+ python -m lidar_slam --result /working/result.json --no-model /working/4a106c8e-eac2-4c71-a174-06839b0a960f Lidar SLAM 0.0.16 ===================================================== The recording path: /working/4a106c8e-eac2-4c71-a174-06839b0a960f The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.003426265 Adjusted end_distance from 9.223372036854776e+18 to 42.248706265 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003426265 meters Centerline goodness : 0.089154 with order 1 Centerline is valid? [0, False] SLAMing on 0.063426265 meters Centerline goodness : 0.116753 with order 2 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.01 [[ 9.99949783e-01 -7.65894870e-04 9.99224788e-03 -2.96306647e-02] [ 8.11647386e-04 9.99989203e-01 -4.57554973e-03 -1.17491326e-03] [-9.98863560e-03 4.58343014e-03 9.99939608e-01 -1.25848731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123426265 meters Centerline goodness : 0.144195 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.99874828e-01 -5.64960203e-05 1.58216674e-02 -5.52971609e-02] [-1.65901481e-05 9.99989331e-01 4.61920272e-03 -2.49975300e-03] [-1.58217595e-02 -4.61888701e-03 9.99864160e-01 -2.01588978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183426265 meters Centerline goodness : 0.378250 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.99836589e-01 -4.41337932e-03 1.75304933e-02 -6.02298867e-02] [ 4.41983542e-03 9.99990178e-01 -3.29551372e-04 -1.18483049e-03] [-1.75288667e-02 4.06979415e-04 9.99846275e-01 -2.30432124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243426265 meters Centerline goodness : 0.092558 with order 2 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:-0.02 [[ 9.99791617e-01 -5.66600655e-04 2.04059253e-02 -7.00489501e-02] [ 4.86994022e-04 9.99992253e-01 3.90591086e-03 -6.96059734e-04] [-2.04079803e-02 -3.89515937e-03 9.99784148e-01 -2.38318317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303426265 meters Centerline goodness : 0.137281 with order 3 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.00, Z:-0.03 [[ 9.99746560e-01 -8.89202796e-04 2.24950103e-02 -7.63929497e-02] [ 8.04585556e-04 9.99992568e-01 3.77037152e-03 -2.13187305e-03] [-2.24981958e-02 -3.75131679e-03 9.99739846e-01 -2.57277775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36342626499999997 meters Centerline goodness : 0.141151 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.00, Z:-0.03 [[ 0.99967729 0.00276697 0.02525176 -0.08480768] [-0.00295206 0.99996903 0.00729549 -0.00121333] [-0.02523079 -0.00736768 0.9996545 -0.02977887] [ 0. 0. 0. 1. ]] SLAMing on 0.42342626499999997 meters Centerline goodness : 0.272695 with order 2 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.00, Z:-0.03 [[ 0.99954228 -0.00480666 0.02986851 -0.07550019] [ 0.00451516 0.9999416 0.00981931 0.00283193] [-0.02991396 -0.00967995 0.9995056 -0.03166994] [ 0. 0. 0. 1. ]] SLAMing on 0.48342626499999997 meters Centerline goodness : 0.130730 with order 3 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.00, Z:-0.03 [[ 0.99946769 -0.00459134 0.03229941 -0.08372379] [ 0.004273 0.99994168 0.00991818 0.00484295] [-0.03234307 -0.00977489 0.99942903 -0.03404587] [ 0. 0. 0. 1. ]] SLAMing on 0.543426265 meters Centerline goodness : 0.254703 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.01, Z:-0.04 [[ 0.99942687 -0.0045576 0.03354329 -0.0884829 ] [ 0.0042415 0.99994598 0.00948896 0.00812637] [-0.03358472 -0.00934125 0.99939222 -0.03595937] [ 0. 0. 0. 1. ]] SLAMing on 0.603426265 meters Centerline goodness : 0.187928 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.01, Z:-0.04 [[ 0.99937648 -0.00463571 0.03500224 -0.09393453] [ 0.00430167 0.99994455 0.0096125 0.00817502] [-0.03504486 -0.00945593 0.999341 -0.03594932] [ 0. 0. 0. 1. ]] SLAMing on 0.6634262649999999 meters Centerline goodness : 0.162246 with order 3 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:-0.03 [[ 0.99931132 -0.00491772 0.03677923 -0.10125575] [ 0.00457849 0.99994626 0.00930175 0.00919524] [-0.036823 -0.00912695 0.99928012 -0.03403559] [ 0. 0. 0. 1. ]] SLAMing on 0.723426265 meters Centerline goodness : 0.086760 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.01, Z:-0.04 [[ 0.99929225 -0.00666362 0.03702143 -0.0596952 ] [ 0.00633788 0.99994023 0.0089091 0.01024189] [-0.03707858 -0.00866816 0.99927476 -0.03775267] [ 0. 0. 0. 1. ]] SLAMing on 0.783426265 meters Centerline goodness : 0.085123 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.01, Z:-0.04 [[ 0.99928207 -0.0037003 0.03770486 -0.06261051] [ 0.00323119 0.99991671 0.01249514 0.00949143] [-0.03774796 -0.01236434 0.9992108 -0.03779668] [ 0. 0. 0. 1. ]] SLAMing on 0.843426265 meters Centerline goodness : 0.157837 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.01, Z:-0.03 [[ 9.99340339e-01 5.42365369e-04 3.63124269e-02 -9.04806316e-02] [-7.81872363e-04 9.99978034e-01 6.58185524e-03 6.10642639e-03] [-3.63080595e-02 -6.60590513e-03 9.99318811e-01 -3.27433654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9034262649999999 meters Centerline goodness : 0.122515 with order 3 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:-0.03 [[ 0.99926578 0.00228153 0.03824516 -0.05132823] [-0.00265051 0.99995041 0.00959978 0.00867542] [-0.03822136 -0.0096941 0.99922227 -0.03280645] [ 0. 0. 0. 1. ]] SLAMing on 0.963426265 meters Centerline goodness : 0.092329 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:-0.03 [[ 0.99926128 0.0014818 0.03840185 -0.05214818] [-0.00182451 0.99995881 0.00889081 0.00643655] [-0.03838709 -0.0089543 0.99922282 -0.0324963 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0234262650000001 meters Centerline goodness : 0.139619 with order 3 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.03 [[ 0.99933127 -0.0032825 0.03641762 -0.0301103 ] [ 0.00275404 0.99989032 0.01455179 0.00697539] [-0.03646139 -0.01444177 0.99923071 -0.03114654] [ 0. 0. 0. 1. ]] SLAMing on 1.0834262650000002 meters Centerline goodness : 0.109499 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.9992809 -0.00635024 0.03738132 0.01237189] [ 0.00593966 0.99992093 0.01108426 0.0089331 ] [-0.03744875 -0.01085426 0.9992396 -0.03167886] [ 0. 0. 0. 1. ]] SLAMing on 1.143426265 meters Centerline goodness : 0.111971 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99926649 -0.00286064 0.03818768 0.00861243] [ 0.0022793 0.99988099 0.01525821 0.00805353] [-0.03822678 -0.01515997 0.99915409 -0.03009749] [ 0. 0. 0. 1. ]] SLAMing on 1.203426265 meters Centerline goodness : 0.087084 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99926941 -0.00642947 0.03767358 0.01017771] [ 0.00601858 0.99992128 0.0110097 0.00888724] [-0.0377414 -0.01077491 0.99922945 -0.03233204] [ 0. 0. 0. 1. ]] SLAMing on 1.263426265 meters Centerline goodness : 0.131118 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99927147 -0.00296724 0.03804894 0.00838288] [ 0.00239169 0.99988217 0.01516316 0.00780265] [-0.03808945 -0.01506111 0.99916083 -0.03197829] [ 0. 0. 0. 1. ]] SLAMing on 1.323426265 meters Centerline goodness : 0.241870 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 0.99924892 -0.00638012 0.03822151 0.0542078 ] [ 0.0059341 0.99991311 0.01177143 0.01060811] [-0.03829329 -0.01153578 0.99919995 -0.0336858 ] [ 0. 0. 0. 1. ]] SLAMing on 1.383426265 meters Centerline goodness : 0.150414 with order 3 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.03 [[ 0.99924151 -0.0051083 0.03860461 0.0014744 ] [ 0.0045895 0.99989813 0.01351554 0.00932862] [-0.03866972 -0.01332811 0.99916316 -0.02886736] [ 0. 0. 0. 1. ]] SLAMing on 1.443426265 meters Centerline goodness : 0.133008 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99926257 -0.00772931 0.0376107 0.00673138] [ 0.00733995 0.99991815 0.01047956 0.00845186] [-0.03768862 -0.01019577 0.99923752 -0.0338269 ] [ 0. 0. 0. 1. ]] SLAMing on 1.503426265 meters Centerline goodness : 0.076430 with order 1 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.03 [[ 0.99920959 -0.005553 0.03936202 -0.00224226] [ 0.00503371 0.99989915 0.01327946 0.00909252] [-0.03943179 -0.01307083 0.99913677 -0.02776844] [ 0. 0. 0. 1. ]] SLAMing on 1.5634262650000001 meters Centerline goodness : 0.125070 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:-0.03 [[ 0.99936275 -0.00152446 0.03566199 -0.02313016] [ 0.00127912 0.99997537 0.00690136 0.00839371] [-0.03567163 -0.00685135 0.99934008 -0.02722069] [ 0. 0. 0. 1. ]] SLAMing on 1.623426265 meters Centerline goodness : 0.119723 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:-0.03 [[ 0.9993465 0.00238875 0.03606744 -0.02493263] [-0.00278114 0.99993745 0.01083315 0.01035205] [-0.03603931 -0.01092638 0.99929064 -0.02679614] [ 0. 0. 0. 1. ]] SLAMing on 1.683426265 meters Centerline goodness : 0.125252 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:-0.03 [[ 0.99934908 0.00212758 0.03601229 -0.02445316] [-0.00249731 0.99994461 0.01022481 0.00981704] [-0.03598854 -0.01030809 0.99929904 -0.02793622] [ 0. 0. 0. 1. ]] SLAMing on 1.743426265 meters Centerline goodness : 0.122241 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.03 [[ 0.99930474 0.00583843 0.03682325 -0.02808729] [-0.00635756 0.99988183 0.01399677 0.0112856 ] [-0.03673718 -0.01422115 0.99922377 -0.02620116] [ 0. 0. 0. 