 -0.00748414 -5.51041486] [-0.01179272 0.99981193 -0.01539587 2.36439844] [ 0.00730293 0.01548264 0.99985347 2.01554511] [ 0. 0. 0. 1. ]] SLAMing on 23.034839172999998 meters Centerline goodness : 0.730140 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.36, Z:2.02 [[ 0.99994428 0.00760505 -0.00732159 -5.51119992] [-0.00773765 0.9998034 -0.01825637 2.35654676] [ 0.00718131 0.018312 0.99980653 2.01515289] [ 0. 0. 0. 1. ]] SLAMing on 23.064839173 meters Centerline goodness : 0.733955 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.35, Z:2.02 [[ 0.99995572 0.00639611 -0.0069022 -5.51400401] [-0.00652013 0.99981496 -0.01809764 2.35374844] [ 0.00678517 0.01814184 0.9998124 2.01637231] [ 0. 0. 0. 1. ]] SLAMing on 23.094839173 meters Centerline goodness : 0.733239 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.35, Z:2.01 [[ 9.99987930e-01 8.51795414e-04 -4.83876530e-03 -5.50999857e+00] [-8.74503336e-04 9.99988607e-01 -4.69274080e-03 2.34846551e+00] [ 4.83471291e-03 4.69691568e-03 9.99977282e-01 2.01255707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124839172999998 meters Centerline goodness : 0.733588 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.35, Z:2.01 [[ 9.99986452e-01 1.03218398e-03 -5.10197290e-03 -5.50982240e+00] [-1.05255014e-03 9.99991483e-01 -3.99074841e-03 2.34631252e+00] [ 5.09781026e-03 3.99606443e-03 9.99979022e-01 2.01274125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154839173 meters Centerline goodness : 0.733626 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.34, Z:2.01 [[ 9.99987815e-01 7.51335460e-04 -4.87899837e-03 -5.51118331e+00] [-7.68486430e-04 9.99993529e-01 -3.51434182e-03 2.34387024e+00] [ 4.87632636e-03 3.51804844e-03 9.99981922e-01 2.01340565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184839173 meters Centerline goodness : 0.736598 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.34, Z:2.02 [[ 9.99988853e-01 6.79410992e-04 -4.67256722e-03 -5.51279422e+00] [-6.94572163e-04 9.99994497e-01 -3.24386274e-03 2.33991327e+00] [ 4.67033759e-03 3.24707201e-03 9.99983822e-01 2.01511839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214839172999998 meters Centerline goodness : 0.733157 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.33, Z:2.01 [[ 9.99978123e-01 2.94377286e-03 -5.92351298e-03 -5.50673146e+00] [-2.94732974e-03 9.99995481e-01 -5.91827418e-04 2.33398127e+00] [ 5.92174401e-03 6.09273016e-04 9.99982281e-01 2.01048207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244839173 meters Centerline goodness : 0.733040 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.33, Z:2.01 [[ 9.99978597e-01 1.72078049e-03 -6.31230950e-03 -5.50336578e+00] [-1.74165435e-03 9.99993029e-01 -3.30284445e-03 2.33443597e+00] [ 6.30658202e-03 3.31376762e-03 9.99974623e-01 2.00915704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274839173 meters Centerline goodness : 0.733519 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99976826e-01 1.98413709e-03 -6.51238930e-03 -5.50319882e+00] [-2.00917063e-03 9.99990610e-01 -3.83969892e-03 2.33505325e+00] [ 6.50470966e-03 3.85269444e-03 9.99971422e-01 2.01057512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304839172999998 meters Centerline goodness : 0.733659 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99975637e-01 2.22857302e-03 -6.61503271e-03 -5.50304374e+00] [-2.25836406e-03 9.99987327e-01 -4.49948740e-03 2.33876889e+00] [ 6.60492144e-03 4.51431693e-03 9.99967997e-01 2.01154126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334839173 meters Centerline goodness : 0.735896 Centerline is valid? [False, False] Translation: X:-5.51, Y:2.34, Z:2.01 [[ 9.99969473e-01 4.79688312e-03 -6.16784144e-03 -5.50639882e+00] [-4.81049907e-03 9.99986021e-01 -2.19463429e-03 2.34320581e+00] [ 6.15722781e-03 2.22423769e-03 9.99978570e-01 2.01487793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839173 meters Centerline goodness : 0.733139 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99971516e-01 3.60601257e-03 -6.63049951e-03 -5.50272347e+00] [-3.63524053e-03 9.99983706e-01 -4.40135283e-03 2.34312845e+00] [ 6.61452014e-03 4.42533092e-03 9.99968332e-01 2.01288073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394839172999998 meters Centerline goodness : 0.733467 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99968678e-01 4.02729642e-03 -6.81351613e-03 -5.50112172e+00] [-4.04980952e-03 9.99986375e-01 -3.29361898e-03 2.34018683e+00] [ 6.80015892e-03 3.32110926e-03 9.99971364e-01 2.01065111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839173 meters Centerline goodness : 0.732603 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99972162e-01 9.83535806e-04 -7.39650383e-03 -5.49855973e+00] [-1.03338979e-03 9.99976756e-01 -6.73941054e-03 2.33970845e+00] [ 7.38970345e-03 6.74686639e-03 9.99949935e-01 2.00942682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454839173 meters Centerline goodness : 0.733284 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.34, Z:2.01 [[ 9.99970961e-01 8.22863681e-04 -7.57631226e-03 -5.49744003e+00] [-8.61899967e-04 9.99986364e-01 -5.15058996e-03 2.33602576e+00] [ 7.57197072e-03 5.15697041e-03 9.99958035e-01 2.00654305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484839173 meters Centerline goodness : 0.736479 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.33, Z:2.00 [[ 9.99970143e-01 7.00530433e-04 -7.69564552e-03 -5.49668078e+00] [-7.33737792e-04 9.99990429e-01 -4.31310875e-03 2.33415272e+00] [ 7.69255040e-03 4.31862656e-03 9.99961086e-01 2.00492601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514839173 meters Centerline goodness : 0.733984 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.33, Z:2.01 [[ 9.99973660e-01 -1.23299762e-03 -7.15252118e-03 -5.49962154e+00] [ 1.20033862e-03 9.99988844e-01 -4.56857954e-03 2.33125478e+00] [ 7.15807443e-03 4.55987376e-03 9.99963984e-01 2.00560349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544839173 meters Centerline goodness : 0.732874 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.33, Z:2.01 [[ 9.99975825e-01 -1.65093298e-03 -6.75457318e-03 -5.50079010e+00] [ 1.62243743e-03 9.99989771e-01 -4.22201101e-03 2.32937212e+00] [ 6.76147434e-03 4.21095007e-03 9.99968275e-01 2.00531641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574839173 meters Centerline goodness : 0.734275 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.33, Z:2.00 [[ 9.99960758e-01 -4.37521465e-03 -7.70319678e-03 -5.49681269e+00] [ 4.32390615e-03 9.99968442e-01 -6.66477802e-03 2.32650223e+00] [ 7.73211351e-03 6.63120858e-03 9.99948119e-01 2.00280357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604839173 meters Centerline goodness : 0.731523 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.32, Z:2.00 [[ 9.99960330e-01 -3.39798150e-03 -8.23360715e-03 -5.49431765e+00] [ 3.35529206e-03 9.99980887e-01 -5.19305878e-03 2.32323633e+00] [ 8.25109570e-03 5.16522661e-03 9.99952619e-01 2.00073084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634839173 meters Centerline goodness : 0.733811 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.32, Z:2.00 [[ 9.99958914e-01 -6.32928120e-04 -9.04271396e-03 -5.49064846e+00] [ 5.90869874e-04 9.99989000e-01 -4.65297922e-03 2.32372425e+00] [ 9.04555949e-03 4.64744498e-03 9.99948288e-01 2.00133346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839173 meters Centerline goodness : 0.735901 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.33, Z:2.00 [[ 9.99947295e-01 5.12648540e-03 -8.89526875e-03 -5.49082926e+00] [-5.13204836e-03 9.99986649e-01 -6.02670667e-04 2.32678502e+00] [ 8.89206041e-03 6.48289853e-04 9.99960255e-01 2.00321650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694839173 meters Centerline goodness : 0.738030 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.33, Z:2.01 [[ 9.99946141e-01 5.17666155e-03 -8.99535651e-03 -5.49175677e+00] [-5.19255814e-03 9.99984996e-01 -1.74474449e-03 2.32893270e+00] [ 8.98618960e-03 1.79135943e-03 9.99958019e-01 2.00624446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839173 meters Centerline goodness : 0.735644 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.33, Z:2.01 [[ 9.99944304e-01 5.02584859e-03 -9.28060545e-03 -5.49236334e+00] [-5.04457475e-03 9.99985285e-01 -1.99546847e-03 2.32796739e+00] [ 9.27043997e-03 2.04217404e-03 9.99954943e-01 2.00818997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754839173 meters Centerline goodness : 0.736214 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.32, Z:2.01 [[ 9.99949403e-01 1.63323354e-03 -9.92591778e-03 -5.49051915e+00] [-1.68017497e-03 9.99987437e-01 -4.72268008e-03 2.32342723e+00] [ 9.91807984e-03 4.73911840e-03 9.99939584e-01 2.00737397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters Centerline goodness : 0.732382 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.32, Z:2.00 [[ 0.99992695 -0.00576535 -0.01062363 -5.48740446] [ 0.00566051 0.99993524 -0.00987275 2.31598766] [ 0.01067986 0.00981189 0.99989483 2.00330272] [ 0. 0. 0. 1. ]] SLAMing on 23.814839173 meters Centerline goodness : 0.732382 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.32, Z:2.00 [[ 0.99992695 -0.00576535 -0.01062363 -5.48740446] [ 0.00566051 0.99993524 -0.00987275 2.31598766] [ 0.01067986 0.00981189 0.99989483 2.00330272] [ 0. 0. 0. 1. ]] SLAMing on 23.844839173 meters Centerline goodness : 0.732834 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.31, Z:2.00 [[ 0.9998986 -0.00905888 -0.01098713 -5.48541933] [ 0.00892059 0.99988119 -0.01257129 2.31206957] [ 0.01109971 0.01247201 0.99986061 2.00155371] [ 0. 0. 0. 1. ]] SLAMing on 23.874839172999998 meters Centerline goodness : 0.729358 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.31, Z:2.00 [[ 0.99986326 -0.01135717 -0.01201943 -5.48029038] [ 0.01119669 0.99984838 -0.01333625 2.30542877] [ 0.01216907 0.01319985 0.99983883 1.99654189] [ 0. 0. 0. 1. ]] SLAMing on 23.904839173 meters Centerline goodness : 0.730179 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:1.99 [[ 0.99990232 -0.0071937 -0.01198343 -5.47950421] [ 0.00709774 0.99994256 -0.00803137 2.30258146] [ 0.01204052 0.00794553 0.99989594 1.99409098] [ 0. 0. 0. 1. ]] SLAMing on 23.934839173 meters Centerline goodness : 0.730729 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:1.99 [[ 9.99923168e-01 -3.39920564e-03 -1.19206795e-02 -5.47991925e+00] [ 3.35753726e-03 9.99988190e-01 -3.51374283e-03 2.30045702e+00] [ 1.19324827e-02 3.47344874e-03 9.99922773e-01 1.99369562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964839172999998 meters Centerline goodness : 0.732888 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:1.99 [[ 9.99994876e-01 -1.14746344e-03 2.98849413e-03 -5.48331588e+00] [ 1.14906668e-03 9.99999197e-01 -5.34810615e-04 2.29709391e+00] [-2.98787805e-03 5.38241854e-04 9.99995391e-01 1.99017444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994839173 meters Centerline goodness : 0.736694 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.30, Z:2.00 [[ 9.99980468e-01 -4.56862939e-03 4.26501876e-03 -5.49097833e+00] [ 4.58057519e-03 9.99985602e-01 -2.79532605e-03 2.29721930e+00] [-4.25218655e-03 2.81480769e-03 9.99986998e-01 1.99672838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839173 meters Centerline goodness : 0.739328 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.30, Z:2.00 [[ 9.99968027e-01 -6.34594136e-03 4.86550630e-03 -5.49496383e+00] [ 6.36301449e-03 9.99973625e-01 -3.50160012e-03 2.29594374e+00] [-4.84315702e-03 3.53244746e-03 9.99982033e-01 1.99967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054839172999998 meters Centerline goodness : 0.740011 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.29, Z:2.00 [[ 9.99956186e-01 -7.85727869e-03 5.08811015e-03 -5.49850937e+00] [ 7.87827469e-03 9.99960480e-01 -4.11967052e-03 2.29489919e+00] [-5.05553967e-03 4.15957555e-03 9.99978569e-01 2.00335301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839173 meters Centerline goodness : 0.740088 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.30, Z:2.00 [[ 9.99970503e-01 -6.50875858e-03 4.07780788e-03 -5.49478840e+00] [ 6.52229380e-03 9.99973236e-01 -3.31478127e-03 2.29523712e+00] [-4.05612363e-03 3.34128015e-03 9.99986192e-01 2.00178458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114839173 meters Centerline goodness : 0.736599 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.00 [[ 9.99991970e-01 -1.85556504e-03 3.55207818e-03 -5.49277234e+00] [ 1.85090586e-03 9.99997423e-01 1.31451649e-03 2.29363068e+00] [-3.55450819e-03 -1.30793137e-03 9.99992827e-01 2.00049616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters Centerline goodness : 0.737605 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.00 [[ 9.99996617e-01 1.18107198e-03 2.31751688e-03 -5.48753553e+00] [-1.18617484e-03 9.99996873e-01 2.20172910e-03 2.29281442e+00] [-2.31490923e-03 -2.20447063e-03 9.99994891e-01 1.99925381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174839173 meters Centerline goodness : 0.736978 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.29, Z:2.00 [[ 9.99994762e-01 2.97498273e-03 1.27487837e-03 -5.48283896e+00] [-2.97946681e-03 9.99989331e-01 3.52991987e-03 2.29042108e+00] [-1.26436332e-03 -3.53369984e-03 9.99992957e-01 1.99642845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839173 meters Centerline goodness : 0.735968 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.29, Z:2.00 [[ 9.99994780e-01 3.01159457e-03 1.17055093e-03 -5.48248075e+00] [-3.01605397e-03 9.99988130e-01 3.82675268e-03 2.28907539e+00] [-1.15901241e-03 -3.83026315e-03 9.99991993e-01 1.99606994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234839173 meters Centerline goodness : 0.737403 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.29, Z:2.00 [[ 9.99997081e-01 1.95777841e-03 1.41635074e-03 -5.48449749e+00] [-1.96256940e-03 9.99992331e-01 3.38918756e-03 2.28812037e+00] [-1.40970460e-03 -3.39195735e-03 9.99993254e-01 1.99763717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839173 meters Centerline goodness : 0.736271 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.29, Z:2.00 [[ 9.99997887e-01 1.62843149e-03 1.25439230e-03 -5.48460620e+00] [-1.63190901e-03 9.99994815e-01 2.77625466e-03 2.29031690e+00] [-1.24986486e-03 -2.77829585e-03 9.99995359e-01 1.99840440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294839173 meters Centerline goodness : 0.739661 Centerline is valid? [False, False] Translation: X:-5.49, Y:2.29, Z:2.00 [[ 9.99999001e-01 1.01418632e-03 9.84955894e-04 -5.48500662e+00] [-1.01582854e-03 9.99998093e-01 1.66824132e-03 2.29324257e+00] [-9.83262108e-04 -1.66924020e-03 9.99998123e-01 2.00003734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839173 meters Centerline goodness : 0.738319 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.29, Z:2.00 [[ 9.99999443e-01 6.16731072e-04 8.57088299e-04 -5.48467114e+00] [-6.17799647e-04 9.99999032e-01 1.24704562e-03 2.29459039e+00] [-8.56318378e-04 -1.24757443e-03 9.99998855e-01 1.99977882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354839173 meters Centerline goodness : 0.736735 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:2.00 [[ 9.99997093e-01 -2.39468548e-03 2.82203437e-04 -5.48231746e+00] [ 2.39537534e-03 9.99994080e-01 -2.47010806e-03 2.29694432e+00] [-2.76286635e-04 2.47077686e-03 9.99996909e-01 1.99890348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839173 meters Centerline goodness : 0.737018 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:2.00 [[ 9.99997194e-01 -2.34795061e-03 3.14517289e-04 -5.48135558e+00] [ 2.34868296e-03 9.99994484e-01 -2.34871247e-03 2.29790779e+00] [-3.09000893e-04 2.34944458e-03 9.99997192e-01 1.99724576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414839173 meters Centerline goodness : 0.737234 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:2.00 [[ 9.99997857e-01 -2.07010518e-03 6.51744527e-06 -5.47992199e+00] [ 2.07011464e-03 9.99995282e-01 -2.26944069e-03 2.29857664e+00] [-1.81943358e-06 2.26944932e-03 9.99997425e-01 1.99623315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839173 meters Centerline goodness : 0.738879 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:2.00 [[ 9.99996772e-01 -2.53872184e-03 1.01674768e-04 -5.48084092e+00] [ 2.53907949e-03 9.99989979e-01 -3.68724354e-03 2.30315343e+00] [-9.23128638e-05 3.68748980e-03 9.99993197e-01 1.99780423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474839173 meters Centerline goodness : 0.739563 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.30, Z:2.00 [[ 9.99997830e-01 -2.04630024e-03 -3.91887180e-04 -5.47908320e+00] [ 2.04489108e-03 9.99991561e-01 -3.56311333e-03 2.30391521e+00] [ 3.99175073e-04 3.56230423e-03 9.99993575e-01 1.99712249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839173 meters Centerline goodness : 0.732919 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.30, Z:1.99 [[ 9.99995084e-01 9.89794327e-04 -2.97543275e-03 -5.46521917e+00] [-1.00000225e-03 9.99993613e-01 -3.43120849e-03 2.30287880e+00] [ 2.97201756e-03 3.43416706e-03 9.99989687e-01 1.98959447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534839172999998 meters Centerline goodness : 0.732532 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.30, Z:1.99 [[ 9.99991114e-01 2.07783511e-03 -3.66807659e-03 -5.46145994e+00] [-2.08862432e-03 9.99993497e-01 -2.94000522e-03 2.30311849e+00] [ 3.66194390e-03 2.94764033e-03 9.99988951e-01 1.98689580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839173 meters Centerline goodness : 0.735430 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.31, Z:1.99 [[ 9.99983490e-01 4.78530979e-03 -3.18141356e-03 -5.46386231e+00] [-4.78846314e-03 9.99988051e-01 -9.84301654e-04 2.31038227e+00] [ 3.17666536e-03 9.99519485e-04 9.99994455e-01 1.98901438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594839173 meters Centerline goodness : 0.738561 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.31, Z:1.99 [[ 9.99989104e-01 1.79214906e-03 4.31057222e-03 -5.45560608e+00] [-1.80696787e-03 9.99992463e-01 3.43634805e-03 2.31439038e+00] [-4.30438128e-03 -3.44409967e-03 9.99984805e-01 1.98966010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624839172999998 meters Centerline goodness : 0.736394 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99979258e-01 -4.09365042e-03 4.97239110e-03 -5.46039150e+00] [ 4.10846620e-03 9.99987141e-01 -2.97305919e-03 2.31848960e+00] [-4.96015650e-03 2.99342643e-03 9.99983218e-01 1.99480291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654839173 meters Centerline goodness : 0.736848 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99959495e-01 -7.71633403e-03 4.63320605e-03 -5.45917039e+00] [ 7.74814901e-03 9.99946256e-01 -6.88850376e-03 2.31800596e+00] [-4.57980305e-03 6.92412351e-03 9.99965540e-01 1.99460528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684839173 meters Centerline goodness : 0.736198 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.31, Z:1.99 [[ 9.99926667e-01 -1.13761462e-02 4.15257926e-03 -5.45595029e+00] [ 1.14122526e-02 9.99896354e-01 -8.77734487e-03 2.31289506e+00] [-4.05229651e-03 8.82409148e-03 9.99952856e-01 1.98966847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714839172999998 meters Centerline goodness : 0.735634 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99905701e-01 -1.29779389e-02 4.49034441e-03 -5.45762215e+00] [ 1.30219317e-02 9.99866094e-01 -9.91076197e-03 2.31702496e+00] [-4.36112187e-03 9.96830034e-03 9.99940805e-01 1.99009439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744839173 meters Centerline goodness : 0.736488 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99930644e-01 -1.07113616e-02 4.89636916e-03 -5.46020267e+00] [ 1.07427627e-02 9.99921605e-01 -6.43245439e-03 2.31740243e+00] [-4.82708497e-03 6.48460879e-03 9.99967324e-01 1.99080459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774839173 meters Centerline goodness : 0.739105 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99949490e-01 -8.56031396e-03 5.26672264e-03 -5.46293786e+00] [ 8.57642866e-03 9.99958586e-01 -3.04478074e-03 2.31717386e+00] [-5.24044025e-03 3.08979662e-03 9.99981495e-01 1.99187881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804839172999998 meters Centerline goodness : 0.743085 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99943220e-01 -9.32825987e-03 5.15177252e-03 -5.46406349e+00] [ 9.35353973e-03 9.99944225e-01 -4.90492433e-03 2.32328836e+00] [-5.10573077e-03 4.95283313e-03 9.99974700e-01 1.99437334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834839173 meters Centerline goodness : 0.744478 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 9.99936183e-01 -9.98083108e-03 5.29281243e-03 -5.46540263e+00] [ 1.00108860e-02 9.99933742e-01 -5.68268533e-03 2.32487993e+00] [-5.23574382e-03 5.73530842e-03 9.99969846e-01 1.99577446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864839173 meters Centerline goodness : 0.745891 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:2.00 [[ 0.99991226 -0.01201252 0.00558271 -5.46783873] [ 0.01204756 0.99990767 -0.00628497 2.32341102] [-0.0055067 0.00635168 0.99996467 1.99665601] [ 0. 0. 0. 1. ]] SLAMing on 24.894839172999998 meters Centerline goodness : 0.743013 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.32, Z:1.99 [[ 9.99919053e-01 -1.15518735e-02 5.33312326e-03 -5.46613807e+00] [ 1.15812173e-02 9.99917785e-01 -5.50449259e-03 2.32208932e+00] [-5.26909759e-03 5.56581108e-03 9.99970629e-01 1.99475994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924839173 meters Centerline goodness : 0.744466 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99926517e-01 -1.10265107e-02 5.03750774e-03 -5.46445881e+00] [ 1.10534708e-02 9.99924566e-01 -5.35573961e-03 2.32263916e+00] [-4.97807262e-03 5.41102799e-03 9.99972969e-01 1.99360237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954839173 meters Centerline goodness : 0.745694 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.32, Z:1.99 [[ 9.99932236e-01 -1.06676430e-02 4.66093450e-03 -5.46353073e+00] [ 1.06936961e-02 9.99927134e-01 -5.60097427e-03 2.32404977e+00] [-4.60084568e-03 5.65043735e-03 9.99973452e-01 1.99397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984839173 meters Centerline goodness : 0.744995 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.33, Z:1.99 [[ 9.99975722e-01 -5.81525104e-03 3.83909556e-03 -5.46149039e+00] [ 5.82128747e-03 9.99981835e-01 -1.56306240e-03 2.32603563e+00] [-3.82993622e-03 1.58537294e-03 9.99991409e-01 1.99424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014839173 meters Centerline goodness : 0.746327 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.33, Z:1.99 [[ 9.99984790e-01 -4.57029041e-03 3.08753390e-03 -5.45901065e+00] [ 4.57462899e-03 9.99988557e-01 -1.39959713e-03 2.32741000e+00] [-3.08110200e-03 1.41370017e-03 9.99994254e-01 1.99420559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044839173 meters Centerline goodness : 0.746291 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.33, Z:1.99 [[ 9.99995445e-01 -4.43837444e-04 2.98529602e-03 -5.45900346e+00] [ 4.35789558e-04 9.99996271e-01 2.69595230e-03 2.32592483e+00] [-2.98648145e-03 -2.69463906e-03 9.99991910e-01 1.99457500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074839173 meters Centerline goodness : 0.746584 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.33, Z:1.99 [[ 9.99997103e-01 5.13803853e-05 2.40658325e-03 -5.45744356e+00] [-5.71615359e-05 9.99997113e-01 2.40221622e-03 2.32729031e+00] [-2.40645288e-03 -2.40234682e-03 9.99994219e-01 1.99485435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104839173 meters Centerline goodness : 0.746738 Centerline is valid? [False, False] Translation: X:-5.45, Y:2.33, Z:1.99 [[ 9.99990481e-01 4.16971439e-03 1.28497939e-03 -5.45060343e+00] [-4.17513253e-03 9.99982282e-01 4.24308176e-03 2.32842321e+00] [-1.26726418e-03 -4.24840633e-03 9.99990172e-01 1.99153534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134839173 meters Centerline goodness : 0.743832 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:1.99 [[ 9.99966699e-01 8.15458391e-03 3.20663251e-04 -5.44366924e+00] [-8.15652140e-03 9.99944994e-01 6.59391846e-03 2.32843033e+00] [-2.66874951e-04 -6.59631437e-03 9.99978208e-01 1.98691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839173 meters Centerline goodness : 0.742901 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:1.99 [[ 9.99959684e-01 8.97661176e-03 -2.24355588e-04 -5.44161201e+00] [-8.97498568e-03 9.99939092e-01 6.42357992e-03 2.33044604e+00] [ 2.82003906e-04 -6.42130736e-03 9.99979343e-01 1.98670672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194839173 meters Centerline goodness : 0.742636 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:1.99 [[ 9.99950191e-01 9.94342356e-03 -8.62095914e-04 -5.43939686e+00] [-9.93830047e-03 9.99934047e-01 5.75609605e-03 2.33420819e+00] [ 9.19274357e-04 -5.74724158e-03 9.99983062e-01 1.98709909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224839173 meters Centerline goodness : 0.742522 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:1.99 [[ 9.99953866e-01 9.57018412e-03 -8.23574519e-04 -5.44057301e+00] [-9.56683956e-03 9.99946342e-01 3.97341851e-03 2.33883147e+00] [ 8.61556675e-04 -3.96535619e-03 9.99991767e-01 1.98993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254839173 meters Centerline goodness : 0.744828 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:1.99 [[ 9.99980424e-01 6.12993756e-03 -1.25514943e-03 -5.43989181e+00] [-6.13069603e-03 9.99981026e-01 -6.01338192e-04 2.34032674e+00] [ 1.25143945e-03 6.09021360e-04 9.99999031e-01 1.99151192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999998 meters Centerline goodness : 0.743387 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:1.99 [[ 9.99989710e-01 4.15944909e-03 -1.81079520e-03 -5.43705444e+00] [-4.16715081e-03 9.99982199e-01 -4.27043039e-03 2.34016258e+00] [ 1.79300033e-03 4.27793230e-03 9.99989242e-01 1.99147841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314839173 meters Centerline goodness : 0.741743 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:1.99 [[ 9.99985354e-01 4.92076925e-03 -2.25341664e-03 -5.43533212e+00] [-4.92897626e-03 9.99981187e-01 -3.65107584e-03 2.33948262e+00] [ 2.23540815e-03 3.66212941e-03 9.99990796e-01 1.99060689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344839173 meters Centerline goodness : 0.737341 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.34, Z:1.99 [[ 9.99974330e-01 6.50349407e-03 -3.00738107e-03 -5.43152852e+00] [-6.51278923e-03 9.99974013e-01 -3.09138724e-03 2.33992530e+00] [ 2.98719810e-03 3.11089432e-03 9.99990699e-01 1.98871037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374839172999998 meters Centerline goodness : 0.737005 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.34, Z:1.99 [[ 9.99987823e-01 3.57167463e-03 -3.40534587e-03 -5.42971460e+00] [-3.59163223e-03 9.99976306e-01 -5.87267666e-03 2.33566727e+00] [ 3.38428989e-03 5.88483590e-03 9.99976957e-01 1.98762935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404839173 meters Centerline goodness : 0.736505 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99991977e-01 2.76272171e-03 -2.90064780e-03 -5.43161436e+00] [-2.77805298e-03 9.99982124e-01 -5.29480635e-03 2.33151366e+00] [ 2.88596787e-03 5.30282202e-03 9.99981775e-01 1.98746442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434839173 meters Centerline goodness : 0.736707 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99995161e-01 -1.48662297e-03 -2.73275193e-03 -5.43333258e+00] [ 1.46146438e-03 9.99956746e-01 -9.18537988e-03 2.32866128e+00] [ 2.74628892e-03 9.18134161e-03 9.99954079e-01 1.98937557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464839172999998 meters Centerline goodness : 0.736900 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99994770e-01 -2.03265442e-03 -2.51558578e-03 -5.43468819e+00] [ 2.01030275e-03 9.99958763e-01 -8.85613411e-03 2.32692989e+00] [ 2.53348350e-03 8.85103070e-03 9.99957619e-01 1.98980499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494839173 meters Centerline goodness : 0.738322 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99993927e-01 -2.42153042e-03 -2.50633291e-03 -5.43499077e+00] [ 2.40002364e-03 9.99960579e-01 -8.54870430e-03 2.32627653e+00] [ 2.52693505e-03 8.54263713e-03 9.99960318e-01 1.98949757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839173 meters Centerline goodness : 0.736292 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99993527e-01 -2.02608010e-03 -2.97322697e-03 -5.43304606e+00] [ 2.00263643e-03 9.99967051e-01 -7.86683036e-03 2.32650994e+00] [ 2.98906783e-03 7.86082515e-03 9.99964636e-01 1.98788381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554839172999998 meters Centerline goodness : 0.738587 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99993166e-01 -1.40751188e-03 -3.41861919e-03 -5.43151615e+00] [ 1.38357468e-03 9.99974582e-01 -6.99430717e-03 2.32473639e+00] [ 3.42837687e-03 6.98952945e-03 9.99969696e-01 1.98701515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839173 meters Centerline goodness : 0.669034 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99994071e-01 -1.64005988e-03 -3.02791595e-03 -5.43264558e+00] [ 1.62046690e-03 9.99977808e-01 -6.46193550e-03 2.32129696e+00] [ 3.03844672e-03 6.45699055e-03 9.99974537e-01 1.98690960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614839173 meters Centerline goodness : 0.738451 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99965070e-01 -7.29396897e-03 4.08117421e-03 -5.42421779e+00] [ 7.30558700e-03 9.99969283e-01 -2.83910801e-03 2.31990783e+00] [-4.06034049e-03 2.86882421e-03 9.99987642e-01 1.98619393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters Centerline goodness : 0.741284 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99963774e-01 -7.47934270e-03 4.06321900e-03 -5.42468280e+00] [ 7.49160915e-03 9.99967401e-01 -3.01211430e-03 2.31993708e+00] [-4.04055790e-03 3.04244523e-03 9.99987209e-01 1.98680742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674839173 meters Centerline goodness : 0.740526 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99967350e-01 -7.10596325e-03 3.84765087e-03 -5.42354649e+00] [ 7.11615263e-03 9.99971192e-01 -2.64102447e-03 2.31910568e+00] [-3.82877300e-03 2.66831871e-03 9.99989110e-01 1.98589470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704839173 meters Centerline goodness : 0.740526 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99967350e-01 -7.10596325e-03 3.84765087e-03 -5.42354649e+00] [ 7.11615263e-03 9.99971192e-01 -2.64102447e-03 2.31910568e+00] [-3.82877300e-03 2.66831871e-03 9.99989110e-01 1.98589470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734839172999997 meters Centerline goodness : 0.740627 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99973669e-01 -6.44863094e-03 3.32822587e-03 -5.42241402e+00] [ 6.46059866e-03 9.99972658e-01 -3.59768700e-03 2.32272710e+00] [-3.30493471e-03 3.61909460e-03 9.99987990e-01 1.98740270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764839173 meters Centerline goodness : 0.745443 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:1.99 [[ 9.99985923e-01 -3.85451942e-03 3.64655826e-03 -5.42591895e+00] [ 3.85947459e-03 9.99991637e-01 -1.35280425e-03 2.32685285e+00] [-3.64131335e-03 1.36685901e-03 9.99992436e-01 1.99140207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794839173 meters Centerline goodness : 0.741985 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99990915e-01 -2.99377838e-03 3.03446801e-03 -5.42367178e+00] [ 2.99629108e-03 9.99995172e-01 -8.23844590e-04 2.32647099e+00] [-3.03198695e-03 8.32929254e-04 9.99995057e-01 1.99056568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824839173 meters Centerline goodness : 0.741715 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99994098e-01 2.62808468e-03 2.21274877e-03 -5.41966310e+00] [-2.63583391e-03 9.99990378e-01 3.50647646e-03 2.32799712e+00] [-2.20351217e-03 -3.51228821e-03 9.99991404e-01 1.98864597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854839173 meters Centerline goodness : 0.744342 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99994435e-01 2.69981196e-03 1.95975013e-03 -5.41960217e+00] [-2.70479570e-03 9.99993104e-01 2.54486523e-03 2.33054796e+00] [-1.95286596e-03 -2.55015179e-03 9.99994842e-01 1.99025475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839173 meters Centerline goodness : 0.743592 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99994953e-01 2.64812894e-03 1.75550366e-03 -5.41944877e+00] [-2.65124402e-03 9.99994911e-01 1.77451784e-03 2.33241766e+00] [-1.75079557e-03 -1.77916315e-03 9.99996885e-01 1.99125881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914839173 meters Centerline goodness : 0.744089 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99995763e-01 2.49276055e-03 1.50324524e-03 -5.41920602e+00] [-2.49493275e-03 9.99995844e-01 1.44486367e-03 2.33351566e+00] [-1.49963729e-03 -1.44860805e-03 9.99997826e-01 1.99178066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839173 meters Centerline goodness : 0.743007 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99999009e-01 -8.04043762e-04 1.15578952e-03 -5.41778465e+00] [ 8.06283324e-04 9.99997796e-01 -1.93853174e-03 2.33216197e+00] [-1.15422831e-03 1.93946171e-03 9.99997453e-01 1.99118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974839173 meters Centerline goodness : 0.743074 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99997610e-01 -1.47936010e-03 1.60952366e-03 -5.41966851e+00] [ 1.48249530e-03 9.99997003e-01 -1.94846106e-03 2.33043537e+00] [-1.60663636e-03 1.95084252e-03 9.99996806e-01 1.99182179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839173 meters Centerline goodness : 0.743404 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99996709e-01 -1.79923244e-03 1.82871561e-03 -5.42064531e+00] [ 1.80236797e-03 9.99996906e-01 -1.71440784e-03 2.32879593e+00] [-1.82562534e-03 1.71769822e-03 9.99996858e-01 1.99214056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034839172999998 meters Centerline goodness : 0.745453 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99995016e-01 -2.58293171e-03 1.81550992e-03 -5.42162226e+00] [ 2.58644269e-03 9.99994785e-01 -1.93420016e-03 2.33020039e+00] [-1.81050454e-03 1.93888623e-03 9.99996481e-01 1.99285025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064839173 meters Centerline goodness : 0.747124 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99994940e-01 -2.58736248e-03 1.85098388e-03 -5.42174956e+00] [ 2.58985389e-03 9.99995742e-01 -1.34486569e-03 2.32844711e+00] [-1.84749635e-03 1.34965267e-03 9.99997383e-01 1.99244839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094839173 meters Centerline goodness : 0.746682 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99996249e-01 -2.18835375e-03 1.64700826e-03 -5.42100827e+00] [ 2.18972698e-03 9.99997256e-01 -8.32426873e-04 2.32691467e+00] [-1.64518210e-03 8.36030249e-04 9.99998297e-01 1.99202053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124839172999998 meters Centerline goodness : 0.748781 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.33, Z:1.99 [[ 9.99985935e-01 -5.08666432e-03 1.50190511e-03 -5.42084144e+00] [ 5.09406177e-03 9.99974708e-01 -4.96333223e-03 2.32576283e+00] [-1.47662032e-03 4.97091321e-03 9.99986555e-01 1.99419377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154839173 meters Centerline goodness : 0.754054 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:2.00 [[ 9.99985376e-01 -5.16843296e-03 1.59212582e-03 -5.42198872e+00] [ 5.17603354e-03 9.99975049e-01 -4.80731298e-03 2.32377720e+00] [-1.56723982e-03 4.81548358e-03 9.99987177e-01 1.99550462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184839173 meters Centerline goodness : 0.755829 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:2.00 [[ 9.99988038e-01 -4.72665856e-03 1.25783691e-03 -5.42122066e+00] [ 4.73185853e-03 9.99980136e-01 -4.16370104e-03 2.32189221e+00] [-1.23813154e-03 4.16960314e-03 9.99990541e-01 1.99548286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214839172999998 meters Centerline goodness : 0.753673 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99988628e-01 -4.67533015e-03 9.40806271e-04 -5.42041462e+00] [ 4.67798589e-03 9.99985023e-01 -2.84071558e-03 2.31854966e+00] [-9.27510897e-04 2.84508435e-03 9.99995523e-01 1.99426470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244839173 meters Centerline goodness : 0.755055 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99983770e-01 -5.56466088e-03 1.22245460e-03 -5.42210937e+00] [ 5.56784399e-03 9.99981077e-01 -2.61607898e-03 2.31707534e+00] [-1.20787387e-03 2.62284296e-03 9.99995831e-01 1.99470718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274839173 meters Centerline goodness : 0.758747 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99929423e-01 -1.16554388e-02 2.30193901e-03 -5.42725734e+00] [ 1.16719454e-02 9.99905288e-01 -7.29245222e-03 2.31420018e+00] [-2.21672426e-03 7.31880565e-03 9.99970760e-01 1.99775872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304839172999998 meters Centerline goodness : 0.759749 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99919065e-01 -1.24690339e-02 2.52730016e-03 -5.42865691e+00] [ 1.24860445e-02 9.99898716e-01 -6.83060494e-03 2.31086340e+00] [-2.44187314e-03 6.86160808e-03 9.99973477e-01 1.99795493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334839173 meters Centerline goodness : 0.764186 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99900557e-01 -1.38401437e-02 2.70686572e-03 -5.42963719e+00] [ 1.38572753e-02 9.99883398e-01 -6.41604382e-03 2.30786391e+00] [-2.61775113e-03 6.45291557e-03 9.99975753e-01 1.99694074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364839173 meters Centerline goodness : 0.764426 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99934900e-01 -1.10656372e-02 2.78342065e-03 -5.43090213e+00] [ 1.10721454e-02 9.99935978e-01 -2.33377628e-03 2.30638121e+00] [-2.75741773e-03 2.36444279e-03 9.99993403e-01 1.99684521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394839172999998 meters Centerline goodness : 0.768475 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:2.00 [[ 9.99949367e-01 -9.44422806e-03 3.47427551e-03 -5.43487981e+00] [ 9.44396688e-03 9.99955401e-01 9.15754290e-05 2.30898465e+00] [-3.47498542e-03 -5.87598494e-05 9.99993960e-01 1.99891318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424839173 meters Centerline goodness : 0.768882 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99945172e-01 -9.89162251e-03 3.43642020e-03 -5.43541824e+00] [ 9.89536372e-03 9.99950464e-01 -1.07340280e-03 2.31291531e+00] [-3.42563228e-03 1.10734857e-03 9.99993519e-01 2.00014141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454839173 meters Centerline goodness : 0.768453 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99934464e-01 -1.07756750e-02 3.86693109e-03 -5.43697715e+00] [ 1.07823231e-02 9.99940420e-01 -1.70252647e-03 2.31301295e+00] [-3.84835483e-03 1.74410940e-03 9.99991074e-01 2.00053293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484839172999997 meters Centerline goodness : 0.770476 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99926337e-01 -1.14418848e-02 4.05014422e-03 -5.43766763e+00] [ 1.14471846e-02 9.99933650e-01 -1.28777194e-03 2.31046335e+00] [-4.03514095e-03 1.33403982e-03 9.99990969e-01 2.00000314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514839173 meters Centerline goodness : 0.774330 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99925071e-01 -1.10495808e-02 5.26878716e-03 -5.44449250e+00] [ 1.10487577e-02 9.99938943e-01 1.85313615e-04 2.31654542e+00] [-5.27051310e-03 -1.27086177e-04 9.99986103e-01 2.00370837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544839173 meters Centerline goodness : 0.775763 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99928650e-01 -1.09426164e-02 4.79108098e-03 -5.44364741e+00] [ 1.09447601e-02 9.99940016e-01 -4.21427530e-04 2.31999476e+00] [-4.78618207e-03 4.73834693e-04 9.99988434e-01 2.00435188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574839173 meters Centerline goodness : 0.775457 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99949514e-01 -9.04292137e-03 4.38114833e-03 -5.44085550e+00] [ 9.04353281e-03 9.99959099e-01 -1.19771374e-04 2.32297857e+00] [-4.37988605e-03 1.59386386e-04 9.99990396e-01 2.00334896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604839173 meters Centerline goodness : 0.776649 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99957304e-01 -8.37064249e-03 3.91430832e-03 -5.43873756e+00] [ 8.37031568e-03 9.99964963e-01 9.98662321e-05 2.32339001e+00] [-3.91500712e-03 -6.70979720e-05 9.99992334e-01 2.00221904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634839173 meters Centerline goodness : 0.771962 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99957149e-01 -8.75883230e-03 2.99714247e-03 -5.43231307e+00] [ 8.76309540e-03 9.99960606e-01 -1.41222423e-03 2.32356878e+00] [-2.98465496e-03 1.43842796e-03 9.99994511e-01 1.99769883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664839173 meters Centerline goodness : 0.770529 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:2.00 [[ 9.99957341e-01 -8.71797486e-03 3.05175841e-03 -5.43150756e+00] [ 8.72201289e-03 9.99961101e-01 -1.31238129e-03 2.32432443e+00] [-3.04019839e-03 1.33894278e-03 9.99994482e-01 1.99627949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694839173 meters Centerline goodness : 0.772054 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.33, Z:2.00 [[ 9.99970449e-01 -6.70359739e-03 3.76328231e-03 -5.43440791e+00] [ 6.69954511e-03 9.99976966e-01 1.08837066e-03 2.33030222e+00] [-3.77049162e-03 -1.06312621e-03 9.99992327e-01 1.99689663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724839173 meters Centerline goodness : 0.772804 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.00 [[ 9.99962805e-01 -7.63317309e-03 4.01538032e-03 -5.43639337e+00] [ 7.63470531e-03 9.99970788e-01 -3.66396391e-04 2.33521768e+00] [-4.01246625e-03 3.97039008e-04 9.99991871e-01 1.99901178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754839173 meters Centerline goodness : 0.772995 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.00 [[ 9.99947378e-01 -9.15312686e-03 4.63271693e-03 -5.44000479e+00] [ 9.16244897e-03 9.99956034e-01 -1.99502568e-03 2.33955905e+00] [-4.61425253e-03 2.03736773e-03 9.99987279e-01 2.00199119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784839172999998 meters Centerline goodness : 0.775472 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.00 [[ 9.99940696e-01 -9.74546465e-03 4.86111468e-03 -5.44144824e+00] [ 9.75803779e-03 9.99949088e-01 -2.56949562e-03 2.34097254e+00] [-4.83582627e-03 2.61677818e-03 9.99984884e-01 2.00313611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814839173 meters Centerline goodness : 0.777026 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.01 [[ 9.99926511e-01 -1.09622664e-02 5.17708045e-03 -5.44412877e+00] [ 1.09789712e-02 9.99934579e-01 -3.20936806e-03 2.34211382e+00] [-5.14155981e-03 3.26597122e-03 9.99981449e-01 2.00518172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844839173 meters Centerline goodness : 0.774795 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.34, Z:2.00 [[ 9.99917228e-01 -1.18757367e-02 4.95012295e-03 -5.44452407e+00] [ 1.18883868e-02 9.99926120e-01 -2.53397299e-03 2.33967804e+00] [-4.91966444e-03 2.59261222e-03 9.99984538e-01 2.00472736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874839172999998 meters Centerline goodness : 0.772874 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99928047e-01 -1.10380387e-02 4.69707206e-03 -5.44224945e+00] [ 1.10405421e-02 9.99938923e-01 -5.07389310e-04 2.33484152e+00] [-4.69118460e-03 5.59211024e-04 9.99988840e-01 2.00154301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904839173 meters Centerline goodness : 0.771149 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99939939e-01 -1.00796497e-02 4.30331248e-03 -5.43958067e+00] [ 1.00738461e-02 9.99948321e-01 1.36819672e-03 2.32996780e+00] [-4.31688103e-03 -1.32476364e-03 9.99989805e-01 1.99853171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934839173 meters Centerline goodness : 0.773379 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99897098e-01 -1.36266190e-02 4.48421632e-03 -5.43959245e+00] [ 1.36372203e-02 9.99904266e-01 -2.34210056e-03 2.32825954e+00] [-4.45187211e-03 2.40301180e-03 9.99987203e-01 1.99867209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964839172999998 meters Centerline goodness : 0.774045 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.33, Z:2.00 [[ 9.99884318e-01 -1.44422941e-02 4.77192080e-03 -5.44136968e+00] [ 1.44526484e-02 9.99893260e-01 -2.14252977e-03 2.32608169e+00] [-4.74046840e-03 2.21124881e-03 9.99986319e-01 1.99938037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994839173 meters Centerline goodness : 0.771900 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99863894e-01 -1.57803645e-02 4.81394020e-03 -5.44288831e+00] [ 1.57880109e-02 9.99874153e-01 -1.55454151e-03 2.32244517e+00] [-4.78880315e-03 1.63033247e-03 9.99987205e-01 1.99942947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024839173 meters Centerline goodness : 0.774380 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99867866e-01 -1.56124253e-02 4.52804488e-03 -5.44184517e+00] [ 1.56184744e-02 9.99877174e-01 -1.30364196e-03 2.32256161e+00] [-4.50713570e-03 1.37419086e-03 9.99988899e-01 1.99874105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054839172999998 meters Centerline goodness : 0.768713 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:2.00 [[ 9.99877871e-01 -1.51006651e-02 4.02646803e-03 -5.43932741e+00] [ 1.51036943e-02 9.99885671e-01 -7.22985454e-04 2.32355826e+00] [-4.01509013e-03 7.83711699e-04 9.99991632e-01 1.99653995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084839173 meters Centerline goodness : 0.768438 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.32, Z:1.99 [[ 9.99895201e-01 -1.39715228e-02 3.79261531e-03 -5.43671465e+00] [ 1.39681268e-02 9.99902017e-01 9.20455345e-04 2.31926265e+00] [-3.80510386e-03 -8.67383151e-04 9.99992384e-01 1.99349094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114839173 meters Centerline goodness : 0.765594 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:1.99 [[ 9.99903152e-01 -1.34030912e-02 3.74754187e-03 -5.43596901e+00] [ 1.33954305e-02 9.99908151e-01 2.06186901e-03 2.31485338e+00] [-3.77483308e-03 -2.01146938e-03 9.99990852e-01 1.99241410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144839172999998 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:1.99 [[ 9.99888171e-01 -1.42983608e-02 4.38208340e-03 -5.43870203e+00] [ 1.42895062e-02 9.99895808e-01 2.04532477e-03 2.31126995e+00] [-4.41087161e-03 -1.98247823e-03 9.99988307e-01 1.99371397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174839173 meters Centerline goodness : 0.772267 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:2.00 [[ 9.99876439e-01 -1.49671354e-02 4.80546054e-03 -5.44086217e+00] [ 1.49592450e-02 9.99886703e-01 1.67372443e-03 2.31070230e+00] [-4.82996696e-03 -1.60163156e-03 9.99987053e-01 1.99527292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204839173 meters Centerline goodness : 0.773761 Centerline is valid? [False, False] Translation: X:-5.44, Y:2.31, Z:1.99 [[ 9.99913597e-01 -1.24778287e-02 4.13553590e-03 -5.43756345e+00] [ 1.24633375e-02 9.99916164e-01 3.51150832e-03 2.31323345e+00] [-4.17900519e-03 -3.45966233e-03 9.99985283e-01 1.99332458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234839172999997 meters Centerline goodness : 0.769931 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99969365e-01 -7.29621978e-03 2.83455761e-03 -5.43266688e+00] [ 7.27371251e-03 9.99942568e-01 7.87109165e-03 2.31550829e+00] [-2.89182403e-03 -7.85023276e-03 9.99965005e-01 1.99072768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264839173 meters Centerline goodness : 0.765273 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:1.99 [[ 9.99975803e-01 -6.59832115e-03 2.20366553e-03 -5.43022223e+00] [ 6.57955434e-03 9.99942926e-01 8.41753134e-03 2.31476515e+00] [-2.25908133e-03 -8.40282852e-03 9.99962144e-01 1.98943224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294839173 meters Centerline goodness : 0.769678 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.31, Z:1.99 [[ 9.99975197e-01 -6.58241614e-03 2.50541305e-03 -5.43095141e+00] [ 6.56143497e-03 9.99944090e-01 8.29240240e-03 2.31341331e+00] [-2.55985702e-03 -8.27575762e-03 9.99962479e-01 1.98980141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324839173 meters Centerline goodness : 0.773349 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99969231e-01 -7.33488092e-03 2.78131171e-03 -5.43283804e+00] [ 7.31476423e-03 9.99947503e-01 7.17528220e-03 2.31504892e+00] [-2.83379555e-03 -7.15471679e-03 9.99970389e-01 1.99184488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354839173 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99965130e-01 -7.85756965e-03 2.82788426e-03 -5.43401248e+00] [ 7.84294925e-03 9.99956010e-01 5.14456225e-03 2.32195154e+00] [-2.86818362e-03 -5.12220391e-03 9.99982768e-01 1.99449756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384839173 meters Centerline goodness : 0.773904 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99965690e-01 -7.86165303e-03 2.61020388e-03 -5.43361346e+00] [ 7.84949326e-03 9.99958443e-01 4.63656468e-03 2.32400968e+00] [-2.64654647e-03 -4.61591682e-03 9.99985844e-01 1.99489330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414839173 meters Centerline goodness : 0.772930 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99976913e-01 -6.51843406e-03 1.91921192e-03 -5.43110379e+00] [ 6.50806150e-03 9.99964446e-01 5.36212520e-03 2.32064496e+00] [-1.95409634e-03 -5.34951106e-03 9.99983782e-01 1.99453687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444839173 meters Centerline goodness : 0.774029 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99979321e-01 -6.18337170e-03 1.76726353e-03 -5.43062551e+00] [ 6.17280182e-03 9.99963394e-01 5.92508422e-03 2.31777191e+00] [-1.80383583e-03 -5.91405273e-03 9.99980885e-01 1.99436612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474839173 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:-5.43, Y:2.32, Z:1.99 [[ 9.99987854e-01 -4.86952866e-03 7.61384587e-04 -5.42693453e+00] [ 4.86465081e-03 9.99968434e-01 6.28226919e-03 2.31851840e+00] [-7.91952243e-04 -6.27848902e-03 9.99979976e-01 1.99332550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504839173 meters Centerline goodness : 0.773473 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99992293e-01 -3.92472506e-03 1.04501158e-04 -5.42452359e+00] [ 3.92400896e-03 9.99973427e-01 6.14394405e-03 2.31997596e+00] [-1.28611672e-04 -6.14348663e-03 9.99981120e-01 1.99296156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534839172999998 meters Centerline goodness : 0.771819 Centerline is valid? [False, False] Translation: X:-5.42, Y:2.32, Z:1.99 [[ 9.99996933e-01 2.00356872e-03 -1.45559754e-03 -5.41500267e+00] [-1.99027212e-03 9.99956800e-01 9.07953409e-03 2.31957161e+00] [ 1.47372612e-03 -9.07660922e-03 9.99957721e-01 1.98860323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839173 meters Centerline goodness : 0.771703 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.32, Z:1.99 [[ 9.99989473e-01 3.98032469e-03 -2.28292471e-03 -5.41100993e+00] [-3.95960347e-03 9.99951566e-01 9.01042478e-03 2.32147341e+00] [ 2.31867855e-03 -9.00129044e-03 9.99956799e-01 1.98765550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594839173 meters Centerline goodness : 0.769444 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.32, Z:1.99 [[ 9.99912991e-01 1.29777017e-02 -2.36419225e-03 -5.40906275e+00] [-1.29363685e-02 9.99776332e-01 1.67313013e-02 2.32456069e+00] [ 2.58079729e-03 -1.66992615e-02 9.99857227e-01 1.98633561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999998 meters Centerline goodness : 0.769444 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.32, Z:1.99 [[ 9.99912991e-01 1.29777017e-02 -2.36419225e-03 -5.40906275e+00] [-1.29363685e-02 9.99776332e-01 1.67313013e-02 2.32456069e+00] [ 2.58079729e-03 -1.66992615e-02 9.99857227e-01 1.98633561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654839173 meters Centerline goodness : 0.773476 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.33, Z:1.99 [[ 9.99901906e-01 1.37307128e-02 -2.76501151e-03 -5.40792685e+00] [-1.36868081e-02 9.99789015e-01 1.53165270e-02 2.33016837e+00] [ 2.97473497e-03 -1.52771804e-02 9.99878872e-01 1.98802731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839173 meters Centerline goodness : 0.773052 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.34, Z:1.99 [[ 9.99887552e-01 1.46546272e-02 -3.18198515e-03 -5.40636645e+00] [-1.46076721e-02 9.99790902e-01 1.43097568e-02 2.33531773e+00] [ 3.39102396e-03 -1.42616663e-02 9.99892547e-01 1.98898920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714839172999998 meters Centerline goodness : 0.771634 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.34, Z:1.99 [[ 9.99883895e-01 1.48333538e-02 -3.48817243e-03 -5.40575967e+00] [-1.47841437e-02 9.99796383e-01 1.37339370e-02 2.33651078e+00] [ 3.69118253e-03 -1.36807728e-02 9.99899601e-01 1.98982651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839173 meters Centerline goodness : 0.773347 Centerline is valid? [False, False] Translation: X:-5.41, Y:2.34, Z:1.99 [[ 9.99925876e-01 1.15724226e-02 -3.78425957e-03 -5.40505956e+00] [-1.15396211e-02 9.99896624e-01 8.57777387e-03 2.33974884e+00] [ 3.88313399e-03 -8.53346914e-03 9.99956050e-01 1.99173174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774839173 meters Centerline goodness : 0.774146 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 9.99915440e-01 1.22052469e-02 -4.48825870e-03 -5.40276872e+00] [-1.21659262e-02 9.99888264e-01 8.68613379e-03 2.33999662e+00] [ 4.59377361e-03 -8.63079547e-03 9.99952202e-01 1.99124109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999998 meters Centerline goodness : 0.770468 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.99 [[ 0.9998945 0.01348138 -0.00540708 -5.39878782] [-0.01343376 0.99987148 0.00874918 2.34261837] [ 0.00552434 -0.00867562 0.99994711 1.98957509] [ 0. 0. 0. 1. ]] SLAMing on 27.834839173 meters Centerline goodness : 0.766377 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.35, Z:1.99 [[ 9.99922426e-01 1.09553334e-02 -5.92644230e-03 -5.39603907e+00] [-1.09286628e-02 9.99930091e-01 4.51409194e-03 2.34563386e+00] [ 5.97548137e-03 -4.44897368e-03 9.99972250e-01 1.98911140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839173 meters Centerline goodness : 0.763830 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.34, Z:1.99 [[ 9.99947192e-01 8.02087507e-03 -6.42490425e-03 -5.39290246e+00] [-8.01392826e-03 9.99967276e-01 1.10624777e-03 2.34497441e+00] [ 6.43356708e-03 -1.05470063e-03 9.99978748e-01 1.98685490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894839172999998 meters Centerline goodness : 0.763390 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.99 [[ 9.99966953e-01 4.61973275e-03 -6.68966284e-03 -5.39142529e+00] [-4.63965148e-03 9.99984841e-01 -2.96508736e-03 2.34581920e+00] [ 6.67586351e-03 2.99602708e-03 9.99973228e-01 1.98635787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839173 meters Centerline goodness : 0.762769 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.99 [[ 9.99975969e-01 1.01952854e-03 -6.85727013e-03 -5.39020059e+00] [-1.06694358e-03 9.99975526e-01 -6.91446500e-03 2.34674995e+00] [ 6.85005281e-03 6.92161515e-03 9.99952583e-01 1.98569009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954839173 meters Centerline goodness : 0.761861 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.99 [[ 9.99976189e-01 6.64797057e-04 -6.86874003e-03 -5.39027915e+00] [-7.10224914e-04 9.99977879e-01 -6.61338923e-03 2.34644800e+00] [ 6.86419152e-03 6.61811011e-03 9.99954541e-01 1.98510631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters Centerline goodness : 0.758996 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.34, Z:1.98 [[ 9.99977774e-01 -1.04349482e-03 -6.58502816e-03 -5.39201680e+00] [ 1.00349242e-03 9.99981043e-01 -6.07513241e-03 2.34279395e+00] [ 6.59124269e-03 6.06838935e-03 9.99959864e-01 1.98419885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014839173 meters Centerline goodness : 0.763721 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.34, Z:1.98 [[ 9.99979375e-01 -1.83278612e-03 -6.15551425e-03 -5.39353403e+00] [ 1.79519579e-03 9.99979742e-01 -6.10675542e-03 2.34237548e+00] [ 6.16658192e-03 6.09557912e-03 9.99962408e-01 1.98424466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044839173 meters Centerline goodness : 0.766687 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.35, Z:1.99 [[ 9.99975483e-01 -4.66153554e-03 -5.22518532e-03 -5.39788013e+00] [ 4.62261317e-03 9.99961664e-01 -7.43648123e-03 2.34503962e+00] [ 5.25965043e-03 7.41214491e-03 9.99958697e-01 1.98550259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074839173 meters Centerline goodness : 0.758144 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.35, Z:1.98 [[ 9.99974406e-01 -4.52778891e-03 -5.53951926e-03 -5.39647767e+00] [ 4.48760218e-03 9.99963681e-01 -7.24559883e-03 2.34537076e+00] [ 5.57212461e-03 7.22055423e-03 9.99958407e-01 1.98439826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104839173 meters Centerline goodness : 0.757659 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99975385e-01 -3.66516050e-03 -5.98292510e-03 -5.39367702e+00] [ 3.62089013e-03 9.99966111e-01 -7.39358981e-03 2.34774047e+00] [ 6.00982104e-03 7.37174431e-03 9.99954769e-01 1.98271090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134839173 meters Centerline goodness : 0.759369 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99983913e-01 -3.65979795e-04 -5.66043631e-03 -5.39443183e+00] [ 3.49207733e-04 9.99995547e-01 -2.96373792e-03 2.34641328e+00] [ 5.66149577e-03 2.96171357e-03 9.99979588e-01 1.98138201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839173 meters Centerline goodness : 0.758222 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99981508e-01 -5.00185826e-04 -6.06076087e-03 -5.39380522e+00] [ 4.80670582e-04 9.99994697e-01 -3.22096179e-03 2.34941038e+00] [ 6.06233981e-03 3.21798900e-03 9.99976446e-01 1.98164925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194839173 meters Centerline goodness : 0.755643 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99981944e-01 -3.14024282e-04 -6.00114240e-03 -5.39325063e+00] [ 2.96911721e-04 9.99995888e-01 -2.85222873e-03 2.34894193e+00] [ 6.00201339e-03 2.85039542e-03 9.99977925e-01 1.98064013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839173 meters Centerline goodness : 0.760396 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99984404e-01 -9.66303916e-04 -5.50069673e-03 -5.39477128e+00] [ 9.53274825e-04 9.99996735e-01 -2.37075490e-03 2.34665643e+00] [ 5.50296964e-03 2.36547425e-03 9.99982061e-01 1.98022568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254839173 meters Centerline goodness : 0.759860 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99983085e-01 -1.12023498e-03 -5.70745309e-03 -5.39464880e+00] [ 1.10565816e-03 9.99996121e-01 -2.55651254e-03 2.34737185e+00] [ 5.71029484e-03 2.55015881e-03 9.99980444e-01 1.98066398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999998 meters Centerline goodness : 0.759079 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99981262e-01 -1.06533870e-03 -6.02834089e-03 -5.39405741e+00] [ 1.04694372e-03 9.99994789e-01 -3.05374983e-03 2.35126652e+00] [ 6.03156275e-03 3.04738127e-03 9.99977167e-01 1.98118585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314839173 meters Centerline goodness : 0.759848 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.35, Z:1.98 [[ 9.99980996e-01 -1.29042380e-03 -6.02844255e-03 -5.39470224e+00] [ 1.27094309e-03 9.99993962e-01 -3.23418005e-03 2.35153807e+00] [ 6.03257961e-03 3.22645678e-03 9.99976599e-01 1.98201832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839173 meters Centerline goodness : 0.756950 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.35, Z:1.98 [[ 0.99996616 -0.00572271 -0.00591023 -5.39567789] [ 0.00568243 0.99996067 -0.00680928 2.34886976] [ 0.00594897 0.00677546 0.99995935 1.9824833 ] [ 0. 0. 0. 1. ]] SLAMing on 28.374839172999998 meters Centerline goodness : 0.758326 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.34, Z:1.98 [[ 0.99996449 -0.00612403 -0.00578895 -5.39613945] [ 0.00609219 0.99996631 -0.00550218 2.3434783 ] [ 0.00582245 0.00546671 0.99996811 1.98119904] [ 0. 0. 0. 1. ]] SLAMing on 28.404839173 meters Centerline goodness : 0.754891 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.34, Z:1.98 [[ 0.99994243 -0.00828585 -0.00681736 -5.39122112] [ 0.00824022 0.99994364 -0.00669418 2.33619243] [ 0.00687244 0.00663761 0.99995435 1.97722849] [ 0. 0. 0. 1. ]] SLAMing on 28.434839173 meters Centerline goodness : 0.753807 Centerline is valid? [False, False] Translation: X:-5.39, Y:2.33, Z:1.97 [[ 9.99948944e-01 -6.67132157e-03 -7.58972079e-03 -5.38698776e+00] [ 6.63696484e-03 9.99967656e-01 -4.54296095e-03 2.33177791e+00] [ 7.61978286e-03 4.49235629e-03 9.99960878e-01 1.97357141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999998 meters Centerline goodness : 0.748823 Centerline is valid? [False, False] Translation: X:-5.38, Y:2.33, Z:1.97 [[ 9.99956481e-01 -2.93766199e-03 -8.85471236e-03 -5.37913427e+00] [ 2.91999903e-03 9.99993723e-01 -2.00702074e-03 2.32987426e+00] [ 8.86055273e-03 1.98107764e-03 9.99958782e-01 1.96838335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494839173 meters Centerline goodness : 0.744940 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.33, Z:1.97 [[ 9.99950352e-01 -6.45379461e-04 -9.94372864e-03 -5.37367030e+00] [ 6.35435614e-04 9.99999295e-01 -1.00313884e-03 2.33158060e+00] [ 9.94436904e-03 9.96770432e-04 9.99950057e-01 1.96565100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839173 meters Centerline goodness : 0.744796 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.34, Z:1.96 [[ 9.99930278e-01 5.31635597e-03 -1.05439972e-02 -5.36996863e+00] [-5.28596967e-03 9.99981802e-01 2.90763579e-03 2.33622103e+00] [ 1.05592634e-02 -2.85169781e-03 9.99940183e-01 1.96449434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554839172999998 meters Centerline goodness : 0.745182 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.34, Z:1.97 [[ 9.99923058e-01 5.67905329e-03 -1.10284587e-02 -5.36869994e+00] [-5.65889181e-03 9.99982261e-01 1.85847833e-03 2.34023801e+00] [ 1.10388175e-02 -1.79592648e-03 9.99937458e-01 1.96547039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839173 meters Centerline goodness : 0.743575 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.34, Z:1.97 [[ 9.99917504e-01 5.96645475e-03 -1.13747984e-02 -5.36745289e+00] [-5.95568761e-03 9.99981784e-01 9.80217581e-04 2.34416231e+00] [ 1.13804396e-02 -9.12391971e-04 9.99934824e-01 1.96580166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614839173 meters Centerline goodness : 0.741283 Centerline is valid? [False, False] Translation: X:-5.37, Y:2.34, Z:1.97 [[ 9.99926101e-01 2.22232582e-03 -1.19521561e-02 -5.36591126e+00] [-2.25723607e-03 9.99993224e-01 -2.90813695e-03 2.34461780e+00] [ 1.19456123e-02 2.93490088e-03 9.99924341e-01 1.96565012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999998 meters Centerline goodness : 0.739803 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.34, Z:1.96 [[ 9.99913421e-01 6.32986935e-04 -1.31433967e-02 -5.35984150e+00] [-6.98801734e-04 9.99987238e-01 -5.00345367e-03 2.34253144e+00] [ 1.31400618e-02 5.01220510e-03 9.99901103e-01 1.96202372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674839173 meters Centerline goodness : 0.737336 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.34, Z:1.96 [[ 9.99903182e-01 1.72465877e-03 -1.38076558e-02 -5.35659029e+00] [-1.78814424e-03 9.99987882e-01 -4.58682116e-03 2.34288549e+00] [ 1.37995778e-02 4.61106715e-03 9.99894149e-01 1.96032623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704839173 meters Centerline goodness : 0.738181 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.96 [[ 9.99889892e-01 3.09924514e-03 -1.45120054e-02 -5.35292522e+00] [-3.15560540e-03 9.99987562e-01 -3.86241271e-03 2.34297503e+00] [ 1.44998544e-02 3.90778159e-03 9.99887235e-01 1.95823610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734839172999997 meters Centerline goodness : 0.735241 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.96 [[ 9.99875910e-01 4.20690590e-03 -1.51811016e-02 -5.34951434e+00] [-4.25010029e-03 9.99987009e-01 -2.81413415e-03 2.34171562e+00] [ 1.51690655e-02 2.87830615e-03 9.99880800e-01 1.95583780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764839173 meters Centerline goodness : 0.735849 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.95 [[ 9.99867144e-01 4.71555276e-03 -1.56031674e-02 -5.34741187e+00] [-4.74965202e-03 9.99986411e-01 -2.14907153e-03 2.34064654e+00] [ 1.55928214e-02 2.22289563e-03 9.99875954e-01 1.95415551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794839173 meters Centerline goodness : 0.733817 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.34, Z:1.95 [[ 9.99859284e-01 5.03422545e-03 -1.60021519e-02 -5.34574760e+00] [-5.07076630e-03 9.99984626e-01 -2.24374240e-03 2.34227526e+00] [ 1.59906104e-02 2.32456984e-03 9.99869440e-01 1.95352513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824839172999997 meters Centerline goodness : 0.735299 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.35, Z:1.96 [[ 9.99850394e-01 5.28716282e-03 -1.64692139e-02 -5.34517334e+00] [-5.35101062e-03 9.99978329e-01 -3.83514623e-03 2.34799209e+00] [ 1.64485800e-02 3.92269941e-03 9.99857018e-01 1.95601048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854839173 meters Centerline goodness : 0.735700 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.35, Z:1.96 [[ 9.99853161e-01 5.15718434e-03 -1.63419470e-02 -5.34575861e+00] [-5.22788287e-03 9.99977148e-01 -4.28643660e-03 2.34895765e+00] [ 1.63194676e-02 4.37124097e-03 9.99857273e-01 1.95672204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839173 meters Centerline goodness : 0.736140 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.96 [[ 9.99843856e-01 5.86729716e-03 -1.66684911e-02 -5.34441491e+00] [-5.93399663e-03 9.99974573e-01 -3.95489275e-03 2.34720415e+00] [ 1.66448627e-02 4.05318599e-03 9.99853249e-01 1.95643216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914839173 meters Centerline goodness : 0.733975 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.96 [[ 9.99833815e-01 6.35835998e-03 -1.70854566e-02 -5.34280073e+00] [-6.42265287e-03 9.99972489e-01 -3.71078545e-03 2.34668285e+00] [ 1.70613920e-02 3.81990273e-03 9.99847147e-01 1.95582929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839173 meters Centerline goodness : 0.734654 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.95 [[ 9.99817340e-01 7.16388320e-03 -1.77190430e-02 -5.34022575e+00] [-7.21745783e-03 9.99969569e-01 -2.96146383e-03 2.34553663e+00] [ 1.76972882e-02 3.08880934e-03 9.99838620e-01 1.95444989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974839173 meters Centerline goodness : 0.733447 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.96 [[ 9.99807241e-01 7.21411555e-03 -1.82602733e-02 -5.33996108e+00] [-7.28250249e-03 9.99966706e-01 -3.68139977e-03 2.34720316e+00] [ 1.82331073e-02 3.81367064e-03 9.99826490e-01 1.95660001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839173 meters Centerline goodness : 0.736422 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.96 [[ 9.99799991e-01 7.45050791e-03 -1.85598337e-02 -5.34020668e+00] [-7.51853649e-03 9.99965261e-01 -3.59828767e-03 2.34553367e+00] [ 1.85323799e-02 3.73711077e-03 9.99821276e-01 1.95830728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034839172999998 meters Centerline goodness : 0.733761 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.35, Z:1.96 [[ 9.99804784e-01 7.03708659e-03 -1.84627573e-02 -5.34162926e+00] [-7.11580276e-03 9.99965857e-01 -4.20128585e-03 2.34585023e+00] [ 1.84325621e-02 4.33184303e-03 9.99820722e-01 1.96012791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839173 meters Centerline goodness : 0.735953 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.34, Z:1.96 [[ 9.99803862e-01 7.02453787e-03 -1.85173731e-02 -5.34181679e+00] [-7.09842872e-03 9.99967092e-01 -3.92764909e-03 2.34438162e+00] [ 1.84891738e-02 4.05832298e-03 9.99820824e-01 1.96036773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094839173 meters Centerline goodness : 0.729356 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.34, Z:1.96 [[ 9.99807868e-01 8.36533511e-05 -1.96015414e-02 -5.33801261e+00] [-2.85643383e-04 9.99946890e-01 -1.03022303e-02 2.33957166e+00] [ 1.95996386e-02 1.03058499e-02 9.99754792e-01 1.95849690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999998 meters Centerline goodness : 0.725279 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.33, Z:1.96 [[ 9.99796036e-01 -4.31946259e-03 -1.97288802e-02 -5.33702174e+00] [ 4.07472340e-03 9.99914461e-01 -1.24285213e-02 2.33238632e+00] [ 1.97808771e-02 1.23455966e-02 9.99728115e-01 1.95540585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154839173 meters Centerline goodness : 0.726532 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.33, Z:1.95 [[ 9.99796408e-01 -4.59630051e-03 -1.96473267e-02 -5.33719410e+00] [ 4.36072612e-03 9.99918294e-01 -1.20162224e-02 2.33060134e+00] [ 1.97009515e-02 1.19280994e-02 9.99734761e-01 1.95470978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184839173 meters Centerline goodness : 0.729741 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.33, Z:1.95 [[ 9.99982663e-01 -3.27781843e-03 -4.89184619e-03 -5.33992545e+00] [ 3.24022986e-03 9.99965319e-01 -7.67216959e-03 2.32968190e+00] [ 4.91682452e-03 7.65618587e-03 9.99958603e-01 1.94957560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214839172999998 meters Centerline goodness : 0.732296 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.33, Z:1.95 [[ 9.99981399e-01 -3.74399679e-03 -4.81494819e-03 -5.34141460e+00] [ 3.70458240e-03 9.99959772e-01 -8.16887001e-03 2.33052253e+00] [ 4.84533872e-03 8.15088069e-03 9.99955042e-01 1.95143801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839173 meters Centerline goodness : 0.738131 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.96 [[ 9.99977107e-01 -4.98552784e-03 -4.57501889e-03 -5.34503989e+00] [ 4.94408381e-03 9.99947044e-01 -9.02579810e-03 2.32970698e+00] [ 4.61977499e-03 9.00297220e-03 9.99948801e-01 1.95549815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274839173 meters Centerline goodness : 0.738042 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.96 [[ 9.99986995e-01 -2.55703101e-03 -4.41274215e-03 -5.34761984e+00] [ 2.53511811e-03 9.99984464e-01 -4.96429307e-03 2.32658815e+00] [ 4.42536745e-03 4.95304168e-03 9.99977942e-01 1.95667790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304839172999998 meters Centerline goodness : 0.740615 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.96 [[ 9.99985001e-01 -2.43697901e-03 -4.90504983e-03 -5.34799527e+00] [ 2.41024433e-03 9.99982249e-01 -5.44899096e-03 2.32791828e+00] [ 4.91824184e-03 5.43708686e-03 9.99973124e-01 1.95944271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334839173 meters Centerline goodness : 0.740324 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.33, Z:1.96 [[ 9.99984457e-01 -1.86743440e-03 -5.25340749e-03 -5.34745680e+00] [ 1.84092021e-03 9.99985567e-01 -5.04736343e-03 2.32685283e+00] [ 5.26275729e-03 5.03761388e-03 9.99973463e-01 1.96010847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364839173 meters Centerline goodness : 0.743216 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.96 [[ 9.99982930e-01 -1.04827090e-03 -5.74819331e-03 -5.34738140e+00] [ 1.02184535e-03 9.99988906e-01 -4.59820355e-03 2.32250129e+00] [ 5.75294970e-03 4.59225130e-03 9.99972907e-01 1.96238538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394839172999998 meters Centerline goodness : 0.742865 Centerline is valid? [False, False] Translation: X:-5.35, Y:2.32, Z:1.96 [[ 9.99980386e-01 -1.25820083e-04 -6.26193665e-03 -5.34580067e+00] [ 9.97542099e-05 9.99991331e-01 -4.16272792e-03 2.32171386e+00] [ 6.26240612e-03 4.16202162e-03 9.99971730e-01 1.96242473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424839173 meters Centerline goodness : 0.741335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.32, Z:1.96 [[ 9.99960418e-01 4.87046184e-03 -7.44584791e-03 -5.33870376e+00] [-4.88506396e-03 9.99986178e-01 -1.94418168e-03 2.32060768e+00] [ 7.43627593e-03 1.98047817e-03 9.99970389e-01 1.96029821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454839173 meters Centerline goodness : 0.741209 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.32, Z:1.96 [[ 9.99954149e-01 5.59141637e-03 -7.77410508e-03 -5.33768132e+00] [-5.60693745e-03 9.99982328e-01 -1.97615058e-03 2.32021172e+00] [ 7.76291821e-03 2.01964889e-03 9.99967829e-01 1.96073007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484839172999997 meters Centerline goodness : 0.745335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.31, Z:1.96 [[ 9.99951366e-01 5.94938755e-03 -7.86571354e-03 -5.33843762e+00] [-5.96177006e-03 9.99981025e-01 -1.55173020e-03 2.31433791e+00] [ 7.85633244e-03 1.59854831e-03 9.99967861e-01 1.96243798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514839173 meters Centerline goodness : 0.745335 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.31, Z:1.96 [[ 9.99951366e-01 5.94938755e-03 -7.86571354e-03 -5.33843762e+00] [-5.96177006e-03 9.99981025e-01 -1.55173020e-03 2.31433791e+00] [ 7.85633244e-03 1.59854831e-03 9.99967861e-01 1.96243798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839173 meters Centerline goodness : 0.745867 Centerline is valid? [False, False] Translation: X:-5.34, Y:2.31, Z:1.96 [[ 9.99958972e-01 3.33552413e-03 -8.42188575e-03 -5.33722266e+00] [-3.38011344e-03 9.99980317e-01 -5.28578579e-03 2.31404698e+00] [ 8.40408912e-03 5.31403586e-03 9.99950565e-01 1.96392486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574839172999997 meters Centerline goodness : 0.744896 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.96 [[ 9.99944592e-01 4.77892136e-03 -9.37948633e-03 -5.33361457e+00] [-4.80910943e-03 9.99983321e-01 -3.19860917e-03 2.30879995e+00] [ 9.36404398e-03 3.24353892e-03 9.99950896e-01 1.96164858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839173 meters Centerline goodness : 0.743579 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.96 [[ 9.99931523e-01 5.80596882e-03 -1.01607317e-02 -5.33054259e+00] [-5.82616858e-03 9.99981108e-01 -1.95955192e-03 2.30577708e+00] [ 1.01491627e-02 2.01861587e-03 9.99946458e-01 1.95975795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634839173 meters Centerline goodness : 0.741220 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 9.99922212e-01 5.24715614e-03 -1.13153978e-02 -5.32434280e+00] [-5.29088638e-03 9.99978637e-01 -3.83820058e-03 2.30205559e+00] [ 1.12950164e-02 3.89777049e-03 9.99928612e-01 1.95681566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839173 meters Centerline goodness : 0.737977 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 9.99908695e-01 6.36892019e-03 -1.19179795e-02 -5.32158784e+00] [-6.40462969e-03 9.99975108e-01 -2.96050690e-03 2.29933334e+00] [ 1.18988277e-02 3.03656684e-03 9.99924596e-01 1.95522134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694839173 meters Centerline goodness : 0.739389 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 9.99887364e-01 8.55127514e-03 -1.23342635e-02 -5.31887249e+00] [-8.58671759e-03 9.99959147e-01 -2.82340540e-03 2.30114213e+00] [ 1.23096159e-02 2.92899822e-03 9.99919944e-01 1.95516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839173 meters Centerline goodness : 0.741380 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.31, Z:1.96 [[ 9.99886908e-01 8.66880883e-03 -1.22891607e-02 -5.31993201e+00] [-8.72371176e-03 9.99952174e-01 -4.42104544e-03 2.30627160e+00] [ 1.22502478e-02 4.52775255e-03 9.99914712e-01 1.95832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754839173 meters Centerline goodness : 0.741674 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.31, Z:1.96 [[ 9.99874574e-01 9.20738725e-03 -1.28864417e-02 -5.31936422e+00] [-9.27437767e-03 9.99943738e-01 -5.14844964e-03 2.30838094e+00] [ 1.28383130e-02 5.26731762e-03 9.99903712e-01 1.96067716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999998 meters Centerline goodness : 0.742576 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.31, Z:1.96 [[ 9.99872481e-01 9.21770027e-03 -1.30405689e-02 -5.31882276e+00] [-9.27775489e-03 9.99946599e-01 -4.55223710e-03 2.30518558e+00] [ 1.29979114e-02 4.67264380e-03 9.99904606e-01 1.95997425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814839173 meters Centerline goodness : 0.746077 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 0.99990253 0.00639097 -0.01241349 -5.32240999] [-0.00646205 0.99996291 -0.00569434 2.3037751 ] [ 0.01237664 0.005774 0.99990674 1.96114551] [ 0. 0. 0. 1. ]] SLAMing on 29.844839173 meters Centerline goodness : 0.747773 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 0.99990823 0.00574028 -0.01227147 -5.32356284] [-0.00581012 0.99996708 -0.00566341 2.30329843] [ 0.01223855 0.00573419 0.99990866 1.96171715] [ 0. 0. 0. 1. ]] SLAMing on 29.874839172999998 meters Centerline goodness : 0.745515 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 9.99916137e-01 4.79283614e-03 -1.20311542e-02 -5.32458304e+00] [-4.86415625e-03 9.99970731e-01 -5.90570673e-03 2.30176889e+00] [ 1.20024969e-02 5.96373287e-03 9.99910183e-01 1.96175594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839173 meters Centerline goodness : 0.743756 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.30, Z:1.96 [[ 9.99919354e-01 4.36538051e-03 -1.19259686e-02 -5.32487506e+00] [-4.43470565e-03 9.99973389e-01 -5.79270878e-03 2.30192570e+00] [ 1.19003639e-02 5.84512978e-03 9.99912104e-01 1.96116515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934839173 meters Centerline goodness : 0.743869 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99933134e-01 -2.20767757e-04 -1.15619512e-02 -5.32614251e+00] [ 1.06534401e-04 9.99951188e-01 -9.87979456e-03 2.30021851e+00] [ 1.15635680e-02 9.87790220e-03 9.99884349e-01 1.96188974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999998 meters Centerline goodness : 0.745635 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99935550e-01 -8.88634261e-04 -1.13184258e-02 -5.32714035e+00] [ 7.76777164e-04 9.99950857e-01 -9.88330820e-03 2.29951102e+00] [ 1.13266522e-02 9.87387933e-03 9.99887100e-01 1.96186969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994839173 meters Centerline goodness : 0.744471 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99933645e-01 -2.71038303e-03 -1.11963994e-02 -5.32849770e+00] [ 2.59908709e-03 9.99947190e-01 -9.94295263e-03 2.29688160e+00] [ 1.12227573e-02 9.91319245e-03 9.99887883e-01 1.96149164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839173 meters Centerline goodness : 0.745890 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99934167e-01 -2.83152446e-03 -1.11195100e-02 -5.32878606e+00] [ 2.71973216e-03 9.99945739e-01 -1.00559916e-02 2.29714532e+00] [ 1.11473804e-02 1.00250875e-02 9.99887610e-01 1.96166825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054839172999998 meters Centerline goodness : 0.747271 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99995187e-01 -3.47994592e-04 3.08295172e-03 -5.33009041e+00] [ 3.61134300e-04 9.99990850e-01 -4.26252351e-03 2.29961955e+00] [-3.08144018e-03 4.26361635e-03 9.99986163e-01 1.95505389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839173 meters Centerline goodness : 0.749220 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.30, Z:1.96 [[ 9.99989558e-01 2.88005830e-03 3.54802366e-03 -5.33171876e+00] [-2.87752174e-03 9.99995601e-01 -7.19819658e-04 2.30109277e+00] [-3.55008118e-03 7.09602627e-04 9.99993447e-01 1.95551084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114839173 meters Centerline goodness : 0.749209 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.96 [[ 9.99988113e-01 3.77284541e-03 3.08873487e-03 -5.32998886e+00] [-3.76839789e-03 9.99991856e-01 -1.44446994e-03 2.30566987e+00] [-3.09415948e-03 1.43281319e-03 9.99994187e-01 1.95588570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144839172999998 meters Centerline goodness : 0.751547 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.31, Z:1.96 [[ 9.99985182e-01 4.85849175e-03 2.45564492e-03 -5.32729118e+00] [-4.85330762e-03 9.99985991e-01 -2.11267577e-03 2.30956266e+00] [-2.46587494e-03 2.10072646e-03 9.99994753e-01 1.95555924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174839173 meters Centerline goodness : 0.748684 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.32, Z:1.95 [[ 9.99949937e-01 9.84439278e-03 1.79212999e-03 -5.32411603e+00] [-9.84622242e-03 9.99951010e-01 1.01498631e-03 2.31583092e+00] [-1.78205027e-03 -1.03258121e-03 9.99997879e-01 1.95464325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839173 meters Centerline goodness : 0.749203 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.32, Z:1.96 [[ 9.99951593e-01 9.64274471e-03 1.95678272e-03 -5.32481508e+00] [-9.64175778e-03 9.99953385e-01 -5.13171871e-04 2.31903120e+00] [-1.96163989e-03 4.94280205e-04 9.99997954e-01 1.95628290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234839172999997 meters Centerline goodness : 0.750536 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.33, Z:1.96 [[ 9.99955797e-01 9.15134170e-03 2.15815222e-03 -5.32589602e+00] [-9.14332700e-03 9.99951373e-01 -3.69476293e-03 2.32806251e+00] [-2.19185931e-03 3.67486692e-03 9.99990846e-01 1.95963501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839173 meters Centerline goodness : 0.748595 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.33, Z:1.96 [[ 9.99953506e-01 9.51242715e-03 1.58128912e-03 -5.32333289e+00] [-9.50571397e-03 9.99945999e-01 -4.20003108e-03 2.33170370e+00] [-1.62115622e-03 4.18480452e-03 9.99989930e-01 1.95838207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294839173 meters Centerline goodness : 0.745807 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.34, Z:1.95 [[ 9.99951981e-01 9.74207985e-03 1.06204962e-03 -5.31847119e+00] [-9.73670052e-03 9.99940307e-01 -4.95772497e-03 2.33859519e+00] [-1.11028477e-03 4.94714604e-03 9.99987146e-01 1.95368375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999997 meters Centerline goodness : 0.747856 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.34, Z:1.96 [[ 9.99963358e-01 8.44594584e-03 1.39566280e-03 -5.32039219e+00] [-8.43650053e-03 9.99942364e-01 -6.64031720e-03 2.34336625e+00] [-1.45166611e-03 6.62829938e-03 9.99976979e-01 1.95537973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354839173 meters Centerline goodness : 0.748371 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.35, Z:1.95 [[ 9.99949489e-01 2.42402048e-05 1.00507740e-02 -5.32320689e+00] [-2.78209217e-05 9.99999936e-01 3.56123142e-04 2.34606142e+00] [-1.00507647e-02 -3.56384775e-04 9.99949426e-01 1.95473941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839173 meters Centerline goodness : 0.748835 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.34, Z:1.96 [[ 9.99946142e-01 -2.22368029e-03 1.01374321e-02 -5.32594128e+00] [ 2.22768878e-03 9.99997445e-01 -3.84139650e-04 2.34497001e+00] [-1.01365520e-02 4.06702005e-04 9.99948541e-01 1.95637882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414839173 meters Centerline goodness : 0.750722 Centerline is valid? [False, False] Translation: X:-5.33, Y:2.35, Z:1.96 [[ 9.99944357e-01 -2.94551341e-03 1.01295415e-02 -5.32731472e+00] [ 2.95439757e-03 9.99995264e-01 -8.62203095e-04 2.34599147e+00] [-1.01269539e-02 8.92081812e-04 9.99948323e-01 1.95804161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444839173 meters Centerline goodness : 0.748934 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.34, Z:1.96 [[ 9.99953595e-01 -1.93236893e-03 9.43791255e-03 -5.32464111e+00] [ 1.93226553e-03 9.99998133e-01 2.00748981e-05 2.34392045e+00] [-9.43793372e-03 -1.83741348e-06 9.99955462e-01 1.95669782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474839173 meters Centerline goodness : 0.747597 Centerline is valid? [False, False] Translation: X:-5.32, Y:2.34, Z:1.95 [[ 9.99968513e-01 1.73342656e-03 7.74391868e-03 -5.31599722e+00] [-1.74692513e-03 9.99996966e-01 1.73669595e-03 2.34061437e+00] [-7.74088475e-03 -1.75016931e-03 9.99968507e-01 1.95253309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504839173 meters Centerline goodness : 0.746096 Centerline is valid? [False, False] Translation: X:-5.31, Y:2.34, Z:1.95 [[ 9.99971541e-01 3.54600867e-03 6.65900267e-03 -5.31099001e+00] [-3.56447543e-03 9.99989829e-01 2.76338531e-03 2.33961509e+00] [-6.64913596e-03 -2.78704252e-03 9.99974010e-01 1.94970686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534839172999998 meters Centerline goodness : 0.743557 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.94 [[ 9.99975566e-01 5.08423647e-03 4.79771729e-03 -5.29983077e+00] [-5.09543489e-03 9.99984316e-01 2.32478476e-03 2.33584100e+00] [-4.78582228e-03 -2.34917441e-03 9.99985789e-01 1.94270876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564839173 meters Centerline goodness : 0.742694 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.94 [[ 9.99987172e-01 2.99315665e-03 4.08609382e-03 -5.29656398e+00] [-2.98828127e-03 9.99994817e-01 -1.19874993e-03 2.33625888e+00] [-4.08966068e-03 1.18652416e-03 9.99990933e-01 1.94199546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594839173 meters Centerline goodness : 0.742906 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.94 [[ 9.99987265e-01 2.84742985e-03 4.16678928e-03 -5.29716134e+00] [-2.84218653e-03 9.99995162e-01 -1.26374230e-03 2.33520769e+00] [-4.17036754e-03 1.25188342e-03 9.99990520e-01 1.94265502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624839172999998 meters Centerline goodness : 0.746095 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.95 [[ 9.99987926e-01 2.30247396e-03 4.34121626e-03 -5.29948234e+00] [-2.28998634e-03 9.99993233e-01 -2.87930542e-03 2.33695345e+00] [-4.34781640e-03 2.86932933e-03 9.99986432e-01 1.94681588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654839173 meters Centerline goodness : 0.744338 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.95 [[ 9.99989593e-01 2.33486068e-03 3.91938967e-03 -5.29817147e+00] [-2.32425319e-03 9.99993630e-01 -2.70879099e-03 2.33748793e+00] [-3.92568936e-03 2.69965315e-03 9.99988650e-01 1.94605284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684839173 meters Centerline goodness : 0.741849 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.94 [[ 9.99990173e-01 2.45413677e-03 3.69202936e-03 -5.29713587e+00] [-2.44679795e-03 9.99995025e-01 -1.99095135e-03 2.33538482e+00] [-3.69689706e-03 1.98189814e-03 9.99991202e-01 1.94472551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714839172999998 meters Centerline goodness : 0.742049 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.95 [[ 9.99990055e-01 2.76655410e-03 3.49788980e-03 -5.29680156e+00] [-2.75996993e-03 9.99994413e-01 -1.88575429e-03 2.33362197e+00] [-3.50308730e-03 1.87608146e-03 9.99992104e-01 1.94530043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744839173 meters Centerline goodness : 0.745569 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.95 [[ 9.99990924e-01 2.36066738e-03 3.54668468e-03 -5.29819147e+00] [-2.35155092e-03 9.99993926e-01 -2.57239074e-03 2.33515950e+00] [-3.55273569e-03 2.56402719e-03 9.99990402e-01 1.94748185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774839173 meters Centerline goodness : 0.750663 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.34, Z:1.95 [[ 9.99991840e-01 2.23526489e-03 3.36504496e-03 -5.30023737e+00] [-2.22175541e-03 9.99989480e-01 -4.01305115e-03 2.33680009e+00] [-3.37397979e-03 4.00554209e-03 9.99986286e-01 1.95280273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804839172999998 meters Centerline goodness : 0.750188 Centerline is valid? [False, False] Translation: X:-5.30, Y:2.33, Z:1.95 [[ 9.99991897e-01 2.83492631e-03 2.85815591e-03 -5.29923369e+00] [-2.82487034e-03 9.99989828e-01 -3.51626320e-03 2.33410857e+00] [-2.86809518e-03 3.50816079e-03 9.99989733e-01 1.95323325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834839173 meters Centerline goodness : 0.747341 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.33, Z:1.95 [[ 9.99988245e-01 4.73506188e-03 1.04378211e-03 -5.29005330e+00] [-4.73138344e-03 9.99982686e-01 -3.49888955e-03 2.33150754e+00] [-1.06033150e-03 3.49390989e-03 9.99993334e-01 1.94886871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864839173 meters Centerline goodness : 0.747118 Centerline is valid? [False, False] Translation: X:-5.29, Y:2.33, Z:1.95 [[ 9.99982855e-01 5.85332346e-03 1.70536097e-04 -5.28704779e+00] [-5.85280732e-03 9.99978712e-01 -2.88433858e-03 2.33045258e+00] [-1.87415434e-04 2.88329102e-03 9.99995826e-01 1.94783783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894839172999998 meters Centerline goodness : 0.746730 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.33, Z:1.95 [[ 9.99990179e-01 4.28966274e-03 -1.11369450e-03 -5.28236568e+00] [-4.29570570e-03 9.99975749e-01 -5.48157383e-03 2.32785868e+00] [ 1.09015339e-03 5.48630410e-03 9.99984356e-01 1.94667186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839173 meters Centerline goodness : 0.746612 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.33, Z:1.95 [[ 9.99987586e-01 4.76428939e-03 -1.45890693e-03 -5.28127264e+00] [-4.77087228e-03 9.99978302e-01 -4.54247352e-03 2.32528408e+00] [ 1.43723362e-03 4.54937739e-03 9.99988619e-01 1.94597136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954839173 meters Centerline goodness : 0.749559 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.32, Z:1.95 [[ 9.99985341e-01 5.09385212e-03 -1.83561422e-03 -5.28132077e+00] [-5.10072146e-03 9.99979933e-01 -3.75721241e-03 2.32163686e+00] [ 1.81643870e-03 3.76652029e-03 9.99991257e-01 1.94736166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999997 meters Centerline goodness : 0.749111 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.32, Z:1.95 [[ 9.99994637e-01 2.00355740e-03 -2.59051474e-03 -5.27973467e+00] [-2.02266229e-03 9.99970622e-01 -7.39347731e-03 2.32081237e+00] [ 2.57562538e-03 7.39867740e-03 9.99969312e-01 1.94826677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014839173 meters Centerline goodness : 0.749500 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.31, Z:1.95 [[ 9.99993623e-01 -1.92978185e-03 -3.00503909e-03 -5.27973555e+00] [ 1.90265016e-03 9.99957639e-01 -9.00556531e-03 2.31130516e+00] [ 3.02229057e-03 8.99979034e-03 9.99954934e-01 1.94786245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839173 meters Centerline goodness : 0.747749 Centerline is valid? [False, False] Translation: X:-5.28, Y:2.31, Z:1.95 [[ 9.99978338e-01 -5.56340872e-03 -3.51751245e-03 -5.27807084e+00] [ 5.52355540e-03 9.99921574e-01 -1.12399508e-02 2.30628131e+00] [ 3.57976902e-03 1.12202781e-02 9.99930643e-01 1.94608193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074839172999997 meters Centerline goodness : 0.746159 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.29, Z:1.94 [[ 9.99920029e-01 -1.18540036e-02 -4.40664433e-03 -5.27425540e+00] [ 1.17862588e-02 9.99816612e-01 -1.50938955e-02 2.29327968e+00] [ 4.58475929e-03 1.50407506e-02 9.99876370e-01 1.94191682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104839173 meters Centerline goodness : 0.748691 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.29, Z:1.94 [[ 9.99882052e-01 -1.44462388e-02 -5.21431810e-03 -5.27101563e+00] [ 1.43531660e-02 9.99744429e-01 -1.74660841e-02 2.28931015e+00] [ 5.46530469e-03 1.73891820e-02 9.99833860e-01 1.94014008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134839173 meters Centerline goodness : 0.749147 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.28, Z:1.94 [[ 0.99993758 -0.0097669 -0.00542589 -5.26928398] [ 0.00970761 0.99989402 -0.01084993 2.28223528] [ 0.00553129 0.01079658 0.99992642 1.93650225] [ 0. 0. 0. 1. ]] SLAMing on 31.164839173 meters Centerline goodness : 0.750177 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.28, Z:1.93 [[ 9.99969916e-01 -5.08123488e-03 -5.86079576e-03 -5.26707729e+00] [ 5.04819874e-03 9.99971365e-01 -5.63788644e-03 2.28118448e+00] [ 5.88927536e-03 5.60813037e-03 9.99966932e-01 1.93403739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194839173 meters Centerline goodness : 0.747907 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.28, Z:1.93 [[ 9.99969688e-01 -2.63375337e-03 -7.32707640e-03 -5.26039978e+00] [ 2.60482256e-03 9.99988785e-01 -3.95522385e-03 2.27906040e+00] [ 7.33741131e-03 3.93601823e-03 9.99965334e-01 1.93026130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224839173 meters Centerline goodness : 0.747305 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.28, Z:1.93 [[ 0.9999546 -0.00563865 -0.0076818 -5.25842031] [ 0.00558148 0.99995672 -0.00744337 2.27828823] [ 0.00772344 0.00740016 0.99994279 1.92948773] [ 0. 0. 0. 1. ]] SLAMing on 31.254839173 meters Centerline goodness : 0.751002 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.28, Z:1.93 [[ 0.99994777 -0.00782457 -0.00657513 -5.26341334] [ 0.00777064 0.99993628 -0.00818864 2.27758972] [ 0.00663879 0.00813712 0.99994486 1.93222702] [ 0. 0. 0. 1. ]] SLAMing on 31.284839172999998 meters Centerline goodness : 0.754029 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.28, Z:1.94 [[ 0.99993486 -0.00964951 -0.0060954 -5.26780558] [ 0.00959016 0.99990704 -0.00969209 2.28007147] [ 0.00618836 0.009633 0.99993445 1.93670755] [ 0. 0. 0. 1. ]] SLAMing on 31.314839173 meters Centerline goodness : 0.751928 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.28, Z:1.94 [[ 9.99894002e-01 -1.42973917e-02 2.75114694e-03 -5.26850456e+00] [ 1.43021505e-02 9.99896243e-01 -1.71792881e-03 2.27909371e+00] [-2.72629959e-03 1.75709404e-03 9.99994740e-01 1.94021366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839173 meters Centerline goodness : 0.743592 Centerline is valid? [False, False] Translation: X:-5.27, Y:2.27, Z:1.94 [[ 9.99914287e-01 -1.30213107e-02 1.36516706e-03 -5.26561760e+00] [ 1.30214503e-02 9.99915213e-01 -9.33796404e-05 2.27411824e+00] [-1.36383539e-03 1.11148092e-04 9.99999064e-01 1.94054451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374839172999998 meters Centerline goodness : 0.742989 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.27, Z:1.94 [[ 9.99938731e-01 -1.10694879e-02 1.30357729e-05 -5.26103064e+00] [ 1.10694536e-02 9.99937489e-01 1.57626261e-03 2.27056842e+00] [-3.04833779e-05 -1.57602174e-03 9.99998758e-01 1.93867870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404839173 meters Centerline goodness : 0.740783 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.27, Z:1.94 [[ 9.99955793e-01 -9.34725497e-03 -1.02020773e-03 -5.25731651e+00] [ 9.35058383e-03 9.99950809e-01 3.30844323e-03 2.26633051e+00] [ 9.89232681e-04 -3.31783651e-03 9.99994007e-01 1.93687554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434839173 meters Centerline goodness : 0.740783 Centerline is valid? [False, False] Translation: X:-5.26, Y:2.27, Z:1.94 [[ 9.99955793e-01 -9.34725497e-03 -1.02020773e-03 -5.25731651e+00] [ 9.35058383e-03 9.99950809e-01 3.30844323e-03 2.26633051e+00] [ 9.89232681e-04 -3.31783651e-03 9.99994007e-01 1.93687554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999998 meters Centerline goodness : 0.739743 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.26, Z:1.94 [[ 9.99946340e-01 -1.00564988e-02 -2.48658529e-03 -5.25216153e+00] [ 1.00617171e-02 9.99947185e-01 2.09502668e-03 2.26113119e+00] [ 2.46538532e-03 -2.11993358e-03 9.99994714e-01 1.93548562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494839173 meters Centerline goodness : 0.740047 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.26, Z:1.94 [[ 9.99914399e-01 -1.27038686e-02 -3.13140906e-03 -5.25057561e+00] [ 1.26994826e-02 9.99918355e-01 -1.41655990e-03 2.26150569e+00] [ 3.14914919e-03 1.37667137e-03 9.99994094e-01 1.93659264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839173 meters Centerline goodness : 0.739500 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.25, Z:1.94 [[ 9.99879741e-01 -1.49627467e-02 -4.07676389e-03 -5.24902875e+00] [ 1.49495591e-02 9.99882979e-01 -3.24629732e-03 2.25439958e+00] [ 4.12486034e-03 3.18496110e-03 9.99986421e-01 1.93779095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554839172999998 meters Centerline goodness : 0.739437 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.25, Z:1.94 [[ 9.99832903e-01 -1.76417815e-02 -4.78884892e-03 -5.24710451e+00] [ 1.76139770e-02 9.99828112e-01 -5.78746337e-03 2.24907972e+00] [ 4.89012694e-03 5.70214563e-03 9.99971786e-01 1.93788847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839173 meters Centerline goodness : 0.739030 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.24, Z:1.94 [[ 0.99979236 -0.01967046 -0.00532082 -5.2450866 ] [ 0.01963411 0.99978412 -0.00679858 2.23700923] [ 0.0054534 0.0066927 0.99996273 1.93715446] [ 0. 0. 0. 1. ]] SLAMing on 31.614839173 meters Centerline goodness : 0.736364 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.23, Z:1.94 [[ 9.99801136e-01 -1.90956719e-02 -5.74830046e-03 -5.24360875e+00] [ 1.90675576e-02 9.99806158e-01 -4.90659978e-03 2.23013732e+00] [ 5.84088102e-03 4.79601799e-03 9.99971441e-01 1.93579590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999998 meters Centerline goodness : 0.732087 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.22, Z:1.93 [[ 9.99761424e-01 -2.07270558e-02 -6.89085935e-03 -5.23866156e+00] [ 2.06931126e-02 9.99773565e-01 -4.96117285e-03 2.22241145e+00] [ 6.99212952e-03 4.81739591e-03 9.99963951e-01 1.93178263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674839173 meters Centerline goodness : 0.729147 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.22, Z:1.94 [[ 0.99967054 -0.01856692 -0.01772206 -5.2420458 ] [ 0.01837973 0.99977417 -0.01066742 2.21684355] [ 0.01791612 0.01033818 0.99978604 1.93989659] [ 0. 0. 0. 1. ]] SLAMing on 31.704839173 meters Centerline goodness : 0.723929 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.21, Z:1.94 [[ 0.99961413 -0.02149555 -0.01759372 -5.24146019] [ 0.02126554 0.99968728 -0.01315752 2.21297137] [ 0.01787104 0.0127783 0.99975864 1.93930928] [ 0. 0. 0. 1. ]] SLAMing on 31.734839172999997 meters Centerline goodness : 0.727224 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.21, Z:1.94 [[ 0.99967123 -0.01882851 -0.01740439 -5.24401137] [ 0.01866798 0.99978211 -0.00934045 2.20990565] [ 0.01757647 0.00901247 0.9998049 1.9412233 ] [ 0. 0. 0. 1. ]] SLAMing on 31.764839173 meters Centerline goodness : 0.727713 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.21, Z:1.95 [[ 0.99961825 -0.02174809 -0.01704028 -5.24777721] [ 0.02155484 0.99970217 -0.01144341 2.20531866] [ 0.01728407 0.01107174 0.99978932 1.94533071] [ 0. 0. 0. 1. ]] SLAMing on 31.794839173 meters Centerline goodness : 0.727001 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.20, Z:1.94 [[ 0.99951791 -0.02597956 -0.01700056 -5.24784227] [ 0.02574349 0.99957109 -0.0139608 2.19817479] [ 0.01735596 0.01351642 0.99975801 1.94481115] [ 0. 0. 0. 1. ]] SLAMing on 31.824839172999997 meters Centerline goodness : 0.728763 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.20, Z:1.94 [[ 9.99579292e-01 -2.67542409e-02 -1.12004220e-02 -5.23888110e+00] [ 2.67229126e-02 9.99638563e-01 -2.93746425e-03 2.19611937e+00] [ 1.12749634e-02 2.63692054e-03 9.99932959e-01 1.94011621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854839173 meters Centerline goodness : 0.729656 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.20, Z:1.94 [[ 9.99747307e-01 -1.94533261e-02 -1.12645437e-02 -5.24028371e+00] [ 1.95061640e-02 9.99799155e-01 4.59990838e-03 2.19901273e+00] [ 1.11727978e-02 -4.81847405e-03 9.99925973e-01 1.94129599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884839173 meters Centerline goodness : 0.731964 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.20, Z:1.94 [[ 9.99773488e-01 -1.79493272e-02 -1.14365579e-02 -5.23988806e+00] [ 1.80043693e-02 9.99826728e-01 4.72817858e-03 2.20115551e+00] [ 1.13497087e-02 -4.93301560e-03 9.99923422e-01 1.94239444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914839173 meters Centerline goodness : 0.733153 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.20, Z:1.94 [[ 9.99795287e-01 -1.66653717e-02 -1.14738981e-02 -5.23930053e+00] [ 1.67238471e-02 9.99847547e-01 5.01943419e-03 2.20077578e+00] [ 1.13884981e-02 -5.21029436e-03 9.99921574e-01 1.94267285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944839173 meters Centerline goodness : 0.733798 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.20, Z:1.94 [[ 0.99981774 -0.01485653 -0.01199043 -5.23596592] [ 0.0149381 0.99986568 0.00674281 2.19550904] [ 0.01188864 -0.00692069 0.99990538 1.93991745] [ 0. 0. 0. 1. ]] SLAMing on 31.974839173 meters Centerline goodness : 0.731494 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.94 [[ 0.99981841 -0.01481308 -0.01198845 -5.23588216] [ 0.01490178 0.999862 0.00734293 2.19245031] [ 0.01187802 -0.00752024 0.99990117 1.93961469] [ 0. 0. 0. 1. ]] SLAMing on 32.004839173 meters Centerline goodness : 0.737244 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.94 [[ 0.99985552 -0.01280159 -0.01118316 -5.24102109] [ 0.01291707 0.99986336 0.01031546 2.19208371] [ 0.01104957 -0.01045842 0.99988426 1.94391669] [ 0. 0. 0. 1. ]] SLAMing on 32.034839172999995 meters Centerline goodness : 0.740688 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.19, Z:1.95 [[ 0.9998556 -0.01315789 -0.01075432 -5.24452056] [ 0.01326245 0.9998649 0.00970981 2.19302827] [ 0.01062511 -0.00985104 0.99989503 1.94788458] [ 0. 0. 0. 1. ]] SLAMing on 32.064839172999996 meters Centerline goodness : 0.739401 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.19, Z:1.95 [[ 0.99987488 -0.01223586 -0.01002582 -5.25024729] [ 0.01234655 0.99986268 0.01105363 2.18827102] [ 0.0098892 -0.01117603 0.99988864 1.95422395] [ 0. 0. 0. 1. ]] SLAMing on 32.094839173 meters Centerline goodness : 0.737536 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.18, Z:1.95 [[ 0.99983678 -0.01478072 -0.01038975 -5.2488134 ] [ 0.01486951 0.99985313 0.00852152 2.18485797] [ 0.01026227 -0.00867462 0.99990971 1.95398198] [ 0. 0. 0. 1. ]] SLAMing on 32.124839173 meters Centerline goodness : 0.739205 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.18, Z:1.95 [[ 0.99978375 -0.01781928 -0.01072081 -5.24726054] [ 0.01788194 0.99982341 0.0057777 2.18182523] [ 0.01061596 -0.00596816 0.99992584 1.95319267] [ 0. 0. 0. 1. ]] SLAMing on 32.15483917299999 meters Centerline goodness : 0.736945 Centerline is valid? [False, False] Translation: X:-5.25, Y:2.18, Z:1.95 [[ 9.99721870e-01 -2.08720150e-02 -1.09791821e-02 -5.24584111e+00] [ 2.09169164e-02 9.99773252e-01 3.99087018e-03 2.17668470e+00] [ 1.08933951e-02 -4.21941083e-03 9.99931763e-01 1.95193376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18483917299999 meters Centerline goodness : 0.710319 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.18, Z:1.95 [[ 9.99730938e-01 -2.03076677e-02 -1.12093484e-02 -5.24424773e+00] [ 2.03673525e-02 9.99778851e-01 5.23632777e-03 2.17510701e+00] [ 1.11005319e-02 -5.46322363e-03 9.99923463e-01 1.95010480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214839172999994 meters Centerline goodness : 0.712597 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.95 [[ 0.99972849 -0.0204589 -0.0111522 -5.24400384] [ 0.02052171 0.99977402 0.00554709 2.17354845] [ 0.01103619 -0.00577445 0.99992243 1.94941134] [ 0. 0. 0. 1. ]] SLAMing on 32.244839172999995 meters Centerline goodness : 0.703674 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.94 [[ 9.99746721e-01 -2.24954433e-02 6.69250730e-04 -5.24142713e+00] [ 2.24925120e-02 9.99738583e-01 4.10518076e-03 2.17074704e+00] [-7.61423637e-04 -4.08908787e-03 9.99991350e-01 1.94113704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274839173 meters Centerline goodness : 0.736641 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.17, Z:1.94 [[ 9.99584448e-01 -2.87911898e-02 1.41394785e-03 -5.24323448e+00] [ 2.87908208e-02 9.99585419e-01 2.80686583e-04 2.16686657e+00] [-1.42144295e-03 -2.39861225e-04 9.99998961e-01 1.94261406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304839173 meters Centerline goodness : 0.738168 Centerline is valid? [False, False] Translation: X:-5.24, Y:2.16, Z:1.94 [[ 9.99460895e-01 -3.27886577e-02 1.68031537e-03 -5.24405867e+00] [ 3.27938518e-02 9.99457132e-01 -3.16289531e-03 2.16453912e+00] [-1.57569608e-03 3.21629419e-03 9.99993586e-01 1.94356018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334839173 meters Centerline goodness : 0.732276 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.16, Z:1.94 [[ 9.98831922e-01 -4.82253569e-02 3.01779842e-03 -5.22126362e+00] [ 4.82073425e-02 9.98820616e-01 5.78174950e-03 2.16311931e+00] [-3.29306621e-03 -5.62951593e-03 9.99978732e-01 1.94363062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36483917299999 meters Centerline goodness : 0.738106 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.16, Z:1.95 [[ 9.98773541e-01 -4.94099185e-02 3.17404628e-03 -5.22279352e+00] [ 4.93921633e-02 9.98764604e-01 5.44789653e-03 2.16359570e+00] [-3.43930520e-03 -5.28444190e-03 9.99980123e-01 1.94509388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394839172999994 meters Centerline goodness : 0.731822 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.16, Z:1.95 [[ 9.98852208e-01 -4.78143748e-02 2.83765456e-03 -5.22463705e+00] [ 4.77891152e-02 9.98822241e-01 8.38641611e-03 2.16401935e+00] [-3.23530373e-03 -8.24118125e-03 9.99960807e-01 1.94727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424839172999995 meters Centerline goodness : 0.739700 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.16, Z:1.95 [[ 9.98988348e-01 -4.48882564e-02 2.70656082e-03 -5.22536145e+00] [ 4.48545481e-02 9.98928012e-01 1.14410286e-02 2.16411713e+00] [-3.21722724e-03 -1.13080527e-02 9.99930886e-01 1.94790684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454839172999996 meters Centerline goodness : 0.740139 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.17, Z:1.95 [[ 9.99140223e-01 -4.13572150e-02 2.89755171e-03 -5.22706892e+00] [ 4.13199148e-02 9.99074769e-01 1.19276938e-02 2.17253592e+00] [-3.38816701e-03 -1.17977120e-02 9.99924664e-01 1.95136419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484839173 meters Centerline goodness : 0.744981 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.95 [[ 9.99269879e-01 -3.80927363e-02 2.94145941e-03 -5.22864631e+00] [ 3.80476812e-02 9.99176490e-01 1.40966362e-02 2.17653427e+00] [-3.47601653e-03 -1.39744282e-02 9.99896311e-01 1.95336002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514839173 meters Centerline goodness : 0.744706 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.18, Z:1.96 [[ 9.99269503e-01 -3.81087586e-02 2.86062324e-03 -5.22873461e+00] [ 3.80728997e-02 9.99206605e-01 1.16882588e-02 2.18367855e+00] [-3.30377866e-03 -1.15708083e-02 9.99927598e-01 1.95505355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54483917299999 meters Centerline goodness : 0.745562 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.96 [[ 9.99254900e-01 -3.84831226e-02 2.94866764e-03 -5.22940773e+00] [ 3.84493096e-02 9.99202464e-01 1.07743084e-02 2.18612525e+00] [-3.36094500e-03 -1.06529062e-02 9.99937608e-01 1.95595393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574839172999994 meters Centerline goodness : 0.751592 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.96 [[ 9.99198553e-01 -3.98935478e-02 3.27978839e-03 -5.23183886e+00] [ 3.98613291e-02 9.99161352e-01 9.36306585e-03 2.18786766e+00] [-3.65056372e-03 -9.22482512e-03 9.99950787e-01 1.95839864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604839172999995 meters Centerline goodness : 0.748878 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.96 [[ 9.99189639e-01 -4.01342711e-02 3.05049388e-03 -5.23132660e+00] [ 4.01049157e-02 9.99153652e-01 9.14190969e-03 2.18900188e+00] [-3.41481598e-03 -9.01216164e-03 9.99953559e-01 1.95818974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634839172999996 meters Centerline goodness : 0.749465 Centerline is valid? [False, False] Translation: X:-5.23, Y:2.19, Z:1.96 [[ 9.99204538e-01 -3.98000528e-02 2.49951693e-03 -5.22914557e+00] [ 3.97757249e-02 9.99166950e-01 9.12676584e-03 2.19222288e+00] [-2.86068047e-03 -9.02008575e-03 9.99955226e-01 1.95657222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664839173 meters Centerline goodness : 0.749379 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.20, Z:1.95 [[ 9.99143807e-01 -4.13398112e-02 1.63484630e-03 -5.21063780e+00] [ 4.13127056e-02 9.99046646e-01 1.41088169e-02 2.20298161e+00] [-2.21654354e-03 -1.40291971e-02 9.99899129e-01 1.95233857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694839173 meters Centerline goodness : 0.752458 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.21, Z:1.95 [[ 9.99130438e-01 -4.16627973e-02 1.60582348e-03 -5.21055305e+00] [ 4.16412640e-02 9.99064324e-01 1.16825361e-02 2.21018566e+00] [-2.09104809e-03 -1.16055089e-02 9.99930467e-01 1.95299323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72483917299999 meters Centerline goodness : 0.754660 Centerline is valid? [False, False] Translation: X:-5.21, Y:2.21, Z:1.95 [[ 9.99014287e-01 -4.43778109e-02 1.03127545e-03 -5.20738349e+00] [ 4.43682835e-02 9.98983851e-01 7.91965506e-03 2.21256138e+00] [-1.38168447e-03 -7.86609263e-03 9.99968107e-01 1.95091672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75483917299999 meters Centerline goodness : 0.754004 Centerline is valid? [False, False] Translation: X:-5.20, Y:2.22, Z:1.95 [[ 9.99008659e-01 -4.45157788e-02 -2.11412140e-04 -5.20233773e+00] [ 4.45162236e-02 9.98988500e-01 6.34685825e-03 2.22055118e+00] [-7.13370411e-05 -6.34997762e-03 9.99979836e-01 1.94717600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784839172999995 meters Centerline goodness : 0.755253 Centerline is valid? [False, False] Translation: X:-5.19, Y:2.22, Z:1.94 [[ 9.98944001e-01 -4.57925247e-02 3.73203384e-03 -5.19143525e+00] [ 4.57263485e-02 9.98822312e-01 1.62200817e-02 2.22334932e+00] [-4.47039716e-03 -1.60323010e-02 9.99861481e-01 1.94250035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814839172999996 meters Centerline goodness : 0.754461 Centerline is valid? [False, False] Translation: X:-5.19, Y:2.22, Z:1.95 [[ 0.99913603 -0.03983174 -0.01185865 -5.18508437] [ 0.04007471 0.99897579 0.02100913 2.2219399 ] [ 0.01100968 -0.02146621 0.99970895 1.9459793 ] [ 0. 0. 0. 1. ]] SLAMing on 32.844839173 meters Centerline goodness : 0.753823 Centerline is valid? [False, False] Translation: X:-5.18, Y:2.23, Z:1.94 [[ 0.99900696 -0.04251897 -0.01331285 -5.1787839 ] [ 0.04275293 0.99892688 0.01781219 2.22602525] [ 0.0125412 -0.01836367 0.99975272 1.94064872] [ 0. 0. 0. 1. ]] SLAMing on 32.874839173 meters Centerline goodness : 0.753040 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.23, Z:1.94 [[ 0.99886259 -0.04466391 -0.01669299 -5.17017368] [ 0.04497986 0.99880612 0.01905638 2.23281585] [ 0.01582193 -0.01978555 0.99967905 1.93780263] [ 0. 0. 0. 1. ]] SLAMing on 32.90483917299999 meters Centerline goodness : 0.752338 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.23, Z:1.94 [[ 0.99895658 -0.04212332 -0.0176459 -5.16681215] [ 0.04250172 0.99886184 0.02164792 2.23494637] [ 0.01671393 -0.02237532 0.99960992 1.93503259] [ 0. 0. 0. 1. ]] SLAMing on 32.93483917299999 meters Centerline goodness : 0.755065 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.24, Z:1.93 [[ 0.99927707 -0.03392 -0.01716886 -5.16716954] [ 0.03435047 0.99908621 0.0254319 2.23673859] [ 0.01629052 -0.02600327 0.99952911 1.93241936] [ 0. 0. 0. 1. ]] SLAMing on 32.964839172999994 meters Centerline goodness : 0.759342 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.24, Z:1.93 [[ 0.99940306 -0.0298547 -0.01738434 -5.16740307] [ 0.03034415 0.99913007 0.02860647 2.23770217] [ 0.01651518 -0.02911691 0.99943957 1.93293785] [ 0. 0. 0. 1. ]] SLAMing on 32.994839172999995 meters Centerline goodness : 0.754797 Centerline is valid? [False, False] Translation: X:-5.17, Y:2.24, Z:1.93 [[ 0.9993845 -0.03016137 -0.01791428 -5.16556398] [ 0.03064907 0.99914897 0.02760368 2.242305 ] [ 0.01706647 -0.02813574 0.99945841 1.93198297] [ 0. 0. 0. 1. ]] SLAMing on 33.024839173 meters Centerline goodness : 0.752033 Centerline is valid? [False, False] Translation: X:-5.16, Y:2.25, Z:1.93 [[ 0.99928446 -0.03289773 -0.018663 -5.16156912] [ 0.03334188 0.99915559 0.02400872 2.24527798] [ 0.01785741 -0.0246138 0.99953753 1.92958804] [ 0. 0. 0. 1. ]] SLAMing on 33.054839173 meters Centerline goodness : 0.748494 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.25, Z:1.92 [[ 0.99911596 -0.03718714 -0.01960649 -5.15435097] [ 0.03756901 0.99910412 0.01948151 2.24520137] [ 0.01886446 -0.02020089 0.99961796 1.9236871 ] [ 0. 0. 0. 1. ]] SLAMing on 33.084839173 meters Centerline goodness : 0.750090 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.25, Z:1.92 [[ 0.99898136 -0.04059851 -0.01969776 -5.15289222] [ 0.04090628 0.99904304 0.01548165 2.24528689] [ 0.01905037 -0.01627165 0.99968611 1.92309783] [ 0. 0. 0. 1. ]] SLAMing on 33.11483917299999 meters Centerline goodness : 0.750293 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.25, Z:1.92 [[ 0.99898521 -0.04033815 -0.02003458 -5.15137687] [ 0.04064155 0.99906157 0.01497465 2.24948528] [ 0.01941173 -0.01577369 0.99968714 1.9224272 ] [ 0. 0. 0. 1. ]] SLAMing on 33.144839172999994 meters Centerline goodness : 0.746185 Centerline is valid? [False, False] Translation: X:-5.15, Y:2.25, Z:1.92 [[ 0.99911649 -0.03670923 -0.02046124 -5.15055943] [ 0.03709265 0.99913712 0.01868546 2.25152831] [ 0.01975766 -0.01942791 0.99961602 1.92160731] [ 0. 0. 0. 1. ]] SLAMing on 33.174839172999995 meters Centerline goodness : 0.739437 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.25, Z:1.92 [[ 0.99922516 -0.03239511 -0.02235253 -5.14163753] [ 0.03288919 0.99921459 0.02210231 2.25303169] [ 0.02161896 -0.02282034 0.9995058 1.91532246] [ 0. 0. 0. 1. ]] SLAMing on 33.204839172999996 meters Centerline goodness : 0.736858 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.25, Z:1.91 [[ 0.99920287 -0.03276135 -0.02281038 -5.13663258] [ 0.03323233 0.99923566 0.02058417 2.25290669] [ 0.02211858 -0.0213258 0.99952788 1.91176679] [ 0. 0. 0. 1. ]] SLAMing on 33.234839173 meters Centerline goodness : 0.737147 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.25, Z:1.91 [[ 0.99921076 -0.03239327 -0.02298998 -5.13492651] [ 0.03287316 0.99924281 0.02081247 2.25282205] [ 0.02229839 -0.0215518 0.99951904 1.91001184] [ 0. 0. 0. 1. ]] SLAMing on 33.264839173 meters Centerline goodness : 0.737629 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.26, Z:1.91 [[ 0.99918238 -0.03314535 -0.02315094 -5.13542292] [ 0.03359879 0.99924554 0.0194798 2.25661665] [ 0.02248781 -0.02024172 0.99954218 1.91129799] [ 0. 0. 0. 1. ]] SLAMing on 33.29483917299999 meters Centerline goodness : 0.738962 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.91 [[ 0.99915815 -0.03345723 -0.02374031 -5.13484997] [ 0.03386063 0.99928538 0.01679851 2.26506046] [ 0.02316132 -0.01758823 0.99957701 1.91373565] [ 0. 0. 0. 1. ]] SLAMing on 33.324839172999994 meters Centerline goodness : 0.738962 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.91 [[ 0.99915815 -0.03345723 -0.02374031 -5.13484997] [ 0.03386063 0.99928538 0.01679851 2.26506046] [ 0.02316132 -0.01758823 0.99957701 1.91373565] [ 0. 0. 0. 1. ]] SLAMing on 33.354839172999995 meters Centerline goodness : 0.736427 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.91 [[ 0.99916994 -0.0326223 -0.02439712 -5.1323376 ] [ 0.03302902 0.99931888 0.01645759 2.26697023] [ 0.02384362 -0.01724974 0.99956687 1.91305024] [ 0. 0. 0. 1. ]] SLAMing on 33.384839172999996 meters Centerline goodness : 0.735881 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.91 [[ 0.99921152 -0.03115208 -0.0246149 -5.12995818] [ 0.03153659 0.9993841 0.01539034 2.27187674] [ 0.0241203 -0.01615447 0.99957853 1.91257475] [ 0. 0. 0. 1. ]] SLAMing on 33.414839173 meters Centerline goodness : 0.736039 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.27, Z:1.91 [[ 0.99920956 -0.03104017 -0.02483477 -5.12911987] [ 0.03141143 0.99939842 0.01470128 2.27444703] [ 0.0243635 -0.01546976 0.99958347 1.91252718] [ 0. 0. 0. 1. ]] SLAMing on 33.444839173 meters Centerline goodness : 0.735169 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.28, Z:1.91 [[ 0.99930577 -0.02733423 -0.02531455 -5.12778219] [ 0.02777654 0.99946463 0.01728898 2.28066406] [ 0.02482842 -0.01798012 0.99953002 1.91202936] [ 0. 0. 0. 1. ]] SLAMing on 33.47483917299999 meters Centerline goodness : 0.732074 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.28, Z:1.91 [[ 0.99929274 -0.02733315 -0.0258248 -5.12666727] [ 0.02776244 0.99947978 0.0164137 2.28390008] [ 0.02536273 -0.01711905 0.99953173 1.91254543] [ 0. 0. 0. 1. ]] SLAMing on 33.50483917299999 meters Centerline goodness : 0.733968 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.29, Z:1.92 [[ 0.99928713 -0.02704343 -0.02634182 -5.12668964] [ 0.02740329 0.99953468 0.01339727 2.29009361] [ 0.02596725 -0.01410957 0.99956322 1.91771462] [ 0. 0. 0. 1. ]] SLAMing on 33.534839172999995 meters Centerline goodness : 0.732843 Centerline is valid? [False, False] Translation: X:-5.13, Y:2.29, Z:1.92 [[ 0.99929471 -0.02627973 -0.02682282 -5.12532276] [ 0.02663073 0.99956322 0.01281328 2.29165537] [ 0.02647437 -0.01351855 0.99955808 1.91854841] [ 0. 0. 0. 1. ]] SLAMing on 33.564839172999996 meters Centerline goodness : 0.732649 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.92 [[ 0.99941453 -0.01979752 -0.02790424 -5.11996035] [ 0.02030527 0.99963121 0.01803179 2.29056542] [ 0.02753696 -0.01858783 0.99944795 1.91546645] [ 0. 0. 0. 1. ]] SLAMing on 33.594839173 meters Centerline goodness : 0.734002 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.30, Z:1.91 [[ 0.99949073 -0.01422155 -0.02856615 -5.11693113] [ 0.01484964 0.99964995 0.02189665 2.29521288] [ 0.02824475 -0.0223097 0.99935205 1.91441959] [ 0. 0. 0. 1. ]] SLAMing on 33.624839173 meters Centerline goodness : 0.733276 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.30, Z:1.91 [[ 0.99948079 -0.01356166 -0.02922709 -5.11472246] [ 0.01420809 0.99965647 0.02202454 2.29570394] [ 0.02891836 -0.02242837 0.99933012 1.91386181] [ 0. 0. 0. 1. ]] SLAMing on 33.65483917299999 meters Centerline goodness : 0.737220 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.29, Z:1.91 [[ 0.99941542 -0.01657133 -0.02990321 -5.11243715] [ 0.01713412 0.999679 0.01866321 2.29288578] [ 0.02958434 -0.01916466 0.99937855 1.91392031] [ 0. 0. 0. 1. ]] SLAMing on 33.68483917299999 meters Centerline goodness : 0.744322 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.29, Z:1.92 [[ 0.99933564 -0.0207165 -0.02998521 -5.11364848] [ 0.02112603 0.99968694 0.01340597 2.2938476 ] [ 0.02969809 -0.01403053 0.99946044 1.91750779] [ 0. 0. 0. 1. ]] SLAMing on 33.714839172999994 meters Centerline goodness : 0.746776 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.29, Z:1.92 [[ 0.99931923 -0.02175776 -0.02979375 -5.11680448] [ 0.02211404 0.99968721 0.01168111 2.2949936 ] [ 0.02953027 -0.01233202 0.99948781 1.92216815] [ 0. 0. 0. 1. ]] SLAMing on 33.744839172999995 meters Centerline goodness : 0.748370 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.30, Z:1.93 [[ 0.99929953 -0.02237509 -0.02999674 -5.11902058] [ 0.02270201 0.99968605 0.01060269 2.29640455] [ 0.02975008 -0.01127624 0.99949376 1.92644067] [ 0. 0. 0. 1. ]] SLAMing on 33.774839173 meters Centerline goodness : 0.749693 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.30, Z:1.93 [[ 0.99929364 -0.02185895 -0.03056798 -5.1171385 ] [ 0.02221093 0.99969032 0.01122268 2.29643343] [ 0.0303132 -0.0118937 0.99946968 1.92556006] [ 0. 0. 0. 1. ]] SLAMing on 33.804839173 meters Centerline goodness : 0.749735 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.29, Z:1.93 [[ 0.99920837 -0.02417363 -0.03159535 -5.11410796] [ 0.02443776 0.99966934 0.00800031 2.29331404] [ 0.0313915 -0.0087661 0.99946872 1.92653855] [ 0. 0. 0. 1. ]] SLAMing on 33.834839173 meters Centerline goodness : 0.751656 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.29, Z:1.93 [[ 9.99114307e-01 -2.75225243e-02 -3.18294197e-02 -5.11385238e+00] [ 2.76788070e-02 9.99606830e-01 4.47978044e-03 2.28956338e+00] [ 3.16936105e-02 -5.35681309e-03 9.99483276e-01 1.92805798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86483917299999 meters Centerline goodness : 0.754564 Centerline is valid? [False, False] Translation: X:-5.12, Y:2.28, Z:1.93 [[ 9.98869563e-01 -3.54115590e-02 -3.17114730e-02 -5.11527769e+00] [ 3.53616384e-02 9.99372304e-01 -2.13383467e-03 2.28001173e+00] [ 3.17671302e-02 1.01005286e-03 9.99494787e-01 1.93064185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894839172999994 meters Centerline goodness : 0.757403 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.27, Z:1.93 [[ 9.98788147e-01 -4.23022018e-02 -2.51547359e-02 -5.10704499e+00] [ 4.24125639e-02 9.99092688e-01 3.86987279e-03 2.27258775e+00] [ 2.49682086e-02 -4.93205992e-03 9.99676079e-01 1.92772935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924839172999995 meters Centerline goodness : 0.756748 Centerline is valid? [False, False] Translation: X:-5.11, Y:2.27, Z:1.93 [[ 9.98789499e-01 -4.19926453e-02 -2.56154937e-02 -5.10629994e+00] [ 4.21315612e-02 9.99100019e-01 4.90750537e-03 2.26982781e+00] [ 2.53863611e-02 -5.98078557e-03 9.99659824e-01 1.92774181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954839172999996 meters Centerline goodness : 0.758352 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.27, Z:1.93 [[ 0.99881583 -0.0409202 -0.02631511 -5.10370933] [ 0.04110786 0.99913272 0.00663011 2.26599773] [ 0.02602098 -0.00770401 0.99963171 1.92610195] [ 0. 0. 0. 1. ]] SLAMing on 33.984839173 meters Centerline goodness : 0.755564 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.26, Z:1.92 [[ 0.9988343 -0.0401976 -0.02672443 -5.10176507] [ 0.04044007 0.999145 0.00859491 2.26023732] [ 0.02635609 -0.00966563 0.99960589 1.92405212] [ 0. 0. 0. 1. ]] SLAMing on 34.014839173 meters Centerline goodness : 0.761741 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.26, Z:1.92 [[ 0.99908296 -0.04007061 -0.01508579 -5.09996683] [ 0.04015814 0.99917796 0.00554419 2.2605854 ] [ 0.01485123 -0.00614492 0.99987083 1.91982169] [ 0. 0. 0. 1. ]] SLAMing on 34.04483917299999 meters Centerline goodness : 0.760630 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.26, Z:1.92 [[ 9.99029047e-01 -4.15219449e-02 -1.47272368e-02 -5.10249454e+00] [ 4.15998803e-02 9.99121711e-01 5.02552587e-03 2.25772235e+00] [ 1.45056325e-02 -5.63329761e-03 9.99878919e-01 1.92179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074839172999994 meters Centerline goodness : 0.758929 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.25, Z:1.92 [[ 9.98857674e-01 -4.54139892e-02 -1.48632770e-02 -5.10080079e+00] [ 4.54567005e-02 9.98963060e-01 2.54833276e-03 2.25190244e+00] [ 1.47321347e-02 -3.22105727e-03 9.99886288e-01 1.91974192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters Centerline goodness : 0.757878 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.25, Z:1.92 [[ 9.98853367e-01 -4.53956432e-02 -1.52048185e-02 -5.09924780e+00] [ 4.54547804e-02 9.98960031e-01 3.56645987e-03 2.24899279e+00] [ 1.50271042e-02 -4.25350214e-03 9.99878039e-01 1.91795920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134839172999996 meters Centerline goodness : 0.756847 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.25, Z:1.91 [[ 9.98689008e-01 -4.87235787e-02 -1.56932394e-02 -5.09565943e+00] [ 4.87456777e-02 9.98810693e-01 1.02854039e-03 2.24836804e+00] [ 1.56244612e-02 -1.79216958e-03 9.99876325e-01 1.91439777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164839173 meters Centerline goodness : 0.755575 Centerline is valid? [False, False] Translation: X:-5.10, Y:2.25, Z:1.91 [[ 9.98679588e-01 -4.89097705e-02 -1.57135054e-02 -5.09570580e+00] [ 4.89336868e-02 9.98801378e-01 1.14092833e-03 2.24886500e+00] [ 1.56388683e-02 -1.90834158e-03 9.99875884e-01 1.91426727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194839173 meters Centerline goodness : 0.756142 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.91 [[ 9.98728779e-01 -5.03790669e-02 -1.66606641e-03 -5.09445391e+00] [ 5.03836803e-02 9.98725858e-01 2.85383745e-03 2.24443382e+00] [ 1.52016994e-03 -2.93415215e-03 9.99994540e-01 1.90597739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22483917299999 meters Centerline goodness : 0.754053 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.91 [[ 9.98719723e-01 -5.05590185e-02 -1.64319703e-03 -5.09439357e+00] [ 5.05648721e-02 9.98713773e-01 3.74080357e-03 2.24011157e+00] [ 1.45195215e-03 -3.81910235e-03 9.99991653e-01 1.90537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25483917299999 meters Centerline goodness : 0.756440 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.90 [[ 9.98718919e-01 -5.05780515e-02 -1.54310713e-03 -5.09426290e+00] [ 5.05843959e-02 9.98710122e-01 4.39453303e-03 2.23806844e+00] [ 1.31884979e-03 -4.46696042e-03 9.99989153e-01 1.90459968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284839172999995 meters Centerline goodness : 0.757295 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.90 [[ 0.99859682 -0.05269546 0.00525237 -5.08638563] [ 0.05262222 0.99852693 0.01322368 2.23969549] [-0.00594147 -0.01292874 0.99989877 1.90251499] [ 0. 0. 0. 1. ]] SLAMing on 34.314839172999996 meters Centerline goodness : 0.759281 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.90 [[ 0.99854917 -0.05359606 0.00519698 -5.08754626] [ 0.05352465 0.99848161 0.01302276 2.23817571] [-0.00588706 -0.0127257 0.99990169 1.90403572] [ 0. 0. 0. 1. ]] SLAMing on 34.344839173 meters Centerline goodness : 0.758056 Centerline is valid? [False, False] Translation: X:-5.09, Y:2.24, Z:1.90 [[ 9.98547709e-01 -5.36510793e-02 4.90240655e-03 -5.08710551e+00] [ 5.35816455e-02 9.98474363e-01 1.33399437e-02 2.23508523e+00] [-5.61062964e-03 -1.30578913e-02 9.99899001e-01 1.90440210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374839173 meters Centerline goodness : 0.759103 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.23, Z:1.90 [[ 9.98406440e-01 -5.62852103e-02 4.06897724e-03 -5.08330193e+00] [ 5.62376923e-02 9.98357069e-01 1.09765741e-02 2.22858311e+00] [-4.68011097e-03 -1.07302524e-02 9.99931477e-01 1.90274342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40483917299999 meters Centerline goodness : 0.756300 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.23, Z:1.90 [[ 9.98439941e-01 -5.57261819e-02 3.50380639e-03 -5.08146386e+00] [ 5.56811132e-02 9.98378160e-01 1.18601143e-02 2.22566818e+00] [-4.15904267e-03 -1.16465160e-02 9.99923528e-01 1.90189931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43483917299999 meters Centerline goodness : 0.755485 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.23, Z:1.90 [[ 9.98569004e-01 -5.34491548e-02 1.76997733e-03 -5.07587948e+00] [ 5.34207379e-02 9.98482084e-01 1.34072027e-02 2.22504670e+00] [-2.48389430e-03 -1.32934635e-02 9.99908553e-01 1.89991356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters Centerline goodness : 0.754601 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 9.98817081e-01 -4.86216595e-02 6.10896841e-04 -5.07311746e+00] [ 4.86025514e-02 9.98652873e-01 1.81722794e-02 2.22802818e+00] [-1.49364027e-03 -1.81210919e-02 9.99834684e-01 1.89857325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494839172999995 meters Centerline goodness : 0.750819 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 9.98823492e-01 -4.84936222e-02 2.46048396e-05 -5.07192840e+00] [ 4.84852973e-02 9.98661171e-01 1.80288905e-02 2.22970169e+00] [-8.98858103e-04 -1.80064864e-02 9.99837466e-01 1.89873284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524839173 meters Centerline goodness : 0.750896 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 9.98702562e-01 -5.09133655e-02 -1.01088351e-03 -5.06819090e+00] [ 5.09227528e-02 9.98593156e-01 1.47845223e-02 2.22851034e+00] [ 2.56731572e-04 -1.48168172e-02 9.99890192e-01 1.89824108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554839173 meters Centerline goodness : 0.748469 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.23, Z:1.90 [[ 9.98552172e-01 -5.37690918e-02 -1.56331536e-03 -5.06524255e+00] [ 5.37836556e-02 9.98485138e-01 1.16080947e-02 2.22649913e+00] [ 9.36790445e-04 -1.16753690e-02 9.99931402e-01 1.89691758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584839173 meters Centerline goodness : 0.747237 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.23, Z:1.89 [[ 9.98440705e-01 -5.57456384e-02 -2.92942059e-03 -5.05920362e+00] [ 5.57707720e-02 9.98399883e-01 9.34317537e-03 2.22581127e+00] [ 2.40389189e-03 -9.49198266e-03 9.99952061e-01 1.89337452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61483917299999 meters Centerline goodness : 0.748491 Centerline is valid? [False, False] Translation: X:-5.06, Y:2.23, Z:1.89 [[ 9.98477544e-01 -5.50346868e-02 -3.71165895e-03 -5.05684278e+00] [ 5.50677256e-02 9.98437619e-01 9.47978328e-03 2.22951909e+00] [ 3.18414302e-03 -9.66974334e-03 9.99948177e-01 1.89242137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644839172999994 meters Centerline goodness : 0.743111 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.23, Z:1.89 [[ 9.98717244e-01 -5.04027856e-02 -4.83994817e-03 -5.05340611e+00] [ 5.04617096e-02 9.98642153e-01 1.29408949e-02 2.23433267e+00] [ 4.18111910e-03 -1.31685270e-02 9.99904550e-01 1.89062081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674839172999995 meters Centerline goodness : 0.742965 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.24, Z:1.89 [[ 0.99876773 -0.04929967 -0.00570682 -5.05044351] [ 0.04936931 0.99869878 0.01278383 2.2359465 ] [ 0.00506916 -0.01304982 0.999902 1.88990906] [ 0. 0. 0. 1. ]] SLAMing on 34.704839172999996 meters Centerline goodness : 0.743949 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.24, Z:1.89 [[ 0.9988067 -0.04848197 -0.00588887 -5.04930759] [ 0.04854426 0.99876111 0.01094061 2.24211664] [ 0.00535115 -0.01121342 0.99992281 1.89103416] [ 0. 0. 0. 1. ]] SLAMing on 34.734839173 meters Centerline goodness : 0.743662 Centerline is valid? [False, False] Translation: X:-5.05, Y:2.25, Z:1.89 [[ 0.99882908 -0.04791913 -0.00665009 -5.04766566] [ 0.04798572 0.99879549 0.0102438 2.24779951] [ 0.0061512 -0.01055091 0.99992542 1.89160008] [ 0. 0. 0. 1. ]] SLAMing on 34.764839173 meters Centerline goodness : 0.741834 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.26, Z:1.89 [[ 0.9990847 -0.04208315 -0.00766661 -5.04447407] [ 0.04218062 0.99902505 0.01302891 2.25554149] [ 0.00711084 -0.01334037 0.99988573 1.89198068] [ 0. 0. 0. 1. ]] SLAMing on 34.79483917299999 meters Centerline goodness : 0.740060 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.26, Z:1.89 [[ 0.99924392 -0.03801682 -0.00814363 -5.04336628] [ 0.03814793 0.99913423 0.01659922 2.2581562 ] [ 0.00750553 -0.01689733 0.99982906 1.89142586] [ 0. 0. 0. 1. ]] SLAMing on 34.824839172999994 meters Centerline goodness : 0.738946 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.26, Z:1.89 [[ 0.99939165 -0.03367389 -0.00907783 -5.04063423] [ 0.03384688 0.99923424 0.0196295 2.26400011] [ 0.00840988 -0.01992482 0.99976611 1.89052129] [ 0. 0. 0. 1. ]] SLAMing on 34.854839172999995 meters Centerline goodness : 0.738332 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.27, Z:1.89 [[ 0.99940088 -0.0332152 -0.00972742 -5.0386843 ] [ 0.03339138 0.99927023 0.01854768 2.2688402 ] [ 0.00910426 -0.01886138 0.99978066 1.89067499] [ 0. 0. 0. 1. ]] SLAMing on 34.884839172999996 meters Centerline goodness : 0.733531 Centerline is valid? [False, False] Translation: X:-5.03, Y:2.27, Z:1.89 [[ 0.99938907 -0.03326829 -0.01070978 -5.03326172] [ 0.03345172 0.99928834 0.01742975 2.27365127] [ 0.0101223 -0.01777736 0.99979073 1.88685619] [ 0. 0. 0. 1. ]] SLAMing on 34.914839173 meters Centerline goodness : 0.732261 Centerline is valid? [False, False] Translation: X:-5.03, Y:2.28, Z:1.88 [[ 0.99930001 -0.03560971 -0.01146504 -5.02868495] [ 0.03577024 0.99926035 0.01411499 2.27669031] [ 0.01095392 -0.01451522 0.99983465 1.88399747] [ 0. 0. 0. 1. ]] SLAMing on 34.944839173 meters Centerline goodness : 0.733179 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.28, Z:1.88 [[ 0.99919351 -0.0383278 -0.01197141 -5.0237912 ] [ 0.03845819 0.99920121 0.01085901 2.28044249] [ 0.01154565 -0.01131065 0.99986938 1.87936047] [ 0. 0. 0. 1. ]] SLAMing on 34.97483917299999 meters Centerline goodness : 0.733960 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.28, Z:1.88 [[ 0.99920932 -0.03773401 -0.01252538 -5.02060103] [ 0.03788024 0.99921437 0.01165053 2.27964143] [ 0.01207592 -0.01211578 0.99985368 1.87648244] [ 0. 0. 0. 1. ]] SLAMing on 35.00483917299999 meters Centerline goodness : 0.731808 Centerline is valid? [False, False] Translation: X:-5.02, Y:2.28, Z:1.87 [[ 0.99918513 -0.03806173 -0.01343038 -5.01546228] [ 0.03821026 0.99920938 0.01098181 2.28405842] [ 0.01300177 -0.01148604 0.9998495 1.87218076] [ 0. 0. 0. 1. ]] SLAMing on 35.034839172999995 meters Centerline goodness : 0.731185 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.29, Z:1.87 [[ 0.9991726 -0.03826395 -0.01378319 -5.01427762] [ 0.03840577 0.99921041 0.01017567 2.28884094] [ 0.01338295 -0.0106966 0.99985323 1.87171355] [ 0. 0. 0. 1. ]] SLAMing on 35.064839172999996 meters Centerline goodness : 0.729532 Centerline is valid? [False, False] Translation: X:-5.01, Y:2.30, Z:1.87 [[ 0.99930308 -0.03684934 -0.00595575 -5.0073915 ] [ 0.03695864 0.99912805 0.01942174 2.29758992] [ 0.00523488 -0.01962832 0.99979364 1.87202666] [ 0. 0. 0. 1. ]] SLAMing on 35.094839173 meters Centerline goodness : 0.727685 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.30, Z:1.87 [[ 0.99930936 -0.03661416 -0.00634165 -5.00463024] [ 0.03672644 0.99915222 0.01860114 2.30136821] [ 0.00565521 -0.0188212 0.99980687 1.86995691] [ 0. 0. 0. 1. ]] SLAMing on 35.124839173 meters Centerline goodness : 0.725086 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.30, Z:1.87 [[ 0.99924969 -0.03819809 -0.0064009 -5.00143084] [ 0.03829686 0.99913684 0.01609145 2.30420435] [ 0.00578071 -0.01632451 0.99985004 1.86705257] [ 0. 0. 0. 1. ]] SLAMing on 35.15483917299999 meters Centerline goodness : 0.725570 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.31, Z:1.87 [[ 0.99922555 -0.03879263 -0.00659032 -4.99950666] [ 0.03888305 0.99914291 0.01419662 2.31305774] [ 0.00603394 -0.01444188 0.9998775 1.86530643] [ 0. 0. 0. 1. ]] SLAMing on 35.18483917299999 meters Centerline goodness : 0.723975 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.32, Z:1.87 [[ 0.99920641 -0.03924763 -0.00679442 -4.99942176] [ 0.03933038 0.999148 0.01250565 2.31935009] [ 0.00629781 -0.01276295 0.99989872 1.86639574] [ 0. 0. 0. 1. ]] SLAMing on 35.214839172999994 meters Centerline goodness : 0.725315 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.32, Z:1.87 [[ 9.99121825e-01 -4.18827843e-02 1.18817209e-03 -4.99309671e+00] [ 4.18541289e-02 9.98956624e-01 1.82727857e-02 2.32425666e+00] [-1.95224753e-03 -1.82070091e-02 9.99832333e-01 1.86717853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244839172999995 meters Centerline goodness : 0.725315 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.32, Z:1.87 [[ 9.99121825e-01 -4.18827843e-02 1.18817209e-03 -4.99309671e+00] [ 4.18541289e-02 9.98956624e-01 1.82727857e-02 2.32425666e+00] [-1.95224753e-03 -1.82070091e-02 9.99832333e-01 1.86717853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274839173 meters Centerline goodness : 0.724340 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.32, Z:1.87 [[ 9.99064415e-01 -4.32155506e-02 1.64643043e-03 -4.99578792e+00] [ 4.31804979e-02 9.98916135e-01 1.73781342e-02 2.32475029e+00] [-2.39565156e-03 -1.72907818e-02 9.99847633e-01 1.86909861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304839173 meters Centerline goodness : 0.728548 Centerline is valid? [False, False] Translation: X:-5.00, Y:2.33, Z:1.87 [[ 9.99053894e-01 -4.34665486e-02 1.40595721e-03 -4.99600656e+00] [ 4.34372402e-02 9.98917885e-01 1.66212557e-02 2.32590956e+00] [-2.12690442e-03 -1.65444593e-02 9.99860869e-01 1.87061439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33483917299999 meters Centerline goodness : 0.728071 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.33, Z:1.87 [[ 9.99098027e-01 -4.24605556e-02 4.82669223e-04 -4.99253520e+00] [ 4.24460933e-02 9.98952231e-01 1.71104819e-02 2.32602866e+00] [-1.20868406e-03 -1.70745613e-02 9.99853488e-01 1.86904933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters Centerline goodness : 0.727456 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.32, Z:1.86 [[ 9.99065573e-01 -4.32131478e-02 -7.77387321e-04 -4.98530837e+00] [ 4.32200038e-02 9.98945914e-01 1.54626144e-02 2.32437525e+00] [ 1.08379645e-04 -1.54817644e-02 9.99880144e-01 1.86468180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394839172999994 meters Centerline goodness : 0.729499 Centerline is valid? [False, False] Translation: X:-4.98, Y:2.32, Z:1.86 [[ 9.98944938e-01 -4.59034512e-02 -1.37230338e-03 -4.98193289e+00] [ 4.59166636e-02 9.98872843e-01 1.20292592e-02 2.32341768e+00] [ 8.18572062e-04 -1.20795792e-02 9.99926704e-01 1.86341024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424839172999995 meters Centerline goodness : 0.735061 Centerline is valid? [False, False] Translation: X:-4.98, Y:2.32, Z:1.87 [[ 9.98914779e-01 -4.65612898e-02 -1.14498794e-03 -4.98415024e+00] [ 4.65711377e-02 9.98853474e-01 1.10845475e-02 2.32183070e+00] [ 6.27564351e-04 -1.11258417e-02 9.99937909e-01 1.86673938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454839172999996 meters Centerline goodness : 0.733433 Centerline is valid? [False, False] Translation: X:-4.98, Y:2.32, Z:1.87 [[ 9.98911448e-01 -4.66159238e-02 -1.69562730e-03 -4.98392345e+00] [ 4.66307952e-02 9.98860510e-01 1.01612641e-02 2.32368682e+00] [ 1.22001843e-03 -1.02292715e-02 9.99946935e-01 1.86897046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484839173 meters Centerline goodness : 0.731701 Centerline is valid? [False, False] Translation: X:-4.98, Y:2.32, Z:1.87 [[ 9.98925243e-01 -4.62976468e-02 -2.21039454e-03 -4.98294224e+00] [ 4.63179162e-02 9.98874420e-01 1.02246616e-02 2.32328959e+00] [ 1.73452879e-03 -1.03160534e-02 9.99945284e-01 1.86964389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514839173 meters Centerline goodness : 0.730607 Centerline is valid? [False, False] Translation: X:-4.97, Y:2.32, Z:1.86 [[ 9.99051116e-01 -4.33493271e-02 -4.20745330e-03 -4.97458292e+00] [ 4.34017664e-02 9.98969230e-01 1.32952752e-02 2.31841828e+00] [ 3.62677515e-03 -1.34652704e-02 9.99902762e-01 1.86426496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54483917299999 meters Centerline goodness : 0.727963 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.32, Z:1.86 [[ 0.99923274 -0.03854168 -0.00696227 -4.95871767] [ 0.03863914 0.99914871 0.01445235 2.31849025] [ 0.00639932 -0.01471027 0.99987132 1.85631579] [ 0. 0. 0. 1. ]] SLAMing on 35.574839172999994 meters Centerline goodness : 0.726434 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.32, Z:1.85 [[ 0.9992576 -0.03774972 -0.00769485 -4.95586577] [ 0.03785918 0.99917622 0.01461379 2.32031429] [ 0.00713684 -0.01489426 0.9998636 1.85493234] [ 0. 0. 0. 1. ]] SLAMing on 35.604839172999995 meters Centerline goodness : 0.726078 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.32, Z:1.85 [[ 0.99913043 -0.04086735 -0.00826086 -4.95304918] [ 0.04095724 0.99910011 0.01102171 2.32072673] [ 0.007803 -0.01135046 0.99990514 1.85378388] [ 0. 0. 0. 1. ]] SLAMing on 35.634839172999996 meters Centerline goodness : 0.726447 Centerline is valid? [False, False] Translation: X:-4.95, Y:2.32, Z:1.85 [[ 0.99910705 -0.04146306 -0.00811896 -4.95401805] [ 0.0415509 0.99907619 0.01096743 2.31869044] [ 0.00765672 -0.01129498 0.99990689 1.85441765] [ 0. 0. 0. 1. ]] SLAMing on 35.664839173 meters Centerline goodness : 0.728947 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.32, Z:1.85 [[ 9.98869537e-01 -4.75217973e-02 -1.15154476e-03 -4.94499529e+00] [ 4.75342313e-02 9.98738030e-01 1.62124711e-02 2.31686070e+00] [ 3.79645782e-04 -1.62488813e-02 9.99867906e-01 1.85106125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694839173 meters Centerline goodness : 0.728087 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.32, Z:1.85 [[ 9.98693228e-01 -5.10792577e-02 -1.65692199e-03 -4.94334446e+00] [ 5.10957451e-02 9.98618875e-01 1.22297756e-02 2.31711592e+00] [ 1.02994572e-03 -1.22984557e-02 9.99923841e-01 1.85145934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72483917299999 meters Centerline goodness : 0.731819 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.31, Z:1.85 [[ 9.98523301e-01 -5.42864901e-02 -2.04805461e-03 -4.94116257e+00] [ 5.43028556e-02 9.98483690e-01 9.02885446e-03 2.31439998e+00] [ 1.55480431e-03 -9.12673677e-03 9.99957142e-01 1.85074385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75483917299999 meters Centerline goodness : 0.734311 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.31, Z:1.85 [[ 9.98572209e-01 -5.33612910e-02 -2.47311547e-03 -4.93922088e+00] [ 5.33845814e-02 9.98518058e-01 1.05723728e-02 2.30964668e+00] [ 1.90529499e-03 -1.06893039e-02 9.99941053e-01 1.84931564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784839172999995 meters Centerline goodness : 0.733623 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.31, Z:1.85 [[ 9.98824519e-01 -4.83231482e-02 -3.80176707e-03 -4.93672810e+00] [ 4.83752914e-02 9.98715265e-01 1.50880906e-02 2.31022654e+00] [ 3.06777877e-03 -1.52542664e-02 9.99878941e-01 1.84975364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814839172999996 meters Centerline goodness : 0.730974 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.31, Z:1.85 [[ 9.98852505e-01 -4.76566361e-02 -4.74537796e-03 -4.93478208e+00] [ 4.77228378e-02 9.98748256e-01 1.49817248e-02 2.31121802e+00] [ 4.02545936e-03 -1.51909962e-02 9.99876507e-01 1.85071163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844839173 meters Centerline goodness : 0.732008 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.31, Z:1.85 [[ 9.98801048e-01 -4.86699769e-02 -5.26305440e-03 -4.93461159e+00] [ 4.87403010e-02 9.98710822e-01 1.41801958e-02 2.30545591e+00] [ 4.56611958e-03 -1.44197173e-02 9.99885605e-01 1.85296357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874839173 meters Centerline goodness : 0.730332 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.30, Z:1.85 [[ 0.99863001 -0.05202434 -0.00561795 -4.93314658] [ 0.05208383 0.99858191 0.01102046 2.30180565] [ 0.00503665 -0.01129797 0.99992349 1.8530807 ] [ 0. 0. 0. 1. ]] SLAMing on 35.90483917299999 meters Centerline goodness : 0.729576 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.29, Z:1.85 [[ 9.97995897e-01 -6.29457847e-02 -6.48217248e-03 -4.93058210e+00] [ 6.29527234e-02 9.98016129e-01 8.71810765e-04 2.29322641e+00] [ 6.41443588e-03 -1.27813398e-03 9.99978610e-01 1.85476336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93483917299999 meters Centerline goodness : 0.728261 Centerline is valid? [False, False] Translation: X:-4.93, Y:2.28, Z:1.85 [[ 9.97580466e-01 -6.91153662e-02 -7.50201186e-03 -4.92537046e+00] [ 6.90935089e-02 9.97605262e-01 -3.13491569e-03 2.27954717e+00] [ 7.70071736e-03 2.60899033e-03 9.99966946e-01 1.85143296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964839172999994 meters Centerline goodness : 0.725134 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.27, Z:1.85 [[ 9.97670478e-01 -6.76730226e-02 -8.60115903e-03 -4.92111589e+00] [ 6.76710188e-02 9.97707552e-01 -5.24117929e-04 2.27192851e+00] [ 8.61690996e-03 -5.91522102e-05 9.99962872e-01 1.84840777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994839172999995 meters Centerline goodness : 0.723976 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.26, Z:1.85 [[ 9.97804151e-01 -6.54586530e-02 -1.01015228e-02 -4.91569962e+00] [ 6.54891627e-02 9.97849575e-01 2.71932920e-03 2.26024288e+00] [ 9.90179661e-03 -3.37489824e-03 9.99945281e-01 1.84586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024839173 meters Centerline goodness : 0.725385 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.26, Z:1.85 [[ 9.97854168e-01 -6.45825445e-02 -1.07774553e-02 -4.91468397e+00] [ 6.46272876e-02 9.97902022e-01 3.85587943e-03 2.25592434e+00] [ 1.05058219e-02 -4.54412307e-03 9.99934487e-01 1.84691767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054839173 meters Centerline goodness : 0.726865 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.25, Z:1.85 [[ 0.99797531 -0.06242036 -0.01220565 -4.91445044] [ 0.06249146 0.99803016 0.00553314 2.24869423] [ 0.01183622 -0.00628469 0.9999102 1.85262591] [ 0. 0. 0. 1. ]] SLAMing on 36.08483917299999 meters Centerline goodness : 0.723499 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.24, Z:1.85 [[ 0.99822036 -0.05777839 -0.01475691 -4.90709706] [ 0.05790225 0.99828933 0.0081081 2.23747555] [ 0.01426319 -0.00894813 0.99985824 1.85415051] [ 0. 0. 0. 1. ]] SLAMing on 36.11483917299999 meters Centerline goodness : 0.725415 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.23, Z:1.86 [[ 0.99828939 -0.05628681 -0.01581406 -4.9050803 ] [ 0.05643563 0.99836452 0.00912702 2.23239767] [ 0.01527446 -0.01000388 0.99983329 1.8557707 ] [ 0. 0. 0. 1. ]] SLAMing on 36.144839172999994 meters Centerline goodness : 0.730104 Centerline is valid? [False, False] Translation: X:-4.91, Y:2.22, Z:1.86 [[ 0.99837697 -0.05445538 -0.01667427 -4.90564808] [ 0.05463622 0.99845018 0.01058849 2.22490627] [ 0.01607182 -0.01148233 0.99980491 1.86084309] [ 0. 0. 0. 1. ]] SLAMing on 36.174839172999995 meters Centerline goodness : 0.732434 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.22, Z:1.87 [[ 0.99826298 -0.05574279 -0.01907239 -4.90319188] [ 0.05605311 0.9982973 0.0161418 2.21513343] [ 0.01814012 -0.01718283 0.99968779 1.86690004] [ 0. 0. 0. 1. ]] SLAMing on 36.204839172999996 meters Centerline goodness : 0.730673 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.21, Z:1.87 [[ 0.99820171 -0.05654394 -0.01990278 -4.90237344] [ 0.05691309 0.99820777 0.01849743 2.20957197] [ 0.01882119 -0.01959689 0.99963079 1.8696584 ] [ 0. 0. 0. 1. ]] SLAMing on 36.234839173 meters Centerline goodness : 0.730892 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.20, Z:1.87 [[ 0.99817537 -0.05707802 -0.0196986 -4.90267538] [ 0.05741458 0.99820627 0.01696464 2.20490398] [ 0.01869496 -0.01806467 0.99966203 1.8700873 ] [ 0. 0. 0. 1. ]] SLAMing on 36.264839173 meters Centerline goodness : 0.722471 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.20, Z:1.87 [[ 0.99827631 -0.05561243 -0.01875271 -4.90414431] [ 0.05589318 0.99832713 0.01479488 2.19821903] [ 0.01789856 -0.01581753 0.99971468 1.86983177] [ 0. 0. 0. 1. ]] SLAMing on 36.29483917299999 meters Centerline goodness : 0.717344 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.20, Z:1.87 [[ 0.99838141 -0.05378882 -0.01847493 -4.90439121] [ 0.05406423 0.99842857 0.01474583 2.19540466] [ 0.01765274 -0.0157208 0.99972058 1.86922181] [ 0. 0. 0. 1. ]] SLAMing on 36.324839172999994 meters Centerline goodness : 0.716540 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.19, Z:1.87 [[ 0.99853946 -0.05059888 -0.01893961 -4.90379602] [ 0.0509269 0.99855327 0.01725715 2.18666774] [ 0.01803902 -0.01819648 0.99967169 1.87156675] [ 0. 0. 0. 1. ]] SLAMing on 36.354839172999995 meters Centerline goodness : 0.705410 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.87 [[ 0.99855766 -0.05008281 -0.01934703 -4.90376406] [ 0.05042994 0.99856733 0.01789133 2.18277509] [ 0.01842326 -0.01884119 0.99965274 1.87319441] [ 0. 0. 0. 1. ]] SLAMing on 36.384839172999996 meters Centerline goodness : 0.698886 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.87 [[ 0.99858527 -0.04936918 -0.01975224 -4.90390449] [ 0.04974922 0.9985765 0.01923502 2.17821778] [ 0.01877451 -0.02019046 0.99961986 1.87478821] [ 0. 0. 0. 1. ]] SLAMing on 36.414839173 meters Centerline goodness : 0.715601 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.87 [[ 0.99861042 -0.04864772 -0.02026415 -4.90270078] [ 0.04905063 0.99859834 0.01988428 2.17733101] [ 0.01926842 -0.02085062 0.99959691 1.87482686] [ 0. 0. 0. 1. ]] SLAMing on 36.444839173 meters Centerline goodness : 0.705109 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.88 [[ 0.99863741 -0.04770166 -0.02116306 -4.90104097] [ 0.0481459 0.99861947 0.02100288 2.17542255] [ 0.02013197 -0.02199318 0.9995554 1.87540955] [ 0. 0. 0. 1. ]] SLAMing on 36.47483917299999 meters Centerline goodness : 0.683580 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.18, Z:1.88 [[ 0.998626 -0.04781221 -0.0214501 -4.90108375] [ 0.04826441 0.99861205 0.02108344 2.1751995 ] [ 0.02041229 -0.02208975 0.99954759 1.87627375] [ 0. 0. 0. 1. ]] SLAMing on 36.50483917299999 meters Centerline goodness : 0.704774 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.17, Z:1.88 [[ 0.99847514 -0.0505232 -0.02224417 -4.89796068] [ 0.05093542 0.99853295 0.0183719 2.17466702] [ 0.02128333 -0.0194769 0.99958375 1.87514912] [ 0. 0. 0. 1. ]] SLAMing on 36.534839172999995 meters Centerline goodness : 0.691443 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.17, Z:1.87 [[ 0.99807327 -0.05744907 -0.02343809 -4.89295649] [ 0.05775855 0.99824919 0.01274742 2.16956557] [ 0.02266472 -0.01407661 0.99964402 1.87247929] [ 0. 0. 0. 1. ]] SLAMing on 36.564839172999996 meters Centerline goodness : 0.668171 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.17, Z:1.87 [[ 0.99763771 -0.06428157 -0.02422575 -4.88844631] [ 0.06446731 0.99789551 0.00696492 2.16655145] [ 0.02372705 -0.00851024 0.99968225 1.86947345] [ 0. 0. 0. 1. ]] SLAMing on 36.594839173 meters Centerline goodness : 0.680762 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.16, Z:1.87 [[ 0.99763689 -0.06406637 -0.02482208 -4.88655084] [ 0.06428401 0.997899 0.00807111 2.16422248] [ 0.02425285 -0.0096477 0.9996593 1.86808812] [ 0. 0. 0. 1. ]] SLAMing on 36.624839173 meters Centerline goodness : 0.680116 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.16, Z:1.86 [[ 0.9974298 -0.06684827 -0.02578947 -4.88185576] [ 0.0670208 0.99773423 0.00588364 2.16328 ] [ 0.02533773 -0.00759695 0.99965008 1.86454483] [ 0. 0. 0. 1. ]] SLAMing on 36.65483917299999 meters Centerline goodness : 0.686959 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.16, Z:1.86 [[ 0.99742763 -0.06684431 -0.02588358 -4.88149033] [ 0.06702075 0.99773348 0.00600937 2.16266407] [ 0.02542322 -0.00772864 0.9996469 1.86441632] [ 0. 0. 0. 1. ]] SLAMing on 36.68483917299999 meters Centerline goodness : 0.700751 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.16, Z:1.87 [[ 9.97414815e-01 -6.69236048e-02 -2.61709531e-02 -4.88131648e+00] [ 6.70677271e-02 9.97737508e-01 4.66753696e-03 2.16410212e+00] [ 2.57993731e-02 -6.41069685e-03 9.99646585e-01 1.86612372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714839172999994 meters Centerline goodness : 0.708633 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.17, Z:1.87 [[ 0.99763232 -0.06345218 -0.02652514 -4.88144942] [ 0.0636808 0.99793933 0.00786427 2.16554141] [ 0.02597148 -0.00953479 0.99961721 1.8664923 ] [ 0. 0. 0. 1. ]] SLAMing on 36.744839172999995 meters Centerline goodness : 0.694473 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.17, Z:1.87 [[ 0.99779705 -0.06060027 -0.02699345 -4.88186491] [ 0.06088378 0.99809668 0.00980692 2.17150924] [ 0.02634777 -0.01142878 0.9995875 1.86775267] [ 0. 0. 0. 1. ]] SLAMing on 36.774839173 meters Centerline goodness : 0.715927 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.18, Z:1.87 [[ 0.99796544 -0.05750222 -0.02754033 -4.88230642] [ 0.05783549 0.99826034 0.01146109 2.17824834] [ 0.02683339 -0.01303058 0.99955499 1.86958859] [ 0. 0. 0. 1. ]] SLAMing on 36.804839173 meters Centerline goodness : 0.721953 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.18, Z:1.87 [[ 0.99794655 -0.05770315 -0.02780358 -4.88209663] [ 0.0580196 0.99825798 0.01071166 2.18056158] [ 0.02713705 -0.01230282 0.99955601 1.87031367] [ 0. 0. 0. 1. ]] SLAMing on 36.83483917299999 meters Centerline goodness : 0.728967 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.19, Z:1.87 [[ 0.99839594 -0.05507061 -0.01314456 -4.88548087] [ 0.05524447 0.99838492 0.01325152 2.18505039] [ 0.01239356 -0.01395643 0.99982579 1.86795981] [ 0. 0. 0. 1. ]] SLAMing on 36.86483917299999 meters Centerline goodness : 0.730471 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.19, Z:1.87 [[ 0.99855406 -0.05214968 -0.01304636 -4.88780267] [ 0.05235615 0.99849999 0.01601909 2.18621893] [ 0.0121914 -0.01667898 0.99978657 1.87034707] [ 0. 0. 0. 1. ]] SLAMing on 36.894839172999994 meters Centerline goodness : 0.733668 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.19, Z:1.87 [[ 0.99889852 -0.0450631 -0.01307893 -4.88996916] [ 0.0453406 0.9987346 0.0217586 2.19285091] [ 0.01208187 -0.02232764 0.9996777 1.8727489 ] [ 0. 0. 0. 1. ]] SLAMing on 36.924839172999995 meters Centerline goodness : 0.736622 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.20, Z:1.87 [[ 0.99889198 -0.04508894 -0.01348304 -4.88990587] [ 0.04535679 0.99876523 0.02026778 2.19942268] [ 0.01255254 -0.02085687 0.99970367 1.87446864] [ 0. 0. 0. 1. ]] SLAMing on 36.954839172999996 meters Centerline goodness : 0.743996 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.87 [[ 9.98925070e-01 -4.63440864e-02 -9.64934133e-04 -4.88773276e+00] [ 4.63538707e-02 9.98772737e-01 1.74453189e-02 2.20595166e+00] [ 1.55262537e-04 -1.74712949e-02 9.99847353e-01 1.87063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984839173 meters Centerline goodness : 0.722566 Centerline is valid? [False, False] Translation: X:-4.89, Y:2.21, Z:1.87 [[ 9.98763909e-01 -4.96896659e-02 -1.26171797e-03 -4.88622010e+00] [ 4.97016735e-02 9.98683935e-01 1.26546721e-02 2.20938630e+00] [ 6.31251035e-04 -1.27017393e-02 9.99919130e-01 1.87084803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014839173 meters Centerline goodness : 0.754673 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.21, Z:1.87 [[ 9.98774604e-01 -4.92911319e-02 -4.43561656e-03 -4.88021062e+00] [ 4.93651975e-02 9.98609149e-01 1.85160850e-02 2.21304314e+00] [ 3.51676849e-03 -1.87123606e-02 9.99818724e-01 1.87160247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04483917299999 meters Centerline goodness : 0.752646 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.22, Z:1.87 [[ 9.98759238e-01 -4.95733434e-02 -4.74005179e-03 -4.87959053e+00] [ 4.96484096e-02 9.98616802e-01 1.73065837e-02 2.21700254e+00] [ 3.87555015e-03 -1.75204463e-02 9.99838994e-01 1.87190595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074839172999994 meters Centerline goodness : 0.754891 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.22, Z:1.87 [[ 9.98759572e-01 -4.95127100e-02 -5.27333421e-03 -4.87636510e+00] [ 4.95926842e-02 9.98636461e-01 1.63028762e-02 2.22148875e+00] [ 4.45894423e-03 -1.65441725e-02 9.99853193e-01 1.86933934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104839172999995 meters Centerline goodness : 0.753444 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.22, Z:1.87 [[ 9.98760639e-01 -4.94656895e-02 -5.50747148e-03 -4.87481428e+00] [ 4.95471369e-02 9.98646941e-01 1.57913738e-02 2.22438940e+00] [ 4.71888836e-03 -1.60446820e-02 9.99860140e-01 1.86793134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134839172999996 meters Centerline goodness : 0.753444 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.22, Z:1.87 [[ 9.98760639e-01 -4.94656895e-02 -5.50747148e-03 -4.87481428e+00] [ 4.95471369e-02 9.98646941e-01 1.57913738e-02 2.22438940e+00] [ 4.71888836e-03 -1.60446820e-02 9.99860140e-01 1.86793134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164839173 meters Centerline goodness : 0.754320 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.23, Z:1.87 [[ 9.98713607e-01 -5.06122015e-02 3.08797373e-03 -4.86986861e+00] [ 5.05243908e-02 9.98437450e-01 2.38735081e-02 2.23197786e+00] [-4.29143942e-03 -2.36867794e-02 9.99710218e-01 1.86662059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194839173 meters Centerline goodness : 0.755334 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.24, Z:1.87 [[ 9.98668625e-01 -5.14950532e-02 3.03914568e-03 -4.87085340e+00] [ 5.14159395e-02 9.98434367e-01 2.20276218e-02 2.23683763e+00] [-4.16870105e-03 -2.18420343e-02 9.99752743e-01 1.86847924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22483917299999 meters Centerline goodness : 0.757040 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.25, Z:1.87 [[ 9.98516592e-01 -5.43171495e-02 3.77673047e-03 -4.87478038e+00] [ 5.42388208e-02 9.98357943e-01 1.84273620e-02 2.24569846e+00] [-4.77145064e-03 -1.81951813e-02 9.99823069e-01 1.87152263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25483917299999 meters Centerline goodness : 0.756693 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.25, Z:1.87 [[ 9.98265790e-01 -5.87610142e-02 3.54341967e-03 -4.87398754e+00] [ 5.87105920e-02 9.98190879e-01 1.29628492e-02 2.25260702e+00] [-4.29871937e-03 -1.27323327e-02 9.99909700e-01 1.87190611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284839172999995 meters Centerline goodness : 0.751008 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.26, Z:1.87 [[ 9.98072160e-01 -6.19278292e-02 4.11180243e-03 -4.87445571e+00] [ 6.18834486e-02 9.98031644e-01 1.01624675e-02 2.25975989e+00] [-4.73304850e-03 -9.88842340e-03 9.99939907e-01 1.86978410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314839172999996 meters Centerline goodness : 0.748931 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.26, Z:1.87 [[ 9.98070909e-01 -6.19723554e-02 3.72672046e-03 -4.87273050e+00] [ 6.19352350e-02 9.98036236e-01 9.36478533e-03 2.26349401e+00] [-4.29975987e-03 -9.11590449e-03 9.99949205e-01 1.86860452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344839173 meters Centerline goodness : 0.746917 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.27, Z:1.86 [[ 9.98251389e-01 -5.90149087e-02 3.37716338e-03 -4.86854738e+00] [ 5.89748725e-02 9.98199631e-01 1.09298110e-02 2.27379624e+00] [-4.01610504e-03 -1.07115313e-02 9.99934565e-01 1.86345512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374839173 meters Centerline goodness : 0.747413 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.28, Z:1.86 [[ 9.98382146e-01 -5.67661527e-02 3.27015287e-03 -4.86618296e+00] [ 5.67205508e-02 9.98309752e-01 1.26656510e-02 2.27942022e+00] [-3.98360578e-03 -1.24596750e-02 9.99914440e-01 1.86006370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40483917299999 meters Centerline goodness : 0.746199 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.29, Z:1.86 [[ 9.98572361e-01 -5.33346378e-02 2.94225292e-03 -4.86409230e+00] [ 5.32875928e-02 9.98477554e-01 1.42480402e-02 2.29038916e+00] [-3.69768757e-03 -1.40709136e-02 9.99894163e-01 1.85803950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43483917299999 meters Centerline goodness : 0.745642 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.30, Z:1.86 [[ 9.98591838e-01 -5.29953134e-02 2.41604402e-03 -4.86238896e+00] [ 5.29589998e-02 9.98509424e-01 1.32013055e-02 2.29504226e+00] [-3.11205005e-03 -1.30547647e-02 9.99909940e-01 1.85798068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464839172999994 meters Centerline goodness : 0.749267 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.31, Z:1.86 [[ 9.98623289e-01 -5.23205885e-02 3.75263039e-03 -4.86924576e+00] [ 5.22702459e-02 9.98555368e-01 1.24498252e-02 2.30657803e+00] [-4.39859140e-03 -1.22365345e-02 9.99915456e-01 1.86334638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494839172999995 meters Centerline goodness : 0.746702 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.31, Z:1.86 [[ 9.98523659e-01 -5.41571678e-02 4.18378166e-03 -4.87161625e+00] [ 5.41091079e-02 9.98476038e-01 1.08538051e-02 2.31152939e+00] [-4.76521708e-03 -1.06114005e-02 9.99932343e-01 1.86435260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524839173 meters Centerline goodness : 0.742702 Centerline is valid? [False, False] Translation: X:-4.87, Y:2.31, Z:1.86 [[ 9.98582495e-01 -5.31138328e-02 3.45260095e-03 -4.86816938e+00] [ 5.30717714e-02 9.98526687e-01 1.13067266e-02 2.31190066e+00] [-4.04805777e-03 -1.11074636e-02 9.99930116e-01 1.86229366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554839173 meters Centerline goodness : 0.739226 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.31, Z:1.86 [[ 9.98838582e-01 -4.81316113e-02 2.19909839e-03 -4.86024384e+00] [ 4.80934764e-02 9.98730779e-01 1.49615659e-02 2.31345024e+00] [-2.91643152e-03 -1.48384270e-02 9.99885651e-01 1.85637155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58483917299999 meters Centerline goodness : 0.736119 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.32, Z:1.85 [[ 9.98891268e-01 -4.70552362e-02 1.42812966e-03 -4.85660030e+00] [ 4.70271304e-02 9.98770534e-01 1.56802384e-02 2.31507681e+00] [-2.16421114e-03 -1.55956923e-02 9.99876038e-01 1.85378564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61483917299999 meters Centerline goodness : 0.728883 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.32, Z:1.85 [[ 0.99921315 -0.03911159 -0.00658485 -4.85292367] [ 0.03916479 0.99919949 0.00815472 2.31930568] [ 0.00626064 -0.0084062 0.99994507 1.85194695] [ 0. 0. 0. 1. ]] SLAMing on 37.644839172999994 meters Centerline goodness : 0.723418 Centerline is valid? [False, False] Translation: X:-4.85, Y:2.32, Z:1.84 [[ 9.99575624e-01 -2.88451378e-02 -4.06558325e-03 -4.84743353e+00] [ 2.88619840e-02 9.99574801e-01 4.14770650e-03 2.31828091e+00] [ 3.94421340e-03 -4.26328712e-03 9.99983134e-01 1.84072361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674839172999995 meters Centerline goodness : 0.723485 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.32, Z:1.84 [[ 9.99599508e-01 -2.78856683e-02 -4.81805829e-03 -4.84478084e+00] [ 2.79082079e-02 9.99599553e-01 4.67601905e-03 2.31782013e+00] [ 4.68573500e-03 -4.80860972e-03 9.99977460e-01 1.83981068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704839172999996 meters Centerline goodness : 0.725155 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.32, Z:1.84 [[ 9.99611523e-01 -2.73635709e-02 -5.29518708e-03 -4.84354180e+00] [ 2.73889157e-02 9.99613451e-01 4.77455752e-03 2.31825925e+00] [ 5.16249129e-03 -4.91773214e-03 9.99974582e-01 1.83998114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734839173 meters Centerline goodness : 0.724339 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.32, Z:1.84 [[ 0.99963012 -0.02654158 -0.00593083 -4.8417193 ] [ 0.02657427 0.99963169 0.00550307 2.31682522] [ 0.00578258 -0.00565864 0.99996727 1.83972666] [ 0. 0. 0. 1. ]] SLAMing on 37.764839173 meters Centerline goodness : 0.725616 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.32, Z:1.84 [[ 0.99964592 -0.02581728 -0.00644167 -4.84000918] [ 0.02585797 0.99964568 0.00631521 2.31507174] [ 0.00627634 -0.00647955 0.99995931 1.83903265] [ 0. 0. 0. 1. ]] SLAMing on 37.79483917299999 meters Centerline goodness : 0.729126 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.31, Z:1.84 [[ 9.99553294e-01 -2.90515922e-02 -7.01550811e-03 -4.83896135e+00] [ 2.90743714e-02 9.99572234e-01 3.16709853e-03 2.31063563e+00] [ 6.92049786e-03 -3.36965525e-03 9.99970376e-01 1.84029267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824839172999994 meters Centerline goodness : 0.731962 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.31, Z:1.84 [[ 9.99443945e-01 -3.25090451e-02 -7.41370904e-03 -4.83821532e+00] [ 3.25056640e-02 9.99471385e-01 -5.76129553e-04 2.30781736e+00] [ 7.42851946e-03 3.34821658e-04 9.99972352e-01 1.84169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854839172999995 meters Centerline goodness : 0.728966 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.30, Z:1.84 [[ 0.99921468 -0.03882412 -0.00791928 -4.83653959] [ 0.03876793 0.99922281 -0.00712959 2.29803642] [ 0.00818992 0.00681697 0.99994323 1.84344246] [ 0. 0. 0. 1. ]] SLAMing on 37.884839172999996 meters Centerline goodness : 0.725630 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.29, Z:1.84 [[ 0.99923738 -0.03813242 -0.00840162 -4.8342724 ] [ 0.03808677 0.99925915 -0.00552773 2.29127748] [ 0.00860618 0.00520352 0.99994943 1.84149725] [ 0. 0. 0. 1. ]] SLAMing on 37.914839173 meters Centerline goodness : 0.724605 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.29, Z:1.84 [[ 9.99286245e-01 -3.65597216e-02 -9.50722360e-03 -4.83034983e+00] [ 3.65236094e-02 9.99325005e-01 -3.94473271e-03 2.28876598e+00] [ 9.64502460e-03 3.59467901e-03 9.99947024e-01 1.83960215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944839173 meters Centerline goodness : 0.718822 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.28, Z:1.84 [[ 9.99471849e-01 -3.01910405e-02 -1.20218177e-02 -4.81981953e+00] [ 3.02011205e-02 9.99543626e-01 6.57769763e-04 2.28428596e+00] [ 1.19964725e-02 -1.02049473e-03 9.99927519e-01 1.83578337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97483917299999 meters Centerline goodness : 0.716625 Centerline is valid? [False, False] Translation: X:-4.82, Y:2.28, Z:1.84 [[ 0.99962312 -0.02424859 -0.01286912 -4.81719409] [ 0.0243288 0.99968532 0.00611326 2.27716298] [ 0.01271684 -0.00642404 0.9998985 1.83577771] [ 0. 0. 0. 1. ]] SLAMing on 38.00483917299999 meters Centerline goodness : 0.718623 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.28, Z:1.84 [[ 9.99561819e-01 -2.63186671e-02 -1.35461155e-02 -4.81425768e+00] [ 2.63553267e-02 9.99649424e-01 2.53488405e-03 2.27717251e+00] [ 1.34746518e-02 -2.89078562e-03 9.99905034e-01 1.83618280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034839172999995 meters Centerline goodness : 0.719305 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.27, Z:1.84 [[ 9.99564674e-01 -2.60902542e-02 -1.37753557e-02 -4.81414047e+00] [ 2.61347559e-02 9.99653744e-01 3.06042443e-03 2.27224128e+00] [ 1.36907387e-02 -3.41910771e-03 9.99900432e-01 1.83717119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064839172999996 meters Centerline goodness : 0.718314 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.27, Z:1.84 [[ 9.99474357e-01 -2.89217736e-02 -1.46471838e-02 -4.81149059e+00] [ 2.89172266e-02 9.99581673e-01 -5.22171869e-04 2.27051799e+00] [ 1.46561586e-02 9.83414608e-05 9.99892588e-01 1.83765229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094839173 meters Centerline goodness : 0.714166 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.27, Z:1.84 [[ 9.99389467e-01 -3.13839478e-02 -1.53538689e-02 -4.80954247e+00] [ 3.13377365e-02 9.99503597e-01 -3.24119532e-03 2.26545836e+00] [ 1.54479687e-02 2.75806097e-03 9.99876869e-01 1.83863037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124839173 meters Centerline goodness : 0.712645 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.26, Z:1.84 [[ 0.99930827 -0.03334771 -0.01645959 -4.8059706 ] [ 0.03325419 0.99942938 -0.00592272 2.26499669] [ 0.01664771 0.00537127 0.99984699 1.83848904] [ 0. 0. 0. 1. ]] SLAMing on 38.15483917299999 meters Centerline goodness : 0.712811 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.26, Z:1.84 [[ 0.99919334 -0.03657614 -0.01657901 -4.80900407] [ 0.0364511 0.99930513 -0.00778274 2.25575085] [ 0.01685215 0.00717214 0.99983227 1.84312464] [ 0. 0. 0. 1. ]] SLAMing on 38.18483917299999 meters Centerline goodness : 0.715631 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.25, Z:1.84 [[ 0.99908104 -0.03934708 -0.0169967 -4.80890281] [ 0.03918264 0.999183 -0.00990209 2.24802847] [ 0.01737243 0.00922701 0.99980651 1.84493428] [ 0. 0. 0. 1. ]] SLAMing on 38.214839172999994 meters Centerline goodness : 0.718337 Centerline is valid? [False, False] Translation: X:-4.81, Y:2.23, Z:1.85 [[ 0.99899095 -0.04112718 -0.01804527 -4.80649362] [ 0.04094719 0.9991089 -0.01023362 2.2348528 ] [ 0.01845007 0.00948439 0.9997848 1.84511909] [ 0. 0. 0. 1. ]] SLAMing on 38.244839172999995 meters Centerline goodness : 0.717596 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.23, Z:1.84 [[ 0.99903456 -0.03957331 -0.01907614 -4.80319005] [ 0.03942487 0.99918974 -0.00809598 2.2300112 ] [ 0.01938107 0.00733609 0.99978525 1.84356435] [ 0. 0. 0. 1. ]] SLAMing on 38.274839173 meters Centerline goodness : 0.709460 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.22, Z:1.84 [[ 9.99104651e-01 -3.67839848e-02 -2.09006015e-02 -4.79659459e+00] [ 3.67013396e-02 9.99316923e-01 -4.32425104e-03 2.22178216e+00] [ 2.10453879e-02 3.55329925e-03 9.99772207e-01 1.83948204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304839173 meters Centerline goodness : 0.705184 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.22, Z:1.84 [[ 0.99900476 -0.03895711 -0.02172181 -4.79261161] [ 0.03882788 0.9992258 -0.0063398 2.21632982] [ 0.02195198 0.00549007 0.99974395 1.83737221] [ 0. 