1. ]] SLAMing on 1.803426265 meters Centerline goodness : 0.076208 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.03 [[ 0.99930877 0.00288604 0.03706272 -0.02848111] [-0.00325812 0.99994486 0.00998292 0.01427237] [-0.03703186 -0.01009677 0.99926308 -0.02740516] [ 0. 0. 0. 1. ]] SLAMing on 1.863426265 meters Centerline goodness : 0.111909 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.02, Z:-0.02 [[ 9.99385968e-01 5.93713567e-04 3.50333222e-02 -5.65934303e-02] [-1.19416774e-03 9.99852710e-01 1.71210815e-02 1.61491494e-02] [-3.50179971e-02 -1.71524043e-02 9.99239478e-01 -2.32498551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.923426265 meters Centerline goodness : 0.110252 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.02, Z:-0.02 [[ 9.99356086e-01 -1.42814338e-03 3.58521074e-02 -6.17915078e-02] [ 9.08434077e-04 9.99894340e-01 1.45080275e-02 1.64686675e-02] [-3.58690388e-02 -1.44661163e-02 9.99251792e-01 -1.98552599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983426265 meters Centerline goodness : 0.108735 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.02, Z:-0.01 [[ 0.99950173 -0.00589679 0.03100852 -0.08783414] [ 0.00533045 0.99981805 0.01831526 0.01551073] [-0.03111088 -0.01814084 0.9993513 -0.01461716] [ 0. 0. 0. 1. ]] SLAMing on 2.043426265 meters Centerline goodness : 0.213539 with order 3 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.02, Z:-0.02 [[ 9.99362288e-01 -7.95756376e-04 3.56985132e-02 -6.71195850e-02] [ 2.52127216e-04 9.99883981e-01 1.52302595e-02 1.84311798e-02] [-3.57064911e-02 -1.52115465e-02 9.99246544e-01 -1.73955132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.103426265 meters Centerline goodness : 0.188934 with order 3 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.02, Z:-0.01 [[ 0.99947659 0.00211699 0.03228094 -0.09570788] [-0.00241608 0.99995449 0.00922899 0.01924202] [-0.03225993 -0.00930216 0.99943622 -0.00991975] [ 0. 0. 0. 1. ]] SLAMing on 2.163426265 meters Centerline goodness : 0.179352 with order 3 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.02, Z:-0.01 [[ 0.99961556 -0.00330877 0.02752791 -0.12017771] [ 0.0029768 0.99992246 0.01209161 0.01806361] [-0.02756579 -0.01200502 0.9995479 -0.00710256] [ 0. 0. 0. 1. ]] SLAMing on 2.2234262649999996 meters Centerline goodness : 0.079853 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:-0.00 [[ 0.99958776 -0.00150557 0.02867127 -0.12742452] [ 0.00109612 0.99989727 0.01429135 0.01875846] [-0.02868985 -0.01425403 0.99948673 -0.00192454] [ 0. 0. 0. 1. ]] SLAMing on 2.2834262649999997 meters Centerline goodness : 0.082221 with order 2 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:-0.01 [[ 0.99956011 -0.0052497 0.02918937 -0.12820592] [ 0.00498716 0.99994652 0.00906023 0.02148289] [-0.02923538 -0.00891067 0.99953284 -0.00586944] [ 0. 0. 0. 1. ]] SLAMing on 2.3434262649999997 meters Centerline goodness : 0.084749 with order 3 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.02, Z:-0.00 [[ 0.99955561 -0.00307035 0.02965061 -0.13179108] [ 0.00273871 0.99993331 0.01121923 0.02216424] [-0.02968308 -0.01113304 0.99949736 -0.00319532] [ 0. 0. 0. 1. ]] SLAMing on 2.403426265 meters Centerline goodness : 0.084315 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.02, Z:0.00 [[ 0.99967096 0.00264526 0.02551432 -0.15824827] [-0.00285047 0.99996386 0.00800985 0.02437639] [-0.02549221 -0.00807994 0.99964237 0.00291149] [ 0. 0. 0. 1. ]] SLAMing on 2.463426265 meters Centerline goodness : 0.092917 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.02, Z:0.01 [[ 0.9996689 0.00258837 0.02560074 -0.15956294] [-0.00281815 0.99995603 0.00894369 0.02241998] [-0.02557647 -0.00901287 0.99963224 0.0063705 ] [ 0. 0. 0. 1. ]] SLAMing on 2.523426265 meters Centerline goodness : 0.086736 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.02, Z:0.01 [[ 0.99971069 0.00551402 0.02341238 -0.17937695] [-0.00559168 0.99997908 0.00325282 0.01601294] [-0.02339396 -0.00338279 0.9997206 0.00816851] [ 0. 0. 0. 1. ]] SLAMing on 2.583426265 meters Centerline goodness : 0.088148 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.01, Z:0.01 [[ 0.99972838 0.0044746 0.0228722 -0.1774861 ] [-0.004582 0.99997871 0.00464516 0.0106992 ] [-0.02285092 -0.0047487 0.99972761 0.01123649] [ 0. 0. 0. 1. ]] SLAMing on 2.6434262649999996 meters Centerline goodness : 0.089777 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.01, Z:0.01 [[ 9.99799887e-01 -7.34189067e-04 1.99911465e-02 -2.16490219e-01] [ 6.91744434e-04 9.99997492e-01 2.13000385e-03 8.27282623e-03] [-1.99926602e-02 -2.11574885e-03 9.99797888e-01 1.28812424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7034262649999996 meters Centerline goodness : 0.096459 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.01, Z:0.01 [[ 0.99975796 0.00202957 0.02190666 -0.17769743] [-0.00208235 0.99999498 0.00238681 0.0092546 ] [-0.0219017 -0.00243185 0.99975717 0.0102545 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7634262649999997 meters Centerline goodness : 0.090737 with order 3 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.01, Z:0.01 [[ 0.99972495 0.00251152 0.02331789 -0.18363724] [-0.0025657 0.99999408 0.00229389 0.01142217] [-0.02331199 -0.00235308 0.99972547 0.01337451] [ 0. 0. 0. 1. ]] SLAMing on 2.8234262649999997 meters Centerline goodness : 0.106410 with order 1 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.02, Z:0.02 [[ 0.99978015 0.01008491 0.01838311 -0.21013416] [-0.01010649 0.99994834 0.00108142 0.01689574] [-0.01837126 -0.00126697 0.99983043 0.01738262] [ 0. 0. 0. 1. ]] SLAMing on 2.8834262649999998 meters Centerline goodness : 0.459757 with order 1 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.02, Z:0.02 [[ 9.99769762e-01 1.01471727e-02 1.89065580e-02 -2.12297459e-01] [-1.01635231e-02 9.99948054e-01 7.68909817e-04 1.80738913e-02] [-1.88977736e-02 -9.60890023e-04 9.99820959e-01 1.85050031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.943426265 meters Centerline goodness : 0.118030 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.02, Z:0.02 [[ 9.99741406e-01 1.07210849e-02 2.00544129e-02 -2.16857010e-01] [-1.07309697e-02 9.99942347e-01 3.85347408e-04 1.93007792e-02] [-2.00491254e-02 -6.00451057e-04 9.99798816e-01 1.79005146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.003426265 meters Centerline goodness : 0.123371 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.02, Z:0.02 [[ 9.99740336e-01 1.02615265e-02 2.03460346e-02 -2.17587682e-01] [-1.02543489e-02 9.99947318e-01 -4.57072686e-04 1.98790190e-02] [-2.03496530e-02 2.48318663e-04 9.99792894e-01 1.61687010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.063426265 meters Centerline goodness : 0.142317 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.02, Z:0.02 [[ 9.99709025e-01 1.02941316e-02 2.18150638e-02 -2.24238007e-01] [-1.02870213e-02 9.99946991e-01 -4.38133570e-04 2.19311495e-02] [-2.18184177e-02 2.13594057e-04 9.99761927e-01 1.89985579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.123426265 meters Centerline goodness : 0.207887 with order 2 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.02, Z:0.02 [[ 0.99970693 0.01452247 0.01936869 -0.25323282] [-0.01438135 0.99986916 -0.00740567 0.02280239] [-0.01947371 0.00712495 0.99978498 0.02219072] [ 0. 0. 0. 1. ]] SLAMing on 3.1834262649999996 meters Centerline goodness : 0.156095 with order 1 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.02, Z:0.03 [[ 0.99963479 0.01650797 0.02139567 -0.26223853] [-0.01641638 0.99985534 -0.00444943 0.02367181] [-0.02146603 0.00409657 0.99976119 0.02639421] [ 0. 0. 0. 1. ]] SLAMing on 3.2434262649999996 meters Centerline goodness : 0.088091 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.03, Z:0.03 [[ 0.99963418 0.02037331 0.01778873 -0.2893864 ] [-0.02018672 0.99973997 -0.01060645 0.02706121] [-0.01800019 0.01024348 0.99978551 0.03042176] [ 0. 0. 0. 1. ]] SLAMing on 3.3034262649999997 meters Centerline goodness : 0.118870 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.03, Z:0.03 [[ 0.99980801 0.01447394 0.01320819 -0.31462935] [-0.01436723 0.99986366 -0.00813903 0.02676507] [-0.01332419 0.0079477 0.99987964 0.03389641] [ 0. 0. 0. 1. ]] SLAMing on 3.3634262649999997 meters Centerline goodness : 0.145122 with order 3 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.03, Z:0.04 [[ 0.9998084 0.0084811 0.01764208 -0.35197692] [-0.00837449 0.99994628 -0.0061079 0.03057553] [-0.01769294 0.00595899 0.99982571 0.04066935] [ 0. 0. 0. 1. ]] SLAMing on 3.423426265 meters Centerline goodness : 0.117842 with order 2 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.03, Z:0.04 [[ 0.99985521 0.00596417 0.01593678 -0.39542724] [-0.00581867 0.99994111 -0.00916047 0.03168248] [-0.01599047 0.00906641 0.99983104 0.03615861] [ 0. 0. 0. 1. ]] SLAMing on 3.483426265 meters Centerline goodness : 0.079888 with order 1 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.03, Z:0.04 [[ 0.99984529 0.00483295 0.0169126 -0.40196223] [-0.00465341 0.99993258 -0.01063885 0.03357131] [-0.01696287 0.0105585 0.99980037 0.04055527] [ 0. 0. 0. 1. ]] SLAMing on 3.543426265 meters Centerline goodness : 0.171120 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.03, Z:0.04 [[ 0.99984054 0.00594014 0.01684043 -0.45229602] [-0.00580486 0.99995058 -0.00807086 0.03335122] [-0.01688754 0.00797182 0.99982562 0.04153535] [ 0. 0. 0. 