0. 0. 1. ]] SLAMing on 38.33483917299999 meters Centerline goodness : 0.704157 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.21, Z:1.83 [[ 0.99888494 -0.04310089 -0.0192664 -4.79534258] [ 0.04276788 0.99893394 -0.01737518 2.20589385] [ 0.01999475 0.01653182 0.9996634 1.83483584] [ 0. 0. 0. 1. ]] SLAMing on 38.36483917299999 meters Centerline goodness : 0.704067 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.20, Z:1.84 [[ 0.99856642 -0.04869555 -0.02222252 -4.79146973] [ 0.04846514 0.99876657 -0.0107921 2.19700613] [ 0.02272064 0.00969961 0.9996948 1.84108128] [ 0. 0. 0. 1. ]] SLAMing on 38.394839172999994 meters Centerline goodness : 0.703038 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.19, Z:1.84 [[ 9.98458175e-01 -5.32081719e-02 -1.58165413e-02 -4.78202007e+00] [ 5.31664583e-02 9.98581016e-01 -3.04652483e-03 2.19086299e+00] [ 1.59561979e-02 2.20091814e-03 9.99870269e-01 1.83692094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424839172999995 meters Centerline goodness : 0.702592 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.18, Z:1.84 [[ 0.99806312 -0.06002073 -0.01635585 -4.78101303] [ 0.05990286 0.99817525 -0.00760436 2.18103963] [ 0.01678242 0.00660987 0.99983732 1.83759064] [ 0. 0. 0. 1. ]] SLAMing on 38.454839172999996 meters Centerline goodness : 0.699294 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.17, Z:1.84 [[ 9.98086953e-01 -5.93757658e-02 -1.72323383e-02 -4.77860201e+00] [ 5.92951657e-02 9.98227201e-01 -5.15155351e-03 2.17403401e+00] [ 1.75076663e-02 4.11990399e-03 9.99838241e-01 1.83587165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484839173 meters Centerline goodness : 0.698452 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.16, Z:1.83 [[ 9.98155065e-01 -5.80070954e-02 -1.79344256e-02 -4.77617725e+00] [ 5.79932129e-02 9.98316139e-01 -1.29362197e-03 2.16383463e+00] [ 1.79792657e-02 2.51160361e-04 9.99838328e-01 1.83319768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514839173 meters Centerline goodness : 0.703242 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.16, Z:1.83 [[ 9.98215641e-01 -5.66709609e-02 -1.88131897e-02 -4.77381067e+00] [ 5.66805197e-02 9.98392367e-01 -2.51673750e-05 2.16156139e+00] [ 1.87843712e-02 -1.04121890e-03 9.99823016e-01 1.83286362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters Centerline goodness : 0.711724 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.16, Z:1.83 [[ 9.98345245e-01 -5.39006634e-02 -2.00372006e-02 -4.77118502e+00] [ 5.39544062e-02 9.98541084e-01 2.15090168e-03 2.15576611e+00] [ 1.98920329e-02 -3.22843772e-03 9.99796921e-01 1.83394809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574839172999994 meters Centerline goodness : 0.714309 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.15, Z:1.83 [[ 9.98407831e-01 -5.23944439e-02 -2.08955826e-02 -4.76799437e+00] [ 5.24878395e-02 9.98613766e-01 3.94614655e-03 2.15007856e+00] [ 2.06598603e-02 -5.03662761e-03 9.99773876e-01 1.83255517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604839172999995 meters Centerline goodness : 0.717112 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.14, Z:1.83 [[ 9.98355308e-01 -5.28250780e-02 -2.22753244e-02 -4.76127913e+00] [ 5.28956854e-02 9.98596679e-01 2.59214418e-03 2.13956147e+00] [ 2.21071347e-02 -3.76614946e-03 9.99748514e-01 1.83057118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634839172999996 meters Centerline goodness : 0.718449 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.13, Z:1.83 [[ 0.99840289 -0.05155805 -0.02309638 -4.75780749] [ 0.05168189 0.99865208 0.00479729 2.1336617 ] [ 0.02281791 -0.00598329 0.99972173 1.82799022] [ 0. 0. 0. 1. ]] SLAMing on 38.664839173 meters Centerline goodness : 0.707852 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.13, Z:1.83 [[ 9.98310819e-01 -4.78562908e-02 -3.29436391e-02 -4.76004634e+00] [ 4.79311934e-02 9.98849533e-01 1.48724310e-03 2.12675884e+00] [ 3.28345646e-02 -3.06375881e-03 9.99456104e-01 1.82654252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694839173 meters Centerline goodness : 0.699340 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.12, Z:1.83 [[ 9.98277943e-01 -4.81718812e-02 -3.34756327e-02 -4.75802857e+00] [ 4.82689682e-02 9.98832171e-01 2.09769436e-03 2.12429751e+00] [ 3.33354890e-02 -3.70991627e-03 9.99437333e-01 1.82548830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72483917299999 meters Centerline goodness : 0.697214 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.12, Z:1.83 [[ 9.98216080e-01 -4.95899050e-02 -3.32490474e-02 -4.75804179e+00] [ 4.96149930e-02 9.98768415e-01 -7.05884627e-05 2.12132890e+00] [ 3.32115988e-02 -1.57918872e-03 9.99447095e-01 1.82521253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75483917299999 meters Centerline goodness : 0.689461 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.12, Z:1.82 [[ 9.98249315e-01 -4.85251032e-02 -3.38174490e-02 -4.75563196e+00] [ 4.86226792e-02 9.98815076e-01 2.06850583e-03 2.11623667e+00] [ 3.36770034e-02 -3.70917951e-03 9.99425886e-01 1.82331076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784839172999995 meters Centerline goodness : 0.688180 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.11, Z:1.82 [[ 9.98112332e-01 -5.08514758e-02 -3.44369037e-02 -4.75176345e+00] [ 5.09249411e-02 9.98701690e-01 1.25902465e-03 2.10960638e+00] [ 3.43281707e-02 -3.01034532e-03 9.99406081e-01 1.81984697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814839172999996 meters Centerline goodness : 0.685106 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.11, Z:1.82 [[ 9.98106051e-01 -5.07816362e-02 -3.47208298e-02 -4.75080371e+00] [ 5.08949740e-02 9.98701157e-01 2.38769258e-03 2.10721183e+00] [ 3.45544819e-02 -4.15028614e-03 9.99394198e-01 1.81886767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844839173 meters Centerline goodness : 0.681095 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.10, Z:1.81 [[ 0.9979635 -0.05657438 -0.02946501 -4.73823631] [ 0.0568491 0.998346 0.00857024 2.10358716] [ 0.02893142 -0.01022784 0.99952907 1.8131944 ] [ 0. 0. 0. 1. ]] SLAMing on 38.874839173 meters Centerline goodness : 0.643478 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.10, Z:1.84 [[ 9.97418697e-01 -5.65220539e-02 -4.42854367e-02 -4.71337405e+00] [ 5.64738219e-02 9.98401337e-01 -2.34046033e-03 2.10052426e+00] [ 4.43469268e-02 -1.66548967e-04 9.99016177e-01 1.83770608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90483917299999 meters Centerline goodness : 0.678802 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.09, Z:1.82 [[ 0.99705563 -0.06248188 -0.04445322 -4.71729389] [ 0.06392786 0.99744502 0.03188508 2.09100232] [ 0.0423474 -0.034633 0.99850251 1.81883877] [ 0. 0. 0. 1. ]] SLAMing on 38.93483917299999 meters Centerline goodness : 0.688270 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.09, Z:1.81 [[ 0.99671606 -0.07234144 -0.0363842 -4.70818036] [ 0.07353043 0.99676406 0.03247595 2.08854046] [ 0.03391711 -0.03504465 0.99881004 1.81490951] [ 0. 0. 0. 1. ]] SLAMing on 38.964839172999994 meters Centerline goodness : 0.695996 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.09, Z:1.81 [[ 0.99647565 -0.07561254 -0.03631831 -4.70700325] [ 0.07666732 0.99664693 0.02858362 2.091385 ] [ 0.03403525 -0.03126731 0.99893141 1.81431674] [ 0. 0. 0. 1. ]] SLAMing on 38.994839172999995 meters Centerline goodness : 0.708518 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.09, Z:1.82 [[ 0.99614864 -0.0785207 -0.03901788 -4.70408211] [ 0.07991112 0.99617133 0.03545273 2.09274673] [ 0.03608472 -0.03843415 0.99860939 1.82165673] [ 0. 0. 0. 1. ]] SLAMing on 39.024839173 meters Centerline goodness : 0.706541 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.09, Z:1.82 [[ 0.9958318 -0.08158214 -0.04078448 -4.69933985] [ 0.08310534 0.99584769 0.03716008 2.09254059] [ 0.03758353 -0.0403946 0.99847672 1.82216028] [ 0. 0. 0. 1. ]] SLAMing on 39.054839173 meters Centerline goodness : 0.706541 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.09, Z:1.82 [[ 0.9958318 -0.08158214 -0.04078448 -4.69933985] [ 0.08310534 0.99584769 0.03716008 2.09254059] [ 0.03758353 -0.0403946 0.99847672 1.82216028] [ 0. 0. 0. 1. ]] SLAMing on 39.08483917299999 meters Centerline goodness : 0.710386 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.09, Z:1.82 [[ 0.99502563 -0.09050673 -0.04162372 -4.69388372] [ 0.09186812 0.99525545 0.03204443 2.08722252] [ 0.038526 -0.03570892 0.99861936 1.82018478] [ 0. 0. 0. 1. ]] SLAMing on 39.11483917299999 meters Centerline goodness : 0.721628 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.08, Z:1.82 [[ 0.99446803 -0.09611231 -0.04237634 -4.69126071] [ 0.0974839 0.99473593 0.03158025 2.08100782] [ 0.03911802 -0.03553656 0.99860249 1.8221583 ] [ 0. 0. 0. 1. ]] SLAMing on 39.144839172999994 meters Centerline goodness : 0.723656 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.08, Z:1.82 [[ 0.99437648 -0.09674408 -0.04308127 -4.68950723] [ 0.09816985 0.99464519 0.03230536 2.08023924] [ 0.03972523 -0.03635297 0.99854913 1.82240604] [ 0. 0. 0. 1. ]] SLAMing on 39.174839172999995 meters Centerline goodness : 0.724066 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.08, Z:1.83 [[ 0.99481497 -0.09208265 -0.04317371 -4.69210424] [ 0.09368937 0.9949213 0.0367956 2.08070129] [ 0.03956621 -0.04064973 0.99838976 1.8255876 ] [ 0. 0. 0. 1. ]] SLAMing on 39.204839172999996 meters Centerline goodness : 0.727689 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.08, Z:1.83 [[ 0.99515582 -0.08813395 -0.04355793 -4.69411743] [ 0.08991546 0.99511391 0.04078632 2.08237679] [ 0.03975044 -0.04450528 0.998218 1.82839074] [ 0. 0. 0. 1. ]] SLAMing on 39.234839173 meters Centerline goodness : 0.730027 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.09, Z:1.83 [[ 0.99514226 -0.08776666 -0.04459693 -4.69219897] [ 0.08963497 0.99509813 0.04177663 2.08538451] [ 0.04071173 -0.04557114 0.99813117 1.82857547] [ 0. 0. 0. 1. ]] SLAMing on 39.264839173 meters Centerline goodness : 0.739880 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.09, Z:1.82 [[ 0.99493164 -0.09248116 -0.03947477 -4.67985863] [ 0.09429259 0.99444399 0.04679816 2.08787285] [ 0.0349275 -0.05028314 0.99812408 1.82004642] [ 0. 0. 0. 1. ]] SLAMing on 39.29483917299999 meters Centerline goodness : 0.742218 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.09, Z:1.82 [[ 0.99453143 -0.0964806 -0.0399841 -4.67792606] [ 0.09819774 0.9942171 0.04346914 2.08715442] [ 0.03555895 -0.04715778 0.99825433 1.82018434] [ 0. 0. 0. 1. ]] SLAMing on 39.324839172999994 meters Centerline goodness : 0.744215 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.09, Z:1.82 [[ 0.99472555 -0.09399853 -0.04105301 -4.67599182] [ 0.09592564 0.99423981 0.04780661 2.08547926] [ 0.03632278 -0.05149249 0.99801261 1.82011306] [ 0. 0. 0. 1. ]] SLAMing on 39.354839172999995 meters Centerline goodness : 0.745353 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.09, Z:1.82 [[ 0.9951523 -0.08951238 -0.04073616 -4.67859073] [ 0.09151413 0.99453469 0.05025837 2.0881057 ] [ 0.03601478 -0.05374267 0.99790514 1.82120433] [ 0. 0. 0. 1. ]] SLAMing on 39.384839172999996 meters Centerline goodness : 0.749111 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.09, Z:1.82 [[ 0.99511195 -0.08998812 -0.04067369 -4.67995989] [ 0.0919124 0.99459921 0.04821336 2.09456083] [ 0.03611539 -0.05171611 0.99800858 1.82306483] [ 0. 0. 0. 1. ]] SLAMing on 39.414839173 meters Centerline goodness : 0.754331 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.10, Z:1.83 [[ 0.99538347 -0.08668656 -0.0411969 -4.68219226] [ 0.08877556 0.99469772 0.05191662 2.09699533] [ 0.03647799 -0.05533423 0.99780132 1.8266758 ] [ 0. 0. 0. 1. ]] SLAMing on 39.444839173 meters Centerline goodness : 0.759496 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.11, Z:1.83 [[ 0.99522775 -0.09058965 -0.03626627 -4.66925646] [ 0.09229875 0.99454416 0.04860915 2.11242239] [ 0.03166492 -0.0517245 0.99815926 1.83219288] [ 0. 0. 0. 1. ]] SLAMing on 39.47483917299999 meters Centerline goodness : 0.755772 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.12, Z:1.83 [[ 0.99485421 -0.0948313 -0.03566685 -4.67007505] [ 0.09632793 0.99442533 0.04288576 2.11744121] [ 0.03140111 -0.04610079 0.99844313 1.83336022] [ 0. 0. 0. 1. ]] SLAMing on 39.50483917299999 meters Centerline goodness : 0.760353 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.12, Z:1.83 [[ 0.99499636 -0.09364797 -0.03481807 -4.6724246 ] [ 0.09509854 0.99455412 0.04264226 2.11783367] [ 0.0306351 -0.04574004 0.99848352 1.834177 ] [ 0. 0. 0. 1. ]] SLAMing on 39.534839172999995 meters Centerline goodness : 0.763711 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.13, Z:1.83 [[ 0.99514306 -0.09525008 -0.02485376 -4.67351294] [ 0.0960637 0.99479772 0.03390077 2.12591471] [ 0.02149541 -0.03612366 0.99911612 1.83440823] [ 0. 0. 0. 1. ]] SLAMing on 39.564839172999996 meters Centerline goodness : 0.765978 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.13, Z:1.83 [[ 0.9951538 -0.09508866 -0.0250412 -4.67342533] [ 0.09591304 0.99480608 0.03408163 2.12621869] [ 0.02167036 -0.03631824 0.99910529 1.83472296] [ 0. 0. 0. 1. ]] SLAMing on 39.594839173 meters Centerline goodness : 0.766812 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.13, Z:1.84 [[ 0.99510974 -0.09554602 -0.02505126 -4.67415267] [ 0.09636968 0.9947634 0.03403906 2.12557216] [ 0.02166778 -0.03628678 0.99910649 1.83607319] [ 0. 0. 0. 1. ]] SLAMing on 39.624839173 meters Centerline goodness : 0.768195 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.13, Z:1.84 [[ 0.99482381 -0.09813774 -0.0263548 -4.67550828] [ 0.09902786 0.99447213 0.0349093 2.12883723] [ 0.0227832 -0.03733846 0.99904292 1.84205355] [ 0. 0. 0. 1. ]] SLAMing on 39.65483917299999 meters Centerline goodness : 0.771095 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.13, Z:1.85 [[ 0.99486791 -0.09718641 -0.02815379 -4.67486985] [ 0.09824782 0.99439153 0.03915163 2.1310172 ] [ 0.02419088 -0.04171675 0.99883658 1.845754 ] [ 0. 0. 0. 1. ]] SLAMing on 39.68483917299999 meters Centerline goodness : 0.770791 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.14, Z:1.86 [[ 0.99495585 -0.09144122 -0.04124747 -4.67750857] [ 0.09313564 0.9947999 0.04121778 2.13584075] [ 0.03726397 -0.04485148 0.99829842 1.85591847] [ 0. 0. 0. 1. ]] SLAMing on 39.714839172999994 meters Centerline goodness : 0.769018 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.14, Z:1.86 [[ 0.99507971 -0.08917064 -0.04318517 -4.67386622] [ 0.09107333 0.9948584 0.04429917 2.13886375] [ 0.03901294 -0.04801422 0.99808448 1.85508114] [ 0. 0. 0. 1. ]] SLAMing on 39.744839172999995 meters Centerline goodness : 0.769954 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.14, Z:1.86 [[ 0.99509961 -0.0890318 -0.04301276 -4.67483452] [ 0.09088787 0.99491871 0.04331472 2.14109638] [ 0.03893782 -0.0470118 0.99813513 1.85552278] [ 0. 0. 0. 1. ]] SLAMing on 39.774839173 meters Centerline goodness : 0.769803 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.15, Z:1.86 [[ 0.99503562 -0.08963647 -0.04323688 -4.67428155] [ 0.09143614 0.9949411 0.04161298 2.14653889] [ 0.03928811 -0.04535981 0.99819784 1.85546783] [ 0. 0. 0. 1. ]] SLAMing on 39.804839173 meters Centerline goodness : 0.768332 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.15, Z:1.85 [[ 0.99502196 -0.08966368 -0.04349405 -4.67278288] [ 0.09146227 0.99495212 0.04129082 2.14825562] [ 0.03957221 -0.04506334 0.99820005 1.85408811] [ 0. 0. 0. 1. ]] SLAMing on 39.83483917299999 meters Centerline goodness : 0.768132 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.16, Z:1.85 [[ 0.99495395 -0.09025039 -0.04383506 -4.6693027 ] [ 0.09198763 0.99498135 0.03937491 2.15599531] [ 0.04006146 -0.0432085 0.99826254 1.85058053] [ 0. 0. 0. 1. ]] SLAMing on 39.86483917299999 meters Centerline goodness : 0.767636 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.16, Z:1.85 [[ 0.9949126 -0.09074624 -0.04374971 -4.66977444] [ 0.09239164 0.99502845 0.0371776 2.16336029] [ 0.04015848 -0.04103057 0.99835053 1.8512344 ] [ 0. 0. 0. 1. ]] SLAMing on 39.894839172999994 meters Centerline goodness : 0.762847 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.17, Z:1.85 [[ 0.99508405 -0.08854054 -0.04436559 -4.66724135] [ 0.09026038 0.99517813 0.03838694 2.1709316 ] [ 0.04075287 -0.04220269 0.99827759 1.84856394] [ 0. 0. 0. 1. ]] SLAMing on 39.924839172999995 meters Centerline goodness : 0.760623 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.17, Z:1.85 [[ 0.99508701 -0.08826998 -0.04483582 -4.66485863] [ 0.09000376 0.99520689 0.03824343 2.17249779] [ 0.04124517 -0.04209093 0.99826208 1.84669772] [ 0. 0. 0. 1. ]] SLAMing on 39.954839172999996 meters Centerline goodness : 0.757089 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.18, Z:1.84 [[ 0.99508756 -0.08821749 -0.04492687 -4.66232737] [ 0.08987792 0.995288 0.03638336 2.18041549] [ 0.04150553 -0.04024257 0.99832751 1.8440914 ] [ 0. 0. 0. 1. ]] SLAMing on 39.984839173 meters Centerline goodness : 0.758477 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.19, Z:1.84 [[ 0.99478289 -0.09177568 -0.04454471 -4.66176977] [ 0.09322759 0.99514045 0.03168762 2.18517019] [ 0.04142009 -0.0356751 0.99850471 1.84375146] [ 0. 0. 0. 1. ]] SLAMing on 40.014839173 meters Centerline goodness : 0.754921 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.19, Z:1.84 [[ 0.99472208 -0.09252882 -0.04434411 -4.66256577] [ 0.0939137 0.9951212 0.03023255 2.18924279] [ 0.04133038 -0.0342375 0.99855876 1.84426918] [ 0. 0. 0. 1. ]] SLAMing on 40.04483917299999 meters Centerline goodness : 0.754284 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.20, Z:1.85 [[ 0.9949592 -0.09005634 -0.044114 -4.66486089] [ 0.09148203 0.99531033 0.03143859 2.19773117] [ 0.04107588 -0.03531575 0.99853171 1.84527784] [ 0. 0. 0. 1. ]] SLAMing on 40.074839172999994 meters Centerline goodness : 0.751014 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.20, Z:1.84 [[ 0.99524993 -0.08651098 -0.04464785 -4.66408098] [ 0.08806156 0.99553415 0.03401348 2.20421207] [ 0.04150592 -0.03778368 0.99842358 1.84437276] [ 0. 0. 0. 1. ]] SLAMing on 40.104839172999995 meters Centerline goodness : 0.751771 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.21, Z:1.85 [[ 0.995252 -0.08648359 -0.04465475 -4.66444524] [ 0.08798148 0.99558387 0.03274173 2.20891762] [ 0.04162592 -0.03651507 0.99846579 1.84536552] [ 0. 0. 0. 1. ]] SLAMing on 40.134839172999996 meters Centerline goodness : 0.751631 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.21, Z:1.85 [[ 0.99557499 -0.08261605 -0.04477752 -4.66514495] [ 0.08421592 0.99582905 0.03510253 2.21345244] [ 0.04169072 -0.03871818 0.99838008 1.84620853] [ 0. 0. 0. 1. ]] SLAMing on 40.164839173 meters Centerline goodness : 0.750991 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.22, Z:1.84 [[ 0.99560565 -0.08211469 -0.0450174 -4.66341654] [ 0.08369292 0.9958987 0.03436977 2.2188057 ] [ 0.04201051 -0.03798637 0.99839479 1.84480342] [ 0. 0. 0. 1. ]] SLAMing on 40.194839173 meters Centerline goodness : 0.749560 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.23, Z:1.84 [[ 0.99559235 -0.08216617 -0.04521707 -4.66237671] [ 0.08370171 0.99593828 0.03318088 2.22554824] [ 0.04230706 -0.03681937 0.99842598 1.84386522] [ 0. 0. 0. 1. ]] SLAMing on 40.22483917299999 meters Centerline goodness : 0.747194 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.24, Z:1.84 [[ 0.9954376 -0.08451571 -0.04428407 -4.6641356 ] [ 0.08589367 0.99584668 0.03019372 2.23507295] [ 0.0415483 -0.03385969 0.9985626 1.84289798] [ 0. 0. 0. 1. ]] SLAMing on 40.25483917299999 meters Centerline goodness : 0.745783 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.24, Z:1.84 [[ 0.99469133 -0.09362346 -0.04270597 -4.66535541] [ 0.09453513 0.99532364 0.01984823 2.24034545] [ 0.040648 -0.02378007 0.99889051 1.84321105] [ 0. 0. 0. 1. ]] SLAMing on 40.284839172999995 meters Centerline goodness : 0.744302 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.25, Z:1.84 [[ 0.99461936 -0.09449028 -0.04247254 -4.66494676] [ 0.09530917 0.99529065 0.01768315 2.24843553] [ 0.04060164 -0.02163603 0.99894113 1.84208542] [ 0. 0. 0. 1. ]] SLAMing on 40.314839172999996 meters Centerline goodness : 0.743982 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.25, Z:1.84 [[ 0.99492408 -0.09122335 -0.04247804 -4.66543562] [ 0.09216499 0.99552732 0.02075977 2.25267692] [ 0.04039427 -0.02456938 0.9988817 1.84097629] [ 0. 0. 0. 1. ]] SLAMing on 40.344839173 meters Centerline goodness : 0.744800 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.26, Z:1.84 [[ 0.99521159 -0.08810074 -0.04233382 -4.66606424] [ 0.08916236 0.99573088 0.02387669 2.25710363] [ 0.04004953 -0.02753694 0.99881818 1.83946292] [ 0. 0. 0. 1. ]] SLAMing on 40.374839173 meters Centerline goodness : 0.742469 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.27, Z:1.84 [[ 0.99569661 -0.08284763 -0.04152745 -4.67135105] [ 0.08404007 0.99607341 0.0278393 2.27191061] [ 0.03905796 -0.03120946 0.99874944 1.84080135] [ 0. 0. 0. 1. ]] SLAMing on 40.40483917299999 meters Centerline goodness : 0.745439 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.28, Z:1.84 [[ 0.99563666 -0.0838281 -0.04099368 -4.67374573] [ 0.08490356 0.99606957 0.02523492 2.27863697] [ 0.03871717 -0.02860532 0.99884069 1.84324514] [ 0. 0. 0. 1. ]] SLAMing on 40.43483917299999 meters Centerline goodness : 0.746823 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.28, Z:1.85 [[ 0.99532832 -0.0878335 -0.04008498 -4.67501231] [ 0.08864045 0.99588597 0.01881514 2.28342112] [ 0.03826747 -0.02228039 0.99901911 1.8458924 ] [ 0. 0. 0. 1. ]] SLAMing on 40.464839172999994 meters Centerline goodness : 0.744897 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.29, Z:1.84 [[ 0.99527158 -0.08844244 -0.04015485 -4.67393831] [ 0.08918373 0.99586912 0.01705733 2.29107941] [ 0.03848038 -0.02055784 0.99904786 1.84462254] [ 0. 0. 0. 1. ]] SLAMing on 40.494839172999995 meters Centerline goodness : 0.743156 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.30, Z:1.84 [[ 0.99549763 -0.08587522 -0.04012381 -4.67305867] [ 0.08670574 0.99604436 0.01943561 2.29623615] [ 0.03829606 -0.02282707 0.99900567 1.84202494] [ 0. 0. 0. 1. ]] SLAMing on 40.524839173 meters Centerline goodness : 0.741390 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.30, Z:1.84 [[ 0.995735 -0.08319775 -0.03987405 -4.6722278 ] [ 0.08407467 0.99624147 0.02084183 2.30469743] [ 0.03799019 -0.02410534 0.99898733 1.83965328] [ 0. 0. 0. 1. ]] SLAMing on 40.554839173 meters Centerline goodness : 0.740424 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.31, Z:1.84 [[ 0.99575477 -0.08285793 -0.04008742 -4.67102227] [ 0.0837052 0.9962911 0.01993709 2.3073044 ] [ 0.0382868 -0.02320797 0.99899725 1.83966087] [ 0. 0. 0. 1. ]] SLAMing on 40.58483917299999 meters Centerline goodness : 0.741619 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.31, Z:1.84 [[ 0.99576516 -0.082777 -0.03999633 -4.6704738 ] [ 0.08357172 0.99632776 0.01862146 2.31198787] [ 0.03830802 -0.02188517 0.99902629 1.839501 ] [ 0. 0. 0. 1. ]] SLAMing on 40.61483917299999 meters Centerline goodness : 0.742525 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.32, Z:1.84 [[ 0.99570748 -0.08351213 -0.0399041 -4.67139647] [ 0.08424182 0.9963009 0.01696565 2.31722365] [ 0.03833966 -0.02025442 0.99905947 1.84068481] [ 0. 0. 0. 1. ]] SLAMing on 40.644839172999994 meters Centerline goodness : 0.741563 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.32, Z:1.84 [[ 0.99566483 -0.08401224 -0.03991864 -4.67217313] [ 0.08467688 0.99629162 0.01525863 2.3236197 ] [ 0.0384887 -0.01857267 0.99908642 1.84208671] [ 0. 0. 0. 1. ]] SLAMing on 40.674839172999995 meters Centerline goodness : 0.743345 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.33, Z:1.84 [[ 0.99624889 -0.0767392 -0.03999049 -4.67167833] [ 0.07764139 0.99674917 0.02151539 2.33108899] [ 0.03820942 -0.0245396 0.99896839 1.83971121] [ 0. 0. 0. 1. ]] SLAMing on 40.704839172999996 meters Centerline goodness : 0.742443 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.33, Z:1.84 [[ 0.99654757 -0.07254452 -0.04037618 -4.670584 ] [ 0.07358266 0.99697956 0.02484663 2.33437238] [ 0.03845174 -0.02773184 0.99887557 1.83871073] [ 0. 0. 0. 1. ]] SLAMing on 40.734839173 meters Centerline goodness : 0.743388 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.34, Z:1.84 [[ 0.99689633 -0.06745596 -0.04058814 -4.66840195] [ 0.06860862 0.9972588 0.0277083 2.34068186] [ 0.03860779 -0.030407 0.9987917 1.83708417] [ 0. 0. 0. 1. ]] SLAMing on 40.764839173 meters Centerline goodness : 0.746152 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.34, Z:1.84 [[ 0.99680341 -0.06935531 -0.03965852 -4.67306423] [ 0.0703962 0.99719363 0.02548015 2.34498004] [ 0.03778004 -0.02819051 0.99888836 1.84029529] [ 0. 0. 0. 1. ]] SLAMing on 40.79483917299999 meters Centerline goodness : 0.754445 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.35, Z:1.84 [[ 0.99677064 -0.07401148 -0.03115438 -4.67262554] [ 0.07499186 0.99668422 0.03157206 2.34753489] [ 0.02871438 -0.03380643 0.99901582 1.84370222] [ 0. 0. 0. 1. ]] SLAMing on 40.824839172999994 meters Centerline goodness : 0.756720 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.35, Z:1.85 [[ 0.99673596 -0.07451435 -0.03106522 -4.67397053] [ 0.07547077 0.99667089 0.03084324 2.34845024] [ 0.02866354 -0.03308708 0.99904136 1.84542466] [ 0. 0. 0. 1. ]] SLAMing on 40.854839172999995 meters Centerline goodness : 0.749058 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.35, Z:1.84 [[ 0.99689476 -0.07177313 -0.03239533 -4.66749857] [ 0.07281512 0.99682487 0.03222005 2.34760404] [ 0.02997994 -0.03447887 0.99895566 1.84252973] [ 0. 0. 0. 1. ]] SLAMing on 40.884839172999996 meters Centerline goodness : 0.751076 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.35, Z:1.84 [[ 0.9969806 -0.07012615 -0.03334674 -4.66297417] [ 0.07121723 0.99692333 0.03274097 2.34871582] [ 0.03094814 -0.03501698 0.99890741 1.84041587] [ 0. 0. 0. 1. ]] SLAMing on 40.914839173 meters Centerline goodness : 0.748403 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.35, Z:1.84 [[ 0.99712092 -0.06772975 -0.03409632 -4.65826072] [ 0.06886447 0.99707064 0.03328396 2.35075131] [ 0.03174213 -0.03553616 0.99886416 1.83835163] [ 0. 0. 0. 1. ]] SLAMing on 40.944839173 meters Centerline goodness : 0.748403 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.35, Z:1.84 [[ 0.99712092 -0.06772975 -0.03409632 -4.65826072] [ 0.06886447 0.99707064 0.03328396 2.35075131] [ 0.03174213 -0.03553616 0.99886416 1.83835163] [ 0. 0. 0. 1. ]] SLAMing on 40.97483917299999 meters Centerline goodness : 0.748565 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.35, Z:1.84 [[ 0.99689998 -0.07078912 -0.03434145 -4.65629723] [ 0.07179099 0.99700168 0.02887379 2.35216064] [ 0.03219454 -0.03124969 0.99899298 1.83905623] [ 0. 0. 0. 1. ]] SLAMing on 41.00483917299999 meters Centerline goodness : 0.750523 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.35, Z:1.84 [[ 0.99657184 -0.07547411 -0.03388548 -4.65828527] [ 0.07633446 0.9967724 0.02485614 2.34664793] [ 0.03190011 -0.02735756 0.99911658 1.8418644 ] [ 0. 0. 0. 1. ]] SLAMing on 41.034839172999995 meters Centerline goodness : 0.749560 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.34, Z:1.84 [[ 0.99636662 -0.07766531 -0.03495232 -4.65375743] [ 0.07846747 0.99666961 0.02219345 2.34220806] [ 0.03311226 -0.02485544 0.99914253 1.84146397] [ 0. 0. 0. 1. ]] SLAMing on 41.064839172999996 meters Centerline goodness : 0.748159 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.34, Z:1.84 [[ 0.99642707 -0.07650934 -0.03576877 -4.65048876] [ 0.07736074 0.99673655 0.02305574 2.34077287] [ 0.03388806 -0.02574046 0.9990941 1.84003359] [ 0. 0. 0. 1. ]] SLAMing on 41.094839173 meters Centerline goodness : 0.747414 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.34, Z:1.84 [[ 0.99648495 -0.07537823 -0.03654956 -4.64733665] [ 0.07627474 0.99680308 0.02378632 2.33937293] [ 0.03463975 -0.02649052 0.99904872 1.8388138 ] [ 0. 0. 0. 1. ]] SLAMing on 41.124839173 meters Centerline goodness : 0.747306 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99662156 -0.07322277 -0.0372006 -4.64360004] [ 0.07415371 0.99695092 0.02429198 2.3391663 ] [ 0.03530845 -0.02696847 0.99901252 1.83798731] [ 0. 0. 0. 1. ]] SLAMing on 41.15483917299999 meters Centerline goodness : 0.747891 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99662346 -0.07314277 -0.03730714 -4.64354038] [ 0.07407436 0.99695832 0.02422999 2.33890548] [ 0.03542141 -0.02691168 0.99901005 1.83843582] [ 0. 0. 0. 1. ]] SLAMing on 41.18483917299999 meters Centerline goodness : 0.749769 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99666107 -0.07235603 -0.03783275 -4.64224222] [ 0.07328112 0.99703054 0.02366393 2.34133385] [ 0.03600818 -0.02635734 0.99900385 1.83961684] [ 0. 0. 0. 1. ]] SLAMing on 41.214839172999994 meters Centerline goodness : 0.747977 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99666594 -0.07220694 -0.03798886 -4.64190673] [ 0.07313021 0.99704547 0.02350124 2.34156991] [ 0.03617967 -0.02620102 0.99900177 1.84000953] [ 0. 0. 0. 1. ]] SLAMing on 41.244839172999995 meters Centerline goodness : 0.749762 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99667959 -0.07182404 -0.03835492 -4.6404333 ] [ 0.0727642 0.99706743 0.0237046 2.34142016] [ 0.03653989 -0.02641675 0.99898298 1.83936644] [ 0. 0. 0. 1. ]] SLAMing on 41.274839173 meters Centerline goodness : 0.747671 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.34, Z:1.84 [[ 0.99665194 -0.07231913 -0.03814253 -4.64149986] [ 0.07324336 0.99703918 0.02341555 2.3411219 ] [ 0.03633621 -0.02613084 0.99899793 1.84003978] [ 0. 0. 0. 1. ]] SLAMing on 41.304839173 meters Centerline goodness : 0.754240 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.34, Z:1.84 [[ 0.99690289 -0.07512234 -0.02326498 -4.64512376] [ 0.07571566 0.99679646 0.02576729 2.33781725] [ 0.02125475 -0.02744901 0.99939721 1.83620673] [ 0. 0. 0. 1. ]] SLAMing on 41.33483917299999 meters Centerline goodness : 0.753823 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.34, Z:1.84 [[ 0.99658081 -0.079301 -0.02319575 -4.64554278] [ 0.07979472 0.99658598 0.02119422 2.33734374] [ 0.02143583 -0.02297265 0.99950626 1.83837546] [ 0. 0. 0. 1. ]] SLAMing on 41.36483917299999 meters Centerline goodness : 0.754467 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.33, Z:1.84 [[ 0.996587 -0.07921024 -0.02323971 -4.64565232] [ 0.07972109 0.99657561 0.02194562 2.33342299] [ 0.02142181 -0.02372341 0.99948902 1.83861138] [ 0. 0. 0. 1. ]] SLAMing on 41.394839172999994 meters Centerline goodness : 0.753432 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99630624 -0.08254822 -0.02365709 -4.64326602] [ 0.08299544 0.99637654 0.01858899 2.33227743] [ 0.02203688 -0.02048376 0.99954729 1.83799714] [ 0. 0. 0. 1. ]] SLAMing on 41.424839172999995 meters Centerline goodness : 0.752911 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99595297 -0.08684342 -0.02314974 -4.64379391] [ 0.08719956 0.99608026 0.0148446 2.33143271] [ 0.02176984 -0.01680317 0.99962179 1.83796322] [ 0. 0. 0. 1. ]] SLAMing on 41.454839172999996 meters Centerline goodness : 0.751584 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99590346 -0.08744123 -0.02302904 -4.64447509] [ 0.08780703 0.99601874 0.0153818 2.32836199] [ 0.02159236 -0.0173409 0.99961646 1.8377627 ] [ 0. 0. 0. 1. ]] SLAMing on 41.484839173 meters Centerline goodness : 0.750659 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99592151 -0.08715416 -0.0233343 -4.64308184] [ 0.08754487 0.99602754 0.01627976 2.32511747] [ 0.02182276 -0.01825617 0.99959516 1.83663342] [ 0. 0. 0. 1. ]] SLAMing on 41.514839173 meters Centerline goodness : 0.750827 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.33, Z:1.84 [[ 0.99600035 -0.0861694 -0.02362485 -4.64098462] [ 0.08656983 0.9961094 0.01648404 2.32653479] [ 0.02211252 -0.01846331 0.99958499 1.83537782] [ 0. 0. 0. 1. ]] SLAMing on 41.54483917299999 meters Centerline goodness : 0.751439 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.33, Z:1.84 [[ 0.99590356 -0.08750454 -0.02278278 -4.6454044 ] [ 0.08784115 0.99603304 0.01421697 2.32789739] [ 0.02144835 -0.01615999 0.99963935 1.84022372] [ 0. 0. 0. 1. ]] SLAMing on 41.574839172999994 meters Centerline goodness : 0.752410 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.33, Z:1.84 [[ 0.99585392 -0.08817766 -0.02235329 -4.64702571] [ 0.08850828 0.99597339 0.0142581 2.32593954] [ 0.02100603 -0.01617744 0.99964846 1.84071671] [ 0. 0. 0. 1. ]] SLAMing on 41.604839172999995 meters Centerline goodness : 0.749986 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.33, Z:1.84 [[ 0.99580551 -0.08869216 -0.02247418 -4.64676033] [ 0.08903401 0.99592019 0.0146944 2.3257499 ] [ 0.02107921 -0.01663373 0.99963943 1.83955671] [ 0. 0. 0. 1. ]] SLAMing on 41.634839172999996 meters Centerline goodness : 0.750313 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.33, Z:1.84 [[ 0.99580171 -0.08870646 -0.02258573 -4.64655736] [ 0.08905045 0.99591852 0.01470787 2.32628616] [ 0.02118886 -0.01665739 0.99963672 1.83944068] [ 0. 0. 0. 1. ]] SLAMing on 41.664839173 meters Centerline goodness : 0.749923 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.32, Z:1.84 [[ 0.99581906 -0.08849276 -0.02265899 -4.64598071] [ 0.08885758 0.99592166 0.01563236 2.32293155] [ 0.02118323 -0.01758043 0.99962103 1.8386336 ] [ 0. 0. 0. 1. ]] SLAMing on 41.694839173 meters Centerline goodness : 0.751893 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.32, Z:1.83 [[ 0.99591163 -0.08998886 -0.00787544 -4.64677259] [ 0.09011745 0.99577081 0.01787008 2.31761207] [ 0.00623402 -0.01850673 0.9998093 1.83211686] [ 0. 0. 0. 1. ]] SLAMing on 41.72483917299999 meters Centerline goodness : 0.754490 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.32, Z:1.83 [[ 0.99584429 -0.09077108 -0.00739956 -4.64920845] [ 0.09088553 0.9957168 0.01696703 2.31828508] [ 0.00582775 -0.01756903 0.99982867 1.83427622] [ 0. 0. 0. 1. ]] SLAMing on 41.75483917299999 meters Centerline goodness : 0.753925 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.32, Z:1.84 [[ 0.9961484 -0.08735516 -0.00757925 -4.65086335] [ 0.08749225 0.99596079 0.02017933 2.31883655] [ 0.00578587 -0.02076473 0.99976765 1.83623324] [ 0. 0. 0. 1. ]] SLAMing on 41.784839172999995 meters Centerline goodness : 0.751198 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.32, Z:1.83 [[ 0.99617907 -0.0869482 -0.0082013 -4.6447554 ] [ 0.08709722 0.99599879 0.0200121 2.31678178] [ 0.00642847 -0.02064995 0.9997661 1.83165179] [ 0. 0. 0. 1. ]] SLAMing on 41.814839172999996 meters Centerline goodness : 0.750996 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.32, Z:1.83 [[ 0.99616875 -0.08708555 -0.00799609 -4.64478503] [ 0.08723283 0.99597868 0.02041841 2.31534037] [ 0.00618579 -0.02103771 0.99975955 1.83075581] [ 0. 0. 0. 1. ]] SLAMing on 41.844839173 meters Centerline goodness : 0.754211 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.31, Z:1.83 [[ 0.9957603 -0.09168163 -0.00747742 -4.64702949] [ 0.0917897 0.99565488 0.01568448 2.31449346] [ 0.00600695 -0.01630434 0.99984903 1.83402913] [ 0. 0. 0. 1. ]] SLAMing on 41.874839173 meters Centerline goodness : 0.755007 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.31, Z:1.83 [[ 0.99573469 -0.09196144 -0.00745107 -4.64766033] [ 0.09206964 0.99562749 0.01578222 2.31264183] [ 0.00596714 -0.01640092 0.99984769 1.83485239] [ 0. 0. 0. 1. ]] SLAMing on 41.90483917299999 meters Centerline goodness : 0.753421 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.31, Z:1.83 [[ 0.99576715 -0.09157921 -0.00781284 -4.64635667] [ 0.09169729 0.99565185 0.01640119 2.31111668] [ 0.00627686 -0.01704819 0.99983497 1.83411754] [ 0. 0. 0. 1. ]] SLAMing on 41.93483917299999 meters Centerline goodness : 0.752648 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.31, Z:1.83 [[ 0.99615143 -0.08713672 -0.00946187 -4.63886949] [ 0.08731246 0.99597824 0.02009667 2.31309285] [ 0.00767266 -0.02084547 0.99975327 1.82883745] [ 0. 0. 0. 1. ]] SLAMing on 41.964839172999994 meters Centerline goodness : 0.750518 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.31, Z:1.83 [[ 0.99618042 -0.08678709 -0.00962135 -4.6379818 ] [ 0.08696675 0.9960071 0.02016523 2.3134138 ] [ 0.00783285 -0.02092495 0.99975037 1.8283464 ] [ 0. 0. 0. 1. ]] SLAMing on 41.994839172999995 meters Centerline goodness : 0.749938 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.31, Z:1.83 [[ 0.99590059 -0.09002102 -0.00884481 -4.64163925] [ 0.09016074 0.99578342 0.01692386 2.31234656] [ 0.00728402 -0.01765193 0.99981766 1.83186889] [ 0. 0. 0. 1. ]] SLAMing on 42.024839173 meters Centerline goodness : 0.751733 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.31, Z:1.84 [[ 0.99542986 -0.09515931 -0.0080063 -4.64509777] [ 0.09525066 0.99538185 0.01192835 2.31131291] [ 0.00683424 -0.01263644 0.9998968 1.83566988] [ 0. 0. 0. 1. ]] SLAMing on 42.054839173 meters Centerline goodness : 0.754592 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.31, Z:1.84 [[ 0.9953789 -0.09567713 -0.00816902 -4.64730077] [ 0.09576178 0.99534687 0.01069044 2.31145312] [ 0.00710818 -0.01142332 0.99990949 1.84028202] [ 0. 0. 0. 1. ]] SLAMing on 42.08483917299999 meters Centerline goodness : 0.750379 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.31, Z:1.84 [[ 0.99592842 -0.08961741 -0.00976248 -4.64167498] [ 0.0897674 0.99583108 0.01619492 2.31175461] [ 0.00827043 -0.01700533 0.99982119 1.83627331] [ 0. 0. 0. 1. ]] SLAMing on 42.11483917299999 meters Centerline goodness : 0.746391 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.32, Z:1.83 [[ 0.99723159 -0.07220089 -0.01778179 -4.6286484 ] [ 0.07249463 0.99723283 0.01646824 2.31618605] [ 0.01654357 -0.01771173 0.99970626 1.82524598] [ 0. 0. 0. 1. ]] SLAMing on 42.144839172999994 meters Centerline goodness : 0.743913 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.82 [[ 0.99760557 -0.06662583 -0.01855077 -4.62483813] [ 0.06700919 0.997534 0.02087302 2.31687941] [ 0.01711435 -0.02206612 0.99961002 1.82256791] [ 0. 0. 0. 1. ]] SLAMing on 42.174839172999995 meters Centerline goodness : 0.747659 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.32, Z:1.83 [[ 0.99789 -0.06250754 -0.01756022 -4.6283982 ] [ 0.06288073 0.99778792 0.02157044 2.32075007] [ 0.01617306 -0.02262913 0.9996131 1.82837361] [ 0. 0. 0. 1. ]] SLAMing on 42.204839172999996 meters Centerline goodness : 0.750846 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.83 [[ 0.99783428 -0.0635109 -0.01712034 -4.63175872] [ 0.06382971 0.99778434 0.01876651 2.32592021] [ 0.01589053 -0.01981866 0.9996773 1.83344318] [ 0. 0. 0. 1. ]] SLAMing on 42.234839173 meters Centerline goodness : 0.755165 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.84 [[ 0.99775653 -0.06473986 -0.01704895 -4.63420951] [ 0.06502522 0.99774301 0.01675125 2.33345202] [ 0.015926 -0.01782228 0.99971432 1.83625594] [ 0. 0. 0. 1. ]] SLAMing on 42.26483917299999 meters Centerline goodness : 0.753921 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.83 [[ 0.99774869 -0.0648429 -0.01711589 -4.6331408 ] [ 0.06513154 0.99773387 0.01688223 2.33483176] [ 0.01598241 -0.01795901 0.99971098 1.83450112] [ 0. 0. 0. 1. ]] SLAMing on 42.29483917299999 meters Centerline goodness : 0.751479 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.33, Z:1.83 [[ 0.9977674 -0.06447651 -0.01740651 -4.63062336] [ 0.06478289 0.99774326 0.01765138 2.33448203] [ 0.01622913 -0.01873962 0.99969267 1.83149547] [ 0. 0. 0. 1. ]] SLAMing on 42.324839172999994 meters Centerline goodness : 0.746006 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.34, Z:1.83 [[ 0.99778484 -0.06426572 -0.01718545 -4.62688523] [ 0.06455975 0.99776664 0.01713962 2.3377048 ] [ 0.01604558 -0.01821114 0.9997054 1.82667373] [ 0. 0. 0. 1. ]] SLAMing on 42.354839172999995 meters Centerline goodness : 0.748257 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.35, Z:1.83 [[ 0.99770554 -0.06578151 -0.01601403 -4.63115233] [ 0.06599428 0.99773347 0.01314109 2.34582834] [ 0.01511329 -0.01416777 0.99978541 1.831637 ] [ 0. 0. 0. 1. ]] SLAMing on 42.384839172999996 meters Centerline goodness : 0.747185 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.35, Z:1.83 [[ 0.99762869 -0.06712526 -0.01520534 -4.63435777] [ 0.06731467 0.99765588 0.01230734 2.3462966 ] [ 0.01434357 -0.0133017 0.99980865 1.83300356] [ 0. 0. 0. 1. ]] SLAMing on 42.414839173 meters Centerline goodness : 0.751709 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.35, Z:1.83 [[ 0.99740071 -0.07163127 -0.00779677 -4.62979731] [ 0.07177816 0.99720883 0.02055362 2.34510352] [ 0.00630273 -0.02105983 0.99975835 1.83125393] [ 0. 0. 0. 1. ]] SLAMing on 42.444839173 meters Centerline goodness : 0.752578 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.34, Z:1.83 [[ 0.99734176 -0.07246557 -0.00762563 -4.63139251] [ 0.07260982 0.99714481 0.02073756 2.34319002] [ 0.00610109 -0.02123613 0.99975587 1.83212321] [ 0. 0. 0. 1. ]] SLAMing on 42.47483917299999 meters Centerline goodness : 0.749871 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.34, Z:1.83 [[ 0.9973668 -0.07205216 -0.00824297 -4.62938322] [ 0.07221418 0.99715911 0.02142012 2.34151749] [ 0.00667619 -0.02195897 0.99973658 1.83125094] [ 0. 0. 0. 1. ]] SLAMing on 42.50483917299999 meters Centerline goodness : 0.745742 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.34, Z:1.83 [[ 0.99740744 -0.0714464 -0.00859179 -4.62742576] [ 0.07161925 0.99719266 0.02185142 2.34072089] [ 0.00700647 -0.0224101 0.99972431 1.82992103] [ 0. 0. 0. 1. ]] SLAMing on 42.534839172999995 meters Centerline goodness : 0.741711 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.82 [[ 0.99750622 -0.06997873 -0.00918259 -4.61922365] [ 0.07016061 0.99730916 0.02125881 2.33855024] [ 0.00767022 -0.02185005 0.99973184 1.82451306] [ 0. 0. 0. 1. ]] SLAMing on 42.564839172999996 meters Centerline goodness : 0.740101 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.82 [[ 0.99757081 -0.06897204 -0.00976381 -4.61576542] [ 0.06917228 0.99736386 0.02192103 2.33756187] [ 0.00822614 -0.02254316 0.99971203 1.8220225 ] [ 0. 0. 0. 1. ]] SLAMing on 42.594839173 meters Centerline goodness : 0.738607 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.34, Z:1.82 [[ 0.99761424 -0.06825629 -0.01034001 -4.61346104] [ 0.06846819 0.99741612 0.02175272 2.3392831 ] [ 0.00882853 -0.02240879 0.99970991 1.82128474] [ 0. 0. 0. 1. ]] SLAMing on 42.624839173 meters Centerline goodness : 0.740995 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.82 [[ 0.99753041 -0.06955806 -0.00973417 -4.616399 ] [ 0.06974569 0.99735444 0.02048564 2.34284309] [ 0.00828348 -0.02111396 0.99974276 1.82300894] [ 0. 0. 0. 1. ]] SLAMing on 42.65483917299999 meters Centerline goodness : 0.744923 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.83 [[ 9.96915448e-01 -7.84727821e-02 -1.26952733e-03 -4.61503251e+00] [ 7.84809439e-02 9.96639735e-01 2.34516664e-02 2.34199314e+00] [-5.75056126e-04 -2.34789623e-02 9.99724166e-01 1.82559299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68483917299999 meters Centerline goodness : 0.745924 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.83 [[ 9.96501198e-01 -8.35776247e-02 -3.78581544e-04 -4.61839929e+00] [ 8.35700166e-02 9.96325573e-01 1.87457931e-02 2.34061147e+00] [-1.18953839e-03 -1.87118434e-02 9.99824211e-01 1.82871482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714839172999994 meters Centerline goodness : 0.745049 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.83 [[ 9.96111502e-01 -8.81012349e-02 2.19767119e-04 -4.61994742e+00] [ 8.80885130e-02 9.96004309e-01 1.46911818e-02 2.33850033e+00] [-1.51320026e-03 -1.46146962e-02 9.99892055e-01 1.83021635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744839172999995 meters Centerline goodness : 0.743801 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.83 [[ 9.95800157e-01 -9.15535024e-02 6.47885083e-05 -4.61766816e+00] [ 9.15454432e-02 9.95721404e-01 1.25824579e-02 2.33338264e+00] [-1.21647939e-03 -1.25236824e-02 9.99920836e-01 1.82782738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774839173 meters Centerline goodness : 0.736784 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.83 [[ 9.95580909e-01 -9.39058160e-02 -5.93478375e-04 -4.61316922e+00] [ 9.39070550e-02 9.95531016e-01 9.97305537e-03 2.33129114e+00] [-3.45701773e-04 -9.98471533e-03 9.99950092e-01 1.82519670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804839173 meters Centerline goodness : 0.736172 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.82 [[ 9.95413571e-01 -9.56551824e-02 -1.38146458e-03 -4.60717203e+00] [ 9.56630586e-02 9.95383599e-01 7.75045542e-03 2.32473072e+00] [ 6.33715961e-04 -7.84706364e-03 9.99969011e-01 1.82223036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83483917299999 meters Centerline goodness : 0.737823 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.82 [[ 9.95418126e-01 -9.56086510e-02 -1.31943780e-03 -4.60760925e+00] [ 9.56157401e-02 9.95391958e-01 7.24432128e-03 2.32493364e+00] [ 6.20737986e-04 -7.33728773e-03 9.99972889e-01 1.82336407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86483917299999 meters Centerline goodness : 0.737823 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.82 [[ 9.95418126e-01 -9.56086510e-02 -1.31943780e-03 -4.60760925e+00] [ 9.56157401e-02 9.95391958e-01 7.24432128e-03 2.32493364e+00] [ 6.20737986e-04 -7.33728773e-03 9.99972889e-01 1.82336407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894839172999994 meters Centerline goodness : 0.738469 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.82 [[ 9.95735141e-01 -9.22507956e-02 -1.14906686e-03 -4.60947682e+00] [ 9.22577890e-02 9.95679535e-01 1.05244353e-02 2.32642459e+00] [ 1.73214819e-04 -1.05855605e-02 9.99943956e-01 1.82412836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924839172999995 meters Centerline goodness : 0.738425 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.82 [[ 9.95837610e-01 -9.11257879e-02 -1.88315615e-03 -4.60684476e+00] [ 9.11406443e-02 9.95782359e-01 1.05298353e-02 2.32778857e+00] [ 9.15674142e-04 -1.06576380e-02 9.99942787e-01 1.82361682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954839172999996 meters Centerline goodness : 0.739539 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.33, Z:1.82 [[ 9.96374686e-01 -8.50271275e-02 -2.80583363e-03 -4.60386446e+00] [ 8.50596243e-02 9.96264980e-01 1.48643562e-02 2.32922777e+00] [ 1.53148028e-03 -1.50491314e-02 9.99885583e-01 1.82299446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984839173 meters Centerline goodness : 0.744962 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.34, Z:1.83 [[ 9.96958478e-01 -7.78776593e-02 -2.97716604e-03 -4.60716763e+00] [ 7.79229224e-02 9.96741930e-01 2.08216843e-02 2.33533460e+00] [ 1.34592219e-03 -2.09903442e-02 9.99778773e-01 1.82665713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01483917299999 meters Centerline goodness : 0.744769 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.34, Z:1.83 [[ 9.97151336e-01 -7.53820087e-02 -2.60126890e-03 -4.61105445e+00] [ 7.54225810e-02 9.96869496e-01 2.37200733e-02 2.33656287e+00] [ 8.05058842e-04 -2.38486972e-02 9.99715255e-01 1.82939614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters Centerline goodness : 0.746289 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.34, Z:1.84 [[ 9.96849958e-01 -7.93069582e-02 -7.54007287e-04 -4.61859248e+00] [ 7.93076480e-02 9.96687305e-01 1.80197767e-02 2.33651073e+00] [-6.77584191e-04 -1.80228122e-02 9.99837346e-01 1.83863405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074839172999994 meters Centerline goodness : 0.749448 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.84 [[ 9.96509403e-01 -8.34799837e-02 -3.20768353e-04 -4.61962985e+00] [ 8.34765693e-02 9.96416174e-01 1.36554342e-02 2.33347482e+00] [-8.20336649e-04 -1.36345452e-02 9.99906709e-01 1.84086237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104839172999995 meters Centerline goodness : 0.748608 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.84 [[ 9.96160382e-01 -8.75470865e-02 2.83789184e-06 -4.62002011e+00] [ 8.75428928e-02 9.96112981e-01 9.75560089e-03 2.33085120e+00] [-8.56901296e-04 -9.71789468e-03 9.99952413e-01 1.84193955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134839172999996 meters Centerline goodness : 0.743256 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.84 [[ 9.95503883e-01 -9.47199963e-02 -3.74941766e-04 -4.61658474e+00] [ 9.47207344e-02 9.95497189e-01 3.65100606e-03 2.32455756e+00] [ 2.74301933e-05 -3.67010547e-03 9.99993265e-01 1.84032395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164839173 meters Centerline goodness : 0.740729 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.84 [[ 9.95173620e-01 -9.81279898e-02 -6.03451820e-04 -4.61460515e+00] [ 9.81286019e-02 9.95173150e-01 1.08585230e-03 2.32063452e+00] [ 4.93986545e-04 -1.13982744e-03 9.99999228e-01 1.83914326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194839173 meters Centerline goodness : 0.740635 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.84 [[ 9.94906298e-01 -1.00795697e-01 -1.29815067e-03 -4.61065363e+00] [ 1.00796526e-01 9.94906886e-01 5.89894854e-04 2.31306890e+00] [ 1.23208018e-03 -7.17739183e-04 9.99998983e-01 1.83517075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters Centerline goodness : 0.739146 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.83 [[ 9.94986123e-01 -9.99971474e-02 -1.78456791e-03 -4.60831532e+00] [ 1.00001112e-01 9.94984687e-01 2.29115290e-03 2.30994582e+00] [ 1.54650899e-03 -2.45812412e-03 9.99995783e-01 1.83274862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25483917299999 meters Centerline goodness : 0.737409 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.83 [[ 9.95221873e-01 -9.75930722e-02 -3.00254264e-03 -4.60312607e+00] [ 9.76070736e-02 9.95212788e-01 4.93621364e-03 2.30268700e+00] [ 2.50642858e-03 -5.20569719e-03 9.99983309e-01 1.82990758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284839172999995 meters Centerline goodness : 0.739225 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.83 [[ 9.95299915e-01 -9.67811500e-02 -3.38947591e-03 -4.60247041e+00] [ 9.67972570e-02 9.95291746e-01 4.96298740e-03 2.30104328e+00] [ 2.89319377e-03 -5.26775290e-03 9.99981940e-01 1.83136600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314839172999996 meters Centerline goodness : 0.739677 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.84 [[ 9.95630035e-01 -9.33193006e-02 -3.51296972e-03 -4.60486785e+00] [ 9.33452943e-02 9.95600405e-01 8.15412149e-03 2.29783878e+00] [ 2.73657716e-03 -8.44640746e-03 9.99960584e-01 1.83509045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344839173 meters Centerline goodness : 0.740096 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.84 [[ 9.95690621e-01 -9.26532531e-02 -3.94483801e-03 -4.60365833e+00] [ 9.26834589e-02 9.95660832e-01 8.32370612e-03 2.29830552e+00] [ 3.15650224e-03 -8.65345735e-03 9.99957576e-01 1.83507850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374839173 meters Centerline goodness : 0.736440 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.30, Z:1.83 [[ 9.95901268e-01 -9.02953719e-02 -5.23540472e-03 -4.59784522e+00] [ 9.03465864e-02 9.95854519e-01 1.05485318e-02 2.29539503e+00] [ 4.26121784e-03 -1.09782971e-02 9.99930657e-01 1.83108765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40483917299999 meters Centerline goodness : 0.736172 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.29, Z:1.83 [[ 0.99598166 -0.08937411 -0.00572697 -4.59514135] [ 0.08943776 0.99591966 0.01203784 2.29124255] [ 0.00462773 -0.01250167 0.99991114 1.82879792] [ 0. 0. 0. 1. ]] SLAMing on 43.43483917299999 meters Centerline goodness : 0.737022 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.28, Z:1.83 [[ 9.95593506e-01 -9.36301204e-02 -5.19332082e-03 -4.59615759e+00] [ 9.36714671e-02 9.95567813e-01 8.38966447e-03 2.28391727e+00] [ 4.38477776e-03 -8.83916145e-03 9.99951320e-01 1.83077668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464839172999994 meters Centerline goodness : 0.740420 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.28, Z:1.83 [[ 9.95202349e-01 -9.77303122e-02 -4.59035582e-03 -4.59923511e+00] [ 9.77532346e-02 9.95197786e-01 5.06677871e-03 2.27945627e+00] [ 4.07313408e-03 -5.49119220e-03 9.99976628e-01 1.83429433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494839172999995 meters Centerline goodness : 0.740737 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.27, Z:1.84 [[ 9.94671536e-01 -1.03014629e-01 -4.06472371e-03 -4.60285047e+00] [ 1.03023955e-01 9.94676540e-01 2.15518932e-03 2.27019302e+00] [ 3.82106929e-03 -2.56246938e-03 9.99989417e-01 1.83850933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524839173 meters Centerline goodness : 0.742239 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.27, Z:1.84 [[ 9.94750103e-01 -1.02225800e-01 -4.70306665e-03 -4.60101373e+00] [ 1.02241241e-01 9.94754588e-01 3.16830034e-03 2.26858610e+00] [ 4.35451509e-03 -3.63251446e-03 9.99983921e-01 1.83780515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554839173 meters Centerline goodness : 0.739404 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.27, Z:1.84 [[ 9.95183879e-01 -9.78778500e-02 -5.38274320e-03 -4.60002396e+00] [ 9.79193309e-02 9.95161600e-01 8.07427431e-03 2.26626850e+00] [ 4.56640672e-03 -8.56246223e-03 9.99952915e-01 1.83696602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters Centerline goodness : 0.739228 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.27, Z:1.83 [[ 0.99552509 -0.09427067 -0.00654517 -4.59479055] [ 0.09433478 0.99548729 0.01029561 2.26526042] [ 0.00554506 -0.01086697 0.99992558 1.8344882 ] [ 0. 0. 0. 1. ]] SLAMing on 43.61483917299999 meters Centerline goodness : 0.737521 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.26, Z:1.83 [[ 0.99522025 -0.09743459 -0.0065688 -4.59312031] [ 0.09748388 0.99520767 0.00765436 2.26002768] [ 0.00579152 -0.00825812 0.99994913 1.83381863] [ 0. 0. 0. 1. ]] SLAMing on 43.644839172999994 meters Centerline goodness : 0.739438 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.26, Z:1.83 [[ 9.94846419e-01 -1.01194643e-01 -6.34410765e-03 -4.59247743e+00] [ 1.01223973e-01 9.94853550e-01 4.48559879e-03 2.25600878e+00] [ 5.85753945e-03 -5.10465767e-03 9.99969815e-01 1.83359594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674839172999995 meters Centerline goodness : 0.741705 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.83 [[ 0.99366125 -0.11225499 -0.00601175 -4.5905082 ] [ 0.11221683 0.99366347 -0.00634776 2.24953585] [ 0.00668622 0.0056329 0.99996178 1.83478249] [ 0. 0. 0. 1. ]] SLAMing on 43.704839172999996 meters Centerline goodness : 0.742885 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.83 [[ 0.99323095 -0.11600206 -0.00598419 -4.58913578] [ 0.11594658 0.99321551 -0.00890756 2.24536098] [ 0.00697689 0.00815342 0.99994242 1.83366166] [ 0. 0. 0. 1. ]] SLAMing on 43.734839173 meters Centerline goodness : 0.741793 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.83 [[ 0.99307296 -0.11734166 -0.00608563 -4.58980363] [ 0.11729315 0.99306673 -0.00779673 2.24426316] [ 0.00695832 0.00702892 0.99995109 1.83261927] [ 0. 0. 0. 1. ]] SLAMing on 43.76483917299999 meters Centerline goodness : 0.741705 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.83 [[ 9.93412957e-01 -1.14422076e-01 -6.18759609e-03 -4.59137231e+00] [ 1.14402011e-01 9.93428350e-01 -3.50605213e-03 2.24222041e+00] [ 6.54810314e-03 2.77508417e-03 9.99974710e-01 1.83282945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79483917299999 meters Centerline goodness : 0.741509 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.83 [[ 9.93479270e-01 -1.13822726e-01 -6.58241118e-03 -4.59038352e+00] [ 1.13802230e-01 9.93497572e-01 -3.40985939e-03 2.24229304e+00] [ 6.92772902e-03 2.63853155e-03 9.99972522e-01 1.83302192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824839172999994 meters Centerline goodness : 0.739805 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.93779619e-01 -1.11364532e-01 9.39418204e-05 -4.59774585e+00] [ 1.11361507e-01 9.93745657e-01 -8.25739502e-03 2.23474971e+00] [ 8.26226659e-04 8.21649238e-03 9.99965903e-01 1.82943572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854839172999995 meters Centerline goodness : 0.745008 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.93393356e-01 -1.14758341e-01 4.04299834e-04 -4.59758406e+00] [ 1.14754907e-01 9.93321347e-01 -1.20005756e-02 2.23131479e+00] [ 9.75566493e-04 1.19676875e-02 9.99927909e-01 1.83063540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884839172999996 meters Centerline goodness : 0.745343 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.93795995e-01 -1.11218266e-01 1.34202988e-04 -4.59826291e+00] [ 1.11216012e-01 9.93766583e-01 -7.67968260e-03 2.23021997e+00] [ 7.20754540e-04 7.64696333e-03 9.99970502e-01 1.83046011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914839173 meters Centerline goodness : 0.743554 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94224131e-01 -1.07323323e-01 -2.87199862e-04 -4.59815974e+00] [ 1.07321804e-01 9.94218878e-01 -3.29433508e-03 2.23068509e+00] [ 6.39098511e-04 3.24448462e-03 9.99994532e-01 1.82964371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944839173 meters Centerline goodness : 0.740099 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95075238e-01 -9.91145401e-02 -1.25672335e-03 -4.59788611e+00] [ 9.91195193e-02 9.95063706e-01 4.85209079e-03 2.23026939e+00] [ 7.69607044e-04 -4.95276121e-03 9.99987439e-01 1.82959975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97483917299999 meters Centerline goodness : 0.743050 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95287434e-01 -9.69620154e-02 -1.13597292e-03 -4.59604903e+00] [ 9.69666682e-02 9.95273861e-01 5.23518925e-03 2.23279290e+00] [ 6.22989658e-04 -5.32066959e-03 9.99985651e-01 1.82801669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00483917299999 meters Centerline goodness : 0.741288 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95289252e-01 -9.69438518e-02 -1.09297596e-03 -4.59573092e+00] [ 9.69481266e-02 9.95276963e-01 4.98280681e-03 2.23468297e+00] [ 6.04761307e-04 -5.06529603e-03 9.99986988e-01 1.82735215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034839172999995 meters Centerline goodness : 0.741106 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.24, Z:1.83 [[ 9.95222039e-01 -9.76356867e-02 -6.04969950e-04 -4.59704947e+00] [ 9.76374458e-02 9.95211278e-01 4.63058210e-03 2.23534983e+00] [ 1.49962853e-04 -4.66752508e-03 9.99989096e-01 1.82747700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064839172999996 meters Centerline goodness : 0.738045 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95046578e-01 -9.94076056e-02 -6.60150058e-04 -4.59767630e+00] [ 9.94095922e-02 9.95036081e-01 4.57505651e-03 2.23403917e+00] [ 2.02077714e-04 -4.61801957e-03 9.99989316e-01 1.82706110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094839173 meters Centerline goodness : 0.736280 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94979414e-01 -1.00078672e-01 -4.74895114e-04 -4.59817249e+00] [ 1.00079799e-01 9.94967852e-01 4.79659091e-03 2.23344445e+00] [-7.53107732e-06 -4.82003662e-03 9.99988384e-01 1.82651326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124839173 meters Centerline goodness : 0.735341 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94569503e-01 -1.04074270e-01 -2.23476775e-04 -4.59725805e+00] [ 1.04074489e-01 9.94568363e-01 1.50705215e-03 2.23206510e+00] [ 6.54175784e-05 -1.52212634e-03 9.99998839e-01 1.82527732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15483917299999 meters Centerline goodness : 0.736086 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94222893e-01 -1.07335019e-01 1.79302372e-04 -4.59689431e+00] [ 1.07335099e-01 9.94218973e-01 -2.79459267e-03 2.23140766e+00] [ 1.21691836e-04 2.79769345e-03 9.99996079e-01 1.82608922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18483917299999 meters Centerline goodness : 0.735964 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94569334e-01 -1.04075774e-01 2.68575309e-04 -4.59840868e+00] [ 1.04075515e-01 9.94569039e-01 8.45206289e-04 2.23075553e+00] [-3.55082186e-04 -8.12664142e-04 9.99999607e-01 1.82651707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214839172999994 meters Centerline goodness : 0.738866 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.94942436e-01 -1.00446709e-01 8.87603802e-05 -4.59909589e+00] [ 1.00445390e-01 9.94933185e-01 4.32221539e-03 2.23279350e+00] [-5.22462960e-04 -4.29143994e-03 9.99990655e-01 1.82656576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244839172999995 meters Centerline goodness : 0.734202 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.24, Z:1.83 [[ 9.95377548e-01 -9.60384647e-02 -3.87215406e-04 -4.59886613e+00] [ 9.60385767e-02 9.95347485e-01 7.74439309e-03 2.23504208e+00] [-3.58345741e-04 -7.74578262e-03 9.99969937e-01 1.82767662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274839173 meters Centerline goodness : 0.736909 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95122616e-01 -9.86445210e-02 -4.86683210e-04 -4.59707103e+00] [ 9.86457161e-02 9.95112095e-01 4.57614237e-03 2.23136503e+00] [ 3.28929765e-05 -4.60183198e-03 9.99989411e-01 1.82779428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304839173 meters Centerline goodness : 0.739557 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95157764e-01 -9.82891628e-02 -5.14845135e-04 -4.59657335e+00] [ 9.82904883e-02 9.95147453e-01 4.53073144e-03 2.23201306e+00] [ 6.70250245e-05 -4.55939695e-03 9.99989604e-01 1.82738868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33483917299999 meters Centerline goodness : 0.738737 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95520720e-01 -9.45412242e-02 -6.72914419e-04 -4.59692456e+00] [ 9.45435349e-02 9.95485126e-01 8.41923399e-03 2.23320338e+00] [-1.26088393e-04 -8.44514160e-03 9.99964331e-01 1.82685632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters Centerline goodness : 0.738986 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.24, Z:1.83 [[ 9.96149378e-01 -8.76694657e-02 -6.94337566e-04 -4.60015605e+00] [ 8.76701751e-02 9.96040932e-01 1.47106380e-02 2.23744429e+00] [-5.98085140e-04 -1.47148656e-02 9.99891552e-01 1.82932741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394839172999994 meters Centerline goodness : 0.740544 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.24, Z:1.83 [[ 9.96162226e-01 -8.75224286e-02 -8.03087487e-04 -4.60048657e+00] [ 8.75249651e-02 9.96060237e-01 1.42613217e-02 2.23783002e+00] [-4.48262001e-04 -1.42768802e-02 9.99897980e-01 1.83061759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424839172999995 meters Centerline goodness : 0.743952 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.96027349e-01 -8.90476749e-02 -1.75094476e-04 -4.60131099e+00] [ 8.90435015e-02 9.95957393e-01 1.18374777e-02 2.23428459e+00] [-8.79713232e-04 -1.18060426e-02 9.99929919e-01 1.83241655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454839172999996 meters Centerline goodness : 0.746686 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95984150e-01 -8.95296828e-02 8.90420752e-05 -4.60256143e+00] [ 8.95219698e-02 9.95910453e-01 1.21731924e-02 2.23121002e+00] [-1.17853999e-03 -1.21163355e-02 9.99925900e-01 1.83323703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484839173 meters Centerline goodness : 0.748665 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95938553e-01 -9.00343527e-02 4.62337108e-04 -4.60375558e+00] [ 9.00214447e-02 9.95860369e-01 1.25803244e-02 2.22869425e+00] [-1.59308457e-03 -1.24876099e-02 9.99920758e-01 1.83354247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51483917299999 meters Centerline goodness : 0.752261 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95912844e-01 -9.03161818e-02 7.71296650e-04 -4.60419294e+00] [ 9.02989447e-02 9.95832227e-01 1.28170024e-02 2.22969879e+00] [-1.92566478e-03 -1.26949700e-02 9.99917561e-01 1.83260199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters Centerline goodness : 0.749719 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.95980931e-01 -8.95645692e-02 4.16375716e-04 -4.60253238e+00] [ 8.95507257e-02 9.95890007e-01 1.35558543e-02 2.23020219e+00] [-1.62878867e-03 -1.34640857e-02 9.99908028e-01 1.83110373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574839172999994 meters Centerline goodness : 0.750944 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.96052286e-01 -8.87684711e-02 3.80127526e-05 -4.60058286e+00] [ 8.87590341e-02 9.95952460e-01 1.41608949e-02 2.22772734e+00] [-1.29489988e-03 -1.41016178e-02 9.99899729e-01 1.83001018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604839172999995 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.83 [[ 9.96243732e-01 -8.65916786e-02 -5.55172944e-04 -4.59629145e+00] [ 8.65902206e-02 9.96130568e-01 1.50341257e-02 2.22593707e+00] [-7.48805445e-04 -1.50257261e-02 9.99886827e-01 1.82728957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634839172999996 meters Centerline goodness : 0.747616 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.83 [[ 9.96323729e-01 -8.56576440e-02 -1.33961800e-03 -4.59312227e+00] [ 8.56681178e-02 9.96204081e-01 1.54402765e-02 2.22687947e+00] [ 1.19552122e-05 -1.54982764e-02 9.99879894e-01 1.82524928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664839173 meters Centerline goodness : 0.746950 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.96448393e-01 -8.41853404e-02 -1.85140096e-03 -4.58975676e+00] [ 8.42042253e-02 9.96320059e-01 1.59996457e-02 2.23101722e+00] [ 4.97652299e-04 -1.60987170e-02 9.99870283e-01 1.82198990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694839173 meters Centerline goodness : 0.747714 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.96229023e-01 -8.67425410e-02 -1.86170158e-03 -4.58796159e+00] [ 8.67588082e-02 9.96155476e-01 1.21316244e-02 2.23426078e+00] [ 8.02216299e-04 -1.22473953e-02 9.99924676e-01 1.82134209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72483917299999 meters Centerline goodness : 0.749045 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.95949363e-01 -8.99125261e-02 -7.77619835e-04 -4.59253547e+00] [ 8.99158610e-02 9.95905029e-01 9.39736215e-03 2.23325205e+00] [-7.05050648e-05 -9.42921720e-03 9.99955541e-01 1.82498225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75483917299999 meters Centerline goodness : 0.749045 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.95949363e-01 -8.99125261e-02 -7.77619835e-04 -4.59253547e+00] [ 8.99158610e-02 9.95905029e-01 9.39736215e-03 2.23325205e+00] [-7.05050648e-05 -9.42921720e-03 9.99955541e-01 1.82498225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784839172999995 meters Centerline goodness : 0.751498 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.83 [[ 9.95866218e-01 -9.08319173e-02 -1.96314113e-04 -4.59481936e+00] [ 9.08299515e-02 9.95825046e-01 9.07728322e-03 2.23255501e+00] [-6.29012528e-04 -9.05759091e-03 9.99958781e-01 1.82626898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814839172999996 meters Centerline goodness : 0.751767 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.83 [[ 9.95578468e-01 -9.39332030e-02 -2.60231257e-04 -4.59332787e+00] [ 9.39332646e-02 9.95564491e-01 5.28067559e-03 2.23637810e+00] [-2.36953773e-04 -5.28177128e-03 9.99986023e-01 1.82546491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844839173 meters Centerline goodness : 0.752233 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.82 [[ 9.95578076e-01 -9.39371902e-02 -3.14586143e-04 -4.59280281e+00] [ 9.39374786e-02 9.95562423e-01 5.58684448e-03 2.23606457e+00] [-2.11622331e-04 -5.59169131e-03 9.99984344e-01 1.82459647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874839173 meters Centerline goodness : 0.751631 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.95563475e-01 -9.40920133e-02 -2.47427640e-04 -4.59248612e+00] [ 9.40917104e-02 9.95543776e-01 6.27210685e-03 2.23341612e+00] [-3.43830113e-04 -6.26756137e-03 9.99980300e-01 1.82357426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90483917299999 meters Centerline goodness : 0.751630 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.82 [[ 9.95243716e-01 -9.74152885e-02 -4.56007752e-04 -4.59072360e+00] [ 9.74161398e-02 9.95240462e-01 2.55294567e-03 2.23396343e+00] [ 2.05141427e-04 -2.58522565e-03 9.99996637e-01 1.82312822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93483917299999 meters Centerline goodness : 0.749529 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.82 [[ 9.95270787e-01 -9.71360653e-02 -8.03201938e-04 -4.58893355e+00] [ 9.71379206e-02 9.95267167e-01 2.73683001e-03 2.23649671e+00] [ 5.33555619e-04 -2.80190832e-03 9.99995932e-01 1.82124900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964839172999994 meters Centerline goodness : 0.748883 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.82 [[ 9.95307344e-01 -9.67560597e-02 -1.24770772e-03 -4.58728205e+00] [ 9.67597594e-02 9.95302102e-01 3.35769060e-03 2.23609605e+00] [ 9.16969206e-04 -3.46266201e-03 9.99993585e-01 1.81992487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994839172999995 meters Centerline goodness : 0.749015 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.82 [[ 9.95303758e-01 -9.67952657e-02 -1.05170011e-03 -4.58705693e+00] [ 9.67980466e-02 9.95299431e-01 3.02996721e-03 2.23652867e+00] [ 7.53470045e-04 -3.11754027e-03 9.99994857e-01 1.81920911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024839173 meters Centerline goodness : 0.750699 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.82 [[ 9.95279877e-01 -9.70434884e-02 -7.26367818e-04 -4.58771396e+00] [ 9.70451211e-02 9.95276268e-01 2.71919350e-03 2.23732305e+00] [ 4.59056628e-04 -2.77684903e-03 9.99996039e-01 1.81918640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054839173 meters Centerline goodness : 0.747997 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.81 [[ 0.99529025 -0.0960307 0.01324505 -4.58776111] [ 0.09595247 0.9953652 0.00642177 2.23743069] [-0.01380035 -0.00512063 0.99989166 1.81099931] [ 0. 0. 0. 1. ]] SLAMing on 45.08483917299999 meters Centerline goodness : 0.750910 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.81 [[ 0.9956285 -0.09246189 0.01321665 -4.58831405] [ 0.09232726 0.99567379 0.01045886 2.2374769 ] [-0.01412652 -0.00919288 0.99985796 1.81032214] [ 0. 0. 0. 1. ]] SLAMing on 45.11483917299999 meters Centerline goodness : 0.739861 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.24, Z:1.81 [[ 0.99606954 -0.08779371 0.01173655 -4.58038141] [ 0.08764163 0.99606855 0.01289936 2.23892702] [-0.01282289 -0.01182005 0.99984792 1.80515592] [ 0. 0. 0. 1. ]] SLAMing on 45.144839172999994 meters Centerline goodness : 0.742841 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.24, Z:1.80 [[ 0.99619232 -0.08645426 0.01124836 -4.57713682] [ 0.08630534 0.99618243 0.01311307 2.24035985] [-0.0123391 -0.01209234 0.99985075 1.80254421] [ 0. 0. 0. 1. ]] SLAMing on 45.174839172999995 meters Centerline goodness : 0.732968 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.24, Z:1.80 [[ 0.99627537 -0.08556019 0.01071658 -4.57367118] [ 0.08541729 0.99625849 0.01314944 2.24364566] [-0.01180156 -0.01218508 0.99985611 1.79959038] [ 0. 0. 0. 1. ]] SLAMing on 45.204839172999996 meters Centerline goodness : 0.732614 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.24, Z:1.80 [[ 0.99621086 -0.08623395 0.01129717 -4.575301 ] [ 0.08608907 0.996206 0.01273864 2.24425133] [-0.01235282 -0.0117178 0.99985504 1.79988215] [ 0. 0. 0. 1. ]] SLAMing on 45.234839173 meters Centerline goodness : 0.738874 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.25, Z:1.80 [[ 0.99580356 -0.08747512 0.02689577 -4.58173458] [ 0.08705346 0.99606749 0.01646982 2.2454574 ] [-0.0282307 -0.01405934 0.99950256 1.79610461] [ 0. 0. 0. 1. ]] SLAMing on 45.26483917299999 meters Centerline goodness : 0.742962 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.25, Z:1.80 [[ 0.99573135 -0.0881602 0.02732871 -4.58401014] [ 0.08776302 0.99602219 0.01540949 2.24724883] [-0.0285785 -0.01294526 0.99950772 1.79841205] [ 0. 0. 0. 1. ]] SLAMing on 45.29483917299999 meters Centerline goodness : 0.744598 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.80 [[ 0.99588176 -0.08627507 0.02785898 -4.58899729] [ 0.08581214 0.99615925 0.01740764 2.2514849 ] [-0.02925383 -0.01494531 0.99946028 1.80264378] [ 0. 0. 0. 1. ]] SLAMing on 45.324839172999994 meters Centerline goodness : 0.746465 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.80 [[ 0.99585227 -0.0865617 0.02802358 -4.59005398] [ 0.08610026 0.99613667 0.01727635 2.25179725] [-0.02941079 -0.01479186 0.99945796 1.80357348] [ 0. 0. 0. 1. ]] SLAMing on 45.354839172999995 meters Centerline goodness : 0.747731 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.80 [[ 0.99586129 -0.08649294 0.02791544 -4.58966541] [ 0.08600949 0.99613025 0.01807995 2.24801393] [-0.0293712 -0.01560413 0.99944677 1.80323387] [ 0. 0. 0. 1. ]] SLAMing on 45.384839172999996 meters Centerline goodness : 0.746516 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.80 [[ 0.99591904 -0.08593897 0.0275639 -4.58830741] [ 0.08545133 0.99617227 0.01840857 2.24752428] [-0.0290404 -0.01597808 0.99945053 1.80251426] [ 0. 0. 0. 1. ]] SLAMing on 45.414839173 meters Centerline goodness : 0.741268 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.25, Z:1.80 [[ 0.99604131 -0.08473633 0.02685999 -4.58492807] [ 0.0842542 0.99627064 0.01860208 2.24963375] [-0.02833609 -0.01626538 0.99946611 1.80020451] [ 0. 0. 0. 1. ]] SLAMing on 45.444839173 meters Centerline goodness : 0.740842 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.25, Z:1.80 [[ 0.99602573 -0.08490718 0.02689808 -4.58456061] [ 0.0844262 0.99625721 0.01854132 2.25049157] [-0.0283717 -0.01619673 0.99946621 1.79926842] [ 0. 0. 0. 1. ]] SLAMing on 45.47483917299999 meters Centerline goodness : 0.740934 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.25, Z:1.80 [[ 0.9954735 -0.09096044 0.02754456 -4.58649722] [ 0.0906069 0.99579077 0.01382481 2.2478391 ] [-0.02868613 -0.01126651 0.99952497 1.80036433] [ 0. 0. 0. 1. ]] SLAMing on 45.50483917299999 meters Centerline goodness : 0.741193 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 0.99506904 -0.09516901 0.02793693 -4.58637964] [ 0.09489899 0.99542788 0.01084043 2.24468083] [-0.02884087 -0.00813579 0.99955091 1.79936294] [ 0. 0. 0. 1. ]] SLAMing on 45.534839172999995 meters Centerline goodness : 0.739684 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 0.99459056 -0.10006905 0.0278533 -4.58569535] [ 0.0998634 0.99496327 0.00868247 2.23867052] [-0.02858186 -0.00585398 0.99957431 1.79766533] [ 0. 0. 0. 1. ]] SLAMing on 45.564839172999996 meters Centerline goodness : 0.738315 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.23, Z:1.80 [[ 0.99464672 -0.09955839 0.0276772 -4.58432635] [ 0.0993151 0.99500545 0.01003363 2.23497504] [-0.0285379 -0.00723115 0.99956656 1.79595044] [ 0. 0. 0. 1. ]] SLAMing on 45.594839173 meters Centerline goodness : 0.742460 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 0.99500054 -0.09596523 0.02765136 -4.58607949] [ 0.09562454 0.99532736 0.01339364 2.23698417] [-0.02880747 -0.01068253 0.9995279 1.79758192] [ 0. 0. 0. 1. ]] SLAMing on 45.624839173 meters Centerline goodness : 0.742221 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 0.99504542 -0.09560765 0.02727242 -4.58526527] [ 0.09527465 0.99536268 0.01326186 2.23973332] [-0.02841388 -0.01059778 0.99954006 1.79747868] [ 0. 0. 0. 1. ]] SLAMing on 45.65483917299999 meters Centerline goodness : 0.746359 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 9.95313875e-01 -9.45652573e-02 2.01916182e-02 -4.59198094e+00] [ 9.45182346e-02 9.95517751e-01 3.27273692e-03 2.23974917e+00] [-2.04106015e-02 -1.34892436e-03 9.99790772e-01 1.80001400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68483917299999 meters Centerline goodness : 0.741034 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.24, Z:1.80 [[ 9.94986857e-01 -9.78658475e-02 2.05774461e-02 -4.59028310e+00] [ 9.78730907e-02 9.95198687e-01 6.57227961e-04 2.23700182e+00] [-2.05429675e-02 1.36004506e-03 9.99788046e-01 1.79820104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714839172999994 meters Centerline goodness : 0.744485 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.23, Z:1.80 [[ 0.99420704 -0.10525668 0.02175757 -4.5943387 ] [ 0.10539228 0.99441724 -0.00517963 2.23230249] [-0.02109091 0.0074427 0.99974986 1.80185017] [ 0. 0. 0. 1. ]] SLAMing on 45.744839172999995 meters Centerline goodness : 0.745066 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.23, Z:1.80 [[ 0.99411197 -0.10610005 0.02200397 -4.59658998] [ 0.10623379 0.99432862 -0.00499792 2.22880648] [-0.02134889 0.00730605 0.99974539 1.80419416] [ 0. 0. 0. 1. ]] SLAMing on 45.774839173 meters Centerline goodness : 0.745770 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.22, Z:1.80 [[ 9.94251738e-01 -1.04931269e-01 2.12816842e-02 -4.59452397e+00] [ 1.05016052e-01 9.94466289e-01 -2.90310280e-03 2.22221416e+00] [-2.08592912e-02 5.12133346e-03 9.99769304e-01 1.80344286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804839173 meters Centerline goodness : 0.747498 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.22, Z:1.80 [[ 9.94668728e-01 -1.00974570e-01 2.09346239e-02 -4.59458243e+00] [ 1.00951171e-01 9.94889006e-01 2.17422367e-03 2.21726619e+00] [-2.10471684e-02 -4.92574913e-05 9.99778483e-01 1.80312845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83483917299999 meters Centerline goodness : 0.750993 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.21, Z:1.80 [[ 0.99514457 -0.09631869 0.02024841 -4.59425131] [ 0.09618536 0.99533548 0.00746083 2.21283379] [-0.02087258 -0.00547701 0.99976714 1.80366106] [ 0. 0. 0. 1. ]] SLAMing on 45.86483917299999 meters Centerline goodness : 0.753919 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.21, Z:1.80 [[ 0.99528156 -0.09503405 0.01957399 -4.59245223] [ 0.09486865 0.99544716 0.00921407 2.20815332] [-0.02036052 -0.00731364 0.99976595 1.80321103] [ 0. 0. 0. 1. ]] SLAMing on 45.894839172999994 meters Centerline goodness : 0.752269 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.20, Z:1.80 [[ 0.99507124 -0.09732104 0.01902209 -4.58905528] [ 0.09720465 0.99524013 0.00695245 2.20439664] [-0.01960816 -0.00506914 0.99979489 1.80146269] [ 0. 0. 0. 1. ]] SLAMing on 45.924839172999995 meters Centerline goodness : 0.753368 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.20, Z:1.80 [[ 9.94836546e-01 -9.97877910e-02 1.85106167e-02 -4.58569417e+00] [ 9.97122377e-02 9.95003939e-01 4.96293397e-03 2.19939199e+00] [-1.89133768e-02 -3.09157308e-03 9.99816346e-01 1.79938876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954839172999996 meters Centerline goodness : 0.754431 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.19, Z:1.80 [[ 9.94498623e-01 -1.03163995e-01 1.81570412e-02 -4.58314312e+00] [ 1.03117153e-01 9.94663060e-01 3.49992398e-03 2.19303636e+00] [-1.84212043e-02 -1.60836719e-03 9.99829022e-01 1.79699707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984839173 meters Centerline goodness : 0.753974 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.19, Z:1.80 [[ 0.9947133 -0.10111297 0.01793378 -4.58451142] [ 0.10099834 0.99486063 0.00718827 2.19020632] [-0.01856844 -0.00533899 0.99981334 1.79767271] [ 0. 0. 0. 1. ]] SLAMing on 46.01483917299999 meters Centerline goodness : 0.755557 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.19, Z:1.80 [[ 0.99464573 -0.10175148 0.01806952 -4.58729016] [ 0.10164813 0.99479884 0.00655104 2.19271068] [-0.01864212 -0.00467923 0.99981527 1.80110664] [ 0. 0. 0. 1. ]] SLAMing on 46.04483917299999 meters Centerline goodness : 0.756694 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.19, Z:1.80 [[ 0.99464479 -0.10182079 0.01772747 -4.58593258] [ 0.10170022 0.99478623 0.00757721 2.18968315] [-0.01840656 -0.00573374 0.99981414 1.79965446] [ 0. 0. 0. 1. ]] SLAMing on 46.074839172999994 meters Centerline goodness : 0.755959 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.19, Z:1.80 [[ 0.99466235 -0.10169567 0.01745829 -4.5843349 ] [ 0.10156927 0.99479644 0.00798289 2.18940574] [-0.01817927 -0.00616705 0.99981572 1.79786092] [ 0. 0. 0. 1. ]] SLAMing on 46.104839172999995 meters Centerline goodness : 0.754670 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.19, Z:1.80 [[ 0.99464209 -0.10189948 0.0174244 -4.58332455] [ 0.10176592 0.99477299 0.00839011 2.18805509] [-0.01818827 -0.00657194 0.99981298 1.79608556] [ 0. 0. 0. 1. ]] SLAMing on 46.134839172999996 meters Centerline goodness : 0.754878 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.19, Z:1.80 [[ 9.94188063e-01 -1.06097544e-01 1.82594307e-02 -4.58399571e+00] [ 1.06047845e-01 9.94354250e-01 3.67160831e-03 2.19072008e+00] [-1.85458911e-02 -1.71389587e-03 9.99826541e-01 1.79613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164839173 meters Centerline goodness : 0.756536 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.19, Z:1.80 [[ 9.94366233e-01 -1.04347131e-01 1.86405757e-02 -4.58730203e+00] [ 1.04243596e-01 9.94530913e-01 6.44488496e-03 2.19169352e+00] [-1.92111341e-02 -4.46541534e-03 9.99805477e-01 1.79770370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194839173 meters Centerline goodness : 0.754991 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.20, Z:1.80 [[ 0.99455727 -0.1024413 0.01901596 -4.59044888] [ 0.10229986 0.99471923 0.00827028 2.19685007] [-0.01976276 -0.00627993 0.99978497 1.79937115] [ 0. 0. 0. 1. ]] SLAMing on 46.22483917299999 meters Centerline goodness : 0.752293 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.20, Z:1.80 [[ 0.99477638 -0.10026934 0.01913148 -4.5925357 ] [ 0.10007694 0.99492147 0.01076477 2.19956366] [-0.0201137 -0.00879392 0.99975902 1.80025751] [ 0. 0. 0. 1. ]] SLAMing on 46.25483917299999 meters Centerline goodness : 0.750419 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.20, Z:1.80 [[ 0.99471844 -0.10080354 0.0193356 -4.59380087] [ 0.10063609 0.99487844 0.00944843 2.20276189] [-0.02018901 -0.00745267 0.9997684 1.80181555] [ 0. 0. 0. 1. ]] SLAMing on 46.284839172999995 meters Centerline goodness : 0.754471 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.21, Z:1.80 [[ 0.99445123 -0.09906826 0.03538699 -4.60434869] [ 0.09866319 0.99503571 0.0130198 2.20647276] [-0.03650117 -0.00945617 0.99928887 1.80113859] [ 0. 0. 0. 1. ]] SLAMing on 46.314839172999996 meters Centerline goodness : 0.752830 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.21, Z:1.80 [[ 0.99438397 -0.09967408 0.03557518 -4.60579298] [ 0.09930368 0.99498438 0.01203546 2.20927372] [-0.03659637 -0.00843512 0.99929453 1.80267323] [ 0. 0. 0. 1. ]] SLAMing on 46.344839173 meters Centerline goodness : 0.751723 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.22, Z:1.80 [[ 0.99435169 -0.10001889 0.03550956 -4.60596778] [ 0.09970333 0.99496124 0.01055321 2.21528184] [-0.03638616 -0.00695319 0.99931361 1.80313942] [ 0. 0. 0. 1. ]] SLAMing on 46.374839173 meters Centerline goodness : 0.748346 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.23, Z:1.81 [[ 0.99484051 -0.09503234 0.03551362 -4.60995014] [ 0.09459984 0.99542151 0.01367059 2.2309167 ] [-0.03665017 -0.01024047 0.99927569 1.80644177] [ 0. 0. 0. 1. ]] SLAMing on 46.40483917299999 meters Centerline goodness : 0.748196 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.24, Z:1.81 [[ 0.99489176 -0.09404317 0.03669144 -4.61599795] [ 0.09364848 0.99552891 0.01233517 2.24306458] [-0.03768743 -0.00883607 0.99925051 1.81176287] [ 0. 0. 0. 1. ]] SLAMing on 46.43483917299999 meters Centerline goodness : 0.750058 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.25, Z:1.81 [[ 0.99482209 -0.09465748 0.0369996 -4.61690913] [ 0.094304 0.99548057 0.0111887 2.24590842] [-0.03789147 -0.00764155 0.99925264 1.81226512] [ 0. 0. 0. 1. ]] SLAMing on 46.464839172999994 meters Centerline goodness : 0.747235 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.25, Z:1.81 [[ 0.994826 -0.09462923 0.03696673 -4.61426534] [ 0.09433523 0.99549399 0.00962168 2.25347096] [-0.03771065 -0.00608463 0.99927018 1.80867668] [ 0. 0. 0. 1. ]] SLAMing on 46.494839172999995 meters Centerline goodness : 0.745531 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.26, Z:1.81 [[ 0.99509317 -0.09179617 0.03691938 -4.61327958] [ 0.09139768 0.99573796 0.01234383 2.25824264] [-0.03789515 -0.00890892 0.99924201 1.80588983] [ 0. 0. 0. 1. ]] SLAMing on 46.524839173 meters Centerline goodness : 0.743039 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.26, Z:1.80 [[ 0.99534982 -0.08897239 0.03691411 -4.61270231] [ 0.08848189 0.99596904 0.01471818 2.26481241] [-0.03807482 -0.0113835 0.99921005 1.80358469] [ 0. 0. 0. 1. ]] SLAMing on 46.554839173 meters Centerline goodness : 0.739451 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.27, Z:1.80 [[ 0.99583421 -0.08407248 0.03529929 -4.60513448] [ 0.08352751 0.9963665 0.01664193 2.27470378] [-0.03657016 -0.01362415 0.99923821 1.79745009] [ 0. 0. 0. 1. ]] SLAMing on 46.58483917299999 meters Centerline goodness : 0.740060 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.28, Z:1.80 [[ 0.99626747 -0.07891369 0.03498231 -4.60359086] [ 0.07827061 0.9967436 0.01938839 2.28384461] [-0.0363984 -0.01657793 0.99919984 1.79621389] [ 0. 0. 0. 1. ]] SLAMing on 46.61483917299999 meters Centerline goodness : 0.738450 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.99720518 -0.06577471 0.03543331 -4.60662254] [ 0.06470937 0.99744042 0.03041879 2.30249338] [-0.0373434 -0.02804091 0.99890899 1.79533979] [ 0. 0. 0. 1. ]] SLAMing on 46.644839172999994 meters Centerline goodness : 0.739041 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99700266 -0.06815258 0.03661867 -4.61078706] [ 0.06726407 0.99742263 0.02497273 2.31651939] [-0.03822625 -0.02243475 0.99901724 1.79940284] [ 0. 0. 0. 1. ]] SLAMing on 46.674839172999995 meters Centerline goodness : 0.739041 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99700266 -0.06815258 0.03661867 -4.61078706] [ 0.06726407 0.99742263 0.02497273 2.31651939] [-0.03822625 -0.02243475 0.99901724 1.79940284] [ 0. 0. 0. 1. ]] SLAMing on 46.704839172999996 meters Centerline goodness : 0.739545 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99667058 -0.07259662 0.03711443 -4.61139061] [ 0.07191146 0.99722086 0.01947565 2.32126329] [-0.03842515 -0.01674186 0.99912122 1.79989273] [ 0. 0. 0. 1. ]] SLAMing on 46.734839173 meters Centerline goodness : 0.735251 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.80 [[ 0.99615598 -0.07880635 0.03824694 -4.6137641 ] [ 0.07828807 0.99681992 0.01486677 2.32579935] [-0.0392969 -0.01181535 0.99915772 1.79772711] [ 0. 0. 0. 1. ]] SLAMing on 46.76483917299999 meters Centerline goodness : 0.735703 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.33, Z:1.80 [[ 0.99607976 -0.07967102 0.0384402 -4.6147857 ] [ 0.07918474 0.99676146 0.01401351 2.32955952] [-0.03943218 -0.01091469 0.99916264 1.79788153] [ 0. 0. 0. 1. ]] SLAMing on 46.79483917299999 meters Centerline goodness : 0.735708 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.34, Z:1.80 [[ 0.99604491 -0.08012439 0.03840083 -4.61468598] [ 0.0796767 0.9967353 0.0130527 2.33528223] [-0.0393213 -0.00994142 0.99917716 1.79737469] [ 0. 0. 0. 1. ]] SLAMing on 46.824839172999994 meters Centerline goodness : 0.734789 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.80 [[ 0.99598651 -0.08067256 0.03876616 -4.61558076] [ 0.08020394 0.99668708 0.01349761 2.33339834] [-0.03972661 -0.01033424 0.99915714 1.79665741] [ 0. 0. 0. 1. ]] SLAMing on 46.854839172999995 meters Centerline goodness : 0.736038 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.80 [[ 0.9955593 -0.08511102 0.04022173 -4.62232913] [ 0.08476905 0.99634907 0.0101357 2.32996942] [-0.04093754 -0.00668113 0.99913937 1.80202628] [ 0. 0. 0. 1. ]] SLAMing on 46.884839172999996 meters Centerline goodness : 0.736704 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.33, Z:1.80 [[ 0.99548088 -0.08583685 0.04061832 -4.62429322] [ 0.08548668 0.99628624 0.01028398 2.32726738] [-0.04135022 -0.00676518 0.99912181 1.80329607] [ 0. 0. 0. 1. ]] SLAMing on 46.914839173 meters Centerline goodness : 0.735360 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.80 [[ 0.99555049 -0.08531889 0.03999893 -4.62240364] [ 0.08493029 0.9963226 0.01131886 2.32356542] [-0.04081755 -0.00787138 0.99913561 1.80242241] [ 0. 0. 0. 1. ]] SLAMing on 46.944839173 meters Centerline goodness : 0.735940 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.80 [[ 0.99595888 -0.08078885 0.03923101 -4.62016279] [ 0.08020293 0.99664546 0.01628875 2.32179788] [-0.04041536 -0.01307648 0.99909739 1.80027954] [ 0. 0. 0. 1. ]] SLAMing on 46.97483917299999 meters Centerline goodness : 0.736489 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.32, Z:1.80 [[ 0.99609888 -0.07946432 0.03837241 -4.61652913] [ 0.07887314 0.99674503 0.01668441 2.32274481] [-0.03957332 -0.01359277 0.99912421 1.79836013] [ 0. 0. 0. 1. ]] SLAMing on 47.00483917299999 meters Centerline goodness : 0.733647 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99615391 -0.07893143 0.03804238 -4.61420311] [ 0.07831967 0.99677794 0.01731394 2.32329278] [-0.03928642 -0.01426788 0.99912612 1.79566542] [ 0. 0. 0. 1. ]] SLAMing on 47.034839172999995 meters Centerline goodness : 0.731196 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.79 [[ 0.99616924 -0.07873196 0.03805416 -4.61333244] [ 0.07810424 0.99678784 0.01771214 2.32247195] [-0.03932644 -0.0146721 0.99911869 1.79429077] [ 0. 0. 0. 1. ]] SLAMing on 47.064839172999996 meters Centerline goodness : 0.729657 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.79 [[ 0.99584902 -0.08252524 0.03839678 -4.61340237] [ 0.08202993 0.99652721 0.01430399 2.31970303] [-0.03944387 -0.01109493 0.99916019 1.79439122] [ 0. 0. 0. 1. ]] SLAMing on 47.094839173 meters Centerline goodness : 0.727531 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99552636 -0.08625423 0.03856771 -4.61369101] [ 0.08589935 0.99624562 0.01076879 2.31567733] [-0.03935176 -0.00740767 0.99919796 1.79590377] [ 0. 0. 0. 1. ]] SLAMing on 47.124839173 meters Centerline goodness : 0.725801 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99549623 -0.08647981 0.03883939 -4.61448099] [ 0.08610412 0.99622266 0.01124664 2.31315625] [-0.03966529 -0.00785176 0.99918217 1.79601316] [ 0. 0. 0. 1. ]] SLAMing on 47.15483917299999 meters Centerline goodness : 0.725554 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99552156 -0.08623939 0.03872463 -4.61395581] [ 0.08584796 0.99623999 0.01166249 2.3118107 ] [-0.03958479 -0.00828583 0.99918186 1.7956299 ] [ 0. 0. 0. 1. ]] SLAMing on 47.18483917299999 meters Centerline goodness : 0.723169 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.79 [[ 0.99603321 -0.08068603 0.03751812 -4.60991148] [ 0.08009911 0.99664372 0.01689451 2.30986635] [-0.03875535 -0.01382232 0.99915312 1.79309887] [ 0. 0. 0. 1. ]] SLAMing on 47.214839172999994 meters Centerline goodness : 0.723763 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.79 [[ 0.99698246 -0.06712901 0.03898306 -4.61063148] [ 0.0666761 0.99769249 0.0128058 2.31109937] [-0.03975274 -0.01016792 0.99915781 1.78981364] [ 0. 0. 0. 1. ]] SLAMing on 47.244839172999995 meters Centerline goodness : 0.727370 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.79 [[ 0.99731447 -0.06233119 0.03845354 -4.60938658] [ 0.06171069 0.99794726 0.01711876 2.30883059] [-0.03944164 -0.01469979 0.99911374 1.78992638] [ 0. 0. 0. 1. ]] SLAMing on 47.274839173 meters Centerline goodness : 0.730152 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.79 [[ 0.99773535 -0.0559067 0.03739808 -4.60615083] [ 0.05514243 0.99825414 0.02116552 2.30890485] [-0.03851608 -0.01905537 0.99907628 1.79111604] [ 0. 0. 0. 1. ]] SLAMing on 47.304839173 meters Centerline goodness : 0.728456 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99816646 -0.05216283 0.03070429 -4.61163485] [ 0.05185173 0.99859593 0.01084307 2.31211196] [-0.03122678 -0.00923111 0.9994697 1.79591621] [ 0. 0. 0. 1. ]] SLAMing on 47.33483917299999 meters Centerline goodness : 0.730288 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99825463 -0.05105924 0.02967575 -4.60849951] [ 0.05075166 0.99865042 0.01102735 2.3133476 ] [-0.03019875 -0.00950201 0.99949875 1.79548059] [ 0. 0. 0. 1. ]] SLAMing on 47.36483917299999 meters Centerline goodness : 0.735654 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99827079 -0.0508839 0.02943211 -4.60875961] [ 0.05059173 0.99866329 0.0105881 2.31396058] [-0.02993154 -0.00908077 0.9995107 1.79760108] [ 0. 0. 0. 1. ]] SLAMing on 47.394839172999994 meters Centerline goodness : 0.741756 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99824105 -0.05135222 0.0296269 -4.61046346] [ 0.05107783 0.99864515 0.00994593 2.31027561] [-0.03009751 -0.00841516 0.99951154 1.80044005] [ 0. 0. 0. 1. ]] SLAMing on 47.424839172999995 meters Centerline goodness : 0.741461 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99823156 -0.05148517 0.0297159 -4.61069268] [ 0.05119729 0.99863473 0.01036914 2.30696226] [-0.03020919 -0.00882943 0.9995046 1.80041312] [ 0. 0. 0. 1. ]] SLAMing on 47.454839172999996 meters Centerline goodness : 0.738007 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99810735 -0.05425271 0.02895457 -4.60761366] [ 0.05407798 0.99851367 0.00678426 2.30565528] [-0.0292796 -0.00520561 0.99955771 1.80002616] [ 0. 0. 0. 1. ]] SLAMing on 47.484839173 meters Centerline goodness : 0.734397 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.99815972 -0.05356619 0.02842246 -4.60543947] [ 0.05337583 0.99854696 0.00741484 2.30423841] [-0.02877835 -0.00588412 0.9995685 1.79869173] [ 0. 0. 0. 1. ]] SLAMing on 47.51483917299999 meters Centerline goodness : 0.728743 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.99816861 -0.0534289 0.02836849 -4.60558766] [ 0.05324173 0.99855487 0.00731332 2.30260501] [-0.02871824 -0.00578954 0.99957078 1.79975427] [ 0. 0. 0. 1. ]] SLAMing on 47.54483917299999 meters Centerline goodness : 0.731494 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.99810786 -0.05433714 0.02877806 -4.60800999] [ 0.05414592 0.99850574 0.00738345 2.30070264] [-0.02913626 -0.00581127 0.99955856 1.80129057] [ 0. 0. 0. 1. ]] SLAMing on 47.574839172999994 meters Centerline goodness : 0.731701 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.81 [[ 9.97478356e-01 -6.21671193e-02 3.42370936e-02 -4.62162427e+00] [ 6.19965629e-02 9.98058196e-01 6.02192725e-03 2.29199238e+00] [-3.45449777e-02 -3.88415997e-03 9.99395596e-01 1.80675219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604839172999995 meters Centerline goodness : 0.733602 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.81 [[ 9.97216969e-01 -6.61621797e-02 3.43639866e-02 -4.62227013e+00] [ 6.61036292e-02 9.97808726e-01 2.83842194e-03 2.28844975e+00] [-3.44764818e-02 -5.58938296e-04 9.99405353e-01 1.80774979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634839172999996 meters Centerline goodness : 0.732275 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.28, Z:1.81 [[ 0.99751091 -0.06208082 0.03343575 -4.62043737] [ 0.06182071 0.99804884 0.0087589 2.28424916] [-0.03391427 -0.00667008 0.99940249 1.80558559] [ 0. 0. 0. 1. ]] SLAMing on 47.664839173 meters Centerline goodness : 0.728988 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.80 [[ 0.99780718 -0.05755188 0.03268962 -4.61795371] [ 0.05714041 0.99827641 0.01338565 2.28535551] [-0.03340364 -0.0114884 0.99937591 1.80320672] [ 0. 0. 0. 1. ]] SLAMing on 47.694839173 meters Centerline goodness : 0.728753 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99791091 -0.05620401 0.03185779 -4.61441592] [ 0.05579094 0.99834833 0.01371068 2.28662969] [-0.03257576 -0.01190466 0.99939837 1.80156708] [ 0. 0. 0. 1. ]] SLAMing on 47.72483917299999 meters Centerline goodness : 0.728028 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.29, Z:1.80 [[ 0.99787949 -0.0566091 0.03212377 -4.61552822] [ 0.0562008 0.99832855 0.01347465 2.28505831] [-0.03283287 -0.0116407 0.99939306 1.80247319] [ 0. 0. 0. 1. ]] SLAMing on 47.75483917299999 meters Centerline goodness : 0.726680 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99768456 -0.06000805 0.03200874 -4.61434217] [ 0.05974487 0.99817204 0.00911712 2.28528037] [-0.03249733 -0.00718365 0.99944601 1.80295928] [ 0. 0. 0. 1. ]] SLAMing on 47.784839172999995 meters Centerline goodness : 0.725380 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99770114 -0.0598305 0.03182357 -4.613585 ] [ 0.05956686 0.9981822 0.00916972 2.28529172] [-0.03231435 -0.00725301 0.99945144 1.80254687] [ 0. 0. 0. 1. ]] SLAMing on 47.814839172999996 meters Centerline goodness : 0.722542 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99772659 -0.05967409 0.03131554 -4.6120626 ] [ 0.05939902 0.99818775 0.00964248 2.28553485] [-0.0318342 -0.00776045 0.99946304 1.80144103] [ 0. 0. 0. 1. ]] SLAMing on 47.844839173 meters Centerline goodness : 0.719640 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99769805 -0.06024531 0.03113027 -4.61176481] [ 0.0599756 0.99815438 0.00952713 2.28913859] [-0.03164678 -0.00763814 0.99946993 1.80057501] [ 0. 0. 0. 1. ]] SLAMing on 47.874839173 meters Centerline goodness : 0.719371 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99770542 -0.06020671 0.03096848 -4.61128384] [ 0.05994509 0.99815827 0.00930888 2.29041047] [-0.0314719 -0.00743111 0.99947701 1.80048615] [ 0. 0. 0. 1. ]] SLAMing on 47.90483917299999 meters Centerline goodness : 0.721538 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.29, Z:1.80 [[ 0.99783867 -0.05779766 0.03126364 -4.61395476] [ 0.05745941 0.99828031 0.01161237 2.29302617] [-0.03188104 -0.00979088 0.99944371 1.80268426] [ 0. 0. 0. 1. ]] SLAMing on 47.93483917299999 meters Centerline goodness : 0.720431 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.99786734 -0.05755194 0.03079858 -4.61272797] [ 0.05725065 0.9983038 0.01057716 2.29783315] [-0.03135508 -0.00879137 0.99946964 1.80295454] [ 0. 0. 0. 1. ]] SLAMing on 47.964839172999994 meters Centerline goodness : 0.717538 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.9980045 -0.05494002 0.03112253 -4.613442 ] [ 0.05455676 0.99842561 0.01303344 2.30286426] [-0.03178959 -0.01130949 0.9994306 1.80191762] [ 0. 0. 0. 1. ]] SLAMing on 47.994839172999995 meters Centerline goodness : 0.718531 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.30, Z:1.80 [[ 0.9980195 -0.05474487 0.03098511 -4.61231583] [ 0.05438116 0.99844248 0.01246236 2.30497524] [-0.0316191 -0.01075267 0.99944215 1.80119984] [ 0. 0. 0. 1. ]] SLAMing on 48.024839173 meters Centerline goodness : 0.718909 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99811739 -0.05330459 0.03033625 -4.6090915 ] [ 0.05298449 0.99853185 0.01126017 2.30982848] [-0.03089193 -0.00963162 0.99947632 1.80107753] [ 0. 0. 0. 1. ]] SLAMing on 48.054839173 meters Centerline goodness : 0.719754 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.31, Z:1.80 [[ 0.99816939 -0.05266507 0.02973667 -4.60748838] [ 0.05237707 0.9985734 0.0103827 2.31328215] [-0.03024105 -0.00880618 0.99950384 1.80184219] [ 0. 0. 0. 1. ]] SLAMing on 48.08483917299999 meters Centerline goodness : 0.720529 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99835022 -0.04916048 0.02966618 -4.60750331] [ 0.04877787 0.9987186 0.01348638 2.31724985] [-0.03029116 -0.01201708 0.99946888 1.80142111] [ 0. 0. 0. 1. ]] SLAMing on 48.11483917299999 meters Centerline goodness : 0.718216 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.32, Z:1.80 [[ 0.99839069 -0.04869727 0.02906224 -4.60547046] [ 0.04832308 0.9987413 0.01344232 2.318928 ] [-0.02968027 -0.01201631 0.99948721 1.80061009] [ 0. 0. 0. 1. ]] SLAMing on 48.144839172999994 meters Centerline goodness : 0.723301 Centerline is valid? [False, False] Translation: X:-5.94, Y:2.11, Z:1.94 [[ 0.36127031 0.31335211 0.87823358 -5.9443416 ] [-0.86410309 0.46647287 0.18902093 2.10963638] [-0.35044203 -0.827172 0.43929133 1.93756266] [ 0. 0. 0. 1. ]] SLAMing on 48.174839172999995 meters Centerline goodness : 0.715295 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.19, Z:2.16 [[ 0.80460378 0.57844383 -0.13422182 -4.3134091 ] [-0.55494459 0.65204584 -0.51659726 2.18505693] [-0.21130371 0.49014178 0.84564282 2.15776302] [ 0. 0. 0. 1. ]] SLAMing on 48.204839172999996 meters Centerline goodness : 0.715313 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.21, Z:2.15 [[ 0.80813884 0.57652891 -0.12052399 -4.32538091] [-0.5478795 0.66071291 -0.51311451 2.20780143] [-0.21619359 0.48070039 0.84981614 2.15177966] [ 0. 0. 0. 1. ]] SLAMing on 48.234839173 meters Centerline goodness : 0.709140 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.22, Z:2.14 [[ 0.80777399 0.57834153 -0.11411509 -4.3257382 ] [-0.54691927 0.66302969 -0.51114669 2.21815718] [-0.21995567 0.47530275 0.85188427 2.14356865] [ 0. 0. 0. 1. ]] SLAMing on 48.26483917299999 meters Centerline goodness : 0.704885 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.13 [[ 0.811465 0.57432848 -0.10803402 -4.32551459] [-0.54128336 0.66894945 -0.50943004 2.23149761] [-0.22031088 0.47186166 0.85370351 2.1337723 ] [ 0. 0. 0. 1. ]] SLAMing on 48.29483917299999 meters Centerline goodness : 0.701758 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.23, Z:2.13 [[ 0.81191399 0.57351005 -0.10900412 -4.32087378] [-0.54117425 0.66940291 -0.50895007 2.23096855] [-0.21892031 0.4722139 0.85386646 2.12866858] [ 0. 0. 0. 1. ]] SLAMing on 48.324839172999994 meters Centerline goodness : 0.700079 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.23, Z:2.12 [[ 0.81352609 0.57156682 -0.10717591 -4.32095314] [-0.53938816 0.67276871 -0.50640169 2.23004004] [-0.2173378 0.4697804 0.85561127 2.12267867] [ 0. 0. 0. 1. ]] SLAMing on 48.354839172999995 meters Centerline goodness : 0.702179 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.23, Z:2.12 [[ 0.81202662 0.57431676 -0.10379319 -4.32281215] [-0.54116382 0.67436024 -0.50237435 2.22869709] [-0.21852801 0.46411047 0.85839792 2.12216145] [ 0. 0. 0. 1. ]] SLAMing on 48.384839172999996 meters Centerline goodness : 0.703392 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.24, Z:2.12 [[ 0.81078765 0.57787369 -0.09319543 -4.33201022] [-0.54071717 0.67845029 -0.49732299 2.23758283] [-0.22416141 0.4536157 0.86254534 2.11860053] [ 0. 0. 0. 1. ]] SLAMing on 48.414839173 meters Centerline goodness : 0.696763 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.24, Z:2.11 [[ 0.81156391 0.57646071 -0.09516865 -4.32222523] [-0.54069044 0.67928493 -0.49621149 2.2387893 ] [-0.2213998 0.45416411 0.86296992 2.11132413] [ 0. 0. 0. 1. ]] SLAMing on 48.444839173 meters Centerline goodness : 0.698633 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.24, Z:2.11 [[ 0.811339 0.5769993 -0.09381278 -4.32032563] [-0.54138406 0.68111376 -0.49293746 2.23722157] [-0.22052739 0.45072814 0.86499238 2.10820352] [ 0. 0. 0. 1. ]] SLAMing on 48.47483917299999 meters Centerline goodness : 0.701354 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.24, Z:2.11 [[ 0.80925019 0.58045144 -0.09049998 -4.32266513] [-0.54378749 0.68185277 -0.48925655 2.23576194] [-0.222282 0.44514371 0.86743172 2.10779241] [ 0. 0. 0. 1. ]] SLAMing on 48.50483917299999 meters Centerline goodness : 0.702906 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.11 [[ 0.80795629 0.58289958 -0.08622475 -4.32636651] [-0.54514263 0.6838967 -0.48487609 2.23375533] [-0.22366525 0.43876348 0.87032205 2.1053046 ] [ 0. 0. 0. 1. ]] SLAMing on 48.534839172999995 meters Centerline goodness : 0.700590 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.24, Z:2.10 [[ 0.81152179 0.57890154 -0.07940651 -4.33358104] [-0.53952623 0.69017442 -0.48225586 2.24247993] [-0.22437432 0.43420303 0.87242415 2.09736887] [ 0. 0. 0. 1. ]] SLAMing on 48.564839172999996 meters Centerline goodness : 0.700590 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.24, Z:2.10 [[ 0.81152179 0.57890154 -0.07940651 -4.33358104] [-0.53952623 0.69017442 -0.48225586 2.24247993] [-0.22437432 0.43420303 0.87242415 2.09736887] [ 0. 0. 0. 1. ]] SLAMing on 48.594839173 meters Centerline goodness : 0.698423 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.24, Z:2.09 [[ 0.81520426 0.57349069 -0.08093477 -4.32833212] [-0.53684446 0.69576934 -0.47718241 2.23631282] [-0.21734773 0.43245052 0.87506943 2.08913038] [ 0. 0. 0. 1. ]] SLAMing on 48.624839173 meters Centerline goodness : 0.690730 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.08 [[ 0.8183865 0.56899797 -0.08052855 -4.32688949] [-0.53382689 0.70083932 -0.47313117 2.23219365] [-0.2127731 0.43019247 0.87730385 2.08014347] [ 0. 0. 0. 1. ]] SLAMing on 48.65483917299999 meters Centerline goodness : 0.691628 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.07 [[ 0.81925518 0.56822507 -0.07707937 -4.33320789] [-0.53150688 0.7020187 -0.47399386 2.23395293] [-0.21522404 0.42929014 0.87714799 2.07367593] [ 0. 0. 0. 1. ]] SLAMing on 48.68483917299999 meters Centerline goodness : 0.692450 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.24, Z:2.07 [[ 0.81939999 0.56852901 -0.07320124 -4.34036777] [-0.52997234 0.70271135 -0.47468524 2.2351586 ] [-0.21843298 0.42775171 0.87710632 2.0677091 ] [ 0. 0. 0. 1. ]] SLAMing on 48.714839172999994 meters Centerline goodness : 0.694344 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.24, Z:2.06 [[ 0.81624985 0.57326462 -0.07144136 -4.33842395] [-0.5336392 0.7008399 -0.47334199 2.23521632] [-0.22128126 0.42448924 0.87797693 2.06130179] [ 0. 0. 0. 1. ]] SLAMing on 48.744839172999995 meters Centerline goodness : 0.692022 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.06 [[ 0.81440997 0.57603931 -0.07010784 -4.33368291] [-0.53643642 0.70127531 -0.46951986 2.23383812] [-0.221297 0.41999006 0.88013407 2.05507202] [ 0. 0. 0. 1. ]] SLAMing on 48.774839173 meters Centerline goodness : 0.686668 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.05 [[ 0.81204106 0.57954664 -0.06866591 -4.32552845] [-0.54034424 0.70217727 -0.46365417 2.23278929] [-0.22049358 0.41360945 0.88335146 2.04546414] [ 0. 0. 0. 1. ]] SLAMing on 48.804839173 meters Centerline goodness : 0.690532 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.23, Z:2.04 [[ 0.80890769 0.58479899 -0.06065057 -4.32975754] [-0.5433042 0.70408864 -0.45725238 2.2339023 ] [-0.22469735 0.40282668 0.88726646 2.03848679] [ 0. 0. 0. 1. ]] SLAMing on 48.83483917299999 meters Centerline goodness : 0.693596 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.24, Z:2.03 [[ 0.80287924 0.59378596 -0.05294496 -4.33335035] [-0.54937157 0.70248239 -0.45244819 2.23612861] [-0.23146448 0.39234771 0.89021765 2.03186699] [ 0. 0. 0. 1. ]] SLAMing on 48.86483917299999 meters Centerline goodness : 0.695874 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.25, Z:2.02 [[ 0.8023388 0.59534127 -0.04267592 -4.34343748] [-0.54717855 0.70509859 -0.45103394 2.24798471] [-0.23842839 0.38523338 0.89148592 2.02362779] [ 0. 0. 0. 1. ]] SLAMing on 48.894839172999994 meters Centerline goodness : 0.696336 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.25, Z:2.02 [[ 0.79884506 0.60027715 -0.03890904 -4.34603593] [-0.55093088 0.70413969 -0.44795364 2.24625761] [-0.24149893 0.37928175 0.89320973 2.01973036] [ 0. 0. 0. 1. ]] SLAMing on 48.924839172999995 meters Centerline goodness : 0.702529 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.24, Z:2.02 [[ 0.79647231 0.60362219 -0.0356667 -4.34788328] [-0.55373415 0.70440711 -0.44405982 2.2430309 ] [-0.24292048 0.37343121 0.89528697 2.01674809] [ 0. 0. 0. 1. ]] SLAMing on 48.954839172999996 meters Centerline goodness : 0.704431 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.24, Z:2.01 [[ 0.79512111 0.60556971 -0.0326763 -4.34995123] [-0.555603 0.70579939 -0.43949121 2.23819347] [-0.24307965 0.36760379 0.89765235 2.01370703] [ 0. 0. 0. 1. ]] SLAMing on 48.984839173 meters Centerline goodness : 0.701421 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.24, Z:2.01 [[ 0.79703618 0.60291514 -0.03502361 -4.34804493] [-0.55371925 0.70638732 -0.4409217 2.23580286] [-0.24109814 0.37082379 0.89686198 2.00891669] [ 0. 0. 0. 1. ]] SLAMing on 49.01483917299999 meters Centerline goodness : 0.693483 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.23, Z:2.00 [[ 0.80490054 0.59192151 -0.04200066 -4.34703539] [-0.54541703 0.71006335 -0.4453429 2.22796176] [-0.23378491 0.38136462 0.89437444 2.0011881 ] [ 0. 0. 0. 1. ]] SLAMing on 49.04483917299999 meters Centerline goodness : 0.690572 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.22, Z:2.00 [[ 0.80797571 0.58754134 -0.04438961 -4.34621505] [-0.54241273 0.71225681 -0.44550946 2.2219076 ] [-0.23013842 0.38403831 0.89417609 1.99554296] [ 0. 0. 0. 1. ]] SLAMing on 49.074839172999994 meters Centerline goodness : 0.685832 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.22, Z:1.99 [[ 0.81160129 0.58235374 -0.04655605 -4.34104158] [-0.53944614 0.71643525 -0.44240072 2.21549171] [-0.22427932 0.38416748 0.89560825 1.98840428] [ 0. 0. 0. 1. ]] SLAMing on 49.104839172999995 meters Centerline goodness : 0.685816 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.21, Z:1.99 [[ 0.81210283 0.5815995 -0.0472336 -4.33685011] [-0.53958175 0.71768143 -0.44021006 2.21335659] [-0.22212728 0.38298222 0.8966516 1.98654565] [ 0. 0. 0. 1. ]] SLAMing on 49.134839172999996 meters Centerline goodness : 0.688625 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.21, Z:1.98 [[ 0.81245378 0.58112745 -0.04700785 -4.33416384] [-0.53988332 0.71944688 -0.43694643 2.20943299] [-0.22010191 0.38037753 0.89825836 1.98338149] [ 0. 0. 0. 1. ]] SLAMing on 49.164839173 meters Centerline goodness : 0.693722 Centerline is valid? [False, False] Translation: X:-4.34, Y:2.21, Z:1.98 [[ 0.81370784 0.57924917 -0.04847629 -4.33503489] [-0.53835346 0.71954807 -0.43866402 2.20502477] [-0.21921475 0.38304173 0.89734271 1.97532019] [ 0. 0. 0. 1. ]] SLAMing on 49.194839173 meters Centerline goodness : 0.701270 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.20, Z:1.97 [[ 0.81418681 0.5785765 -0.04846715 -4.3340812 ] [-0.53813808 0.72066598 -0.43709032 2.20169899] [-0.21796156 0.38195519 0.89811079 1.97241842] [ 0. 0. 0. 1. ]] SLAMing on 49.22483917299999 meters Centerline goodness : 0.702421 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.20, Z:1.97 [[ 0.81521745 0.57707063 -0.04909183 -4.33166179] [-0.53735272 0.72203527 -0.43579481 2.19905745] [-0.21603835 0.38164716 0.89870622 1.96981837] [ 0. 0. 0. 1. ]] SLAMing on 49.25483917299999 meters Centerline goodness : 0.706262 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.20, Z:1.96 [[ 0.82171885 0.56818289 -0.04411726 -4.32358 ] [-0.52738044 0.72880013 -0.4367153 2.19756577] [-0.2159815 0.38212377 0.89851734 1.96110748] [ 0. 0. 0. 1. ]] SLAMing on 49.284839172999995 meters Centerline goodness : 0.710338 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.19, Z:1.96 [[ 0.82273091 0.56668345 -0.04453902 -4.32117488] [-0.52667761 0.73047913 -0.43475388 2.19464208] [-0.213833 0.38114316 0.89944724 1.95963478] [ 0. 0. 0. 1. ]] SLAMing on 49.314839172999996 meters Centerline goodness : 0.710190 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.19, Z:1.96 [[ 0.82448819 0.56402611 -0.04575778 -4.31483528] [-0.52567403 0.73346595 -0.43092286 2.19073613] [-0.20948997 0.37934449 0.90122789 1.95770015] [ 0. 0. 0. 1. ]] SLAMing on 49.344839173 meters Centerline goodness : 0.712389 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.19, Z:1.96 [[ 0.82464736 0.56380225 -0.04564817 -4.31215986] [-0.52596852 0.73460709 -0.42861351 2.18914823] [-0.2081198 0.3774645 0.90233403 1.95676023] [ 0. 0. 0. 1. ]] SLAMing on 49.374839173 meters Centerline goodness : 0.721529 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.19, Z:1.95 [[ 0.82378207 0.5651386 -0.04473763 -4.31278727] [-0.52714016 0.73457256 -0.42723109 2.1865276 ] [-0.20858174 0.37552831 0.90303496 1.95347317] [ 0. 0. 0. 1. ]] SLAMing on 49.40483917299999 meters Centerline goodness : 0.727992 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.18, Z:1.95 [[ 0.82221209 0.56759803 -0.04242341 -4.31270228] [-0.52931825 0.73509865 -0.42361795 2.18424763] [-0.20925933 0.37075928 0.904847 1.95122755] [ 0. 0. 0. 1. ]] SLAMing on 49.43483917299999 meters Centerline goodness : 0.731435 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.19, Z:1.94 [[ 0.82348505 0.56657372 -0.02943797 -4.30581118] [-0.52454459 0.74057556 -0.42000096 2.18503311] [-0.21616047 0.36130604 0.90704608 1.9419318 ] [ 0. 0. 0. 1. ]] SLAMing on 49.464839172999994 meters Centerline goodness : 0.734843 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.19, Z:1.93 [[ 0.82536823 0.56427539 -0.01898859 -4.29881292] [-0.51913655 0.74526286 -0.41842622 2.18741159] [-0.22195613 0.35521338 0.90805227 1.93337602] [ 0. 0. 0. 1. ]] SLAMing on 49.494839172999995 meters Centerline goodness : 0.738556 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.19, Z:1.92 [[ 0.8274696 0.56143035 -0.00948762 -4.29253604] [-0.51328776 0.74944755 -0.41816749 2.18880932] [-0.22766145 0.35089076 0.90832039 1.92259996] [ 0. 0. 0. 1. ]] SLAMing on 49.524839173 meters Centerline goodness : 0.737116 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.19, Z:1.92 [[ 0.82661082 0.56270702 -0.00868119 -4.29331823] [-0.51441309 0.7492316 -0.41717045 2.18652516] [-0.22824052 0.34930332 0.9087868 1.91885078] [ 0. 0. 0. 1. ]] SLAMing on 49.554839173 meters Centerline goodness : 0.744169 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.19, Z:1.91 [[ 8.27738179e-01 5.61104800e-01 3.30323132e-03 -4.29146766e+00] [-5.08301987e-01 7.52311143e-01 -4.19114584e-01 2.18855399e+00] [-2.37652262e-01 3.45238103e-01 9.07927340e-01 1.90904497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58483917299999 meters Centerline goodness : 0.745256 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.19, Z:1.91 [[ 8.27143484e-01 5.61979336e-01 3.58920320e-03 -4.28886037e+00] [-5.09619442e-01 7.52739704e-01 -4.16738482e-01 2.18698930e+00] [-2.36900151e-01 3.42873392e-01 9.09019337e-01 1.90666070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61483917299999 meters Centerline goodness : 0.744973 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.19, Z:1.90 [[ 8.27339846e-01 5.61698095e-01 2.00722199e-03 -4.27618829e+00] [-5.11316860e-01 7.54601624e-01 -4.11255952e-01 2.18701696e+00] [-2.32516338e-01 3.39222110e-01 9.11517698e-01 1.90041083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644839172999994 meters Centerline goodness : 0.742843 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.19, Z:1.90 [[ 8.27985646e-01 5.60749032e-01 5.40939401e-04 -4.27100126e+00] [-5.11065643e-01 7.55020891e-01 -4.10798446e-01 2.18686781e+00] [-2.30763251e-01 3.39858761e-01 9.11726025e-01 1.89670995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674839172999995 meters Centerline goodness : 0.743075 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.18, Z:1.89 [[ 8.28340882e-01 5.60224176e-01 5.05783885e-04 -4.26693753e+00] [-5.11381781e-01 7.56491161e-01 -4.07688358e-01 2.18326714e+00] [-2.28779495e-01 3.37446285e-01 9.13120993e-01 1.88953569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704839172999996 meters Centerline goodness : 0.744328 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.18, Z:1.89 [[ 8.28218584e-01 5.60403162e-01 1.50773628e-03 -4.26414585e+00] [-5.12355987e-01 7.58294263e-01 -4.03089509e-01 2.17905975e+00] [-2.27035943e-01 3.33073725e-01 9.15159316e-01 1.88633382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734839173 meters Centerline goodness : 0.747684 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.18, Z:1.88 [[ 0.83230558 0.55420225 0.01128222 -4.25675059] [-0.50407342 0.76517532 -0.40052057 2.1768574 ] [-0.23060228 0.32766844 0.91621831 1.8778821 ] [ 0. 0. 0. 1. ]] SLAMing on 49.76483917299999 meters Centerline goodness : 0.747595 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.17, Z:1.88 [[ 0.83342634 0.55252185 0.01096074 -4.25296345] [-0.50344668 0.76728196 -0.39726545 2.1733583 ] [-0.22790782 0.32557334 0.91763829 1.87603498] [ 0. 0. 0. 1. ]] SLAMing on 49.79483917299999 meters Centerline goodness : 0.745737 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.17, Z:1.87 [[ 0.83532567 0.54967672 0.00930166 -4.24553141] [-0.50235747 0.7700704 -0.39322838 2.16884242] [-0.22331142 0.323801 0.91939378 1.87020354] [ 0. 0. 0. 1. ]] SLAMing on 49.824839172999994 meters Centerline goodness : 0.742343 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.17, Z:1.86 [[ 0.83462908 0.55076805 0.00698979 -4.2409596 ] [-0.50347665 0.76798798 -0.39586073 2.16947919] [-0.22339552 0.32687768 0.91828396 1.86118174] [ 0. 0. 0. 1. ]] SLAMing on 49.854839172999995 meters Centerline goodness : 0.744082 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.17, Z:1.86 [[ 0.83320571 0.55291511 0.00728929 -4.23928122] [-0.50559489 0.76710313 -0.39487541 2.16886707] [-0.22392422 0.32532702 0.91870576 1.85718282] [ 0. 0. 0. 1. ]] SLAMing on 49.884839172999996 meters Centerline goodness : 0.747217 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.17, Z:1.85 [[ 0.83053746 0.55687272 0.01001503 -4.23931098] [-0.50941938 0.76678785 -0.3905487 2.1665732 ] [-0.22516532 0.31926347 0.92052779 1.85455268] [ 0. 0. 0. 1. ]] SLAMing on 49.914839173 meters Centerline goodness : 0.747721 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.17, Z:1.85 [[ 0.83063676 0.55621228 0.02589365 -4.23540409] [-0.50564506 0.77296072 -0.38321638 2.16611236] [-0.23316443 0.30522062 0.92329558 1.84798783] [ 0. 0. 0. 1. ]] SLAMing on 49.944839173 meters Centerline goodness : 0.750960 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.16, Z:1.84 [[ 0.83185541 0.55370785 0.03773861 -4.22924525] [-0.50111843 0.77859251 -0.37772214 2.1647983 ] [-0.23853071 0.29529869 0.9251496 1.83943624] [ 0. 0. 0. 1. ]] SLAMing on 49.97483917299999 meters Centerline goodness : 0.751490 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.16, Z:1.84 [[ 0.83056884 0.55554532 0.03904874 -4.2291428 ] [-0.50314975 0.7785938 -0.37500937 2.16184313] [-0.23873781 0.29182374 0.92619823 1.83634114] [ 0. 0. 0. 1. ]] SLAMing on 50.00483917299999 meters Centerline goodness : 0.753222 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.16, Z:1.83 [[ 0.82843028 0.55862401 0.04052755 -4.23184673] [-0.50577708 0.77721649 -0.3743315 2.15866097] [-0.24060924 0.28960965 0.9264089 1.83082636] [ 0. 0. 0. 1. ]] SLAMing on 50.034839172999995 meters Centerline goodness : 0.752939 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.16, Z:1.83 [[ 0.82800248 0.55924808 0.04066299 -4.23184214] [-0.50649061 0.77706242 -0.37368605 2.15611698] [-0.24058089 0.28881755 0.92666351 1.82716584] [ 0. 0. 0. 1. ]] SLAMing on 50.064839172999996 meters Centerline goodness : 0.754312 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.15, Z:1.82 [[ 0.82715128 0.56040883 0.04198451 -4.23318611] [-0.50787004 0.77740632 -0.37108954 2.15097025] [-0.24060088 0.28562451 0.92764748 1.82287759] [ 0. 0. 0. 1. ]] SLAMing on 50.094839173 meters Centerline goodness : 0.754577 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.15, Z:1.82 [[ 0.82626019 0.56156992 0.0439696 -4.23223022] [-0.50954406 0.7784198 -0.36664352 2.14720324] [-0.24012278 0.28053849 0.92932191 1.81995732] [ 0. 0. 0. 1. ]] SLAMing on 50.124839173 meters Centerline goodness : 0.756334 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.14, Z:1.82 [[ 0.82543831 0.56272032 0.04469275 -4.23243665] [-0.51063348 0.77808878 -0.3658296 2.14483911] [-0.24063468 0.27914815 0.92960812 1.8150877 ] [ 0. 0. 0. 1. ]] SLAMing on 50.15483917299999 meters Centerline goodness : 0.762752 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.15, Z:1.80 [[ 0.82627085 0.5605614 0.05520322 -4.23804581] [-0.50285281 0.77824811 -0.37612356 2.14686664] [-0.25380216 0.28302084 0.9249236 1.80181436] [ 0. 0. 0. 1. ]] SLAMing on 50.18483917299999 meters Centerline goodness : 0.765060 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.15, Z:1.80 [[ 0.82741208 0.55741248 0.06841469 -4.23713685] [-0.49671801 0.78321638 -0.37395631 2.14518714] [-0.26203142 0.27543316 0.92491952 1.79609054] [ 0. 0. 0. 1. ]] SLAMing on 50.214839172999994 meters Centerline goodness : 0.766241 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.14, Z:1.79 [[ 0.82766751 0.55614301 0.07530896 -4.2317116 ] [-0.49635188 0.78800868 -0.36424872 2.14194851] [-0.26191849 0.26409709 0.92825182 1.79283205] [ 0. 0. 0. 1. ]] SLAMing on 50.244839172999995 meters Centerline goodness : 0.766341 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.14, Z:1.79 [[ 0.83098983 0.55086873 0.0774567 -4.22956601] [-0.49274072 0.79351762 -0.35712236 2.13537393] [-0.25819079 0.25859898 0.93084052 1.78657082] [ 0. 0. 0. 1. ]] SLAMing on 50.274839173 meters Centerline goodness : 0.768853 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.13, Z:1.78 [[ 0.83346611 0.547626 0.07375636 -4.22865905] [-0.4892516 0.79339816 -0.36214946 2.13267342] [-0.25684062 0.26575388 0.92919738 1.77937129] [ 0. 0. 0. 1. ]] SLAMing on 50.304839173 meters Centerline goodness : 0.773812 Centerline is valid? [False, False] Translation: X:-4.23, Y:2.13, Z:1.77 [[ 0.83535865 0.54502024 0.07161602 -4.2291534 ] [-0.48644804 0.7936056 -0.36545649 2.1292667 ] [-0.25601606 0.27044977 0.92806934 1.77270431] [ 0. 0. 0. 1. ]] SLAMing on 50.33483917299999 meters Centerline goodness : 0.774321 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.14, Z:1.78 [[ 0.83963857 0.53762049 0.07727402 -4.26864858] [-0.48410254 0.80526191 -0.34234193 2.14003207] [-0.24627586 0.25003493 0.9363924 1.77609407] [ 0. 0. 0. 1. ]] SLAMing on 50.36483917299999 meters Centerline goodness : 0.775790 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.16, Z:1.78 [[ 0.84293821 0.5309935 0.08660874 -4.31559004] [-0.48249395 0.81731681 -0.31494891 2.15508303] [-0.23802261 0.22369427 0.94514872 1.780991 ] [ 0. 0. 0. 1. ]] SLAMing on 50.394839172999994 meters Centerline goodness : 0.779519 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.17, Z:1.79 [[ 0.84586667 0.52506785 0.09387934 -4.35903114] [-0.48101931 0.82695916 -0.29113395 2.16831605] [-0.23049946 0.20110273 0.95206496 1.78747459] [ 0. 0. 0. 1. ]] SLAMing on 50.424839172999995 meters Centerline goodness : 0.783030 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.19, Z:1.80 [[ 0.85123267 0.51380089 0.10682506 -4.4165524 ] [-0.47429235 0.84034119 -0.26243752 2.18800574] [-0.22461012 0.17272908 0.9590177 1.79608108] [ 0. 0. 0. 1. ]] SLAMing on 50.454839172999996 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-4.46, Y:2.20, Z:1.80 [[ 0.85473752 0.5067432 0.11240597 -4.45998306] [-0.47192777 0.8488502 -0.23819638 2.20235681] [-0.21612022 0.15054788 0.96469031 1.8045603 ] [ 0. 0. 0. 1. ]] SLAMing on 50.484839173 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.21, Z:1.81 [[ 0.85706217 0.50180235 0.11678544 -4.49238065] [-0.47108077 0.85504008 -0.21677034 2.21379817] [-0.2086321 0.13077028 0.96921194 1.80969738] [ 0. 0. 0. 1. ]] SLAMing on 50.51483917299999 meters Centerline goodness : 0.787959 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.23, Z:1.82 [[ 0.86239981 0.49265487 0.11643771 -4.5336909 ] [-0.4658607 0.86235786 -0.19827439 2.2255241 ] [-0.19809182 0.11674804 0.9732058 1.82076157] [ 0. 0. 0. 1. ]] SLAMing on 50.54483917299999 meters Centerline goodness : 0.787558 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.24, Z:1.83 [[ 0.86561334 0.48686082 0.11696192 -4.57758287] [-0.46415247 0.86783088 -0.17729086 2.2417274 ] [-0.18781914 0.09917717 0.97718364 1.82829872] [ 0. 0. 0. 1. ]] SLAMing on 50.574839172999994 meters Centerline goodness : 0.788624 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.26, Z:1.84 [[ 0.8690422 0.48004122 0.11969163 -4.61481436] [-0.46122181 0.87363239 -0.15505126 2.25668868] [-0.17899748 0.07954169 0.98062889 1.83554221] [ 0. 0. 0. 1. ]] SLAMing on 50.604839172999995 meters Centerline goodness : 0.789075 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.27, Z:1.84 [[ 0.87100351 0.47468252 0.12660723 -4.6430635 ] [-0.45806265 0.87783435 -0.1399481 2.27264992] [-0.17757109 0.06390124 0.98203113 1.84315642] [ 0. 0. 0. 1. ]] SLAMing on 50.634839172999996 meters Centerline goodness : 0.792404 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.29, Z:1.85 [[ 0.87328233 0.46922976 0.13115412 -4.67117852] [-0.45498274 0.88169101 -0.12494666 2.28621896] [-0.1742661 0.04944085 0.98345662 1.85009321] [ 0. 0. 0. 1. ]] SLAMing on 50.664839173 meters Centerline goodness : 0.792474 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.30, Z:1.86 [[ 0.87555862 0.46360081 0.13590949 -4.69956757] [-0.4518399 0.88538137 -0.10927277 2.29934524] [-0.17099068 0.03426539 0.98467663 1.85627512] [ 0. 0. 0. 1. ]] SLAMing on 50.69483917299999 meters Centerline goodness : 0.790679 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.31, Z:1.87 [[ 0.88090459 0.45356836 0.13521405 -4.72999828] [-0.44422903 0.89092126 -0.09444512 2.31449158] [-0.16330239 0.02313114 0.98630486 1.86617701] [ 0. 0. 0. 1. ]] SLAMing on 50.72483917299999 meters Centerline goodness : 0.789391 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.33, Z:1.87 [[ 0.88568384 0.44494644 0.13261526 -4.7581987 ] [-0.43799794 0.89547527 -0.07925806 2.32663552] [-0.15401928 0.01211237 0.9879936 1.87246161] [ 0. 0. 0. 1. ]] SLAMing on 50.75483917299999 meters Centerline goodness : 0.788586 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.33, Z:1.87 [[ 0.88761985 0.44182155 0.13009507 -4.75683591] [-0.43416386 0.89692358 -0.08384411 2.32606358] [-0.15372947 0.01793912 0.98795012 1.86998941] [ 0. 0. 0. 1. ]] SLAMing on 50.784839172999995 meters Centerline goodness : 0.785371 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.34, Z:1.87 [[ 8.90347258e-01 4.36858474e-01 1.28204653e-01 -4.77861382e+00] [-4.31684091e-01 8.99519112e-01 -6.71878900e-02 2.33934981e+00] [-1.44674135e-01 4.47664437e-03 9.89469229e-01 1.87208750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.814839172999996 meters Centerline goodness : 0.784338 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.35, Z:1.88 [[ 0.8927956 0.43087692 0.13138148 -4.80164445] [-0.42749446 0.90237884 -0.05441439 2.35289092] [-0.14200177 -0.00758393 0.98983735 1.87608714] [ 0. 0. 0. 1. ]] SLAMing on 50.844839173 meters Centerline goodness : 0.785363 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.36, Z:1.88 [[ 0.89398939 0.42500038 0.14197764 -4.80120334] [-0.42064702 0.9051778 -0.06090347 2.36013478] [-0.154399 -0.00527542 0.98799449 1.87781754] [ 0. 0. 0. 1. ]] SLAMing on 50.874839173 meters Centerline goodness : 0.784198 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.37, Z:1.88 [[ 8.94637537e-01 4.20054476e-01 1.52242947e-01 -4.80134267e+00] [-4.14232249e-01 9.07498614e-01 -6.96987030e-02 2.36709662e+00] [-1.67437516e-01 -7.08862574e-04 9.85882435e-01 1.87698583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90483917299999 meters Centerline goodness : 0.787191 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.37, Z:1.87 [[ 8.95169973e-01 4.14933267e-01 1.62791595e-01 -4.80021994e+00] [-4.07750500e-01 9.09848495e-01 -7.69106340e-02 2.37293549e+00] [-1.80028469e-01 2.46973586e-03 9.83658300e-01 1.87302204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93483917299999 meters Centerline goodness : 0.788349 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.38, Z:1.87 [[ 0.89639002 0.40927324 0.17023613 -4.79901673] [-0.39914798 0.91230239 -0.09157097 2.38202014] [-0.19278437 0.0141339 0.98113935 1.8702742 ] [ 0. 0. 0. 1. ]] SLAMing on 50.964839172999994 meters Centerline goodness : 0.785008 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.38, Z:1.87 [[ 0.89677238 0.40863152 0.1697633 -4.79677398] [-0.3985385 0.91258751 -0.09138432 2.382291 ] [-0.19226638 0.01429372 0.98123867 1.86836217] [ 0. 0. 0. 1. ]] SLAMing on 50.994839172999995 meters Centerline goodness : 0.788003 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.39, Z:1.86 [[ 0.89594664 0.40669608 0.17854387 -4.79487423] [-0.39409127 0.91330497 -0.10279155 2.39324214] [-0.20486992 0.02173317 0.9785479 1.86450641] [ 0. 0. 0. 1. ]] SLAMing on 51.024839173 meters Centerline goodness : 0.786560 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.39, Z:1.86 [[ 0.89383928 0.41055311 0.1802706 -4.79474534] [-0.39841874 0.91165461 -0.10073919 2.39397273] [-0.20570331 0.01822146 0.97844475 1.86032727] [ 0. 0. 0. 1. ]] SLAMing on 51.054839173 meters Centerline goodness : 0.786828 Centerline is valid? [False, False] Translation: X:-4.80, Y:2.39, Z:1.86 [[ 0.89331016 0.41158193 0.18054714 -4.79576264] [-0.39935536 0.91118811 -0.10124982 2.39482939] [-0.206185 0.01834502 0.97834105 1.86091916] [ 0. 0. 0. 1. ]] SLAMing on 51.08483917299999 meters Centerline goodness : 0.789270 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.40, Z:1.86 [[ 0.89387914 0.41056095 0.18005495 -4.79055468] [-0.39897628 0.91169481 -0.09813511 2.39690982] [-0.20444561 0.01588327 0.97874906 1.86070506] [ 0. 0. 0. 1. ]] SLAMing on 51.11483917299999 meters Centerline goodness : 0.787841 Centerline is valid? [False, False] Translation: X:-4.79, Y:2.40, Z:1.86 [[ 0.89451646 0.40957347 0.17913644 -4.78767695] [-0.3979809 0.91212778 -0.09815356 2.39862802] [-0.20359642 0.0165071 0.97891573 1.86032142] [ 0. 0. 0. 1. ]] SLAMing on 51.144839172999994 meters Centerline goodness : 0.785852 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.40, Z:1.86 [[ 0.89494206 0.40900583 0.17830573 -4.78458273] [-0.39735639 0.9123687 -0.09844423 2.40081296] [-0.20294483 0.01725096 0.9790382 1.85878416] [ 0. 0. 0. 1. ]] SLAMing on 51.174839172999995 meters Centerline goodness : 0.783216 Centerline is valid? [False, False] Translation: X:-4.78, Y:2.40, Z:1.86 [[ 0.89424998 0.41060037 0.17811321 -4.779665 ] [-0.39954862 0.91170121 -0.09571727 2.40297034] [-0.20168757 0.01443028 0.9793436 1.85568289] [ 0. 0. 0. 1. ]] SLAMing on 51.204839172999996 meters Centerline goodness : 0.784926 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.41, Z:1.85 [[ 0.89475622 0.40496976 0.1881776 -4.77342949] [-0.39368327 0.91425792 -0.09563443 2.4106207 ] [-0.21077191 0.01148713 0.97746777 1.84871054] [ 0. 0. 0. 1. ]] SLAMing on 51.234839173 meters Centerline goodness : 0.782822 Centerline is valid? [False, False] Translation: X:-4.77, Y:2.41, Z:1.85 [[ 0.89495198 0.40492904 0.18733242 -4.77052667] [-0.39344235 0.91425913 -0.09660935 2.41447183] [-0.2103903 0.01275622 0.97753424 1.84761011] [ 0. 0. 0. 1. ]] SLAMing on 51.26483917299999 meters Centerline goodness : 0.781149 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.42, Z:1.84 [[ 0.89457039 0.406149 0.18651223 -4.76383172] [-0.39512556 0.91374129 -0.09461839 2.41822112] [-0.20885309 0.01094706 0.97788575 1.84296241] [ 0. 0. 0. 1. ]] SLAMing on 51.29483917299999 meters Centerline goodness : 0.779143 Centerline is valid? [False, False] Translation: X:-4.76, Y:2.42, Z:1.84 [[ 0.89468037 0.40600204 0.18630451 -4.76062404] [-0.39536705 0.91382424 -0.09279092 2.42072633] [-0.20792288 0.00935955 0.97810044 1.84276195] [ 0. 0. 0. 1. ]] SLAMing on 51.324839172999994 meters Centerline goodness : 0.777756 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.43, Z:1.83 [[ 0.89583556 0.39974182 0.19412656 -4.75261959] [-0.38914907 0.91660431 -0.09164894 2.42642056] [-0.21457316 0.00655821 0.9766859 1.83272321] [ 0. 0. 0. 1. ]] SLAMing on 51.354839172999995 meters Centerline goodness : 0.776152 Centerline is valid? [False, False] Translation: X:-4.75, Y:2.43, Z:1.83 [[ 0.89645279 0.39890386 0.19299769 -4.7489538 ] [-0.38835092 0.91696604 -0.09141575 2.42834473] [-0.21343842 0.00699907 0.97693145 1.83181399] [ 0. 0. 0. 1. ]] SLAMing on 51.384839172999996 meters Centerline goodness : 0.774445 Centerline is valid? [False, False] Translation: X:-4.74, Y:2.43, Z:1.83 [[ 0.89804843 0.39643819 0.1906457 -4.74222029] [-0.38588449 0.91802317 -0.09125031 2.4313676 ] [-0.21119227 0.00837998 0.97740861 1.8301884 ] [ 0. 0. 0. 1. ]] SLAMing on 51.414839173 meters Centerline goodness : 0.771450 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.44, Z:1.82 [[ 0.90016757 0.38802814 0.19781939 -4.73325667] [-0.37742059 0.92162336 -0.09035527 2.43756628] [-0.21737536 0.00667377 0.97606527 1.82169631] [ 0. 0. 0. 1. ]] SLAMing on 51.44483917299999 meters Centerline goodness : 0.771796 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.45, Z:1.82 [[ 0.89997189 0.38236419 0.20939967 -4.73168313] [-0.37101073 0.92399411 -0.09266025 2.44507898] [-0.22891402 0.0057021 0.97342994 1.8174603 ] [ 0. 0. 0. 1. ]] SLAMing on 51.47483917299999 meters Centerline goodness : 0.769970 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.45, Z:1.81 [[ 8.99657649e-01 3.76529226e-01 2.21001938e-01 -4.73028635e+00] [-3.64716888e-01 9.26397573e-01 -9.36436246e-02 2.45126139e+00] [-2.39995221e-01 3.64406387e-03 9.70767230e-01 1.81274966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50483917299999 meters Centerline goodness : 0.770147 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.45, Z:1.81 [[ 8.99448018e-01 3.76819972e-01 2.21359372e-01 -4.73085979e+00] [-3.65075886e-01 9.26281012e-01 -9.33974569e-02 2.45112429e+00] [-2.40235010e-01 3.19318880e-03 9.70709505e-01 1.81296178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534839172999995 meters Centerline goodness : 0.771864 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.45, Z:1.81 [[ 8.99164596e-01 3.77379503e-01 2.21557531e-01 -4.73107564e+00] [-3.65413635e-01 9.26050559e-01 -9.43569650e-02 2.45323736e+00] [-2.40781860e-01 3.88229952e-03 9.70571493e-01 1.81307706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564839172999996 meters Centerline goodness : 0.766927 Centerline is valid? [False, False] Translation: X:-4.73, Y:2.46, Z:1.81 [[ 8.97916597e-01 3.79982161e-01 2.22169623e-01 -4.72847799e+00] [-3.68576584e-01 9.24993176e-01 -9.24063068e-02 2.45605175e+00] [-2.40618134e-01 1.08663580e-03 9.70619252e-01 1.81013302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594839173 meters Centerline goodness : 0.762272 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.46, Z:1.80 [[ 8.96951451e-01 3.82622639e-01 2.21535576e-01 -4.72424373e+00] [-3.70750944e-01 9.23900687e-01 -9.46110874e-02 2.46017120e+00] [-2.40877214e-01 2.72702831e-03 9.70551766e-01 1.80222444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624839173 meters Centerline goodness : 0.760301 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.46, Z:1.80 [[ 8.96693897e-01 3.83402905e-01 2.21228995e-01 -4.72285610e+00] [-3.71282718e-01 9.23573839e-01 -9.57105362e-02 2.46324701e+00] [-2.41017010e-01 3.68455099e-03 9.70513897e-01 1.80127447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65483917299999 meters Centerline goodness : 0.755619 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.47, Z:1.80 [[ 8.96291738e-01 3.84688999e-01 2.20625235e-01 -4.71999540e+00] [-3.72382869e-01 9.23035534e-01 -9.66250620e-02 2.46678227e+00] [-2.40815530e-01 4.44718700e-03 9.70560716e-01 1.79941454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68483917299999 meters Centerline goodness : 0.749313 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.47, Z:1.80 [[ 0.89613821 0.38521668 0.22032798 -4.71897924] [-0.37272664 0.92281154 -0.09743571 2.46695489] [-0.24085506 0.00519375 0.9705472 1.79701942] [ 0. 0. 0. 1. ]] SLAMing on 51.714839172999994 meters Centerline goodness : 0.749343 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.47, Z:1.80 [[ 8.96195579e-01 3.84979129e-01 2.20509760e-01 -4.71885972e+00] [-3.72768326e-01 9.22916240e-01 -9.62776654e-02 2.46513799e+00] [-2.40576931e-01 4.08456385e-03 9.70621480e-01 1.79646957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744839172999995 meters Centerline goodness : 0.747547 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.46, Z:1.80 [[ 8.95938601e-01 3.85193435e-01 2.21178755e-01 -4.71736191e+00] [-3.74300026e-01 9.22834961e-01 -9.09677202e-02 2.46326875e+00] [-2.39151656e-01 -1.28572186e-03 9.70981376e-01 1.79807103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774839173 meters Centerline goodness : 0.744528 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.47, Z:1.79 [[ 0.8970129 0.37689386 0.23090878 -4.71152159] [-0.3669108 0.92622878 -0.086468 2.46779992] [-0.24646361 -0.00716002 0.9691256 1.7941088 ] [ 0. 0. 0. 1. ]] SLAMing on 51.804839173 meters Centerline goodness : 0.741461 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.47, Z:1.80 [[ 0.89714451 0.37669777 0.23071739 -4.71126132] [-0.36674429 0.92630845 -0.08632078 2.46805962] [-0.24623232 -0.00717207 0.9691843 1.79517028] [ 0. 0. 0. 1. ]] SLAMing on 51.83483917299999 meters Centerline goodness : 0.740112 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.47, Z:1.79 [[ 0.89625091 0.37880573 0.23073907 -4.71094805] [-0.36818597 0.92546269 -0.08920708 2.4665625 ] [-0.24733256 -0.00500296 0.96891773 1.78822756] [ 0. 0. 0. 1. ]] SLAMing on 51.86483917299999 meters Centerline goodness : 0.732531 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.47, Z:1.78 [[ 8.96978609e-01 3.78156209e-01 2.28969992e-01 -4.70804681e+00] [-3.66311440e-01 9.25741732e-01 -9.39051327e-02 2.46780471e+00] [-2.47477886e-01 3.56567824e-04 9.68893477e-01 1.78231327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894839172999994 meters Centerline goodness : 0.731037 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.46, Z:1.77 [[ 8.96056470e-01 3.80301463e-01 2.29027509e-01 -4.70741865e+00] [-3.67799979e-01 9.24859346e-01 -9.67386496e-02 2.46467201e+00] [-2.48608082e-01 2.44697985e-03 9.68601070e-01 1.77304623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924839172999995 meters Centerline goodness : 0.731213 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.46, Z:1.77 [[ 8.95732191e-01 3.80798406e-01 2.29469858e-01 -4.70885916e+00] [-3.68302362e-01 9.24655537e-01 -9.67755556e-02 2.46381598e+00] [-2.49032552e-01 2.17068983e-03 9.68492683e-01 1.77394563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954839172999996 meters Centerline goodness : 0.733723 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.46, Z:1.77 [[ 8.94835509e-01 3.81781140e-01 2.31327849e-01 -4.71335567e+00] [-3.69668859e-01 9.24252747e-01 -9.54033217e-02 2.45678920e+00] [-2.50228589e-01 -1.44422178e-04 9.68186776e-01 1.77191147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984839173 meters Centerline goodness : 0.733128 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.46, Z:1.77 [[ 0.89628621 0.37978789 0.22898076 -4.71052997] [-0.36667944 0.92506113 -0.09903582 2.45846895] [-0.24943381 0.0048019 0.96837994 1.77110317] [ 0. 0. 0. 1. ]] SLAMing on 52.01483917299999 meters Centerline goodness : 0.736652 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.46, Z:1.77 [[ 0.89950604 0.37462439 0.22482317 -4.70652393] [-0.35965992 0.92706632 -0.10579597 2.45854278] [-0.24805974 0.01430423 0.96863913 1.76843662] [ 0. 0. 0. 1. ]] SLAMing on 52.04483917299999 meters Centerline goodness : 0.733366 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.45, Z:1.76 [[ 0.90138416 0.37006787 0.22484742 -4.70931067] [-0.3557143 0.92891746 -0.10285763 2.44536564] [-0.246929 0.01273279 0.96894992 1.76273164] [ 0. 0. 0. 1. ]] SLAMing on 52.074839172999994 meters Centerline goodness : 0.734507 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.44, Z:1.76 [[ 0.90159308 0.36937864 0.22514294 -4.70980879] [-0.35548925 0.92921425 -0.10093696 2.44091969] [-0.24648998 0.01096817 0.96908327 1.76155801] [ 0. 0. 0. 1. ]] SLAMing on 52.104839172999995 meters Centerline goodness : 0.736311 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.44, Z:1.76 [[ 0.90315884 0.36694428 0.22283627 -4.70751031] [-0.35200468 0.93009985 -0.10491415 2.44151293] [-0.24575763 0.01631474 0.969194 1.76037911] [ 0. 0. 0. 1. ]] SLAMing on 52.134839172999996 meters Centerline goodness : 0.715364 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.44, Z:1.76 [[ 0.90462268 0.36475236 0.22048474 -4.70480847] [-0.34885601 0.93085982 -0.10862545 2.444308 ] [-0.24486177 0.02134761 0.96932295 1.76135015] [ 0. 0. 0. 1. ]] SLAMing on 52.164839173 meters Centerline goodness : 0.734319 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.44, Z:1.76 [[ 0.90546537 0.36326401 0.21948056 -4.70154067] [-0.34787646 0.93146943 -0.10652075 2.44056938] [-0.24313458 0.02009873 0.96978431 1.75771596] [ 0. 0. 0. 1. ]] SLAMing on 52.19483917299999 meters Centerline goodness : 0.734500 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.75 [[ 0.90990083 0.35580657 0.21326548 -4.69464114] [-0.33777184 0.93392456 -0.11702606 2.4411459 ] [-0.24081251 0.03444703 0.96996017 1.75088769] [ 0. 0. 0. 1. ]] SLAMing on 52.22483917299999 meters Centerline goodness : 0.737568 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.76 [[ 0.91518322 0.35204131 0.19623095 -4.69210061] [-0.33208939 0.93455046 -0.127797 2.44000194] [-0.22837754 0.05179145 0.97219409 1.75801318] [ 0. 0. 0. 1. ]] SLAMing on 52.25483917299999 meters Centerline goodness : 0.729842 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.43, Z:1.75 [[ 0.91793853 0.33891242 0.2062213 -4.7159195 ] [-0.32491773 0.94050608 -0.099382 2.43328716] [-0.22763418 0.02422161 0.97344542 1.74898481] [ 0. 0. 0. 1. ]] SLAMing on 52.284839172999995 meters Centerline goodness : 0.730781 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.43, Z:1.75 [[ 0.91999749 0.33417015 0.20478019 -4.7156618 ] [-0.31986427 0.94213011 -0.10038782 2.42633283] [-0.22647619 0.02685468 0.97364643 1.74642868] [ 0. 0. 0. 1. ]] SLAMing on 52.314839172999996 meters Centerline goodness : 0.734349 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.43, Z:1.75 [[ 0.91994615 0.33439559 0.2046428 -4.71550051] [-0.31992876 0.94202993 -0.10111972 2.42974028] [-0.22659363 0.02755358 0.97359957 1.74934472] [ 0. 0. 0. 1. ]] SLAMing on 52.344839173 meters Centerline goodness : 0.735048 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.43, Z:1.75 [[ 0.91612398 0.3421783 0.20888 -4.71531525] [-0.33071377 0.93955646 -0.08866823 2.43076686] [-0.2265949 0.0121516 0.97391329 1.75152945] [ 0. 0. 0. 1. ]] SLAMing on 52.374839173 meters Centerline goodness : 0.735048 Centerline is valid? [False, False] Translation: X:-4.72, Y:2.43, Z:1.75 [[ 0.91612398 0.3421783 0.20888 -4.71531525] [-0.33071377 0.93955646 -0.08866823 2.43076686] [-0.2265949 0.0121516 0.97391329 1.75152945] [ 0. 0. 0. 1. ]] SLAMing on 52.40483917299999 meters Centerline goodness : 0.736295 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.75 [[ 0.91443407 0.34590769 0.21013854 -4.71475786] [-0.33522376 0.93823532 -0.085671 2.43229529] [-0.22679365 0.00789705 0.97391082 1.7504993 ] [ 0. 0. 0. 1. ]] SLAMing on 52.43483917299999 meters Centerline goodness : 0.732252 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.74 [[ 0.9129288 0.34981763 0.21021093 -4.71319675] [-0.33876026 0.93677594 -0.08770594 2.43455578] [-0.22760162 0.00885817 0.97371404 1.74366418] [ 0. 0. 0. 1. ]] SLAMing on 52.464839172999994 meters Centerline goodness : 0.737375 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.74 [[ 0.91346733 0.34909532 0.20906912 -4.71389128] [-0.33674555 0.93697134 -0.0932048 2.43459061] [-0.22842913 0.01473645 0.97344901 1.74064008] [ 0. 0. 0. 1. ]] SLAMing on 52.494839172999995 meters Centerline goodness : 0.734649 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.74 [[ 0.91465134 0.34645298 0.20828646 -4.71496571] [-0.33386283 0.93792335 -0.09399677 2.42831892] [-0.2279222 0.01643517 0.97354063 1.74049435] [ 0. 0. 0. 1. ]] SLAMing on 52.524839173 meters Centerline goodness : 0.734934 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.74 [[ 0.91462966 0.3462609 0.20870069 -4.71273438] [-0.3351732 0.93808406 -0.0875056 2.4253737 ] [-0.22607856 0.01008434 0.97405687 1.74235988] [ 0. 0. 0. 1. ]] SLAMing on 52.554839173 meters Centerline goodness : 0.734294 Centerline is valid? [False, False] Translation: X:-4.71, Y:2.43, Z:1.75 [[ 9.14253071e-01 3.47067948e-01 2.09009956e-01 -4.70620691e+00] [-3.38500863e-01 9.37839739e-01 -7.66406581e-02 2.42986501e+00] [-2.22617358e-01 -6.81093403e-04 9.74905661e-01 1.74923928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58483917299999 meters Centerline goodness : 0.731382 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.43, Z:1.75 [[ 9.13841991e-01 3.48187327e-01 2.08945928e-01 -4.70285679e+00] [-3.40489966e-01 9.37414256e-01 -7.29458367e-02 2.43344229e+00] [-2.21267707e-01 -4.48302324e-03 9.75202802e-01 1.75146197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61483917299999 meters Centerline goodness : 0.730497 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.43, Z:1.76 [[ 0.91473074 0.35310804 0.19642401 -4.70498858] [-0.3428772 0.93552447 -0.08502471 2.43341365] [-0.21378238 0.0104254 0.97682568 1.75529764] [ 0. 0. 0. 1. ]] SLAMing on 52.644839172999994 meters Centerline goodness : 0.727991 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.43, Z:1.74 [[ 0.91672837 0.3495191 0.1935084 -4.70380376] [-0.33768053 0.93673263 -0.09221629 2.42558935] [-0.21349699 0.01919327 0.97675517 1.74432497] [ 0. 0. 0. 1. ]] SLAMing on 52.674839172999995 meters Centerline goodness : 0.723687 Centerline is valid? [False, False] Translation: X:-4.70, Y:2.43, Z:1.74 [[ 0.91835937 0.34674687 0.19074241 -4.69961997] [-0.33406434 0.93763764 -0.09610762 2.42591585] [-0.21217228 0.0245411 0.97692408 1.74031585] [ 0. 0. 0. 1. ]] SLAMing on 52.704839172999996 meters Centerline goodness : 0.718602 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.43, Z:1.74 [[ 0.91924386 0.3453043 0.18909169 -4.69444171] [-0.3328546 0.93817176 -0.09508717 2.42616257] [-0.21023449 0.02446826 0.97734475 1.7375257 ] [ 0. 0. 0. 1. ]] SLAMing on 52.734839173 meters Centerline goodness : 0.720031 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.43, Z:1.74 [[ 0.917989 0.34804648 0.19015741 -4.6900314 ] [-0.33754063 0.9373586 -0.08616952 2.42878256] [-0.20823668 0.01491682 0.97796471 1.74047324] [ 0. 0. 0. 1. ]] SLAMing on 52.76483917299999 meters Centerline goodness : 0.729483 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.74 [[ 9.14110299e-01 3.49378248e-01 2.05760059e-01 -4.69158132e+00] [-3.39960904e-01 9.36974139e-01 -8.06600614e-02 2.43677085e+00] [-2.20972725e-01 3.78181716e-03 9.75272656e-01 1.74052459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79483917299999 meters Centerline goodness : 0.731306 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.74 [[ 9.13755391e-01 3.50273452e-01 2.05814465e-01 -4.69161631e+00] [-3.41014038e-01 9.36642774e-01 -8.00608526e-02 2.43887005e+00] [-2.20817822e-01 2.97041408e-03 9.75310549e-01 1.74356528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824839172999994 meters Centerline goodness : 0.729168 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.74 [[ 0.91520425 0.3477944 0.20356876 -4.68948891] [-0.33758801 0.93753506 -0.08403778 2.44040604] [-0.22008072 0.00818936 0.97544729 1.74329171] [ 0. 0. 0. 1. ]] SLAMing on 52.854839172999995 meters Centerline goodness : 0.732358 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.75 [[ 0.91854897 0.34085831 0.20020842 -4.68846296] [-0.32926765 0.93997119 -0.0896492 2.4376305 ] [-0.21874782 0.01642502 0.97564318 1.74506483] [ 0. 0. 0. 1. ]] SLAMing on 52.884839172999996 meters Centerline goodness : 0.735240 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.43, Z:1.75 [[ 0.91944965 0.33837237 0.20029098 -4.68730853] [-0.32817339 0.94095127 -0.08314404 2.43333123] [-0.2165977 0.01071659 0.97620213 1.7501981 ] [ 0. 0. 0. 1. ]] SLAMing on 52.914839173 meters Centerline goodness : 0.738341 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.43, Z:1.75 [[ 0.91884871 0.33956359 0.20103139 -4.68655286] [-0.33038167 0.94056491 -0.07864852 2.43434761] [-0.21578924 0.005849 0.97642245 1.75396478] [ 0. 0. 0. 1. ]] SLAMing on 52.94483917299999 meters Centerline goodness : 0.735028 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.76 [[ 9.16493494e-01 3.44837242e-01 2.02797809e-01 -4.68455503e+00] [-3.37022583e-01 9.38661398e-01 -7.30106672e-02 2.44038457e+00] [-2.15535272e-01 -1.43363990e-03 9.76495003e-01 1.75574573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97483917299999 meters Centerline goodness : 0.735922 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.75 [[ 0.91493163 0.34827798 0.20396707 -4.68398487] [-0.34111562 0.93737734 -0.07045462 2.44190845] [-0.2157319 -0.00511519 0.97643924 1.75411462] [ 0. 0. 0. 1. ]] SLAMing on 53.00483917299999 meters Centerline goodness : 0.738339 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.44, Z:1.75 [[ 9.13672251e-01 3.51072756e-01 2.04819281e-01 -4.68600096e+00] [-3.43628364e-01 9.36337153e-01 -7.20574964e-02 2.44413730e+00] [-2.17077326e-01 -4.54477945e-03 9.76143831e-01 1.75402560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034839172999995 meters Centerline goodness : 0.737888 Centerline is valid? [False, False] Translation: X:-4.69, Y:2.45, Z:1.76 [[ 9.14035958e-01 3.50436937e-01 2.04284656e-01 -4.68546953e+00] [-3.42907493e-01 9.36578159e-01 -7.23588490e-02 2.44596211e+00] [-2.16685761e-01 -3.91214960e-03 9.76233566e-01 1.75665004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064839172999996 meters Centerline goodness : 0.741050 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.76 [[ 9.17319625e-01 3.43533055e-01 2.01270331e-01 -4.68133699e+00] [-3.35939457e-01 9.39139039e-01 -7.18508596e-02 2.44660693e+00] [-2.13703971e-01 -1.70444223e-03 9.76896979e-01 1.76282861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094839173 meters Centerline goodness : 0.744379 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.77 [[ 9.20096206e-01 3.36957843e-01 1.99705742e-01 -4.68308160e+00] [-3.28735569e-01 9.41516525e-01 -7.40240489e-02 2.44388856e+00] [-2.12969240e-01 2.45886586e-03 9.77055810e-01 1.76941071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124839173 meters Centerline goodness : 0.744470 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.77 [[ 0.92160942 0.33367335 0.19823768 -4.68324627] [-0.32458942 0.94266102 -0.07766535 2.44339005] [-0.21278579 0.00723127 0.97707211 1.77057957] [ 0. 0. 0. 1. ]] SLAMing on 53.15483917299999 meters Centerline goodness : 0.742074 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.44, Z:1.77 [[ 0.92335451 0.33035839 0.19565218 -4.67931845] [-0.32063475 0.94378559 -0.08038726 2.44349934] [-0.21121031 0.01149305 0.97737307 1.7686054 ] [ 0. 0. 0. 1. ]] SLAMing on 53.18483917299999 meters Centerline goodness : 0.740770 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.45, Z:1.77 [[ 0.9250602 0.32730955 0.19269686 -4.67459141] [-0.31653693 0.94474984 -0.08515932 2.44636295] [-0.20992379 0.01778183 0.97755604 1.76543403] [ 0. 0. 0. 1. ]] SLAMing on 53.214839172999994 meters Centerline goodness : 0.738513 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.45, Z:1.77 [[ 0.92515533 0.32728235 0.19228596 -4.67325113] [-0.31658075 0.94476201 -0.08486089 2.44731418] [-0.20943794 0.01763547 0.9776629 1.76547601] [ 0. 0. 0. 1. ]] SLAMing on 53.244839172999995 meters Centerline goodness : 0.742121 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.45, Z:1.76 [[ 0.92389245 0.32286495 0.20538007 -4.67371362] [-0.31309676 0.94640238 -0.07932817 2.45150316] [-0.21998447 0.00898686 0.97546198 1.76216228] [ 0. 0. 0. 1. ]] SLAMing on 53.274839173 meters Centerline goodness : 0.742477 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.77 [[ 0.92393114 0.32244094 0.20587153 -4.67601384] [-0.31251867 0.94654167 -0.07994335 2.45303342] [-0.22064299 0.00952346 0.97530814 1.7662131 ] [ 0. 0. 0. 1. ]] SLAMing on 53.304839173 meters Centerline goodness : 0.745378 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.77 [[ 0.92522541 0.31973504 0.20427298 -4.67533469] [-0.30880661 0.94739113 -0.08419333 2.45477084] [-0.22044597 0.01481696 0.97528664 1.76714317] [ 0. 0. 0. 1. ]] SLAMing on 53.33483917299999 meters Centerline goodness : 0.743807 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.77 [[ 0.92562484 0.31840505 0.20454064 -4.67776248] [-0.30760984 0.94784659 -0.08344471 2.45376786] [-0.22044237 0.01431978 0.97529488 1.77264171] [ 0. 0. 0. 1. ]] SLAMing on 53.36483917299999 meters Centerline goodness : 0.745017 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.45, Z:1.77 [[ 0.92563722 0.31826504 0.20470249 -4.6785367 ] [-0.30746797 0.94789416 -0.08342729 2.45293433] [-0.22058829 0.01428394 0.97526241 1.77328804] [ 0. 0. 0. 1. ]] SLAMing on 53.394839172999994 meters Centerline goodness : 0.742249 Centerline is valid? [False, False] Translation: X:-4.68, Y:2.46, Z:1.77 [[ 0.92642789 0.31711196 0.20290727 -4.6757301 ] [-0.30517411 0.9481759 -0.0884942 2.45514509] [-0.22045435 0.02006145 0.97519096 1.76886277] [ 0. 0. 0. 1. ]] SLAMing on 53.424839172999995 meters Centerline goodness : 0.739964 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.46, Z:1.77 [[ 0.92658567 0.31722087 0.20201464 -4.67292322] [-0.30507364 0.94811206 -0.08951864 2.4570033 ] [-0.2199297 0.02131735 0.97528278 1.76580277] [ 0. 0. 0. 1. ]] SLAMing on 53.454839172999996 meters Centerline goodness : 0.738346 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.46, Z:1.76 [[ 0.92608203 0.31887155 0.20172508 -4.67087078] [-0.30663364 0.94755172 -0.09011963 2.45943738] [-0.21988154 0.02160248 0.97528736 1.76319306] [ 0. 0. 0. 1. ]] SLAMing on 53.484839173 meters Centerline goodness : 0.740110 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.46, Z:1.76 [[ 0.92389944 0.32394291 0.20364383 -4.67175145] [-0.31235188 0.94591778 -0.08761192 2.46133672] [-0.22101158 0.01733607 0.97511709 1.7618446 ] [ 0. 0. 0. 1. ]] SLAMing on 53.51483917299999 meters Centerline goodness : 0.742262 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.47, Z:1.77 [[ 0.9232158 0.3254934 0.20427099 -4.6737144 ] [-0.31343397 0.94535614 -0.08978263 2.4662542 ] [-0.22233249 0.01886328 0.97478841 1.76521037] [ 0. 0. 0. 1. ]] SLAMing on 53.54483917299999 meters Centerline goodness : 0.741489 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.47, Z:1.77 [[ 0.92338358 0.3251719 0.2040245 -4.67341933] [-0.31320241 0.94547146 -0.08937546 2.46679672] [-0.22196173 0.01862687 0.97487744 1.7669816 ] [ 0. 0. 0. 1. ]] SLAMing on 53.574839172999994 meters Centerline goodness : 0.740874 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.47, Z:1.77 [[ 0.92415123 0.32348652 0.2032264 -4.67220836] [-0.31145492 0.94603276 -0.08954249 2.46881794] [-0.22122462 0.01945494 0.97502881 1.76938131] [ 0. 0. 0. 1. ]] SLAMing on 53.604839172999995 meters Centerline goodness : 0.741892 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.47, Z:1.77 [[ 0.92434715 0.32341516 0.20244748 -4.67010032] [-0.31115624 0.94602936 -0.09061046 2.47117423] [-0.22082606 0.02076272 0.97509218 1.76809789] [ 0. 0. 0. 1. ]] SLAMing on 53.634839172999996 meters Centerline goodness : 0.740118 Centerline is valid? [False, False] Translation: X:-4.67, Y:2.47, Z:1.76 [[ 0.92561391 0.32111631 0.20030776 -4.66705594] [-0.3079385 0.94668423 -0.09467226 2.47190843] [-0.220029 0.02594749 0.97514818 1.76460869] [ 0. 0. 0. 1. ]] SLAMing on 53.664839173 meters Centerline goodness : 0.740143 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.47, Z:1.76 [[ 0.92599078 0.32053179 0.19950048 -4.66453041] [-0.30767148 0.94690746 -0.09329799 2.47137515] [-0.21881346 0.02501247 0.97544607 1.76383168] [ 0. 0. 0. 1. ]] SLAMing on 53.69483917299999 meters Centerline goodness : 0.739784 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.48, Z:1.76 [[ 0.92756827 0.31753211 0.19695295 -4.6604583 ] [-0.30373601 0.94775266 -0.09751579 2.47582963] [-0.21762708 0.03063085 0.97555123 1.76316656] [ 0. 0. 0. 1. ]] SLAMing on 53.72483917299999 meters Centerline goodness : 0.736978 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.47, Z:1.76 [[ 0.92766901 0.31736936 0.19674071 -4.6588623 ] [-0.30387354 0.9478449 -0.09618173 2.47436726] [-0.21700481 0.02944051 0.97572648 1.76120064] [ 0. 0. 0. 1. ]] SLAMing on 53.75483917299999 meters Centerline goodness : 0.735079 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.47, Z:1.76 [[ 0.92948831 0.3133638 0.1945626 -4.65619032] [-0.29910364 0.94901154 -0.09956961 2.4728098 ] [-0.21584366 0.03435441 0.97582339 1.7578774 ] [ 0. 0. 0. 1. ]] SLAMing on 53.784839172999995 meters Centerline goodness : 0.737944 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.47, Z:1.76 [[ 0.93033066 0.31116825 0.19405973 -4.65660329] [-0.29741701 0.94979386 -0.09713263 2.46869515] [-0.21454133 0.0326488 0.97616908 1.76217152] [ 0. 0. 0. 1. ]] SLAMing on 53.814839172999996 meters Centerline goodness : 0.737490 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.93067051 0.31060375 0.19333314 -4.6546102 ] [-0.29709874 0.95000175 -0.09606773 2.46875473] [-0.21350582 0.03196837 0.9764186 1.7625179 ] [ 0. 0. 0. 1. ]] SLAMing on 53.844839173 meters Centerline goodness : 0.738207 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.92979538 0.31259965 0.19432447 -4.65463828] [-0.29998554 0.94949299 -0.092042 2.46807449] [-0.21328202 0.02728569 0.97660958 1.76342398] [ 0. 0. 0. 1. ]] SLAMing on 53.874839173 meters Centerline goodness : 0.739217 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.47, Z:1.76 [[ 0.92687684 0.31921166 0.1974924 -4.65618073] [-0.30832249 0.94752354 -0.0844771 2.46748783] [-0.21409477 0.01740852 0.97665776 1.76326655] [ 0. 0. 0. 1. ]] SLAMing on 53.90483917299999 meters Centerline goodness : 0.739118 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.92620448 0.32095399 0.19782264 -4.65328459] [-0.31120303 0.94701877 -0.07942372 2.46501832] [-0.21283311 0.0119996 0.97701488 1.75994841] [ 0. 0. 0. 1. ]] SLAMing on 53.93483917299999 meters Centerline goodness : 0.734457 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.92699354 0.31961437 0.19628965 -4.65189481] [-0.30876018 0.94738263 -0.0844589 2.46952864] [-0.21295568 0.01768642 0.97690177 1.75957817] [ 0. 0. 0. 1. ]] SLAMing on 53.964839172999994 meters Centerline goodness : 0.736943 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.9269435 0.31964868 0.19647003 -4.65250766] [-0.30883965 0.94737621 -0.08424005 2.46599739] [-0.21305825 0.01740803 0.9768844 1.75734867] [ 0. 0. 0. 1. ]] SLAMing on 53.994839172999995 meters Centerline goodness : 0.737059 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 0.92604361 0.32158648 0.19754841 -4.6528708 ] [-0.31154059 0.94678632 -0.08085874 2.46771403] [-0.21303921 0.01333437 0.97695266 1.7599893 ] [ 0. 0. 0. 1. ]] SLAMing on 54.024839173 meters Centerline goodness : 0.739917 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 9.23273395e-01 3.27892698e-01 2.00131498e-01 -4.65033767e+00] [-3.20606386e-01 9.44714717e-01 -6.87433554e-02 2.46978111e+00] [-2.11607616e-01 -6.94525174e-04 9.77354457e-01 1.76231322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054839173 meters Centerline goodness : 0.741049 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.76 [[ 9.21687165e-01 3.31258728e-01 2.01892113e-01 -4.65180734e+00] [-3.24613437e-01 9.43529016e-01 -6.61748674e-02 2.47260253e+00] [-2.12412069e-01 -4.54436660e-03 9.77169618e-01 1.76438462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters Centerline goodness : 0.743769 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.48, Z:1.75 [[ 0.91883649 0.33089069 0.21506012 -4.65018478] [-0.32528644 0.94357988 -0.06201402 2.4795445 ] [-0.22344627 -0.01297539 0.97462988 1.7549014 ] [ 0. 0. 0. 1. ]] SLAMing on 54.11483917299999 meters Centerline goodness : 0.743892 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.48, Z:1.76 [[ 0.91853366 0.33170494 0.21509938 -4.6501083 ] [-0.32583672 0.94330713 -0.0632621 2.48456357] [-0.22388913 -0.0119789 0.974541 1.75685205] [ 0. 0. 0. 1. ]] SLAMing on 54.144839172999994 meters Centerline goodness : 0.744093 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.49, Z:1.75 [[ 0.91943038 0.33073507 0.21274888 -4.64350043] [-0.32405954 0.9436919 -0.0665659 2.492467 ] [-0.22278508 -0.00774059 0.97483685 1.75240788] [ 0. 0. 0. 1. ]] SLAMing on 54.174839172999995 meters Centerline goodness : 0.745106 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.75 [[ 9.20803903e-01 3.28592719e-01 2.10111869e-01 -4.63921743e+00] [-3.20451523e-01 9.44471635e-01 -7.26921777e-02 2.49679579e+00] [-2.22330821e-01 -3.95427411e-04 9.74971205e-01 1.74806519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204839172999996 meters Centerline goodness : 0.737865 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.74 [[ 9.20195530e-01 3.29852464e-01 2.10802131e-01 -4.63889099e+00] [-3.21425677e-01 9.44032405e-01 -7.40834211e-02 2.49817802e+00] [-2.23440641e-01 4.14015321e-04 9.74717451e-01 1.74163660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234839173 meters Centerline goodness : 0.737413 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.74 [[ 9.19865361e-01 3.30364661e-01 2.11440080e-01 -4.64094653e+00] [-3.21477470e-01 9.43851114e-01 -7.61400806e-02 2.50145128e+00] [-2.24721947e-01 2.06540094e-03 9.74420741e-01 1.74320471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters Centerline goodness : 0.738093 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.75 [[ 9.19792523e-01 3.30636698e-01 2.11331702e-01 -4.64081807e+00] [-3.21554976e-01 9.43753708e-01 -7.70151707e-02 2.50471290e+00] [-2.24909119e-01 2.88321778e-03 9.74375480e-01 1.74513155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29483917299999 meters Centerline goodness : 0.738093 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.75 [[ 9.19792523e-01 3.30636698e-01 2.11331702e-01 -4.64081807e+00] [-3.21554976e-01 9.43753708e-01 -7.70151707e-02 2.50471290e+00] [-2.24909119e-01 2.88321778e-03 9.74375480e-01 1.74513155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324839172999994 meters Centerline goodness : 0.739587 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.75 [[ 0.91925627 0.33159485 0.2121621 -4.6376355 ] [-0.32471696 0.94339728 -0.06753126 2.5104491 ] [-0.22254617 -0.0068141 0.97489834 1.7524574 ] [ 0. 0. 0. 1. ]] SLAMing on 54.354839172999995 meters Centerline goodness : 0.746261 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.76 [[ 0.91738895 0.33459337 0.21551054 -4.64100396] [-0.32991934 0.94219991 -0.05841703 2.51344812] [-0.22259996 -0.01750996 0.97475261 1.76136718] [ 0. 0. 0. 1. ]] SLAMing on 54.384839172999996 meters Centerline goodness : 0.746748 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.76 [[ 0.91661081 0.33594158 0.21672075 -4.64167015] [-0.33228356 0.94161883 -0.05423667 2.51375708] [-0.22228869 -0.02229883 0.97472586 1.76416692] [ 0. 0. 0. 1. ]] SLAMing on 54.414839173 meters Centerline goodness : 0.748728 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.77 [[ 0.91636017 0.33623316 0.21732761 -4.64313369] [-0.33273037 0.94149435 -0.05365523 2.51489628] [-0.22265339 -0.02314399 0.97462291 1.76688175] [ 0. 0. 0. 1. ]] SLAMing on 54.44483917299999 meters Centerline goodness : 0.748784 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.77 [[ 0.91593921 0.33704328 0.21784673 -4.64458271] [-0.3333042 0.94122312 -0.05483919 2.51651317] [-0.22352556 -0.02237987 0.9744411 1.76801264] [ 0. 0. 0. 1. ]] SLAMing on 54.47483917299999 meters Centerline goodness : 0.750296 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.77 [[ 0.91471579 0.33973287 0.21880723 -4.64353297] [-0.33676307 0.94015705 -0.05191676 2.52022616] [-0.22335099 -0.02619712 0.97438598 1.76869057] [ 0. 0. 0. 1. ]] SLAMing on 54.50483917299999 meters Centerline goodness : 0.748920 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.77 [[ 0.91470548 0.34006853 0.21832839 -4.64252344] [-0.33678092 0.94007395 -0.0532877 2.52447292] [-0.2233663 -0.02478629 0.97441938 1.77019716] [ 0. 0. 0. 1. ]] SLAMing on 54.534839172999995 meters Centerline goodness : 0.748176 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91492329 0.33990291 0.21767265 -4.64316741] [-0.33518433 0.94027673 -0.0594234 2.52767434] [-0.22487071 -0.01859261 0.97421121 1.76833189] [ 0. 0. 0. 1. ]] SLAMing on 54.564839172999996 meters Centerline goodness : 0.749486 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91457157 0.34044097 0.21830894 -4.64436025] [-0.33571912 0.94007749 -0.05955658 2.52737369] [-0.22550282 -0.01882173 0.97406069 1.76769918] [ 0. 0. 0. 1. ]] SLAMing on 54.594839173 meters Centerline goodness : 0.750804 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91502871 0.33959389 0.21771186 -4.64360192] [-0.33488902 0.94038783 -0.05933023 2.52921166] [-0.22488177 -0.01862045 0.97420812 1.77079815] [ 0. 0. 0. 1. ]] SLAMing on 54.624839173 meters Centerline goodness : 0.752858 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91594698 0.33058556 0.22749575 -4.63995676] [-0.32625739 0.94353002 -0.05750844 2.53284299] [-0.23366053 -0.02154748 0.97207945 1.76560363] [ 0. 0. 0. 1. ]] SLAMing on 54.65483917299999 meters Centerline goodness : 0.752668 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91680397 0.32888231 0.22651028 -4.64095237] [-0.32358831 0.94421494 -0.061227 2.53372936] [-0.23401087 -0.01716292 0.97208248 1.76838304] [ 0. 0. 0. 1. ]] SLAMing on 54.68483917299999 meters Centerline goodness : 0.752583 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.9181513 0.32598416 0.22523879 -4.64151217] [-0.31980966 0.9452877 -0.06444344 2.53207702] [-0.233923 -0.01286471 0.97217001 1.76984788] [ 0. 0. 0. 1. ]] SLAMing on 54.714839172999994 meters Centerline goodness : 0.751782 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.91980094 0.32277848 0.22311498 -4.63937554] [-0.31578879 0.94643628 -0.0673484 2.53174162] [-0.23290272 -0.00851008 0.9724628 1.7695692 ] [ 0. 0. 0. 1. ]] SLAMing on 54.744839172999995 meters Centerline goodness : 0.747088 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.53, Z:1.76 [[ 9.22352381e-01 3.18407756e-01 2.18820901e-01 -4.63362144e+00] [-3.09179666e-01 9.47950345e-01 -7.61451078e-02 2.53338099e+00] [-2.31676541e-01 2.57764834e-03 9.72789461e-01 1.76297790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774839173 meters Centerline goodness : 0.744660 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.53, Z:1.76 [[ 0.9232255 0.31702613 0.21713843 -4.6313464 ] [-0.30662485 0.94838172 -0.08095253 2.53414362] [-0.23159419 0.0081574 0.97277828 1.75866886] [ 0. 0. 0. 1. ]] SLAMing on 54.804839173 meters Centerline goodness : 0.745804 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.53, Z:1.76 [[ 0.9239862 0.31505081 0.21677749 -4.63303306] [-0.30368829 0.94899252 -0.08477389 2.53173468] [-0.2324283 0.01249712 0.97253324 1.75647409] [ 0. 0. 0. 1. ]] SLAMing on 54.83483917299999 meters Centerline goodness : 0.741792 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.53, Z:1.76 [[ 0.92507013 0.3126206 0.21567016 -4.63399666] [-0.30028284 0.94972146 -0.08865301 2.53176508] [-0.23254134 0.01724821 0.97243356 1.75903423] [ 0. 0. 0. 1. ]] SLAMing on 54.86483917299999 meters Centerline goodness : 0.746462 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.76 [[ 0.92506532 0.3121416 0.21638342 -4.63713175] [-0.3000932 0.94990323 -0.08733802 2.52593845] [-0.23280514 0.01585818 0.9723941 1.76119596] [ 0. 0. 0. 1. ]] SLAMing on 54.894839172999994 meters Centerline goodness : 0.747960 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.76 [[ 0.92502163 0.31204797 0.21670496 -4.63740635] [-0.30073604 0.94998092 -0.0842264 2.52543181] [-0.23214825 0.01274026 0.97259697 1.764572 ] [ 0. 0. 0. 1. ]] SLAMing on 54.924839172999995 meters Centerline goodness : 0.748368 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.77 [[ 0.9240716 0.31402294 0.21790199 -4.63829509] [-0.30371441 0.94938234 -0.08019187 2.52566599] [-0.23205439 0.00792305 0.97267054 1.76767034] [ 0. 0. 0. 1. ]] SLAMing on 54.954839172999996 meters Centerline goodness : 0.746422 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.77 [[ 0.92432571 0.32064129 0.20690853 -4.63933255] [-0.31053742 0.94714624 -0.08050163 2.52041387] [-0.22178478 0.01015688 0.97504274 1.76519168] [ 0. 0. 0. 1. ]] SLAMing on 54.984839173 meters Centerline goodness : 0.745778 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.76 [[ 0.92352208 0.322577 0.20748745 -4.63956944] [-0.31219348 0.94648081 -0.08191036 2.52086449] [-0.22280529 0.0108698 0.97480237 1.76104914] [ 0. 0. 0. 1. ]] SLAMing on 55.01483917299999 meters Centerline goodness : 0.746144 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.76 [[ 0.92174922 0.32703806 0.20838544 -4.63799998] [-0.31703877 0.94497472 -0.08067962 2.52341888] [-0.22330428 0.00830012 0.97471345 1.75664225] [ 0. 0. 0. 1. ]] SLAMing on 55.04483917299999 meters Centerline goodness : 0.744033 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.53, Z:1.76 [[ 0.921919 0.32707347 0.20757722 -4.63572797] [-0.31693152 0.94495412 -0.08133951 2.52651308] [-0.22275495 0.00920068 0.97483105 1.75625203] [ 0. 0. 0. 1. ]] SLAMing on 55.074839172999994 meters Centerline goodness : 0.746253 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.53, Z:1.76 [[ 0.92264742 0.32559737 0.20665934 -4.63355446] [-0.3159282 0.94547695 -0.07913732 2.52536204] [-0.22115855 0.00772633 0.97520726 1.75781685] [ 0. 0. 0. 1. ]] SLAMing on 55.104839172999995 meters Centerline goodness : 0.748268 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.52, Z:1.76 [[ 0.92349528 0.32347419 0.20620603 -4.63370821] [-0.31420527 0.94621496 -0.07715116 2.52217238] [-0.22007164 0.00645771 0.97546234 1.76126897] [ 0. 0. 0. 1. ]] SLAMing on 55.134839172999996 meters Centerline goodness : 0.748279 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.52, Z:1.77 [[ 0.92626639 0.31698566 0.20383979 -4.63524859] [-0.30640902 0.94832936 -0.08237068 2.51725521] [-0.21941758 0.01383885 0.97553289 1.76513878] [ 0. 