1. ]] SLAMing on 3.6034262649999995 meters Centerline goodness : 0.141395 with order 3 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.03, Z:0.05 [[ 0.99989251 0.00635074 0.01321473 -0.47798627] [-0.00611303 0.99982017 -0.01795175 0.03382761] [-0.01332636 0.01786904 0.99975152 0.04526259] [ 0. 0. 0. 1. ]] SLAMing on 3.6634262649999996 meters Centerline goodness : 0.102592 with order 2 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.04, Z:0.05 [[ 0.99984032 0.0096731 0.01502573 -0.48657729] [-0.00946784 0.9998617 -0.01367232 0.03617803] [-0.01515591 0.01352788 0.99979363 0.0502674 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7234262649999996 meters Centerline goodness : 0.143394 with order 3 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.05 [[ 0.99987354 0.00477214 0.01517027 -0.48781774] [-0.00448914 0.99981629 -0.01863428 0.03307746] [-0.01525641 0.01856382 0.99971127 0.050205 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7834262649999997 meters Centerline goodness : 0.145539 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.05 [[ 9.99923152e-01 -3.71142027e-04 1.23916361e-02 -5.12945763e-01] [ 5.42711080e-04 9.99904005e-01 -1.38450623e-02 3.36285211e-02] [-1.23853081e-02 1.38507234e-02 9.99827366e-01 5.15380075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8434262649999997 meters Centerline goodness : 0.152121 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.03, Z:0.05 [[ 0.99987598 -0.00702462 0.01409503 -0.4751005 ] [ 0.00724628 0.99984991 -0.01573696 0.02800177] [-0.01398237 0.01583714 0.99977681 0.05214573] [ 0. 0. 0. 1. ]] SLAMing on 3.903426265 meters Centerline goodness : 0.126730 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.03, Z:0.06 [[ 0.99984645 -0.00868346 0.01522087 -0.48177833] [ 0.00894303 0.99981431 -0.01706923 0.02641302] [-0.01506982 0.01720273 0.99973845 0.05607081] [ 0. 0. 0. 1. ]] SLAMing on 3.963426265 meters Centerline goodness : 0.152899 with order 2 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.02, Z:0.06 [[ 0.99984893 -0.01271319 0.01185297 -0.51665137] [ 0.01291042 0.99977694 -0.0167148 0.02345304] [-0.01163783 0.01686531 0.99979004 0.05702394] [ 0. 0. 0. 1. ]] SLAMing on 4.0234262649999994 meters Centerline goodness : 0.116569 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.06 [[ 0.99981181 -0.01380625 0.01362857 -0.47842172] [ 0.01401684 0.99978193 -0.01547968 0.02187143] [-0.01341189 0.01566779 0.9997873 0.06006806] [ 0. 0. 0. 1. ]] SLAMing on 4.083426265 meters Centerline goodness : 0.112358 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.02, Z:0.06 [[ 0.99975852 -0.01977093 0.00959277 -0.51107745] [ 0.01994824 0.99962512 -0.01875339 0.01992496] [-0.00921841 0.01894022 0.99977812 0.05720492] [ 0. 0. 0. 1. ]] SLAMing on 4.1434262649999996 meters Centerline goodness : 0.118061 with order 3 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.02, Z:0.06 [[ 0.99974356 -0.02029549 0.01004533 -0.51386893] [ 0.02047153 0.99963297 -0.01774369 0.01812447] [-0.00968152 0.01794479 0.9997921 0.06150299] [ 0. 0. 0. 1. ]] SLAMing on 4.203426265 meters Centerline goodness : 0.112742 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.02, Z:0.06 [[ 0.9997396 -0.02065328 0.00970394 -0.51361149] [ 0.02081522 0.99964059 -0.01689403 0.01683069] [-0.00935153 0.01709163 0.99981019 0.06370722] [ 0. 0. 0. 1. ]] SLAMing on 4.263426265 meters Centerline goodness : 0.138390 with order 1 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.01, Z:0.06 [[ 0.99984824 -0.01453852 0.00959811 -0.53969725] [ 0.01474365 0.99965669 -0.02165956 0.0139059 ] [-0.00927992 0.02179778 0.99971933 0.06294594] [ 0. 0. 0. 1. ]] SLAMing on 4.323426265 meters Centerline goodness : 0.137823 with order 3 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.01, Z:0.06 [[ 0.99989833 -0.01020894 0.0099549 -0.54208846] [ 0.01037698 0.99980202 -0.01697773 0.01457897] [-0.0097796 0.01707931 0.99980631 0.06406214] [ 0. 0. 0. 1. ]] SLAMing on 4.383426265 meters Centerline goodness : 0.135073 with order 3 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:0.06 [[ 0.99995215 -0.00633374 0.00745583 -0.56646133] [ 0.00651686 0.99967124 -0.02479817 0.01419208] [-0.00729631 0.02484557 0.99966467 0.06306126] [ 0. 0. 0. 1. ]] SLAMing on 4.443426264999999 meters Centerline goodness : 0.097295 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:0.07 [[ 9.99963012e-01 4.42404076e-04 8.58951212e-03 -5.72902756e-01] [-2.91946439e-04 9.99846649e-01 -1.75097945e-02 1.62346923e-02] [-8.59594132e-03 1.75066392e-02 9.99809796e-01 6.76251211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503426265 meters Centerline goodness : 0.134104 with order 3 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:0.07 [[ 0.99993406 0.00484078 0.01041382 -0.55169119] [-0.00459099 0.99970433 -0.02387843 0.01469427] [-0.01052633 0.02382905 0.99966063 0.06807421] [ 0. 0. 0. 1. ]] SLAMing on 4.5634262649999995 meters Centerline goodness : 0.324267 with order 2 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.07 [[ 0.99990604 0.00935806 0.01001678 -0.550339 ] [-0.00916098 0.99976704 -0.01954316 0.01688344] [-0.01019733 0.01944956 0.99975884 0.06705398] [ 0. 0. 0. 1. ]] SLAMing on 4.623426265 meters Centerline goodness : 0.137074 with order 1 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:0.07 [[ 0.99995319 0.00442054 0.00860628 -0.57705801] [-0.00428235 0.99986266 -0.01601023 0.01651536] [-0.00867587 0.01597262 0.99983479 0.06996569] [ 0. 0. 0. 1. ]] SLAMing on 4.683426265 meters Centerline goodness : 0.389943 with order 2 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:0.07 [[ 0.999961 0.00495397 0.00731182 -0.57275235] [-0.0048382 0.99986398 -0.01576734 0.01660596] [-0.00738893 0.01573135 0.99984895 0.06809752] [ 0. 0. 0. 1. ]] SLAMing on 4.743426265 meters Centerline goodness : 0.135821 with order 1 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:0.07 [[ 0.9999568 0.00505876 0.00779787 -0.57522932] [-0.00493516 0.99986317 -0.015789 0.01548682] [-0.00787667 0.01574983 0.99984494 0.06981659] [ 0. 0. 0. 1. ]] SLAMing on 4.803426265 meters Centerline goodness : 0.153516 with order 3 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.07 [[ 0.99995915 0.00528414 0.00733296 -0.62453614] [-0.00515813 0.99984052 -0.01709783 0.01471939] [-0.00742214 0.01705931 0.99982693 0.07165343] [ 0. 0. 0. 1. ]] SLAMing on 4.863426264999999 meters Centerline goodness : 0.105458 with order 3 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.07 [[ 0.9999654 0.00296954 0.00777083 -0.59571379] [-0.00290043 0.99995628 -0.00888919 0.01296156] [-0.00779689 0.00886635 0.9999303 0.06708426] [ 0. 0. 0. 1. ]] SLAMing on 4.923426265 meters Centerline goodness : 0.336877 with order 3 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.07 [[ 9.99962006e-01 6.18720762e-04 8.69506297e-03 -6.00498203e-01] [-5.23785242e-04 9.99940278e-01 -1.09163636e-02 6.59169927e-03] [-8.70129786e-03 1.09113945e-02 9.99902610e-01 6.97898552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983426264999999 meters Centerline goodness : 0.421278 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.00, Z:0.07 [[ 0.99996888 -0.00201312 0.00762835 -0.59422785] [ 0.00210978 0.99991732 -0.01268487 -0.00101594] [-0.00760218 0.01270057 0.99989045 0.0655272 ] [ 0. 0. 0. 1. ]] SLAMing on 5.043426265 meters Centerline goodness : 0.448959 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.07 [[ 9.99955569e-01 -3.15838930e-04 9.42124000e-03 -6.02892351e-01] [ 4.14117731e-04 9.99945505e-01 -1.04314945e-02 -7.77942560e-03] [-9.41743191e-03 1.04349325e-02 9.99901207e-01 7.08436780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1034262649999995 meters Centerline goodness : 0.115278 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.07 [[ 9.99960758e-01 4.10561780e-04 8.84954752e-03 -6.00595302e-01] [-3.28636420e-04 9.99957099e-01 -9.25704308e-03 -1.41525953e-02] [-8.85296845e-03 9.25377153e-03 9.99917993e-01 6.93651575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163426265 meters Centerline goodness : 0.128536 with order 1 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:0.07 [[ 0.99995618 0.00520378 0.00778211 -0.64571699] [-0.00515615 0.99996793 -0.00612756 -0.01695928] [-0.00781375 0.00608717 0.99995094 0.06845133] [ 0. 0. 0. 1. ]] SLAMing on 5.223426265 meters Centerline goodness : 0.134898 with order 3 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.02, Z:0.07 [[ 0.99996542 0.00665808 0.00498264 -0.68498171] [-0.00662736 0.99995908 -0.00615753 -0.01918992] [-0.00502343 0.00612429 0.99996863 0.06518682] [ 0. 0. 0. 1. ]] SLAMing on 5.283426264999999 meters Centerline goodness : 0.139593 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.02, Z:0.07 [[ 0.99979363 0.01706249 0.01102577 -0.84331543] [-0.01699336 0.99983555 -0.00633271 -0.01977316] [-0.01113201 0.00614404 0.99991916 0.06893237] [ 0. 0. 0. 1. ]] SLAMing on 5.343426265 meters Centerline goodness : 0.142412 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.07 [[ 0.99977542 0.0190096 0.0093676 -0.88603331] [-0.01895537 0.99980325 -0.00584351 -0.01918019] [-0.00947684 0.00566463 0.99993905 0.06641788] [ 0. 0. 0. 1. ]] SLAMing on 5.403426264999999 meters Centerline goodness : 0.121108 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.07 [[ 0.99977234 0.01919864 0.00931077 -0.88660541] [-0.01914367 0.999799 -0.00595663 -0.01820381] [-0.00942325 0.00577703 0.99993891 0.06718007] [ 0. 