0. 0. 1. ]] SLAMing on 55.164839173 meters Centerline goodness : 0.746631 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.77 [[ 0.92752725 0.31412818 0.20252577 -4.63515707] [-0.30308814 0.94923297 -0.08422791 2.51354518] [-0.21870249 0.01674052 0.97564798 1.76554451] [ 0. 0. 0. 1. ]] SLAMing on 55.19483917299999 meters Centerline goodness : 0.748753 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.51, Z:1.77 [[ 0.93045429 0.30683488 0.20026775 -4.63757902] [-0.29453338 0.95145674 -0.08933175 2.50855096] [-0.2179562 0.02413357 0.97566012 1.77182427] [ 0. 0. 0. 1. ]] SLAMing on 55.22483917299999 meters Centerline goodness : 0.751144 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.78 [[ 0.93241438 0.30158202 0.19912736 -4.64019509] [-0.28920185 0.95309466 -0.08929085 2.50070171] [-0.21671574 0.02566808 0.97589725 1.77830256] [ 0. 0. 0. 1. ]] SLAMing on 55.25483917299999 meters Centerline goodness : 0.751262 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.50, Z:1.78 [[ 0.93257209 0.30086548 0.19947243 -4.64189667] [-0.28878916 0.95335737 -0.08780968 2.49625397] [-0.21658742 0.02428337 0.97596117 1.77966765] [ 0. 0. 0. 1. ]] SLAMing on 55.284839172999995 meters Centerline goodness : 0.755603 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.49, Z:1.78 [[ 0.93280714 0.30008257 0.19955275 -4.64449091] [-0.28753424 0.95354702 -0.08984514 2.49330676] [-0.21724389 0.02642994 0.97575947 1.78115279] [ 0. 0. 0. 1. ]] SLAMing on 55.314839172999996 meters Centerline goodness : 0.756006 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.49, Z:1.78 [[ 0.93276185 0.30013294 0.19968862 -4.64528432] [-0.28781187 0.95356 -0.08881244 2.49036916] [-0.21707062 0.0253681 0.97582622 1.78200841] [ 0. 0. 0. 1. ]] SLAMing on 55.344839173 meters Centerline goodness : 0.759976 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.48, Z:1.79 [[ 0.93358247 0.29782151 0.19931411 -4.64718846] [-0.28562194 0.95428625 -0.08807872 2.48475343] [-0.21643445 0.02530026 0.97596927 1.78558196] [ 0. 0. 0. 1. ]] SLAMing on 55.374839173 meters Centerline goodness : 0.755943 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.79 [[ 0.93506941 0.30090524 0.18735322 -4.64916384] [-0.28942706 0.95328044 -0.0865354 2.47410398] [-0.20463912 0.02669151 0.9784735 1.79053104] [ 0. 0. 0. 1. ]] SLAMing on 55.40483917299999 meters Centerline goodness : 0.760345 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.47, Z:1.79 [[ 0.93684091 0.29610472 0.18614805 -4.65234066] [-0.28338758 0.95456365 -0.09219396 2.46683626] [-0.20498923 0.03361903 0.97818668 1.79088831] [ 0. 0. 0. 1. ]] SLAMing on 55.43483917299999 meters Centerline goodness : 0.759800 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.79 [[ 0.93683835 0.2960982 0.18617134 -4.65250814] [-0.28355814 0.95459471 -0.091344 2.46463966] [-0.20476497 0.03278416 0.97826198 1.7908728 ] [ 0. 0. 0. 1. ]] SLAMing on 55.464839172999994 meters Centerline goodness : 0.758532 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.79 [[ 0.93646697 0.29734824 0.1860474 -4.65107788] [-0.28510473 0.9542561 -0.09005883 2.46360916] [-0.2043157 0.03129413 0.97840471 1.78924576] [ 0. 0. 0. 1. ]] SLAMing on 55.494839172999995 meters Centerline goodness : 0.758936 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.79 [[ 0.93513404 0.30066825 0.18741111 -4.65113204] [-0.28944141 0.95338716 -0.08530302 2.46018695] [-0.20432325 0.02552522 0.97857063 1.78713173] [ 0. 0. 0. 1. ]] SLAMing on 55.524839173 meters Centerline goodness : 0.753781 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.78 [[ 0.93476119 0.30178044 0.18748354 -4.65082511] [-0.29053922 0.95303851 -0.08546667 2.45779794] [-0.20447121 0.0254196 0.97854247 1.78358075] [ 0. 0. 0. 1. ]] SLAMing on 55.554839173 meters Centerline goodness : 0.750340 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.46, Z:1.78 [[ 0.9358873 0.2996663 0.18524326 -4.64746862] [-0.28764022 0.9535616 -0.08934979 2.45748835] [-0.20341598 0.03033793 0.97862227 1.77968957] [ 0. 0. 0. 1. ]] SLAMing on 55.58483917299999 meters Centerline goodness : 0.746772 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.78 [[ 0.93841274 0.29995149 0.17149531 -4.64679798] [-0.28810363 0.95328121 -0.09083633 2.44440013] [-0.19072975 0.03583355 0.98098834 1.77678495] [ 0. 0. 0. 1. ]] SLAMing on 55.61483917299999 meters Centerline goodness : 0.745692 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.78 [[ 0.93851522 0.29974997 0.17128673 -4.64609603] [-0.28782368 0.95332497 -0.09126353 2.44427213] [-0.19064816 0.03635184 0.98098513 1.77526772] [ 0. 0. 0. 1. ]] SLAMing on 55.644839172999994 meters Centerline goodness : 0.743350 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.45, Z:1.77 [[ 0.93728799 0.30324775 0.17184886 -4.64397229] [-0.2918836 0.95234571 -0.08855282 2.44609201] [-0.19051297 0.03283963 0.98113524 1.77234061] [ 0. 0. 0. 1. ]] SLAMing on 55.674839172999995 meters Centerline goodness : 0.742831 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.45, Z:1.77 [[ 0.93286366 0.31451179 0.17563519 -4.64623303] [-0.30417025 0.94893317 -0.08370361 2.44841079] [-0.19299183 0.02466106 0.98089041 1.7676986 ] [ 0. 0. 0. 1. ]] SLAMing on 55.704839172999996 meters Centerline goodness : 0.746287 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.45, Z:1.77 [[ 0.93003306 0.32133955 0.17826775 -4.64911864] [-0.31166485 0.94676465 -0.08063325 2.4490125 ] [-0.19468826 0.0194318 0.98067267 1.76676519] [ 0. 0. 0. 1. ]] SLAMing on 55.734839173 meters Centerline goodness : 0.750997 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.45, Z:1.77 [[ 0.92523394 0.33233758 0.18301333 -4.65493398] [-0.32406898 0.94311357 -0.07427033 2.45012269] [-0.19728518 0.00940848 0.98030099 1.7691918 ] [ 0. 0. 0. 1. ]] SLAMing on 55.76483917299999 meters Centerline goodness : 0.754426 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.45, Z:1.77 [[ 9.23673449e-01 3.35699810e-01 1.84751178e-01 -4.65687854e+00] [-3.28279358e-01 9.41959174e-01 -7.03247983e-02 2.44937208e+00] [-1.97636089e-01 4.30715096e-03 9.80265997e-01 1.77143344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79483917299999 meters Centerline goodness : 0.752370 Centerline is valid? [False, False] Translation: X:-4.66, Y:2.45, Z:1.77 [[ 9.23324314e-01 3.36831015e-01 1.84437193e-01 -4.65563457e+00] [-3.29552865e-01 9.41558208e-01 -6.97355742e-02 2.45005019e+00] [-1.97147457e-01 3.60674583e-03 9.80367213e-01 1.77109486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824839172999994 meters Centerline goodness : 0.750602 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.78 [[ 9.24980402e-01 3.39701995e-01 1.70334409e-01 -4.65110326e+00] [-3.33456905e-01 9.40527508e-01 -6.49191724e-02 2.44298950e+00] [-1.82257370e-01 3.24977725e-03 9.83245488e-01 1.77740806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854839172999995 meters Centerline goodness : 0.744540 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.77 [[ 0.92798176 0.33331643 0.16658336 -4.64659428] [-0.32580147 0.94273895 -0.07139104 2.44279152] [-0.18084043 0.01197647 0.98343953 1.77348056] [ 0. 0. 0. 1. ]] SLAMing on 55.884839172999996 meters Centerline goodness : 0.742824 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.77 [[ 0.92971464 0.32945842 0.16458386 -4.64484752] [-0.32130306 0.94402448 -0.07471358 2.44207593] [-0.17998622 0.01658101 0.98352938 1.77294069] [ 0. 0. 0. 1. ]] SLAMing on 55.914839173 meters Centerline goodness : 0.744960 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.77 [[ 0.9327497 0.32221255 0.16173149 -4.64106514] [-0.31384505 0.94646163 -0.07557555 2.43863275] [-0.17742404 0.01973444 0.98393661 1.77420336] [ 0. 0. 0. 1. ]] SLAMing on 55.94483917299999 meters Centerline goodness : 0.740984 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 0.93432191 0.31830826 0.16038212 -4.6383697 ] [-0.31016964 0.94778627 -0.07413487 2.43680852] [-0.17560571 0.01952017 0.98426704 1.77594097] [ 0. 0. 0. 1. ]] SLAMing on 55.97483917299999 meters Centerline goodness : 0.740497 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.78 [[ 0.93555638 0.31548368 0.15875866 -4.63481851] [-0.30748381 0.94872501 -0.07331136 2.43716397] [-0.17374685 0.01977119 0.98459186 1.77713494] [ 0. 0. 0. 1. ]] SLAMing on 56.00483917299999 meters Centerline goodness : 0.738312 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.44, Z:1.78 [[ 0.93568992 0.31523866 0.15845811 -4.63343553] [-0.30718855 0.9487974 -0.07361178 2.43778909] [-0.17354992 0.02020128 0.98461786 1.7752284 ] [ 0. 0. 0. 1. ]] SLAMing on 56.034839172999995 meters Centerline goodness : 0.738014 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 0.93585004 0.31477282 0.15843855 -4.6361587 ] [-0.30601999 0.94886129 -0.07755005 2.43742598] [-0.17474685 0.02408985 0.98431866 1.77520684] [ 0. 0. 0. 1. ]] SLAMing on 56.064839172999996 meters Centerline goodness : 0.742247 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.78 [[ 0.93583672 0.31461733 0.15882561 -4.63782796] [-0.30609305 0.94894729 -0.07619771 2.43452925] [-0.17469025 0.0226932 0.98436189 1.77737467] [ 0. 0. 0. 1. ]] SLAMing on 56.094839173 meters Centerline goodness : 0.747973 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.43, Z:1.78 [[ 0.93555612 0.31485997 0.15999354 -4.64163773] [-0.30663479 0.94891597 -0.07438805 2.43139334] [-0.17524225 0.02053461 0.98431117 1.78196595] [ 0. 0. 0. 1. ]] SLAMing on 56.124839173 meters Centerline goodness : 0.750155 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 0.93233422 0.32300451 0.16254534 -4.63847957] [-0.31674156 0.94636361 -0.06380201 2.43596684] [-0.17443533 0.00799994 0.98463613 1.78220705] [ 0. 0. 0. 1. ]] SLAMing on 56.15483917299999 meters Centerline goodness : 0.750032 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 9.30696348e-01 3.27165920e-01 1.63605530e-01 -4.63732590e+00] [-3.21463820e-01 9.44957847e-01 -6.09563784e-02 2.43999413e+00] [-1.74543179e-01 4.13862010e-03 9.84640823e-01 1.78219343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18483917299999 meters Centerline goodness : 0.750032 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 9.30696348e-01 3.27165920e-01 1.63605530e-01 -4.63732590e+00] [-3.21463820e-01 9.44957847e-01 -6.09563784e-02 2.43999413e+00] [-1.74543179e-01 4.13862010e-03 9.84640823e-01 1.78219343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214839172999994 meters Centerline goodness : 0.751387 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 0.92865197 0.33189649 0.16568115 -4.64201698] [-0.32570243 0.94329962 -0.06406059 2.44395633] [-0.17754844 0.00552724 0.98409654 1.7817625 ] [ 0. 0. 0. 1. ]] SLAMing on 56.244839172999995 meters Centerline goodness : 0.722439 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.78 [[ 9.28459338e-01 3.32168175e-01 1.66215404e-01 -4.64338887e+00] [-3.26162797e-01 9.43210367e-01 -6.30240699e-02 2.44126697e+00] [-1.77710682e-01 4.30200513e-03 9.84073374e-01 1.78214500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274839173 meters Centerline goodness : 0.738983 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 9.30313288e-01 3.27344633e-01 1.65416676e-01 -4.64366849e+00] [-3.21646203e-01 9.44898678e-01 -6.09114763e-02 2.43803731e+00] [-1.76241044e-01 3.46110993e-03 9.84340955e-01 1.78780499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304839173 meters Centerline goodness : 0.730976 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 0.93224603 0.32282722 0.16340113 -4.6424512 ] [-0.31656608 0.94642666 -0.06373773 2.43862645] [-0.17522346 0.00769199 0.98449864 1.79071024] [ 0. 0. 0. 1. ]] SLAMing on 56.33483917299999 meters Centerline goodness : 0.737280 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 0.93447186 0.31770417 0.16070598 -4.63896735] [-0.31097323 0.94811639 -0.06611328 2.43873062] [-0.17337243 0.01180574 0.98478557 1.79122875] [ 0. 0. 0. 1. ]] SLAMing on 56.36483917299999 meters Centerline goodness : 0.728460 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 0.9349072 0.31685633 0.15984552 -4.63698739] [-0.31005811 0.94838987 -0.06648776 2.43915785] [-0.17266294 0.01259849 0.98490039 1.79018477] [ 0. 0. 0. 1. ]] SLAMing on 56.394839172999994 meters Centerline goodness : 0.753274 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 0.93443459 0.31823641 0.1598674 -4.63653655] [-0.31115192 0.94790782 -0.06822943 2.44047764] [-0.17325264 0.01401289 0.98477772 1.78717809] [ 0. 0. 0. 1. ]] SLAMing on 56.424839172999995 meters Centerline goodness : 0.738240 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.44, Z:1.79 [[ 0.93426564 0.31882554 0.15968088 -4.63571495] [-0.31147837 0.94768731 -0.06978531 2.44329994] [-0.17357688 0.01546088 0.98469895 1.78574662] [ 0. 0. 0. 1. ]] SLAMing on 56.454839172999996 meters Centerline goodness : 0.709658 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.45, Z:1.79 [[ 0.93341455 0.32109625 0.16010769 -4.63381522] [-0.31416399 0.94696032 -0.06758056 2.44750786] [-0.17331549 0.01278061 0.98478343 1.78578776] [ 0. 0. 0. 1. ]] SLAMing on 56.484839173 meters Centerline goodness : 0.737894 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.45, Z:1.79 [[ 0.93352201 0.32081064 0.16005372 -4.63398105] [-0.31377035 0.94704824 -0.0681748 2.44854025] [-0.1734498 0.01342257 0.98475124 1.78620263] [ 0. 0. 0. 1. ]] SLAMing on 56.51483917299999 meters Centerline goodness : 0.707527 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.45, Z:1.79 [[ 0.93507922 0.31714915 0.15825065 -4.63285716] [-0.30935853 0.94819204 -0.07231292 2.44843673] [-0.17298598 0.01866212 0.98474747 1.78544443] [ 0. 0. 0. 1. ]] SLAMing on 56.54483917299999 meters Centerline goodness : 0.748724 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.45, Z:1.79 [[ 0.93664122 0.31358524 0.156101 -4.62827328] [-0.30600343 0.94937392 -0.0710708 2.44822991] [-0.17048497 0.0188004 0.98518091 1.78609042] [ 0. 0. 0. 1. ]] SLAMing on 56.574839172999994 meters Centerline goodness : 0.749615 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.45, Z:1.79 [[ 0.93697205 0.31297452 0.1553394 -4.62621688] [-0.30539671 0.94956813 -0.07108595 2.45115594] [-0.16975343 0.01916541 0.98530019 1.7870139 ] [ 0. 0. 0. 1. ]] SLAMing on 56.604839172999995 meters Centerline goodness : 0.745600 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.46, Z:1.79 [[ 0.93688929 0.31370496 0.15436209 -4.62270304] [-0.30605561 0.94931182 -0.07167307 2.45503736] [-0.16902196 0.01990635 0.98541124 1.78546972] [ 0. 0. 0. 1. ]] SLAMing on 56.634839172999996 meters Centerline goodness : 0.699008 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.47, Z:1.78 [[ 0.93640605 0.31578261 0.15305247 -4.61718379] [-0.30753391 0.94853735 -0.07549691 2.46503398] [-0.16901659 0.02362693 0.98532997 1.77995963] [ 0. 0. 0. 1. ]] SLAMing on 56.664839173 meters Centerline goodness : 0.738577 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.47, Z:1.78 [[ 0.93603259 0.31709438 0.15262418 -4.61500427] [-0.30861197 0.94806465 -0.07702001 2.46806287] [-0.1691202 0.02499159 0.98527853 1.7768209 ] [ 0. 0. 0. 1. ]] SLAMing on 56.69483917299999 meters Centerline goodness : 0.734079 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.77 [[ 0.93540872 0.31910666 0.15225464 -4.61280971] [-0.30990865 0.94727678 -0.08138388 2.47704617] [-0.17019742 0.02894216 0.98498487 1.77351039] [ 0. 0. 0. 1. ]] SLAMing on 56.72483917299999 meters Centerline goodness : 0.736199 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.77 [[ 0.93543974 0.31922122 0.15182324 -4.61198983] [-0.31003143 0.94723356 -0.08141925 2.47731492] [-0.16980282 0.02909283 0.98504853 1.77352479] [ 0. 0. 0. 1. ]] SLAMing on 56.75483917299999 meters Centerline goodness : 0.733308 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.77 [[ 0.93570959 0.31845358 0.15177247 -4.61213155] [-0.30933626 0.94750092 -0.08095117 2.47602867] [-0.16958374 0.02879806 0.98509493 1.77360187] [ 0. 0. 0. 1. ]] SLAMing on 56.784839172999995 meters Centerline goodness : 0.735219 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.78 [[ 0.93707585 0.31516751 0.15019415 -4.60893441] [-0.30636226 0.94861811 -0.07915711 2.47616018] [-0.16742464 0.0281624 0.98548256 1.77635318] [ 0. 0. 0. 1. ]] SLAMing on 56.814839172999996 meters Centerline goodness : 0.736987 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.78 [[ 0.937792 0.31348252 0.14924772 -4.6073571 ] [-0.30489461 0.94919397 -0.07791066 2.47713964] [-0.16608867 0.02755917 0.98572565 1.77971257] [ 0. 0. 0. 1. ]] SLAMing on 56.844839173 meters Centerline goodness : 0.728087 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.78 [[ 0.93701928 0.31517897 0.15052274 -4.60819538] [-0.30749309 0.94878566 -0.07248295 2.47441523] [-0.16565891 0.02163322 0.9859458 1.78190824] [ 0. 0. 0. 1. ]] SLAMing on 56.874839173 meters Centerline goodness : 0.710986 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.79 [[ 0.93547904 0.31863423 0.15281101 -4.61182719] [-0.31150198 0.947723 -0.06919277 2.47621276] [-0.16686969 0.01712746 0.98583019 1.78665549] [ 0. 0. 0. 1. ]] SLAMing on 56.90483917299999 meters Centerline goodness : 0.698093 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.78 [[ 0.93434449 0.32154619 0.15365034 -4.61308244] [-0.31402394 0.94670986 -0.07161987 2.47938222] [-0.16849139 0.01866775 0.98552634 1.78452125] [ 0. 0. 0. 1. ]] SLAMing on 56.93483917299999 meters Centerline goodness : 0.746068 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.48, Z:1.78 [[ 0.93267847 0.32524087 0.15597835 -4.61561142] [-0.31851552 0.94554394 -0.06704112 2.47650455] [-0.1692889 0.01284629 0.98548275 1.78441936] [ 0. 0. 0. 1. ]] SLAMing on 56.964839172999994 meters Centerline goodness : 0.741292 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.48, Z:1.79 [[ 0.93113242 0.32274829 0.16978211 -4.62280092] [-0.31539232 0.94642003 -0.06940328 2.48242998] [-0.18308498 0.01107567 0.9830347 1.78672269] [ 0. 0. 0. 1. ]] SLAMing on 56.994839172999995 meters Centerline goodness : 0.747501 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.48, Z:1.79 [[ 0.93123789 0.32245139 0.16976776 -4.62336795] [-0.31522936 0.94652865 -0.06865827 2.48153637] [-0.182829 0.0104214 0.98308949 1.78892389] [ 0. 0. 0. 1. ]] SLAMing on 57.024839173 meters Centerline goodness : 0.691336 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.48, Z:1.79 [[ 0.93369203 0.31710719 0.16631964 -4.61963415] [-0.30844796 0.9481813 -0.07623696 2.48274612] [-0.18187646 0.01988089 0.98312039 1.78523951] [ 0. 0. 0. 1. ]] SLAMing on 57.054839173 meters Centerline goodness : 0.741137 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.48, Z:1.78 [[ 0.9344786 0.31519069 0.16554329 -4.62024563] [-0.30574358 0.94871096 -0.08042626 2.48259197] [-0.18240234 0.02454282 0.98291761 1.78392016] [ 0. 0. 0. 1. ]] SLAMing on 57.08483917299999 meters Centerline goodness : 0.701356 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.48, Z:1.79 [[ 0.93282089 0.3180804 0.16932233 -4.6299374 ] [-0.30879338 0.94781501 -0.0793307 2.4762328 ] [-0.18571979 0.02171572 0.98236276 1.78709016] [ 0. 0. 0. 1. ]] SLAMing on 57.11483917299999 meters Centerline goodness : 0.703899 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.47, Z:1.79 [[ 0.93229101 0.31918215 0.17016527 -4.63171638] [-0.31023829 0.94749324 -0.07751615 2.47190294] [-0.18597222 0.01947582 0.98236196 1.78702347] [ 0. 0. 0. 1. ]] SLAMing on 57.144839172999994 meters Centerline goodness : 0.752341 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.47, Z:1.79 [[ 0.93256328 0.3179692 0.17094244 -4.63681359] [-0.30854703 0.94785238 -0.07984111 2.46532475] [-0.18741521 0.0217131 0.98204077 1.78729473] [ 0. 0. 0. 1. ]] SLAMing on 57.174839172999995 meters Centerline goodness : 0.712893 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.46, Z:1.79 [[ 0.93365962 0.3152983 0.16990202 -4.63728468] [-0.30538072 0.94866337 -0.08234336 2.46354263] [-0.18714255 0.02499587 0.9820147 1.78846836] [ 0. 0. 0. 1. ]] SLAMing on 57.204839172999996 meters Centerline goodness : 0.712184 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.46, Z:1.79 [[ 0.93556356 0.31060082 0.16807126 -4.63794697] [-0.29962596 0.9500093 -0.08778736 2.46049872] [-0.18693609 0.03177214 0.98185815 1.78858883] [ 0. 0. 0. 1. ]] SLAMing on 57.234839173 meters Centerline goodness : 0.748802 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.46, Z:1.79 [[ 0.93664204 0.30796038 0.16691939 -4.63789605] [-0.29648993 0.95074875 -0.09039104 2.45799167] [-0.18653526 0.03517413 0.9818184 1.78823559] [ 0. 0. 0. 1. ]] SLAMing on 57.26483917299999 meters Centerline goodness : 0.747353 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.45, Z:1.79 [[ 0.93802364 0.30399955 0.16642095 -4.64314777] [-0.29114849 0.95170426 -0.09742463 2.45108503] [-0.18800057 0.0429334 0.9812301 1.78740924] [ 0. 0. 0. 1. ]] SLAMing on 57.29483917299999 meters Centerline goodness : 0.733542 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.79 [[ 0.93921843 0.30036243 0.16628636 -4.64566567] [-0.28734649 0.95279582 -0.09804138 2.44366037] [-0.1878849 0.04430047 0.98119149 1.78825062] [ 0. 0. 0. 1. ]] SLAMing on 57.324839172999994 meters Centerline goodness : 0.750012 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.44, Z:1.79 [[ 0.93981072 0.29868942 0.16595311 -4.64518945] [-0.28609157 0.95340094 -0.09580328 2.44015631] [-0.18683528 0.04255917 0.98146895 1.79020948] [ 0. 0. 0. 1. ]] SLAMing on 57.354839172999995 meters Centerline goodness : 0.737378 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.43, Z:1.80 [[ 0.94042376 0.2964587 0.16647942 -4.64725425] [-0.28476345 0.95429155 -0.09076023 2.43463049] [-0.18577656 0.03794583 0.98185904 1.79788404] [ 0. 0. 0. 1. ]] SLAMing on 57.384839172999996 meters Centerline goodness : 0.756446 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.43, Z:1.80 [[ 0.94053081 0.29611073 0.16649393 -4.64721896] [-0.28474378 0.95446389 -0.08899244 2.431818 ] [-0.18526406 0.03629202 0.98201839 1.79881848] [ 0. 0. 0. 1. ]] SLAMing on 57.414839173 meters Centerline goodness : 0.739015 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.80 [[ 0.94082323 0.30074229 0.15622331 -4.65030123] [-0.28985864 0.95293528 -0.08886124 2.42451022] [-0.17559503 0.03832005 0.9837164 1.8016374 ] [ 0. 0. 0. 1. ]] SLAMing on 57.44483917299999 meters Centerline goodness : 0.732050 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.80 [[ 0.94091835 0.30070656 0.15571842 -4.64853258] [-0.2898397 0.95293962 -0.08887643 2.4228153 ] [-0.17511598 0.03849208 0.98379508 1.79820057] [ 0. 0. 0. 1. ]] SLAMing on 57.47483917299999 meters Centerline goodness : 0.733654 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.80 [[ 0.94119991 0.30021793 0.15495782 -4.64631789] [-0.28948083 0.95310416 -0.08827968 2.42178742] [-0.17419409 0.03823151 0.98396889 1.7967502 ] [ 0. 0. 0. 1. ]] SLAMing on 57.50483917299999 meters Centerline goodness : 0.753727 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.42, Z:1.80 [[ 0.94144931 0.29892694 0.15593548 -4.64936637] [-0.28845376 0.95357994 -0.0864854 2.4182421 ] [-0.17454977 0.03644144 0.98397378 1.80071726] [ 0. 0. 0. 1. ]] SLAMing on 57.534839172999995 meters Centerline goodness : 0.756421 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.41, Z:1.80 [[ 0.94359216 0.2925245 0.15512333 -4.65080383] [-0.28189164 0.9554842 -0.08710361 2.41198225] [-0.17369783 0.03846232 0.98404762 1.80489366] [ 0. 0. 0. 1. ]] SLAMing on 57.564839172999996 meters Centerline goodness : 0.755341 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.41, Z:1.81 [[ 0.94633369 0.2850085 0.15238997 -4.64934766] [-0.27346568 0.95743018 -0.09243356 2.41050997] [-0.17224711 0.04579956 0.98398848 1.80669156] [ 0. 0. 0. 1. ]] SLAMing on 57.594839173 meters Centerline goodness : 0.752320 Centerline is valid? [False, False] Translation: X:-4.65, Y:2.40, Z:1.80 [[ 0.95045766 0.27334386 0.14803164 -4.64569274] [-0.26062589 0.96027017 -0.0997765 2.40424757] [-0.16942366 0.05625247 0.98393663 1.80484775] [ 0. 0. 0. 1. ]] SLAMing on 57.62483917299999 meters Centerline goodness : 0.751314 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.40, Z:1.80 [[ 0.95177182 0.26958191 0.14647863 -4.64218685] [-0.2570949 0.96132986 -0.09872743 2.40186944] [-0.16742941 0.05630708 0.98427481 1.80470154] [ 0. 0. 0. 1. ]] SLAMing on 57.65483917299999 meters Centerline goodness : 0.748901 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.40, Z:1.80 [[ 0.9523989 0.26795587 0.14538223 -4.63907823] [-0.2557413 0.96182677 -0.09739432 2.40118343] [-0.16592991 0.055578 0.98457014 1.80445128] [ 0. 0. 0. 1. ]] SLAMing on 57.68483917299999 meters Centerline goodness : 0.750650 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.40, Z:1.81 [[ 0.95243814 0.26801355 0.14501836 -4.63605883] [-0.2566354 0.96206908 -0.09252764 2.40208135] [-0.16431635 0.05091001 0.98509305 1.80693638] [ 0. 0. 0. 1. ]] SLAMing on 57.714839172999994 meters Centerline goodness : 0.753239 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.40, Z:1.81 [[ 0.95202155 0.26910238 0.14573566 -4.63774551] [-0.25770319 0.96178658 -0.09249668 2.40075812] [-0.16505768 0.05050228 0.98499009 1.80626541] [ 0. 0. 0. 1. ]] SLAMing on 57.744839172999995 meters Centerline goodness : 0.751760 Centerline is valid? [False, False] Translation: X:-4.64, Y:2.40, Z:1.81 [[ 0.9518645 0.2695731 0.14589147 -4.63791213] [-0.25809225 0.96163718 -0.09296412 2.40101535] [-0.16535529 0.05083579 0.98492302 1.8053543 ] [ 0. 0. 0. 1. ]] SLAMing on 57.774839173 meters Centerline goodness : 0.751159 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.40, Z:1.80 [[ 0.9522211 0.26900574 0.14460596 -4.63407896] [-0.2574871 0.96174159 -0.09356019 2.40364686] [-0.1642418 0.05185581 0.98505614 1.80311087] [ 0. 0. 0. 1. ]] SLAMing on 57.804839173 meters Centerline goodness : 0.748990 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.40, Z:1.80 [[ 0.95205509 0.26985507 0.14411572 -4.6300993 ] [-0.25906312 0.96171565 -0.08938291 2.40327311] [-0.16271878 0.04776239 0.98551578 1.80141358] [ 0. 0. 0. 1. ]] SLAMing on 57.83483917299999 meters Centerline goodness : 0.742769 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.41, Z:1.80 [[ 0.95126195 0.27261341 0.14416182 -4.62696824] [-0.26216408 0.96105161 -0.08746309 2.40632607] [-0.16239056 0.04540626 0.98568128 1.79790981] [ 0. 0. 0. 1. ]] SLAMing on 57.86483917299999 meters Centerline goodness : 0.745703 Centerline is valid? [False, False] Translation: X:-4.63, Y:2.41, Z:1.80 [[ 0.94986225 0.27654479 0.14589273 -4.62852836] [-0.26653673 0.96010663 -0.08457796 2.40699496] [-0.16346217 0.04145164 0.98567839 1.79743009] [ 0. 0. 0. 1. ]] SLAMing on 57.894839172999994 meters Centerline goodness : 0.749199 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.41, Z:1.79 [[ 0.94806817 0.27719626 0.15597747 -4.6246085 ] [-0.26903355 0.9604626 -0.07164173 2.41368546] [-0.16966935 0.02595807 0.98515912 1.79492163] [ 0. 0. 0. 1. ]] SLAMing on 57.924839172999995 meters Centerline goodness : 0.747934 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.42, Z:1.80 [[ 0.94691677 0.28068296 0.15673452 -4.62261272] [-0.27374892 0.9596258 -0.06465177 2.41915069] [-0.16855314 0.01831394 0.98552242 1.79991162] [ 0. 0. 0. 1. ]] SLAMing on 57.954839172999996 meters Centerline goodness : 0.748936 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.42, Z:1.80 [[ 0.94725692 0.2797293 0.15638367 -4.62278913] [-0.27274274 0.95989391 -0.06492369 2.4208067 ] [-0.16827279 0.0188469 0.98556028 1.80274097] [ 0. 0. 0. 1. ]] SLAMing on 57.984839173 meters Centerline goodness : 0.747345 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.42, Z:1.80 [[ 0.94751 0.27892797 0.15628178 -4.62340508] [-0.2719211 0.96012238 -0.06499175 2.42013412] [-0.16817765 0.01908402 0.98557195 1.80413302] [ 0. 0. 0. 1. ]] SLAMing on 58.01483917299999 meters Centerline goodness : 0.746116 Centerline is valid? [False, False] Translation: X:-4.62, Y:2.42, Z:1.80 [[ 0.94800806 0.27823795 0.15448096 -4.61820121] [-0.27099396 0.96027754 -0.06655311 2.42377363] [-0.1668622 0.02122947 0.98575165 1.80002679] [ 0. 0. 0. 1. ]] SLAMing on 58.04483917299999 meters Centerline goodness : 0.741899 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.43, Z:1.80 [[ 0.94733007 0.28070561 0.15417553 -4.61407092] [-0.27386131 0.95960983 -0.06441239 2.42937595] [-0.16602927 0.01879708 0.98594166 1.79806451] [ 0. 0. 0. 1. ]] SLAMing on 58.074839172999994 meters Centerline goodness : 0.747112 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.45, Z:1.80 [[ 0.94363661 0.28658945 0.16557911 -4.60677829] [-0.28034588 0.95799476 -0.06043371 2.44906603] [-0.17594359 0.01060804 0.98434309 1.79639295] [ 0. 0. 0. 1. ]] SLAMing on 58.104839172999995 meters Centerline goodness : 0.747112 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.45, Z:1.80 [[ 0.94363661 0.28658945 0.16557911 -4.60677829] [-0.28034588 0.95799476 -0.06043371 2.44906603] [-0.17594359 0.01060804 0.98434309 1.79639295] [ 0. 0. 0. 1. ]] SLAMing on 58.134839172999996 meters Centerline goodness : 0.751973 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.45, Z:1.80 [[ 9.41463902e-01 2.92294312e-01 1.67957605e-01 -4.60741206e+00] [-2.87260143e-01 9.56324694e-01 -5.40803967e-02 2.45432888e+00] [-1.76429398e-01 2.66721560e-03 9.84309684e-01 1.79938778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164839173 meters Centerline goodness : 0.753663 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.80 [[ 9.39019728e-01 2.92531778e-01 1.80740445e-01 -4.60846097e+00] [-2.86978301e-01 9.56254750e-01 -5.67477641e-02 2.46836135e+00] [-1.89434433e-01 1.41868430e-03 9.81892348e-01 1.79748542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19483917299999 meters Centerline goodness : 0.750495 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.47, Z:1.80 [[ 0.94043102 0.28927203 0.17863702 -4.60536551] [-0.28294503 0.95722583 -0.0605047 2.47391683] [-0.18849829 0.00635605 0.98205295 1.79763777] [ 0. 0. 0. 1. ]] SLAMing on 58.22483917299999 meters Centerline goodness : 0.752080 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.48, Z:1.80 [[ 0.94062997 0.28877737 0.1783897 -4.60534835] [-0.2823471 0.95737057 -0.06100582 2.47542734] [-0.18840215 0.00701609 0.9820669 1.79889222] [ 0. 0. 0. 1. ]] SLAMing on 58.25483917299999 meters Centerline goodness : 0.757738 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.49, Z:1.80 [[ 0.9400452 0.28383622 0.18908206 -4.60401765] [-0.27707002 0.95885538 -0.06187543 2.49077892] [-0.19886484 0.00577673 0.9800099 1.80119821] [ 0. 0. 0. 1. ]] SLAMing on 58.284839172999995 meters Centerline goodness : 0.760698 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.50, Z:1.81 [[ 9.39569135e-01 2.85360044e-01 1.89154660e-01 -4.60269049e+00] [-2.78945185e-01 9.58412521e-01 -6.02911572e-02 2.49827013e+00] [-1.98492882e-01 3.88392870e-03 9.80094634e-01 1.80511935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314839172999996 meters Centerline goodness : 0.758999 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.51, Z:1.81 [[ 9.37854358e-01 2.89944581e-01 1.90686503e-01 -4.60099883e+00] [-2.84706133e-01 9.57039434e-01 -5.49357724e-02 2.50613443e+00] [-1.98422832e-01 -2.76786327e-03 9.80112605e-01 1.80616262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344839173 meters Centerline goodness : 0.761080 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.51, Z:1.81 [[ 9.37450130e-01 2.90621838e-01 1.91640814e-01 -4.60326131e+00] [-2.84941503e-01 9.56837476e-01 -5.71872777e-02 2.51100192e+00] [-1.99988985e-01 -9.96200800e-04 9.79797639e-01 1.80789002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37483917299999 meters Centerline goodness : 0.759560 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.52, Z:1.81 [[ 0.93774279 0.28938206 0.19208457 -4.60728442] [-0.28173361 0.95717723 -0.06661779 2.52097825] [-0.20313697 0.00835367 0.9791147 1.81294522] [ 0. 0. 0. 1. ]] SLAMing on 58.40483917299999 meters Centerline goodness : 0.758837 Centerline is valid? [False, False] Translation: X:-4.61, Y:2.52, Z:1.81 [[ 0.93815114 0.28838455 0.19159017 -4.60694009] [-0.28047626 0.95746386 -0.06779399 2.52365237] [-0.2029914 0.00986452 0.97913083 1.81449122] [ 0. 0. 0. 1. ]] SLAMing on 58.43483917299999 meters Centerline goodness : 0.753365 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.53, Z:1.81 [[ 0.93887923 0.28709758 0.18994938 -4.60177066] [-0.27896509 0.95783057 -0.06884102 2.5262738 ] [-0.20170342 0.01164416 0.97937743 1.80903243] [ 0. 0. 0. 1. ]] SLAMing on 58.464839172999994 meters Centerline goodness : 0.748247 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.53, Z:1.80 [[ 0.93885034 0.28755373 0.18940139 -4.59833723] [-0.2794712 0.95769494 -0.0686749 2.52606679] [-0.20113647 0.01154322 0.97949521 1.80321393] [ 0. 0. 0. 1. ]] SLAMing on 58.494839172999995 meters Centerline goodness : 0.746121 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.53, Z:1.80 [[ 0.93809123 0.29042659 0.18877828 -4.59275778] [-0.28257419 0.9568416 -0.06786734 2.53388775] [-0.2003414 0.01032189 0.97967177 1.79902607] [ 0. 0. 0. 1. ]] SLAMing on 58.524839173 meters Centerline goodness : 0.748586 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.54, Z:1.80 [[ 0.93736908 0.2923108 0.18945606 -4.59256304] [-0.28506002 0.95629778 -0.06507955 2.53775891] [-0.20019986 0.00699721 0.97973009 1.80166217] [ 0. 0. 0. 1. ]] SLAMing on 58.554839173 meters Centerline goodness : 0.755850 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.55, Z:1.81 [[ 0.93697856 0.28686426 0.19944943 -4.59141126] [-0.27918463 0.95794998 -0.06624035 2.54815409] [-0.21006457 0.00638257 0.97766668 1.80614109] [ 0. 0. 0. 1. ]] SLAMing on 58.58483917299999 meters Centerline goodness : 0.754702 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.55, Z:1.81 [[ 0.93691484 0.2867119 0.19996716 -4.59326627] [-0.27896105 0.9579944 -0.06653915 2.54812354] [-0.21064499 0.00655847 0.97754063 1.80766026] [ 0. 0. 0. 1. ]] SLAMing on 58.61483917299999 meters Centerline goodness : 0.751140 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.81 [[ 0.9371913 0.28535457 0.20061216 -4.59617472] [-0.27723316 0.95838697 -0.06808956 2.54184355] [-0.21169375 0.0081966 0.97730168 1.80536855] [ 0. 0. 0. 1. ]] SLAMing on 58.644839172999994 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.80 [[ 0.93786295 0.28363024 0.19991743 -4.59615594] [-0.27472099 0.95885599 -0.07157915 2.53856312] [-0.21199403 0.01220992 0.97719468 1.80185213] [ 0. 0. 0. 1. ]] SLAMing on 58.674839172999995 meters Centerline goodness : 0.750548 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.80 [[ 0.93848595 0.28233037 0.19883081 -4.59573258] [-0.27239703 0.9591596 -0.07624123 2.54098941] [-0.2122357 0.0173904 0.97706376 1.80226271] [ 0. 0. 0. 1. ]] SLAMing on 58.704839172999996 meters Centerline goodness : 0.750262 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.80 [[ 0.93792187 0.28396141 0.19916949 -4.59583956] [-0.27398806 0.95868072 -0.07656258 2.54022946] [-0.21268077 0.01723965 0.97696964 1.80059698] [ 0. 0. 0. 1. ]] SLAMing on 58.734839173 meters Centerline goodness : 0.749423 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.80 [[ 0.93729061 0.28587384 0.19940528 -4.5951711 ] [-0.27587097 0.9581157 -0.07687333 2.5398896 ] [-0.2130294 0.01704252 0.97689714 1.79783584] [ 0. 0. 0. 1. ]] SLAMing on 58.76483917299999 meters Centerline goodness : 0.751580 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.54, Z:1.79 [[ 0.93450015 0.29343922 0.20150159 -4.5947855 ] [-0.28418592 0.95590284 -0.07408182 2.53708081] [-0.21435446 0.01196556 0.97668265 1.79017035] [ 0. 0. 0. 1. ]] SLAMing on 58.79483917299999 meters Centerline goodness : 0.753012 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.54, Z:1.79 [[ 0.93283173 0.29787446 0.2027209 -4.59471202] [-0.28942926 0.9545765 -0.07081246 2.53688228] [-0.21460583 0.00738275 0.97667284 1.78956106] [ 0. 0. 0. 1. ]] SLAMing on 58.824839172999994 meters Centerline goodness : 0.757458 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.54, Z:1.79 [[ 9.29449587e-01 3.06469315e-01 2.05426447e-01 -4.59680850e+00] [-2.99061874e-01 9.51880187e-01 -6.69783938e-02 2.53588004e+00] [-2.16068187e-01 8.17822196e-04 9.76377934e-01 1.78871425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854839172999995 meters Centerline goodness : 0.757063 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.53, Z:1.79 [[ 9.27326957e-01 3.11545129e-01 2.07374895e-01 -4.60192985e+00] [-3.03660213e-01 9.50229955e-01 -6.96671246e-02 2.53086938e+00] [-2.18758290e-01 1.63269787e-03 9.75777713e-01 1.78570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884839172999996 meters Centerline goodness : 0.757515 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.53, Z:1.78 [[ 9.27110500e-01 3.12288877e-01 2.07223979e-01 -4.60143047e+00] [-3.04602471e-01 9.49986913e-01 -6.88636378e-02 2.52726791e+00] [-2.18365417e-01 7.23265487e-04 9.75866805e-01 1.78397861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914839173 meters Centerline goodness : 0.753889 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.52, Z:1.78 [[ 9.27783177e-01 3.11998272e-01 2.04634931e-01 -4.59683447e+00] [-3.03735034e-01 9.50073671e-01 -7.14496256e-02 2.52420531e+00] [-2.16710419e-01 4.13496308e-03 9.76227174e-01 1.77970997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94483917299999 meters Centerline goodness : 0.754356 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.52, Z:1.78 [[ 0.92762108 0.32008056 0.1925294 -4.59426315] [-0.31199335 0.94736783 -0.07179383 2.51564226] [-0.20537597 0.00652958 0.97866137 1.78279971] [ 0. 0. 0. 1. ]] SLAMing on 58.97483917299999 meters Centerline goodness : 0.754084 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.78 [[ 0.92721953 0.32140965 0.19224926 -4.59324118] [-0.31317625 0.94691333 -0.07263456 2.51275812] [-0.20538884 0.00714028 0.9786544 1.77812176] [ 0. 0. 0. 1. ]] SLAMing on 59.00483917299999 meters Centerline goodness : 0.753804 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.51, Z:1.78 [[ 0.92690838 0.32937552 0.17986833 -4.59412468] [-0.31938255 0.94400175 -0.08279782 2.50511 ] [-0.19706759 0.01929919 0.98019993 1.77881259] [ 0. 0. 0. 1. ]] SLAMing on 59.034839172999995 meters Centerline goodness : 0.754822 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.50, Z:1.78 [[ 0.92716851 0.32929863 0.17866443 -4.59574426] [-0.31804975 0.94387208 -0.08916193 2.50129883] [-0.19799726 0.02584396 0.97986181 1.77561003] [ 0. 0. 0. 1. ]] SLAMing on 59.064839172999996 meters Centerline goodness : 0.756451 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.50, Z:1.77 [[ 0.9271105 0.32950212 0.17859022 -4.59567803] [-0.31819264 0.94379288 -0.08948986 2.49952386] [-0.19803928 0.02614089 0.97984545 1.77401329] [ 0. 0. 0. 1. ]] SLAMing on 59.094839173 meters Centerline goodness : 0.756531 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.77 [[ 0.92618919 0.33217471 0.17841959 -4.59109711] [-0.3218157 0.94297657 -0.08502847 2.49102478] [-0.1964898 0.02133422 0.98027374 1.76557916] [ 0. 0. 0. 1. ]] SLAMing on 59.12483917299999 meters Centerline goodness : 0.757408 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.49, Z:1.76 [[ 0.92575601 0.33335386 0.17846854 -4.58916749] [-0.32350987 0.9426165 -0.08255598 2.4859001 ] [-0.19574774 0.01869036 0.98047616 1.76072822] [ 0. 0. 0. 1. ]] SLAMing on 59.15483917299999 meters Centerline goodness : 0.762333 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.48, Z:1.76 [[ 0.92547073 0.33418075 0.17840166 -4.58785436] [-0.32476171 0.94236339 -0.08050515 2.48154296] [-0.19502246 0.01656714 0.98065884 1.75794685] [ 0. 0. 0. 1. ]] SLAMing on 59.18483917299999 meters Centerline goodness : 0.766093 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.48, Z:1.76 [[ 0.92550026 0.33396369 0.17865476 -4.589513 ] [-0.32469289 0.94245399 -0.07971827 2.4781068 ] [-0.1949969 0.01577135 0.98067705 1.75858277] [ 0. 0. 0. 1. ]] SLAMing on 59.214839172999994 meters Centerline goodness : 0.768492 Centerline is valid? [False, False] Translation: X:-4.59, Y:2.47, Z:1.75 [[ 0.92654608 0.32653445 0.18678227 -4.58633083] [-0.31810244 0.94513801 -0.07433014 2.46579169] [-0.20080637 0.0094544 0.97958533 1.75233129] [ 0. 0. 0. 1. ]] SLAMing on 59.244839172999995 meters Centerline goodness : 0.769861 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.46, Z:1.75 [[ 0.92743407 0.32470424 0.18556183 -4.58469563] [-0.3163266 0.94576398 -0.07394578 2.45630915] [-0.19950821 0.00988169 0.97984633 1.74582601] [ 0. 0. 0. 1. ]] SLAMing on 59.274839173 meters Centerline goodness : 0.766132 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.74 [[ 0.92828445 0.32318853 0.18394878 -4.58218938] [-0.3144057 0.94625057 -0.07588745 2.45254813] [-0.19858759 0.01261059 0.98000201 1.74233915] [ 0. 0. 0. 1. ]] SLAMing on 59.304839173 meters Centerline goodness : 0.766354 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.45, Z:1.74 [[ 0.92935494 0.32079054 0.18273705 -4.58212104] [-0.31141576 0.94701147 -0.07867338 2.44947283] [-0.19829176 0.0162083 0.98000902 1.74172163] [ 0. 0. 0. 1. ]] SLAMing on 59.33483917299999 meters Centerline goodness : 0.771187 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.44, Z:1.74 [[ 0.92855567 0.31727607 0.1926662 -4.57795091] [-0.30908936 0.94830524 -0.0719788 2.44137768] [-0.20554352 0.00728525 0.97862086 1.73879596] [ 0. 0. 0. 1. ]] SLAMing on 59.36483917299999 meters Centerline goodness : 0.771612 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.44, Z:1.74 [[ 9.27347839e-01 3.19972648e-01 1.94019304e-01 -4.57902950e+00] [-3.12700311e-01 9.47424066e-01 -6.78686554e-02 2.43979886e+00] [-2.05534672e-01 2.26795400e-03 9.78647207e-01 1.74020622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394839172999994 meters Centerline goodness : 0.773348 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.43, Z:1.74 [[ 9.28290709e-01 3.19000138e-01 1.91089696e-01 -4.57435753e+00] [-3.12343842e-01 9.47754540e-01 -6.48278968e-02 2.43078844e+00] [-2.01786235e-01 4.93444599e-04 9.79429463e-01 1.73919315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424839172999995 meters Centerline goodness : 0.766930 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.42, Z:1.73 [[ 0.93148135 0.31224739 0.18666565 -4.57083258] [-0.30427699 0.94995782 -0.0706799 2.41667149] [-0.19939411 0.00903894 0.97987769 1.73222234] [ 0. 0. 0. 1. ]] SLAMing on 59.454839172999996 meters Centerline goodness : 0.757744 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.41, Z:1.73 [[ 0.93235289 0.31021913 0.1856938 -4.57048171] [-0.30211882 0.95060977 -0.07117081 2.40749935] [-0.19860089 0.01025472 0.9800268 1.72774202] [ 0. 0. 0. 1. ]] SLAMing on 59.484839173 meters Centerline goodness : 0.745962 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.39, Z:1.72 [[ 0.93336546 0.30915579 0.18235025 -4.56622064] [-0.30194504 0.95098363 -0.06677821 2.39336272] [-0.19405697 0.00726872 0.98096333 1.71880573] [ 0. 0. 0. 1. ]] SLAMing on 59.51483917299999 meters Centerline goodness : 0.741234 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.39, Z:1.71 [[ 9.32898437e-01 3.10401168e-01 1.82624261e-01 -4.56512376e+00] [-3.03883735e-01 9.50598732e-01 -6.33776409e-02 2.38616018e+00] [-1.93274884e-01 3.62835971e-03 9.81137938e-01 1.71423979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54483917299999 meters Centerline goodness : 0.747991 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.38, Z:1.71 [[ 9.32707900e-01 3.10831769e-01 1.82864934e-01 -4.56583502e+00] [-3.04852257e-01 9.50464564e-01 -6.06812505e-02 2.37862291e+00] [-1.92668301e-01 8.51093696e-04 9.81263574e-01 1.71224806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574839172999994 meters Centerline goodness : 0.742474 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.36, Z:1.72 [[ 9.35922248e-01 3.04036691e-01 1.77795487e-01 -4.56003772e+00] [-2.98667448e-01 9.52660312e-01 -5.68865935e-02 2.36420080e+00] [-1.86674316e-01 1.39704178e-04 9.82421844e-01 1.71760863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604839172999995 meters Centerline goodness : 0.742820 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.36, Z:1.72 [[ 9.37036370e-01 3.01970255e-01 1.75433194e-01 -4.55806219e+00] [-2.96628774e-01 9.53316870e-01 -5.65536561e-02 2.35524511e+00] [-1.84320945e-01 9.54299459e-04 9.82865646e-01 1.71623073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634839172999996 meters Centerline goodness : 0.734464 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.34, Z:1.71 [[ 0.93827707 0.29945138 0.17310405 -4.55663689] [-0.29557684 0.95409401 -0.04836279 2.33862909] [-0.17963984 -0.00578785 0.98371542 1.71227083] [ 0. 0. 0. 1. ]] SLAMing on 59.664839173 meters Centerline goodness : 0.726538 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.33, Z:1.72 [[ 0.9404854 0.29850504 0.16242522 -4.5597576 ] [-0.29568583 0.9543686 -0.0418385 2.32613576] [-0.16750254 -0.00867834 0.98583345 1.71778126] [ 0. 0. 0. 1. ]] SLAMing on 59.69483917299999 meters Centerline goodness : 0.727031 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.32, Z:1.72 [[ 0.94029701 0.29896907 0.1626623 -4.56092498] [-0.29646587 0.95420412 -0.04003112 2.31972589] [-0.1671811 -0.01058268 0.98586941 1.71745976] [ 0. 0. 0. 1. ]] SLAMing on 59.72483917299999 meters Centerline goodness : 0.722567 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.73 [[ 0.9411199 0.30120957 0.15351262 -4.56381089] [-0.29986061 0.95343175 -0.03242711 2.31109465] [-0.15613116 -0.01551459 0.98761448 1.72562091] [ 0. 0. 0. 1. ]] SLAMing on 59.75483917299999 meters Centerline goodness : 0.721337 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.31, Z:1.73 [[ 0.94004301 0.30384435 0.15491205 -4.56587781] [-0.30319412 0.95250581 -0.02839026 2.30682154] [-0.15618085 -0.02028036 0.98752025 1.72633483] [ 0. 0. 0. 1. ]] SLAMing on 59.784839172999995 meters Centerline goodness : 0.722455 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.30, Z:1.73 [[ 0.93980544 0.30446279 0.15513909 -4.56748607] [-0.30403508 0.9522763 -0.02706523 2.3022973 ] [-0.15597563 -0.02173168 0.98752182 1.72816855] [ 0. 0. 0. 1. ]] SLAMing on 59.814839172999996 meters Centerline goodness : 0.717188 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.30, Z:1.73 [[ 0.93990027 0.30407098 0.15533292 -4.56931694] [-0.30363934 0.95240201 -0.02708449 2.30110383] [-0.15617499 -0.02170846 0.98749082 1.7304001 ] [ 0. 0. 0. 1. ]] SLAMing on 59.844839173 meters Centerline goodness : 0.722518 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.29, Z:1.74 [[ 0.94262641 0.29455241 0.15714431 -4.5724308 ] [-0.29452241 0.95534277 -0.02401556 2.29486891] [-0.15720052 -0.02364482 0.98728361 1.74207808] [ 0. 0. 0. 1. ]] SLAMing on 59.87483917299999 meters Centerline goodness : 0.726569 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.75 [[ 0.94336281 0.29229511 0.15694003 -4.57634498] [-0.29192578 0.9560896 -0.02592324 2.29305783] [-0.15762597 -0.02135982 0.98726785 1.74731083] [ 0. 0. 0. 1. ]] SLAMing on 59.90483917299999 meters Centerline goodness : 0.735143 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.76 [[ 0.94534851 0.28607557 0.15645115 -4.57528957] [-0.28663813 0.95784158 -0.01944473 2.28959582] [-0.15541808 -0.02646282 0.98749427 1.75825342] [ 0. 0. 0. 1. ]] SLAMing on 59.93483917299999 meters Centerline goodness : 0.737732 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.76 [[ 0.94545876 0.28564246 0.15657627 -4.57671236] [-0.28621674 0.95796939 -0.01935547 2.28785358] [-0.15552401 -0.02651495 0.9874762 1.75964458] [ 0. 0. 0. 1. ]] SLAMing on 59.964839172999994 meters Centerline goodness : 0.746852 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.76 [[ 0.94532035 0.28631998 0.15617398 -4.57579596] [-0.28701996 0.95774513 -0.01854185 2.28583416] [-0.15488377 -0.02729706 0.98755551 1.7600207 ] [ 0. 0. 0. 1. ]] SLAMing on 59.994839172999995 meters Centerline goodness : 0.746852 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.76 [[ 0.94532035 0.28631998 0.15617398 -4.57579596] [-0.28701996 0.95774513 -0.01854185 2.28583416] [-0.15488377 -0.02729706 0.98755551 1.7600207 ] [ 0. 0. 0. 1. ]] SLAMing on 60.024839173 meters Centerline goodness : 0.744273 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.28, Z:1.76 [[ 0.94533537 0.28625702 0.15619847 -4.57667059] [-0.28695247 0.95776482 -0.01856987 2.28494403] [-0.15491715 -0.02726678 0.98755111 1.76149437] [ 0. 0. 0. 1. ]] SLAMing on 60.054839173 meters Centerline goodness : 0.753600 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.76 [[ 0.94542195 0.28598441 0.1561738 -4.57743741] [-0.28656483 0.95786693 -0.01927548 2.28521729] [-0.1551062 -0.02653046 0.98754149 1.76317782] [ 0. 0. 0. 1. ]] SLAMing on 60.08483917299999 meters Centerline goodness : 0.768535 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.29, Z:1.77 [[ 0.94515204 0.28651864 0.15682695 -4.57992822] [-0.28706333 0.95770983 -0.0196601 2.29197733] [-0.1558277 -0.02643749 0.9874304 1.76994578] [ 0. 0. 0. 1. ]] SLAMing on 60.11483917299999 meters Centerline goodness : 0.774240 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.30, Z:1.77 [[ 0.94550935 0.28551294 0.15650694 -4.58116996] [-0.28576447 0.95806138 -0.02137887 2.2952225 ] [-0.1560472 -0.0245102 0.98744545 1.77391293] [ 0. 0. 0. 1. ]] SLAMing on 60.144839172999994 meters Centerline goodness : 0.790559 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.30, Z:1.78 [[ 0.94778422 0.27987222 0.15289412 -4.57625612] [-0.28050313 0.95968663 -0.01787637 2.30089237] [-0.15173354 -0.02594434 0.98808088 1.78451606] [ 0. 0. 0. 1. ]] SLAMing on 60.174839172999995 meters Centerline goodness : 0.789820 Centerline is valid? [False, False] Translation: X:-4.58, Y:2.30, Z:1.79 [[ 0.94800634 0.27945282 0.15228298 -4.57509776] [-0.2798842 0.95984495 -0.01903941 2.30397113] [-0.15148867 -0.02457212 0.98815353 1.78524158] [ 0. 0. 0. 1. ]] SLAMing on 60.204839172999996 meters Centerline goodness : 0.780352 Centerline is valid? [False, False] Translation: X:-4.57, Y:2.31, Z:1.79 [[ 0.95039312 0.27931876 0.13687201 -4.56825072] [-0.27935059 0.95999375 -0.01937126 2.30920142] [-0.13680703 -0.01982497 0.99039932 1.78909632] [ 0. 0. 0. 1. ]] SLAMing on 60.234839173 meters Centerline goodness : 0.775719 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.31, Z:1.79 [[ 0.95262213 0.27842014 0.12244712 -4.5635211 ] [-0.27823276 0.96032623 -0.01897533 2.31224409] [-0.1228723 -0.01599248 0.99229363 1.79426613] [ 0. 0. 0. 1. ]] SLAMing on 60.26483917299999 meters Centerline goodness : 0.778887 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.32, Z:1.79 [[ 0.95276285 0.27811335 0.12204882 -4.56210819] [-0.27779861 0.96043249 -0.01993382 2.31522929] [-0.12276351 -0.01491279 0.9923239 1.79387361] [ 0. 0. 0. 1. ]] SLAMing on 60.29483917299999 meters Centerline goodness : 0.785985 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.32, Z:1.79 [[ 0.95242547 0.27947974 0.12155989 -4.55754725] [-0.27918203 0.96003354 -0.01982436 2.3234121 ] [-0.12224208 -0.01505611 0.99238611 1.79212744] [ 0. 0. 0. 1. ]] SLAMing on 60.324839172999994 meters Centerline goodness : 0.797190 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.33, Z:1.80 [[ 0.95177548 0.28181784 0.12125239 -4.55552155] [-0.28142513 0.95935968 -0.02070993 2.33361874] [-0.12216108 -0.01441227 0.99240564 1.7967251 ] [ 0. 0. 0. 1. ]] SLAMing on 60.354839172999995 meters Centerline goodness : 0.803882 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.34, Z:1.80 [[ 0.95108315 0.2839855 0.12162678 -4.55586497] [-0.28376931 0.95869503 -0.01946343 2.33857674] [-0.12213032 -0.01600261 0.99238506 1.80042935] [ 0. 0. 0. 1. ]] SLAMing on 60.384839172999996 meters Centerline goodness : 0.808171 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.35, Z:1.81 [[ 0.94953234 0.2884166 0.12330535 -4.55672131] [-0.28870719 0.95728545 -0.01589709 2.34720592] [-0.1226234 -0.02050434 0.99224144 1.80504421] [ 0. 0. 0. 1. ]] SLAMing on 60.414839173 meters Centerline goodness : 0.806569 Centerline is valid? [False, False] Translation: X:-4.56, Y:2.35, Z:1.80 [[ 0.94862733 0.29112497 0.12390499 -4.55529436] [-0.291793 0.9563914 -0.01312781 2.35051499] [-0.12232349 -0.02370121 0.99220724 1.80497543] [ 0. 0. 0. 1. ]] SLAMing on 60.44483917299999 meters Centerline goodness : 0.811126 Centerline is valid? [False, False] Translation: X:-4.55, Y:2.36, Z:1.80 [[ 9.47703493e-01 2.94340192e-01 1.23377227e-01 -4.54638614e+00] [-2.96085003e-01 9.55151614e-01 -4.36642851e-03 2.35581889e+00] [-1.19129173e-01 -3.23920671e-02 9.92350238e-01 1.80440033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47483917299999 meters Centerline goodness : 0.802978 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.36, Z:1.80 [[ 9.47524268e-01 2.95362927e-01 1.22304956e-01 -4.53966905e+00] [-2.97491910e-01 9.54723921e-01 -8.93242585e-04 2.35871725e+00] [-1.17031298e-01 -3.55383660e-02 9.92492166e-01 1.80050815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50483917299999 meters Centerline goodness : 0.798487 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.37, Z:1.79 [[ 0.9468951 0.29753007 0.12192431 -4.5366115 ] [-0.29905826 0.95421601 -0.00599682 2.36708883] [-0.11812636 -0.03078411 0.99252129 1.79285842] [ 0. 0. 0. 1. ]] SLAMing on 60.534839172999995 meters Centerline goodness : 0.796323 Centerline is valid? [False, False] Translation: X:-4.54, Y:2.37, Z:1.79 [[ 0.94664506 0.29850505 0.12148195 -4.53557529] [-0.29968771 0.95399633 -0.00884765 2.37198428] [-0.1185344 -0.02803106 0.99255421 1.79109776] [ 0. 0. 0. 1. ]] SLAMing on 60.564839172999996 meters Centerline goodness : 0.798160 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.38, Z:1.79 [[ 0.94616274 0.30021512 0.12102458 -4.53259004] [-0.30164971 0.9533951 -0.00672517 2.37805173] [-0.11740324 -0.03014392 0.99262673 1.79310436] [ 0. 0. 0. 1. ]] SLAMing on 60.594839173 meters Centerline goodness : 0.802755 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.38, Z:1.79 [[ 9.45469742e-01 3.02199094e-01 1.21501747e-01 -4.53065905e+00] [-3.04174137e-01 9.52613426e-01 -2.39890924e-03 2.37966784e+00] [-1.16469144e-01 -3.46895929e-02 9.92588319e-01 1.79410760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62483917299999 meters Centerline goodness : 0.809445 Centerline is valid? [False, False] Translation: X:-4.53, Y:2.39, Z:1.79 [[ 9.45891526e-01 2.96585929e-01 1.31628293e-01 -4.52714992e+00] [-2.98962916e-01 9.54263067e-01 -1.78160196e-03 2.39087850e+00] [-1.26136417e-01 -3.76667760e-02 9.91297543e-01 1.79458626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65483917299999 meters Centerline goodness : 0.812775 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.39, Z:1.80 [[ 9.45821595e-01 2.96833614e-01 1.31572473e-01 -4.52451214e+00] [-2.99891694e-01 9.53966432e-01 3.60817650e-03 2.39057634e+00] [-1.24444695e-01 -4.28701831e-02 9.91299988e-01 1.79689438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68483917299999 meters Centerline goodness : 0.810168 Centerline is valid? [False, False] Translation: X:-4.52, Y:2.40, Z:1.80 [[ 9.48213634e-01 2.90926610e-01 1.27485735e-01 -4.51719191e+00] [-2.93367614e-01 9.55999630e-01 3.87799735e-04 2.39552367e+00] [-1.21763494e-01 -3.77679028e-02 9.91840328e-01 1.79739717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.714839172999994 meters Centerline goodness : 0.802932 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.40, Z:1.79 [[ 0.94784737 0.29251027 0.12658243 -4.51382139] [-0.29426867 0.95570965 -0.00500154 2.40250395] [-0.12243905 -0.03250855 0.99194348 1.79049611] [ 0. 0. 0. 1. ]] SLAMing on 60.744839172999995 meters Centerline goodness : 0.802636 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.41, Z:1.79 [[ 0.94740666 0.29397834 0.12648067 -4.51341399] [-0.29542604 0.9553355 -0.00758493 2.40818041] [-0.12306128 -0.03017967 0.99194007 1.78967587] [ 0. 0. 0. 1. ]] SLAMing on 60.774839173 meters Centerline goodness : 0.801278 Centerline is valid? [False, False] Translation: X:-4.51, Y:2.42, Z:1.78 [[ 0.94794719 0.28852726 0.13471507 -4.50750892] [-0.29046414 0.95687018 -0.00548166 2.41683424] [-0.13048644 -0.03393357 0.99086922 1.78273073] [ 0. 0. 0. 1. ]] SLAMing on 60.804839173 meters Centerline goodness : 0.801697 Centerline is valid? [False, False] Translation: X:-4.50, Y:2.43, Z:1.78 [[ 9.49194327e-01 2.80361714e-01 1.42924589e-01 -4.49839015e+00] [-2.83441793e-01 9.58988637e-01 1.24292050e-03 2.42717614e+00] [-1.36714589e-01 -4.16905749e-02 9.89732801e-01 1.77940629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83483917299999 meters Centerline goodness : 0.757119 Centerline is valid? [False, False] Translation: X:-4.49, Y:2.43, Z:1.78 [[ 9.50333237e-01 2.72030328e-01 1.51215873e-01 -4.49187420e+00] [-2.75412975e-01 9.61324860e-01 1.48521174e-03 2.43262960e+00] [-1.44963555e-01 -4.30582595e-02 9.88499648e-01 1.77541503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86483917299999 meters Centerline goodness : 0.801307 Centerline is valid? [False, False] Translation: X:-4.48, Y:2.45, Z:1.77 [[ 9.50880258e-01 2.66960420e-01 1.56712694e-01 -4.48041804e+00] [-2.70138411e-01 9.62820918e-01 -1.05795268e-03 2.44528225e+00] [-1.51168691e-01 -4.13281318e-02 9.87643667e-01 1.77157454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.894839172999994 meters Centerline goodness : 0.795069 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.46, Z:1.76 [[ 0.95133123 0.26703933 0.15381446 -4.4713114 ] [-0.26916596 0.96306674 -0.00722114 2.46030521] [-0.15006192 -0.03453192 0.98807336 1.76400303] [ 0. 0. 0. 1. ]] SLAMing on 60.924839172999995 meters Centerline goodness : 0.793177 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.47, Z:1.76 [[ 0.95115055 0.26166736 0.16383779 -4.46741858] [-0.26386843 0.96452056 -0.00857518 2.47080718] [-0.16026876 -0.03507533 0.98645002 1.75545099] [ 0. 0. 0. 1. ]] SLAMing on 60.954839172999996 meters Centerline goodness : 0.794173 Centerline is valid? [False, False] Translation: X:-4.46, Y:2.49, Z:1.75 [[ 0.95026898 0.25856282 0.17359185 -4.46036213] [-0.26106883 0.9652815 -0.00864267 2.48709834] [-0.16979967 -0.03710656 0.98477976 1.75346448] [ 0. 0. 0. 1. ]] SLAMing on 60.984839173 meters Centerline goodness : 0.794842 Centerline is valid? [False, False] Translation: X:-4.46, Y:2.50, Z:1.75 [[ 0.95034836 0.25143718 0.18335032 -4.45636453] [-0.25428151 0.96709529 -0.00822306 2.49638579] [-0.17938481 -0.03880783 0.98301325 1.74784868] [ 0. 0. 0. 1. ]] SLAMing on 61.01483917299999 meters Centerline goodness : 0.795503 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.50, Z:1.75 [[ 0.95062674 0.25135478 0.18201529 -4.4537246 ] [-0.25370249 0.96722358 -0.01065791 2.50387756] [-0.1787284 -0.03604604 0.98323794 1.75066677] [ 0. 0. 0. 1. ]] SLAMing on 61.04483917299999 meters Centerline goodness : 0.795117 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.51, Z:1.75 [[ 0.95117149 0.25017126 0.18079585 -4.45200479] [-0.25249313 0.96754239 -0.01043737 2.50728112] [-0.17753878 -0.03572199 0.98346526 1.75486808] [ 0. 0. 0. 1. ]] SLAMing on 61.074839172999994 meters Centerline goodness : 0.795438 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.51, Z:1.75 [[ 0.95170063 0.24152146 0.18956078 -4.44765196] [-0.24471359 0.96957196 -0.00674377 2.51354645] [-0.18542158 -0.03997005 0.98184583 1.7492963 ] [ 0. 0. 0. 1. ]] SLAMing on 61.104839172999995 meters Centerline goodness : 0.796399 Centerline is valid? [False, False] Translation: X:-4.45, Y:2.52, Z:1.75 [[ 0.95188631 0.24097714 0.18932107 -4.4478685 ] [-0.24395786 0.96975481 -0.00775716 2.51502636] [-0.18546431 -0.03880243 0.9818846 1.75144285] [ 0. 0. 0. 1. ]] SLAMing on 61.134839172999996 meters Centerline goodness : 0.799176 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.52, Z:1.75 [[ 0.95366175 0.23623249 0.18634238 -4.44367656] [-0.23825291 0.97113138 -0.01180678 2.51602003] [-0.18375208 -0.03313694 0.98241392 1.7512271 ] [ 0. 0. 0. 1. ]] SLAMing on 61.164839173 meters Centerline goodness : 0.795960 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.52, Z:1.75 [[ 0.95473596 0.23344297 0.18434651 -4.44140228] [-0.23452115 0.97197524 -0.01624663 2.51948392] [-0.18297291 -0.02772191 0.98272703 1.75235611] [ 0. 0. 0. 1. ]] SLAMing on 61.19483917299999 meters Centerline goodness : 0.794603 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.52, Z:1.76 [[ 0.95565175 0.23162962 0.18187206 -4.43622563] [-0.23282141 0.97240271 -0.01507146 2.52465421] [-0.18034388 -0.02794064 0.9832067 1.75518119] [ 0. 0. 0. 1. ]] SLAMing on 61.22483917299999 meters Centerline goodness : 0.793935 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.53, Z:1.76 [[ 0.95591198 0.23128546 0.18094013 -4.43424193] [-0.23238694 0.9725017 -0.01538656 2.52555895] [-0.17952327 -0.02733993 0.98337375 1.75518507] [ 0. 0. 0. 1. ]] SLAMing on 61.25483917299999 meters Centerline goodness : 0.797553 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.53, Z:1.76 [[ 0.95628582 0.22964358 0.18105594 -4.43722585] [-0.22991369 0.97300988 -0.01978544 2.52654336] [-0.18071282 -0.02270671 0.98327376 1.75944613] [ 0. 0. 0. 1. ]] SLAMing on 61.284839172999995 meters Centerline goodness : 0.799302 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.53, Z:1.76 [[ 0.9561725 0.22987304 0.18136298 -4.43867196] [-0.23017712 0.9729501 -0.01966199 2.52579501] [-0.18097689 -0.02294536 0.98321965 1.76194007] [ 0. 0. 0. 1. ]] SLAMing on 61.314839172999996 meters Centerline goodness : 0.798476 Centerline is valid? [False, False] Translation: X:-4.44, Y:2.53, Z:1.76 [[ 0.95664045 0.22935694 0.17953956 -4.43514239] [-0.22849232 0.97320466 -0.0257673 2.5305295 ] [-0.18063864 -0.01637337 0.98341324 1.75878133] [ 0. 0. 0. 1. ]] SLAMing on 61.344839173 meters Centerline goodness : 0.790329 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.75 [[ 9.58378336e-01 2.27660216e-01 1.72284040e-01 -4.42403616e+00] [-2.24831247e-01 9.73731538e-01 -3.60250199e-02 2.53625928e+00] [-1.75959867e-01 -4.20923686e-03 9.84388342e-01 1.75112147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37483917299999 meters Centerline goodness : 0.785903 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.75 [[ 9.58963373e-01 2.26460681e-01 1.70601318e-01 -4.42040573e+00] [-2.22680880e-01 9.74019074e-01 -4.12318924e-02 2.54087303e+00] [-1.75506340e-01 1.55022298e-03 9.84477080e-01 1.74770994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40483917299999 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.75 [[ 9.59055285e-01 2.26434329e-01 1.70118944e-01 -4.42008942e+00] [-2.22513273e-01 9.74023344e-01 -4.20281939e-02 2.54318194e+00] [-1.75216448e-01 2.45363856e-03 9.84526879e-01 1.75008227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43483917299999 meters Centerline goodness : 0.792690 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.55, Z:1.76 [[ 9.58535950e-01 2.20640389e-01 1.80351465e-01 -4.41919651e+00] [-2.16886022e-01 9.75355191e-01 -4.05303028e-02 2.54793724e+00] [-1.84849360e-01 -2.65959633e-04 9.82766831e-01 1.75813990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.464839172999994 meters Centerline goodness : 0.803144 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.55, Z:1.77 [[ 0.95913087 0.21683041 0.18180362 -4.42610587] [-0.21204166 0.97619543 -0.04561601 2.54815608] [-0.1873668 0.00520178 0.98227625 1.76976012] [ 0. 0. 0. 1. ]] SLAMing on 61.494839172999995 meters Centerline goodness : 0.803902 Centerline is valid? [False, False] Translation: X:-4.43, Y:2.55, Z:1.77 [[ 0.96013671 0.21363391 0.18027217 -4.42560336] [-0.20812209 0.97686561 -0.04918102 2.54825047] [-0.18660841 0.00970188 0.98238647 1.77262195] [ 0. 0. 0. 1. ]] SLAMing on 61.524839173 meters Centerline goodness : 0.803015 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.55, Z:1.77 [[ 0.9623177 0.20669237 0.17670005 -4.42147563] [-0.19971617 0.97821817 -0.05659211 2.54760499] [-0.18454835 0.01916973 0.98263647 1.77219281] [ 0. 0. 0. 1. ]] SLAMing on 61.554839173 meters Centerline goodness : 0.799652 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.55, Z:1.77 [[ 0.96303207 0.20419124 0.17571333 -4.42004718] [-0.19642131 0.97863773 -0.06071954 2.54620938] [-0.18435809 0.02396103 0.98256703 1.7691735 ] [ 0. 0. 0. 1. ]] SLAMing on 61.58483917299999 meters Centerline goodness : 0.798337 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.77 [[ 0.96362936 0.20249151 0.17440081 -4.41778401] [-0.19423838 0.97890727 -0.06334036 2.54413937] [-0.18354811 0.0271613 0.98263541 1.76697445] [ 0. 0. 0. 1. ]] SLAMing on 61.61483917299999 meters Centerline goodness : 0.799275 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.77 [[ 0.9636054 0.20292292 0.17403139 -4.41697075] [-0.1947266 0.978824 -0.0631278 2.54490441] [-0.18315618 0.02694174 0.98271459 1.76771926] [ 0. 0. 0. 1. ]] SLAMing on 61.644839172999994 meters Centerline goodness : 0.800374 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.77 [[ 0.96269939 0.20635729 0.17500442 -4.41779256] [-0.19903352 0.97823842 -0.05861099 2.54389669] [-0.18329085 0.02159302 0.98282155 1.76970733] [ 0. 0. 0. 1. ]] SLAMing on 61.674839172999995 meters Centerline goodness : 0.801564 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.77 [[ 0.96266156 0.20663574 0.17488392 -4.41770925] [-0.19948912 0.97819986 -0.05769854 2.54180757] [-0.18299401 0.02065673 0.98289699 1.77030106] [ 0. 0. 0. 1. ]] SLAMing on 61.704839172999996 meters Centerline goodness : 0.802839 Centerline is valid? [False, False] Translation: X:-4.42, Y:2.54, Z:1.77 [[ 0.96306309 0.20546538 0.17405017 -4.4170029 ] [-0.19847728 0.97845602 -0.05683817 2.540404 ] [-0.18197872 0.02019374 0.98309509 1.77273999] [ 0. 0. 0. 1. ]] SLAMing on 61.734839173 meters Centerline goodness : 0.799909 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.54, Z:1.77 [[ 0.96491826 0.1994504 0.17074041 -4.41270746] [-0.19082006 0.97942279 -0.06571677 2.54429555] [-0.18033429 0.03083061 0.98312208 1.77217633] [ 0. 0. 0. 1. ]] SLAMing on 61.76483917299999 meters Centerline goodness : 0.798472 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.54, Z:1.77 [[ 0.96587628 0.19617679 0.16910846 -4.41032798] [-0.1869197 0.9799361 -0.0691829 2.54463492] [-0.17928757 0.03521242 0.98316634 1.77115124] [ 0. 0. 0. 1. ]] SLAMing on 61.79483917299999 meters Centerline goodness : 0.795583 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.54, Z:1.77 [[ 0.96682063 0.19287287 0.167505 -4.4081233 ] [-0.18292264 0.98040765 -0.07307635 2.54420148] [-0.17831763 0.04001127 0.98315915 1.76984938] [ 0. 0. 0. 1. ]] SLAMing on 61.824839172999994 meters Centerline goodness : 0.796076 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.54, Z:1.77 [[ 0.96785653 0.18925198 0.16564245 -4.40532414] [-0.17874972 0.98093134 -0.07630357 2.54364007] [-0.17692448 0.04424237 0.98322955 1.76899172] [ 0. 0. 0. 1. ]] SLAMing on 61.854839172999995 meters Centerline goodness : 0.798288 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.54, Z:1.77 [[ 0.96813999 0.18877854 0.16452241 -4.4026283 ] [-0.17844039 0.98103932 -0.07563645 2.54447504] [-0.17568149 0.04386923 0.98346912 1.76880978] [ 0. 0. 0. 1. ]] SLAMing on 61.884839172999996 meters Centerline goodness : 0.796907 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.55, Z:1.77 [[ 0.96859794 0.18832848 0.16232808 -4.39648874] [-0.17814963 0.98112074 -0.07526494 2.54705555] [-0.17343798 0.04398278 0.98386218 1.76625638] [ 0. 0. 0. 1. ]] SLAMing on 61.914839173 meters Centerline goodness : 0.796907 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.55, Z:1.77 [[ 0.96859794 0.18832848 0.16232808 -4.39648874] [-0.17814963 0.98112074 -0.07526494 2.54705555] [-0.17343798 0.04398278 0.98386218 1.76625638] [ 0. 0. 0. 1. ]] SLAMing on 61.94483917299999 meters Centerline goodness : 0.796873 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.76 [[ 0.96800281 0.19115119 0.16257855 -4.39467738] [-0.18183497 0.98079763 -0.07051284 2.5474054 ] [-0.17293527 0.03869416 0.98417283 1.76484614] [ 0. 0. 0. 1. ]] SLAMing on 61.97483917299999 meters Centerline goodness : 0.799462 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.77 [[ 0.96793733 0.19202465 0.16193784 -4.39320252] [-0.18265829 0.98060873 -0.07101038 2.54958344] [-0.1724334 0.03915431 0.98424268 1.76558056] [ 0. 0. 0. 1. ]] SLAMing on 62.00483917299999 meters Centerline goodness : 0.799055 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.77 [[ 0.96798627 0.1923639 0.16124115 -4.39129058] [-0.1829948 0.98053133 -0.07121247 2.551567 ] [-0.17180071 0.0394264 0.98434246 1.76545089] [ 0. 0. 0. 1. ]] SLAMing on 62.034839172999995 meters Centerline goodness : 0.799099 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.76 [[ 0.96746369 0.19528304 0.16086811 -4.38730105] [-0.18652164 0.98009316 -0.06802255 2.55343214] [-0.17094938 0.03580396 0.98462906 1.76152678] [ 0. 0. 0. 1. ]] SLAMing on 62.064839172999996 meters Centerline goodness : 0.795560 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.76 [[ 0.96690036 0.19725391 0.1618474 -4.38829026] [-0.18839078 0.97969897 -0.06854814 2.55337837] [-0.17208312 0.03578866 0.98443211 1.75959175] [ 0. 0. 0. 1. ]] SLAMing on 62.094839173 meters Centerline goodness : 0.796630 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.55, Z:1.76 [[ 0.96657971 0.19809916 0.16272798 -4.39005883] [-0.18918549 0.97953405 -0.06871599 2.55193477] [-0.17301017 0.03563371 0.98427523 1.75925077] [ 0. 0. 0. 1. ]] SLAMing on 62.12483917299999 meters Centerline goodness : 0.797188 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.54, Z:1.76 [[ 0.96670155 0.19732979 0.16293887 -4.39041236] [-0.1890136 0.97980684 -0.06521057 2.54466145] [-0.17251661 0.0322415 0.9844788 1.7584066 ] [ 0. 0. 0. 1. ]] SLAMing on 62.15483917299999 meters Centerline goodness : 0.799026 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.54, Z:1.76 [[ 0.966847 0.19658355 0.16297784 -4.39095867] [-0.18849012 0.97999575 -0.06387337 2.54116087] [-0.17227405 0.03103606 0.98456001 1.75900894] [ 0. 0. 0. 1. ]] SLAMing on 62.18483917299999 meters Centerline goodness : 0.798213 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.54, Z:1.76 [[ 0.96819363 0.19140056 0.16114254 -4.39128839] [-0.18294392 0.98091113 -0.06591562 2.5382141 ] [-0.1706828 0.03433904 0.98472748 1.76486715] [ 0. 0. 0. 1. ]] SLAMing on 62.214839172999994 meters Centerline goodness : 0.800438 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.54, Z:1.77 [[ 0.96915571 0.18764002 0.15977619 -4.3909835 ] [-0.17920452 0.98160942 -0.06579282 2.53558295] [-0.16918318 0.03513088 0.98495831 1.76836688] [ 0. 0. 0. 1. ]] SLAMing on 62.244839172999995 meters Centerline goodness : 0.804153 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.53, Z:1.78 [[ 0.97016663 0.18262589 0.15945058 -4.39543253] [-0.17402357 0.98249612 -0.06646175 2.5287752 ] [-0.16879721 0.03673082 0.98496617 1.77687359] [ 0. 0. 0. 1. ]] SLAMing on 62.274839173 meters Centerline goodness : 0.810074 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.53, Z:1.78 [[ 0.97115213 0.17885984 0.15771081 -4.39347007] [-0.16998118 0.98308416 -0.06820511 2.52541227] [-0.16724215 0.03942967 0.98512708 1.77711567] [ 0. 0. 0. 1. ]] SLAMing on 62.304839173 meters Centerline goodness : 0.803204 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.52, Z:1.78 [[ 0.97456191 0.17313971 0.14230855 -4.3909696 ] [-0.16327311 0.98346121 -0.07839608 2.5173054 ] [-0.15352841 0.05316667 0.98671289 1.77839152] [ 0. 0. 0. 1. ]] SLAMing on 62.33483917299999 meters Centerline goodness : 0.801433 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.51, Z:1.77 [[ 0.97534918 0.16982974 0.14089654 -4.38732357] [-0.15986712 0.98394593 -0.07932783 2.51070222] [-0.1521068 0.05484761 0.98684105 1.77227725] [ 0. 0. 0. 1. ]] SLAMing on 62.36483917299999 meters Centerline goodness : 0.803418 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.50, Z:1.76 [[ 0.97534928 0.17039333 0.14021376 -4.38256727] [-0.16144044 0.98417831 -0.07300715 2.49914691] [-0.15043527 0.0485713 0.98742598 1.76091903] [ 0. 0. 0. 1. ]] SLAMing on 62.394839172999994 meters Centerline goodness : 0.804765 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.50, Z:1.76 [[ 0.97391597 0.17624103 0.14292228 -4.38669878] [-0.16792113 0.98342334 -0.06841807 2.49623032] [-0.15261118 0.04263378 0.98736629 1.76151869] [ 0. 0. 0. 1. ]] SLAMing on 62.424839172999995 meters Centerline goodness : 0.804899 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.76 [[ 0.9728574 0.18040142 0.14492689 -4.38994921] [-0.17294163 0.98293911 -0.06262513 2.49115732] [-0.15375197 0.03586142 0.9874585 1.7626989 ] [ 0. 0. 0. 1. ]] SLAMing on 62.454839172999996 meters Centerline goodness : 0.809759 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.77 [[ 0.97261645 0.18119822 0.14554875 -4.39228322] [-0.1738091 0.98282063 -0.06208067 2.48933562] [-0.15429722 0.03508298 0.98740141 1.76553486] [ 0. 0. 0. 1. ]] SLAMing on 62.484839173 meters Centerline goodness : 0.810582 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.77 [[ 0.97277229 0.18111807 0.14460399 -4.39022881] [-0.17396171 0.98287403 -0.06079444 2.48847579] [-0.15313848 0.03398359 0.98762023 1.7658029 ] [ 0. 0. 0. 1. ]] SLAMing on 62.51483917299999 meters Centerline goodness : 0.812218 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.77 [[ 0.97204945 0.18472317 0.14490419 -4.38966315] [-0.17845385 0.98239611 -0.05524585 2.48693818] [-0.1525585 0.02784299 0.98790216 1.76748684] [ 0. 0. 0. 1. ]] SLAMing on 62.54483917299999 meters Centerline goodness : 0.815493 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.77 [[ 0.97135394 0.187377 0.14615533 -4.39217502] [-0.18092845 0.98188047 -0.05635275 2.48846429] [-0.15406628 0.02829481 0.9876553 1.76806161] [ 0. 0. 0. 1. ]] SLAMing on 62.574839172999994 meters Centerline goodness : 0.814864 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.76 [[ 0.96938458 0.19469933 0.14961852 -4.39681006] [-0.18856788 0.9805596 -0.05426801 2.4853838 ] [-0.15727582 0.02439332 0.9872534 1.76449062] [ 0. 0. 0. 1. ]] SLAMing on 62.604839172999995 meters Centerline goodness : 0.815483 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.76 [[ 0.96922616 0.19563995 0.14941771 -4.39602739] [-0.18945573 0.98036449 -0.0546991 2.4861817 ] [-0.15718515 0.02470776 0.98726002 1.76377724] [ 0. 0. 0. 1. ]] SLAMing on 62.634839172999996 meters Centerline goodness : 0.812437 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.76 [[ 0.96894007 0.19685792 0.14967334 -4.39685141] [-0.19060327 0.98011462 -0.05518801 2.4867181 ] [-0.15756122 0.02494564 0.98719409 1.76476998] [ 0. 0. 0. 1. ]] SLAMing on 62.664839173 meters Centerline goodness : 0.815071 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.77 [[ 0.96875019 0.19758163 0.14994858 -4.39895733] [-0.19131664 0.9799715 -0.0552612 2.48733627] [-0.15786393 0.02484664 0.98714823 1.76891728] [ 0. 0. 0. 1. ]] SLAMing on 62.69483917299999 meters Centerline goodness : 0.816462 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.78 [[ 0.96787779 0.20061967 0.15153987 -4.40365577] [-0.19519551 0.97948826 -0.05001459 2.48570474] [-0.15846544 0.01882811 0.98718499 1.7772268 ] [ 0. 0. 0. 1. ]] SLAMing on 62.72483917299999 meters Centerline goodness : 0.815269 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.49, Z:1.78 [[ 0.96778641 0.20088345 0.15177388 -4.40522523] [-0.19543307 0.97943297 -0.05016941 2.48705724] [-0.15873055 0.01889164 0.98714119 1.78048574] [ 0. 0. 0. 1. ]] SLAMing on 62.75483917299999 meters Centerline goodness : 0.814272 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.49, Z:1.79 [[ 0.96762288 0.20132621 0.15222913 -4.40763194] [-0.195871 0.97934504 -0.05017811 2.48778755] [-0.15918702 0.01873621 0.98707064 1.78509535] [ 0. 0. 0. 1. ]] SLAMing on 62.784839172999995 meters Centerline goodness : 0.813365 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.48, Z:1.78 [[ 0.96753987 0.20161954 0.15236852 -4.40626953] [-0.19660254 0.97933376 -0.04746404 2.48308685] [-0.15878932 0.01596732 0.98718337 1.78210096] [ 0. 0. 0. 1. ]] SLAMing on 62.814839172999996 meters Centerline goodness : 0.810580 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.48, Z:1.78 [[ 0.96719274 0.20279137 0.15301591 -4.40730518] [-0.19774623 0.97909384 -0.04766215 2.48029597] [-0.15948241 0.01584017 0.98707368 1.78055924] [ 0. 0. 0. 1. ]] SLAMing on 62.844839173 meters Centerline goodness : 0.806486 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.48, Z:1.78 [[ 0.96620136 0.20591279 0.15509629 -4.41154776] [-0.20053946 0.97842408 -0.0497016 2.47823503] [-0.16198414 0.01691883 0.98664831 1.77914713] [ 0. 0. 0. 1. ]] SLAMing on 62.87483917299999 meters Centerline goodness : 0.808948 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.48, Z:1.78 [[ 0.96623714 0.20595221 0.1548208 -4.4114794 ] [-0.20040553 0.97839559 -0.05079079 2.48121478] [-0.16193646 0.018049 0.98663611 1.78068325] [ 0. 0. 0. 1. ]] SLAMing on 62.90483917299999 meters Centerline goodness : 0.811070 Centerline is valid? [False, False] Translation: X:-4.41, Y:2.49, Z:1.78 [[ 0.96634229 0.20700328 0.15274892 -4.40551444] [-0.20203678 0.9782243 -0.04752209 2.4871212 ] [-0.15925993 0.01506171 0.98712179 1.78194203] [ 0. 0. 0. 1. ]] SLAMing on 62.93483917299999 meters Centerline goodness : 0.808635 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.78 [[ 0.96637486 0.20732369 0.15210694 -4.40306524] [-0.20208597 0.97812645 -0.04929419 2.48985495] [-0.15899967 0.01689799 0.98713401 1.77892061] [ 0. 0. 0. 1. ]] SLAMing on 62.964839172999994 meters Centerline goodness : 0.807628 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.77 [[ 0.96563166 0.21000766 0.15314139 -4.4025713 ] [-0.20424637 0.9775048 -0.05260979 2.49143792] [-0.16074491 0.01952311 0.98680288 1.7712206 ] [ 0. 0. 0. 1. ]] SLAMing on 62.994839172999995 meters Centerline goodness : 0.805612 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.77 [[ 0.96546426 0.21081421 0.15308862 -4.40222471] [-0.20488545 0.9773115 -0.05370463 2.49288907] [-0.16093697 0.02048427 0.98675209 1.77049847] [ 0. 0. 0. 1. ]] SLAMing on 63.024839173 meters Centerline goodness : 0.805410 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.78 [[ 0.9649989 0.21238215 0.15385368 -4.40449155] [-0.20717332 0.97706024 -0.04932046 2.49483893] [-0.16079909 0.01571981 0.98686197 1.77823761] [ 0. 0. 0. 1. ]] SLAMing on 63.054839173 meters Centerline goodness : 0.806264 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.50, Z:1.79 [[ 0.96581138 0.20990709 0.15214266 -4.40342586] [-0.20490544 0.97760313 -0.04801957 2.49608885] [-0.15881479 0.01520299 0.98719133 1.78523417] [ 0. 0. 0. 1. ]] SLAMing on 63.08483917299999 meters Centerline goodness : 0.808107 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.50, Z:1.79 [[ 0.96683662 0.20680733 0.14985887 -4.40022376] [-0.20112509 0.9781685 -0.05229797 2.49813968] [-0.15740283 0.02042321 0.98732327 1.78520188] [ 0. 0. 0. 1. ]] SLAMing on 63.11483917299999 meters Centerline goodness : 0.810546 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.49, Z:1.78 [[ 0.9678302 0.21044093 0.13791054 -4.39988629] [-0.20481414 0.97731254 -0.05395708 2.49499906] [-0.14613648 0.02397526 0.98897387 1.78239387] [ 0. 0. 0. 1. ]] SLAMing on 63.144839172999994 meters Centerline goodness : 0.810822 Centerline is valid? [False, False] Translation: X:-4.40, Y:2.50, Z:1.78 [[ 0.96844195 0.20842353 0.13667411 -4.39734468] [-0.20202564 0.97758475 -0.05927652 2.49742904] [-0.14596514 0.02979419 0.98884098 1.77847887] [ 0. 0. 0. 1. ]] SLAMing on 63.174839172999995 meters Centerline goodness : 0.806974 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.77 [[ 0.96882166 0.20738004 0.13556592 -4.39410129] [-0.19974334 0.97749656 -0.067846 2.49476976] [-0.14658513 0.03865228 0.98844261 1.76801325] [ 0. 0. 0. 1. ]] SLAMing on 63.204839172999996 meters Centerline goodness : 0.805605 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.49, Z:1.76 [[ 0.96917648 0.206189 0.13484456 -4.39238725] [-0.19798474 0.97757161 -0.07180386 2.49338038] [-0.14662538 0.04289345 0.98826168 1.76317515] [ 0. 0. 0. 1. ]] SLAMing on 63.234839173 meters Centerline goodness : 0.809230 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.48, Z:1.77 [[ 0.96935238 0.21249823 0.12329019 -4.3939397 ] [-0.20550852 0.9763572 -0.06702889 2.48377804] [-0.13461879 0.03963743 0.99010437 1.76556966] [ 0. 0. 0. 1. ]] SLAMing on 63.26483917299999 meters Centerline goodness : 0.811594 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.48, Z:1.76 [[ 0.96940828 0.21275767 0.12239997 -4.39107793] [-0.20600843 0.97635381 -0.06552684 2.48324137] [-0.13344701 0.03830684 0.99031534 1.76451565] [ 0. 0. 0. 1. ]] SLAMing on 63.29483917299999 meters Centerline goodness : 0.813110 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.48, Z:1.76 [[ 0.96879859 0.21548261 0.12246034 -4.38861341] [-0.20946742 0.97596132 -0.06019047 2.48260066] [-0.13248656 0.03266099 0.99064654 1.76369028] [ 0. 0. 0. 1. ]] SLAMing on 63.324839172999994 meters Centerline goodness : 0.815635 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.48, Z:1.76 [[ 0.96871835 0.21596428 0.12224644 -4.38795423] [-0.21004302 0.97587589 -0.05956662 2.4823178 ] [-0.13216162 0.03202627 0.99071067 1.76368326] [ 0. 0. 0. 1. ]] SLAMing on 63.354839172999995 meters Centerline goodness : 0.814491 Centerline is valid? [False, False] Translation: X:-4.39, Y:2.48, Z:1.76 [[ 0.96912083 0.21426777 0.12204155 -4.38802026] [-0.20772788 0.97608075 -0.06415217 2.47897095] [-0.13286815 0.03681977 0.99044957 1.75856874] [ 0. 0. 0. 1. ]] SLAMing on 63.384839172999996 meters Centerline goodness : 0.815143 Centerline is valid? [False, False] Translation: X:-4.38, Y:2.48, Z:1.75 [[ 0.97010897 0.21097822 0.11990318 -4.38344076] [-0.2040158 0.97661805 -0.06778452 2.47801487] [-0.13140067 0.04129623 0.99046882 1.75423621] [ 0. 0. 0. 1. ]] SLAMing on 63.414839173 meters Centerline goodness : 0.812624 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.48, Z:1.75 [[ 0.97197513 0.21090975 0.10383362 -4.37294275] [-0.20445177 0.97640919 -0.06945906 2.47755493] [-0.1160337 0.04628352 0.99216633 1.74974836] [ 0. 0. 0. 1. ]] SLAMing on 63.44483917299999 meters Centerline goodness : 0.808510 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.48, Z:1.74 [[ 0.97220156 0.21060335 0.10232473 -4.36720409] [-0.20408713 0.97640615 -0.07056536 2.47981131] [-0.1147718 0.04772059 0.99224502 1.74405444] [ 0. 0. 0. 1. ]] SLAMing on 63.47483917299999 meters Centerline goodness : 0.801383 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.48, Z:1.73 [[ 0.97194359 0.21193555 0.10202445 -4.36512837] [-0.20424717 0.97557933 -0.08079645 2.48276312] [-0.11665659 0.05769138 0.99149531 1.73104474] [ 0. 0. 0. 1. ]] SLAMing on 63.50483917299999 meters Centerline goodness : 0.800538 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.48, Z:1.73 [[ 0.97140109 0.21433074 0.10218736 -4.36589038] [-0.20591782 0.97470318 -0.08689974 2.4841642 ] [-0.11822763 0.0633723 0.99096225 1.72514534] [ 0. 0. 0. 1. ]] SLAMing on 63.534839172999995 meters Centerline goodness : 0.786677 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.49, Z:1.72 [[ 0.97155656 0.21434581 0.10066638 -4.36055826] [-0.20600608 0.97466582 -0.08710929 2.48668361] [-0.11678759 0.06389372 0.99109952 1.72145573] [ 0. 0. 0. 1. ]] SLAMing on 63.564839172999996 meters Centerline goodness : 0.774999 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.49, Z:1.71 [[ 0.97183822 0.21932618 0.08617712 -4.35326059] [-0.21117089 0.97286283 -0.09457677 2.48803234] [-0.10458168 0.07371522 0.99178059 1.7108599 ] [ 0. 0. 0. 1. ]] SLAMing on 63.594839173 meters Centerline goodness : 0.761575 Centerline is valid? [False, False] Translation: X:-4.35, Y:2.48, Z:1.70 [[ 0.97083359 0.22379418 0.08601341 -4.34537314] [-0.2162526 0.97228242 -0.08889153 2.48433729] [-0.10352273 0.06769826 0.99232051 1.70002877] [ 0. 0. 0. 1. ]] SLAMing on 63.62483917299999 meters Centerline goodness : 0.754147 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.49, Z:1.69 [[ 0.97019586 0.23141178 0.07189281 -4.33372708] [-0.22534998 0.97069954 -0.08342541 2.48530332] [-0.08909194 0.06473794 0.99391731 1.69343828] [ 0. 0. 0. 1. ]] SLAMing on 63.65483917299999 meters Centerline goodness : 0.746893 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.49, Z:1.69 [[ 0.96973536 0.23347665 0.07142825 -4.33024266] [-0.22725602 0.97007022 -0.085548 2.48854785] [-0.08926388 0.06672642 0.99377037 1.68735749] [ 0. 0. 0. 1. ]] SLAMing on 63.68483917299999 meters Centerline goodness : 0.746676 Centerline is valid? [False, False] Translation: X:-4.33, Y:2.49, Z:1.68 [[ 0.9691517 0.23564524 0.07222399 -4.32779503] [-0.22958927 0.96972942 -0.08314821 2.49243576] [-0.08963121 0.06400137 0.99391653 1.68377189] [ 0. 0. 0. 1. ]] SLAMing on 63.714839172999994 meters Centerline goodness : 0.715636 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.49, Z:1.68 [[ 0.96952861 0.23451952 0.07081573 -4.32102458] [-0.22899573 0.97028647 -0.07813532 2.49304116] [-0.0870358 0.05953793 0.99442446 1.68300384] [ 0. 0. 0. 1. ]] SLAMing on 63.744839172999995 meters Centerline goodness : 0.744636 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.49, Z:1.68 [[ 0.97125865 0.22873288 0.06586282 -4.30461983] [-0.22441977 0.97219622 -0.06686018 2.49322638] [-0.07932471 0.05015761 0.99558616 1.68189577] [ 0. 0. 0. 1. ]] SLAMing on 63.774839173 meters Centerline goodness : 0.744730 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.49, Z:1.68 [[ 0.9719372 0.22630298 0.0642264 -4.29889455] [-0.22225618 0.97285435 -0.06447177 2.49408291] [-0.07707308 0.0483878 0.99585057 1.68137208] [ 0. 0. 0. 1. ]] SLAMing on 63.804839173 meters Centerline goodness : 0.744730 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.49, Z:1.68 [[ 0.9719372 0.22630298 0.0642264 -4.29889455] [-0.22225618 0.97285435 -0.06447177 2.49408291] [-0.07707308 0.0483878 0.99585057 1.68137208] [ 0. 0. 0. 1. ]] SLAMing on 63.83483917299999 meters Centerline goodness : 0.740402 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.50, Z:1.68 [[ 0.9724306 0.22470819 0.0623295 -4.29124644] [-0.22106181 0.97339074 -0.0603502 2.49565474] [-0.07423215 0.0449077 0.99622933 1.68028268] [ 0. 0. 0. 1. ]] SLAMing on 63.86483917299999 meters Centerline goodness : 0.747602 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.49, Z:1.68 [[ 0.97223387 0.22567602 0.06190024 -4.28677763] [-0.2223834 0.97335998 -0.05582098 2.49489784] [-0.07284867 0.04050546 0.99652013 1.67823559] [ 0. 0. 0. 1. ]] SLAMing on 63.894839172999994 meters Centerline goodness : 0.741069 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.50, Z:1.67 [[ 0.97254873 0.22114749 0.07240689 -4.28044905] [-0.21763345 0.97457014 -0.05337346 2.49753922] [-0.082369 0.03615013 0.99594604 1.66651475] [ 0. 0. 0. 1. ]] SLAMing on 63.924839172999995 meters Centerline goodness : 0.743433 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.51, Z:1.66 [[ 0.97279015 0.21574009 0.08447213 -4.27678029] [-0.21188065 0.97589155 -0.05236668 2.50501544] [-0.09373323 0.03304378 0.99504884 1.65923679] [ 0. 0. 0. 1. ]] SLAMing on 63.954839172999996 meters Centerline goodness : 0.738479 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.51, Z:1.66 [[ 0.97288264 0.21573206 0.08342093 -4.27299965] [-0.21187867 0.9758752 -0.05267852 2.50738046] [-0.09277286 0.03357491 0.99512106 1.65690985] [ 0. 0. 0. 1. ]] SLAMing on 63.984839173 meters Centerline goodness : 0.736700 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.51, Z:1.65 [[ 0.97320288 0.21502486 0.081489 -4.26622807] [-0.21115142 0.9759829 -0.05359524 2.51212514] [-0.09105618 0.03495252 0.99523218 1.65288384] [ 0. 0. 0. 1. ]] SLAMing on 64.014839173 meters Centerline goodness : 0.730908 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.51, Z:1.65 [[ 0.97363852 0.21368809 0.07978369 -4.26103371] [-0.20995386 0.97629127 -0.05267566 2.51318788] [-0.08914828 0.03453616 0.99541943 1.65160845] [ 0. 0. 0. 1. ]] SLAMing on 64.044839173 meters Centerline goodness : 0.706680 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.52, Z:1.65 [[ 0.97475721 0.21008375 0.07558568 -4.2486616 ] [-0.20660492 0.97707796 -0.0513134 2.51684486] [-0.08463321 0.03440173 0.99581813 1.64748919] [ 0. 0. 0. 1. ]] SLAMing on 64.074839173 meters Centerline goodness : 0.700959 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.52, Z:1.65 [[ 0.97456946 0.21118495 0.07493526 -4.24402777] [-0.20811745 0.97698787 -0.04671004 2.51714898] [-0.08307529 0.02992684 0.99609381 1.64571949] [ 0. 0. 0. 1. ]] SLAMing on 64.104839173 meters Centerline goodness : 0.693395 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.52, Z:1.64 [[ 0.97423033 0.20803746 0.08715314 -4.24055034] [-0.20481293 0.97778741 -0.04453587 2.52152515] [-0.09448238 0.02553811 0.99519892 1.63778568] [ 0. 0. 0. 1. ]] SLAMing on 64.134839173 meters Centerline goodness : 0.699350 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.52, Z:1.64 [[ 0.97401277 0.20889933 0.08752257 -4.24079116] [-0.20563668 0.97759925 -0.04486931 2.51975587] [-0.09493517 0.02570543 0.99515152 1.63595588] [ 0. 0. 0. 1. ]] SLAMing on 64.164839173 meters Centerline goodness : 0.671012 Centerline is valid? [False, False] Translation: X:-4.24, Y:2.52, Z:1.63 [[ 0.97351184 0.21077379 0.08859515 -4.24481541] [-0.20679686 0.97700101 -0.05200084 2.51663971] [-0.09751797 0.03230223 0.99470941 1.63129528] [ 0. 0. 0. 1. ]] SLAMing on 64.194839173 meters Centerline goodness : 0.680459 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.52, Z:1.63 [[ 0.97326355 0.2118242 0.08881765 -4.24670155] [-0.20748933 0.97665633 -0.05559315 2.5155673 ] [-0.09852029 0.03567808 0.99449526 1.62995222] [ 0. 0. 0. 1. ]] SLAMing on 64.224839173 meters Centerline goodness : 0.668195 Centerline is valid? [False, False] Translation: X:-4.25, Y:2.51, Z:1.63 [[ 0.97260288 0.21404812 0.09070308 -4.25285825] [-0.20961028 0.97617863 -0.05602503 2.50771737] [-0.10053446 0.03547781 0.99430083 1.63075029] [ 0. 0. 0. 1. ]] SLAMing on 64.25483917300001 meters Centerline goodness : 0.676280 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.50, Z:1.63 [[ 0.97233771 0.2144775 0.0925137 -4.25867536] [-0.20978422 0.97603229 -0.05789255 2.50137388] [-0.10271301 0.03688319 0.994027 1.63030589] [ 0. 0. 0. 1. ]] SLAMing on 64.284839173 meters Centerline goodness : 0.680990 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.49, Z:1.63 [[ 0.97235749 0.21361802 0.09427752 -4.26620029] [-0.20882171 0.9762193 -0.05821832 2.48965546] [-0.10447202 0.03692183 0.99384223 1.63351059] [ 0. 0. 0. 1. ]] SLAMing on 64.314839173 meters Centerline goodness : 0.693374 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.49, Z:1.64 [[ 0.97296844 0.21119614 0.09342705 -4.26448395] [-0.20682054 0.97686646 -0.05438004 2.48627658] [-0.10275061 0.03358743 0.99413993 1.63696573] [ 0. 0. 0. 1. ]] SLAMing on 64.344839173 meters Centerline goodness : 0.680108 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.48, Z:1.64 [[ 0.97415335 0.20611729 0.09241705 -4.26479302] [-0.20178009 0.97793296 -0.05414729 2.47955546] [-0.10153837 0.03409984 0.99424703 1.64044516] [ 0. 0. 0. 1. ]] SLAMing on 64.374839173 meters Centerline goodness : 0.698896 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.46, Z:1.64 [[ 0.97470745 0.208163 0.08132373 -4.26987025] [-0.20468629 0.97759705 -0.04906664 2.46290933] [-0.0897157 0.03117977 0.99547924 1.64486 ] [ 0. 0. 0. 1. ]] SLAMing on 64.404839173 meters Centerline goodness : 0.696664 Centerline is valid? [False, False] Translation: X:-4.27, Y:2.45, Z:1.64 [[ 0.9744845 0.2092205 0.08128186 -4.26970763] [-0.20600561 0.97745954 -0.04620098 2.45348778] [-0.08911592 0.02827762 0.99561977 1.64272099] [ 0. 0. 0. 1. ]] SLAMing on 64.434839173 meters Centerline goodness : 0.699565 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.44, Z:1.65 [[ 0.97506839 0.21029593 0.07083256 -4.27785489] [-0.20788957 0.97733947 -0.03986829 2.43772217] [-0.07761159 0.02414896 0.99669116 1.65057495] [ 0. 0. 0. 1. ]] SLAMing on 64.464839173 meters Centerline goodness : 0.699777 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.43, Z:1.65 [[ 0.97487737 0.21122493 0.07069756 -4.27856063] [-0.20896698 0.97718315 -0.03802484 2.43229786] [-0.07711626 0.0222961 0.99677278 1.65161704] [ 0. 0. 0. 1. ]] SLAMing on 64.494839173 meters Centerline goodness : 0.681465 Centerline is valid? [False, False] Translation: X:-4.28, Y:2.42, Z:1.65 [[ 0.9746643 0.21220887 0.07068877 -4.28042158] [-0.21010841 0.97701446 -0.03601662 2.42468497] [-0.07670699 0.02025181 0.99684798 1.65342272] [ 0. 0. 0. 1. ]] SLAMing on 64.524839173 meters Centerline goodness : 0.691313 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.41, Z:1.66 [[ 0.97504712 0.21041507 0.07077154 -4.28749964] [-0.20824433 0.9773824 -0.03685035 2.40927553] [-0.07692472 0.02119306 0.99681164 1.6592538 ] [ 0. 0. 0. 1. ]] SLAMing on 64.554839173 meters Centerline goodness : 0.700893 Centerline is valid? [False, False] Translation: X:-4.29, Y:2.40, Z:1.66 [[ 0.97569864 0.20755866 0.07022518 -4.28998771] [-0.20529413 0.97795697 -0.03813785 2.40014769] [-0.07659304 0.02279423 0.99680185 1.66054979] [ 0. 0. 0. 1. ]] SLAMing on 64.584839173 meters Centerline goodness : 0.693393 Centerline is valid? [False, False] Translation: X:-4.30, Y:2.38, Z:1.67 [[ 0.97778583 0.19707579 0.07138627 -4.29735025] [-0.19491066 0.98015306 -0.03619128 2.380958 ] [-0.0771019 0.02147338 0.99679195 1.66829872] [ 0. 0. 0. 1. ]] SLAMing on 64.61483917300001 meters Centerline goodness : 0.699658 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.36, Z:1.68 [[ 0.9800717 0.18093977 0.08197719 -4.30534368] [-0.17896285 0.98337 -0.03091492 2.3596301 ] [-0.08620765 0.01562797 0.99615461 1.67612915] [ 0. 0. 0. 1. ]] SLAMing on 64.64483917300001 meters Centerline goodness : 0.704094 Centerline is valid? [False, False] Translation: X:-4.31, Y:2.35, Z:1.68 [[ 0.98105133 0.17536353 0.08237667 -4.30684429] [-0.17394473 0.98445921 -0.02415169 2.34865473] [-0.0853318 0.00936506 0.99630858 1.68461598] [ 0. 0. 0. 1. ]] SLAMing on 64.674839173 meters Centerline goodness : 0.719177 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.33, Z:1.69 [[ 9.81365171e-01 1.71030022e-01 8.75850022e-02 -4.31726700e+00] [-1.70075877e-01 9.85261061e-01 -1.82985505e-02 2.32914839e+00] [-8.94236937e-02 3.06146409e-03 9.95988971e-01 1.69385630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters Centerline goodness : 0.729199 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.32, Z:1.70 [[ 9.81324665e-01 1.71265499e-01 8.75787071e-02 -4.31908811e+00] [-1.70505399e-01 9.85224493e-01 -1.61433176e-02 2.32072807e+00] [-8.90494806e-02 9.09193381e-04 9.96026788e-01 1.69529050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.734839173 meters Centerline goodness : 0.519785 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.30, Z:1.70 [[ 9.82321614e-01 1.72048146e-01 7.37813125e-02 -4.31904896e+00] [-1.71491778e-01 9.85088074e-01 -1.38584746e-02 2.30415958e+00] [-7.50654158e-02 9.60590715e-04 9.97178149e-01 1.69710902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters Centerline goodness : 0.700286 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.30, Z:1.70 [[ 9.82836964e-01 1.74017556e-01 6.12322756e-02 -4.32221989e+00] [-1.73502351e-01 9.84738527e-01 -1.36736312e-02 2.29594086e+00] [-6.26772328e-02 2.81500639e-03 9.98029879e-01 1.69938456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794839173 meters Centerline goodness : 0.718423 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.28, Z:1.70 [[ 9.82837867e-01 1.74298149e-01 6.04142552e-02 -4.32034928e+00] [-1.73893941e-01 9.84692174e-01 -1.19255549e-02 2.27851111e+00] [-6.15680464e-02 1.21521405e-03 9.98102149e-01 1.69592042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters Centerline goodness : 0.704616 Centerline is valid? [False, False] Translation: X:-4.32, Y:2.27, Z:1.69 [[ 9.82642514e-01 1.75469485e-01 6.02009144e-02 -4.31912976e+00] [-1.75244592e-01 9.84483454e-01 -9.03671320e-03 2.27130363e+00] [-6.08524716e-02 -1.67002609e-03 9.98145374e-01 1.69388037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.854839173 meters Centerline goodness : 0.763433 Centerline is valid? [False, False] Translation: X:-4.37, Y:2.26, Z:1.69 [[ 0.98225314 0.18076537 0.05002653 -4.36831014] [-0.18130682 0.98340531 0.00646793 2.25754883] [-0.04802718 -0.0154233 0.99872695 1.69124768] [ 0. 0. 0. 1. ]] SLAMing on 64.884839173 meters Centerline goodness : 0.712463 Centerline is valid? [False, False] Translation: X:-4.48, Y:2.26, Z:1.70 [[ 0.98401575 0.17494696 0.0332651 -4.47697712] [-0.17561597 0.98428751 0.01836087 2.26180472] [-0.02953025 -0.02390927 0.9992779 1.69908111] [ 0. 0. 0. 1. ]] SLAMing on 64.914839173 meters Centerline goodness : 0.725712 Centerline is valid? [False, False] Translation: X:-4.47, Y:2.26, Z:1.70 [[ 0.98559061 0.16473043 -0.03840613 -4.47018645] [-0.16410473 0.98626121 0.01893312 2.25680235] [ 0.04099733 -0.01235768 0.99908283 1.69892199] [ 0. 0. 0. 1. ]] SLAMing on 64.944839173 meters Centerline goodness : 0.622369 Centerline is valid? [False, False] Translation: X:-4.26, Y:2.22, Z:1.69 [[ 0.98337845 0.18131564 0.00956384 -4.2563655 ] [-0.18113538 0.98330783 -0.01719563 2.22374624] [-0.01252203 0.01517746 0.9998064 1.68971733] [ 0. 0. 0. 1. ]] SLAMing on 64.974839173 meters Centerline goodness : 0.954038 Centerline is valid? [False, True] Translation: X:-4.38, Y:2.20, Z:1.75 [[ 0.90883751 0.14222384 -0.39215655 -4.38451189] [-0.11685902 0.98924691 0.0879461 2.20356139] [ 0.40044768 -0.03410168 0.91568484 1.75207436] [ 0. 0. 0. 1. ]] SLAMing on 65.00483917300001 meters Centerline goodness : 0.646434 Centerline is valid? [True, False] Translation: X:-4.84, Y:2.29, Z:1.25 [[ 0.71550712 0.36517365 0.59556508 -4.84012039] [-0.22713035 0.92778898 -0.29600577 2.28690616] [-0.66065222 0.07652333 0.74678164 1.24504853] [ 0. 0. 0. 1. ]] SLAMing on 65.034839173 meters Centerline goodness : 0.599781 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.28, Z:1.27 [[ 0.73305343 0.34540392 0.58594266 -4.8646532 ] [-0.22403847 0.93600673 -0.27147405 2.28018982] [-0.64221448 0.06773128 0.76352671 1.26727609] [ 0. 0. 0. 1. ]] SLAMing on 65.064839173 meters Centerline goodness : 0.592602 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.29, Z:1.28 [[ 0.72162645 0.37782249 0.58009088 -4.84156471] [-0.23137753 0.92138242 -0.31228012 2.28902682] [-0.652472 0.0911296 0.75231356 1.28419974] [ 0. 0. 0. 1. ]] SLAMing on 65.094839173 meters Centerline goodness : 0.608537 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.29, Z:1.33 [[ 0.72574473 0.36384906 0.58387365 -4.87787541] [-0.22698873 0.92781365 -0.29603708 2.28747545] [-0.64943876 0.08231462 0.7559455 1.32525568] [ 0. 0. 0. 1. ]] SLAMing on 65.124839173 meters Centerline goodness : 0.669713 Centerline is valid? [False, False] Translation: X:-4.99, Y:2.29, Z:1.45 [[ 0.74214882 0.3252351 0.5860352 -4.9903487 ] [-0.20943178 0.94312134 -0.25818689 2.28568988] [-0.63667374 0.0688787 0.76805096 1.45396176] [ 0. 0. 0. 1. ]] SLAMing on 65.154839173 meters Centerline goodness : 0.672643 Centerline is valid? [False, False] Translation: X:-4.83, Y:2.27, Z:1.33 [[ 0.72073112 0.37312644 0.58422882 -4.82572356] [-0.2214296 0.92254666 -0.31603259 2.26938777] [-0.65689846 0.09840897 0.74752933 1.33295148] [ 0. 0. 0. 1. ]] SLAMing on 65.184839173 meters Centerline goodness : 0.616315 Centerline is valid? [False, False] Translation: X:-4.86, Y:2.26, Z:1.37 [[ 0.72107027 0.35809271 0.5931503 -4.85655822] [-0.21516089 0.929492 -0.29958374 2.26204842] [-0.65860721 0.08839818 0.74727659 1.37183004] [ 0. 0. 0. 1. ]] SLAMing on 65.214839173 meters Centerline goodness : 0.684545 Centerline is valid? [False, False] Translation: X:-4.88, Y:2.24, Z:1.41 [[ 0.71415083 0.34042869 0.61163461 -4.88249789] [-0.20911893 0.93762975 -0.27770438 2.2427008 ] [-0.66802535 0.07041844 0.74079915 1.41055361] [ 0. 0. 0. 1. ]] SLAMing on 65.244839173 meters Centerline goodness : 0.657923 Centerline is valid? [False, False] Translation: X:-4.90, Y:2.22, Z:1.44 [[ 0.71260927 0.31900674 0.62483817 -4.90198751] [-0.20565791 0.94649987 -0.24868215 2.22060847] [-0.67074053 0.04871029 0.74009084 1.44019426] [ 0. 0. 0. 1. ]] SLAMing on 65.274839173 meters Centerline goodness : 0.660516 Centerline is valid? [False, False] Translation: X:-4.92, Y:2.21, Z:1.46 [[ 0.71600284 0.30744766 0.62675025 -4.91829578] [-0.20556362 0.95084598 -0.23159343 2.20803621] [-0.66714581 0.0369845 0.74400848 1.45634778] [ 0. 0. 0. 1. ]] SLAMing on 65.304839173 meters Centerline goodness : 0.730008 Centerline is valid? [False, False] Translation: X:-4.96, Y:2.19, Z:1.49 [[ 0.7225781 0.30410605 0.62080625 -4.96010425] [-0.20917416 0.95212598 -0.2229401 2.18936359] [-0.65888319 0.03123501 0.75159651 1.49021904] [ 0. 0. 0. 1. ]] SLAMing on 65.334839173 meters Centerline goodness : 0.742927 Centerline is valid? [False, False] Translation: X:-4.94, Y:2.12, Z:1.52 [[ 0.76129166 0.21495493 0.61174291 -4.94002699] [-0.19735209 0.97550443 -0.09717642 2.11771787] [-0.61764647 -0.04674914 0.78506519 1.52141531] [ 0. 0. 0. 1. ]] SLAMing on 65.36483917300001 meters Centerline goodness : 0.988347 Centerline is valid? [False, True] Translation: X:-4.72, Y:2.19, Z:2.17 [[ 6.21803573e-01 -7.17192511e-02 -7.79882469e-01 -4.71561409e+00] [ 1.11256200e-01 9.93788130e-01 -2.68532474e-03 2.18860313e+00] [ 7.75230530e-01 -8.50970154e-02 6.25920222e-01 2.16760147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39483917300001 meters Centerline goodness : 0.661381 Centerline is valid? [True, False] Translation: X:-5.28, Y:1.87, Z:1.33 [[ 0.88271134 -0.27376516 0.38193368 -5.28461751] [ 0.1509731 0.93489965 0.3212005 1.87397727] [-0.44500317 -0.22586561 0.8665777 1.32793919] [ 0. 0. 0. 1. ]] SLAMing on 65.424839173 meters Centerline goodness : 0.513302 Centerline is valid? [False, False] Translation: X:-5.27, Y:1.85, Z:1.32 [[ 0.92347279 -0.1093395 0.36775383 -5.27247204] [ 0.01022895 0.9652071 0.26128648 1.84643262] [-0.38352753 -0.23752922 0.89246092 1.31770938] [ 0. 0. 0. 1. ]] SLAMing on 65.454839173 meters Centerline goodness : 0.597858 Centerline is valid? [False, False] Translation: X:-5.05, Y:1.86, Z:1.24 [[ 0.92659891 -0.02991411 0.37485944 -5.05033898] [-0.06261185 0.97064459 0.23222582 1.86153323] [-0.37080212 -0.23865084 0.89752524 1.23732876] [ 0. 0. 0. 1. ]] SLAMing on 65.484839173 meters Centerline goodness : 0.332908 Centerline is valid? [False, False] Translation: X:-5.11, Y:1.90, Z:1.29 [[ 9.27375428e-01 -9.85802874e-04 3.74130783e-01 -5.11280216e+00] [-7.08476352e-02 9.81440576e-01 1.78199352e-01 1.90384842e+00] [-3.67362801e-01 -1.91763981e-01 9.10094033e-01 1.28602726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.514839173 meters Centerline goodness : 0.909483 Centerline is valid? [False, False] Translation: X:-5.50, Y:2.88, Z:1.41 [[ 0.15578051 -0.87077961 -0.46634248 -5.49734276] [ 0.88412934 -0.08762161 0.45895289 2.88048677] [-0.4405085 -0.48380299 0.75623206 1.41021402] [ 0. 0. 0. 1. ]] SLAMing on 65.544839173 meters Centerline goodness : 0.656264 Centerline is valid? [False, False] Translation: X:-5.15, Y:1.97, Z:2.31 [[ 0.6687815 0.48566273 0.56290587 -5.154325 ] [-0.6585397 0.03558101 0.75170437 1.96684981] [ 0.34504604 -0.87342183 0.34362412 2.30926764] [ 0. 0. 0. 1. ]] SLAMing on 65.574839173 meters Centerline goodness : 0.661088 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.70 [[ 0.66766639 -0.32466052 0.66993816 -5.33468159] [ 0.63457501 0.71874635 -0.28410956 3.68973242] [-0.38927645 0.61481641 0.68590424 1.6989676 ] [ 0. 0. 0. 1. ]] SLAMing on 65.604839173 meters Centerline goodness : 0.643394 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.75, Z:1.65 [[ 0.62050863 -0.42308903 0.66027624 -5.19659266] [ 0.64898429 0.7496979 -0.12950852 3.75075747] [-0.44021408 0.50887006 0.73977215 1.64547697] [ 0. 0. 0. 1. ]] SLAMing on 65.634839173 meters Centerline goodness : 0.645223 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.72, Z:1.67 [[ 0.61575198 -0.42681142 0.66233036 -5.21064594] [ 0.64785289 0.7526872 -0.11725449 3.72126628] [-0.44848203 0.50129232 0.73997964 1.66725244] [ 0. 0. 0. 1. ]] SLAMing on 65.664839173 meters Centerline goodness : 0.680426 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.65, Z:1.71 [[ 0.61882697 -0.4335668 0.65503665 -5.24870739] [ 0.64369405 0.75783593 -0.10650204 3.64735807] [-0.45023455 0.48754953 0.74805368 1.71387761] [ 0. 0. 0. 1. ]] SLAMing on 65.694839173 meters Centerline goodness : 0.689067 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.58, Z:1.75 [[ 0.62230612 -0.44692945 0.64264233 -5.28561901] [ 0.64403025 0.75897586 -0.09581582 3.58194293] [-0.44492711 0.47350787 0.76015141 1.75310845] [ 0. 0. 0. 1. ]] SLAMing on 65.724839173 meters Centerline goodness : 0.722675 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.51, Z:1.79 [[ 0.62592657 -0.46122783 0.62887584 -5.32348238] [ 0.64428252 0.76019092 -0.08372453 3.51101869] [-0.43944962 0.45757912 0.77298472 1.78863787] [ 0. 0. 0. 1. ]] SLAMing on 65.75483917300001 meters Centerline goodness : 0.722675 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.45, Z:1.82 [[ 0.63025434 -0.47142601 0.61687679 -5.36187959] [ 0.64381291 0.76140987 -0.07589435 3.44788849] [-0.43391751 0.44498599 0.78339203 1.82495311] [ 0. 0. 0. 1. ]] SLAMing on 65.784839173 meters Centerline goodness : 0.716255 Centerline is valid? [False, False] Translation: X:-5.40, Y:3.38, Z:1.86 [[ 0.63657914 -0.48097397 0.60285242 -5.40063903] [ 0.64291902 0.76269308 -0.07038757 3.37531379] [-0.42593678 0.43239255 0.79474181 1.86446436] [ 0. 0. 0. 1. ]] SLAMing on 65.814839173 meters Centerline goodness : 0.744921 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.24, Z:1.92 [[ 0.64284376 -0.49304571 0.58622336 -5.48037228] [ 0.64147577 0.7647765 -0.06021411 3.24271103] [-0.41864155 0.41475635 0.80790868 1.91828629] [ 0. 0. 0. 1. ]] SLAMing on 65.844839173 meters Centerline goodness : 0.799931 Centerline is valid? [False, False] Translation: X:-5.59, Y:3.05, Z:1.98 [[ 0.60598405 -0.54644668 0.57808249 -5.58780777] [ 0.63294154 0.77140681 0.06570033 3.05139548] [-0.48183849 0.32607907 0.81332903 1.98273618] [ 0. 0. 0. 1. ]] SLAMing on 65.874839173 meters Centerline goodness : 0.655397 Centerline is valid? [False, False] Translation: X:-5.50, Y:3.16, Z:1.87 [[ 0.61410913 -0.52733996 0.58718186 -5.49526848] [ 0.61074035 0.78876354 0.06962971 3.16154706] [-0.49986618 0.31585542 0.80645469 1.87231977] [ 0. 0. 0. 1. ]] SLAMing on 65.904839173 meters Centerline goodness : 0.729193 Centerline is valid? [False, False] Translation: X:-5.55, Y:3.05, Z:2.00 [[ 6.79915692e-01 -5.06722696e-01 5.30044113e-01 -5.55399330e+00] [ 5.99017734e-01 8.00730534e-01 -2.89263167e-03 3.04665956e+00] [-4.22956743e-01 3.19472569e-01 8.47965136e-01 2.00195632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.934839173 meters Centerline goodness : 0.731663 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.19, Z:1.91 [[ 0.74758676 -0.53615947 0.39197839 -5.36574435] [ 0.58527604 0.81080207 -0.00720808 3.18808439] [-0.31395221 0.23480422 0.91994619 1.91087404] [ 0. 0. 0. 1. ]] SLAMing on 65.964839173 meters Centerline goodness : 0.697343 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.13, Z:1.92 [[ 0.67749523 -0.54327207 0.49583835 -5.44484829] [ 0.56589761 0.81563165 0.12043635 3.13070884] [-0.46985115 0.19899868 0.86002292 1.92290898] [ 0. 0. 0. 1. ]] SLAMing on 65.994839173 meters Centerline goodness : 0.666774 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.21, Z:1.92 [[ 0.71535483 -0.50594236 0.48196452 -5.36369432] [ 0.54466094 0.83581434 0.06898442 3.20773893] [-0.437735 0.21315891 0.87347087 1.92255487] [ 0. 0. 0. 1. ]] SLAMing on 66.024839173 meters Centerline goodness : 0.755871 Centerline is valid? [False, False] Translation: X:-5.41, Y:3.13, Z:2.01 [[ 7.65068617e-01 -4.73611003e-01 4.36305661e-01 -5.41444883e+00] [ 5.24545476e-01 8.51371229e-01 4.36734929e-03 3.12539776e+00] [-3.73526512e-01 2.25520839e-01 8.99787917e-01 2.01395621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.054839173 meters Centerline goodness : 0.616797 Centerline is valid? [False, False] Translation: X:-5.42, Y:3.11, Z:2.06 [[ 0.75502351 -0.47758014 0.44928467 -5.4225422 ] [ 0.55112231 0.83345473 -0.04021699 3.11482831] [-0.3552516 0.27797558 0.89248298 2.0579428 ] [ 0. 0. 0. 1. ]] SLAMing on 66.084839173 meters Centerline goodness : 0.612432 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.14, Z:2.03 [[ 0.74834786 -0.48032917 0.45744876 -5.38183163] [ 0.54868407 0.83579036 -0.02000675 3.14339555] [-0.37272144 0.26596685 0.88901089 2.03080786] [ 0. 0. 0. 1. ]] SLAMing on 66.11483917300001 meters Centerline goodness : 0.669510 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.12, Z:2.04 [[ 0.77139848 -0.49970087 0.39400942 -5.38786378] [ 0.54590109 0.83782666 -0.00620432 3.11582474] [-0.32701129 0.21987617 0.91908546 2.0383254 ] [ 0. 0. 0. 1. ]] SLAMing on 66.14483917300001 meters Centerline goodness : 0.909211 Centerline is valid? [False, False] Translation: X:-5.82, Y:4.80, Z:3.56 [[ 0.96987964 -0.18599276 0.15729012 -5.81642343] [ 0.23699237 0.57131276 -0.78577118 4.79548281] [ 0.0562859 0.79938002 0.59818348 3.56002787] [ 0. 0. 0. 1. ]] SLAMing on 66.174839173 meters Centerline goodness : 0.973694 Centerline is valid? [False, True] Translation: X:-5.46, Y:5.02, Z:3.63 [[ 0.94268506 -0.06392609 0.32750317 -5.46072958] [ 0.31320909 0.50802432 -0.80237856 5.01517268] [-0.11508665 0.85896725 0.49892917 3.62947885] [ 0. 0. 0. 1. ]] SLAMing on 66.204839173 meters Centerline goodness : 0.734970 Centerline is valid? [True, False] Translation: X:-5.33, Y:2.95, Z:2.32 [[ 0.93714709 -0.31794116 -0.14376631 -5.32792979] [ 0.25948607 0.91046943 -0.3220441 2.95004574] [ 0.23328591 0.26449733 0.93574508 2.31548659] [ 0. 0. 0. 1. ]] SLAMing on 66.234839173 meters Centerline goodness : 0.844356 Centerline is valid? [False, False] Translation: X:-5.04, Y:2.86, Z:2.31 [[ 0.99142755 -0.1305119 -0.00616938 -5.03684128] [ 0.12869003 0.98357181 -0.12659139 2.86425314] [ 0.02258971 0.12471225 0.99193576 2.31450201] [ 0. 0. 0. 1. ]] SLAMing on 66.264839173 meters Centerline goodness : 0.797108 Centerline is valid? [False, False] Translation: X:-5.14, Y:2.70, Z:2.43 [[ 0.94449962 -0.06854984 -0.32128086 -5.14169129] [ 0.06964705 0.99753888 -0.00809114 2.69554636] [ 0.32104479 -0.01473419 0.94694939 2.43006921] [ 0. 0. 0. 1. ]] SLAMing on 66.294839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-5.02, Y:2.65, Z:2.48 [[ 0.9928781 -0.11439907 0.03325544 -5.01895476] [ 0.11194224 0.99137334 0.06817498 2.65083184] [-0.04076771 -0.06396676 0.99711897 2.48142747] [ 0. 0. 0. 1. ]] SLAMing on 66.324839173 meters Centerline goodness : 0.461517 Centerline is valid? [True, False] Translation: X:-4.63, Y:3.07, Z:3.81 [[ 0.36884771 0.75038745 -0.54851621 -4.62557566] [ 0.69486849 0.16933408 0.69891612 3.06534266] [ 0.61734038 -0.63894024 -0.45896211 3.80798652] [ 0. 0. 0. 1. ]] SLAMing on 66.354839173 meters Centerline goodness : 0.964439 Centerline is valid? [False, True] Translation: X:-5.96, Y:3.08, Z:3.07 [[ 0.99036017 0.12393974 0.06185197 -5.95579109] [-0.12662405 0.62904641 0.76698564 3.08185787] [ 0.05615224 -0.76742398 0.63867626 3.06567924] [ 0. 0. 0. 1. ]] SLAMing on 66.384839173 meters Centerline goodness : 0.845765 Centerline is valid? [True, False] Translation: X:-5.22, Y:2.75, Z:3.11 [[ 0.53178778 0.84645273 -0.02682418 -5.21657887] [-0.77844685 0.50104541 0.37811903 2.74953358] [ 0.33350001 -0.18019788 0.92536829 3.1132004 ] [ 0. 0. 0. 1. ]] SLAMing on 66.414839173 meters Centerline goodness : 0.958603 Centerline is valid? [False, True] Translation: X:-5.23, Y:2.97, Z:3.25 [[ 0.5698067 0.59245037 -0.56949354 -5.22787768] [-0.26081027 0.78754849 0.55834163 2.97210624] [ 0.77929348 -0.16961704 0.60326755 3.24691135] [ 0. 0. 0. 1. ]] SLAMing on 66.444839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 66.474839173 meters Centerline goodness : 0.797741 Centerline is valid? [True, False] Translation: X:-5.44, Y:2.76, Z:2.63 [[ 0.72234481 0.66973775 -0.17224785 -5.44250472] [-0.62009314 0.73756365 0.2673656 2.75910354] [ 0.30610858 -0.08632044 0.94807506 2.62872785] [ 0. 0. 0. 1. ]] SLAMing on 66.50483917300001 meters Centerline goodness : 0.530718 Centerline is valid? [False, False] Translation: X:-5.40, Y:2.95, Z:2.66 [[ 0.8120722 0.49099414 -0.31537835 -5.40265278] [-0.51451126 0.8574247 0.01005209 2.95364058] [ 0.27534871 0.15410269 0.94891277 2.65980713] [ 0. 0. 0. 1. ]] SLAMing on 66.534839173 meters Centerline goodness : 0.600929 Centerline is valid? [False, False] Translation: X:-5.36, Y:2.94, Z:2.67 [[ 0.83777947 0.47955937 -0.26105243 -5.36262182] [-0.50390093 0.86318908 -0.0314398 2.93963993] [ 0.21026036 0.15788418 0.9648125 2.67301484] [ 0. 0. 0. 1. ]] SLAMing on 66.564839173 meters Centerline goodness : 0.572806 Centerline is valid? [False, False] Translation: X:-5.46, Y:2.96, Z:2.76 [[ 0.72373035 0.43686025 -0.534198 -5.46137347] [-0.46550911 0.88051589 0.08940378 2.96457048] [ 0.50942679 0.1839698 0.8406185 2.75822447] [ 0. 0. 0. 1. ]] SLAMing on 66.594839173 meters Centerline goodness : 0.961948 Centerline is valid? [False, True] Translation: X:-4.45, Y:4.85, Z:3.92 [[ 0.66910558 -0.07146334 -0.7397234 -4.45353145] [-0.58479526 0.56359616 -0.58341569 4.84556643] [ 0.4585981 0.82295343 0.33531392 3.9150186 ] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters Centerline goodness : 0.796354 Centerline is valid? [True, False] Translation: X:-5.26, Y:2.88, Z:2.51 [[ 0.71703046 0.65307659 -0.24363556 -5.25907264] [-0.5838403 0.75364453 0.30191128 2.87507034] [ 0.3807858 -0.07423533 0.92167852 2.50780469] [ 0. 0. 0. 1. ]] SLAMing on 66.654839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-5.81, Y:3.29, Z:2.61 [[ 0.7775892 0.60191973 -0.1817902 -5.80548594] [-0.60166189 0.62830394 -0.49319076 3.29098716] [-0.18264175 0.49287605 0.85071452 2.61421717] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 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:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.714839173 meters Centerline is valid? [True, False] Translation: X:-3.56, Y:4.51, Z:2.68 [[ 0.64499272 -0.73079351 -0.22343958 -3.56042261] [ 0.53878398 0.64222539 -0.54521406 4.51336153] [ 0.54193747 0.23127343 0.80797053 2.67894592] [ 0. 0. 0. 1. ]] SLAMing on 66.744839173 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:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.774839173 meters SLAMing on 66.804839173 meters SLAMing on 66.834839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] SLAMing on 66.86483917300001 meters Centerline goodness : 0.753927 Centerline is valid? [True, False] Translation: X:-6.38, Y:4.21, Z:4.00 [[ 0.09229132 0.61204546 0.78541878 -6.37985821] [-0.98742597 0.1579254 -0.0070366 4.21053235] [-0.12834429 -0.77489349 0.61892473 3.99532909] [ 0. 0. 0. 1. ]] SLAMing on 66.89483917300001 meters Centerline goodness : 0.985371 Centerline is valid? [False, True] Translation: X:-5.44, Y:4.49, Z:3.19 [[ 0.95293032 0.27038955 -0.13716156 -5.43792062] [-0.29714693 0.74303412 -0.5996699 4.48502205] [-0.06022876 0.61220077 0.78840517 3.1851794 ] [ 0. 0. 0. 1. ]] SLAMing on 66.924839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-5.05, Y:5.07, Z:3.46 [[ 0.77132884 0.61427312 0.1664943 -5.04589457] [-0.60945861 0.78826918 -0.08480509 5.07136212] [-0.18333582 -0.03605877 0.98238879 3.46151185] [ 0. 0. 0. 1. ]] SLAMing on 66.954839173 meters Centerline goodness : 0.530375 Centerline is valid? [True, False] Translation: X:-3.22, Y:7.13, Z:2.31 [[ 0.30692139 0.89314383 -0.32877555 -3.22044484] [-0.62646956 -0.07046621 -0.77625408 7.12542295] [-0.71647411 0.44421686 0.53789983 2.30598988] [ 0. 0. 0. 1. ]] SLAMing on 66.984839173 meters Centerline goodness : 0.990419 Centerline is valid? [False, True] Translation: X:-5.06, Y:6.43, Z:1.55 [[ 0.79068569 0.58712305 0.17350119 -5.05848285] [-0.43074223 0.73488516 -0.52383674 6.42523277] [-0.43506008 0.33945593 0.83396187 1.54610908] [ 0. 0. 0. 1. ]] SLAMing on 67.014839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 67.044839173 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:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 67.074839173 meters Centerline goodness : 0.947526 Centerline is valid? [True, False] Translation: X:-5.17, Y:6.39, Z:2.01 [[ 0.79012374 0.61272252 0.01660078 -5.16845322] [-0.34368852 0.46529679 -0.8157065 6.39350488] [-0.50752604 0.63880358 0.57822773 2.00762338] [ 0. 0. 0. 1. ]] SLAMing on 67.104839173 meters Centerline goodness : 0.649011 Centerline is valid? [False, False] Translation: X:-3.15, Y:6.68, Z:2.77 [[ 0.42078067 0.75103866 -0.50880699 -3.15388668] [-0.82493542 0.08345432 -0.55903213 6.68202391] [-0.3773926 0.65496282 0.65467437 2.76903812] [ 0. 0. 0. 1. ]] SLAMing on 67.134839173 meters Centerline goodness : 0.801434 Centerline is valid? [False, False] Translation: X:-3.16, Y:6.70, Z:2.92 [[ 0.41786474 0.66025218 -0.62406419 -3.16084932] [-0.87235902 0.09975513 -0.47857983 6.69793689] [-0.25372977 0.74438966 0.6176611 2.91777358] [ 0. 0. 0. 1. ]] SLAMing on 67.164839173 meters Centerline goodness : 0.693796 Centerline is valid? [False, False] Translation: X:-4.28, Y:7.16, Z:2.32 [[ 0.8463839 -0.53086147 0.04266607 -4.28363388] [ 0.47391614 0.71419297 -0.51510377 7.16049736] [ 0.24297693 0.45619568 0.85606525 2.32469039] [ 0. 0. 0. 1. ]] SLAMing on 67.194839173 meters Centerline goodness : 0.674721 Centerline is valid? [False, False] Translation: X:-4.28, Y:7.13, Z:2.26 [[ 0.84284157 -0.53810294 -0.0079573 -4.27780983] [ 0.4807431 0.75947865 -0.43826732 7.12787771] [ 0.24187633 0.3655645 0.89880946 2.26296717] [ 0. 0. 0. 1. ]] SLAMing on 67.224839173 meters Centerline goodness : 0.923894 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.88, Z:2.59 [[ 0.82038241 -0.5717558 0.00824666 -4.60529981] [ 0.54097413 0.77138158 -0.33513796 6.88106309] [ 0.18525575 0.27940251 0.94213297 2.5877347 ] [ 0. 0. 0. 1. ]] SLAMing on 67.25483917300001 meters Centerline goodness : 0.909689 Centerline is valid? [False, False] Translation: X:-4.08, Y:6.56, Z:2.51 [[ 0.9556435 0.29332682 0.02654957 -4.08287853] [-0.09962861 0.40677679 -0.90807862 6.56422921] [-0.27716356 0.86515434 0.41795734 2.50966292] [ 0. 0. 0. 1. ]] SLAMing on 67.284839173 meters Centerline goodness : 0.567888 Centerline is valid? [False, False] Translation: X:-4.33, Y:6.84, Z:2.52 [[ 0.7506283 0.58043508 0.31567748 -4.33226263] [ 0.09784778 0.37485284 -0.92190627 6.84441302] [-0.65343934 0.72289727 0.22458086 2.51569916] [ 0. 0. 0. 1. ]] SLAMing on 67.314839173 meters Centerline goodness : 0.645399 Centerline is valid? [False, False] Translation: X:-4.24, Y:6.77, Z:2.46 [[ 0.75584208 0.55904678 0.34083638 -4.23898692] [ 0.08603922 0.43123783 -0.89812649 6.77482132] [-0.64907627 0.70816709 0.27784775 2.46301108] [ 0. 0. 0. 1. ]] SLAMing on 67.344839173 meters Centerline goodness : 0.690911 Centerline is valid? [False, False] Translation: X:-4.22, Y:6.73, Z:2.41 [[ 0.75946025 0.50433742 0.41093053 -4.21695086] [ 0.09273753 0.54128212 -0.83571132 6.72550676] [-0.64390984 0.67279821 0.36431125 2.41325813] [ 0. 0. 0. 1. ]] SLAMing on 67.374839173 meters Centerline goodness : 0.617855 Centerline is valid? [False, False] Translation: X:-4.21, Y:6.73, Z:2.38 [[ 0.80753185 0.39905945 0.43433151 -4.21353184] [ 0.13617021 0.59034739 -0.79558006 6.7250464 ] [-0.57389022 0.70159925 0.42238431 2.37816754] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters Centerline goodness : 0.797256 Centerline is valid? [False, False] Translation: X:-4.06, Y:6.63, Z:2.35 [[ 8.32370372e-01 4.28174645e-01 3.51889240e-01 -4.06253872e+00] [-1.23267925e-03 6.36355968e-01 -7.71394557e-01 6.62607938e+00] [-5.54218408e-01 6.41652208e-01 5.30211656e-01 2.34757180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.434839173 meters Centerline goodness : 0.850394 Centerline is valid? [False, False] Translation: X:-4.13, Y:6.58, Z:2.40 [[ 0.86611966 0.397282 0.30332118 -4.1335717 ] [-0.04633073 0.66803815 -0.7426833 6.58279263] [-0.49768483 0.62919952 0.59700734 2.39856663] [ 0. 0. 0. 1. ]] SLAMing on 67.464839173 meters Centerline goodness : 0.721598 Centerline is valid? [False, False] Translation: X:-3.93, Y:6.55, Z:2.26 [[ 0.82930174 0.44287225 0.34076795 -3.93347977] [-0.08686624 0.70457757 -0.70429021 6.55003687] [-0.55200804 0.55446787 0.62277805 2.25715738] [ 0. 0. 0. 1. ]] SLAMing on 67.494839173 meters Centerline goodness : 0.497506 Centerline is valid? [False, False] Translation: X:-3.88, Y:6.55, Z:2.20 [[ 0.80177522 0.44512147 0.39877734 -3.87522542] [-0.04809545 0.71316425 -0.6993451 6.55325664] [-0.59568727 0.5415382 0.59320575 2.20302659] [ 0. 0. 0. 1. ]] SLAMing on 67.524839173 meters Centerline goodness : 0.637210 Centerline is valid? [False, False] Translation: X:-3.96, Y:6.55, Z:2.29 [[ 0.79562742 0.43590164 0.42067418 -3.96427438] [-0.04390806 0.73409599 -0.67762464 6.55431313] [-0.60419292 0.52066576 0.6032065 2.28652912] [ 0. 0. 0. 1. ]] SLAMing on 67.554839173 meters Centerline goodness : 0.636612 Centerline is valid? [False, False] Translation: X:-4.01, Y:6.55, Z:2.33 [[ 0.79522174 0.42800031 0.42946258 -4.01046753] [-0.04405475 0.74722654 -0.66310759 6.55107944] [-0.6047161 0.50839771 0.61306624 2.32898268] [ 0. 0. 0. 1. ]] SLAMing on 67.584839173 meters Centerline goodness : 0.646801 Centerline is valid? [False, False] Translation: X:-4.05, Y:6.55, Z:2.36 [[ 0.79409718 0.41863235 0.44063208 -4.04824621] [-0.04044803 0.75976559 -0.64893775 6.55013418] [-0.60644343 0.49749694 0.62026056 2.36428275] [ 0. 0. 0. 1. ]] SLAMing on 67.61483917300001 meters Centerline goodness : 0.674929 Centerline is valid? [False, False] Translation: X:-4.10, Y:6.55, Z:2.42 [[ 0.79339225 0.39833874 0.46027707 -4.1042246 ] [-0.03343468 0.78352704 -0.62045749 6.54576063] [-0.60779179 0.47687695 0.63496261 2.41796704] [ 0. 0. 0. 1. ]] SLAMing on 67.64483917300001 meters Centerline goodness : 0.674929 Centerline is valid? [False, False] Translation: X:-4.15, Y:6.53, Z:2.45 [[ 0.796553 0.37984365 0.47034255 -4.1486041 ] [-0.03428105 0.80510665 -0.59213858 6.53292737] [-0.60359599 0.45554593 0.65433156 2.44927056] [ 0. 0. 0. 1. ]] SLAMing on 67.674839173 meters Centerline goodness : 0.687576 Centerline is valid? [False, False] Translation: X:-4.16, Y:6.53, Z:2.46 [[ 0.79834469 0.36878557 0.47607032 -4.16041377] [-0.03017962 0.81405913 -0.57999734 6.53233765] [-0.60144405 0.44867018 0.6610296 2.46056935] [ 0. 0. 0. 1. ]] SLAMing on 67.704839173 meters Centerline goodness : 0.679636 Centerline is valid? [False, False] Translation: X:-4.16, Y:6.53, Z:2.46 [[ 0.80427256 0.3592055 0.47341004 -4.15649859] [-0.02949291 0.81978277 -0.57191466 6.53392025] [-0.59352828 0.44601303 0.6699228 2.46425547] [ 0. 0. 0. 1. ]] SLAMing on 67.734839173 meters Centerline goodness : 0.676850 Centerline is valid? [False, False] Translation: X:-4.19, Y:6.53, Z:2.50 [[ 0.80656091 0.33650806 0.48602657 -4.19193996] [-0.02260546 0.83912554 -0.54346787 6.53435786] [-0.59071863 0.42735308 0.68441277 2.49861549] [ 0. 0. 0. 1. ]] SLAMing on 67.764839173 meters Centerline goodness : 0.692303 Centerline is valid? [False, False] Translation: X:-4.23, Y:6.53, Z:2.53 [[ 0.80815494 0.3176897 0.49594238 -4.22925414] [-0.02002753 0.85638653 -0.51594671 6.52793747] [-0.58862933 0.40703239 0.69845555 2.53147414] [ 0. 0. 0. 1. ]] SLAMing on 67.794839173 meters Centerline goodness : 0.749034 Centerline is valid? [False, False] Translation: X:-4.26, Y:6.53, Z:2.56 [[ 0.80791013 0.30199403 0.5060443 -4.25989161] [-0.01579335 0.86949996 -0.49368046 6.52637976] [-0.58909405 0.3908573 0.70724732 2.56453859] [ 0. 0. 0. 1. ]] SLAMing on 67.824839173 meters Centerline goodness : 0.701310 Centerline is valid? [False, False] Translation: X:-4.29, Y:6.52, Z:2.59 [[ 0.80950103 0.28613363 0.51267497 -4.29001549] [-0.01374899 0.88220447 -0.47066575 6.52112262] [-0.58695744 0.37395565 0.71807947 2.58857151] [ 0. 0. 0. 1. ]] SLAMing on 67.854839173 meters Centerline goodness : 0.767407 Centerline is valid? [False, False] Translation: X:-4.32, Y:6.52, Z:2.61 [[ 0.81042484 0.26864125 0.52061835 -4.31962944] [-0.01002554 0.89489535 -0.44616341 6.5167068 ] [-0.58575684 0.35636243 0.72793869 2.6108289 ] [ 0. 0. 0. 1. ]] SLAMing on 67.884839173 meters Centerline goodness : 0.707502 Centerline is valid? [False, False] Translation: X:-4.34, Y:6.52, Z:2.63 [[ 8.10012703e-01 2.47820427e-01 5.31473853e-01 -4.33976393e+00] [-1.49620609e-03 9.07184706e-01 -4.20729926e-01 6.51831938e+00] [-5.86410421e-01 3.40001390e-01 7.35201926e-01 2.62912181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.914839173 meters Centerline goodness : 0.711004 Centerline is valid? [False, False] Translation: X:-4.36, Y:6.51, Z:2.65 [[ 8.12259495e-01 2.27688062e-01 5.37022029e-01 -4.36259535e+00] [ 3.45088289e-03 9.18775809e-01 -3.94764618e-01 6.51419476e+00] [-5.83286040e-01 3.22504509e-01 7.45498650e-01 2.64584386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.944839173 meters Centerline goodness : 0.709775 Centerline is valid? [False, False] Translation: X:-4.39, Y:6.51, Z:2.66 [[ 0.81524408 0.2058433 0.54129994 -4.38525615] [ 0.01031467 0.92938852 -0.3689588 6.51356933] [-0.57902564 0.30637481 0.75555528 2.66448407] [ 0. 0. 0. 1. ]] SLAMing on 67.974839173 meters Centerline goodness : 0.716863 Centerline is valid? [False, False] Translation: X:-4.41, Y:6.51, Z:2.67 [[ 0.81558394 0.19402491 0.5451396 -4.40531452] [ 0.01206138 0.93620178 -0.35125596 6.51345239] [-0.57851306 0.29305386 0.76121092 2.67434782] [ 0. 0. 0. 1. ]] SLAMing on 68.00483917300001 meters Centerline goodness : 0.711866 Centerline is valid? [False, False] Translation: X:-4.42, Y:6.51, Z:2.68 [[ 0.81616801 0.183433 0.54792528 -4.42419675] [ 0.01150382 0.94292525 -0.3328057 6.51217373] [-0.57770013 0.2779286 0.76747525 2.68248464] [ 0. 0. 0. 1. ]] SLAMing on 68.034839173 meters Centerline goodness : 0.702787 Centerline is valid? [False, False] Translation: X:-4.45, Y:6.52, Z:2.69 [[ 8.18727441e-01 1.72890168e-01 5.47534809e-01 -4.44573493e+00] [ 5.54451076e-03 9.51165460e-01 -3.08631700e-01 6.51661992e+00] [-5.74155585e-01 2.55721055e-01 7.77786671e-01 2.69404131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.064839173 meters Centerline goodness : 0.708106 Centerline is valid? [False, False] Translation: X:-4.47, Y:6.52, Z:2.71 [[ 8.19373076e-01 1.62220383e-01 5.49829346e-01 -4.46672025e+00] [ 3.62324603e-03 9.57641640e-01 -2.87939859e-01 6.51745246e+00] [-5.73249191e-01 2.37922335e-01 7.84078011e-01 2.70845473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.094839173 meters Centerline goodness : 0.707432 Centerline is valid? [False, False] Translation: X:-4.48, Y:6.52, Z:2.72 [[ 8.18257361e-01 1.59842473e-01 5.52182284e-01 -4.47575216e+00] [-1.53915277e-03 9.61169902e-01 -2.75952988e-01 6.52139578e+00] [-5.74849999e-01 2.24950670e-01 7.86730369e-01 2.72173264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.124839173 meters Centerline goodness : 0.711543 Centerline is valid? [False, False] Translation: X:-4.48, Y:6.52, Z:2.73 [[ 8.18668458e-01 1.55917336e-01 5.52694980e-01 -4.48222766e+00] [-3.69544268e-03 9.63846899e-01 -2.66431040e-01 6.51918594e+00] [-5.74254560e-01 2.16076236e-01 7.89647238e-01 2.72888389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.154839173 meters Centerline goodness : 0.733805 Centerline is valid? [False, False] Translation: X:-4.49, Y:6.52, Z:2.73 [[ 8.17204311e-01 1.55709113e-01 5.54916016e-01 -4.48614629e+00] [-5.96361991e-03 9.65046946e-01 -2.62009212e-01 6.51727815e+00] [-5.76317229e-01 2.10805750e-01 7.89569115e-01 2.73287745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184839173 meters Centerline goodness : 0.757311 Centerline is valid? [False, False] Translation: X:-4.50, Y:6.51, Z:2.74 [[ 0.81810126 0.1476737 0.55579026 -4.50023843] [-0.00857445 0.96949194 -0.24497316 6.51432253] [-0.57501027 0.19564726 0.7944088 2.74097877] [ 0. 0. 0. 1. ]] SLAMing on 68.214839173 meters Centerline goodness : 0.749565 Centerline is valid? [False, False] Translation: X:-4.50, Y:6.51, Z:2.74 [[ 0.82092291 0.14429349 0.55250789 -4.50364879] [-0.01612677 0.97302067 -0.23015366 6.50884452] [-0.57081127 0.18002824 0.80110194 2.74201995] [ 0. 0. 0. 1. ]] SLAMing on 68.244839173 meters Centerline goodness : 0.702222 Centerline is valid? [False, False] Translation: X:-4.51, Y:6.50, Z:2.74 [[ 0.82089944 0.14173573 0.55320439 -4.50768497] [-0.0201089 0.97528432 -0.22003666 6.50377373] [-0.57071862 0.16950363 0.8034605 2.73742297] [ 0. 0. 0. 1. ]] SLAMing on 68.274839173 meters Centerline goodness : 0.662000 Centerline is valid? [False, False] Translation: X:-4.51, Y:6.50, Z:2.73 [[ 0.82506495 0.14883426 0.54508365 -4.51044948] [-0.03848227 0.97724642 -0.20858702 6.49637617] [-0.56372595 0.15112179 0.81201925 2.72789807] [ 0. 0. 0. 1. ]] SLAMing on 68.304839173 meters Centerline goodness : 0.677656 Centerline is valid? [False, False] Translation: X:-4.51, Y:6.49, Z:2.73 [[ 0.83026263 0.1531373 0.53592251 -4.51311093] [-0.05042364 0.97821005 -0.20140147 6.48981517] [-0.55508686 0.14019295 0.81989299 2.72539686] [ 0. 0. 0. 1. ]] SLAMing on 68.334839173 meters Centerline goodness : 0.727119 Centerline is valid? [False, False] Translation: X:-4.52, Y:6.48, Z:2.72 [[ 0.83909639 0.16651492 0.51787067 -4.51714512] [-0.07155676 0.97751263 -0.19836502 6.47676621] [-0.53925586 0.12939022 0.83214259 2.7195031 ] [ 0. 0. 0. 1. ]] SLAMing on 68.36483917300001 meters Centerline goodness : 0.697157 Centerline is valid? [False, False] Translation: X:-4.52, Y:6.47, Z:2.72 [[ 0.84469761 0.16702462 0.5085162 -4.51850039] [-0.07865101 0.97848456 -0.1907406 6.46698498] [-0.52943363 0.12112281 0.83966023 2.72131156] [ 0. 0. 0. 1. ]] SLAMing on 68.39483917300001 meters Centerline goodness : 0.672228 Centerline is valid? [False, False] Translation: X:-4.53, Y:6.45, Z:2.73 [[ 0.84816529 0.16737926 0.5025931 -4.52507179] [-0.08837375 0.98018213 -0.17729374 6.44926942] [-0.52230807 0.10595835 0.84614839 2.72559578] [ 0. 0. 0. 1. ]] SLAMing on 68.424839173 meters Centerline goodness : 0.701940 Centerline is valid? [False, False] Translation: X:-4.53, Y:6.44, Z:2.73 [[ 0.85110426 0.1595253 0.50017319 -4.52817475] [-0.08771823 0.98253473 -0.16410672 6.43886994] [-0.51761671 0.09579762 0.85023277 2.73140432] [ 0. 0. 0. 1. ]] SLAMing on 68.454839173 meters Centerline goodness : 0.672252 Centerline is valid? [False, False] Translation: X:-4.53, Y:6.42, Z:2.74 [[ 0.85005493 0.15153298 0.50442479 -4.53299193] [-0.08432014 0.98451939 -0.15366097 6.41608663] [-0.51990069 0.08808709 0.84967284 2.74031384] [ 0. 0. 0. 1. ]] SLAMing on 68.484839173 meters Centerline goodness : 0.649068 Centerline is valid? [False, False] Translation: X:-4.54, Y:6.40, Z:2.75 [[ 0.8488816 0.14761566 0.5075526 -4.53829116] [-0.08269925 0.98547849 -0.14830027 6.40349622] [-0.52207361 0.08391515 0.84876227 2.74670041] [ 0. 0. 0. 1. ]] SLAMing on 68.514839173 meters Centerline goodness : 0.720105 Centerline is valid? [False, False] Translation: X:-4.54, Y:6.38, Z:2.75 [[ 0.84806651 0.13626417 0.5120696 -4.53840905] [-0.07621255 0.98768903 -0.136609 6.38143365] [-0.52438044 0.07682738 0.84801103 2.7530613 ] [ 0. 0. 0. 1. ]] SLAMing on 68.544839173 meters Centerline goodness : 0.638583 Centerline is valid? [False, False] Translation: X:-4.55, Y:6.37, Z:2.76 [[ 0.84904477 0.12877796 0.51238581 -4.54743446] [-0.07148558 0.98892169 -0.13009115 6.37138383] [-0.52346231 0.07382502 0.84884455 2.76148658] [ 0. 0. 0. 1. ]] SLAMing on 68.574839173 meters Centerline goodness : 0.724125 Centerline is valid? [False, False] Translation: X:-4.55, Y:6.35, Z:2.77 [[ 0.84979329 0.12428407 0.51225466 -4.54901193] [-0.06555602 0.98918019 -0.13124386 6.34973088] [-0.52302369 0.07794877 0.84874626 2.76625463] [ 0. 0. 0. 1. ]] SLAMing on 68.604839173 meters Centerline goodness : 0.669796 Centerline is valid? [False, False] Translation: X:-4.55, Y:6.33, Z:2.76 [[ 0.85073775 0.11826669 0.51211158 -4.5494175 ] [-0.06229219 0.99017551 -0.12518846 6.33119614] [-0.52188597 0.074602 0.84974677 2.76475953] [ 0. 0. 0. 1. ]] SLAMing on 68.634839173 meters Centerline goodness : 0.667181 Centerline is valid? [False, False] Translation: X:-4.56, Y:6.32, Z:2.77 [[ 0.85341572 0.11128828 0.50921167 -4.55509326] [-0.06127655 0.99158751 -0.11401487 6.32454802] [-0.51761645 0.06609935 0.85305574 2.76806682] [ 0. 0. 0. 1. ]] SLAMing on 68.664839173 meters Centerline goodness : 0.681349 Centerline is valid? [False, False] Translation: X:-4.56, Y:6.32, Z:2.77 [[ 0.85778276 0.11009767 0.5020829 -4.56186429] [-0.06519075 0.99220574 -0.10619767 6.31719067] [-0.50986164 0.05836337 0.85827433 2.7746503 ] [ 0. 0. 0. 1. ]] SLAMing on 68.694839173 meters Centerline goodness : 0.661987 Centerline is valid? [False, False] Translation: X:-4.57, Y:6.30, Z:2.79 [[ 0.86627613 0.10926304 0.48747026 -4.57445864] [-0.07114069 0.99282503 -0.09611169 6.3041968 ] [-0.49447413 0.04858029 0.86783368 2.78567852] [ 0. 0. 0. 1. ]] SLAMing on 68.724839173 meters Centerline goodness : 0.633207 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.29, Z:2.79 [[ 0.87128793 0.10999059 0.478288 -4.57806507] [-0.07444266 0.99290502 -0.09272493 6.29255144] [-0.48509343 0.04518509 0.87329415 2.78953779] [ 0. 0. 0. 1. ]] SLAMing on 68.75483917300001 meters Centerline goodness : 0.639437 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.28, Z:2.79 [[ 0.87173716 0.11801953 0.47554781 -4.58542881] [-0.07678791 0.99147163 -0.1052978 6.27588662] [-0.48391936 0.05527568 0.87336513 2.7875041 ] [ 0. 0. 0. 1. ]] SLAMing on 68.784839173 meters Centerline goodness : 0.650450 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.26, Z:2.80 [[ 0.8744048 0.11655058 0.47099067 -4.59499062] [-0.08192466 0.99224813 -0.09344512 6.26086308] [-0.4782307 0.04312311 0.8771749 2.79656479] [ 0. 0. 0. 1. ]] SLAMing on 68.814839173 meters Centerline goodness : 0.656521 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.25, Z:2.81 [[ 0.8756594 0.11523683 0.46897877 -4.61005859] [-0.08511356 0.99273783 -0.08501339 6.25406795] [-0.47536964 0.03452633 0.87910843 2.81036814] [ 0. 0. 0. 1. ]] SLAMing on 68.844839173 meters Centerline goodness : 0.662705 Centerline is valid? [False, False] Translation: X:-4.62, Y:6.24, Z:2.82 [[ 0.87305214 0.11792161 0.47315374 -4.61987723] [-0.09215424 0.99273411 -0.07737307 6.23727549] [-0.47883981 0.0239476 0.87757561 2.82323501] [ 0. 0. 0. 1. ]] SLAMing on 68.874839173 meters Centerline goodness : 0.673482 Centerline is valid? [False, False] Translation: X:-4.63, Y:6.23, Z:2.83 [[ 0.87104666 0.12000199 0.47631633 -4.62831304] [-0.09554064 0.99256965 -0.07534904 6.22705228] [-0.48181916 0.02012496 0.87603954 2.83187397] [ 0. 0. 0. 1. ]] SLAMing on 68.904839173 meters Centerline goodness : 0.699253 Centerline is valid? [False, False] Translation: X:-4.63, Y:6.21, Z:2.84 [[ 0.86962706 0.11740879 0.47954557 -4.63295228] [-0.09727596 0.99301854 -0.06672004 6.20951446] [-0.48403116 0.0113733 0.87497685 2.84287144] [ 0. 0. 0. 1. ]] SLAMing on 68.934839173 meters Centerline goodness : 0.691340 Centerline is valid? [False, False] Translation: X:-4.64, Y:6.20, Z:2.85 [[ 8.73040364e-01 1.11081810e-01 4.74827709e-01 -4.63792482e+00] [-9.69418544e-02 9.93810371e-01 -5.42514746e-02 6.20245806e+00] [-4.77915054e-01 1.33304854e-03 8.78405046e-01 2.84761780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.964839173 meters Centerline goodness : 0.695697 Centerline is valid? [False, False] Translation: X:-4.64, Y:6.19, Z:2.85 [[ 0.87716193 0.10666078 0.46819914 -4.64240219] [-0.09980586 0.99422218 -0.03951013 6.1926608 ] [-0.46970815 -0.01207223 0.88273921 2.85389466] [ 0. 0. 0. 1. ]] SLAMing on 68.994839173 meters Centerline goodness : 0.686235 Centerline is valid? [False, False] Translation: X:-4.64, Y:6.19, Z:2.86 [[ 0.87704493 0.10636419 0.46848569 -4.64320704] [-0.10049671 0.99422707 -0.03758924 6.18644629] [-0.46977931 -0.01411382 0.88267106 2.85538961] [ 0. 0. 0. 1. ]] SLAMing on 69.024839173 meters Centerline goodness : 0.713990 Centerline is valid? [False, False] Translation: X:-4.65, Y:6.17, Z:2.86 [[ 0.87603307 0.10558767 0.47054999 -4.65150382] [-0.09678835 0.99437839 -0.04293762 6.17233435] [-0.47243843 -0.00792898 0.88132801 2.86384728] [ 0. 0. 0. 1. ]] SLAMing on 69.054839173 meters Centerline goodness : 0.709843 Centerline is valid? [False, False] Translation: X:-4.65, Y:6.17, Z:2.87 [[ 8.76172405e-01 1.03873433e-01 4.70672101e-01 -4.65271416e+00] [-9.39212060e-02 9.94577558e-01 -4.46574506e-02 6.16725327e+00] [-4.72758631e-01 -5.07846545e-03 8.81177329e-01 2.86625223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.084839173 meters Centerline goodness : 0.712866 Centerline is valid? [False, False] Translation: X:-4.66, Y:6.16, Z:2.89 [[ 8.83256866e-01 9.66026942e-02 4.58830283e-01 -4.66476029e+00] [-8.52237399e-02 9.95322432e-01 -4.54991222e-02 6.16186569e+00] [-4.61079411e-01 1.08417941e-03 8.87358215e-01 2.88967006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11483917300001 meters Centerline goodness : 0.704042 Centerline is valid? [False, False] Translation: X:-4.67, Y:6.16, Z:2.89 [[ 8.81773461e-01 9.00215639e-02 4.63002896e-01 -4.67413914e+00] [-8.00089002e-02 9.95939600e-01 -4.12660820e-02 6.15766349e+00] [-4.64837756e-01 -6.57016455e-04 8.85395634e-01 2.89130460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14483917300001 meters Centerline goodness : 0.706461 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.14, Z:2.90 [[ 0.88509158 0.08148723 0.45822781 -4.68624316] [-0.06746022 0.99661778 -0.04692676 6.14425776] [-0.46050192 0.01062233 0.88759515 2.90192147] [ 0. 0. 0. 1. ]] SLAMing on 69.174839173 meters Centerline goodness : 0.701910 Centerline is valid? [False, False] Translation: X:-4.70, Y:6.14, Z:2.91 [[ 0.88796097 0.07535804 0.45370307 -4.69771428] [-0.06114341 0.99707108 -0.04594274 6.13828717] [-0.45583637 0.0130544 0.88996786 2.91097617] [ 0. 0. 0. 1. ]] SLAMing on 69.204839173 meters Centerline goodness : 0.691640 Centerline is valid? [False, False] Translation: X:-4.71, Y:6.13, Z:2.92 [[ 0.89082747 0.06783942 0.44924851 -4.70671029] [-0.05662583 0.99765797 -0.03836783 6.13101124] [-0.45079921 0.00874005 0.89258259 2.9170067 ] [ 0. 0. 0. 1. ]] SLAMing on 69.234839173 meters Centerline goodness : 0.699220 Centerline is valid? [False, False] Translation: X:-4.71, Y:6.13, Z:2.93 [[ 8.93905406e-01 6.20697091e-02 4.43937468e-01 -4.71415381e+00] [-5.30893145e-02 9.98056033e-01 -3.26447382e-02 6.12760813e+00] [-4.45100718e-01 5.61297211e-03 8.95462922e-01 2.92577214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.264839173 meters Centerline goodness : 0.709130 Centerline is valid? [False, False] Translation: X:-4.73, Y:6.12, Z:2.94 [[ 0.89537054 0.05480741 0.44193636 -4.72898708] [-0.04367377 0.99842071 -0.03533686 6.12232372] [-0.44317513 0.01233855 0.89635013 2.93719622] [ 0. 0. 0. 1. ]] SLAMing on 69.294839173 meters Centerline goodness : 0.725425 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.12, Z:2.95 [[ 0.89575012 0.04860124 0.44189325 -4.74437933] [-0.03798897 0.99873843 -0.03283895 6.11943197] [-0.44293178 0.01262842 0.89646638 2.95221987] [ 0. 0. 0. 1. ]] SLAMing on 69.324839173 meters Centerline goodness : 0.729927 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:2.97 [[ 0.89661429 0.04016818 0.44098677 -4.7568261 ] [-0.02823489 0.99903672 -0.03359214 6.11714866] [-0.44191131 0.01766798 0.89688474 2.96524314] [ 0. 0. 0. 1. ]] SLAMing on 69.354839173 meters Centerline goodness : 0.726282 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.12, Z:2.98 [[ 0.90055943 0.02978437 0.43371142 -4.77195711] [-0.01950604 0.99941392 -0.02813061 6.11671434] [-0.43429509 0.0168733 0.90061261 2.97913471] [ 0. 0. 0. 1. ]] SLAMing on 69.384839173 meters Centerline goodness : 0.709789 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.11, Z:2.98 [[ 0.9094432 0.02222349 0.41523388 -4.77746213] [-0.01443193 0.99965614 -0.02189328 6.11425003] [-0.41557765 0.01391807 0.90945121 2.98487583] [ 0. 0. 0. 1. ]] SLAMing on 69.414839173 meters Centerline goodness : 0.697264 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.11, Z:2.99 [[ 0.91338998 0.01865183 0.40665815 -4.78185677] [-0.01440359 0.99980505 -0.01350545 6.1124183 ] [-0.40683078 0.00647841 0.91348057 2.98784363] [ 0. 0. 0. 1. ]] SLAMing on 69.444839173 meters Centerline goodness : 0.685690 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.11, Z:2.97 [[ 9.15797035e-01 1.69029246e-02 4.01285537e-01 -4.76720999e+00] [-1.78515805e-02 9.99839702e-01 -1.37505740e-03 6.11325635e+00] [-4.01244454e-01 -5.90430758e-03 9.15951979e-01 2.97358688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.474839173 meters Centerline goodness : 0.678677 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:2.97 [[ 9.16343040e-01 1.83140783e-02 3.99975033e-01 -4.76323263e+00] [-2.11917425e-02 9.99771585e-01 2.77269962e-03 6.11547808e+00] [-3.99832893e-01 -1.10169119e-02 9.16521841e-01 2.96712189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50483917300001 meters Centerline goodness : 0.672747 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:2.97 [[ 9.20315481e-01 2.56425663e-02 3.90335591e-01 -4.75937534e+00] [-2.47231261e-02 9.99667091e-01 -7.38071048e-03 6.11449357e+00] [-3.90394905e-01 -2.85773392e-03 9.20643064e-01 2.96639450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.534839173 meters Centerline goodness : 0.672747 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:2.97 [[ 9.20315481e-01 2.56425663e-02 3.90335591e-01 -4.75937534e+00] [-2.47231261e-02 9.99667091e-01 -7.38071048e-03 6.11449357e+00] [-3.90394905e-01 -2.85773392e-03 9.20643064e-01 2.96639450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.564839173 meters Centerline goodness : 0.674749 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:2.97 [[ 0.92258361 0.03257063 0.38441986 -4.75736504] [-0.0244361 0.99936252 -0.02602758 6.1104546 ] [-0.38502253 0.0146189 0.92279138 2.9682404 ] [ 0. 0. 0. 1. ]] SLAMing on 69.594839173 meters Centerline goodness : 0.679418 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:2.97 [[ 0.92525347 0.03675394 0.37756479 -4.76182246] [-0.02645651 0.99912393 -0.03242558 6.11089867] [-0.37842579 0.02001283 0.92541526 2.97444303] [ 0. 0. 0. 1. ]] SLAMing on 69.624839173 meters Centerline goodness : 0.673931 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:2.97 [[ 0.92540702 0.03788566 0.37707628 -4.75974862] [-0.02863419 0.99913629 -0.03011236 6.11236476] [-0.37789142 0.01706891 0.92569256 2.97141357] [ 0. 0. 0. 1. ]] SLAMing on 69.654839173 meters Centerline goodness : 0.671672 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:2.97 [[ 9.24816775e-01 4.38313224e-02 3.77879277e-01 -4.76006149e+00] [-3.83560937e-02 9.99021767e-01 -2.20072568e-02 6.11984300e+00] [-3.78474230e-01 5.85870727e-03 9.25593287e-01 2.97400095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.684839173 meters Centerline goodness : 0.669013 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.12, Z:2.98 [[ 9.27711309e-01 4.17801292e-02 3.70953027e-01 -4.76506327e+00] [-3.90139558e-02 9.99126653e-01 -1.49613355e-02 6.12172089e+00] [-3.71254143e-01 -5.92544828e-04 9.28531104e-01 2.98387598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.714839173 meters Centerline goodness : 0.679479 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.12, Z:2.99 [[ 0.93072124 0.03979837 0.36355751 -4.76865471] [-0.03937877 0.99918761 -0.00856917 6.12144805] [-0.36360319 -0.00634094 0.93153234 2.99329278] [ 0. 0. 0. 1. ]] SLAMing on 69.744839173 meters Centerline goodness : 0.678827 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.12, Z:3.00 [[ 9.34132699e-01 3.66353657e-02 3.55040773e-01 -4.77412537e+00] [-3.63621794e-02 9.99310950e-01 -7.44427558e-03 6.11992070e+00] [-3.55068856e-01 -5.95611502e-03 9.34821177e-01 3.00446080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.774839173 meters Centerline goodness : 0.685254 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.12, Z:3.02 [[ 9.35816361e-01 2.84468452e-02 3.51338179e-01 -4.78408110e+00] [-2.80895691e-02 9.99586706e-01 -6.11493480e-03 6.11756299e+00] [-3.51366924e-01 -4.14648200e-03 9.36228654e-01 3.01621584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.804839173 meters Centerline goodness : 0.692810 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.12, Z:3.02 [[ 9.35881268e-01 2.62295454e-02 3.51337819e-01 -4.78495342e+00] [-2.46435500e-02 9.99655915e-01 -8.98589096e-03 6.11633798e+00] [-3.51452625e-01 -2.48484091e-04 9.36205635e-01 3.01916390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.834839173 meters Centerline goodness : 0.696056 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.11, Z:3.02 [[ 9.35366923e-01 2.44093489e-02 3.52835519e-01 -4.78888614e+00] [-2.28978078e-02 9.99702033e-01 -8.45783233e-03 6.11396821e+00] [-3.52936836e-01 -1.67983313e-04 9.35647135e-01 3.02433975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86483917300001 meters Centerline goodness : 0.702642 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.11, Z:3.02 [[ 9.35508199e-01 2.39683732e-02 3.52491031e-01 -4.78829660e+00] [-2.25766821e-02 9.99712630e-01 -8.05925219e-03 6.11258730e+00] [-3.52582903e-01 -4.18581479e-04 9.35780488e-01 3.02456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.894839173 meters Centerline goodness : 0.714636 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.11, Z:3.03 [[ 9.35364615e-01 2.03900140e-02 3.53096708e-01 -4.79064228e+00] [-1.77875660e-02 9.99785449e-01 -1.06140312e-02 6.10696155e+00] [-3.53237371e-01 3.64725821e-03 9.35526620e-01 3.03105542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.924839173 meters Centerline goodness : 0.746881 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.10, Z:3.04 [[ 0.93453791 0.01343798 0.35560977 -4.79639026] [-0.00816023 0.99983324 -0.01633728 6.09856456] [-0.35577001 0.01236595 0.93449173 3.04499962] [ 0. 0. 0. 1. ]] SLAMing on 69.954839173 meters Centerline goodness : 0.748681 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.10, Z:3.05 [[ 9.34577586e-01 1.12939031e-02 3.55580067e-01 -4.79704403e+00] [-4.93384133e-03 9.99811312e-01 -1.87882146e-02 6.09702989e+00] [-3.55725166e-01 1.58046686e-02 9.34456965e-01 3.04776414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters Centerline goodness : 0.749169 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.10, Z:3.06 [[ 9.36657717e-01 -1.10991928e-03 3.50244327e-01 -4.79722810e+00] [ 4.39585848e-03 9.99953469e-01 -8.58699744e-03 6.09507990e+00] [-3.50218499e-01 9.58270192e-03 9.36619013e-01 3.05632732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.014839173 meters Centerline goodness : 0.753112 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.06 [[ 9.38028796e-01 -9.25182482e-03 3.46433807e-01 -4.80465517e+00] [ 1.08986427e-02 9.99936672e-01 -2.80573577e-03 6.09366039e+00] [-3.46385909e-01 6.40751921e-03 9.38070224e-01 3.06333292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters Centerline goodness : 0.746132 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.06 [[ 0.93804232 -0.0115781 0.34632725 -4.8048051 ] [ 0.0146064 0.9998745 -0.00613517 6.09361633] [-0.34621275 0.01081364 0.9380937 3.06492589] [ 0. 0. 0. 1. ]] SLAMing on 70.074839173 meters Centerline goodness : 0.757914 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.07 [[ 0.93808249 -0.01531742 0.34607315 -4.80401064] [ 0.01992448 0.99975386 -0.00975851 6.09185275] [-0.34583849 0.01604961 0.93815678 3.06577875] [ 0. 0. 0. 1. ]] SLAMing on 70.104839173 meters Centerline goodness : 0.771476 Centerline is valid? [False, False] Translation: X:-4.81, Y:6.09, Z:3.08 [[ 0.93710761 -0.022467 0.34831676 -4.80713864] [ 0.02913156 0.99947884 -0.01390721 6.08587661] [-0.34782278 0.02317957 0.93727372 3.07724492] [ 0. 0. 0. 1. ]] SLAMing on 70.134839173 meters Centerline goodness : 0.797297 Centerline is valid? [False, False] Translation: X:-4.81, Y:6.09, Z:3.08 [[ 0.93674393 -0.02461214 0.34914903 -4.8101411 ] [ 0.03274186 0.99931235 -0.01740094 6.0850752 ] [-0.34848067 0.02773201 0.93690563 3.0839852 ] [ 0. 0. 0. 1. ]] SLAMing on 70.164839173 meters Centerline goodness : 0.797137 Centerline is valid? [False, False] Translation: X:-4.81, Y:6.09, Z:3.09 [[ 0.93682928 -0.02459125 0.34892143 -4.81026008] [ 0.03277149 0.9993086 -0.01755994 6.08569229] [-0.34824837 0.02788534 0.93698745 3.08625791] [ 0. 0. 0. 1. ]] SLAMing on 70.194839173 meters Centerline goodness : 0.792994 Centerline is valid? [False, False] Translation: X:-4.81, Y:6.09, Z:3.09 [[ 0.94168663 -0.02558407 0.33551713 -4.80754884] [ 0.03374376 0.99925907 -0.01851152 6.08823057] [-0.33479494 0.02875367 0.94185221 3.0915728 ] [ 0. 0. 0. 1. ]] SLAMing on 70.224839173 meters Centerline goodness : 0.787826 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.10 [[ 0.94625101 -0.02786819 0.32223034 -4.80451226] [ 0.03557318 0.99920412 -0.01804656 6.08765797] [-0.32147096 0.02853934 0.94648926 3.09640992] [ 0. 0. 0. 1. ]] SLAMing on 70.25483917300001 meters Centerline goodness : 0.783570 Centerline is valid? [False, False] Translation: X:-4.81, Y:6.09, Z:3.10 [[ 0.94931768 -0.0344344 0.31242633 -4.80646115] [ 0.04160977 0.99900053 -0.01632675 6.08943081] [-0.31155187 0.02849926 0.94980168 3.09575105] [ 0. 0. 0. 1. ]] SLAMing on 70.284839173 meters Centerline goodness : 0.776960 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.10 [[ 0.95355961 -0.03682787 0.29894444 -4.80327052] [ 0.04293196 0.99898165 -0.01387487 6.09174991] [-0.29812902 0.02606479 0.95416965 3.10057508] [ 0. 0. 0. 1. ]] SLAMing on 70.314839173 meters Centerline goodness : 0.768008 Centerline is valid? [False, False] Translation: X:-4.80, Y:6.09, Z:3.11 [[ 0.95705533 -0.03875766 0.28730287 -4.80058491] [ 0.04530156 0.99884262 -0.01616166 6.09340111] [-0.28634396 0.02848287 0.95770343 3.10937143] [ 0. 0. 0. 1. ]] SLAMing on 70.344839173 meters Centerline goodness : 0.779658 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.12 [[ 0.95847275 -0.03663184 0.28282167 -4.79344421] [ 0.04498579 0.99872056 -0.02309823 6.08966277] [-0.28161368 0.03486198 0.95889435 3.11550556] [ 0. 0. 0. 1. ]] SLAMing on 70.374839173 meters Centerline goodness : 0.780243 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.12 [[ 0.9586312 -0.03399375 0.28261395 -4.79340531] [ 0.04108141 0.99897152 -0.0191892 6.08965514] [-0.28167098 0.03000555 0.95904178 3.11595386] [ 0. 0. 0. 1. ]] SLAMing on 70.404839173 meters Centerline goodness : 0.785276 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.10, Z:3.12 [[ 9.59237797e-01 -2.35032967e-02 2.81621101e-01 -4.79220787e+00] [ 2.58855759e-02 9.99653668e-01 -4.74135651e-03 6.09656808e+00] [-2.81412130e-01 1.18380128e-02 9.59513978e-01 3.11564873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.434839173 meters Centerline goodness : 0.780402 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.10, Z:3.11 [[ 9.59524560e-01 -1.81422795e-02 2.81039991e-01 -4.79097230e+00] [ 1.82781494e-02 9.99830655e-01 2.13803702e-03 6.09934324e+00] [-2.81031187e-01 3.08539191e-03 9.59693676e-01 3.11414196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.464839173 meters Centerline goodness : 0.774374 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.11 [[ 9.60834884e-01 -1.15434256e-02 2.76880975e-01 -4.78381912e+00] [ 1.07461444e-02 9.99932592e-01 4.39675225e-03 6.10157245e+00] [-2.76913065e-01 -1.24914999e-03 9.60894164e-01 3.11459516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.494839173 meters Centerline goodness : 0.783650 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:3.11 [[ 0.96221643 0.01335814 0.2719579 -4.75518048] [-0.01032759 0.99986764 -0.01257179 6.10805337] [-0.27208984 0.00928812 0.96222703 3.11292982] [ 0. 0. 0. 1. ]] SLAMing on 70.524839173 meters Centerline goodness : 0.798272 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.11, Z:3.12 [[ 0.96253539 0.02190488 0.27026985 -4.75349548] [-0.01939265 0.99974038 -0.01196241 6.11453349] [-0.27046172 0.00627299 0.96271029 3.12368408] [ 0. 0. 0. 1. ]] SLAMing on 70.554839173 meters Centerline goodness : 0.814593 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:3.13 [[ 9.62355984e-01 2.59017625e-02 2.70555095e-01 -4.75515562e+00] [-2.44106232e-02 9.99662616e-01 -8.87550958e-03 6.11783559e+00] [-2.70693706e-01 1.93698126e-03 9.62663579e-01 3.12925478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.584839173 meters Centerline goodness : 0.829147 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:3.14 [[ 9.62029407e-01 3.27059155e-02 2.70979230e-01 -4.75674823e+00] [-3.35220988e-02 9.99436668e-01 -1.61726927e-03 6.12304486e+00] [-2.70879473e-01 -7.52793194e-03 9.62583836e-01 3.13509155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61483917300001 meters Centerline goodness : 0.828715 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:3.14 [[ 9.62087372e-01 3.32371953e-02 2.70708656e-01 -4.75665558e+00] [-3.40400894e-02 9.99418971e-01 -1.73006429e-03 6.12354172e+00] [-2.70608869e-01 -7.55047385e-03 9.62659769e-01 3.13664522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.644839173 meters Centerline goodness : 0.833032 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.12, Z:3.14 [[ 9.62284669e-01 3.18457412e-02 2.70174139e-01 -4.75724544e+00] [-3.18631860e-02 9.99482893e-01 -4.32246469e-03 6.11783380e+00] [-2.70172082e-01 -4.44916734e-03 9.62801771e-01 3.14030418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.674839173 meters Centerline goodness : 0.838318 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:3.14 [[ 9.62338891e-01 3.18349778e-02 2.69982209e-01 -4.75806112e+00] [-3.19509966e-02 9.99481567e-01 -3.96613879e-03 6.11389778e+00] [-2.69968504e-01 -4.80943105e-03 9.62857142e-01 3.14316234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.704839173 meters Centerline goodness : 0.840916 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.11, Z:3.15 [[ 9.64669162e-01 2.75490457e-02 2.62019956e-01 -4.76294138e+00] [-2.80051226e-02 9.99605791e-01 -1.99415117e-03 6.10585174e+00] [-2.61971602e-01 -5.41420485e-03 9.65060395e-01 3.15020989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.734839173 meters Centerline goodness : 0.835587 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.14 [[ 0.96435899 0.02675218 0.26324146 -4.76823212] [-0.03118894 0.99943296 0.01268922 6.10285539] [-0.26275273 -0.02044719 0.96464652 3.14482547] [ 0. 0. 0. 1. ]] SLAMing on 70.764839173 meters Centerline goodness : 0.836767 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.11, Z:3.14 [[ 0.96413535 0.02905337 0.26381609 -4.76895749] [-0.03455303 0.99927108 0.01622951 6.10586059] [-0.26315226 -0.02476309 0.96443646 3.14468142] [ 0. 0. 0. 1. ]] SLAMing on 70.794839173 meters Centerline goodness : 0.843264 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.11, Z:3.15 [[ 0.96402835 0.03048656 0.26404529 -4.77075903] [-0.03601362 0.99922134 0.01611592 6.1104529 ] [-0.26334837 -0.02504543 0.96437563 3.14995985] [ 0. 0. 0. 1. ]] SLAMing on 70.824839173 meters Centerline goodness : 0.843660 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.11, Z:3.15 [[ 0.96426173 0.02897422 0.26336252 -4.77052021] [-0.03353305 0.99935525 0.0128306 6.10845743] [-0.26282096 -0.02120341 0.96461161 3.1522785 ] [ 0. 0. 0. 1. ]] SLAMing on 70.854839173 meters Centerline goodness : 0.846045 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 9.65769623e-01 3.29819647e-02 2.57295986e-01 -4.76894283e+00] [-3.28440588e-02 9.99448794e-01 -4.83486168e-03 6.10442498e+00] [-2.57313626e-01 -3.78128197e-03 9.66320547e-01 3.15341112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.884839173 meters Centerline goodness : 0.843020 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 9.65823539e-01 3.28199327e-02 2.57114261e-01 -4.76807365e+00] [-3.29823569e-02 9.99449151e-01 -3.68208731e-03 6.10179036e+00] [-2.57093476e-01 -4.92398774e-03 9.66373995e-01 3.15110536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.914839173 meters Centerline goodness : 0.823309 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 9.68376095e-01 2.63254270e-02 2.48102217e-01 -4.77012340e+00] [-2.75494682e-02 9.99619372e-01 1.46246045e-03 6.10267893e+00] [-2.47969282e-01 -8.25129588e-03 9.68732755e-01 3.14893127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.944839173 meters Centerline goodness : 0.813434 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 0.97042367 0.02026794 0.24055583 -4.77381329] [-0.0231244 0.99969157 0.00905727 6.10273121] [-0.24029806 -0.0143521 0.97059304 3.14952334] [ 0. 0. 0. 1. ]] SLAMing on 70.974839173 meters Centerline goodness : 0.801399 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 9.73719842e-01 1.48513381e-02 2.27264399e-01 -4.77142274e+00] [-1.64432218e-02 9.99851729e-01 5.11279039e-03 6.10240691e+00] [-2.27154771e-01 -8.71538437e-03 9.73819671e-01 3.14882195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00483917300001 meters Centerline goodness : 0.792278 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 0.97379589 0.01477546 0.22694328 -4.77063598] [-0.01661174 0.99984289 0.0061835 6.09822688] [-0.22681626 -0.00979139 0.97388835 3.14774096] [ 0. 0. 0. 1. ]] SLAMing on 71.034839173 meters Centerline goodness : 0.790339 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.10, Z:3.15 [[ 9.76320351e-01 1.41580465e-02 2.15865983e-01 -4.77449103e+00] [-1.44328472e-02 9.99895795e-01 -3.03376356e-04 6.09803314e+00] [-2.15847784e-01 -2.81936825e-03 9.76422954e-01 3.15350888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters Centerline goodness : 0.801198 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.16 [[ 9.78215893e-01 1.06131278e-02 2.07318661e-01 -4.77783015e+00] [-1.13844982e-02 9.99931999e-01 2.52794873e-03 6.09924095e+00] [-2.07277734e-01 -4.83309854e-03 9.78270199e-01 3.15962341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.094839173 meters Centerline goodness : 0.790269 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.16 [[ 0.97818274 0.0150847 0.20719791 -4.77677459] [-0.0169155 0.99983195 0.00706706 6.09993119] [-0.20705648 -0.01041774 0.97827352 3.15698425] [ 0. 0. 0. 1. ]] SLAMing on 71.124839173 meters Centerline goodness : 0.787642 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.16 [[ 0.97813884 0.01835544 0.20714124 -4.77617206] [-0.0211233 0.99971461 0.01115818 6.0996898 ] [-0.20687731 -0.01528975 0.97824741 3.15600628] [ 0. 0. 0. 1. ]] SLAMing on 71.154839173 meters Centerline goodness : 0.784660 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.16 [[ 0.98024103 0.02059474 0.19673176 -4.77961776] [-0.02450306 0.9995474 0.0174526 6.0980137 ] [-0.19628329 -0.02192828 0.980302 3.16202306] [ 0. 0. 0. 1. ]] SLAMing on 71.184839173 meters Centerline goodness : 0.776422 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.10, Z:3.16 [[ 0.98025124 0.02368876 0.19633222 -4.77814385] [-0.02862025 0.99934116 0.02231872 6.09557384] [-0.19567417 -0.02749703 0.98028339 3.1602076 ] [ 0. 0. 0. 1. ]] SLAMing on 71.214839173 meters Centerline goodness : 0.781120 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.17 [[ 0.98150968 0.02150138 0.19020104 -4.78529987] [-0.02795263 0.99911908 0.03130024 6.09318229] [-0.18936049 -0.03603811 0.98124608 3.16573312] [ 0. 0. 0. 1. ]] SLAMing on 71.244839173 meters Centerline goodness : 0.780944 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.17 [[ 0.98152991 0.02167717 0.19007664 -4.78575926] [-0.02822256 0.99909584 0.03179621 6.09109892] [-0.18921553 -0.03657338 0.98125423 3.16745224] [ 0. 0. 0. 1. ]] SLAMing on 71.274839173 meters Centerline goodness : 0.797474 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.17 [[ 0.98151047 0.02139204 0.19020929 -4.78864522] [-0.02793162 0.99910496 0.03176653 6.0864636 ] [-0.1893595 -0.03649204 0.98122949 3.17356812] [ 0. 0. 0. 1. ]] SLAMing on 71.304839173 meters Centerline goodness : 0.800727 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.09, Z:3.18 [[ 0.98160787 0.02150275 0.18969347 -4.78845177] [-0.02804006 0.99909939 0.0318459 6.08515092] [-0.18883785 -0.0365792 0.98132677 3.17544156] [ 0. 0. 0. 1. ]] SLAMing on 71.334839173 meters Centerline goodness : 0.788990 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.08, Z:3.18 [[ 0.98303389 0.01614917 0.18271173 -4.79407919] [-0.02338153 0.9990231 0.03749864 6.0831144 ] [-0.18192766 -0.04113451 0.98245116 3.18066439] [ 0. 0. 0. 1. ]] SLAMing on 71.36483917300001 meters Centerline goodness : 0.786275 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.08, Z:3.18 [[ 0.98531664 0.01529626 0.17005039 -4.79470775] [-0.02120387 0.99923111 0.03297861 6.07823378] [-0.16941519 -0.0361001 0.98488338 3.18084802] [ 0. 0. 0. 1. ]] SLAMing on 71.394839173 meters Centerline goodness : 0.782177 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.08, Z:3.18 [[ 0.98540082 0.01310941 0.16974499 -4.79184665] [-0.01841769 0.99938811 0.02973526 6.07728452] [-0.16925131 -0.03242746 0.98503932 3.17602529] [ 0. 0. 0. 1. ]] SLAMing on 71.424839173 meters Centerline goodness : 0.782177 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.08, Z:3.18 [[ 0.98540082 0.01310941 0.16974499 -4.79184665] [-0.01841769 0.99938811 0.02973526 6.07728452] [-0.16925131 -0.03242746 0.98503932 3.17602529] [ 0. 0. 0. 1. ]] SLAMing on 71.454839173 meters Centerline goodness : 0.770068 Centerline is valid? [False, False] Translation: X:-4.79, Y:6.08, Z:3.17 [[ 0.98554764 0.01105791 0.16903722 -4.78724103] [-0.01575256 0.99952583 0.02645709 6.07750727] [-0.1686645 -0.0287375 0.98525451 3.16896253] [ 0. 0. 0. 1. ]] SLAMing on 71.484839173 meters Centerline goodness : 0.743007 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.08, Z:3.16 [[ 0.98960782 0.01143671 0.14333724 -4.78303805] [-0.01482514 0.9996348 0.02259392 6.07784936] [-0.1430265 -0.02448411 0.98941596 3.16454379] [ 0. 0. 0. 1. ]] SLAMing on 71.514839173 meters Centerline goodness : 0.731270 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.08, Z:3.16 [[ 0.99161362 0.01107712 0.12876226 -4.7784501 ] [-0.01393322 0.999676 0.02130162 6.07755194] [-0.12848458 -0.02291705 0.99144668 3.16221295] [ 0. 0. 0. 1. ]] SLAMing on 71.544839173 meters Centerline goodness : 0.714403 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.07, Z:3.16 [[ 0.9934193 0.00768856 0.11427588 -4.77344733] [-0.00965628 0.99981433 0.01667546 6.07406257] [-0.11412645 -0.0176692 0.99330909 3.15752375] [ 0. 0. 0. 1. ]] SLAMing on 71.574839173 meters Centerline goodness : 0.709030 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.07, Z:3.15 [[ 9.93501290e-01 2.73406356e-03 1.13788010e-01 -4.77077945e+00] [-4.25279832e-03 9.99905063e-01 1.31064479e-02 6.07056775e+00] [-1.13741373e-01 -1.35051904e-02 9.93418598e-01 3.15495761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.604839173 meters Centerline goodness : 0.724313 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.07, Z:3.16 [[ 9.93517129e-01 -3.99428288e-04 1.13681813e-01 -4.77164954e+00] [-7.69079279e-04 9.99947328e-01 1.02347126e-02 6.07084659e+00] [-1.13679914e-01 -1.02557926e-02 9.93464492e-01 3.15714501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.634839173 meters Centerline goodness : 0.718591 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.07, Z:3.16 [[ 9.93500369e-01 -3.01013304e-03 1.13789082e-01 -4.77423519e+00] [ 2.09768555e-03 9.99964689e-01 8.13764686e-03 6.07018593e+00] [-1.13809560e-01 -7.84606145e-03 9.93471602e-01 3.16194705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.664839173 meters Centerline goodness : 0.740293 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.07, Z:3.17 [[ 9.92234855e-01 -4.94150958e-03 1.24280220e-01 -4.77587864e+00] [ 4.89767212e-03 9.99987790e-01 6.58256488e-04 6.06543820e+00] [-1.24281956e-01 -4.44612615e-05 9.92246942e-01 3.17262990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.694839173 meters Centerline goodness : 0.742613 Centerline is valid? [False, False] Translation: X:-4.78, Y:6.06, Z:3.18 [[ 9.92208540e-01 -7.26812638e-03 1.24375990e-01 -4.77775679e+00] [ 7.50285927e-03 9.99970846e-01 -1.41897613e-03 6.06173691e+00] [-1.24362051e-01 2.34109578e-03 9.92234146e-01 3.17597421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.724839173 meters Centerline goodness : 0.736373 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.06, Z:3.17 [[ 9.92275010e-01 -1.06274557e-02 1.23601622e-01 -4.77435315e+00] [ 1.12227828e-02 9.99928530e-01 -4.12123116e-03 6.05748418e+00] [-1.23548989e-01 5.47654885e-03 9.92323362e-01 3.17294268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75483917300001 meters Centerline goodness : 0.729432 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.05, Z:3.17 [[ 9.93841422e-01 -1.58431564e-02 1.09673249e-01 -4.77030748e+00] [ 1.62875107e-02 9.99862366e-01 -3.15689510e-03 6.05457603e+00] [-1.09608139e-01 4.92375734e-03 9.93962682e-01 3.17329243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters Centerline goodness : 0.732016 Centerline is valid? [False, False] Translation: X:-4.77, Y:6.05, Z:3.17 [[ 0.99380042 -0.0195403 0.10944814 -4.76921665] [ 0.02042839 0.99976682 -0.00699881 6.0544654 ] [-0.10928586 0.00919127 0.99396787 3.17243255] [ 0. 0. 0. 1. ]] SLAMing on 71.814839173 meters Centerline goodness : 0.731552 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.05, Z:3.18 [[ 9.93409140e-01 -3.40247528e-02 1.09455910e-01 -4.75799963e+00] [ 3.48039113e-02 9.99380552e-01 -5.21531819e-03 6.05174981e+00] [-1.09210658e-01 8.99043853e-03 9.93977970e-01 3.17969532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters Centerline goodness : 0.744545 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.05, Z:3.18 [[ 0.99321238 -0.03906473 0.10955874 -4.75856448] [ 0.04030557 0.99914566 -0.00913337 6.05015155] [-0.10910835 0.0134872 0.99393836 3.18220841] [ 0. 0. 0. 1. ]] SLAMing on 71.874839173 meters Centerline goodness : 0.753784 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.05, Z:3.18 [[ 0.99299298 -0.04426388 0.10957031 -4.75857075] [ 0.04604504 0.99884434 -0.01377808 6.04889764] [-0.10883381 0.0187267 0.99388355 3.18390979] [ 0. 0. 0. 1. ]] SLAMing on 71.904839173 meters Centerline goodness : 0.747630 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.05, Z:3.19 [[ 0.99238247 -0.05502116 0.11022572 -4.76043639] [ 0.05821796 0.99796541 -0.02599457 6.05069594] [-0.1085712 0.03221367 0.99356659 3.18735655] [ 0. 0. 0. 1. ]] SLAMing on 71.934839173 meters Centerline goodness : 0.761960 Centerline is valid? [False, False] Translation: X:-4.76, Y:6.05, Z:3.19 [[ 0.99229301 -0.05720261 0.1099202 -4.75852676] [ 0.06058608 0.99777885 -0.02768911 6.05067015] [-0.10809216 0.03413534 0.99355466 3.1859346 ] [ 0. 0. 0. 1. ]] SLAMing on 71.964839173 meters Centerline goodness : 0.766291 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.06, Z:3.18 [[ 0.99220142 -0.05980073 0.10936279 -4.75481582] [ 0.06350088 0.9975105 -0.03066676 6.05763988] [-0.10725664 0.03737223 0.99352873 3.18207185] [ 0. 0. 0. 1. ]] SLAMing on 71.994839173 meters Centerline goodness : 0.743427 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.07, Z:3.18 [[ 0.99251739 -0.05899233 0.10690711 -4.74569868] [ 0.06233302 0.99765754 -0.02817838 6.06736741] [-0.10499437 0.03463137 0.99386963 3.17616422] [ 0. 0. 0. 1. ]] SLAMing on 72.024839173 meters Centerline goodness : 0.754440 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.07, Z:3.17 [[ 0.9927546 -0.05622487 0.10619352 -4.74356907] [ 0.05930418 0.99789966 -0.02606293 6.07194351] [-0.1045051 0.03217181 0.99400385 3.17395787] [ 0. 0. 0. 1. ]] SLAMing on 72.054839173 meters Centerline goodness : 0.739013 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.08, Z:3.17 [[ 0.99305424 -0.05228478 0.10540201 -4.74335752] [ 0.05508358 0.99819763 -0.02381779 6.07862795] [-0.10396673 0.02945828 0.99414442 3.174975 ] [ 0. 0. 0. 1. ]] SLAMing on 72.084839173 meters Centerline goodness : 0.759914 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.08, Z:3.18 [[ 0.99309224 -0.05204445 0.10516263 -4.74424237] [ 0.05486239 0.99820349 -0.02408139 6.07992969] [-0.10372041 0.02968451 0.99416342 3.17737276] [ 0. 0. 0. 1. ]] SLAMing on 72.11483917300001 meters Centerline goodness : 0.768466 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.09, Z:3.18 [[ 0.99320046 -0.04962413 0.10531044 -4.74851493] [ 0.05220114 0.99839741 -0.02185534 6.08501875] [-0.10405712 0.02720406 0.9941992 3.18431404] [ 0. 0. 0. 1. ]] SLAMing on 72.144839173 meters Centerline goodness : 0.774915 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.09, Z:3.19 [[ 0.99345724 -0.04457934 0.10514463 -4.75142876] [ 0.04650872 0.99879024 -0.01596864 6.09109574] [-0.10430556 0.0207543 0.99432872 3.1896235 ] [ 0. 0. 0. 1. ]] SLAMing on 72.174839173 meters Centerline goodness : 0.777105 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.09, Z:3.19 [[ 0.99365171 -0.04119982 0.10468455 -4.75216655] [ 0.04272628 0.99901011 -0.01238017 6.09224053] [-0.10407087 0.01677436 0.99442842 3.1920043 ] [ 0. 0. 0. 1. ]] SLAMing on 72.204839173 meters Centerline goodness : 0.785239 Centerline is valid? [False, False] Translation: X:-4.75, Y:6.09, Z:3.20 [[ 0.99371539 -0.03956909 0.10470917 -4.75434882] [ 0.0409977 0.99909276 -0.01152585 6.09306783] [-0.10415811 0.01574625 0.99443609 3.19561276] [ 0. 0. 0. 1. ]] SLAMing on 72.234839173 meters Centerline goodness : 0.804253 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.09, Z:3.21 [[ 0.99374881 -0.0316217 0.10706715 -4.73752894] [ 0.03368556 0.99927886 -0.01752254 6.09369325] [-0.10643585 0.02101962 0.99409737 3.20548668] [ 0. 0. 0. 1. ]] SLAMing on 72.264839173 meters Centerline goodness : 0.805199 Centerline is valid? [False, False] Translation: X:-4.74, Y:6.09, Z:3.21 [[ 0.99378767 -0.03137232 0.10677938 -4.73808453] [ 0.03343819 0.9992856 -0.01761162 6.09473911] [-0.10615058 0.02107272 0.99412675 3.20741876] [ 0. 0. 0. 1. ]] SLAMing on 72.294839173 meters Centerline goodness : 0.816427 Centerline is valid? [False, False] Translation: X:-4.71, Y:6.10, Z:3.21 [[ 0.9937111 -0.03075967 0.10766654 -4.71442888] [ 0.03230648 0.99939793 -0.01265163 6.10152843] [-0.10721255 0.01605039 0.99410656 3.20941652] [ 0. 