0. 0. 1. ]] SLAMing on 5.463426265 meters Centerline goodness : 0.194490 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.07 [[ 0.99976536 0.01955052 0.00932707 -0.88688932] [-0.01949808 0.99979376 -0.00567998 -0.019467 ] [-0.0094362 0.00549679 0.99994037 0.0671201 ] [ 0. 0. 0. 1. ]] SLAMing on 5.5234262649999994 meters Centerline goodness : 0.120881 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.07 [[ 0.99991387 0.01263645 0.00354513 -0.94826173] [-0.012616 0.99990398 -0.00573271 -0.02342284] [-0.00361723 0.00568749 0.99997728 0.06606583] [ 0. 0. 0. 1. ]] SLAMing on 5.583426265 meters Centerline goodness : 0.135461 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.07 [[ 0.99994738 0.00549119 0.00866546 -0.93245769] [-0.00547018 0.99998205 -0.0024468 -0.02798099] [-0.00867874 0.00239927 0.99995946 0.06860457] [ 0. 0. 0. 1. ]] SLAMing on 5.6434262649999996 meters Centerline goodness : 0.221683 with order 3 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.07 [[ 0.99994646 -0.00468373 0.00922679 -0.95771789] [ 0.00470827 0.99998543 -0.00264045 -0.0360011 ] [-0.00921429 0.00268375 0.99995395 0.0691308 ] [ 0. 0. 0. 1. ]] SLAMing on 5.703426265 meters Centerline goodness : 0.220324 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.07 [[ 9.99965300e-01 -5.52407427e-03 6.23572369e-03 -9.46342993e-01] [ 5.51892020e-03 9.99984415e-01 8.43443984e-04 -4.51022141e-02] [-6.24028575e-03 -8.09000254e-04 9.99980202e-01 7.09492318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763426265 meters Centerline goodness : 0.110500 with order 2 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.07 [[ 0.9998909 -0.01287839 0.00723464 -0.9496546 ] [ 0.01292764 0.99989329 -0.00680276 -0.04832072] [-0.00714626 0.00689555 0.99995069 0.07067954] [ 0. 0. 0. 1. ]] SLAMing on 5.823426264999999 meters Centerline goodness : 0.131849 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.07 [[ 0.99993811 -0.00981545 0.00523834 -0.94273109] [ 0.00982699 0.99994934 -0.00218011 -0.04854086] [-0.00521667 0.00223145 0.9999839 0.07128673] [ 0. 0. 0. 1. ]] SLAMing on 5.883426265 meters Centerline goodness : 0.210059 with order 3 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.08 [[ 0.99996969 -0.00214405 0.00748448 -0.93154803] [ 0.00219486 0.99997456 -0.00678695 -0.04775893] [-0.00746973 0.00680317 0.99994896 0.07610286] [ 0. 0. 0. 1. ]] SLAMing on 5.943426264999999 meters Centerline goodness : 0.123036 with order 3 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.05, Z:0.08 [[ 0.99998051 -0.00263558 0.00566028 -1.11605705] [ 0.00268424 0.99995936 -0.00860626 -0.04609966] [-0.00563737 0.00862129 0.99994695 0.0807634 ] [ 0. 0. 0. 1. ]] SLAMing on 6.003426265 meters Centerline goodness : 0.203911 with order 1 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:0.08 [[ 0.99995232 -0.00535078 0.00816877 -1.24135429] [ 0.00544038 0.99992486 -0.01098538 -0.04575565] [-0.00810938 0.0110293 0.99990629 0.08122425] [ 0. 0. 0. 1. ]] SLAMing on 6.0634262649999995 meters Centerline goodness : 0.204869 with order 3 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.04, Z:0.08 [[ 0.99997886 -0.00476514 0.00442475 -1.2265614 ] [ 0.00480182 0.99995388 -0.00831755 -0.04139296] [-0.00438491 0.00833862 0.99995562 0.07917154] [ 0. 0. 0. 1. ]] SLAMing on 6.123426265 meters Centerline goodness : 0.127736 with order 3 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.04, Z:0.09 [[ 0.99993693 -0.00289886 0.01085012 -1.39501802] [ 0.00306051 0.99988413 -0.01491148 -0.04007553] [-0.01080564 0.01494375 0.99982995 0.08989866] [ 0. 0. 0. 1. ]] SLAMing on 6.183426265 meters Centerline goodness : 0.130160 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.04, Z:0.09 [[ 0.99996464 0.00274097 0.00795018 -1.54202866] [-0.00260065 0.99984161 -0.01760652 -0.03538352] [-0.00799718 0.01758522 0.99981339 0.09180325] [ 0. 0. 0. 1. ]] SLAMing on 6.243426265 meters Centerline goodness : 0.130243 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.03, Z:0.10 [[ 0.99987549 0.00876938 0.01311883 -1.73411442] [-0.00859245 0.99987218 -0.01348292 -0.0312822 ] [-0.01323539 0.01336852 0.99982304 0.10292377] [ 0. 0. 0. 1. ]] SLAMing on 6.303426265 meters Centerline goodness : 0.107405 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.03, Z:0.10 [[ 0.99993662 0.00555082 0.00979506 -1.76984095] [-0.00540696 0.99987803 -0.0146523 -0.03108094] [-0.0098752 0.01459841 0.99984467 0.1010492 ] [ 0. 0. 0. 1. ]] SLAMing on 6.363426264999999 meters Centerline goodness : 0.127254 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.02, Z:0.12 [[ 9.99983408e-01 -1.48871208e-03 5.56475454e-03 -1.87496361e+00] [ 1.61925676e-03 9.99721849e-01 -2.35287820e-02 -2.44590073e-02] [-5.52817912e-03 2.35374024e-02 9.99707672e-01 1.19180729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423426265 meters Centerline goodness : 0.116183 with order 1 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:0.11 [[ 9.99998874e-01 -1.31727852e-03 -7.18549974e-04 -1.89840885e+00] [ 1.30162014e-03 9.99770717e-01 -2.13733431e-02 -2.17701635e-02] [ 7.46539868e-04 2.13723837e-02 9.99771306e-01 1.11863371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.483426264999999 meters Centerline goodness : 0.131706 with order 1 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.02, Z:0.12 [[ 9.99999522e-01 9.21804441e-04 3.26819592e-04 -1.90550519e+00] [-9.15437928e-04 9.99819584e-01 -1.89726739e-02 -2.07826967e-02] [-3.44249723e-04 1.89723657e-02 9.99819949e-01 1.18300953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543426265 meters Centerline goodness : 0.122734 with order 1 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.02, Z:0.12 [[ 9.99978459e-01 6.55999605e-03 2.20055059e-04 -2.01976089e+00] [-6.55449778e-03 9.99790603e-01 -1.93852510e-02 -2.10447999e-02] [-3.47176150e-04 1.93833910e-02 9.99812064e-01 1.22291684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6034262649999995 meters Centerline goodness : 0.127530 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.02, Z:0.13 [[ 0.99995894 0.00877539 0.00226009 -2.16527738] [-0.00871899 0.99967735 -0.0238575 -0.02142364] [-0.00246872 0.02383681 0.99971281 0.13261312] [ 0. 0. 0. 1. ]] SLAMing on 6.663426265 meters Centerline goodness : 0.126602 with order 3 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.02, Z:0.13 [[ 0.99996175 0.0057806 0.00656375 -2.14307612] [-0.00566177 0.9998223 -0.01798062 -0.01931786] [-0.00666652 0.01794277 0.99981679 0.12889006] [ 0. 0. 0. 1. ]] SLAMing on 6.723426265 meters Centerline goodness : 0.113594 with order 1 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.02, Z:0.13 [[ 0.99998018 0.00534146 0.00333414 -2.17911589] [-0.00528849 0.99986279 -0.01569803 -0.02154421] [-0.00341753 0.01568009 0.99987122 0.12782753] [ 0. 0. 0. 1. ]] SLAMing on 6.783426264999999 meters Centerline goodness : 0.121759 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.02, Z:0.12 [[ 9.99997551e-01 1.98541026e-03 9.77971212e-04 -2.16791940e+00] [-1.96723116e-03 9.99831494e-01 -1.82514170e-02 -2.07661260e-02] [-1.01404297e-03 1.82494484e-02 9.99832951e-01 1.22810844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843426265 meters Centerline goodness : 0.077464 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.02, Z:0.13 [[ 9.99994908e-01 2.42497936e-03 -2.07445732e-03 -2.26372633e+00] [-2.46394044e-03 9.99816645e-01 -1.89896232e-02 -2.02908858e-02] [ 2.02802752e-03 1.89946378e-02 9.99817529e-01 1.27239684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903426264999999 meters Centerline goodness : 0.133485 with order 1 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.02, Z:0.12 [[ 9.99975107e-01 6.96358633e-03 -1.13749432e-03 -2.26588515e+00] [-6.98070026e-03 9.99850701e-01 -1.58065120e-02 -1.92550997e-02] [ 1.02725448e-03 1.58140591e-02 9.99874422e-01 1.24198869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963426265 meters Centerline goodness : 0.118072 with order 1 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.02, Z:0.13 [[ 9.99948063e-01 1.01527435e-02 8.90938998e-04 -2.27421328e+00] [-1.01394641e-02 9.99853067e-01 -1.38215513e-02 -1.66276061e-02] [-1.03113475e-03 1.38117998e-02 9.99904081e-01 1.25894252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0234262649999994 meters Centerline goodness : 0.133067 with order 3 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.02, Z:0.12 [[ 0.99993756 0.00609016 0.00936935 -2.26223935] [-0.00597427 0.99990591 -0.01234804 -0.01510882] [-0.00944367 0.01229129 0.99987986 0.11995174] [ 0. 0. 0. 1. ]] SLAMing on 7.083426265 meters Centerline goodness : 0.131215 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.01, Z:0.12 [[ 0.99995317 0.0054191 0.00801839 -2.25639773] [-0.00532014 0.99991005 -0.0123118 -0.01482091] [-0.00808439 0.01226856 0.99989206 0.11791661] [ 0. 0. 0. 1. ]] SLAMing on 7.1434262649999996 meters Centerline goodness : 0.115977 with order 1 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.01, Z:0.11 [[ 0.99995669 0.00540619 0.00757538 -2.25368001] [-0.00530828 0.99990289 -0.01288575 -0.01361837] [-0.00764431 0.01284498 0.99988828 0.1143709 ] [ 0. 0. 0. 