0. 0. 1. ]] SLAMing on 72.324839173 meters Centerline goodness : 0.821509 Centerline is valid? [False, False] Translation: X:-4.72, Y:6.10, Z:3.21 [[ 0.99373464 -0.03094287 0.10739648 -4.71527495] [ 0.03251954 0.99938707 -0.01296025 6.10388332] [-0.10692963 0.01637153 0.9941318 3.21183904] [ 0. 0. 0. 1. ]] SLAMing on 72.354839173 meters Centerline goodness : 0.832416 Centerline is valid? [False, False] Translation: X:-4.72, Y:6.11, Z:3.22 [[ 0.99372621 -0.03142888 0.1073333 -4.71849718] [ 0.0331084 0.99935509 -0.01390132 6.10561767] [-0.10682718 0.01736774 0.99412591 3.21788295] [ 0. 0. 0. 1. ]] SLAMing on 72.384839173 meters Centerline goodness : 0.832365 Centerline is valid? [False, False] Translation: X:-4.72, Y:6.11, Z:3.22 [[ 0.99378949 -0.03103041 0.1068624 -4.71805126] [ 0.03275611 0.99935918 -0.01443116 6.10784128] [-0.10634612 0.01784193 0.99416908 3.21859976] [ 0. 0. 0. 1. ]] SLAMing on 72.414839173 meters Centerline goodness : 0.837455 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99416591 -0.02181595 0.10563246 -4.69400671] [ 0.02409267 0.99950309 -0.02032514 6.11554169] [-0.10513656 0.02275153 0.9941975 3.2185088 ] [ 0. 0. 0. 1. ]] SLAMing on 72.444839173 meters Centerline goodness : 0.852999 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99421082 -0.02156711 0.10526015 -4.69365448] [ 0.02391182 0.99949213 -0.02106435 6.11962369] [-0.1047524 0.02345937 0.9942216 3.21910102] [ 0. 0. 0. 1. ]] SLAMing on 72.474839173 meters Centerline goodness : 0.842993 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99429395 -0.01987849 0.10480638 -4.69430452] [ 0.02202045 0.99957083 -0.01931984 6.12316115] [-0.10437735 0.02151749 0.99430497 3.22162939] [ 0. 0. 0. 1. ]] SLAMing on 72.50483917300001 meters Centerline goodness : 0.856173 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99434771 -0.02034429 0.10420527 -4.69347772] [ 0.02251045 0.99955341 -0.01965357 6.12345558] [-0.10375889 0.02188819 0.9943616 3.22211872] [ 0. 0. 0. 1. ]] SLAMing on 72.534839173 meters Centerline goodness : 0.842155 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99439612 -0.02091514 0.1036287 -4.69223802] [ 0.02310218 0.99953405 -0.01994928 6.1219929 ] [-0.10316317 0.02223154 0.99441597 3.22202121] [ 0. 0. 0. 1. ]] SLAMing on 72.564839173 meters Centerline goodness : 0.842610 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99444955 -0.02112313 0.10307236 -4.69096708] [ 0.02326816 0.99953607 -0.019653 6.12035555] [-0.10260941 0.02194223 0.99447969 3.22162943] [ 0. 0. 0. 1. ]] SLAMing on 72.594839173 meters Centerline goodness : 0.850435 Centerline is valid? [False, False] Translation: X:-4.69, Y:6.12, Z:3.22 [[ 0.99452462 -0.02103504 0.10236362 -4.68764526] [ 0.02311209 0.99954951 -0.01914723 6.1193116 ] [-0.10191474 0.02140823 0.99456275 3.21852022] [ 0. 0. 0. 1. ]] SLAMing on 72.624839173 meters Centerline goodness : 0.843927 Centerline is valid? [False, False] Translation: X:-4.68, Y:6.12, Z:3.22 [[ 0.9946666 -0.01904262 0.10136932 -4.68456563] [ 0.02083369 0.99964448 -0.01663943 6.12086533] [-0.10101643 0.01866258 0.9947097 3.2163016 ] [ 0. 0. 0. 1. ]] SLAMing on 72.654839173 meters Centerline goodness : 0.841063 Centerline is valid? [False, False] Translation: X:-4.66, Y:6.12, Z:3.22 [[ 0.9953481 -0.01386498 0.09534112 -4.66326859] [ 0.01528612 0.99978244 -0.01419162 6.12393213] [-0.09512361 0.015583 0.99534349 3.2153712 ] [ 0. 0. 0. 1. ]] SLAMing on 72.684839173 meters Centerline goodness : 0.837155 Centerline is valid? [False, False] Translation: X:-4.66, Y:6.12, Z:3.21 [[ 0.99543602 -0.01228692 0.09463701 -4.6610429 ] [ 0.01354986 0.99982736 -0.01271402 6.12406094] [-0.09446445 0.01393831 0.99543066 3.2138832 ] [ 0. 0. 0. 1. ]] SLAMing on 72.714839173 meters Centerline goodness : 0.841992 Centerline is valid? [False, False] Translation: X:-4.64, Y:6.13, Z:3.22 [[ 9.95611899e-01 -5.73363724e-03 9.34027414e-02 -4.63850057e+00] [ 7.58140744e-03 9.99782280e-01 -1.94400134e-02 6.12712200e+00] [-9.32709438e-02 2.00628329e-02 9.95438604e-01 3.21556125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.744839173 meters Centerline goodness : 0.844764 Centerline is valid? [False, False] Translation: X:-4.64, Y:6.13, Z:3.22 [[ 9.95661446e-01 -2.65722673e-03 9.30119571e-02 -4.63773735e+00] [ 4.16307024e-03 9.99863333e-01 -1.59995016e-02 6.12783465e+00] [-9.29567311e-02 1.63173022e-02 9.95536434e-01 3.21566077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.774839173 meters Centerline goodness : 0.836715 Centerline is valid? [False, False] Translation: X:-4.63, Y:6.13, Z:3.21 [[ 9.95761364e-01 1.62974988e-03 9.19600438e-02 -4.63375270e+00] [-5.33875162e-04 9.99928571e-01 -1.19401988e-02 6.12959387e+00] [-9.19729347e-02 1.18404935e-02 9.95691108e-01 3.21228667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.804839173 meters Centerline goodness : 0.829502 Centerline is valid? [False, False] Translation: X:-4.63, Y:6.13, Z:3.21 [[ 9.95814832e-01 2.58706706e-03 9.13571389e-02 -4.62989990e+00] [-1.55355842e-03 9.99934014e-01 -1.13821410e-02 6.13149024e+00] [-9.13805570e-02 1.11925762e-02 9.95753142e-01 3.20786411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.834839173 meters Centerline goodness : 0.819414 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.13, Z:3.20 [[ 9.96444998e-01 6.03081132e-03 8.40297329e-02 -4.61221309e+00] [-4.61583792e-03 9.99844442e-01 -1.70230766e-02 6.13400343e+00] [-8.41193244e-02 1.65746919e-02 9.96317830e-01 3.19952157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86483917300001 meters Centerline goodness : 0.806109 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.13, Z:3.19 [[ 9.96527039e-01 5.10354282e-03 8.31132577e-02 -4.60755118e+00] [-3.64190356e-03 9.99836210e-01 -1.77282371e-02 6.13324216e+00] [-8.31901214e-02 1.73639771e-02 9.96382405e-01 3.19494589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.894839173 meters Centerline goodness : 0.791943 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.13, Z:3.19 [[ 9.96656428e-01 2.18640558e-03 8.16773222e-02 -4.60076318e+00] [-5.20872028e-04 9.99791612e-01 -2.04073721e-02 6.13222051e+00] [-8.17049205e-02 2.02965951e-02 9.96449875e-01 3.18857998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.924839173 meters Centerline goodness : 0.796917 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.13, Z:3.19 [[ 9.96704511e-01 1.53557016e-03 8.11033897e-02 -4.60006500e+00] [ 1.62412357e-04 9.99781029e-01 -2.09252788e-02 6.13336552e+00] [-8.11177627e-02 2.08694920e-02 9.96486012e-01 3.18960318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.954839173 meters Centerline goodness : 0.797503 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.13, Z:3.19 [[ 9.96755111e-01 6.78594023e-04 8.04909171e-02 -4.59896204e+00] [ 1.01455200e-03 9.99779119e-01 -2.09924808e-02 6.13288743e+00] [-8.04873836e-02 2.10060247e-02 9.96534258e-01 3.19014828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.984839173 meters Centerline goodness : 0.797015 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.13, Z:3.19 [[ 9.96826420e-01 -1.52060212e-04 7.96056920e-02 -4.59642401e+00] [ 1.84457608e-03 9.99773805e-01 -2.11881376e-02 6.13098692e+00] [-7.95844637e-02 2.12677341e-02 9.96601222e-01 3.18894715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.014839173 meters Centerline goodness : 0.783491 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.13, Z:3.18 [[ 9.97256683e-01 2.24130331e-03 7.39870560e-02 -4.58188885e+00] [-3.97668360e-04 9.99689278e-01 -2.49236766e-02 6.12581919e+00] [-7.40199281e-02 2.48258808e-02 9.96947705e-01 3.18492006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.044839173 meters Centerline goodness : 0.780223 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.13, Z:3.18 [[ 9.97300790e-01 2.88862974e-03 7.33675063e-02 -4.57798656e+00] [-1.13199899e-03 9.99711961e-01 -2.39732044e-02 6.12522341e+00] [-7.34156233e-02 2.38254437e-02 9.97016797e-01 3.18084279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.074839173 meters Centerline goodness : 0.769213 Centerline is valid? [False, False] Translation: X:-4.56, Y:6.13, Z:3.17 [[ 0.99777292 0.00992625 0.06595956 -4.55863641] [-0.00822721 0.99962859 -0.02598076 6.12841586] [-0.06619295 0.02538024 0.997484 3.17210455] [ 0. 0. 0. 1. ]] SLAMing on 73.104839173 meters Centerline goodness : 0.762018 Centerline is valid? [False, False] Translation: X:-4.55, Y:6.13, Z:3.17 [[ 0.99856216 0.0138405 0.05178856 -4.55029562] [-0.01242857 0.9995449 -0.02748673 6.12981973] [-0.05214542 0.02680355 0.99827973 3.17412852] [ 0. 0. 0. 1. ]] SLAMing on 73.134839173 meters Centerline goodness : 0.758560 Centerline is valid? [False, False] Translation: X:-4.55, Y:6.13, Z:3.17 [[ 0.9985487 0.01851185 0.05057474 -4.54576036] [-0.01737136 0.99958687 -0.02289795 6.13002751] [-0.05097773 0.02198616 0.99845775 3.17083865] [ 0. 0. 0. 1. ]] SLAMing on 73.164839173 meters Centerline goodness : 0.762134 Centerline is valid? [False, False] Translation: X:-4.56, Y:6.13, Z:3.17 [[ 0.99825312 0.02489857 0.05357962 -4.55596578] [-0.0237681 0.9994834 -0.02163374 6.12963737] [-0.05409059 0.02032246 0.99832921 3.17404414] [ 0. 0. 0. 1. ]] SLAMing on 73.194839173 meters Centerline goodness : 0.773374 Centerline is valid? [False, False] Translation: X:-4.56, Y:6.13, Z:3.18 [[ 0.99820764 0.02614814 0.05383108 -4.55895119] [-0.02507406 0.99947472 -0.02053253 6.13017512] [-0.05433969 0.01914596 0.99833894 3.17810918] [ 0. 0. 0. 1. ]] SLAMing on 73.224839173 meters Centerline goodness : 0.810474 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.13, Z:3.19 [[ 0.99744837 0.02832653 0.06553135 -4.57716728] [-0.02697517 0.99940669 -0.02141534 6.13087287] [-0.06609909 0.01959298 0.99762068 3.19142314] [ 0. 0. 0. 1. ]] SLAMing on 73.25483917300001 meters Centerline goodness : 0.815437 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.13, Z:3.20 [[ 0.99745487 0.02765326 0.0657197 -4.58115308] [-0.02629838 0.99942521 -0.0213926 6.12998789] [-0.0662735 0.01960983 0.99760878 3.19721988] [ 0. 0. 0. 1. ]] SLAMing on 73.284839173 meters Centerline goodness : 0.821646 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.13, Z:3.20 [[ 0.99749832 0.02623957 0.0656398 -4.58289623] [-0.0248375 0.99944751 -0.02208582 6.12941023] [-0.06618306 0.02040024 0.99759893 3.20033338] [ 0. 0. 0. 1. ]] SLAMing on 73.314839173 meters Centerline goodness : 0.842244 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.12, Z:3.21 [[ 0.99760642 0.02009915 0.06616234 -4.58651503] [-0.01836261 0.99947346 -0.02675094 6.12228613] [-0.06666517 0.025472 0.99745022 3.20502509] [ 0. 0. 0. 1. ]] SLAMing on 73.344839173 meters Centerline goodness : 0.842244 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.12, Z:3.21 [[ 0.99760574 0.0200618 0.066184 -4.58655195] [-0.01832696 0.99947505 -0.02671622 6.12220337] [-0.06668523 0.0254393 0.99744971 3.20502562] [ 0. 0. 0. 1. ]] SLAMing on 73.374839173 meters Centerline goodness : 0.860690 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.11, Z:3.22 [[ 0.99739216 0.01334068 0.07092894 -4.59534546] [-0.01148596 0.99958301 -0.02649287 6.10804927] [-0.0712528 0.02560909 0.99712949 3.21508317] [ 0. 0. 0. 1. ]] SLAMing on 73.404839173 meters Centerline goodness : 0.863018 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.10, Z:3.22 [[ 0.9973984 0.01107233 0.07123092 -4.59779812] [-0.00912673 0.99957789 -0.02758175 6.10342208] [-0.07150625 0.02685989 0.99707843 3.21831826] [ 0. 0. 0. 1. ]] SLAMing on 73.434839173 meters Centerline goodness : 0.873039 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.10, Z:3.22 [[ 0.99696406 0.0092562 0.07731102 -4.60808239] [-0.0079763 0.99982625 -0.01684772 6.09641468] [-0.07745354 0.01617991 0.99686466 3.21988356] [ 0. 0. 0. 1. ]] SLAMing on 73.464839173 meters Centerline goodness : 0.865206 Centerline is valid? [False, False] Translation: X:-4.61, Y:6.10, Z:3.22 [[ 0.99700018 0.01199216 0.07646457 -4.60519496] [-0.01105758 0.99985904 -0.01263416 6.09525748] [-0.0766053 0.01175075 0.99699225 3.21812787] [ 0. 0. 0. 1. ]] SLAMing on 73.494839173 meters Centerline goodness : 0.852953 Centerline is valid? [False, False] Translation: X:-4.60, Y:6.09, Z:3.22 [[ 0.99799967 0.01571002 0.06123608 -4.5983677 ] [-0.01515333 0.99983963 -0.00954468 6.09281915] [-0.06137621 0.00859765 0.99807767 3.21620033] [ 0. 0. 0. 1. ]] SLAMing on 73.524839173 meters Centerline goodness : 0.846039 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.09, Z:3.21 [[ 0.99805295 0.01647902 0.06015613 -4.59336852] [-0.01598389 0.99983438 -0.0087027 6.09050278] [-0.06028958 0.00772422 0.99815104 3.21140665] [ 0. 0. 0. 1. ]] SLAMing on 73.554839173 meters Centerline goodness : 0.829419 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.08, Z:3.21 [[ 0.99832717 0.02261378 0.05321168 -4.5844656 ] [-0.02159554 0.99957399 -0.01963355 6.08305126] [-0.053633 0.01845157 0.99839022 3.20632315] [ 0. 0. 0. 1. ]] SLAMing on 73.584839173 meters Centerline goodness : 0.822787 Centerline is valid? [False, False] Translation: X:-4.57, Y:6.07, Z:3.21 [[ 0.9983883 0.03112107 0.04745816 -4.57144938] [-0.0302364 0.99935746 -0.01924658 6.07313064] [-0.04802664 0.0177806 0.99868779 3.20546222] [ 0. 0. 0. 1. ]] SLAMing on 73.61483917300001 meters Centerline goodness : 0.826736 Centerline is valid? [False, False] Translation: X:-4.58, Y:6.07, Z:3.21 [[ 0.99862165 0.03142301 0.04204033 -4.58354208] [-0.03101468 0.99946555 -0.01033022 6.06902849] [-0.04234247 0.00901212 0.99906251 3.21005355] [ 0. 0. 0. 1. ]] SLAMing on 73.644839173 meters Centerline goodness : 0.834410 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.07, Z:3.21 [[ 9.98394880e-01 3.71351135e-02 4.27626898e-02 -4.58655056e+00] [-3.70711472e-02 9.99310009e-01 -2.28814190e-03 6.06555743e+00] [-4.28181544e-02 6.99207184e-04 9.99082638e-01 3.21432814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.674839173 meters Centerline goodness : 0.840503 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.06, Z:3.22 [[ 9.98354733e-01 3.81346187e-02 4.28203011e-02 -4.58780649e+00] [-3.81561400e-02 9.99271740e-01 -3.14893175e-04 6.06380961e+00] [-4.28011251e-02 -1.31948231e-03 9.99082741e-01 3.21644761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.704839173 meters Centerline goodness : 0.839170 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.06, Z:3.22 [[ 9.98330481e-01 3.86717008e-02 4.29039695e-02 -4.58871240e+00] [-3.87509226e-02 9.99248384e-01 1.01605093e-03 6.06188443e+00] [-4.28324297e-02 -2.67692301e-03 9.99078684e-01 3.21792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.734839173 meters Centerline goodness : 0.845237 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.06, Z:3.23 [[ 9.98509224e-01 3.62186234e-02 4.08355377e-02 -4.58921798e+00] [-3.60597351e-02 9.99338952e-01 -4.62104969e-03 6.05658505e+00] [-4.09759116e-02 3.14164207e-03 9.99155196e-01 3.22537688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.764839173 meters Centerline goodness : 0.851605 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.04, Z:3.23 [[ 0.99851681 0.0391143 0.03787149 -4.58926299] [-0.03865654 0.99917127 -0.01274521 6.04227453] [-0.03833862 0.01126232 0.99920134 3.2338731 ] [ 0. 0. 0. 1. ]] SLAMing on 73.794839173 meters Centerline goodness : 0.854949 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.04, Z:3.23 [[ 0.99848763 0.03982137 0.03790392 -4.58927692] [-0.03943411 0.99916261 -0.01091033 6.03675577] [-0.03830664 0.00939913 0.99922183 3.23392759] [ 0. 0. 0. 1. ]] SLAMing on 73.824839173 meters Centerline goodness : 0.854189 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.03, Z:3.23 [[ 9.98702042e-01 3.58399600e-02 3.61901677e-02 -4.58624728e+00] [-3.59665201e-02 9.99348926e-01 2.85192295e-03 6.03213051e+00] [-3.60643924e-02 -4.14985567e-03 9.99340852e-01 3.22843022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.854839173 meters Centerline goodness : 0.848226 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.03, Z:3.22 [[ 9.98656158e-01 3.43326470e-02 3.88219945e-02 -4.58782920e+00] [-3.45698610e-02 9.99387394e-01 5.45541105e-03 6.03072122e+00] [-3.86109132e-02 -6.79015079e-03 9.99231250e-01 3.22483983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.884839173 meters Centerline goodness : 0.847281 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.02, Z:3.23 [[ 9.98879606e-01 2.79832968e-02 3.81637033e-02 -4.58820056e+00] [-2.80476215e-02 9.99605925e-01 1.15103756e-03 6.02216303e+00] [-3.81164541e-02 -2.22014905e-03 9.99270838e-01 3.22752300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.914839173 meters Centerline goodness : 0.847335 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.02, Z:3.23 [[ 9.99005929e-01 2.27984454e-02 3.83064700e-02 -4.59065202e+00] [-2.26745057e-02 9.99736176e-01 -3.66687424e-03 6.01526570e+00] [-3.83799629e-02 2.79464883e-03 9.99259310e-01 3.23010070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.944839173 meters Centerline goodness : 0.848627 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.01, Z:3.23 [[ 9.99062528e-01 2.01870018e-02 3.82955734e-02 -4.59163920e+00] [-2.00050828e-02 9.99786729e-01 -5.12769072e-03 6.00748493e+00] [-3.83909188e-02 4.35677753e-03 9.99253299e-01 3.23162676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.974839173 meters Centerline goodness : 0.849930 Centerline is valid? [False, False] Translation: X:-4.59, Y:6.00, Z:3.23 [[ 9.99071330e-01 1.85033838e-02 3.89114699e-02 -4.59306343e+00] [-1.83516302e-02 9.99822547e-01 -4.25357101e-03 5.99675686e+00] [-3.89832704e-02 3.53553194e-03 9.99233609e-01 3.23298974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00483917300001 meters Centerline goodness : 0.854077 Centerline is valid? [False, False] Translation: X:-4.59, Y:5.99, Z:3.23 [[ 9.99007466e-01 2.13885278e-02 3.90718980e-02 -4.59167944e+00] [-2.14523982e-02 9.99769131e-01 1.21611970e-03 5.99332406e+00] [-3.90368665e-02 -2.05309857e-03 9.99235662e-01 3.23191048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.034839173 meters Centerline goodness : 0.852314 Centerline is valid? [False, False] Translation: X:-4.59, Y:5.99, Z:3.23 [[ 9.99027936e-01 2.13648310e-02 3.85581081e-02 -4.59069551e+00] [-2.14652237e-02 9.99767194e-01 2.19152404e-03 5.99092261e+00] [-3.85023099e-02 -3.01705215e-03 9.99253956e-01 3.23225659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters Centerline goodness : 0.851724 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.98, Z:3.24 [[ 9.99252738e-01 2.11134556e-02 3.23757190e-02 -4.58191164e+00] [-2.10241186e-02 9.99774171e-01 -3.09736693e-03 5.97791201e+00] [-3.24338038e-02 2.41438143e-03 9.99470970e-01 3.23653243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.094839173 meters Centerline goodness : 0.846813 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.97, Z:3.23 [[ 9.99337736e-01 1.76800232e-02 3.18041917e-02 -4.58002083e+00] [-1.74918342e-02 9.99827872e-01 -6.18566210e-03 5.97091967e+00] [-3.19080800e-02 5.62525190e-03 9.99474978e-01 3.23483045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters Centerline goodness : 0.847983 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.96, Z:3.23 [[ 0.99939101 0.01493838 0.03153488 -4.57757259] [-0.01472834 0.99986785 -0.00688243 5.95855943] [-0.03163353 0.00641378 0.99947896 3.23243564] [ 0. 0. 0. 1. ]] SLAMing on 74.154839173 meters Centerline goodness : 0.848871 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.96, Z:3.23 [[ 9.99392576e-01 1.49573316e-02 3.14763042e-02 -4.57713580e+00] [-1.47739108e-02 9.99872545e-01 -6.05180546e-03 5.95692896e+00] [-3.15628113e-02 5.58310134e-03 9.99486177e-01 3.23226166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.184839173 meters Centerline goodness : 0.849329 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.95, Z:3.23 [[ 9.99380240e-01 1.59665834e-02 3.13720307e-02 -4.57751544e+00] [-1.58754763e-02 9.99869012e-01 -3.15104371e-03 5.95285224e+00] [-3.14182327e-02 2.65104489e-03 9.99502810e-01 3.23400844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.214839173 meters Centerline goodness : 0.849834 Centerline is valid? [False, False] Translation: X:-4.58, Y:5.95, Z:3.23 [[ 9.99402544e-01 1.56825385e-02 3.07995684e-02 -4.57566064e+00] [-1.56180408e-02 9.99875308e-01 -2.33358168e-03 5.94871637e+00] [-3.08323244e-02 1.85115856e-03 9.99522857e-01 3.23324056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.244839173 meters Centerline goodness : 0.846241 Centerline is valid? [False, False] Translation: X:-4.57, Y:5.94, Z:3.23 [[ 9.99479881e-01 1.24850462e-02 2.97336841e-02 -4.57103445e+00] [-1.23809869e-02 9.99916576e-01 -3.68125978e-03 5.93698734e+00] [-2.97771643e-02 3.31121273e-03 9.99551077e-01 3.22978138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.274839173 meters Centerline goodness : 0.846999 Centerline is valid? [False, False] Translation: X:-4.57, Y:5.93, Z:3.23 [[ 9.99518864e-01 1.09152662e-02 2.90327125e-02 -4.56907018e+00] [-1.07867889e-02 9.99931340e-01 -4.57820760e-03 5.93156679e+00] [-2.90806915e-02 4.26283512e-03 9.99567977e-01 3.22871281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.304839173 meters Centerline goodness : 0.844763 Centerline is valid? [False, False] Translation: X:-4.57, Y:5.92, Z:3.23 [[ 9.99524471e-01 1.20570015e-02 2.83806281e-02 -4.56592201e+00] [-1.19984658e-02 9.99925525e-01 -2.23192057e-03 5.92426640e+00] [-2.84054247e-02 1.89033523e-03 9.99594697e-01 3.22637134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.334839173 meters Centerline goodness : 0.842762 Centerline is valid? [False, False] Translation: X:-4.56, Y:5.92, Z:3.22 [[ 9.99540626e-01 1.32599510e-02 2.72527328e-02 -4.56071835e+00] [-1.32358496e-02 9.99911836e-01 -1.06457553e-03 5.92243425e+00] [-2.72644462e-02 7.03373424e-04 9.99628008e-01 3.22167135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36483917300001 meters Centerline goodness : 0.818550 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.92, Z:3.21 [[ 9.99730405e-01 1.72394478e-02 1.55537077e-02 -4.54227582e+00] [-1.72801668e-02 9.99847593e-01 2.48736421e-03 5.91971960e+00] [-1.55084564e-02 -2.75546430e-03 9.99875940e-01 3.20866661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.394839173 meters Centerline goodness : 0.801837 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.91, Z:3.20 [[ 9.99923480e-01 1.23392798e-02 8.81594568e-04 -4.53527644e+00] [-1.23374636e-02 9.99921816e-01 -2.03673107e-03 5.90919245e+00] [-9.06657436e-04 2.02569858e-03 9.99997537e-01 3.20482130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters Centerline goodness : 0.798038 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.90, Z:3.20 [[ 9.99977247e-01 6.73368256e-03 4.04550101e-04 -4.53213651e+00] [-6.73061583e-03 9.99951744e-01 -7.15594484e-03 5.90319926e+00] [-4.52716440e-04 7.15305915e-03 9.99974314e-01 3.20178651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.454839173 meters Centerline goodness : 0.804529 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.90, Z:3.20 [[ 9.99995938e-01 2.84553057e-03 1.66919122e-04 -4.53065188e+00] [-2.84369090e-03 9.99944500e-01 -1.01444327e-02 5.89841601e+00] [-1.95776151e-04 1.01439168e-02 9.99948530e-01 3.20060966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.484839173 meters Centerline goodness : 0.808473 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.89, Z:3.21 [[ 9.99999579e-01 5.24061930e-04 -7.52605874e-04 -4.52791404e+00] [-5.28825648e-04 9.99979740e-01 -6.34344386e-03 5.89439189e+00] [ 7.49266269e-04 6.34383919e-03 9.99979597e-01 3.20530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.514839173 meters Centerline goodness : 0.811951 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.89, Z:3.21 [[ 9.99999486e-01 -4.45561006e-05 -1.01327430e-03 -4.52806869e+00] [ 3.90471774e-05 9.99985223e-01 -5.43612413e-03 5.89489780e+00] [ 1.01350154e-03 5.43608176e-03 9.99984711e-01 3.20750397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.544839173 meters Centerline goodness : 0.821253 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.89, Z:3.22 [[ 9.99974731e-01 -7.08532692e-03 -5.79998144e-04 -4.53058624e+00] [ 7.08225841e-03 9.99961752e-01 -5.13186478e-03 5.88740546e+00] [ 6.16336900e-04 5.12762740e-03 9.99986664e-01 3.21860403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.574839173 meters Centerline goodness : 0.827419 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.88, Z:3.23 [[ 0.99982899 -0.01661933 0.00811112 -4.52831313] [ 0.01678383 0.99964582 -0.02065302 5.87666565] [-0.007765 0.02078563 0.9997538 3.2257104 ] [ 0. 0. 0. 1. ]] SLAMing on 74.604839173 meters Centerline goodness : 0.835009 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.23 [[ 0.99977867 -0.01918991 0.00862286 -4.53163168] [ 0.01937491 0.9995722 -0.02190957 5.87169102] [-0.00819872 0.02207178 0.99972277 3.23006699] [ 0. 0. 0. 1. ]] SLAMing on 74.634839173 meters Centerline goodness : 0.837591 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.23 [[ 0.99982455 -0.01671304 0.00845866 -4.53130653] [ 0.01685803 0.99970701 -0.0173696 5.86892443] [-0.00816588 0.01750915 0.99981336 3.23167708] [ 0. 0. 0. 1. ]] SLAMing on 74.664839173 meters Centerline goodness : 0.839930 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.23 [[ 0.99990585 -0.01188436 0.00685908 -4.52633967] [ 0.01195495 0.99987502 -0.0103451 5.87270762] [-0.00673528 0.01042613 0.99992296 3.23090292] [ 0. 0. 0. 1. ]] SLAMing on 74.694839173 meters Centerline goodness : 0.839411 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.87, Z:3.23 [[ 9.99935239e-01 -9.72060357e-03 5.91846128e-03 -4.52363337e+00] [ 9.76176515e-03 9.99928088e-01 -6.96607048e-03 5.87144076e+00] [-5.85032127e-03 7.02339398e-03 9.99958222e-01 3.23056578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.724839173 meters Centerline goodness : 0.843279 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.24 [[ 0.99990079 -0.01235908 0.00675746 -4.52780103] [ 0.01241747 0.99988533 -0.00866813 5.86929181] [-0.00664955 0.00875119 0.9999396 3.23568773] [ 0. 0. 0. 1. ]] SLAMing on 74.75483917300001 meters Centerline goodness : 0.848623 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.24 [[ 0.99990736 -0.01178559 0.00680955 -4.53034995] [ 0.01183321 0.99990552 -0.00699448 5.86651095] [-0.00672647 0.00707441 0.99995235 3.24024305] [ 0. 0. 0. 1. ]] SLAMing on 74.784839173 meters Centerline goodness : 0.850427 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.25 [[ 0.99990826 -0.01188077 0.0065051 -4.53453456] [ 0.01193038 0.99989963 -0.00764164 5.86793751] [-0.00641366 0.00771855 0.99994964 3.24671253] [ 0. 0. 0. 1. ]] SLAMing on 74.814839173 meters Centerline goodness : 0.852919 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.87, Z:3.25 [[ 9.99972896e-01 -4.44394758e-03 5.87015157e-03 -4.53443334e+00] [ 4.44961164e-03 9.99989647e-01 -9.52183563e-04 5.87259001e+00] [-5.86585934e-03 9.78277649e-04 9.99982317e-01 3.24800512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.844839173 meters Centerline goodness : 0.852100 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.88, Z:3.25 [[ 9.99984502e-01 -1.40929079e-03 5.38611443e-03 -4.53280802e+00] [ 1.40084017e-03 9.99997783e-01 1.57241366e-03 5.87643271e+00] [-5.38831848e-03 -1.56484420e-03 9.99984259e-01 3.24693156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.874839173 meters Centerline goodness : 0.847578 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.88, Z:3.24 [[ 9.99989965e-01 9.31121393e-04 4.38205448e-03 -4.52892912e+00] [-9.44466606e-04 9.99994920e-01 3.04434046e-03 5.88076521e+00] [-4.37919757e-03 -3.04844861e-03 9.99985765e-01 3.24385259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.904839173 meters Centerline goodness : 0.845846 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.88, Z:3.24 [[ 9.99990232e-01 9.05164870e-04 4.32633505e-03 -4.52866569e+00] [-9.15872740e-04 9.99996521e-01 2.47370390e-03 5.88270896e+00] [-4.32408089e-03 -2.47764211e-03 9.99987582e-01 3.24340604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.934839173 meters Centerline goodness : 0.852838 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.89, Z:3.24 [[ 9.99983853e-01 3.84789264e-03 4.18174704e-03 -4.52814994e+00] [-3.86579038e-03 9.99983367e-01 4.28034378e-03 5.88799461e+00] [-4.16520718e-03 -4.29644042e-03 9.99982096e-01 3.24276567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.964839173 meters Centerline goodness : 0.851179 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.89, Z:3.24 [[ 9.99988668e-01 2.97820106e-03 3.71408815e-03 -4.52593098e+00] [-2.98552540e-03 9.99993607e-01 1.96806051e-03 5.89254621e+00] [-3.70820313e-03 -1.97912671e-03 9.99991166e-01 3.24025924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.994839173 meters Centerline goodness : 0.839993 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.23 [[ 9.99991558e-01 3.91448568e-03 1.24966053e-03 -4.51915393e+00] [-3.91187606e-03 9.99990177e-01 -2.08392322e-03 5.89813646e+00] [-1.25780574e-03 2.07901711e-03 9.99997048e-01 3.23186146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.024839173 meters Centerline goodness : 0.842455 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.23 [[ 9.99946931e-01 1.00803793e-02 2.12643962e-03 -4.52239218e+00] [-1.00876276e-02 9.99943250e-01 3.42593653e-03 5.90323683e+00] [-2.09178420e-03 -3.44720545e-03 9.99991871e-01 3.23408086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.054839173 meters Centerline goodness : 0.846783 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.91, Z:3.23 [[ 9.99912130e-01 1.30997279e-02 2.03210872e-03 -4.52251946e+00] [-1.31116940e-02 9.99896088e-01 5.99142299e-03 5.90913106e+00] [-1.95341155e-03 -6.01754091e-03 9.99979986e-01 3.23469754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.084839173 meters Centerline goodness : 0.848430 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.92, Z:3.24 [[ 9.99915138e-01 1.28862999e-02 1.91337868e-03 -4.52321436e+00] [-1.28960092e-02 9.99903571e-01 5.15186613e-03 5.91508888e+00] [-1.84680569e-03 -5.17610388e-03 9.99984899e-01 3.23587481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11483917300001 meters Centerline goodness : 0.844092 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.91, Z:3.24 [[ 9.99984156e-01 5.44772633e-03 1.41742166e-03 -4.52521453e+00] [-5.44424987e-03 9.99982191e-01 -2.44506756e-03 5.91444792e+00] [-1.43071647e-03 2.43731203e-03 9.99996006e-01 3.23986362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.144839173 meters Centerline goodness : 0.844745 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.91, Z:3.24 [[ 9.99998525e-01 -1.21546553e-03 1.21312255e-03 -4.52633834e+00] [ 1.22616369e-03 9.99960022e-01 -8.85726695e-03 5.90920448e+00] [-1.20230835e-03 8.85874138e-03 9.99960038e-01 3.24167030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.174839173 meters Centerline goodness : 0.842885 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.90, Z:3.24 [[ 9.99965617e-01 -8.24299818e-03 9.04492329e-04 -4.52605437e+00] [ 8.25541630e-03 9.99857684e-01 -1.47125414e-02 5.90175727e+00] [-7.83088154e-04 1.47195025e-02 9.99891356e-01 3.24243159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.204839173 meters Centerline goodness : 0.844603 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.24 [[ 9.99984265e-01 -5.60754420e-03 1.57981096e-04 -4.52424458e+00] [ 5.60876711e-03 9.99941362e-01 -9.26357039e-03 5.90120160e+00] [-1.06025952e-04 9.26431071e-03 9.99957080e-01 3.24409780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.234839173 meters Centerline goodness : 0.844603 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.24 [[ 9.99984265e-01 -5.60754420e-03 1.57981096e-04 -4.52424458e+00] [ 5.60876711e-03 9.99941362e-01 -9.26357039e-03 5.90120160e+00] [-1.06025952e-04 9.26431071e-03 9.99957080e-01 3.24409780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.264839173 meters Centerline goodness : 0.839468 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.24 [[ 9.99996865e-01 -2.45878826e-03 -4.72626543e-04 -4.52260588e+00] [ 2.45641679e-03 9.99984710e-01 -4.95438890e-03 5.90114050e+00] [ 4.84801110e-04 4.95321240e-03 9.99987615e-01 3.24409838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.294839173 meters Centerline goodness : 0.833066 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.90, Z:3.25 [[ 9.99996360e-01 -2.47098482e-03 -1.08378149e-03 -4.52142193e+00] [ 2.46777250e-03 9.99992588e-01 -2.95538019e-03 5.89605945e+00] [ 1.09107615e-03 2.95269490e-03 9.99995046e-01 3.24513994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.324839173 meters Centerline goodness : 0.829750 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.89, Z:3.25 [[ 9.99983939e-01 -5.49033854e-03 -1.40622142e-03 -4.52148408e+00] [ 5.48309549e-03 9.99971943e-01 -5.10380203e-03 5.88997007e+00] [ 1.43420356e-03 5.09600961e-03 9.99985987e-01 3.24629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.354839173 meters Centerline goodness : 0.826543 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.88, Z:3.25 [[ 9.99962872e-01 -4.70646542e-03 -7.21823277e-03 -4.51373865e+00] [ 4.61927045e-03 9.99916735e-01 -1.20492904e-02 5.87878670e+00] [ 7.27434131e-03 1.20155000e-02 9.99901351e-01 3.25073367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.384839173 meters Centerline goodness : 0.826722 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.88, Z:3.25 [[ 9.99968508e-01 -3.66910400e-03 -7.03707251e-03 -4.51480499e+00] [ 3.59021025e-03 9.99930931e-01 -1.11912153e-02 5.87773702e+00] [ 7.07764820e-03 1.11655983e-02 9.99912614e-01 3.25149197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.414839173 meters Centerline goodness : 0.822397 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.88, Z:3.25 [[ 9.99975338e-01 3.13757373e-03 -6.28330705e-03 -4.53439278e+00] [-3.14409245e-03 9.99994529e-01 -1.02785797e-03 5.87932446e+00] [ 6.28004769e-03 1.04758792e-03 9.99979732e-01 3.25124309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.444839173 meters Centerline goodness : 0.824310 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.88, Z:3.25 [[ 9.99968043e-01 5.22374618e-03 -6.05188562e-03 -4.53626944e+00] [-5.22292299e-03 9.99986349e-01 1.51818106e-04 5.88078609e+00] [ 6.05259607e-03 -1.20204722e-04 9.99981676e-01 3.25237141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.474839173 meters Centerline goodness : 0.818696 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.88, Z:3.25 [[ 9.99948546e-01 9.25711492e-03 -4.14874604e-03 -4.54278950e+00] [-9.24586089e-03 9.99953547e-01 2.72365399e-03 5.87782068e+00] [ 4.17376649e-03 -2.68515512e-03 9.99987685e-01 3.25491663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50483917300001 meters Centerline goodness : 0.817125 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.88, Z:3.26 [[ 9.99969748e-01 6.75382917e-03 -3.85872783e-03 -4.54440394e+00] [-6.75648581e-03 9.99976946e-01 -6.75855863e-04 5.87781010e+00] [ 3.85407426e-03 7.01906857e-04 9.99992327e-01 3.25557868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.534839173 meters Centerline goodness : 0.813485 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.87, Z:3.25 [[ 9.99986060e-01 3.60984661e-03 -3.85342060e-03 -4.54432554e+00] [-3.62494800e-03 9.99985750e-01 -3.91919361e-03 5.87040073e+00] [ 3.83921800e-03 3.93310742e-03 9.99984895e-01 3.25491891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.564839173 meters Centerline goodness : 0.811016 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.87, Z:3.25 [[ 9.99986735e-01 2.70319993e-03 -4.38439321e-03 -4.54168603e+00] [-2.72171212e-03 9.99987384e-01 -4.22183597e-03 5.86628618e+00] [ 4.37292543e-03 4.23371302e-03 9.99981476e-01 3.25301025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.594839173 meters Centerline goodness : 0.810199 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.86, Z:3.25 [[ 9.99987287e-01 2.23631491e-03 -4.51940623e-03 -4.53842959e+00] [-2.25192266e-03 9.99991508e-01 -3.45136205e-03 5.86336267e+00] [ 4.51164952e-03 3.46149553e-03 9.99983831e-01 3.24962273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.624839173 meters Centerline goodness : 0.802752 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.86, Z:3.25 [[ 9.99989556e-01 1.33966838e-03 -4.36963675e-03 -4.53544196e+00] [-1.34850401e-03 9.99997051e-01 -2.01973226e-03 5.85850249e+00] [ 4.36691809e-03 2.02560364e-03 9.99988413e-01 3.24654129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.654839173 meters Centerline goodness : 0.801350 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.85, Z:3.24 [[ 9.99984249e-01 1.42384033e-03 -5.42910921e-03 -4.53191137e+00] [-1.42139041e-03 9.99998886e-01 4.55088093e-04 5.85209017e+00] [ 5.42975114e-03 -4.47364041e-04 9.99985159e-01 3.24370813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.684839173 meters Centerline goodness : 0.799333 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.85, Z:3.24 [[ 9.99981603e-01 8.79112688e-04 -6.00170072e-03 -4.52851554e+00] [-8.75378984e-04 9.99999422e-01 6.24706257e-04 5.84784195e+00] [ 6.00224643e-03 -6.19441002e-04 9.99981794e-01 3.24092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.714839173 meters Centerline goodness : 0.796297 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99980270e-01 1.13433587e-03 -6.17836212e-03 -4.52715801e+00] [-1.12329025e-03 9.99997765e-01 1.79096725e-03 5.84196970e+00] [ 6.18037988e-03 -1.78399182e-03 9.99979310e-01 3.24000114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.744839173 meters Centerline goodness : 0.794183 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99978258e-01 1.69267823e-03 -6.37329898e-03 -4.52746269e+00] [-1.67709991e-03 9.99995595e-01 2.44886162e-03 5.84063092e+00] [ 6.37741604e-03 -2.43811972e-03 9.99976692e-01 3.24092530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.774839173 meters Centerline goodness : 0.791182 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99973574e-01 3.11211837e-03 -6.57011299e-03 -4.52709919e+00] [-3.09329625e-03 9.99991089e-01 2.87303020e-03 5.84084452e+00] [ 6.57899566e-03 -2.85263097e-03 9.99974289e-01 3.23992236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.804839173 meters Centerline goodness : 0.789574 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99973662e-01 3.36567553e-03 -6.43017293e-03 -4.52639305e+00] [-3.35135162e-03 9.99991882e-01 2.23708672e-03 5.84292428e+00] [ 6.43765004e-03 -2.21547803e-03 9.99976824e-01 3.23801102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.834839173 meters Centerline goodness : 0.786094 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99970919e-01 4.58336765e-03 -6.09546542e-03 -4.52658460e+00] [-4.56628192e-03 9.99985615e-01 2.81399202e-03 5.84147351e+00] [ 6.10827530e-03 -2.78607657e-03 9.99977463e-01 3.23670048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86483917300001 meters Centerline goodness : 0.789310 Centerline is valid? [False, False] Translation: X:-4.53, Y:5.84, Z:3.24 [[ 9.99970258e-01 5.08882909e-03 -5.79547420e-03 -4.52728170e+00] [-5.06834229e-03 9.99980875e-01 3.54418275e-03 5.83910253e+00] [ 5.81339910e-03 -3.51470390e-03 9.99976925e-01 3.23697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.894839173 meters Centerline goodness : 0.787793 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.84, Z:3.23 [[ 9.99954523e-01 7.59541518e-03 -5.76731102e-03 -4.52406934e+00] [-7.56150881e-03 9.99954134e-01 5.87828105e-03 5.84229899e+00] [ 5.81169448e-03 -5.83440415e-03 9.99966091e-01 3.23269831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters Centerline goodness : 0.785238 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.85, Z:3.23 [[ 0.99993857 0.00870271 -0.00686471 -4.51805867] [-0.00865201 0.99993533 0.00738106 5.84558717] [ 0.0069285 -0.00732121 0.9999492 3.22826735] [ 0. 0. 0. 1. ]] SLAMing on 75.954839173 meters Centerline goodness : 0.786724 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.85, Z:3.22 [[ 9.99954530e-01 3.75367049e-03 -8.76623733e-03 -4.50941761e+00] [-3.72245908e-03 9.99986685e-01 3.57401799e-03 5.84871272e+00] [ 8.77953629e-03 -3.54122352e-03 9.99955189e-01 3.22340628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters Centerline goodness : 0.786299 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.85, Z:3.22 [[ 9.99958079e-01 -7.73924457e-04 -9.12364587e-03 -4.50824215e+00] [ 7.66287432e-04 9.99999353e-01 -8.40524516e-04 5.84721293e+00] [ 9.12429047e-03 8.33497945e-04 9.99958025e-01 3.22288581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.014839173 meters Centerline goodness : 0.790837 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.84, Z:3.23 [[ 0.99994625 -0.006722 -0.00789391 -4.5137429 ] [ 0.00667487 0.99995983 -0.00598134 5.8405468 ] [ 0.0079338 0.00592833 0.99995095 3.22815952] [ 0. 0. 0. 1. ]] SLAMing on 76.044839173 meters Centerline goodness : 0.792586 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.84, Z:3.23 [[ 9.99972914e-01 -4.05303785e-03 -6.14370539e-03 -4.51998592e+00] [ 4.03891687e-03 9.99989178e-01 -2.30911294e-03 5.83759802e+00] [ 6.15299783e-03 2.28423648e-03 9.99978461e-01 3.23351478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.074839173 meters Centerline goodness : 0.790717 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.84, Z:3.23 [[ 9.99982670e-01 -2.53355913e-04 -5.88185053e-03 -4.52002689e+00] [ 2.63375948e-04 9.99998515e-01 1.70283923e-03 5.83846357e+00] [ 5.88141037e-03 -1.70435886e-03 9.99981252e-01 3.23321223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.104839173 meters Centerline goodness : 0.789790 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.84, Z:3.23 [[ 9.99976801e-01 3.40484901e-03 -5.89957792e-03 -4.51925318e+00] [-3.37241747e-03 9.99979196e-01 5.49851901e-03 5.84001149e+00] [ 5.91817681e-03 -5.47849560e-03 9.99967480e-01 3.23250199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.134839173 meters Centerline goodness : 0.790487 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.84, Z:3.23 [[ 9.99975528e-01 4.66144600e-03 -5.21664850e-03 -4.52073822e+00] [-4.62443095e-03 9.99964206e-01 7.08526891e-03 5.83624267e+00] [ 5.24948938e-03 -7.06097149e-03 9.99961292e-01 3.23293927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.164839173 meters Centerline goodness : 0.791771 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.83, Z:3.23 [[ 9.99986727e-01 1.72960421e-03 -4.85329667e-03 -4.52222707e+00] [-1.70783028e-03 9.99988475e-01 4.48698422e-03 5.83204148e+00] [ 4.86100144e-03 -4.47863606e-03 9.99978156e-01 3.23403375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.194839173 meters Centerline goodness : 0.792094 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.83, Z:3.23 [[ 9.99980391e-01 -3.37687651e-03 -5.27397480e-03 -4.51960058e+00] [ 3.38261557e-03 9.99993696e-01 1.07964507e-03 5.82563201e+00] [ 5.27029573e-03 -1.09746373e-03 9.99985510e-01 3.23292742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.224839173 meters Centerline goodness : 0.792242 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.82, Z:3.23 [[ 9.99948530e-01 -8.24184288e-03 -5.91681961e-03 -4.51668521e+00] [ 8.22678964e-03 9.99962872e-01 -2.56399100e-03 5.82348376e+00] [ 5.93773194e-03 2.51518260e-03 9.99979208e-01 3.23163707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25483917300001 meters Centerline goodness : 0.791014 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.82, Z:3.23 [[ 9.99946046e-01 -8.30133524e-03 -6.24441209e-03 -4.51639252e+00] [ 8.29496925e-03 9.99965050e-01 -1.04467841e-03 5.81935955e+00] [ 6.25286607e-03 9.92824844e-04 9.99979958e-01 3.23323023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters Centerline goodness : 0.795300 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.81, Z:3.24 [[ 9.99915411e-01 -1.15093300e-02 -6.05863255e-03 -4.51776760e+00] [ 1.15039376e-02 9.99933400e-01 -9.24141775e-04 5.80945088e+00] [ 6.06886530e-03 8.54365472e-04 9.99981219e-01 3.23813005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.314839173 meters Centerline goodness : 0.797025 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.80, Z:3.24 [[ 9.99923399e-01 -1.08281721e-02 -5.99558213e-03 -4.51927867e+00] [ 1.08353551e-02 9.99940615e-01 1.16686625e-03 5.80383088e+00] [ 5.98259105e-03 -1.23174113e-03 9.99981346e-01 3.24103432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters Centerline goodness : 0.799046 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.80, Z:3.24 [[ 9.99931779e-01 -1.00298922e-02 -5.98661867e-03 -4.52046773e+00] [ 1.00461291e-02 9.99945923e-01 2.68831114e-03 5.80075334e+00] [ 5.95933146e-03 -2.74827008e-03 9.99978466e-01 3.24306094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.374839173 meters Centerline goodness : 0.798178 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.80, Z:3.24 [[ 0.99996013 -0.00667836 -0.00592807 -4.51928879] [ 0.00671656 0.99995665 0.00644808 5.80198235] [ 0.00588475 -0.00648764 0.99996164 3.24177836] [ 0. 0. 0. 1. ]] SLAMing on 76.404839173 meters Centerline goodness : 0.796681 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99963693e-01 -4.23433635e-03 -7.39479035e-03 -4.50953112e+00] [ 4.30881017e-03 9.99939868e-01 1.00843970e-02 5.80731998e+00] [ 7.35164496e-03 -1.01158936e-02 9.99921808e-01 3.23484469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.434839173 meters Centerline goodness : 0.799244 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99958163e-01 -4.84866264e-03 -7.75643566e-03 -4.50743144e+00] [ 4.92045516e-03 9.99944985e-01 9.26371681e-03 5.80826531e+00] [ 7.71109231e-03 -9.30149444e-03 9.99927008e-01 3.23295920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.464839173 meters Centerline goodness : 0.799923 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99962778e-01 -4.18792902e-03 -7.54343924e-03 -4.50818863e+00] [ 4.25091037e-03 9.99956081e-01 8.35256225e-03 5.80979082e+00] [ 7.50812801e-03 -8.38431784e-03 9.99936664e-01 3.23236787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.494839173 meters Centerline goodness : 0.802038 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99965710e-01 -3.54382997e-03 -7.48470852e-03 -4.50899373e+00] [ 3.60094695e-03 9.99964396e-01 7.63151751e-03 5.81200867e+00] [ 7.45739724e-03 -7.65820786e-03 9.99942868e-01 3.23244393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.524839173 meters Centerline goodness : 0.806006 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.82, Z:3.23 [[ 9.99965927e-01 -3.32163076e-03 -7.55717721e-03 -4.50871442e+00] [ 3.36594602e-03 9.99977172e-01 5.85885396e-03 5.81624584e+00] [ 7.53754375e-03 -5.88409138e-03 9.99954280e-01 3.23091979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.554839173 meters Centerline goodness : 0.811317 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.82, Z:3.23 [[ 9.99969979e-01 6.06350151e-04 -7.72487120e-03 -4.50859276e+00] [-5.47167466e-04 9.99970503e-01 7.66112784e-03 5.82221937e+00] [ 7.72928867e-03 -7.65667105e-03 9.99940815e-01 3.22997785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.584839173 meters Centerline goodness : 0.812272 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.83, Z:3.23 [[ 9.99971891e-01 1.54723008e-03 -7.33640904e-03 -4.51032966e+00] [-1.49225730e-03 9.99970816e-01 7.49270776e-03 5.82531549e+00] [ 7.34778788e-03 -7.48154934e-03 9.99945017e-01 3.23051332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61483917300001 meters Centerline goodness : 0.815202 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.83, Z:3.23 [[ 9.99972478e-01 3.81490486e-03 -6.36308248e-03 -4.51469067e+00] [-3.75733273e-03 9.99952121e-01 9.03538259e-03 5.82684651e+00] [ 6.39724694e-03 -9.01122571e-03 9.99938935e-01 3.23333500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters Centerline goodness : 0.818112 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.83, Z:3.24 [[ 9.99983467e-01 1.71112448e-03 -5.48984888e-03 -4.51827007e+00] [-1.67086521e-03 9.99971742e-01 7.32962714e-03 5.82587494e+00] [ 5.50223565e-03 -7.32033316e-03 9.99958068e-01 3.23615644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.674839173 meters Centerline goodness : 0.818500 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.83, Z:3.24 [[ 9.99984176e-01 -1.97372388e-03 -5.26794789e-03 -4.51886790e+00] [ 1.99476261e-03 9.99990045e-01 3.99146178e-03 5.82506846e+00] [ 5.26001740e-03 -4.00190692e-03 9.99978158e-01 3.23652740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters Centerline goodness : 0.817571 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.82, Z:3.24 [[ 9.99953212e-01 -7.38125836e-03 -6.25222243e-03 -4.51491160e+00] [ 7.38590517e-03 9.99972464e-01 7.20462575e-04 5.81925548e+00] [ 6.24673235e-03 -7.66607189e-04 9.99980195e-01 3.23523247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.734839173 meters Centerline goodness : 0.817468 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99944225e-01 -8.23119488e-03 -6.61767068e-03 -4.51304509e+00] [ 8.23910876e-03 9.99965374e-01 1.16949906e-03 5.81409899e+00] [ 6.60781516e-03 -1.22395754e-03 9.99977419e-01 3.23454324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters Centerline goodness : 0.822778 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.81, Z:3.23 [[ 9.99909418e-01 -1.16332279e-02 -6.76928864e-03 -4.51118040e+00] [ 1.16274411e-02 9.99932000e-01 -8.93590942e-04 5.80734424e+00] [ 6.77922368e-03 8.14800494e-04 9.99976689e-01 3.23333901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.794839173 meters Centerline goodness : 0.823716 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.80, Z:3.23 [[ 9.99908392e-01 -1.15016517e-02 -7.13586449e-03 -4.50967239e+00] [ 1.15006865e-02 9.99933849e-01 -1.76283701e-04 5.80467134e+00] [ 7.13742000e-03 9.42002111e-05 9.99974524e-01 3.23260085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.824839173 meters Centerline goodness : 0.826301 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.80, Z:3.23 [[ 9.99910181e-01 -1.09231228e-02 -7.76626051e-03 -4.50510340e+00] [ 1.09330363e-02 9.99939470e-01 1.23518353e-03 5.79868842e+00] [ 7.75229835e-03 -1.31998140e-03 9.99969079e-01 3.22872411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.854839173 meters Centerline goodness : 0.829110 Centerline is valid? [False, False] Translation: X:-4.50, Y:5.80, Z:3.23 [[ 9.99927129e-01 -8.67736128e-03 -8.39282287e-03 -4.50081094e+00] [ 8.71330337e-03 9.99952984e-01 4.25543581e-03 5.79614830e+00] [ 8.35550232e-03 -4.32825492e-03 9.99955725e-01 3.22530180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.884839173 meters Centerline goodness : 0.828493 Centerline is valid? [False, False] Translation: X:-4.49, Y:5.80, Z:3.21 [[ 9.99924199e-01 -2.72361285e-03 -1.20073824e-02 -4.48689942e+00] [ 2.83047416e-03 9.99956463e-01 8.89164210e-03 5.80176131e+00] [ 1.19826422e-02 -8.92495470e-03 9.99888375e-01 3.21279578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.914839173 meters Centerline goodness : 0.825785 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.81, Z:3.21 [[ 9.99916479e-01 -6.12467792e-04 -1.29096582e-02 -4.48115892e+00] [ 7.45120496e-04 9.99946952e-01 1.02731582e-02 5.80514605e+00] [ 1.29026814e-02 -1.02819194e-02 9.99863892e-01 3.20717325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.944839173 meters Centerline goodness : 0.828412 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.80, Z:3.20 [[ 9.99778787e-01 3.22549064e-03 -2.07839825e-02 -4.46617388e+00] [-3.21083737e-03 9.99994573e-01 7.38359455e-04 5.80271757e+00] [ 2.07862513e-02 -6.71462133e-04 9.99783717e-01 3.20452830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.974839173 meters Centerline goodness : 0.832765 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.80, Z:3.21 [[ 9.99782875e-01 4.97564289e-04 -2.08315997e-02 -4.46722758e+00] [-5.42256316e-04 9.99997564e-01 -2.13980212e-03 5.79949361e+00] [ 2.08304843e-02 2.15063358e-03 9.99780709e-01 3.20560448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00483917300001 meters Centerline goodness : 0.833558 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.80, Z:3.21 [[ 9.99782592e-01 1.11568146e-03 -2.08212158e-02 -4.46920285e+00] [-1.11721694e-03 9.99999374e-01 -6.21138724e-05 5.79663848e+00] [ 2.08211335e-02 8.53621835e-05 9.99783213e-01 3.20957700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.034839173 meters Centerline goodness : 0.833660 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.80, Z:3.21 [[ 0.99974842 0.00756805 -0.02111443 -4.46790497] [-0.00741744 0.99994655 0.00720235 5.80126474] [ 0.02116781 -0.00704393 0.99975112 3.21010737] [ 0. 0. 0. 1. ]] SLAMing on 77.064839173 meters Centerline goodness : 0.831797 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.80, Z:3.21 [[ 0.99974748 0.00759724 -0.02114865 -4.46718033] [-0.00746298 0.99995154 0.00641978 5.80320695] [ 0.0211964 -0.00626033 0.99975573 3.20880201] [ 0. 0. 0. 1. ]] SLAMing on 77.094839173 meters Centerline goodness : 0.838090 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.81, Z:3.20 [[ 9.99934944e-01 5.65307554e-03 -9.90704946e-03 -4.46915496e+00] [-5.65479921e-03 9.99984001e-01 -1.45980752e-04 5.80595685e+00] [ 9.90606571e-03 2.01993631e-04 9.99950913e-01 3.19989258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.81, Z:3.20 [[ 9.99930500e-01 1.12748914e-02 -3.44562194e-03 -4.46083127e+00] [-1.12971087e-02 9.99915072e-01 -6.49801948e-03 5.80708852e+00] [ 3.37206485e-03 6.53649343e-03 9.99972951e-01 3.19709878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.154839173 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.81, Z:3.20 [[ 9.99930500e-01 1.12748914e-02 -3.44562194e-03 -4.46083127e+00] [-1.12971087e-02 9.99915072e-01 -6.49801948e-03 5.80708852e+00] [ 3.37206485e-03 6.53649343e-03 9.99972951e-01 3.19709878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.184839173 meters Centerline goodness : 0.841636 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.81, Z:3.20 [[ 9.99921441e-01 1.20215828e-02 -3.54882249e-03 -4.46153765e+00] [-1.20433553e-02 9.99908385e-01 -6.17886674e-03 5.80945656e+00] [ 3.47421760e-03 6.22112106e-03 9.99974613e-01 3.19806947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.214839173 meters Centerline goodness : 0.838704 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.81, Z:3.20 [[ 9.99924820e-01 1.16492502e-02 -3.82746011e-03 -4.46173374e+00] [-1.16689829e-02 9.99918527e-01 -5.17434215e-03 5.80907587e+00] [ 3.76687107e-03 5.21861571e-03 9.99979288e-01 3.20038820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.244839173 meters Centerline goodness : 0.837150 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.80, Z:3.21 [[ 9.99967245e-01 7.46755677e-03 -3.12175307e-03 -4.46393421e+00] [-7.47839460e-03 9.99966000e-01 -3.47457926e-03 5.80105116e+00] [ 3.09570032e-03 3.49781115e-03 9.99989091e-01 3.20867309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.274839173 meters Centerline goodness : 0.837352 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.80, Z:3.21 [[ 9.99966464e-01 7.39877662e-03 -3.51119751e-03 -4.46449236e+00] [-7.40201427e-03 9.99972191e-01 -9.09993156e-04 5.79546345e+00] [ 3.50436703e-03 9.35952572e-04 9.99993422e-01 3.21282131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.304839173 meters Centerline goodness : 0.839463 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.79, Z:3.22 [[ 9.99982679e-01 4.48523628e-03 -3.81099762e-03 -4.46707994e+00] [-4.48294921e-03 9.99989766e-01 6.08454368e-04 5.78822257e+00] [ 3.81368768e-03 -5.91359320e-04 9.99992553e-01 3.22200711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.334839173 meters Centerline goodness : 0.840148 Centerline is valid? [False, False] Translation: X:-4.47, Y:5.79, Z:3.22 [[ 9.99980731e-01 4.39946427e-03 -4.37979805e-03 -4.46630218e+00] [-4.39469837e-03 9.99989741e-01 1.09718682e-03 5.78607790e+00] [ 4.38458015e-03 -1.07791779e-03 9.99989807e-01 3.22277164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36483917300001 meters Centerline goodness : 0.841881 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.78, Z:3.22 [[ 9.99979414e-01 3.45157437e-03 -5.40909909e-03 -4.46253749e+00] [-3.44916178e-03 9.99993948e-01 4.55290937e-04 5.78457608e+00] [ 5.41063783e-03 -4.36624707e-04 9.99985267e-01 3.22069462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.394839173 meters Centerline goodness : 0.843284 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.78, Z:3.22 [[ 9.99970746e-01 1.46410342e-03 -7.50760152e-03 -4.45621176e+00] [-1.47990265e-03 9.99996701e-01 -2.09930820e-03 5.77960303e+00] [ 7.50450315e-03 2.11035730e-03 9.99969614e-01 3.21696839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.424839173 meters Centerline goodness : 0.846217 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99977947e-01 5.38501734e-04 -6.61928841e-03 -4.46058307e+00] [-5.52030976e-04 9.99997762e-01 -2.04225485e-03 5.77176620e+00] [ 6.61817384e-03 2.04586387e-03 9.99976007e-01 3.22070415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.454839173 meters Centerline goodness : 0.844169 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99982965e-01 7.88763657e-04 -5.78343552e-03 -4.46140041e+00] [-7.96225023e-04 9.99998854e-01 -1.28793797e-03 5.77214850e+00] [ 5.78241301e-03 1.29252095e-03 9.99982446e-01 3.22005537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters Centerline goodness : 0.835832 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99982357e-01 3.09872042e-03 -5.06790888e-03 -4.46009724e+00] [-3.08484546e-03 9.99991479e-01 2.74333723e-03 5.77378362e+00] [ 5.07636653e-03 -2.72765512e-03 9.99983395e-01 3.21838228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.514839173 meters Centerline goodness : 0.836837 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99986106e-01 -3.87147688e-05 -5.27128831e-03 -4.45977607e+00] [ 3.35901916e-05 9.99999527e-01 -9.72252950e-04 5.77420400e+00] [ 5.27132346e-03 9.72062378e-04 9.99985634e-01 3.21794485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.544839173 meters Centerline goodness : 0.837601 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99982200e-01 1.66080701e-04 -5.96429566e-03 -4.45868244e+00] [-1.67126930e-04 9.99999971e-01 -1.74917453e-04 5.76978368e+00] [ 5.96426643e-03 1.75911134e-04 9.99982198e-01 3.21867959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.574839173 meters Centerline goodness : 0.848065 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.77, Z:3.22 [[ 9.99970210e-01 -2.12896068e-03 -7.41940888e-03 -4.45673288e+00] [ 2.10239726e-03 9.99991359e-01 -3.58622300e-03 5.76503590e+00] [ 7.42697970e-03 3.57051762e-03 9.99966045e-01 3.21850786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.604839173 meters Centerline goodness : 0.855978 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.76, Z:3.22 [[ 9.99965658e-01 -1.43107453e-03 -8.16300186e-03 -4.45582039e+00] [ 1.40656453e-03 9.99994488e-01 -3.00752374e-03 5.76255984e+00] [ 8.16726086e-03 2.99593867e-03 9.99962159e-01 3.21909443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.634839173 meters Centerline goodness : 0.855305 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.76, Z:3.22 [[ 9.99961173e-01 1.94621654e-03 -8.59448874e-03 -4.45480169e+00] [-1.93588314e-03 9.99997394e-01 1.21048438e-03 5.76146695e+00] [ 8.59682220e-03 -1.19379946e-03 9.99962334e-01 3.21973026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.664839173 meters Centerline goodness : 0.856016 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.76, Z:3.22 [[ 9.99952593e-01 5.03977624e-03 -8.33139441e-03 -4.45391430e+00] [-5.00101911e-03 9.99976608e-01 4.66624377e-03 5.76412782e+00] [ 8.35471635e-03 -4.62435709e-03 9.99954406e-01 3.21844950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.694839173 meters Centerline goodness : 0.853439 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.77, Z:3.22 [[ 9.99955336e-01 4.67952040e-03 -8.21149738e-03 -4.45227094e+00] [-4.64795320e-03 9.99981752e-01 3.85915047e-03 5.76579453e+00] [ 8.22940650e-03 -3.82081145e-03 9.99958838e-01 3.21575074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.724839173 meters Centerline goodness : 0.856697 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.77, Z:3.21 [[ 9.99950688e-01 4.53668222e-03 -8.83406307e-03 -4.44833177e+00] [-4.51034045e-03 9.99985330e-01 2.99948434e-03 5.76553640e+00] [ 8.84754118e-03 -2.95949180e-03 9.99956480e-01 3.21147543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75483917300001 meters Centerline goodness : 0.856414 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.76, Z:3.21 [[ 9.99945704e-01 4.50942904e-03 -9.39436732e-03 -4.44668784e+00] [-4.48199839e-03 9.99985637e-01 2.93891370e-03 5.76434257e+00] [ 9.40748521e-03 -2.89664859e-03 9.99951553e-01 3.21073828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters Centerline goodness : 0.856463 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.21 [[ 9.99937146e-01 4.15682001e-03 -1.04127145e-02 -4.44407745e+00] [-4.12774617e-03 9.99987527e-01 2.81208545e-03 5.76299639e+00] [ 1.04242740e-02 -2.76892766e-03 9.99941832e-01 3.21016178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.814839173 meters Centerline goodness : 0.858353 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.21 [[ 9.99926177e-01 2.92421399e-03 -1.17936221e-02 -4.43990912e+00] [-2.89491789e-03 9.99992684e-01 2.50036988e-03 5.76142850e+00] [ 1.18008474e-02 -2.46604373e-03 9.99927327e-01 3.20905328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters Centerline goodness : 0.859110 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.21 [[ 9.99930475e-01 2.93456902e-03 -1.14207387e-02 -4.44172187e+00] [-2.89704234e-03 9.99990355e-01 3.30099498e-03 5.76207119e+00] [ 1.14303156e-02 -3.26767911e-03 9.99929333e-01 3.21154130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.874839173 meters Centerline goodness : 0.860768 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.21 [[ 9.99934459e-01 3.15631549e-03 -1.10052768e-02 -4.44317168e+00] [-3.11582304e-03 9.99988321e-01 3.69457290e-03 5.76274890e+00] [ 1.10168096e-02 -3.66004026e-03 9.99932615e-01 3.21268229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.904839173 meters Centerline goodness : 0.864643 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.77, Z:3.21 [[ 9.99935840e-01 3.42064823e-03 -1.07988888e-02 -4.44466496e+00] [-3.38093962e-03 9.99987465e-01 3.69321838e-03 5.76511510e+00] [ 1.08113866e-02 -3.65647103e-03 9.99934870e-01 3.21423699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.934839173 meters Centerline goodness : 0.867459 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.22 [[ 9.99928918e-01 3.38185448e-03 -1.14333636e-02 -4.44417187e+00] [-3.34002550e-03 9.99987667e-01 3.67561960e-03 5.76487834e+00] [ 1.14456530e-02 -3.63717060e-03 9.99927881e-01 3.21539241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.964839173 meters Centerline goodness : 0.871300 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.22 [[ 9.99906052e-01 2.66155616e-03 -1.34463385e-02 -4.44073047e+00] [-2.62525241e-03 9.99992863e-01 2.71682851e-03 5.76464515e+00] [ 1.34534735e-02 -2.68127324e-03 9.99905903e-01 3.21601561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.994839173 meters Centerline goodness : 0.874019 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.77, Z:3.21 [[ 9.99900747e-01 2.20064165e-03 -1.39159346e-02 -4.43885797e+00] [-2.17143401e-03 9.99995409e-01 2.11362427e-03 5.76573071e+00] [ 1.39205220e-02 -2.08319695e-03 9.99900935e-01 3.21479958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.024839173 meters Centerline goodness : 0.878169 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.77, Z:3.21 [[ 9.99904677e-01 2.07372863e-03 -1.36505007e-02 -4.43811733e+00] [-2.04896575e-03 9.99996230e-01 1.82779970e-03 5.76735798e+00] [ 1.36542396e-02 -1.79965606e-03 9.99905157e-01 3.21314907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.054839173 meters Centerline goodness : 0.877223 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.77, Z:3.21 [[ 9.99909368e-01 2.08760657e-03 -1.33002600e-02 -4.43862701e+00] [-2.06121336e-03 9.99995880e-01 1.99781211e-03 5.76768909e+00] [ 1.33043758e-02 -1.97021637e-03 9.99909552e-01 3.21313061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.084839173 meters Centerline goodness : 0.878520 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.77, Z:3.21 [[ 9.99909523e-01 1.23132472e-03 -1.33951298e-02 -4.43801217e+00] [-1.19437482e-03 9.99995461e-01 2.76610761e-03 5.76578993e+00] [ 1.33984750e-02 -2.74985853e-03 9.99906455e-01 3.21416338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11483917300001 meters Centerline goodness : 0.877105 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.76, Z:3.21 [[ 9.99901879e-01 3.69408642e-04 -1.40034519e-02 -4.43628481e+00] [-3.27285285e-04 9.99995416e-01 3.01024187e-03 5.76228984e+00] [ 1.40044997e-02 -3.00536338e-03 9.99897416e-01 3.21436198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters Centerline goodness : 0.881995 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.75, Z:3.22 [[ 9.99876296e-01 -3.97051257e-03 -1.52193296e-02 -4.43401911e+00] [ 3.97125619e-03 9.99992114e-01 1.86385761e-05 5.75404498e+00] [ 1.52191356e-02 -7.90761273e-05 9.99884179e-01 3.21545597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.174839173 meters Centerline goodness : 0.879632 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.75, Z:3.22 [[ 9.99868679e-01 -3.89782860e-03 -1.57299504e-02 -4.43314966e+00] [ 3.91725481e-03 9.99991602e-01 1.20436007e-03 5.74860449e+00] [ 1.57251239e-02 -1.26582014e-03 9.99875551e-01 3.21649277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters Centerline goodness : 0.880887 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.75, Z:3.22 [[ 9.99869888e-01 -1.17148888e-03 -1.60883476e-02 -4.43075252e+00] [ 1.25375796e-03 9.99986186e-01 5.10444770e-03 5.74806773e+00] [ 1.60821455e-02 -5.12395444e-03 9.99857545e-01 3.21557512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.234839173 meters Centerline goodness : 0.871004 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.75, Z:3.21 [[ 9.99869960e-01 2.29802279e-03 -1.59618779e-02 -4.42907642e+00] [-2.17211447e-03 9.99966428e-01 7.90092696e-03 5.75231866e+00] [ 1.59794985e-02 -7.86522850e-03 9.99841384e-01 3.21285069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters Centerline goodness : 0.870574 Centerline is valid? [False, False] Translation: X:-4.42, Y:5.75, Z:3.21 [[ 9.99947496e-01 4.23980612e-03 -9.32896321e-03 -4.42107764e+00] [-4.26044550e-03 9.99988518e-01 -2.19363804e-03 5.75345444e+00] [ 9.31955550e-03 2.23326840e-03 9.99954078e-01 3.20913399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.294839173 meters Centerline goodness : 0.876429 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.74, Z:3.22 [[ 9.99948055e-01 3.64200352e-03 -9.51965168e-03 -4.42656250e+00] [-3.65772888e-03 9.99991974e-01 -1.63499580e-03 5.74223811e+00] [ 9.51362061e-03 1.66973117e-03 9.99953350e-01 3.21727727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.324839173 meters Centerline goodness : 0.878008 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.74, Z:3.22 [[ 9.99942092e-01 3.61457230e-03 -1.01364604e-02 -4.42544875e+00] [-3.62458476e-03 9.99992961e-01 -9.69570698e-04 5.73990749e+00] [ 1.01328845e-02 1.00625501e-03 9.99948155e-01 3.21791858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.354839173 meters Centerline goodness : 0.873974 Centerline is valid? [False, False] Translation: X:-4.42, Y:5.74, Z:3.21 [[ 9.99933853e-01 3.63043269e-03 -1.09137715e-02 -4.41871048e+00] [-3.62493905e-03 9.99993293e-01 5.23107210e-04 5.74128325e+00] [ 1.09155974e-02 -4.83510851e-04 9.99940306e-01 3.21309025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.384839173 meters Centerline goodness : 0.872153 Centerline is valid? [False, False] Translation: X:-4.42, Y:5.74, Z:3.21 [[ 9.99934606e-01 3.18518992e-03 -1.09835838e-02 -4.41719107e+00] [-3.18211100e-03 9.99994893e-01 2.97784788e-04 5.74219902e+00] [ 1.09844762e-02 -2.62814331e-04 9.99939634e-01 3.21160179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.414839173 meters Centerline goodness : 0.872859 Centerline is valid? [False, False] Translation: X:-4.42, Y:5.74, Z:3.21 [[ 9.99940893e-01 3.05594319e-03 -1.04341264e-02 -4.41817152e+00] [-3.04732472e-03 9.99995003e-01 8.41787214e-04 5.74179139e+00] [ 1.04366467e-02 -8.09941288e-04 9.99945209e-01 3.21227334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.444839173 meters Centerline goodness : 0.874536 Centerline is valid? [False, False] Translation: X:-4.42, Y:5.74, Z:3.21 [[ 9.99935466e-01 2.48935837e-03 -1.10845044e-02 -4.41662856e+00] [-2.47973487e-03 9.99996537e-01 8.81853247e-04 5.74050471e+00] [ 1.10866613e-02 -8.54309706e-04 9.99938176e-01 3.21252329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.474839173 meters Centerline goodness : 0.878134 Centerline is valid? [False, False] Translation: X:-4.41, Y:5.74, Z:3.21 [[ 9.99909354e-01 -2.48588470e-03 -1.32326826e-02 -4.40884416e+00] [ 2.44452996e-03 9.99992081e-01 -3.14045452e-03 5.73899722e+00] [ 1.32403846e-02 3.10782216e-03 9.99907513e-01 3.20883961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50483917300001 meters Centerline goodness : 0.874280 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.74, Z:3.20 [[ 9.99724486e-01 -5.09701548e-03 -2.29122928e-02 -4.38349901e+00] [ 5.10261827e-03 9.99986964e-01 1.86074567e-04 5.74376718e+00] [ 2.29110457e-02 -3.02935985e-04 9.99737462e-01 3.20060166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.534839173 meters Centerline goodness : 0.870967 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.75, Z:3.20 [[ 9.99710191e-01 -3.30774061e-03 -2.38451645e-02 -4.37559055e+00] [ 3.37898387e-03 9.99989946e-01 2.94807192e-03 5.74895488e+00] [ 2.38351733e-02 -3.02778997e-03 9.99711317e-01 3.19530596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters Centerline goodness : 0.868651 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.75, Z:3.20 [[ 9.99716161e-01 -2.84594599e-03 -2.36537054e-02 -4.37625884e+00] [ 2.90629185e-03 9.99992608e-01 2.51723652e-03 5.75439092e+00] [ 2.36463666e-02 -2.58526660e-03 9.99717043e-01 3.19532860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.594839173 meters Centerline goodness : 0.874906 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.75, Z:3.21 [[ 9.99871290e-01 -1.36826262e-03 -1.59853751e-02 -4.37797289e+00] [ 1.29040302e-03 9.99987260e-01 -4.87997698e-03 5.75392008e+00] [ 1.59918486e-02 4.85872130e-03 9.99860317e-01 3.20743271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters Centerline goodness : 0.876301 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.75, Z:3.22 [[ 9.99867407e-01 -2.94565840e-03 -1.60153297e-02 -4.38316511e+00] [ 2.86044762e-03 9.99981646e-01 -5.34088185e-03 5.74930786e+00] [ 1.60307682e-02 5.29436267e-03 9.99857482e-01 3.21527800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.654839173 meters Centerline goodness : 0.879990 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.74, Z:3.22 [[ 9.99850828e-01 -2.39399025e-03 -1.71053032e-02 -4.38305344e+00] [ 2.34734297e-03 9.99993473e-01 -2.74662256e-03 5.74375960e+00] [ 1.71117669e-02 2.70606082e-03 9.99849921e-01 3.21981550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.684839173 meters Centerline goodness : 0.879203 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.74, Z:3.22 [[ 9.99857633e-01 3.85429798e-04 -1.68690494e-02 -4.37980211e+00] [-3.68121378e-04 9.99999403e-01 1.02913907e-03 5.74279793e+00] [ 1.68694360e-02 -1.02278269e-03 9.99857178e-01 3.21609687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.714839173 meters Centerline goodness : 0.872105 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.74, Z:3.21 [[ 9.99870928e-01 3.49609850e-04 -1.60625400e-02 -4.37875283e+00] [-3.09263761e-04 9.99996792e-01 2.51422776e-03 5.74031167e+00] [ 1.60633674e-02 -2.50893569e-03 9.99867828e-01 3.21414995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.744839173 meters Centerline goodness : 0.873951 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.74, Z:3.21 [[ 9.99864990e-01 -5.40784210e-04 -1.64228020e-02 -4.37665492e+00] [ 5.88861331e-04 9.99995555e-01 2.92276695e-03 5.73806498e+00] [ 1.64211484e-02 -2.93204310e-03 9.99860865e-01 3.21343735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.774839173 meters Centerline goodness : 0.873508 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.73, Z:3.22 [[ 9.99845199e-01 -4.63941298e-03 -1.69721507e-02 -4.37649829e+00] [ 4.65492845e-03 9.99988783e-01 8.74781807e-04 5.73384605e+00] [ 1.69679018e-02 -9.53650537e-04 9.99855580e-01 3.21664779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.804839173 meters Centerline goodness : 0.880578 Centerline is valid? [False, False] Translation: X:-4.37, Y:5.73, Z:3.22 [[ 9.99919412e-01 -5.60015126e-03 -1.13933536e-02 -4.36714853e+00] [ 5.48916403e-03 9.99937407e-01 -9.74946151e-03 5.73240946e+00] [ 1.14472389e-02 9.68613583e-03 9.99887563e-01 3.21737352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.834839173 meters Centerline goodness : 0.888938 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.72, Z:3.23 [[ 0.9999245 -0.0062636 -0.01057219 -4.37819849] [ 0.00613741 0.99991005 -0.01192588 5.72192733] [ 0.01064594 0.0118601 0.99987299 3.22697043] [ 0. 0. 0. 1. ]] SLAMing on 78.86483917300001 meters Centerline goodness : 0.891015 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.72, Z:3.23 [[ 9.99937788e-01 -2.38265553e-03 -1.08969174e-02 -4.37687538e+00] [ 2.29810892e-03 9.99967213e-01 -7.76471515e-03 5.72168573e+00] [ 1.09150608e-02 7.73918979e-03 9.99910479e-01 3.22654134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.894839173 meters Centerline goodness : 0.885702 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.73, Z:3.22 [[ 9.99891365e-01 7.76845183e-03 -1.25263681e-02 -4.36461318e+00] [-7.74016269e-03 9.99967387e-01 2.30526863e-03 5.73090739e+00] [ 1.25438680e-02 -2.20806207e-03 9.99918885e-01 3.21626417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters Centerline goodness : 0.879182 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.74, Z:3.21 [[ 9.99859023e-01 1.06622692e-02 -1.29711231e-02 -4.35973335e+00] [-1.06329346e-02 9.99940758e-01 2.32839722e-03 5.73675595e+00] [ 1.29951807e-02 -2.19014786e-03 9.99913160e-01 3.20808429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.954839173 meters Centerline goodness : 0.876455 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.20 [[ 9.99813379e-01 1.33543123e-02 -1.39595511e-02 -4.35361886e+00] [-1.33309937e-02 9.99909586e-01 1.76216572e-03 5.74119620e+00] [ 1.39818214e-02 -1.57574218e-03 9.99901008e-01 3.19874928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters Centerline goodness : 0.870535 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.19 [[ 9.99744960e-01 1.69718752e-02 -1.48986775e-02 -4.34844397e+00] [-1.69479582e-02 9.99854876e-01 1.73011542e-03 5.74414124e+00] [ 1.49258787e-02 -1.47717201e-03 9.99887512e-01 3.19021387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.014839173 meters Centerline goodness : 0.873262 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.19 [[ 9.99734303e-01 1.74512807e-02 -1.50590720e-02 -4.34891992e+00] [-1.74230856e-02 9.99846203e-01 2.00147740e-03 5.74391739e+00] [ 1.50916843e-02 -1.73857012e-03 9.99884603e-01 3.19126898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.044839173 meters Centerline goodness : 0.873262 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.19 [[ 9.99734303e-01 1.74512807e-02 -1.50590720e-02 -4.34891992e+00] [-1.74230856e-02 9.99846203e-01 2.00147740e-03 5.74391739e+00] [ 1.50916843e-02 -1.73857012e-03 9.99884603e-01 3.19126898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.074839173 meters Centerline goodness : 0.879921 Centerline is valid? [False, False] Translation: X:-4.34, Y:5.75, Z:3.19 [[ 0.99977559 0.01921343 -0.00892272 -4.3422483 ] [-0.01927724 0.99978882 -0.00712124 5.74596845] [ 0.00878401 0.00729165 0.99993483 3.19353553] [ 0. 0. 0. 1. ]] SLAMing on 79.104839173 meters Centerline goodness : 0.886807 Centerline is valid? [False, False] Translation: X:-4.34, Y:5.74, Z:3.20 [[ 9.99684155e-01 2.51169217e-02 -8.55104916e-04 -4.34290911e+00] [-2.51248799e-02 9.99622545e-01 -1.11134374e-02 5.73942986e+00] [ 5.75646815e-04 1.11314117e-02 9.99937878e-01 3.20135300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.134839173 meters Centerline goodness : 0.890326 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.20 [[ 9.99620367e-01 2.75521352e-02 -5.05457361e-05 -4.34629926e+00] [-2.75514489e-02 9.99578726e-01 -9.12628672e-03 5.73667734e+00] [-2.00924243e-04 9.12421469e-03 9.99958353e-01 3.20322237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.164839173 meters Centerline goodness : 0.891053 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.74, Z:3.20 [[ 9.99489176e-01 3.19548553e-02 5.23001688e-04 -4.34629461e+00] [-3.19521622e-02 9.99479123e-01 -4.53242954e-03 5.73503737e+00] [-6.67562398e-04 4.51340324e-03 9.99989592e-01 3.20216467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.194839173 meters Centerline goodness : 0.882765 Centerline is valid? [False, False] Translation: X:-4.34, Y:5.73, Z:3.19 [[ 9.99242914e-01 3.88676214e-02 1.70488811e-03 -4.34045590e+00] [-3.88742717e-02 9.99235868e-01 4.05837143e-03 5.73362566e+00] [-1.54584610e-03 -4.12157518e-03 9.99990311e-01 3.19470334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.224839173 meters Centerline goodness : 0.878865 Centerline is valid? [False, False] Translation: X:-4.34, Y:5.73, Z:3.19 [[ 9.99270128e-01 3.81588662e-02 1.76397757e-03 -4.33746625e+00] [-3.81648122e-02 9.99265434e-01 3.46987286e-03 5.73375682e+00] [-1.63027539e-03 -3.53466217e-03 9.99992424e-01 3.19078951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25483917300001 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:-4.34, Y:5.73, Z:3.19 [[ 9.99475998e-01 3.23079614e-02 1.98134044e-03 -4.33712333e+00] [-3.23049502e-02 9.99476883e-01 -1.53339463e-03 5.72559039e+00] [-2.02984483e-03 1.46858403e-03 9.99996861e-01 3.18971648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters Centerline goodness : 0.888473 Centerline is valid? [False, False] Translation: X:-4.33, Y:5.71, Z:3.20 [[ 0.99962924 0.02580982 0.00867414 -4.3313955 ] [-0.02568663 0.99957164 -0.01402582 5.71218047] [-0.00903243 0.01379781 0.99986401 3.19661853] [ 0. 0. 0. 1. ]] SLAMing on 79.314839173 meters Centerline goodness : 0.889944 Centerline is valid? [False, False] Translation: X:-4.33, Y:5.70, Z:3.20 [[ 0.99963211 0.0256877 0.00870536 -4.3319619 ] [-0.02560834 0.99963055 -0.00910899 5.70307602] [-0.00893614 0.00888271 0.99992062 3.20356167] [ 0. 0. 0. 1. ]] SLAMing on 79.344839173 meters Centerline goodness : 0.892999 Centerline is valid? [False, False] Translation: X:-4.33, Y:5.70, Z:3.20 [[ 0.99963679 0.02532069 0.00922729 -4.33052324] [-0.02524543 0.99964778 -0.00818419 5.70100726] [-0.00943127 0.00794827 0.99992394 3.20175533] [ 0. 0. 0. 1. ]] SLAMing on 79.374839173 meters Centerline goodness : 0.890428 Centerline is valid? [False, False] Translation: X:-4.33, Y:5.70, Z:3.20 [[ 9.99597553e-01 2.68967241e-02 9.01655828e-03 -4.32547366e+00] [-2.68479328e-02 9.99624457e-01 -5.48937735e-03 5.70153543e+00] [-9.16081844e-03 5.24509222e-03 9.99944283e-01 3.19731300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.404839173 meters Centerline goodness : 0.887186 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.70, Z:3.19 [[ 9.99586692e-01 2.74930557e-02 8.40102685e-03 -4.31791032e+00] [-2.74623572e-02 9.99615812e-01 -3.74792121e-03 5.70294987e+00] [-8.50084108e-03 3.51566016e-03 9.99957687e-01 3.19094676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.434839173 meters Centerline goodness : 0.875954 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.70, Z:3.18 [[ 9.99724318e-01 2.34772426e-02 -3.26035294e-04 -4.30922369e+00] [-2.34759608e-02 9.99718288e-01 3.49621304e-03 5.70337119e+00] [ 4.08024888e-04 -3.48759520e-03 9.99993835e-01 3.17974500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.464839173 meters Centerline goodness : 0.875128 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.70, Z:3.18 [[ 9.99811459e-01 1.93798023e-02 -1.21249948e-03 -4.30598725e+00] [-1.93819050e-02 9.99810627e-01 -1.74711291e-03 5.70388169e+00] [ 1.17841116e-03 1.77028406e-03 9.99997739e-01 3.17630563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.494839173 meters Centerline goodness : 0.882982 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.69, Z:3.18 [[ 9.99899249e-01 1.40964922e-02 -1.66756501e-03 -4.31002072e+00] [-1.41054964e-02 9.99885292e-01 -5.51706202e-03 5.69214495e+00] [ 1.58960251e-03 5.54002800e-03 9.99983390e-01 3.18379668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.524839173 meters Centerline goodness : 0.890423 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.68, Z:3.19 [[ 0.99989775 0.01250711 0.00693195 -4.31007169] [-0.01241542 0.9998369 -0.01311601 5.68154927] [-0.00709486 0.0130286 0.99988995 3.19415549] [ 0. 0. 0. 1. ]] SLAMing on 79.554839173 meters Centerline goodness : 0.892727 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.68, Z:3.20 [[ 0.9998822 0.01337368 0.00753264 -4.31126464] [-0.01328986 0.9998504 -0.01107031 5.67738524] [-0.00767957 0.0109689 0.99991035 3.19505606] [ 0. 0. 0. 1. ]] SLAMing on 79.584839173 meters Centerline goodness : 0.888268 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.68, Z:3.18 [[ 9.99826137e-01 1.31903558e-02 1.31799532e-02 -4.30789361e+00] [-1.32411214e-02 9.99905218e-01 3.77191099e-03 5.67890993e+00] [-1.31289511e-02 -3.94577255e-03 9.99906026e-01 3.18225650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61483917300001 meters Centerline goodness : 0.887888 Centerline is valid? [False, False] Translation: X:-4.30, Y:5.68, Z:3.18 [[ 9.99845500e-01 1.17820861e-02 1.30444892e-02 -4.30416971e+00] [-1.18184257e-02 9.99926482e-01 2.71225123e-03 5.68211555e+00] [-1.30115742e-02 -2.86599751e-03 9.99911239e-01 3.17844107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters Centerline goodness : 0.887742 Centerline is valid? [False, False] Translation: X:-4.30, Y:5.68, Z:3.18 [[ 9.99888208e-01 7.57956900e-03 1.28887839e-02 -4.30302525e+00] [-7.56303684e-03 9.99970514e-01 -1.33093596e-03 5.68257763e+00] [-1.28984918e-02 1.23330883e-03 9.99916050e-01 3.17754440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.674839173 meters Centerline goodness : 0.886955 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.67, Z:3.18 [[ 9.99918133e-01 2.55534515e-03 1.25378361e-02 -4.30571430e+00] [-2.46538818e-03 9.99971148e-01 -7.18505771e-03 5.67408097e+00] [-1.25558347e-02 7.15355886e-03 9.99895583e-01 3.18088204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters Centerline goodness : 0.891581 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.66, Z:3.19 [[ 9.99902307e-01 1.33208490e-03 1.39140890e-02 -4.31703724e+00] [-1.17579860e-03 9.99936201e-01 -1.12343819e-02 5.66278742e+00] [-1.39281664e-02 1.12169242e-02 9.99840081e-01 3.18789778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.734839173 meters Centerline goodness : 0.894536 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.66, Z:3.19 [[ 9.99896696e-01 4.97294265e-03 1.34858012e-02 -4.31697430e+00] [-4.92689175e-03 9.99981926e-01 -3.44584534e-03 5.65735964e+00] [-1.35026935e-02 3.37904628e-03 9.99903125e-01 3.19455135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters Centerline goodness : 0.899308 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.66, Z:3.19 [[ 9.99891278e-01 5.39813035e-03 1.37219357e-02 -4.31704282e+00] [-5.35678094e-03 9.99981006e-01 -3.04835063e-03 5.66040354e+00] [-1.37381304e-02 2.97451381e-03 9.99901203e-01 3.19434186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.794839173 meters Centerline goodness : 0.895003 Centerline is valid? [False, False] Translation: X:-4.31, Y:5.67, Z:3.19 [[ 9.99886189e-01 8.38913756e-03 1.25392271e-02 -4.30651304e+00] [-8.41221271e-03 9.99963017e-01 1.78862706e-03 5.66562911e+00] [-1.25237583e-02 -1.89390614e-03 9.99919781e-01 3.18706694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.824839173 meters Centerline goodness : 0.890901 Centerline is valid? [False, False] Translation: X:-4.30, Y:5.67, Z:3.18 [[ 9.99905701e-01 7.20001689e-03 1.16939847e-02 -4.30102053e+00] [-7.20521309e-03 9.99973961e-01 4.02278475e-04 5.66586812e+00] [-1.16907838e-02 -4.86498193e-04 9.99931542e-01 3.18176070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.854839173 meters Centerline goodness : 0.887966 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.66, Z:3.18 [[ 9.99946396e-01 2.64482258e-03 1.00104554e-02 -4.29121504e+00] [-2.62623595e-03 9.99994804e-01 -1.86941194e-03 5.65804464e+00] [-1.00153476e-02 1.84302192e-03 9.99948147e-01 3.17629414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.884839173 meters Centerline goodness : 0.888969 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.65, Z:3.18 [[ 9.99944878e-01 7.03108914e-04 1.04759934e-02 -4.29426401e+00] [-6.70210765e-04 9.99994835e-01 -3.14351668e-03 5.65107665e+00] [-1.04781496e-02 3.13632228e-03 9.99940184e-01 3.17925897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.914839173 meters Centerline goodness : 0.890153 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.65, Z:3.18 [[ 9.99943737e-01 8.86668517e-04 1.05705138e-02 -4.29405754e+00] [-8.58794118e-04 9.99996143e-01 -2.64124308e-03 5.65098069e+00] [-1.05728150e-02 2.63201658e-03 9.99940642e-01 3.17921669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.944839173 meters Centerline goodness : 0.888011 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.65, Z:3.18 [[ 9.99945688e-01 2.81836918e-03 1.00337953e-02 -4.28984679e+00] [-2.81933887e-03 9.99996022e-01 8.24990586e-05 5.65262356e+00] [-1.00335229e-02 -1.10783247e-04 9.99949657e-01 3.17652513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.974839173 meters Centerline goodness : 0.887623 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.65, Z:3.18 [[ 9.99951227e-01 2.58921426e-03 9.53100170e-03 -4.28826108e+00] [-2.58690369e-03 9.99996622e-01 -2.54747130e-04 5.65344941e+00] [-9.53162909e-03 2.30078922e-04 9.99954547e-01 3.17580959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00483917300001 meters Centerline goodness : 0.887122 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.65, Z:3.18 [[ 9.99955454e-01 1.68878801e-04 9.43721846e-03 -4.29079425e+00] [-1.54372389e-04 9.99998806e-01 -1.53785648e-03 5.64839482e+00] [-9.43746690e-03 1.53633113e-03 9.99954286e-01 3.18092550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.034839173 meters Centerline goodness : 0.888187 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.64, Z:3.18 [[ 9.99959496e-01 2.10032041e-04 8.99789033e-03 -4.29042182e+00] [-2.11377536e-04 9.99999967e-01 1.48583666e-04 5.64377952e+00] [-8.99785882e-03 -1.50479600e-04 9.99959507e-01 3.18333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters Centerline goodness : 0.893036 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.64, Z:3.18 [[ 9.99961782e-01 -1.85143303e-04 8.74070952e-03 -4.28776257e+00] [ 1.82001857e-04 9.99999919e-01 3.60198096e-04 5.64152267e+00] [-8.74077550e-03 -3.58593504e-04 9.99961734e-01 3.18124601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.094839173 meters Centerline goodness : 0.882355 Centerline is valid? [False, False] Translation: X:-4.28, Y:5.64, Z:3.18 [[ 9.99966133e-01 1.79877796e-03 8.03105275e-03 -4.28291923e+00] [-1.82626949e-03 9.99992494e-01 3.41713343e-03 5.64270860e+00] [-8.02484580e-03 -3.43168457e-03 9.99961912e-01 3.17820010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters Centerline goodness : 0.887005 Centerline is valid? [False, False] Translation: X:-4.28, Y:5.65, Z:3.17 [[ 0.99995029 0.00663311 0.00744426 -4.2769103 ] [-0.00669952 0.99993766 0.00893269 5.64976166] [-0.00738455 -0.00898212 0.99993239 3.17408323] [ 0. 0. 0. 1. ]] SLAMing on 80.154839173 meters Centerline goodness : 0.885864 Centerline is valid? [False, False] Translation: X:-4.28, Y:5.65, Z:3.17 [[ 0.99994894 0.00711115 0.00717951 -4.27697494] [-0.00717073 0.99993979 0.00830635 5.65261407] [-0.00712001 -0.00835741 0.99993973 3.17403109] [ 0. 0. 0. 1. ]] SLAMing on 80.184839173 meters Centerline goodness : 0.883422 Centerline is valid? [False, False] Translation: X:-4.28, Y:5.65, Z:3.17 [[ 9.99974818e-01 4.22316891e-03 5.70339429e-03 -4.27536321e+00] [-4.24279016e-03 9.99985108e-01 3.43256897e-03 5.65052069e+00] [-5.68881304e-03 -3.45668083e-03 9.99977844e-01 3.17322273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.214839173 meters Centerline goodness : 0.882363 Centerline is valid? [False, False] Translation: X:-4.27, Y:5.65, Z:3.17 [[ 9.99983172e-01 3.43225367e-03 4.67706595e-03 -4.27218778e+00] [-3.44767601e-03 9.99988634e-01 3.29337520e-03 5.64718774e+00] [-4.66570909e-03 -3.30944479e-03 9.99983639e-01 3.17229233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.244839173 meters Centerline goodness : 0.875072 Centerline is valid? [False, False] Translation: X:-4.27, Y:5.65, Z:3.17 [[ 9.99988057e-01 2.57743882e-03 4.15235475e-03 -4.26947561e+00] [-2.59029781e-03 9.99991857e-01 3.09440049e-03 5.64610600e+00] [-4.14434531e-03 -3.10511937e-03 9.99986591e-01 3.17076617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.274839173 meters Centerline goodness : 0.877520 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.65, Z:3.17 [[ 9.99990133e-01 2.40331961e-03 3.73614239e-03 -4.26147575e+00] [-2.42236333e-03 9.99984056e-01 5.10101971e-03 5.65041271e+00] [-3.72382344e-03 -5.11001967e-03 9.99980010e-01 3.16526715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.304839173 meters Centerline goodness : 0.877115 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.65, Z:3.16 [[ 9.99992621e-01 1.21294015e-03 3.64503411e-03 -4.25940028e+00] [-1.23256519e-03 9.99984732e-01 5.38663129e-03 5.64964551e+00] [-3.63844479e-03 -5.39108429e-03 9.99978849e-01 3.16490333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.334839173 meters Centerline goodness : 0.878910 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.65, Z:3.17 [[ 9.99993125e-01 1.47021553e-03 3.40425875e-03 -4.26008458e+00] [-1.49322545e-03 9.99975992e-01 6.76651170e-03 5.64642168e+00] [-3.39422879e-03 -6.77154851e-03 9.99971312e-01 3.16779315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36483917300001 meters Centerline goodness : 0.883001 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.64, Z:3.17 [[ 9.99995679e-01 -7.94666023e-04 2.83018640e-03 -4.26295976e+00] [ 7.83052898e-04 9.99991280e-01 4.10205473e-03 5.64042412e+00] [-2.83342149e-03 -4.09982082e-03 9.99987582e-01 3.17229975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.394839173 meters Centerline goodness : 0.871474 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.64, Z:3.17 [[ 9.99997978e-01 -7.60108122e-04 1.86153126e-03 -4.26140968e+00] [ 7.51765469e-04 9.99989690e-01 4.47821417e-03 5.63757994e+00] [-1.86491600e-03 -4.47680569e-03 9.99988240e-01 3.17310831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters Centerline goodness : 0.880737 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.64, Z:3.17 [[ 9.99997275e-01 1.68054583e-04 2.32831788e-03 -4.26125006e+00] [-1.75941613e-04 9.99994246e-01 3.38764659e-03 5.63980784e+00] [-2.32773517e-03 -3.38804701e-03 9.99991551e-01 3.16941181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.454839173 meters Centerline goodness : 0.874971 Centerline is valid? [False, False] Translation: X:-4.26, Y:5.64, Z:3.17 [[ 9.99997071e-01 -7.55791380e-04 2.29932383e-03 -4.25930148e+00] [ 7.50278186e-04 9.99996844e-01 2.39766428e-03 5.64259295e+00] [-2.30112871e-03 -2.39593212e-03 9.99994482e-01 3.16710244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters Centerline goodness : 0.879220 Centerline is valid? [False, False] Translation: X:-4.25, Y:5.65, Z:3.16 [[ 9.99998185e-01 6.03353571e-04 1.80700258e-03 -4.25405677e+00] [-6.11403777e-04 9.99989877e-01 4.45777120e-03 5.64899782e+00] [-1.80429467e-03 -4.45886791e-03 9.99988431e-01 3.16338331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.514839173 meters Centerline goodness : 0.878263 Centerline is valid? [False, False] Translation: X:-4.25, Y:5.65, Z:3.16 [[ 9.99999168e-01 6.49025277e-05 1.28831289e-03 -4.25253624e+00] [-7.01344450e-05 9.99991750e-01 4.06143134e-03 5.64948979e+00] [-1.28803867e-03 -4.06151832e-03 9.99990922e-01 3.16301745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.544839173 meters Centerline goodness : 0.879963 Centerline is valid? [False, False] Translation: X:-4.24, Y:5.64, Z:3.17 [[ 9.99980186e-01 -3.41529192e-03 5.28805883e-03 -4.23914591e+00] [ 3.45097265e-03 9.99971243e-01 -6.75305615e-03 5.64441561e+00] [-5.26484311e-03 6.77117130e-03 9.99963216e-01 3.16575790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.574839173 meters Centerline goodness : 0.876687 Centerline is valid? [False, False] Translation: X:-4.24, Y:5.64, Z:3.17 [[ 9.99985349e-01 -3.14410342e-03 4.40648270e-03 -4.23911814e+00] [ 3.16149854e-03 9.99987216e-01 -3.94623147e-03 5.63590997e+00] [-4.39401901e-03 3.96010474e-03 9.99982505e-01 3.17057646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.604839173 meters Centerline goodness : 0.784033 Centerline is valid? [False, False] Translation: X:-4.24, Y:5.63, Z:3.17 [[ 9.99984531e-01 -3.25024234e-03 4.51377127e-03 -4.23731152e+00] [ 3.26322716e-03 9.99990550e-01 -2.87233209e-03 5.63248214e+00] [-4.50439284e-03 2.88701712e-03 9.99985688e-01 3.16932112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.634839173 meters Centerline goodness : 0.879093 Centerline is valid? [False, False] Translation: X:-4.23, Y:5.64, Z:3.16 [[ 9.99989511e-01 -8.82297540e-04 4.49436965e-03 -4.23291469e+00] [ 8.83569784e-04 9.99999570e-01 -2.81097352e-04 5.63731601e+00] [-4.49411971e-03 2.85065492e-04 9.99989861e-01 3.16449209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.664839173 meters Centerline goodness : 0.875562 Centerline is valid? [False, False] Translation: X:-4.22, Y:5.65, Z:3.16 [[ 9.99984268e-01 4.53462456e-03 3.30178968e-03 -4.22053854e+00] [-4.55703381e-03 9.99966419e-01 6.81140579e-03 5.64703151e+00] [-3.27079163e-03 -6.82634500e-03 9.99971351e-01 3.15618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.694839173 meters Centerline goodness : 0.875284 Centerline is valid? [False, False] Translation: X:-4.22, Y:5.65, Z:3.15 [[ 9.99984536e-01 4.81931327e-03 2.77537315e-03 -4.21867507e+00] [-4.83247189e-03 9.99977022e-01 4.75417840e-03 5.65383390e+00] [-2.75239750e-03 -4.76751679e-03 9.99984847e-01 3.15275515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.724839173 meters Centerline goodness : 0.873626 Centerline is valid? [False, False] Translation: X:-4.22, Y:5.65, Z:3.16 [[ 9.99986168e-01 4.93876418e-03 1.80910449e-03 -4.22303251e+00] [-4.94128312e-03 9.99986825e-01 1.39055388e-03 5.65139434e+00] [-1.80221304e-03 -1.39947394e-03 9.99997397e-01 3.15687389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75483917300001 meters Centerline goodness : 0.846595 Centerline is valid? [False, False] Translation: X:-4.23, Y:5.65, Z:3.16 [[ 9.99989783e-01 4.14338864e-03 1.80732790e-03 -4.22768491e+00] [-4.14205672e-03 9.99991148e-01 -7.40078422e-04 5.64679833e+00] [-1.81037834e-03 7.32584806e-04 9.99998093e-01 3.16101763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters Centerline goodness : 0.877699 Centerline is valid? [False, False] Translation: X:-4.23, Y:5.64, Z:3.16 [[ 9.99990731e-01 4.08208862e-03 1.36875362e-03 -4.22694962e+00] [-4.08273146e-03 9.99991556e-01 4.67182503e-04 5.64217038e+00] [-1.36683498e-03 -4.72766426e-04 9.99998954e-01 3.16284486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.814839173 meters Centerline goodness : 0.874263 Centerline is valid? [False, False] Translation: X:-4.22, Y:5.65, Z:3.16 [[ 9.99984132e-01 5.56679728e-03 8.63623329e-04 -4.22173103e+00] [-5.56971245e-03 9.99978673e-01 3.41065342e-03 5.64503620e+00] [-8.44618494e-04 -3.41540944e-03 9.99993811e-01 3.15973168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters Centerline goodness : 0.872747 Centerline is valid? [False, False] Translation: X:-4.21, Y:5.65, Z:3.16 [[ 9.99998328e-01 -1.48771649e-03 1.06314582e-03 -4.20597229e+00] [ 1.46263652e-03 9.99729448e-01 2.32140368e-02 5.64915773e+00] [-1.09739409e-03 -2.32124430e-02 9.99729953e-01 3.15543208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.874839173 meters Centerline goodness : 0.867347 Centerline is valid? [False, False] Translation: X:-4.19, Y:5.65, Z:3.15 [[ 9.99975528e-01 -6.92081700e-03 -1.02234853e-03 -4.19400273e+00] [ 6.94041525e-03 9.99763629e-01 2.06038266e-02 5.65232677e+00] [ 8.79511559e-04 -2.06104179e-02 9.99787196e-01 3.15019650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.904839173 meters Centerline goodness : 0.813478 Centerline is valid? [False, False] Translation: X:-4.19, Y:5.65, Z:3.16 [[ 0.99993581 -0.00715129 -0.00878853 -4.18516152] [ 0.00724536 0.9999163 0.01071939 5.64751113] [ 0.00871113 -0.01078238 0.99990392 3.15655426] [ 0. 0. 0. 1. ]] SLAMing on 80.934839173 meters Centerline goodness : 0.875395 Centerline is valid? [False, False] Translation: X:-4.18, Y:5.64, Z:3.16 [[ 9.99862986e-01 -1.63932622e-02 -2.29548829e-03 -4.18116395e+00] [ 1.63762859e-02 9.99839769e-01 -7.22870864e-03 5.63801963e+00] [ 2.41362260e-03 7.19012664e-03 9.99971238e-01 3.16427991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.964839173 meters Centerline goodness : 0.875395 Centerline is valid? [False, False] Translation: X:-4.18, Y:5.64, Z:3.16 [[ 9.99862986e-01 -1.63932622e-02 -2.29548829e-03 -4.18116395e+00] [ 1.63762859e-02 9.99839769e-01 -7.22870864e-03 5.63801963e+00] [ 2.41362260e-03 7.19012664e-03 9.99971238e-01 3.16427991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.994839173 meters Centerline goodness : 0.878429 Centerline is valid? [False, False] Translation: X:-4.18, Y:5.63, Z:3.17 [[ 9.99872052e-01 -1.58407379e-02 -2.22482303e-03 -4.18294816e+00] [ 1.58376949e-02 9.99873625e-01 -1.37877949e-03 5.62799119e+00] [ 2.24638275e-03 1.34336701e-03 9.99996575e-01 3.17422137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.024839173 meters Centerline goodness : 0.880463 Centerline is valid? [False, False] Translation: X:-4.18, Y:5.63, Z:3.18 [[ 9.99872397e-01 -1.58559125e-02 -1.94434685e-03 -4.18305508e+00] [ 1.58558379e-02 9.99874287e-01 -5.37692643e-05 5.62661282e+00] [ 1.94495498e-03 2.29331547e-05 9.99998108e-01 3.17566261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.054839173 meters Centerline goodness : 0.876194 Centerline is valid? [False, False] Translation: X:-4.18, Y:5.63, Z:3.17 [[ 9.99897267e-01 -1.40301611e-02 -2.93424927e-03 -4.17668045e+00] [ 1.40375446e-02 9.99898316e-01 2.51102611e-03 5.62910881e+00] [ 2.89872080e-03 -2.55195780e-03 9.99992542e-01 3.17120810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.084839173 meters Centerline goodness : 0.869189 Centerline is valid? [False, False] Translation: X:-4.15, Y:5.63, Z:3.16 [[ 0.99982815 -0.00992545 -0.01565728 -4.14986123] [ 0.01012564 0.99986733 0.01275875 5.63014461] [ 0.01552857 -0.0129151 0.99979601 3.16329142] [ 0. 0. 0. 1. ]] SLAMing on 81.11483917300001 meters Centerline goodness : 0.865050 Centerline is valid? [False, False] Translation: X:-4.14, Y:5.63, Z:3.16 [[ 0.99982772 -0.00731762 -0.01705813 -4.14423485] [ 0.00758863 0.99984516 0.01587685 5.62957705] [ 0.01693931 -0.01600356 0.99972844 3.16065163] [ 0. 0. 0. 1. ]] SLAMing on 81.144839173 meters Centerline goodness : 0.864968 Centerline is valid? [False, False] Translation: X:-4.15, Y:5.63, Z:3.16 [[ 9.99842770e-01 -4.45828810e-03 -1.71627414e-02 -4.14745544e+00] [ 4.73725578e-03 9.99856769e-01 1.62480688e-02 5.62870492e+00] [ 1.70878446e-02 -1.63268184e-02 9.99720681e-01 3.16202561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.174839173 meters Centerline goodness : 0.862123 Centerline is valid? [False, False] Translation: X:-4.15, Y:5.63, Z:3.16 [[ 0.99983956 -0.00600398 -0.01687642 -4.15113666] [ 0.00621908 0.99989973 0.01272187 5.6300603 ] [ 0.01679834 -0.01282478 0.99977665 3.16370072] [ 0. 0. 0. 1. ]] SLAMing on 81.204839173 meters Centerline goodness : 0.844368 Centerline is valid? [False, False] Translation: X:-4.14, Y:5.64, Z:3.16 [[ 9.99928051e-01 -1.43574147e-03 -1.19093282e-02 -4.14087982e+00] [ 1.47156945e-03 9.99994417e-01 3.00017983e-03 5.63695417e+00] [ 1.19049542e-02 -3.01748937e-03 9.99924581e-01 3.15811330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.234839173 meters Centerline goodness : 0.845760 Centerline is valid? [False, False] Translation: X:-4.14, Y:5.64, Z:3.16 [[ 9.99925921e-01 -1.47066508e-03 -1.20826463e-02 -4.13916382e+00] [ 1.49179171e-03 9.99997374e-01 1.73968344e-03 5.64105978e+00] [ 1.20800561e-02 -1.75757936e-03 9.99925489e-01 3.15529496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.264839173 meters Centerline goodness : 0.833790 Centerline is valid? [False, False] Translation: X:-4.14, Y:5.64, Z:3.16 [[ 9.99919209e-01 -2.05457690e-03 -1.25441024e-02 -4.13774156e+00] [ 2.08237950e-03 9.99995404e-01 2.20372913e-03 5.63941197e+00] [ 1.25395170e-02 -2.22967267e-03 9.99918891e-01 3.15614009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.294839173 meters Centerline goodness : 0.877779 Centerline is valid? [False, False] Translation: X:-4.13, Y:5.63, Z:3.16 [[ 9.99938137e-01 -1.10767630e-02 -1.01404956e-03 -4.13313215e+00] [ 1.10785548e-02 9.99937049e-01 1.77874572e-03 5.63097625e+00] [ 9.94282977e-04 -1.78986988e-03 9.99997904e-01 3.15942842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.324839173 meters Centerline goodness : 0.883238 Centerline is valid? [False, False] Translation: X:-4.13, Y:5.63, Z:3.16 [[ 9.99928273e-01 -1.19438169e-02 -8.90715116e-04 -4.13211337e+00] [ 1.19471208e-02 9.99921406e-01 3.80109573e-03 5.62583263e+00] [ 8.45245519e-04 -3.81146457e-03 9.99992379e-01 3.16168556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.354839173 meters Centerline goodness : 0.878461 Centerline is valid? [False, False] Translation: X:-4.12, Y:5.62, Z:3.16 [[ 9.99910587e-01 -1.33588108e-02 -6.00854053e-04 -4.12497482e+00] [ 1.33624990e-02 9.99888787e-01 6.62246388e-03 5.62372228e+00] [ 5.12318988e-04 -6.62990066e-03 9.99977891e-01 3.15833040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.384839173 meters Centerline goodness : 0.878243 Centerline is valid? [False, False] Translation: X:-4.12, Y:5.62, Z:3.16 [[ 9.99900941e-01 -1.40439179e-02 -9.36402759e-04 -4.12221210e+00] [ 1.40496465e-02 9.99880682e-01 6.42092855e-03 5.62209520e+00] [ 8.46116037e-04 -6.43344863e-03 9.99978947e-01 3.15614091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.414839173 meters Centerline goodness : 0.881034 Centerline is valid? [False, False] Translation: X:-4.11, Y:5.61, Z:3.16 [[ 9.99889931e-01 -1.20578441e-02 -8.64492091e-03 -4.11267597e+00] [ 1.20456922e-02 9.99926387e-01 -1.45636485e-03 5.61121174e+00] [ 8.66184516e-03 1.35207049e-03 9.99961571e-01 3.16258332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.444839173 meters Centerline goodness : 0.885718 Centerline is valid? [False, False] Translation: X:-4.11, Y:5.61, Z:3.17 [[ 9.99856404e-01 -1.44841012e-02 -8.79670827e-03 -4.11469161e+00] [ 1.44561687e-02 9.99890285e-01 -3.23066210e-03 5.60601826e+00] [ 8.84253637e-03 3.10303150e-03 9.99956089e-01 3.16613771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.474839173 meters Centerline goodness : 0.889365 Centerline is valid? [False, False] Translation: X:-4.11, Y:5.60, Z:3.17 [[ 9.99853418e-01 -1.42330119e-02 -9.51646158e-03 -4.11380321e+00] [ 1.42206021e-02 9.99897943e-01 -1.37043882e-03 5.60082281e+00] [ 9.53499583e-03 1.23490812e-03 9.99953778e-01 3.16855440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50483917300001 meters Centerline goodness : 0.886856 Centerline is valid? [False, False] Translation: X:-4.10, Y:5.60, Z:3.16 [[ 9.99800240e-01 -1.66210385e-02 -1.11004649e-02 -4.10027244e+00] [ 1.66258185e-02 9.99861724e-01 3.38471057e-04 5.60300947e+00] [ 1.10933042e-02 -5.22957759e-04 9.99938331e-01 3.16214402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.534839173 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:-4.07, Y:5.60, Z:3.16 [[ 0.99959614 -0.01817123 -0.02184873 -4.06785781] [ 0.01840709 0.99977393 0.01064267 5.60449828] [ 0.0216504 -0.01104054 0.99970464 3.15594835] [ 0. 0. 0. 1. ]] SLAMing on 81.564839173 meters Centerline goodness : 0.871530 Centerline is valid? [False, False] Translation: X:-4.06, Y:5.60, Z:3.15 [[ 0.99954992 -0.0194981 -0.02279869 -4.06285716] [ 0.01971322 0.99976289 0.00924926 5.6047703 ] [ 0.02261294 -0.00969454 0.99969729 3.15211555] [ 0. 0. 0. 1. ]] SLAMing on 81.594839173 meters Centerline goodness : 0.875309 Centerline is valid? [False, False] Translation: X:-4.06, Y:5.60, Z:3.15 [[ 0.99951598 -0.01990879 -0.02390476 -4.06046411] [ 0.02014348 0.99975084 0.00961724 5.60111555] [ 0.02370734 -0.01009411 0.99966798 3.15296057] [ 0. 0. 0. 1. ]] SLAMing on 81.624839173 meters Centerline goodness : 0.879687 Centerline is valid? [False, False] Translation: X:-4.06, Y:5.60, Z:3.15 [[ 9.99674034e-01 -1.76973191e-02 -1.84019434e-02 -4.05504640e+00] [ 1.76584657e-02 9.99841496e-01 -2.27173685e-03 5.60064404e+00] [ 1.84392303e-02 1.94604626e-03 9.99828089e-01 3.15236510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.654839173 meters Centerline goodness : 0.883781 Centerline is valid? [False, False] Translation: X:-4.05, Y:5.60, Z:3.16 [[ 0.99985372 -0.0116949 -0.01248085 -4.04817907] [ 0.01160602 0.99990695 -0.00716941 5.60274165] [ 0.01256353 0.00702351 0.99989641 3.15521548] [ 0. 0. 0. 1. ]] SLAMing on 81.684839173 meters Centerline goodness : 0.884310 Centerline is valid? [False, False] Translation: X:-4.05, Y:5.60, Z:3.16 [[ 9.99889781e-01 -7.25165730e-03 -1.29552435e-02 -4.04917125e+00] [ 7.23337930e-03 9.99972777e-01 -1.45715873e-03 5.60137725e+00] [ 1.29654576e-02 1.36328793e-03 9.99915016e-01 3.15955824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.714839173 meters Centerline goodness : 0.882727 Centerline is valid? [False, False] Translation: X:-4.05, Y:5.61, Z:3.16 [[ 9.99905831e-01 -8.29897951e-04 -1.36981798e-02 -4.04574867e+00] [ 9.01797515e-04 9.99985846e-01 5.24349878e-03 5.60805618e+00] [ 1.36936344e-02 -5.25535799e-03 9.99892427e-01 3.15867583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.744839173 meters Centerline goodness : 0.880511 Centerline is valid? [False, False] Translation: X:-4.04, Y:5.61, Z:3.15 [[ 9.99900364e-01 1.68774986e-03 -1.40147431e-02 -4.04180148e+00] [-1.59333548e-03 9.99975981e-01 6.74522453e-03 5.61415107e+00] [ 1.40257908e-02 -6.72222228e-03 9.99879037e-01 3.15388399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.774839173 meters Centerline goodness : 0.876758 Centerline is valid? [False, False] Translation: X:-4.04, Y:5.62, Z:3.15 [[ 0.9998667 0.00791109 -0.01428262 -4.03833218] [-0.00773109 0.99989056 0.01261381 5.62259862] [ 0.01438084 -0.01250171 0.99981843 3.15146267] [ 0. 0. 0. 1. ]] SLAMing on 81.804839173 meters Centerline goodness : 0.878324 Centerline is valid? [False, False] Translation: X:-4.04, Y:5.62, Z:3.15 [[ 0.99986689 0.00936052 -0.01336375 -4.04267442] [-0.00917955 0.9998662 0.0135396 5.62383811] [ 0.0134887 -0.01341512 0.99981903 3.15489187] [ 0. 0. 0. 1. ]] SLAMing on 81.834839173 meters Centerline goodness : 0.886416 Centerline is valid? [False, False] Translation: X:-4.05, Y:5.62, Z:3.17 [[ 9.99943609e-01 9.41314219e-03 -4.91654607e-03 -4.04631904e+00] [-9.39628355e-03 9.99949934e-01 3.44087585e-03 5.62181107e+00] [ 4.94868937e-03 -3.39448456e-03 9.99981994e-01 3.16601940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86483917300001 meters Centerline goodness : 0.890110 Centerline is valid? [False, False] Translation: X:-4.05, Y:5.62, Z:3.17 [[ 9.99964011e-01 6.73216515e-03 -5.16282357e-03 -4.04857062e+00] [-6.72951530e-03 9.99977216e-01 5.30456815e-04 5.61950545e+00] [ 5.16627706e-03 -4.95694424e-04 9.99986532e-01 3.16907551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.894839173 meters Centerline goodness : 0.887812 Centerline is valid? [False, False] Translation: X:-4.04, Y:5.62, Z:3.16 [[ 9.99950418e-01 6.86378305e-03 -7.21463315e-03 -4.03863477e+00] [-6.87085938e-03 9.99975938e-01 -9.56502476e-04 5.62175855e+00] [ 7.20789432e-03 1.00602578e-03 9.99973517e-01 3.15903946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters Centerline goodness : 0.882239 Centerline is valid? [False, False] Translation: X:-4.03, Y:5.63, Z:3.15 [[ 9.99933629e-01 7.83254531e-03 -8.44913805e-03 -4.02555198e+00] [-7.81299700e-03 9.99966730e-01 2.34417721e-03 5.62629720e+00] [ 8.46721783e-03 -2.27800853e-03 9.99961558e-01 3.15064871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.954839173 meters Centerline goodness : 0.875175 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.14 [[ 9.99908192e-01 8.73823620e-03 -1.03561485e-02 -4.00981758e+00] [-8.70100414e-03 9.99955539e-01 3.63478486e-03 5.63528136e+00] [ 1.03874496e-02 -3.54434227e-03 9.99939767e-01 3.13769615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters Centerline goodness : 0.867506 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.14 [[ 9.99902629e-01 8.35714390e-03 -1.11754252e-02 -4.00726271e+00] [-8.32839440e-03 9.99961895e-01 2.61663271e-03 5.63639011e+00] [ 1.11968670e-02 -2.52330458e-03 9.99934129e-01 3.13598675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.014839173 meters Centerline goodness : 0.871332 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.14 [[ 9.99875603e-01 9.88738613e-03 -1.22889691e-02 -4.00794290e+00] [-9.86334871e-03 9.99949326e-01 2.01508797e-03 5.63811178e+00] [ 1.23082703e-02 -1.89362691e-03 9.99922457e-01 3.13757230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.044839173 meters Centerline goodness : 0.873717 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.14 [[ 9.99847181e-01 1.18131064e-02 -1.28866329e-02 -4.00965778e+00] [-1.17970167e-02 9.99929536e-01 1.32386149e-03 5.64366354e+00] [ 1.29013638e-02 -1.17163536e-03 9.99916088e-01 3.13915153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.074839173 meters Centerline goodness : 0.873899 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.14 [[ 9.99798431e-01 1.49683838e-02 -1.33807937e-02 -4.00799562e+00] [-1.49013618e-02 9.99875990e-01 5.09457311e-03 5.64425986e+00] [ 1.34553919e-02 -4.89415415e-03 9.99897495e-01 3.13959433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.104839173 meters Centerline goodness : 0.873889 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.65, Z:3.14 [[ 9.99806198e-01 1.46391252e-02 -1.31628881e-02 -4.00704918e+00] [-1.45839272e-02 9.99884490e-01 4.27971503e-03 5.64817591e+00] [ 1.32240190e-02 -4.08691901e-03 9.99904207e-01 3.13761828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.134839173 meters Centerline goodness : 0.868114 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.66, Z:3.13 [[ 0.99988105 0.0142636 -0.00586889 -4.00827412] [-0.0141882 0.99981875 0.01269496 5.65743537] [ 0.0060489 -0.01261018 0.99990219 3.12745798] [ 0. 0. 0. 1. ]] SLAMing on 82.164839173 meters Centerline goodness : 0.867171 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.66, Z:3.12 [[ 0.99989172 0.0133688 -0.00614987 -4.00564125] [-0.01330186 0.9998532 0.01080037 5.6629862 ] [ 0.00629335 -0.0107174 0.99992276 3.1241138 ] [ 0. 0. 0. 1. ]] SLAMing on 82.194839173 meters Centerline goodness : 0.875807 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.66, Z:3.13 [[ 9.99910218e-01 1.26186022e-02 -4.50857712e-03 -4.01326880e+00] [-1.25799731e-02 9.99884775e-01 8.49593669e-03 5.66103255e+00] [ 4.61526446e-03 -8.43845612e-03 9.99953745e-01 3.12884761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.224839173 meters Centerline goodness : 0.880523 Centerline is valid? [False, False] Translation: X:-4.02, Y:5.66, Z:3.13 [[ 9.99934536e-01 1.07339253e-02 -3.96304477e-03 -4.01818779e+00] [-1.07072402e-02 9.99920267e-01 6.69439785e-03 5.65568976e+00] [ 4.03458595e-03 -6.65152634e-03 9.99969739e-01 3.13401715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25483917300001 meters Centerline goodness : 0.884293 Centerline is valid? [False, False] Translation: X:-4.02, Y:5.65, Z:3.14 [[ 9.99959732e-01 8.18780755e-03 -3.67341217e-03 -4.02158860e+00] [-8.17201579e-03 9.99957391e-01 4.29354563e-03 5.65142173e+00] [ 3.70841037e-03 -4.26335356e-03 9.99984036e-01 3.13768553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters Centerline goodness : 0.887751 Centerline is valid? [False, False] Translation: X:-4.02, Y:5.65, Z:3.14 [[ 9.99981329e-01 4.52385117e-03 -4.10806050e-03 -4.02072207e+00] [-4.52087137e-03 9.99989511e-01 7.34349690e-04 5.64926539e+00] [ 4.11133950e-03 -7.15763966e-04 9.99991292e-01 3.13766122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.314839173 meters Centerline goodness : 0.883131 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.65, Z:3.13 [[ 9.99986139e-01 2.11485745e-03 -4.82169764e-03 -4.01386198e+00] [-2.11774894e-03 9.99997581e-01 -5.94657279e-04 5.64564580e+00] [ 4.82042836e-03 6.04860181e-04 9.99988199e-01 3.13169428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters Centerline goodness : 0.880911 Centerline is valid? [False, False] Translation: X:-4.01, Y:5.64, Z:3.13 [[ 9.99984818e-01 1.43525038e-03 -5.32012120e-03 -4.00790844e+00] [-1.43491609e-03 9.99998968e-01 6.66504391e-05 5.64269491e+00] [ 5.32021137e-03 -5.90154997e-05 9.99985846e-01 3.12704386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.374839173 meters Centerline goodness : 0.877592 Centerline is valid? [False, False] Translation: X:-3.99, Y:5.64, Z:3.12 [[ 9.99931648e-01 -7.23450545e-03 -9.18488269e-03 -3.98980602e+00] [ 7.22847530e-03 9.99973636e-01 -6.89557340e-04 5.63697850e+00] [ 9.18962915e-03 6.23117509e-04 9.99957580e-01 3.12244429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.404839173 meters Centerline goodness : 0.876446 Centerline is valid? [False, False] Translation: X:-3.99, Y:5.63, Z:3.12 [[ 9.99875596e-01 -1.22421060e-02 -9.94606692e-03 -3.98578336e+00] [ 1.22040113e-02 9.99917993e-01 -3.88183275e-03 5.63198929e+00] [ 9.99277309e-03 3.75996792e-03 9.99943002e-01 3.12102113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.434839173 meters Centerline goodness : 0.882053 Centerline is valid? [False, False] Translation: X:-3.98, Y:5.62, Z:3.13 [[ 9.99688672e-01 -2.36216773e-02 -8.03591680e-03 -3.97547635e+00] [ 2.36076672e-02 9.99719618e-01 -1.83385776e-03 5.61634866e+00] [ 8.07698248e-03 1.64357758e-03 9.99966030e-01 3.12950866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.464839173 meters Centerline goodness : 0.888727 Centerline is valid? [False, False] Translation: X:-3.98, Y:5.60, Z:3.14 [[ 9.99579928e-01 -2.77117655e-02 -8.48673572e-03 -3.97544343e+00] [ 2.77092933e-02 9.99615940e-01 -4.08767155e-04 5.60479329e+00] [ 8.49480397e-03 1.73433994e-04 9.99963903e-01 3.13850793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.494839173 meters Centerline goodness : 0.889331 Centerline is valid? [False, False] Translation: X:-3.97, Y:5.60, Z:3.14 [[ 9.99569068e-01 -2.80078623e-02 -8.78846781e-03 -3.97408481e+00] [ 2.80131382e-02 9.99607441e-01 4.77779493e-04 5.60306944e+00] [ 8.77163623e-03 -7.23766166e-04 9.99961267e-01 3.13901541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.524839173 meters Centerline goodness : 0.886815 Centerline is valid? [False, False] Translation: X:-3.97, Y:5.60, Z:3.14 [[ 9.99604642e-01 -2.64483032e-02 -9.54180496e-03 -3.96860403e+00] [ 2.64880998e-02 9.99640848e-01 4.06875296e-03 5.60255608e+00] [ 9.43076639e-03 -4.31988863e-03 9.99946198e-01 3.13680401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.554839173 meters Centerline goodness : 0.883387 Centerline is valid? [False, False] Translation: X:-3.97, Y:5.60, Z:3.14 [[ 0.99967008 -0.02352544 -0.01030902 -3.96567753] [ 0.02360805 0.99968955 0.00796623 5.60235506] [ 0.01011841 -0.00820698 0.99991513 3.13631882] [ 0. 0. 0. 1. ]] SLAMing on 82.584839173 meters Centerline goodness : 0.882206 Centerline is valid? [False, False] Translation: X:-3.96, Y:5.60, Z:3.14 [[ 0.99972251 -0.02061482 -0.01139885 -3.96235295] [ 0.02074431 0.99972026 0.01136145 5.6031326 ] [ 0.01116145 -0.01159476 0.99987048 3.13571919] [ 0. 0. 0. 1. ]] SLAMing on 82.61483917300001 meters Centerline goodness : 0.882993 Centerline is valid? [False, False] Translation: X:-3.95, Y:5.61, Z:3.13 [[ 9.99850854e-01 -1.63005692e-02 -5.70627588e-03 -3.95347899e+00] [ 1.63153552e-02 9.99863633e-01 2.55429064e-03 5.60834130e+00] [ 5.66386134e-03 -2.64700959e-03 9.99980457e-01 3.13260297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters Centerline goodness : 0.887612 Centerline is valid? [False, False] Translation: X:-3.96, Y:5.61, Z:3.14 [[ 9.99869492e-01 -1.49901451e-02 -6.02446765e-03 -3.95616738e+00] [ 1.50158237e-02 9.99878266e-01 4.23999710e-03 5.60642514e+00] [ 5.96017609e-03 -4.32990609e-03 9.99972864e-01 3.13746708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.674839173 meters Centerline goodness : 0.891200 Centerline is valid? [False, False] Translation: X:-3.96, Y:5.60, Z:3.14 [[ 9.99872254e-01 -1.44481125e-02 -6.83580699e-03 -3.95670600e+00] [ 1.44848873e-02 9.99880716e-01 5.36115547e-03 5.60430642e+00] [ 6.75753301e-03 -5.45948649e-03 9.99962264e-01 3.14108449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters Centerline goodness : 0.886653 Centerline is valid? [False, False] Translation: X:-3.95, Y:5.61, Z:3.13 [[ 0.99986764 -0.01451217 -0.00735492 -3.94801677] [ 0.01456298 0.99987014 0.00690163 5.60909694] [ 0.00725381 -0.00700783 0.99994914 3.13424395] [ 0. 0. 0. 1. ]] SLAMing on 82.734839173 meters Centerline goodness : 0.882853 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.13 [[ 0.99991646 -0.01069897 -0.00725233 -3.94246232] [ 0.01079661 0.99984975 0.01356116 5.61552756] [ 0.00710615 -0.01363833 0.99988174 3.13240543] [ 0. 0. 0. 1. ]] SLAMing on 82.764839173 meters Centerline goodness : 0.887326 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.13 [[ 0.9999218 -0.01015853 -0.00729409 -3.94367125] [ 0.0102566 0.99985577 0.01353678 5.61763953] [ 0.00715552 -0.01361054 0.99988177 3.13375985] [ 0. 0. 0. 1. ]] SLAMing on 82.794839173 meters Centerline goodness : 0.883033 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.13 [[ 9.99940036e-01 -5.20142091e-03 -9.63688104e-03 -3.93866124e+00] [ 5.21426868e-03 9.99985549e-01 1.30854273e-03 5.61886462e+00] [ 9.62993550e-03 -1.35871355e-03 9.99952708e-01 3.13428147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.824839173 meters Centerline goodness : 0.886887 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.14 [[ 9.99936581e-01 -3.04530026e-03 -1.08425434e-02 -3.94030016e+00] [ 3.06097027e-03 9.99994294e-01 1.42893228e-03 5.61539380e+00] [ 1.08381300e-02 -1.46203036e-03 9.99940197e-01 3.13695429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.854839173 meters Centerline goodness : 0.886887 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.14 [[ 9.99936581e-01 -3.04530026e-03 -1.08425434e-02 -3.94030016e+00] [ 3.06097027e-03 9.99994294e-01 1.42893228e-03 5.61539380e+00] [ 1.08381300e-02 -1.46203036e-03 9.99940197e-01 3.13695429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.884839173 meters Centerline goodness : 0.888981 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.61, Z:3.14 [[ 9.99937557e-01 -1.80993506e-03 -1.10275369e-02 -3.94181956e+00] [ 1.82851925e-03 9.99996925e-01 1.67540350e-03 5.61468019e+00] [ 1.10244706e-02 -1.69546294e-03 9.99937791e-01 3.13815055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.914839173 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.14 [[ 9.99941519e-01 -5.51907409e-04 -1.08006784e-02 -3.94384491e+00] [ 5.73189259e-04 9.99997900e-01 1.96742160e-03 5.61580483e+00] [ 1.07995699e-02 -1.97349738e-03 9.99939735e-01 3.13925327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.944839173 meters Centerline goodness : 0.888067 Centerline is valid? [False, False] Translation: X:-3.94, Y:5.62, Z:3.14 [[ 9.99938938e-01 -1.06732527e-03 -1.09991026e-02 -3.94175024e+00] [ 1.08431252e-03 9.99998229e-01 1.53857389e-03 5.61654614e+00] [ 1.09974409e-02 -1.55040640e-03 9.99938324e-01 3.13722323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.974839173 meters Centerline goodness : 0.881785 Centerline is valid? [False, False] Translation: X:-3.93, Y:5.62, Z:3.13 [[ 9.99906213e-01 -4.88011343e-03 -1.27964363e-02 -3.92549956e+00] [ 4.90724909e-03 9.99985775e-01 2.09002343e-03 5.61934323e+00] [ 1.27860547e-02 -2.15262271e-03 9.99915938e-01 3.12804054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00483917300001 meters Centerline goodness : 0.881416 Centerline is valid? [False, False] Translation: X:-3.91, Y:5.62, Z:3.13 [[ 0.99987507 -0.00698596 -0.0141788 -3.91380715] [ 0.0070771 0.99995455 0.0063879 5.62131296] [ 0.01413353 -0.00648744 0.99987907 3.12718366] [ 0. 0. 0. 1. ]] SLAMing on 83.034839173 meters Centerline goodness : 0.881790 Centerline is valid? [False, False] Translation: X:-3.92, Y:5.62, Z:3.13 [[ 0.99988045 -0.00661421 -0.01397652 -3.91567221] [ 0.00673159 0.99994233 0.00836766 5.6184064 ] [ 0.01392037 -0.00846074 0.99986731 3.13115167] [ 0. 0. 0. 1. ]] SLAMing on 83.064839173 meters Centerline goodness : 0.883227 Centerline is valid? [False, False] Translation: X:-3.92, Y:5.62, Z:3.14 [[ 0.99987234 -0.00868973 -0.01340837 -3.92021994] [ 0.00877236 0.99994282 0.00611602 5.6160605 ] [ 0.01335445 -0.00623286 0.9998914 3.13519484] [ 0. 0. 0. 1. ]] SLAMing on 83.094839173 meters Centerline goodness : 0.891669 Centerline is valid? [False, False] Translation: X:-3.91, Y:5.61, Z:3.14 [[ 9.99931314e-01 -8.78376302e-03 -7.75968323e-03 -3.91195912e+00] [ 8.75060811e-03 9.99952483e-01 -4.29638361e-03 5.61280023e+00] [ 7.79705293e-03 4.22818657e-03 9.99960663e-01 3.13662685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters Centerline goodness : 0.889781 Centerline is valid? [False, False] Translation: X:-3.91, Y:5.61, Z:3.14 [[ 9.99957518e-01 -4.71034758e-03 -7.92299824e-03 -3.91196193e+00] [ 4.71241031e-03 9.99988867e-01 2.41699291e-04 5.61269929e+00] [ 7.92177155e-03 -2.79025442e-04 9.99968583e-01 3.13798679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.154839173 meters Centerline goodness : 0.889827 Centerline is valid? [False, False] Translation: X:-3.91, Y:5.62, Z:3.14 [[ 9.99962192e-01 -4.22313911e-03 -7.60131459e-03 -3.91267180e+00] [ 4.22390647e-03 9.99991076e-01 8.49007014e-05 5.61526827e+00] [ 7.60088821e-03 -1.17004733e-04 9.99971106e-01 3.13756618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.184839173 meters Centerline goodness : 0.884756 Centerline is valid? [False, False] Translation: X:-3.91, Y:5.62, Z:3.13 [[ 9.99968149e-01 -1.38569297e-03 -7.86011372e-03 -3.90898767e+00] [ 1.40018468e-03 9.99997330e-01 1.83849940e-03 5.62129955e+00] [ 7.85754514e-03 -1.84944646e-03 9.99967419e-01 3.13277743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.214839173 meters Centerline goodness : 0.878888 Centerline is valid? [False, False] Translation: X:-3.90, Y:5.62, Z:3.13 [[ 9.99961585e-01 1.01621833e-03 -8.70603004e-03 -3.90432023e+00] [-9.80874031e-04 9.99991265e-01 4.06305705e-03 5.62490000e+00] [ 8.71008294e-03 -4.05436146e-03 9.99953847e-01 3.12925809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.244839173 meters Centerline goodness : 0.879251 Centerline is valid? [False, False] Translation: X:-3.90, Y:5.63, Z:3.13 [[ 9.99947028e-01 4.00053678e-03 -9.48348179e-03 -3.90140919e+00] [-3.94451737e-03 9.99974706e-01 5.91841340e-03 5.62997897e+00] [ 9.50691875e-03 -5.88069213e-03 9.99937516e-01 3.12685722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.274839173 meters Centerline goodness : 0.878538 Centerline is valid? [False, False] Translation: X:-3.90, Y:5.63, Z:3.13 [[ 9.99950055e-01 1.45796880e-03 -9.88744318e-03 -3.90244530e+00] [-1.43771379e-03 9.99996854e-01 2.05535770e-03 5.63140763e+00] [ 9.89040872e-03 -2.04103973e-03 9.99949006e-01 3.12762706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.304839173 meters Centerline goodness : 0.877983 Centerline is valid? [False, False] Translation: X:-3.90, Y:5.63, Z:3.13 [[ 9.99938474e-01 1.04994016e-03 -1.10429529e-02 -3.90015870e+00] [-1.02503730e-03 9.99996920e-01 2.26050845e-03 5.62902717e+00] [ 1.10452923e-02 -2.24904993e-03 9.99936470e-01 3.12842853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.334839173 meters Centerline goodness : 0.873230 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.63, Z:3.12 [[ 9.99917063e-01 -4.88763358e-04 -1.28696591e-02 -3.89319110e+00] [ 4.75944809e-04 9.99999388e-01 -9.99072560e-04 5.63224224e+00] [ 1.28701395e-02 9.92864453e-04 9.99916683e-01 3.12148980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36483917300001 meters Centerline goodness : 0.867863 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.64, Z:3.12 [[ 9.99906816e-01 2.94639942e-03 -1.33296274e-02 -3.88961254e+00] [-2.94469798e-03 9.99995654e-01 1.47268411e-04 5.63842654e+00] [ 1.33300034e-02 -1.08002961e-04 9.99911146e-01 3.11554419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.394839173 meters Centerline goodness : 0.866288 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.64, Z:3.12 [[ 9.99903459e-01 3.15083356e-03 -1.35330960e-02 -3.88974046e+00] [-3.14575465e-03 9.99994973e-01 3.96566010e-04 5.63863756e+00] [ 1.35342775e-02 -3.53955926e-04 9.99908345e-01 3.11645514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters Centerline goodness : 0.870599 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.64, Z:3.12 [[ 9.99970128e-01 3.55778802e-03 -6.86186815e-03 -3.87979194e+00] [-3.60342591e-03 9.99971395e-01 -6.65008643e-03 5.63710586e+00] [ 6.83801227e-03 6.67461402e-03 9.99954345e-01 3.11785765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.454839173 meters Centerline goodness : 0.871729 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.63, Z:3.12 [[ 9.99970936e-01 4.13460113e-03 -6.40568579e-03 -3.88240450e+00] [-4.16071920e-03 9.99983064e-01 -4.06937942e-03 5.63369109e+00] [ 6.38875204e-03 4.09591341e-03 9.99971203e-01 3.12265723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters Centerline goodness : 0.876293 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.63, Z:3.13 [[ 9.99981740e-01 3.49931809e-03 -4.92688187e-03 -3.88401097e+00] [-3.48467001e-03 9.99989493e-01 2.97854572e-03 5.62563406e+00] [ 4.93725298e-03 -2.96132277e-03 9.99983427e-01 3.13405200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.514839173 meters Centerline goodness : 0.881137 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.62, Z:3.14 [[ 9.99989077e-01 3.67130191e-04 -4.65954441e-03 -3.88646656e+00] [-3.57091440e-04 9.99997614e-01 2.15509813e-03 5.61836492e+00] [ 4.66032449e-03 -2.15341071e-03 9.99986822e-01 3.13925327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.544839173 meters Centerline goodness : 0.881620 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.61, Z:3.14 [[ 9.99984643e-01 -3.01957493e-03 -4.64711428e-03 -3.88701210e+00] [ 3.01746646e-03 9.99995341e-01 -4.60659884e-04 5.61468711e+00] [ 4.64848363e-03 4.46630299e-04 9.99989096e-01 3.14056168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.574839173 meters Centerline goodness : 0.883852 Centerline is valid? [False, False] Translation: X:-3.89, Y:5.61, Z:3.14 [[ 9.99979807e-01 -3.87967771e-03 -5.03318473e-03 -3.88520516e+00] [ 3.88635253e-03 9.99991581e-01 1.31706224e-03 5.60835244e+00] [ 5.02803258e-03 -1.33659637e-03 9.99986466e-01 3.14219271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.604839173 meters Centerline goodness : 0.882117 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.60, Z:3.14 [[ 9.99951151e-01 -8.34543934e-03 -5.29610997e-03 -3.87876598e+00] [ 8.34271336e-03 9.99965055e-01 -5.36596998e-04 5.60297600e+00] [ 5.30040303e-03 4.92386859e-04 9.99985832e-01 3.13792453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.634839173 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.60, Z:3.14 [[ 9.99945071e-01 -9.04436323e-03 -5.29671587e-03 -3.87744675e+00] [ 9.04901692e-03 9.99958691e-01 8.55294162e-04 5.59873660e+00] [ 5.28876148e-03 -9.03177252e-04 9.99985607e-01 3.13874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.664839173 meters Centerline goodness : 0.887011 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.59, Z:3.15 [[ 9.99902620e-01 -1.31949432e-02 -4.54357661e-03 -3.87830256e+00] [ 1.32025891e-02 9.99911469e-01 1.65694578e-03 5.59199097e+00] [ 4.52131106e-03 -1.71677141e-03 9.99988305e-01 3.14530419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.694839173 meters Centerline goodness : 0.885461 Centerline is valid? [False, False] Translation: X:-3.88, Y:5.59, Z:3.15 [[ 9.99890721e-01 -1.39480360e-02 -4.89878031e-03 -3.87645618e+00] [ 1.39629863e-02 9.99897919e-01 3.03100587e-03 5.58822627e+00] [ 4.85600365e-03 -3.09907625e-03 9.99983407e-01 3.14647653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.724839173 meters Centerline goodness : 0.878154 Centerline is valid? [False, False] Translation: X:-3.86, Y:5.59, Z:3.14 [[ 9.99853811e-01 -1.43578248e-02 -9.28486080e-03 -3.85643137e+00] [ 1.44039907e-02 9.99884130e-01 4.92455282e-03 5.59493203e+00] [ 9.21307910e-03 -5.05757195e-03 9.99944769e-01 3.13535812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75483917300001 meters Centerline goodness : 0.860523 Centerline is valid? [False, False] Translation: X:-3.84, Y:5.61, Z:3.12 [[ 9.99826953e-01 -1.15825847e-02 -1.45570599e-02 -3.84038781e+00] [ 1.16595885e-02 9.99918420e-01 5.21609630e-03 5.60583435e+00] [ 1.44954564e-02 -5.38492300e-03 9.99880435e-01 3.12333433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters Centerline goodness : 0.855512 Centerline is valid? [False, False] Translation: X:-3.84, Y:5.61, Z:3.12 [[ 9.99814439e-01 -1.16542180e-02 -1.53384041e-02 -3.83937979e+00] [ 1.17277516e-02 9.99920121e-01 4.71289406e-03 5.60543017e+00] [ 1.52822537e-02 -4.89190452e-03 9.99871253e-01 3.12368596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.814839173 meters Centerline goodness : 0.866378 Centerline is valid? [False, False] Translation: X:-3.83, Y:5.61, Z:3.12 [[ 0.99982695 -0.01422794 -0.0119844 -3.82876788] [ 0.01409939 0.99984288 -0.0107431 5.60666938] [ 0.01213537 0.01057227 0.99987047 3.12392455] [ 0. 0. 0. 1. ]] SLAMing on 83.844839173 meters Centerline goodness : 0.863845 Centerline is valid? [False, False] Translation: X:-3.83, Y:5.60, Z:3.13 [[ 9.99862436e-01 -1.05936654e-02 -1.27625578e-02 -3.82857464e+00] [ 1.05247716e-02 9.99929743e-01 -5.45324224e-03 5.60389585e+00] [ 1.28194310e-02 5.31816906e-03 9.99903685e-01 3.12791346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.874839173 meters Centerline goodness : 0.867519 Centerline is valid? [False, False] Translation: X:-3.83, Y:5.61, Z:3.13 [[ 9.99884221e-01 -7.29058529e-03 -1.33563568e-02 -3.82711319e+00] [ 7.27692664e-03 9.99972949e-01 -1.07094723e-03 5.60507234e+00] [ 1.33638033e-02 9.73630013e-04 9.99910226e-01 3.12948357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.904839173 meters Centerline goodness : 0.863385 Centerline is valid? [False, False] Translation: X:-3.83, Y:5.62, Z:3.12 [[ 9.99973670e-01 -5.37169968e-03 -4.87890285e-03 -3.82984661e+00] [ 5.42953233e-03 9.99914228e-01 1.19187519e-02 5.61925360e+00] [ 4.81446042e-03 -1.19449282e-02 9.99917066e-01 3.11918153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.934839173 meters Centerline goodness : 0.853253 Centerline is valid? [False, False] Translation: X:-3.81, Y:5.63, Z:3.11 [[ 9.99976356e-01 -1.37004942e-03 -6.73871723e-03 -3.81218981e+00] [ 1.51396728e-03 9.99769883e-01 2.13983367e-02 5.63465422e+00] [ 6.70784975e-03 -2.14080330e-02 9.99748319e-01 3.11222870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.964839173 meters Centerline goodness : 0.850816 Centerline is valid? [False, False] Translation: X:-3.81, Y:5.64, Z:3.11 [[ 9.99968948e-01 -2.27761531e-03 -7.54427616e-03 -3.80922571e+00] [ 2.41379506e-03 9.99833429e-01 1.80910898e-02 5.64221524e+00] [ 7.50181496e-03 -1.81087384e-02 9.99807880e-01 3.10805294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.994839173 meters Centerline goodness : 0.853014 Centerline is valid? [False, False] Translation: X:-3.81, Y:5.66, Z:3.11 [[ 9.99918031e-01 7.08021684e-03 -1.06678368e-02 -3.80857202e+00] [-7.02195580e-03 9.99960281e-01 5.48896763e-03 5.65602623e+00] [ 1.07062762e-02 -5.41360862e-03 9.99928032e-01 3.10923349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.024839173 meters Centerline goodness : 0.856263 Centerline is valid? [False, False] Translation: X:-3.81, Y:5.66, Z:3.11 [[ 0.99988204 0.01061385 -0.01110196 -3.81300709] [-0.0105465 0.99992573 0.00610755 5.66184682] [ 0.01116596 -0.00598975 0.99991972 3.11358704] [ 0. 0. 0. 1. ]] SLAMing on 84.054839173 meters Centerline goodness : 0.860592 Centerline is valid? [False, False] Translation: X:-3.82, Y:5.67, Z:3.12 [[ 0.99978662 0.01773953 -0.01058373 -3.82092849] [-0.01781089 0.99981901 -0.0066866 5.67281093] [ 0.0104632 0.00687368 0.99992163 3.12200166] [ 0. 0. 0. 1. ]] SLAMing on 84.084839173 meters Centerline goodness : 0.861547 Centerline is valid? [False, False] Translation: X:-3.82, Y:5.67, Z:3.12 [[ 0.99977916 0.01796212 -0.01090866 -3.82145218] [-0.01803689 0.99981424 -0.00679445 5.67400686] [ 0.0107846 0.0069897 0.99991741 3.12353409] [ 0. 0. 0. 1. ]] SLAMing on 84.11483917300001 meters Centerline goodness : 0.861342 Centerline is valid? [False, False] Translation: X:-3.82, Y:5.67, Z:3.12 [[ 0.99978467 0.01711362 -0.01173594 -3.81832931] [-0.01720048 0.99982511 -0.00734066 5.67392305] [ 0.01160827 0.00754094 0.99990419 3.1220193 ] [ 0. 0. 0. 1. ]] SLAMing on 84.144839173 meters Centerline goodness : 0.858418 Centerline is valid? [False, False] Translation: X:-3.80, Y:5.67, Z:3.11 [[ 0.999861 0.00970943 -0.01355369 -3.80410967] [-0.00962241 0.99993277 0.00647075 5.67249931] [ 0.01361561 -0.00633943 0.99988721 3.11430882] [ 0. 0. 0. 1. ]] SLAMing on 84.174839173 meters Centerline goodness : 0.856657 Centerline is valid? [False, False] Translation: X:-3.79, Y:5.67, Z:3.11 [[ 9.99931580e-01 6.32487484e-04 -1.16805162e-02 -3.79394024e+00] [-3.51291492e-04 9.99710447e-01 2.40603141e-02 5.67111733e+00] [ 1.16923519e-02 -2.40545646e-02 9.99642269e-01 3.11384817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters Centerline goodness : 0.856739 Centerline is valid? [False, False] Translation: X:-3.78, Y:5.67, Z:3.12 [[ 9.99937782e-01 -4.70027729e-03 -1.01162758e-02 -3.78431789e+00] [ 5.00251020e-03 9.99535550e-01 3.00609349e-02 5.66946172e+00] [ 9.97028255e-03 -3.01096714e-02 9.99496874e-01 3.12013308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.234839173 meters Centerline goodness : 0.865948 Centerline is valid? [False, False] Translation: X:-3.78, Y:5.66, Z:3.13 [[ 9.99898618e-01 -1.39542149e-02 -2.83442724e-03 -3.78177918e+00] [ 1.39895847e-02 9.99819341e-01 1.28676546e-02 5.66293440e+00] [ 2.65435716e-03 -1.29060025e-02 9.99913191e-01 3.12882918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.264839173 meters Centerline goodness : 0.869550 Centerline is valid? [False, False] Translation: X:-3.78, Y:5.66, Z:3.14 [[ 9.99847652e-01 -1.42330207e-02 -1.01041940e-02 -3.77909220e+00] [ 1.42696957e-02 9.99891821e-01 3.56690689e-03 5.65611849e+00] [ 1.00523331e-02 -3.71054725e-03 9.99942590e-01 3.14032277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.294839173 meters Centerline goodness : 0.874104 Centerline is valid? [False, False] Translation: X:-3.77, Y:5.66, Z:3.14 [[ 9.99926552e-01 -1.14235876e-02 -4.04868460e-03 -3.77292223e+00] [ 1.13939890e-02 9.99908732e-01 -7.25984267e-03 5.65920820e+00] [ 4.13124853e-03 7.21317879e-03 9.99965451e-01 3.13850030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.324839173 meters Centerline goodness : 0.872868 Centerline is valid? [False, False] Translation: X:-3.77, Y:5.66, Z:3.14 [[ 9.99978357e-01 -4.53232643e-03 -4.76897421e-03 -3.76948539e+00] [ 4.52967090e-03 9.99989580e-01 -5.67488631e-04 5.66364520e+00] [ 4.77149656e-03 5.45874465e-04 9.99988467e-01 3.13612427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.354839173 meters Centerline goodness : 0.867126 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.68, Z:3.12 [[ 0.99993067 0.00999787 -0.00622107 -3.76232251] [-0.00994689 0.99991713 0.00817247 5.67692746] [ 0.00630226 -0.00811002 0.99994725 3.12317467] [ 0. 0. 0. 1. ]] SLAMing on 84.384839173 meters Centerline goodness : 0.855169 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.69, Z:3.11 [[ 0.9996242 0.02650659 -0.00698964 -3.75899348] [-0.02637823 0.9994925 0.01785867 5.68804748] [ 0.00745946 -0.01766759 0.99981609 3.11319123] [ 0. 0. 0. 1. ]] SLAMing on 84.414839173 meters Centerline goodness : 0.856865 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.69, Z:3.11 [[ 0.99948771 0.03113577 -0.00740765 -3.75813957] [-0.03099028 0.99933897 0.01900611 5.69450513] [ 0.00799452 -0.01876681 0.99979193 3.10988411] [ 0. 0. 0. 1. ]] SLAMing on 84.444839173 meters Centerline goodness : 0.858582 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.70, Z:3.11 [[ 0.99930107 0.03637029 -0.00863561 -3.75865201] [-0.03618779 0.99913626 0.02042497 5.70087569] [ 0.00937102 -0.02009819 0.99975409 3.11067886] [ 0. 0. 0. 1. ]] SLAMing on 84.474839173 meters Centerline goodness : 0.857939 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.70, Z:3.11 [[ 0.99927825 0.03684239 -0.00925254 -3.75872523] [-0.03665309 0.99913074 0.01985737 5.70266414] [ 0.00997609 -0.0195039 0.99976001 3.11162975] [ 0. 0. 0. 1. ]] SLAMing on 84.504839173 meters Centerline goodness : 0.857590 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.70, Z:3.11 [[ 0.99925625 0.03732693 -0.00967734 -3.75941177] [-0.03713008 0.99911468 0.01977934 5.70323676] [ 0.01040707 -0.01940531 0.99975753 3.11320958] [ 0. 0. 0. 1. ]] SLAMing on 84.534839173 meters Centerline goodness : 0.862961 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.70, Z:3.11 [[ 9.99165031e-01 4.07868705e-02 -2.38153531e-03 -3.75814641e+00] [-4.07627081e-02 9.99124269e-01 9.43913250e-03 5.70314194e+00] [ 2.76444240e-03 -9.33417329e-03 9.99952614e-01 3.11326798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters Centerline goodness : 0.868168 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.70, Z:3.12 [[ 9.99212967e-01 3.96098273e-02 -2.12330271e-03 -3.75691595e+00] [-3.95800939e-02 9.99137217e-01 1.25792435e-02 5.69713166e+00] [ 2.61973242e-03 -1.24853027e-02 9.99918624e-01 3.11612564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.594839173 meters Centerline goodness : 0.872510 Centerline is valid? [False, False] Translation: X:-3.75, Y:5.70, Z:3.11 [[ 9.99289425e-01 3.76237917e-02 -2.25711796e-03 -3.75331777e+00] [-3.75920934e-02 9.99211928e-01 1.27419423e-02 5.69512162e+00] [ 2.73473937e-03 -1.26480384e-02 9.99916271e-01 3.11386323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.624839173 meters Centerline goodness : 0.860433 Centerline is valid? [False, False] Translation: X:-3.75, Y:5.69, Z:3.11 [[ 9.99694432e-01 2.46918532e-02 1.16437145e-03 -3.74529181e+00] [-2.47135855e-02 9.99366299e-01 2.56171747e-02 5.68948867e+00] [-5.31098074e-04 -2.56381227e-02 9.99671148e-01 3.11106820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.654839173 meters Centerline goodness : 0.865265 Centerline is valid? [False, False] Translation: X:-3.74, Y:5.69, Z:3.11 [[ 9.99827373e-01 1.85722625e-02 5.43411036e-04 -3.74004514e+00] [-1.85795084e-02 9.99616179e-01 2.05498676e-02 5.68973570e+00] [-1.61544929e-04 -2.05564165e-02 9.99788681e-01 3.10658456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.684839173 meters Centerline goodness : 0.860005 Centerline is valid? [False, False] Translation: X:-3.74, Y:5.69, Z:3.10 [[ 9.99917320e-01 1.28576841e-02 -1.83889071e-04 -3.73565449e+00] [-1.28533858e-02 9.99801125e-01 1.52479959e-02 5.68903902e+00] [ 3.79906415e-04 -1.52443716e-02 9.99883726e-01 3.10277387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.714839173 meters Centerline goodness : 0.868443 Centerline is valid? [False, False] Translation: X:-3.74, Y:5.68, Z:3.10 [[ 9.99975556e-01 6.97446218e-03 -4.94352784e-04 -3.73849721e+00] [-6.97115838e-03 9.99955244e-01 6.39634258e-03 5.68359893e+00] [ 5.38941708e-04 -6.39274002e-03 9.99979421e-01 3.10325040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.744839173 meters Centerline goodness : 0.867631 Centerline is valid? [False, False] Translation: X:-3.74, Y:5.68, Z:3.11 [[ 9.99977214e-01 6.69559253e-03 -8.60123340e-04 -3.74337142e+00] [-6.69248363e-03 9.99971240e-01 3.56789245e-03 5.68133736e+00] [ 8.83987756e-04 -3.56205479e-03 9.99993265e-01 3.10731944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.774839173 meters Centerline goodness : 0.863450 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.68, Z:3.12 [[ 9.99752177e-01 2.21511024e-02 -2.21664741e-03 -3.75734370e+00] [-2.21620738e-02 9.99741617e-01 -5.05387201e-03 5.67958673e+00] [ 2.10412583e-03 5.10174504e-03 9.99984772e-01 3.11749293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.804839173 meters Centerline goodness : 0.863450 Centerline is valid? [False, False] Translation: X:-3.76, Y:5.68, Z:3.12 [[ 9.99752177e-01 2.21511024e-02 -2.21664741e-03 -3.75734370e+00] [-2.21620738e-02 9.99741617e-01 -5.05387201e-03 5.67958673e+00] [ 2.10412583e-03 5.10174504e-03 9.99984772e-01 3.11749293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.834839173 meters Centerline goodness : 0.872725 Centerline is valid? [False, False] Translation: X:-3.77, Y:5.67, Z:3.12 [[ 9.99463545e-01 3.27509036e-02 -2.48648163e-05 -3.76830075e+00] [-3.27506134e-02 9.99457359e-01 3.51935538e-03 5.67490172e+00] [ 1.40113393e-04 -3.51665307e-03 9.99993807e-01 3.12371958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86483917300001 meters Centerline goodness : 0.872739 Centerline is valid? [False, False] Translation: X:-3.77, Y:5.67, Z:3.12 [[ 9.99367153e-01 3.55704107e-02 1.96949251e-04 -3.76533212e+00] [-3.55708329e-02 9.99333820e-01 8.16283979e-03 5.67065605e+00] [ 9.35375159e-05 -8.16467961e-03 9.99966664e-01 3.12118564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.894839173 meters Centerline goodness : 0.865103 Centerline is valid? [False, False] Translation: X:-3.75, Y:5.66, Z:3.11 [[ 9.99789635e-01 2.03927197e-02 -2.19597841e-03 -3.74643160e+00] [-2.02923978e-02 9.99043155e-01 3.87426479e-02 5.65746166e+00] [ 2.98394516e-03 -3.86899361e-02 9.99246809e-01 3.11341750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters Centerline goodness : 0.856094 Centerline is valid? [False, False] Translation: X:-3.72, Y:5.65, Z:3.11 [[ 0.9998965 0.0107584 -0.00955186 -3.71945029] [-0.01033174 0.9989936 0.04364686 5.65278698] [ 0.01001182 -0.04354365 0.99900136 3.11013956] [ 0. 0. 0. 1. ]] SLAMing on 84.954839173 meters Centerline goodness : 0.856404 Centerline is valid? [False, False] Translation: X:-3.69, Y:5.65, Z:3.11 [[ 0.99990559 -0.0118466 -0.0069616 -3.68843797] [ 0.01212832 0.99904716 0.04192458 5.64798372] [ 0.0064583 -0.04200505 0.99909652 3.11000236] [ 0. 0. 0. 1. ]] SLAMing on 84.984839173 meters Centerline goodness : 0.869293 Centerline is valid? [False, False] Translation: X:-3.69, Y:5.65, Z:3.12 [[ 9.99763848e-01 -2.09931430e-02 5.61579472e-03 -3.69119571e+00] [ 2.09640113e-02 9.99766724e-01 5.19699813e-03 5.64677451e+00] [-5.72358601e-03 -5.07804127e-03 9.99970727e-01 3.12040689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.014839173 meters Centerline goodness : 0.874747 Centerline is valid? [False, False] Translation: X:-3.69, Y:5.64, Z:3.13 [[ 0.99971377 -0.02019018 0.01283504 -3.69481248] [ 0.02029607 0.9997606 -0.00817395 5.64388521] [-0.01266693 0.00843211 0.99988422 3.12755985] [ 0. 0. 0. 1. ]] SLAMing on 85.044839173 meters Centerline goodness : 0.875489 Centerline is valid? [False, False] Translation: X:-3.69, Y:5.64, Z:3.14 [[ 9.99879491e-01 -1.47190111e-02 4.93502851e-03 -3.69216749e+00] [ 1.47892174e-02 9.99785419e-01 -1.45049703e-02 5.63966759e+00] [-4.72047073e-03 1.45762076e-02 9.99882619e-01 3.14003280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.074839173 meters Centerline goodness : 0.877158 Centerline is valid? [False, False] Translation: X:-3.68, Y:5.65, Z:3.13 [[ 9.99968183e-01 -7.93826655e-03 7.85097247e-04 -3.67796559e+00] [ 7.94455524e-03 9.99933490e-01 -8.36061627e-03 5.64697799e+00] [-7.18676229e-04 8.36658751e-03 9.99964741e-01 3.13044406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.104839173 meters Centerline goodness : 0.873673 Centerline is valid? [False, False] Translation: X:-3.66, Y:5.66, Z:3.12 [[ 9.99987976e-01 -4.17713007e-03 -2.56897730e-03 -3.66011825e+00] [ 4.16686131e-03 9.99983360e-01 -3.98966339e-03 5.65586882e+00] [ 2.58559990e-03 3.97891084e-03 9.99988741e-01 3.11623905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.134839173 meters Centerline goodness : 0.861295 Centerline is valid? [False, False] Translation: X:-3.63, Y:5.66, Z:3.11 [[ 9.99923037e-01 1.43927842e-03 -1.23227119e-02 -3.62675436e+00] [-1.28121551e-03 9.99916932e-01 1.28252578e-02 5.66312611e+00] [ 1.23401474e-02 -1.28084826e-02 9.99841819e-01 3.10519569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.164839173 meters Centerline goodness : 0.859527 Centerline is valid? [False, False] Translation: X:-3.62, Y:5.66, Z:3.10 [[ 9.99914398e-01 2.25558854e-04 -1.30822976e-02 -3.62329503e+00] [-6.16080682e-05 9.99921478e-01 1.25313116e-02 5.66193032e+00] [ 1.30840969e-02 -1.25294329e-02 9.99835896e-01 3.10362840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.194839173 meters Centerline goodness : 0.859497 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.66, Z:3.11 [[ 9.99806175e-01 -8.31334460e-03 -1.78466059e-02 -3.59885410e+00] [ 8.33263198e-03 9.99964776e-01 1.00664134e-03 5.65670729e+00] [ 1.78376087e-02 -1.15515543e-03 9.99840230e-01 3.10761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.224839173 meters Centerline goodness : 0.861692 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.11 [[ 9.99758517e-01 -1.19011699e-02 -1.84734690e-02 -3.59938148e+00] [ 1.18652380e-02 9.99927497e-01 -2.05344561e-03 5.65447860e+00] [ 1.84965680e-02 1.83375763e-03 9.99827242e-01 3.11055558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.254839173 meters Centerline goodness : 0.864537 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.12 [[ 0.99988362 -0.00920443 -0.01216687 -3.59532656] [ 0.00908171 0.99990772 -0.01010332 5.65441689] [ 0.01225874 0.00999165 0.99987494 3.11584835] [ 0. 0. 0. 1. ]] SLAMing on 85.284839173 meters Centerline goodness : 0.867960 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.12 [[ 9.99924810e-01 -3.16157828e-03 -1.18481873e-02 -3.59913923e+00] [ 3.10904611e-03 9.99985267e-01 -4.44957193e-03 5.65478814e+00] [ 1.18620804e-02 4.41240081e-03 9.99919908e-01 3.11984293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.314839173 meters Centerline goodness : 0.867393 Centerline is valid? [False, False] Translation: X:-3.61, Y:5.66, Z:3.12 [[ 9.99931444e-01 5.75110892e-03 -1.01996194e-02 -3.60612695e+00] [-5.72261274e-03 9.99979647e-01 2.82083495e-03 5.65687957e+00] [ 1.02156348e-02 -2.76227309e-03 9.99944004e-01 3.12364227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters Centerline goodness : 0.868028 Centerline is valid? [False, False] Translation: X:-3.61, Y:5.65, Z:3.12 [[ 9.99931085e-01 5.86050136e-03 -1.01725450e-02 -3.60581581e+00] [-5.82647189e-03 9.99977342e-01 3.37164498e-03 5.65457130e+00] [ 1.01920741e-02 -3.31214257e-03 9.99942574e-01 3.12340205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.374839173 meters Centerline goodness : 0.867257 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.12 [[ 9.99947601e-01 6.14506829e-04 -1.02184667e-02 -3.60012678e+00] [-6.07263503e-04 9.99999562e-01 7.11934230e-04 5.64711221e+00] [ 1.02188998e-02 -7.05691623e-04 9.99947537e-01 3.11844971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.404839173 meters Centerline goodness : 0.864188 Centerline is valid? [False, False] Translation: X:-3.59, Y:5.64, Z:3.11 [[ 9.99942436e-01 -1.41624385e-03 -1.06357641e-02 -3.59123808e+00] [ 1.44171421e-03 9.99996111e-01 2.38749907e-03 5.64459576e+00] [ 1.06323414e-02 -2.40269537e-03 9.99940588e-01 3.11304784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.434839173 meters Centerline goodness : 0.865844 Centerline is valid? [False, False] Translation: X:-3.59, Y:5.65, Z:3.11 [[ 9.99942326e-01 -1.30203880e-03 -1.06606511e-02 -3.59109916e+00] [ 1.32894843e-03 9.99995948e-01 2.51750619e-03 5.64517642e+00] [ 1.06573301e-02 -2.53152845e-03 9.99940005e-01 3.11298975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.464839173 meters Centerline goodness : 0.865338 Centerline is valid? [False, False] Translation: X:-3.59, Y:5.65, Z:3.11 [[ 9.99942986e-01 -3.92354394e-04 -1.06710703e-02 -3.59249680e+00] [ 4.19714128e-04 9.99996631e-01 2.56179789e-03 5.64656790e+00] [ 1.06700292e-02 -2.56613063e-03 9.99939781e-01 3.11400297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.494839173 meters Centerline goodness : 0.867223 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.11 [[ 0.99991787 0.00699283 -0.01074065 -3.59657338] [-0.00693032 0.9999589 0.00584586 5.6490672 ] [ 0.01078109 -0.00577094 0.99992523 3.11469527] [ 0. 0. 0. 1. ]] SLAMing on 85.524839173 meters Centerline goodness : 0.866900 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.65, Z:3.11 [[ 9.99898175e-01 8.98846950e-03 -1.10836451e-02 -3.59785646e+00] [-8.94618359e-03 9.99952536e-01 3.85885969e-03 5.65427238e+00] [ 1.11178043e-02 -3.75931044e-03 9.99931129e-01 3.11240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.554839173 meters Centerline goodness : 0.863136 Centerline is valid? [False, False] Translation: X:-3.60, Y:5.66, Z:3.11 [[ 9.99877309e-01 1.01543542e-02 -1.19271273e-02 -3.59750477e+00] [-1.01250853e-02 9.99945585e-01 2.51180361e-03 5.65729674e+00] [ 1.19519840e-02 -2.39073226e-03 9.99925714e-01 3.11118295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.584839173 meters Centerline goodness : 0.867828 Centerline is valid? [False, False] Translation: X:-3.58, Y:5.65, Z:3.11 [[ 9.99903078e-01 1.30137099e-03 -1.38615143e-02 -3.58243285e+00] [-1.29451827e-03 9.99999035e-01 5.03331640e-04 5.65198973e+00] [ 1.38621560e-02 -4.85338873e-04 9.99903798e-01 3.10757062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61483917300001 meters Centerline goodness : 0.865249 Centerline is valid? [False, False] Translation: X:-3.58, Y:5.65, Z:3.10 [[ 9.99894541e-01 -3.08365904e-03 -1.41915022e-02 -3.57567930e+00] [ 3.07193035e-03 9.99994922e-01 -8.48183154e-04 5.65014078e+00] [ 1.41940457e-02 8.04498399e-04 9.99898936e-01 3.10353517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters Centerline goodness : 0.862840 Centerline is valid? [False, False] Translation: X:-3.56, Y:5.65, Z:3.11 [[ 0.99974667 -0.01980637 -0.01069141 -3.55846083] [ 0.01996443 0.99968988 0.0148852 5.64666829] [ 0.01039327 -0.01509488 0.99983205 3.10537889] [ 0. 0. 0. 1. ]] SLAMing on 85.674839173 meters Centerline goodness : 0.864273 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.65, Z:3.11 [[ 9.99730635e-01 -2.25364398e-02 -5.54680713e-03 -3.54204021e+00] [ 2.25806956e-02 9.99712616e-01 8.04965480e-03 5.64576181e+00] [ 5.36380251e-03 -8.17273727e-03 9.99952217e-01 3.10572870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters Centerline goodness : 0.870748 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.64, Z:3.11 [[ 9.99620274e-01 -2.74967694e-02 1.79878613e-03 -3.54045849e+00] [ 2.75062897e-02 9.99606492e-01 -5.50131955e-03 5.63755146e+00] [-1.64680978e-03 5.54870849e-03 9.99983250e-01 3.11471408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.734839173 meters Centerline goodness : 0.875391 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.63, Z:3.12 [[ 9.99659763e-01 -2.60570705e-02 1.17756914e-03 -3.54234552e+00] [ 2.60612424e-02 9.99653581e-01 -3.67836073e-03 5.63387289e+00] [-1.08131390e-03 3.70779813e-03 9.99992541e-01 3.11912821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.764839173 meters Centerline goodness : 0.875014 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.64, Z:3.12 [[ 9.99905224e-01 -1.37571172e-02 -5.33114417e-04 -3.53913391e+00] [ 1.37599567e-02 9.99888796e-01 5.74968772e-03 5.63949254e+00] [ 4.53956004e-04 -5.75647842e-03 9.99983328e-01 3.11544962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.794839173 meters Centerline goodness : 0.869403 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.64, Z:3.11 [[ 9.99981714e-01 -5.92931879e-03 -1.18943656e-03 -3.53682826e+00] [ 5.94299367e-03 9.99912206e-01 1.18432265e-02 5.64441807e+00] [ 1.11910986e-03 -1.18500787e-02 9.99929159e-01 3.11215096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.824839173 meters Centerline goodness : 0.869991 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.65, Z:3.11 [[ 9.99962081e-01 8.65460466e-03 -9.66570970e-04 -3.53946342e+00] [-8.62886050e-03 9.99673522e-01 2.40497787e-02 5.64687091e+00] [ 1.17439673e-03 -2.40405264e-02 9.99710295e-01 3.11242926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.854839173 meters Centerline goodness : 0.866167 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.65, Z:3.11 [[ 9.99904921e-01 1.37313137e-02 -1.26467582e-03 -3.53920185e+00] [-1.36910661e-02 9.99523169e-01 2.76765063e-02 5.64831506e+00] [ 1.64410758e-03 -2.76565601e-02 9.99616132e-01 3.11120643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.884839173 meters Centerline goodness : 0.866227 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.65, Z:3.11 [[ 9.99947349e-01 1.01770842e-02 -1.31390418e-03 -3.53932813e+00] [-1.01438835e-02 9.99679542e-01 2.31929871e-02 5.65003811e+00] [ 1.54952011e-03 -2.31784379e-02 9.99730143e-01 3.11017175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.914839173 meters Centerline goodness : 0.873380 Centerline is valid? [False, False] Translation: X:-3.53, Y:5.65, Z:3.11 [[ 0.99996519 0.00597974 0.00581948 -3.53152879] [-0.00604561 0.99991711 0.011368 5.64789074] [-0.00575102 -0.01140278 0.99991845 3.11266246] [ 0. 0. 0. 1. ]] SLAMing on 85.944839173 meters Centerline goodness : 0.873887 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.64, Z:3.12 [[ 9.99974600e-01 3.37900702e-03 6.27544614e-03 -3.53544932e+00] [-3.44564394e-03 9.99937474e-01 1.06383939e-02 5.64268074e+00] [-6.23910656e-03 -1.06597466e-02 9.99923719e-01 3.11907954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.974839173 meters Centerline goodness : 0.878485 Centerline is valid? [False, False] Translation: X:-3.54, Y:5.64, Z:3.12 [[ 9.99983519e-01 -8.07296177e-04 5.68420489e-03 -3.53517891e+00] [ 7.51786071e-04 9.99952077e-01 9.76105009e-03 5.63576893e+00] [-5.69181254e-03 -9.75661591e-03 9.99936204e-01 3.12422328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters Centerline goodness : 0.880981 Centerline is valid? [False, False] Translation: X:-3.53, Y:5.63, Z:3.12 [[ 9.99987279e-01 -1.72165806e-03 4.74115002e-03 -3.53160218e+00] [ 1.67497854e-03 9.99950261e-01 9.83204459e-03 5.63378952e+00] [-4.75784162e-03 -9.82397819e-03 9.99940424e-01 3.12293770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.034839173 meters Centerline goodness : 0.877696 Centerline is valid? [False, False] Translation: X:-3.53, Y:5.63, Z:3.12 [[ 9.99986094e-01 -1.81879327e-03 4.95013117e-03 -3.52673400e+00] [ 1.76591364e-03 9.99941558e-01 1.06659584e-02 5.63059883e+00] [-4.96924105e-03 -1.06570685e-02 9.99930864e-01 3.11725135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters Centerline goodness : 0.877270 Centerline is valid? [False, False] Translation: X:-3.52, Y:5.63, Z:3.11 [[ 9.99985659e-01 -2.46001431e-03 4.75712555e-03 -3.52413900e+00] [ 2.41341349e-03 9.99949291e-01 9.77705690e-03 5.63143348e+00] [-4.78093603e-03 -9.76543578e-03 9.99940888e-01 3.11402494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.094839173 meters Centerline goodness : 0.872845 Centerline is valid? [False, False] Translation: X:-3.52, Y:5.63, Z:3.11 [[ 9.99988050e-01 -2.10454533e-03 4.41267012e-03 -3.52286302e+00] [ 2.05779745e-03 9.99941998e-01 1.05719215e-02 5.62633587e+00] [-4.43466327e-03 -1.05627148e-02 9.99934379e-01 3.11344459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.124839173 meters Centerline goodness : 0.152217 Centerline is valid? [False, False] Translation: X:-3.53, Y:5.62, Z:3.12 [[ 9.99992936e-01 -1.23396884e-03 3.55028352e-03 -3.52540494e+00] [ 1.19596931e-03 9.99942193e-01 1.06855270e-02 5.61971569e+00] [-3.56326390e-03 -1.06812055e-02 9.99936605e-01 3.11709097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.154839173 meters Centerline goodness : 0.141394 Centerline is valid? [False, False] Translation: X:-3.52, Y:5.61, Z:3.12 [[ 9.99956651e-01 6.36664086e-04 9.28929366e-03 -3.51624694e+00] [-6.64434704e-04 9.99995319e-01 2.98674973e-03 5.61325132e+00] [-9.28734862e-03 -2.99279239e-03 9.99952393e-01 3.11815718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.184839173 meters Centerline goodness : 0.143269 Centerline is valid? [False, False] Translation: X:-3.51, Y:5.61, Z:3.12 [[ 9.99959528e-01 -3.06044266e-05 8.99679324e-03 -3.51395750e+00] [ 8.71221205e-06 9.99997039e-01 2.43336441e-03 5.61450350e+00] [-8.99684108e-03 -2.43318755e-03 9.99956567e-01 3.11625056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.214839173 meters Centerline goodness : 0.136107 Centerline is valid? [False, False] Translation: X:-3.49, Y:5.62, Z:3.10 [[ 9.99972352e-01 2.48787768e-03 7.00749806e-03 -3.49458919e+00] [-2.53572054e-03 9.99973482e-01 6.82679135e-03 5.62485776e+00] [-6.99032802e-03 -6.84437166e-03 9.99952144e-01 3.10066171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.244839173 meters Centerline goodness : 0.131814 Centerline is valid? [False, False] Translation: X:-3.49, Y:5.63, Z:3.09 [[ 9.99973441e-01 3.91423855e-03 6.14788756e-03 -3.48777872e+00] [-3.94563100e-03 9.99979198e-01 5.10241669e-03 5.63345921e+00] [-6.12778760e-03 -5.12653847e-03 9.99968084e-01 3.09005380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.274839173 meters Centerline goodness : 0.121732 Centerline is valid? [False, False] Translation: X:-3.48, Y:5.64, Z:3.08 [[ 9.99955909e-01 8.60670964e-03 3.75554768e-03 -3.48345677e+00] [-8.62483370e-03 9.99951108e-01 4.83673449e-03 5.64118215e+00] [-3.71373570e-03 -4.86891221e-03 9.99981251e-01 3.08417307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.304839173 meters Centerline goodness : 0.121622 Centerline is valid? [False, False] Translation: X:-3.47, Y:5.64, Z:3.08 [[ 9.99889017e-01 1.28557482e-02 7.52889108e-03 -3.47309022e+00] [-1.28224765e-02 9.99907882e-01 -4.45093192e-03 5.64329724e+00] [-7.58541760e-03 4.35389891e-03 9.99961752e-01 3.08180771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.334839173 meters Centerline goodness : 0.124315 Centerline is valid? [False, False] Translation: X:-3.47, Y:5.64, Z:3.09 [[ 0.99974901 0.01896635 0.01192484 -3.46663817] [-0.01884442 0.99976983 -0.01025549 5.64125712] [-0.0121166 0.0100282 0.9998763 3.08748576] [ 0. 0. 0. 1. ]] SLAMing on 86.36483917300001 meters Centerline goodness : 0.124782 Centerline is valid? [False, False] Translation: X:-3.47, Y:5.64, Z:3.09 [[ 0.99973056 0.01994229 0.01187917 -3.46840952] [-0.01983685 0.99976336 -0.0089287 5.63918558] [-0.01205442 0.00869065 0.99988958 3.09011326] [ 0. 0. 0. 1. ]] SLAMing on 86.394839173 meters Centerline goodness : 0.123406 Centerline is valid? [False, False] Translation: X:-3.47, Y:5.63, Z:3.09 [[ 9.99781579e-01 1.32179057e-02 1.61889219e-02 -3.46989007e+00] [-1.32551783e-02 9.99909732e-01 2.19721226e-03 5.63466606e+00] [-1.61584180e-02 -2.41131939e-03 9.99866537e-01 3.08517792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters Centerline goodness : 0.133555 Centerline is valid? [False, False] Translation: X:-3.45, Y:5.63, Z:3.08 [[ 9.99810675e-01 5.16427746e-04 1.94511681e-02 -3.45053195e+00] [-9.09395382e-04 9.99795559e-01 2.01993547e-02 5.62919985e+00] [-1.94367600e-02 -2.02132193e-02 9.99606742e-01 3.08373412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.454839173 meters Centerline goodness : 0.123554 Centerline is valid? [False, False] Translation: X:-3.45, Y:5.63, Z:3.08 [[ 9.99791749e-01 -3.43772183e-03 2.01156998e-02 -3.45076096e+00] [ 3.09355651e-03 9.99848734e-01 1.71154642e-02 5.62889740e+00] [-2.01714952e-02 -1.70496709e-02 9.99651149e-01 3.08375471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.484839173 meters Centerline goodness : 0.133198 Centerline is valid? [False, False] Translation: X:-3.44, Y:5.62, Z:3.09 [[ 9.99627922e-01 -3.16820794e-03 2.70920840e-02 -3.44328293e+00] [ 2.85079635e-03 9.99926942e-01 1.17466361e-02 5.62428125e+00] [-2.71273205e-02 -1.16650314e-02 9.99563923e-01 3.09169307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.514839173 meters Centerline goodness : 0.136103 Centerline is valid? [False, False] Translation: X:-3.44, Y:5.62, Z:3.10 [[ 9.99815301e-01 2.92620908e-04 1.92166281e-02 -3.43677428e+00] [-4.20339679e-04 9.99977850e-01 6.64256061e-03 5.62122398e+00] [-1.92142587e-02 -6.64941124e-03 9.99793277e-01 3.10005390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.544839173 meters Centerline goodness : 0.355759 Centerline is valid? [False, False] Translation: X:-3.42, Y:5.62, Z:3.10 [[ 9.99924991e-01 7.53048409e-03 9.65943123e-03 -3.42333424e+00] [-7.50991969e-03 9.99969460e-01 -2.16345327e-03 5.62099874e+00] [-9.67542808e-03 2.09074944e-03 9.99951006e-01 3.09719210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.574839173 meters Centerline goodness : 0.330577 Centerline is valid? [False, False] Translation: X:-3.42, Y:5.62, Z:3.10 [[ 9.99897917e-01 1.11962394e-02 8.87696443e-03 -3.42129271e+00] [-1.12110093e-02 9.99935849e-01 1.61582962e-03 5.62015663e+00] [-8.85830375e-03 -1.71518440e-03 9.99959293e-01 3.09702055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.604839173 meters Centerline goodness : 0.785251 Centerline is valid? [False, False] Translation: X:-3.42, Y:5.62, Z:3.09 [[ 9.99876213e-01 1.34669320e-02 8.13633402e-03 -3.41516390e+00] [-1.35040570e-02 9.99898576e-01 4.52528251e-03 5.62261564e+00] [-8.07456713e-03 -4.63459586e-03 9.99956660e-01 3.09410797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.634839173 meters Centerline goodness : 0.111879 Centerline is valid? [False, False] Translation: X:-3.42, Y:5.62, Z:3.09 [[ 9.99924891e-01 1.20753209e-02 2.09749732e-03 -3.42090127e+00] [-1.21003608e-02 9.99850315e-01 1.23664530e-02 5.62409865e+00] [-1.94785446e-03 -1.23909047e-02 9.99921333e-01 3.08925398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.664839173 meters Centerline goodness : 0.210254 Centerline is valid? [False, False] Translation: X:-3.40, Y:5.63, Z:3.08 [[ 9.99863855e-01 1.64772975e-02 -8.77511320e-04 -3.40123420e+00] [-1.64310813e-02 9.99117719e-01 3.86497596e-02 5.63466002e+00] [ 1.51358069e-03 -3.86300791e-02 9.99252434e-01 3.07924075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.694839173 meters Centerline goodness : 0.210254 Centerline is valid? [False, False] Translation: X:-3.40, Y:5.63, Z:3.08 [[ 9.99863855e-01 1.64772975e-02 -8.77511320e-04 -3.40123420e+00] [-1.64310813e-02 9.99117719e-01 3.86497596e-02 5.63466002e+00] [ 1.51358069e-03 -3.86300791e-02 9.99252434e-01 3.07924075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.724839173 meters Centerline goodness : 0.206234 Centerline is valid? [False, False] Translation: X:-3.40, Y:5.64, Z:3.08 [[ 9.99835345e-01 1.80836693e-02 1.50473243e-03 -3.40265770e+00] [-1.81325863e-02 9.98853642e-01 4.43013744e-02 5.64275544e+00] [-7.01876062e-04 -4.43213646e-02 9.99017079e-01 3.07614210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.754839173 meters Centerline goodness : 0.413538 Centerline is valid? [False, False] Translation: X:-3.39, Y:5.66, Z:3.09 [[ 9.99893756e-01 1.35719423e-02 -5.31789722e-03 -3.39361671e+00] [-1.34828486e-02 9.99773849e-01 1.64457688e-02 5.65625810e+00] [ 5.53989559e-03 -1.63723211e-02 9.99850617e-01 3.08535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters Centerline goodness : 0.221302 Centerline is valid? [False, False] Translation: X:-3.39, Y:5.66, Z:3.08 [[ 9.99929203e-01 1.17084556e-02 -2.12178407e-03 -3.38995367e+00] [-1.17159597e-02 9.99925030e-01 -3.55950204e-03 5.65514423e+00] [ 2.07994873e-03 3.58410878e-03 9.99991414e-01 3.08367188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.814839173 meters Centerline goodness : 0.178184 Centerline is valid? [False, False] Translation: X:-3.37, Y:5.66, Z:3.08 [[ 9.99984713e-01 5.36799747e-03 1.32586992e-03 -3.37184481e+00] [-5.33735677e-03 9.99741012e-01 -2.21228673e-02 5.65598927e+00] [-1.44428203e-03 2.21154525e-02 9.99754380e-01 3.07772944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters Centerline goodness : 0.182682 Centerline is valid? [False, False] Translation: X:-3.36, Y:5.66, Z:3.08 [[ 9.99991171e-01 3.64436058e-03 2.09179683e-03 -3.36143366e+00] [-3.60987953e-03 9.99861321e-01 -1.62575638e-02 5.65568365e+00] [-2.15075516e-03 1.62498691e-02 9.99865649e-01 3.07916455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.874839173 meters Centerline goodness : 0.183338 Centerline is valid? [False, False] Translation: X:-3.33, Y:5.65, Z:3.08 [[ 9.99948501e-01 -1.03677216e-03 1.00955800e-02 -3.32982958e+00] [ 1.05370529e-03 9.99998047e-01 -1.67210781e-03 5.65358540e+00] [-1.00938267e-02 1.68265946e-03 9.99947640e-01 3.07563123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.904839173 meters Centerline goodness : 0.150190 Centerline is valid? [False, False] Translation: X:-3.32, Y:5.65, Z:3.07 [[ 9.99946858e-01 -3.17038088e-03 9.80964657e-03 -3.31785248e+00] [ 3.15193799e-03 9.99993237e-01 1.89496553e-03 5.65271703e+00] [-9.81558799e-03 -1.86394543e-03 9.99950089e-01 3.07178460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.934839173 meters Centerline goodness : 0.139876 Centerline is valid? [False, False] Translation: X:-3.29, Y:5.65, Z:3.07 [[ 0.99992814 -0.00782866 0.00907863 -3.28950167] [ 0.00773281 0.9999145 0.01054518 5.64788822] [-0.00916041 -0.01047422 0.99990318 3.06762307] [ 0. 0. 0. 1. ]] SLAMing on 86.964839173 meters Centerline goodness : 0.204414 Centerline is valid? [False, False] Translation: X:-3.28, Y:5.65, Z:3.06 [[ 0.99990808 -0.00991971 0.00924338 -3.28406881] [ 0.0098278 0.99990233 0.00993666 5.64664765] [-0.00934105 -0.00984491 0.99990791 3.06441719] [ 0. 0. 0. 1. ]] SLAMing on 86.994839173 meters Centerline goodness : 0.221892 Centerline is valid? [False, False] Translation: X:-3.26, Y:5.64, Z:3.06 [[ 9.99824116e-01 -1.15509347e-02 1.47754102e-02 -3.26197503e+00] [ 1.15163898e-02 9.99930753e-01 2.42095233e-03 5.64264806e+00] [-1.48023513e-02 -2.25036714e-03 9.99887907e-01 3.06291094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.024839173 meters Centerline goodness : 0.249925 Centerline is valid? [False, False] Translation: X:-3.25, Y:5.64, Z:3.07 [[ 9.99930313e-01 -9.03833221e-03 7.59453415e-03 -3.24544879e+00] [ 9.06019885e-03 9.99954895e-01 -2.84980502e-03 5.63979987e+00] [-7.56843412e-03 2.91841442e-03 9.99967100e-01 3.06637940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.054839173 meters Centerline goodness : 0.251272 Centerline is valid? [False, False] Translation: X:-3.23, Y:5.64, Z:3.06 [[ 9.99938870e-01 -1.01846524e-02 4.30456652e-03 -3.22927465e+00] [ 1.02043084e-02 9.99937495e-01 -4.56928387e-03 5.63587716e+00] [-4.25776089e-03 4.61292967e-03 9.99980296e-01 3.06034185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.084839173 meters Centerline goodness : 0.254902 Centerline is valid? [False, False] Translation: X:-3.21, Y:5.64, Z:3.05 [[ 9.99958607e-01 -9.07175112e-03 6.98778792e-04 -3.21272243e+00] [ 9.07342082e-03 9.99955896e-01 -2.42454609e-03 5.63533086e+00] [-6.76753095e-04 2.43078604e-03 9.99996817e-01 3.05361575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11483917300001 meters Centerline goodness : 0.254115 Centerline is valid? [False, False] Translation: X:-3.21, Y:5.63, Z:3.05 [[ 9.99939876e-01 -1.09536665e-02 -5.12234476e-04 -3.20612307e+00] [ 1.09519277e-02 9.99934638e-01 -3.28245922e-03 5.63169531e+00] [ 5.48155959e-04 3.27665191e-03 9.99994482e-01 3.05055252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters Centerline goodness : 0.261829 Centerline is valid? [False, False] Translation: X:-3.18, Y:5.62, Z:3.05 [[ 9.99846537e-01 -1.73256588e-02 -2.59292081e-03 -3.17922257e+00] [ 1.72855738e-02 9.99741695e-01 -1.47564553e-02 5.61909880e+00] [ 2.84791635e-03 1.47093706e-02 9.99887756e-01 3.05090110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.174839173 meters Centerline goodness : 0.257853 Centerline is valid? [False, False] Translation: X:-3.17, Y:5.61, Z:3.05 [[ 9.99714910e-01 -2.35075786e-02 -4.18233719e-03 -3.17117248e+00] [ 2.34376834e-02 9.99596581e-01 -1.60421458e-02 5.60994183e+00] [ 4.55776196e-03 1.59395480e-02 9.99862569e-01 3.05364624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters Centerline goodness : 0.268499 Centerline is valid? [False, False] Translation: X:-3.14, Y:5.60, Z:3.06 [[ 9.99527396e-01 -3.05723550e-02 -3.21168432e-03 -3.14182409e+00] [ 3.05557817e-02 9.99520110e-01 -5.08851072e-03 5.60169701e+00] [ 3.36571082e-03 4.98797034e-03 9.99981896e-01 3.05724338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.234839173 meters Centerline goodness : 0.266868 Centerline is valid? [False, False] Translation: X:-3.13, Y:5.61, Z:3.05 [[ 9.99559918e-01 -2.95568659e-02 -2.52219393e-03 -3.12806099e+00] [ 2.95640755e-02 9.99558765e-01 2.87070861e-03 5.60854394e+00] [ 2.43623190e-03 -2.94401160e-03 9.99992699e-01 3.05494653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.264839173 meters Centerline goodness : 0.264616 Centerline is valid? [False, False] Translation: X:-3.09, Y:5.63, Z:3.05 [[ 0.99964669 -0.02588941 0.00601939 -3.09455722] [ 0.02567205 0.99910059 0.03374839 5.62846468] [-0.0068877 -0.03358193 0.99941223 3.04837336] [ 0. 0. 0. 1. ]] Total time of SLAM: 5883.58 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%| | 0/2901 [00:00