1. ]] SLAMing on 7.203426264999999 meters Centerline goodness : 0.119534 with order 2 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.02, Z:0.11 [[ 0.99998183 0.00514829 0.0031365 -2.2857321 ] [-0.00511772 0.99994006 -0.00967921 -0.01921712] [-0.00318615 0.00966298 0.99994824 0.11325269] [ 0. 0. 0. 1. ]] SLAMing on 7.263426265 meters Centerline goodness : 0.121062 with order 1 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.02, Z:0.11 [[ 0.99993192 0.00517708 0.01045717 -2.20404497] [-0.00507279 0.99993738 -0.00997513 -0.01570681] [-0.01050816 0.0099214 0.99989557 0.11397707] [ 0. 0. 0. 1. ]] SLAMing on 7.323426264999999 meters Centerline goodness : 0.112749 with order 1 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:0.11 [[ 0.99992259 0.00541635 0.01120133 -2.1136173 ] [-0.00532189 0.99995017 -0.00844584 -0.01440143] [-0.01124652 0.00838558 0.99990159 0.11145902] [ 0. 0. 0. 1. ]] SLAMing on 7.383426265 meters Centerline goodness : 0.205176 with order 1 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.02, Z:0.11 [[ 0.99994976 0.00505292 0.00865738 -2.10227911] [-0.00498397 0.99995584 -0.00796743 -0.01635017] [-0.00869726 0.00792388 0.99993078 0.10608025] [ 0. 0. 0. 1. ]] SLAMing on 7.443426264999999 meters Centerline goodness : 0.127833 with order 1 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.02, Z:0.11 [[ 0.99993934 0.00542403 0.00958584 -2.10612682] [-0.00535315 0.99995826 -0.00740479 -0.01706962] [-0.0096256 0.00735302 0.99992664 0.10865417] [ 0. 0. 0. 1. ]] SLAMing on 7.503426265 meters Centerline goodness : 0.138591 with order 1 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:0.11 [[ 0.99992949 0.00601952 0.01023618 -2.10896693] [-0.0059434 0.99995458 -0.00745062 -0.01496785] [-0.01028056 0.00738926 0.99991985 0.10964712] [ 0. 0. 0. 1. ]] SLAMing on 7.5634262649999995 meters Centerline goodness : 0.213260 with order 1 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.01, Z:0.10 [[ 0.99995466 0.00618977 0.00723679 -2.09550706] [-0.00612901 0.99994603 -0.0083889 -0.01119671] [-0.00728833 0.00834417 0.99993863 0.09996374] [ 0. 0. 0. 1. ]] SLAMing on 7.623426265 meters Centerline goodness : 0.115101 with order 1 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.01, Z:0.10 [[ 0.99985686 0.01056367 0.01321606 -2.15717414] [-0.01047206 0.99992079 -0.00698169 -0.00854335] [-0.01328876 0.00684229 0.99988829 0.10343294] [ 0. 0. 0. 1. ]] SLAMing on 7.683426265 meters Centerline goodness : 0.134879 with order 3 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.01, Z:0.11 [[ 0.99982636 0.010933 0.01509054 -2.11778403] [-0.01083931 0.99992156 -0.00627607 -0.01097234] [-0.01515797 0.00611141 0.99986643 0.10562629] [ 0. 0. 0. 1. ]] SLAMing on 7.743426264999999 meters Centerline goodness : 0.127222 with order 1 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.01, Z:0.10 [[ 0.99988145 0.00872511 0.01268708 -2.15632364] [-0.00863367 0.99993648 -0.00724471 -0.01335608] [-0.01274948 0.00713431 0.99989327 0.10269218] [ 0. 0. 0. 1. ]] SLAMing on 7.803426265 meters Centerline goodness : 0.118855 with order 1 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.01, Z:0.10 [[ 0.99994866 0.0032405 0.00960121 -2.12032589] [-0.00321906 0.99999229 -0.00224691 -0.0132668 ] [-0.00960842 0.00221589 0.99995138 0.09692493] [ 0. 0. 0. 1. ]] SLAMing on 7.863426264999999 meters Centerline goodness : 0.132692 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.01, Z:0.10 [[ 0.99994093 0.00218353 0.01064768 -2.07762997] [-0.00214519 0.99999118 -0.00361141 -0.01152829] [-0.01065548 0.00358835 0.99993679 0.10175814] [ 0. 0. 0. 1. ]] SLAMing on 7.923426265 meters Centerline goodness : 0.200808 with order 1 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.01, Z:0.10 [[ 9.99860923e-01 7.49081449e-04 1.66605174e-02 -2.01698447e+00] [-7.86667907e-04 9.99997160e-01 2.24958067e-03 -8.10742541e-03] [-1.66587850e-02 -2.26237410e-03 9.99858673e-01 9.99090541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983426264999999 meters Centerline goodness : 0.077238 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.09 [[ 9.99865814e-01 4.78812781e-03 1.56661404e-02 -1.93999936e+00] [-4.77283788e-03 9.99988097e-01 -1.01322851e-03 -5.50254277e-03] [-1.56708054e-02 9.38320600e-04 9.99876765e-01 9.40670882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043426264999999 meters Centerline goodness : 0.132787 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.10 [[ 9.99869641e-01 4.19481912e-03 1.55917958e-02 -1.93962390e+00] [-4.20482776e-03 9.99990974e-01 6.09189772e-04 -1.14030445e-02] [-1.55890997e-02 -6.74671174e-04 9.99878255e-01 9.71450844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103426265 meters Centerline goodness : 0.119485 with order 1 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:0.09 [[ 9.99928859e-01 1.44593780e-03 1.18400490e-02 -1.97312893e+00] [-1.44659834e-03 9.99998953e-01 4.72245528e-05 -1.39101510e-02] [-1.18399683e-02 -6.43489883e-05 9.99929903e-01 9.36653874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163426265 meters Centerline goodness : 0.128501 with order 1 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.01, Z:0.09 [[ 0.99996861 0.00429057 0.0066608 -1.91472135] [-0.00431303 0.99998505 0.00336178 -0.01301936] [-0.00664628 -0.0033904 0.99997217 0.0908424 ] [ 0. 0. 0. 1. ]] SLAMing on 8.223426264999999 meters Centerline goodness : 0.130462 with order 2 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.01, Z:0.09 [[ 0.99976281 0.00611277 0.02090371 -1.91728684] [-0.00616789 0.99997767 0.00257324 -0.01126951] [-0.02088751 -0.00270156 0.99977818 0.09377964] [ 0. 0. 0. 1. ]] SLAMing on 8.283426265 meters Centerline goodness : 0.185855 with order 1 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.01, Z:0.09 [[ 9.99808220e-01 1.38547280e-03 1.95346837e-02 -1.84191145e+00] [-1.50536772e-03 9.99980114e-01 6.12417230e-03 -1.17356551e-02] [-1.95258103e-02 -6.15240469e-03 9.99790423e-01 8.73946133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343426265 meters Centerline goodness : 0.116547 with order 2 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.01, Z:0.08 [[ 0.99983709 0.00575868 0.01710621 -1.7623294 ] [-0.0057919 0.99998144 0.00189289 -0.01131156] [-0.01709499 -0.00199166 0.99985189 0.08189745] [ 0. 0. 0. 1. ]] SLAMing on 8.403426265 meters Centerline goodness : 0.123425 with order 3 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.01, Z:0.08 [[ 0.99977808 0.01010413 0.01848521 -1.71933238] [-0.01024032 0.99992101 0.00728785 -0.01080844] [-0.01841011 -0.00747553 0.99980257 0.08482533] [ 0. 0. 0. 1. ]] SLAMing on 8.463426264999999 meters Centerline goodness : 0.126100 with order 3 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.01, Z:0.08 [[ 0.99983088 0.00592327 0.01741074 -1.71477669] [-0.00597892 0.99997718 0.00314557 -0.01164885] [-0.01739171 -0.00324914 0.99984347 0.08150967] [ 0. 0. 0. 1. ]] SLAMing on 8.523426265 meters Centerline goodness : 0.080797 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.01, Z:0.08 [[ 0.99988251 0.00686582 0.01370527 -1.63428058] [-0.00689634 0.99997384 0.00218113 -0.0058954 ] [-0.01368994 -0.00227539 0.9999037 0.08322576] [ 0. 0. 0. 1. ]] SLAMing on 8.583426265 meters Centerline goodness : 0.131490 with order 3 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.00, Z:0.09 [[ 9.99849072e-01 6.33773247e-03 1.61761309e-02 -1.64539580e+00] [-6.34883717e-03 9.99979644e-01 6.35225380e-04 -3.38902520e-03] [-1.61717757e-02 -7.37829127e-04 9.99868956e-01 8.80748556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643426265 meters Centerline goodness : 0.118071 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:0.00, Z:0.09 [[ 9.99830822e-01 7.37975124e-03 1.68483543e-02 -1.64759507e+00] [-7.37974434e-03 9.99972767e-01 -6.25829797e-05 1.97842751e-04] [-1.68483573e-02 -6.17641551e-05 9.99858054e-01 8.57744554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703426265 meters Centerline goodness : 0.130465 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.00, Z:0.08 [[ 9.99864628e-01 5.46659311e-03 1.55191004e-02 -1.57312255e+00] [-5.56468435e-03 9.99964769e-01 6.28454739e-03 4.54686575e-05] [-1.54841986e-02 -6.37005553e-03 9.99859821e-01 8.21308680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763426265 meters Centerline goodness : 0.130629 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.00, Z:0.08 [[ 0.99986037 0.00583622 0.01565816 -1.57321566] [-0.00593884 0.99996114 0.00651522 -0.00246378] [-0.01561953 -0.0066073 0.99985618 0.08072679] [ 0. 0. 0. 1. ]] SLAMing on 8.823426265 meters Centerline goodness : 0.131772 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.00, Z:0.08 [[ 0.99984253 0.0069338 0.01633488 -1.57630264] [-0.00705141 0.99994955 0.00715334 -0.00178416] [-0.01628446 -0.0072674 0.99984099 0.08179722] [ 0. 0. 0. 1. ]] SLAMing on 8.883426264999999 meters Centerline goodness : 0.144860 with order 2 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.00, Z:0.08 [[ 0.99990237 0.00793177 0.01150412 -1.51877566] [-0.00800043 0.99995039 0.00593414 0.00168838] [-0.01145648 -0.00602559 0.99991622 0.07825645] [ 0. 0. 0. 1. ]] SLAMing on 8.943426265 meters Centerline goodness : 0.133040 with order 3 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.01, Z:0.09 [[ 0.99984558 0.01030406 0.01423502 -1.4818143 ] [-0.01042037 0.99991273 0.00812098 0.00616376] [-0.0141501 -0.00826806 0.9998657 0.08545965] [ 0. 0. 0. 1. ]] SLAMing on 9.003426265 meters Centerline goodness : 0.260591 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.00, Z:0.09 [[ 0.9998227 0.01124872 0.01510101 -1.48540397] [-0.01139737 0.99988708 0.00979449 0.00286638] [-0.01498913 -0.00996487 0.999838 0.08854554] [ 0. 0. 0. 1. ]] SLAMing on 9.063426265 meters Centerline goodness : 0.127528 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.00, Z:0.08 [[ 0.99991112 0.00925348 0.00959834 -1.41945543] [-0.00932193 0.99993127 0.00711091 0.00377433] [-0.00953188 -0.00719975 0.99992865 0.08038299] [ 0. 0. 0. 1. ]] SLAMing on 9.123426264999999 meters Centerline goodness : 0.221475 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.01, Z:0.08 [[ 0.99994333 0.0042683 0.00975246 -1.34784293] [-0.0043814 0.99992305 0.01160564 0.00605399] [-0.00970217 -0.01164771 0.99988509 0.07942392] [ 0. 0. 0. 1. ]] SLAMing on 9.183426265 meters Centerline goodness : 0.130667 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:0.08 [[ 0.99990007 0.0015139 0.01405529 -1.26281138] [-0.00165064 0.99995138 0.00972212 0.00727747] [-0.01403989 -0.00974435 0.99985395 0.07999302] [ 0. 0. 0. 1. ]] SLAMing on 9.243426265 meters Centerline goodness : 0.130514 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:0.08 [[ 9.99979981e-01 -8.00252369e-04 6.27668752e-03 -1.17215609e+00] [ 7.21613631e-04 9.99921349e-01 1.25209744e-02 9.76870606e-03] [-6.28621379e-03 -1.25161944e-02 9.99901909e-01 7.60110385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303426264999999 meters Centerline goodness : 0.128298 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.08 [[ 0.99996609 -0.00357802 0.00741691 -1.08488695] [ 0.00348147 0.99990958 0.0129887 0.00900253] [-0.00746272 -0.01296243 0.99988814 0.07742121] [ 0. 0. 0. 1. ]] SLAMing on 9.363426265 meters Centerline goodness : 0.132545 with order 2 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.01, Z:0.07 [[ 0.99988974 -0.00750821 0.01281169 -0.99717246] [ 0.00737416 0.99991791 0.01047793 0.00933639] [-0.01288931 -0.0103823 0.99986303 0.07486562] [ 0. 0. 0. 1. ]] SLAMing on 9.423426265 meters Centerline goodness : 0.120660 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.07 [[ 0.9999369 -0.00514455 0.00998653 -0.94197529] [ 0.00499622 0.99987767 0.01482154 0.00983507] [-0.01006156 -0.01477071 0.99984028 0.07023866] [ 0. 0. 0. 1. ]] SLAMing on 9.483426265 meters Centerline goodness : 0.139446 with order 3 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.07 [[ 9.99952111e-01 -1.92271787e-04 9.78456821e-03 -8.65769627e-01] [ 8.65850932e-05 9.99941668e-01 1.08006426e-02 1.38875449e-02] [-9.78607411e-03 -1.07992782e-02 9.99893799e-01 6.62539074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543426264999999 meters Centerline goodness : 0.138803 with order 3 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.06 [[ 0.99995515 0.00254063 0.00912371 -0.77295329] [-0.00267729 0.99988394 0.01499779 0.02036999] [-0.00908455 -0.01502155 0.9998459 0.06378033] [ 0. 0. 0. 1. ]] SLAMing on 9.603426265 meters Centerline goodness : 0.196092 with order 1 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:0.07 [[ 0.99994 0.00262653 0.0106349 -0.7796373 ] [-0.00277667 0.99989634 0.01412767 0.02354079] [-0.01059669 -0.01415635 0.99984364 0.06796932] [ 0. 0. 0. 1. ]] SLAMing on 9.663426265 meters Centerline goodness : 0.119716 with order 1 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:0.06 [[ 0.9999684 0.00335685 0.00720596 -0.76400118] [-0.00346185 0.99988729 0.01460883 0.02815162] [-0.00715611 -0.01463332 0.99986732 0.05791923] [ 0. 0. 0. 1. ]] SLAMing on 9.723426264999999 meters Centerline goodness : 0.127340 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.03, Z:0.06 [[ 0.99995961 0.00233917 0.00867746 -0.77299876] [-0.00245856 0.99990211 0.01377377 0.0277642 ] [-0.00864439 -0.01379455 0.99986748 0.06497566] [ 0. 0. 0. 1. ]] SLAMing on 9.783426265 meters Centerline goodness : 0.198198 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.03, Z:0.06 [[ 9.99872866e-01 3.69526232e-04 1.59410059e-02 -6.89281863e-01] [-6.00446304e-04 9.99894927e-01 1.44835629e-02 3.11206579e-02] [-1.59339788e-02 -1.44912933e-02 9.99768028e-01 6.28488902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843426265 meters Centerline goodness : 0.121722 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.04, Z:0.06 [[ 0.9999644 -0.00229769 0.00811949 -0.600242 ] [ 0.00220209 0.99992838 0.01176355 0.03782107] [-0.00814594 -0.01174525 0.99989784 0.05767601] [ 0. 0. 0. 1. ]] SLAMing on 9.903426265 meters Centerline goodness : 0.105955 with order 1 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.04, Z:0.05 [[ 0.99997444 0.00228517 0.00677418 -0.52035095] [-0.00234174 0.99996235 0.00835499 0.04313132] [-0.00675484 -0.00837064 0.99994215 0.05103797] [ 0. 0. 0. 1. ]] SLAMing on 9.963426264999999 meters Centerline goodness : 0.139678 with order 2 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.04, Z:0.05 [[ 0.99993986 -0.00144601 0.01087098 -0.45708267] [ 0.00127526 0.99987596 0.01569806 0.04392419] [-0.01089233 -0.01568325 0.99981768 0.05258278] [ 0. 0. 0. 1. ]] SLAMing on 10.023426265 meters Centerline goodness : 0.132636 with order 2 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.05, Z:0.06 [[ 0.99988649 -0.01496328 -0.00176439 -0.28535922] [ 0.01497993 0.99983947 0.00983018 0.05312955] [ 0.00161701 -0.00985549 0.99995013 0.05726389] [ 0. 0. 0. 1. ]] SLAMing on 10.083426265 meters Centerline goodness : 0.123629 with order 1 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.05, Z:0.06 [[ 0.9999595 -0.00802492 -0.00407389 -0.26174493] [ 0.0080519 0.99994548 0.00664845 0.04976267] [ 0.00402032 -0.00668098 0.9999696 0.05916068] [ 0. 0. 0. 1. ]] SLAMing on 10.143426264999999 meters Centerline goodness : 0.129959 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.05, Z:0.06 [[ 0.99989764 -0.01401269 -0.0028893 -0.14684484] [ 0.01404259 0.99984522 0.0105994 0.05444598] [ 0.00274032 -0.01063889 0.99993965 0.06050975] [ 0. 0. 0. 1. ]] SLAMing on 10.203426265 meters Centerline goodness : 0.151665 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.05, Z:0.06 [[ 0.99991776 -0.01183922 -0.00492982 -0.09058184] [ 0.01190372 0.99984115 0.01326588 0.05268213] [ 0.00477198 -0.01332348 0.99989985 0.05515053] [ 0. 0. 0. 1. ]] SLAMing on 10.263426265 meters Centerline goodness : 0.118159 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.05 [[ 0.99984228 -0.01199174 -0.01310028 -0.0257878 ] [ 0.01216311 0.99984046 0.01308066 0.05637812] [ 0.01294133 -0.01323794 0.99982862 0.04938911] [ 0. 0. 0. 1. ]] SLAMing on 10.323426265 meters Centerline goodness : 0.113283 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:0.06 [[ 0.99997387 -0.00479623 0.00540893 0.03648895] [ 0.00475348 0.99995758 0.00788913 0.06443109] [-0.00544654 -0.00786322 0.99995425 0.05742396] [ 0. 0. 0. 1. ]] SLAMing on 10.383426264999999 meters Centerline goodness : 0.117834 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:0.05 [[ 9.99983670e-01 7.46352471e-04 -5.66589351e-03 1.11110696e-01] [-6.85648613e-04 9.99942429e-01 1.07082998e-02 7.21550418e-02] [ 5.67355949e-03 -1.07042401e-02 9.99926612e-01 4.65915919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443426265 meters Centerline goodness : 0.104801 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:0.05 [[ 0.99997588 -0.00177956 -0.00671355 0.18310231] [ 0.00189484 0.9998502 0.01720418 0.07315146] [ 0.00668193 -0.01721649 0.99982946 0.04586143] [ 0. 0. 0. 1. ]] SLAMing on 10.503426265 meters Centerline goodness : 0.132464 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:0.05 [[ 0.99995197 -0.0072889 -0.0065518 0.25551606] [ 0.00741837 0.99977331 0.01995743 0.07795808] [ 0.00640484 -0.02000508 0.99977936 0.04529665] [ 0. 0. 0. 1. ]] SLAMing on 10.563426264999999 meters Centerline goodness : 0.227053 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.09, Z:0.05 [[ 0.9999303 -0.01046424 -0.00546705 0.35578993] [ 0.01051935 0.99989314 0.01015174 0.087687 ] [ 0.00536023 -0.01020854 0.99993352 0.04784506] [ 0. 0. 0. 1. ]] SLAMing on 10.623426264999999 meters Centerline goodness : 0.104525 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99991093 -0.0104517 -0.00830009 0.43295944] [ 0.0106139 0.99974871 0.01974507 0.09240465] [ 0.00809163 -0.0198314 0.99977059 0.04496748] [ 0. 0. 0. 1. ]] SLAMing on 10.683426265 meters Centerline goodness : 0.132446 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.04 [[ 0.99987315 -0.01569474 -0.00271141 0.52131378] [ 0.01573377 0.99976327 0.01502824 0.09420565] [ 0.00247491 -0.01506899 0.99988339 0.04329909] [ 0. 0. 0. 1. ]] SLAMing on 10.743426265 meters Centerline goodness : 0.111721 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.04 [[ 0.99993114 -0.0112761 -0.00324983 0.57257864] [ 0.01134551 0.99968921 0.02219845 0.09210028] [ 0.00299851 -0.02223379 0.9997483 0.03902782] [ 0. 0. 0. 1. ]] SLAMing on 10.803426264999999 meters Centerline goodness : 0.127618 with order 2 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:0.03 [[ 0.99985226 -0.00696926 -0.01571281 0.67491073] [ 0.00721305 0.99985365 0.01551265 0.09481892] [ 0.0156024 -0.0156237 0.9997562 0.0311091 ] [ 0. 0. 0. 1. ]] SLAMing on 10.863426265 meters Centerline goodness : 0.105873 with order 2 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:0.04 [[ 0.99997913 -0.00130903 -0.0063272 0.76247561] [ 0.0013961 0.99990412 0.01377651 0.09951631] [ 0.00630856 -0.01378506 0.99988508 0.04167017] [ 0. 0. 0. 1. ]] SLAMing on 10.923426265 meters Centerline goodness : 0.123687 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.04 [[ 0.99998315 0.00265868 -0.00516088 0.81048912] [-0.00255617 0.99980129 0.01977007 0.09830791] [ 0.00521241 -0.01975654 0.99979123 0.03968432] [ 0. 0. 0. 1. ]] SLAMing on 10.983426265 meters Centerline goodness : 0.130757 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:0.04 [[ 0.99996561 0.00661109 -0.0050081 0.92250187] [-0.00652667 0.99983941 0.01668978 0.10082545] [ 0.00511763 -0.01665652 0.99984817 0.03702647] [ 0. 0. 0. 1. ]] SLAMing on 11.043426264999999 meters Centerline goodness : 0.105330 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.03 [[ 0.9999359 0.00871811 -0.00722465 0.93253502] [-0.00857648 0.99977485 0.01940841 0.10247032] [ 0.00739223 -0.0193452 0.99978554 0.03305687] [ 0. 0. 0. 1. ]] SLAMing on 11.103426265 meters Centerline goodness : 0.277296 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.03 [[ 0.99996278 0.00537695 -0.00674788 0.93059018] [-0.00528316 0.99989026 0.01384021 0.10796192] [ 0.00682155 -0.01380404 0.99988145 0.03028752] [ 0. 0. 0. 1. ]] SLAMing on 11.163426265 meters Centerline goodness : 0.151548 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.03 [[ 0.99999021 0.00165871 -0.00410292 0.95682591] [-0.00157782 0.99980588 0.01963934 0.11020606] [ 0.0041347 -0.01963267 0.99979871 0.02672351] [ 0. 0. 0. 1. ]] SLAMing on 11.223426264999999 meters Centerline goodness : 0.129372 with order 2 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.03 [[ 0.99997684 -0.00148664 0.00664184 1.0265809 ] [ 0.00137737 0.99986413 0.0164261 0.11413961] [-0.00666536 -0.01641657 0.99984302 0.03176896] [ 0. 0. 0. 1. ]] SLAMing on 11.283426265 meters Centerline goodness : 0.172103 with order 2 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:0.02 [[ 0.99997823 -0.00477152 -0.00455802 1.12359832] [ 0.00487745 0.99971151 0.02351828 0.11799594] [ 0.00444449 -0.02354 0.99971302 0.01969381] [ 0. 0. 0. 1. ]] SLAMing on 11.343426265 meters Centerline goodness : 0.118471 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:0.02 [[ 0.99989591 -0.01032029 -0.01008305 1.2319216 ] [ 0.01045784 0.99985166 0.01368515 0.12312486] [ 0.00994032 -0.01378917 0.99985551 0.01992057] [ 0. 0. 0. 1. ]] SLAMing on 11.403426265 meters Centerline goodness : 0.150894 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:0.03 [[ 9.99942913e-01 -1.06661593e-02 -6.36215182e-04 1.28103024e+00] [ 1.06781997e-02 9.99664752e-01 2.35872963e-02 1.26855271e-01] [ 3.84416033e-04 -2.35927434e-02 9.99721579e-01 2.61780007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463426264999999 meters Centerline goodness : 0.095009 with order 2 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.02 [[ 0.99991185 -0.0114619 -0.00670168 1.3840338 ] [ 0.01159742 0.99972167 0.02054454 0.1313107 ] [ 0.00646433 -0.02062045 0.99976648 0.01990906] [ 0. 0. 0. 1. ]] SLAMing on 11.523426265 meters Centerline goodness : 0.111862 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:0.02 [[ 0.99997442 -0.00679775 0.00222299 1.43801049] [ 0.00675299 0.99978587 0.01956048 0.13318072] [-0.00235548 -0.01954497 0.9998062 0.02284247] [ 0. 0. 0. 1. ]] SLAMing on 11.583426265 meters Centerline goodness : 0.104089 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:0.01 [[ 9.99943930e-01 -9.65550988e-04 -1.05454023e-02 1.56233819e+00] [ 1.17690773e-03 9.99798190e-01 2.00547689e-02 1.39898426e-01] [ 1.05239102e-02 -2.00660553e-02 9.99743267e-01 1.18273157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643426264999999 meters Centerline goodness : 0.147943 with order 3 Centerline is valid? [False, False] Translation: X:1.65, Y:0.15, Z:0.01 [[ 9.99968079e-01 1.53406620e-04 -7.98859175e-03 1.65111403e+00] [ 3.36874451e-05 9.99725836e-01 2.34147566e-02 1.45569969e-01] [ 7.98999355e-03 -2.34142783e-02 9.99693919e-01 1.10128390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703426265 meters Centerline goodness : 0.147347 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.16, Z:0.01 [[ 0.99995482 -0.00474373 -0.00823727 1.75398325] [ 0.00487101 0.99986798 0.01550126 0.15551389] [ 0.00816265 -0.01554068 0.99984592 0.01034492] [ 0. 0. 0. 1. ]] SLAMing on 11.763426265 meters Centerline goodness : 0.129736 with order 2 Centerline is valid? [False, False] Translation: X:1.77, Y:0.16, Z:0.01 [[ 9.99997261e-01 2.28518581e-03 -5.05533341e-04 1.76832713e+00] [-2.27735653e-03 9.99885192e-01 1.49805191e-02 1.61940313e-01] [ 5.39708571e-04 -1.49793268e-02 9.99887658e-01 1.09751615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823426265 meters Centerline goodness : 0.184188 with order 3 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:0.01 [[ 0.99993427 -0.00945126 -0.00649023 1.87806462] [ 0.00956116 0.99980777 0.01711743 0.16740085] [ 0.0063272 -0.01717836 0.99983242 0.00994797] [ 0. 0. 0. 1. ]] SLAMing on 11.883426264999999 meters Centerline goodness : 0.085724 with order 2 Centerline is valid? [False, False] Translation: X:1.94, Y:0.17, Z:0.00 [[ 0.99986083 -0.01410018 -0.00891655 1.93658591] [ 0.01421155 0.99982022 0.01255267 0.17361172] [ 0.00873795 -0.01267764 0.99988146 0.00413571] [ 0. 0. 0. 1. ]] SLAMing on 11.943426265 meters Centerline goodness : 0.206583 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.18, Z:0.01 [[ 0.99970746 -0.02360297 -0.00528077 2.04665172] [ 0.02367768 0.99961356 0.01456364 0.18240262] [ 0.00493499 -0.01468441 0.99988 0.00824768] [ 0. 0. 0. 1. ]] SLAMing on 12.003426265 meters Centerline goodness : 0.113907 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.18, Z:0.01 [[ 0.99940003 -0.02923995 -0.01856338 2.04551522] [ 0.02945307 0.99950214 0.01131288 0.17981339] [ 0.01822335 -0.01185284 0.99976368 0.00599073] [ 0. 0. 0. 1. ]] SLAMing on 12.063426264999999 meters Centerline goodness : 0.116148 with order 2 Centerline is valid? [False, False] Translation: X:2.02, Y:0.17, Z:0.02 [[ 0.99937838 -0.02602816 -0.02377785 2.02157298] [ 0.02627464 0.99960361 0.01011281 0.17402205] [ 0.02350521 -0.01073128 0.99966612 0.02048395] [ 0. 0. 0. 1. ]] SLAMing on 12.123426264999999 meters Centerline goodness : 0.107989 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.17, Z:0.03 [[ 0.99955058 -0.02430981 -0.01754054 2.04426301] [ 0.02451494 0.99963244 0.01157588 0.17142836] [ 0.01725268 -0.01200068 0.99977914 0.03033042] [ 0. 0. 0. 1. ]] SLAMing on 12.183426265 meters Centerline goodness : 0.116408 with order 2 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:0.02 [[ 0.9996031 -0.01992843 -0.01991252 2.02644183] [ 0.01999953 0.99979428 0.0033777 0.1743617 ] [ 0.01984111 -0.0037746 0.99979602 0.0211538 ] [ 0. 0. 0. 1. ]] SLAMing on 12.243426265 meters Centerline goodness : 0.094017 with order 2 Centerline is valid? [False, False] Translation: X:2.10, Y:0.18, Z:0.02 [[ 0.99974235 -0.01024156 -0.02025718 2.10130773] [ 0.01032035 0.99993956 0.00378904 0.17933857] [ 0.02021715 -0.00399712 0.99978762 0.01926326] [ 0. 0. 0. 1. ]] SLAMing on 12.303426264999999 meters Centerline goodness : 0.126356 with order 2 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:0.02 [[ 9.99681212e-01 -1.94195852e-03 -2.51734512e-02 2.11921970e+00] [ 2.29122017e-03 9.99901420e-01 1.38527955e-02 1.79940066e-01] [ 2.51440680e-02 -1.39060573e-02 9.99587113e-01 1.62286342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363426265 meters Centerline goodness : 0.121791 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:0.18, Z:0.02 [[ 0.99993486 -0.00505761 -0.01023255 2.10841517] [ 0.00509589 0.99998011 0.00371773 0.18029249] [ 0.01021355 -0.00376963 0.99994073 0.0206605 ] [ 0. 0. 0. 1. ]] SLAMing on 12.423426265 meters Centerline goodness : 0.108500 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:0.02 [[ 9.99938203e-01 -8.64914715e-04 -1.10833989e-02 2.18775381e+00] [ 8.90741971e-04 9.99996899e-01 2.32554042e-03 1.87767267e-01] [ 1.10813532e-02 -2.33526916e-03 9.99935873e-01 2.10907897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483426265 meters Centerline goodness : 0.089623 with order 3 Centerline is valid? [False, False] Translation: X:2.26, Y:0.19, Z:0.01 [[ 0.99977365 0.00460194 -0.02077165 2.26054781] [-0.00443768 0.99995857 0.00794719 0.19465595] [ 0.02080736 -0.00785322 0.99975266 0.01373098] [ 0. 0. 0. 1. ]] SLAMing on 12.543426264999999 meters Centerline goodness : 0.149881 with order 3 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:0.02 [[ 9.99735262e-01 -1.56713967e-03 -2.29554126e-02 2.11515036e+00] [ 1.55795554e-03 9.99998699e-01 -4.17964319e-04 1.92694349e-01] [ 2.29560377e-02 3.82090156e-04 9.99736402e-01 1.78359785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603426265 meters Centerline goodness : 0.211428 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.19, Z:0.02 [[ 0.99982504 0.00404106 -0.0182635 2.14311831] [-0.0039884 0.99998779 0.00291916 0.19276749] [ 0.01827507 -0.00284581 0.99982895 0.02468974] [ 0. 0. 0. 1. ]] SLAMing on 12.663426265 meters Centerline goodness : 0.218370 with order 3 Centerline is valid? [False, False] Translation: X:2.15, Y:0.19, Z:0.02 [[ 0.99979909 0.00282098 -0.01984469 2.15127731] [-0.00276413 0.999992 0.00289149 0.1909863 ] [ 0.01985269 -0.00283606 0.99979889 0.02053914] [ 0. 0. 0. 1. ]] SLAMing on 12.723426264999999 meters Centerline goodness : 0.104586 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.19, Z:0.02 [[ 9.99677377e-01 -1.30087005e-03 -2.53663165e-02 2.05588506e+00] [ 1.24746512e-03 9.99996972e-01 -2.12105912e-03 1.90863777e-01] [ 2.53689989e-02 2.08873122e-03 9.99675973e-01 2.46410562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783426265 meters Centerline goodness : 0.213424 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:0.03 [[ 0.99979411 -0.00370968 -0.01994929 2.08295318] [ 0.00355624 0.99996387 -0.00772147 0.19501464] [ 0.01997721 0.00764893 0.99977118 0.02925619] [ 0. 0. 0. 1. ]] SLAMing on 12.843426265 meters Centerline goodness : 0.106932 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.20, Z:0.03 [[ 9.99770017e-01 -6.88648005e-03 -2.03098426e-02 2.06106204e+00] [ 6.90787435e-03 9.99975657e-01 9.83426582e-04 1.97739127e-01] [ 2.03025759e-02 -1.12349825e-03 9.99793250e-01 3.05865561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903426265 meters Centerline goodness : 0.091457 with order 2 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:0.02 [[ 0.99956918 -0.01353623 -0.02604279 2.08419405] [ 0.01342164 0.99989948 -0.00456987 0.19858287] [ 0.02610203 0.00421836 0.99965038 0.02042263] [ 0. 0. 0. 1. ]] SLAMing on 12.963426264999999 meters Centerline goodness : 0.089734 with order 3 Centerline is valid? [False, False] Translation: X:2.15, Y:0.21, Z:0.03 [[ 9.99766360e-01 -1.32203349e-02 -1.71011045e-02 2.15461276e+00] [ 1.31994280e-02 9.99911993e-01 -1.33484965e-03 2.09163312e-01] [ 1.71172467e-02 1.10881298e-03 9.99852874e-01 3.18963202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023426265 meters Centerline goodness : 0.109588 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:0.03 [[ 0.99963918 -0.01626121 -0.02137955 2.21143673] [ 0.01616666 0.99985879 -0.00458757 0.21030153] [ 0.02145113 0.00424028 0.99976091 0.02681109] [ 0. 0. 0. 1. ]] SLAMing on 13.083426265 meters Centerline goodness : 0.092230 with order 2 Centerline is valid? [False, False] Translation: X:2.18, Y:0.20, Z:0.03 [[ 0.99946599 -0.02106255 -0.02498216 2.17682167] [ 0.02098107 0.99977368 -0.00351918 0.20128483] [ 0.02505063 0.00299315 0.9996817 0.0298186 ] [ 0. 0. 0. 1. ]] SLAMing on 13.143426264999999 meters Centerline goodness : 0.131575 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.19, Z:0.04 [[ 9.99495135e-01 -2.21538722e-02 -2.27745529e-02 2.16896209e+00] [ 2.21223926e-02 9.99753936e-01 -1.63327567e-03 1.93044539e-01] [ 2.28051323e-02 1.12862349e-03 9.99739292e-01 3.72350601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203426265 meters Centerline goodness : 0.118103 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:0.03 [[ 0.99917505 -0.0288392 -0.02859234 2.19287746] [ 0.02869856 0.99957397 -0.00531706 0.1872691 ] [ 0.0287335 0.00449211 0.99957701 0.02962524] [ 0. 0. 0. 1. ]] SLAMing on 13.263426265 meters Centerline goodness : 0.122357 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.18, Z:0.04 [[ 0.99909409 -0.03203559 -0.02801286 2.1876237 ] [ 0.03189388 0.99947618 -0.00549123 0.18005765] [ 0.0281741 0.00459282 0.99959248 0.03985155] [ 0. 0. 0. 1. ]] SLAMing on 13.323426265 meters Centerline goodness : 0.117463 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:0.04 [[ 0.99862594 -0.04012775 -0.03370442 2.16188735] [ 0.03983015 0.99916173 -0.00945549 0.17146738] [ 0.03405559 0.00810005 0.99938712 0.03509482] [ 0. 0. 0. 1. ]] SLAMing on 13.383426264999999 meters Centerline goodness : 0.121467 with order 2 Centerline is valid? [False, False] Translation: X:2.15, Y:0.17, Z:0.05 [[ 0.99879178 -0.03955383 -0.02916289 2.145171 ] [ 0.03941167 0.99920828 -0.00543364 0.16528796] [ 0.02935472 0.00427771 0.9995599 0.04962637] [ 0. 0. 0. 1. ]] SLAMing on 13.443426265 meters Centerline goodness : 0.123425 with order 2 Centerline is valid? [False, False] Translation: X:2.18, Y:0.16, Z:0.04 [[ 0.99888886 -0.03810094 -0.02773728 2.17881611] [ 0.03779675 0.9992203 -0.01141005 0.16211472] [ 0.02815039 0.01034899 0.99955013 0.04472551] [ 0. 0. 0. 1. ]] SLAMing on 13.503426265 meters Centerline goodness : 0.106378 with order 2 Centerline is valid? [False, False] Translation: X:2.18, Y:0.16, Z:0.04 [[ 0.99900579 -0.0255303 -0.03654631 2.17545891] [ 0.02524953 0.99964817 -0.00812358 0.16351748] [ 0.03674085 0.00719272 0.99929894 0.0367409 ] [ 0. 0. 0. 1. ]] SLAMing on 13.563426264999999 meters Centerline goodness : 0.151411 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.17, Z:0.04 [[ 0.99937875 -0.01498403 -0.03189961 2.18709803] [ 0.01467995 0.99984475 -0.00974553 0.16598756] [ 0.03204069 0.00927119 0.99944356 0.0400548 ] [ 0. 0. 0. 1. ]] SLAMing on 13.623426264999999 meters Centerline goodness : 0.132915 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.14, Z:0.10 [[ 0.99653352 0.02563661 -0.07914358 2.57787711] [-0.02634083 0.99962207 -0.00786679 0.13980899] [ 0.07891199 0.00992423 0.99683219 0.10263008] [ 0. 0. 0. 1. ]] SLAMing on 13.683426265 meters Centerline goodness : 0.107795 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.14, Z:0.12 [[ 0.99594307 0.03888999 -0.08114789 2.6427257 ] [-0.04040844 0.99903599 -0.01715386 0.13719417] [ 0.08040255 0.02036333 0.99655445 0.11515 ] [ 0. 0. 0. 1. ]] SLAMing on 13.743426265 meters Centerline goodness : 0.117865 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.15, Z:0.12 [[ 0.99405826 0.04629443 -0.09851392 2.45393081] [-0.04897994 0.99848641 -0.02501727 0.14896943] [ 0.09720665 0.02969383 0.99482116 0.1210655 ] [ 0. 0. 0. 1. ]] SLAMing on 13.803426264999999 meters Centerline goodness : 0.107589 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:0.11 [[ 0.99468995 0.04656406 -0.09178071 2.32427928] [-0.04944507 0.99834495 -0.02936922 0.15282242] [ 0.09026125 0.03375137 0.99534605 0.11194712] [ 0. 0. 0. 1. ]] SLAMing on 13.863426265 meters Centerline goodness : 0.123965 with order 3 Centerline is valid? [False, False] Translation: X:2.15, Y:0.16, Z:0.10 [[ 0.99539443 0.0443778 -0.08497372 2.15143665] [-0.04684502 0.99853003 -0.02726385 0.15611733] [ 0.0836389 0.03111888 0.99601012 0.10276487] [ 0. 0. 0. 1. ]] SLAMing on 13.923426265 meters Centerline goodness : 0.107757 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.16, Z:0.10 [[ 0.99413638 0.03983461 -0.10052888 2.03496459] [-0.04346802 0.99846878 -0.03421433 0.15889828] [ 0.09901203 0.0383835 0.99434568 0.09607622] [ 0. 0. 0. 1. ]] SLAMing on 13.983426264999999 meters Centerline goodness : 0.196752 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:0.10 [[ 0.99501575 0.03763739 -0.0923422 1.96580779] [-0.04110929 0.99850633 -0.03598804 0.15607007] [ 0.09084977 0.03960479 0.99507677 0.09872177] [ 0. 0. 0. 1. ]] SLAMing on 14.043426264999999 meters Centerline goodness : 0.105300 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:0.09 [[ 0.99428207 0.03402228 -0.10122081 1.84552971] [-0.03708216 0.99890565 -0.02850282 0.15707643] [ 0.10014031 0.03209333 0.9944556 0.0912032 ] [ 0. 0. 0. 1. ]] SLAMing on 14.103426265 meters Centerline goodness : 0.113431 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:0.09 [[ 0.9944669 0.031295 -0.10028063 1.81198811] [-0.03553018 0.99853831 -0.04072901 0.15421458] [ 0.09885944 0.04406664 0.99412521 0.09415733] [ 0. 0. 0. 1. ]] SLAMing on 14.163426265 meters Centerline goodness : 0.110307 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.15, Z:0.09 [[ 0.99459065 0.03276156 -0.09857043 1.65718377] [-0.03615494 0.99880651 -0.03283855 0.15265509] [ 0.09737694 0.03622472 0.99458811 0.08595177] [ 0. 0. 0. 1. ]] SLAMing on 14.223426264999999 meters Centerline goodness : 0.115554 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.15, Z:0.08 [[ 0.99451768 0.03299733 -0.09922582 1.57964071] [-0.0374096 0.99837703 -0.04293973 0.15291073] [ 0.09764788 0.04641632 0.99413803 0.08337966] [ 0. 0. 0. 1. ]] SLAMing on 14.283426265 meters Centerline goodness : 0.121416 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:0.07 [[ 0.99367763 0.03534306 -0.10656285 1.39355789] [-0.03972682 0.99843746 -0.03929904 0.15620018] [ 0.10500739 0.04328398 0.99352904 0.07016643] [ 0. 0. 0. 1. ]] SLAMing on 14.343426265 meters Centerline goodness : 0.092267 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.16, Z:0.06 [[ 0.99377678 0.02909762 -0.10752231 1.21066001] [-0.03381727 0.998531 -0.04233481 0.15919385] [ 0.10613252 0.04570746 0.99330092 0.05912713] [ 0. 0. 0. 1. ]] SLAMing on 14.403426264999998 meters Centerline goodness : 0.099567 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:0.16, Z:0.05 [[ 0.99364652 0.02777126 -0.10906582 1.01872853] [-0.03313264 0.99831412 -0.04765654 0.16281397] [ 0.10755846 0.05096739 0.99289149 0.05239891] [ 0. 0. 0. 1. ]] SLAMing on 14.463426264999999 meters Centerline goodness : 0.105059 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.16, Z:0.05 [[ 0.99387457 0.023043 -0.10808497 1.01342929] [-0.02867287 0.99829585 -0.05082571 0.15775414] [ 0.1067296 0.05361349 0.99284157 0.05448947] [ 0. 0. 0. 1. ]] SLAMing on 14.523426265 meters Centerline goodness : 0.132325 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:0.05 [[ 0.99426649 0.01203925 -0.10625067 0.93210102] [-0.01765118 0.99848917 -0.05203662 0.15383227] [ 0.10546366 0.05361372 0.99297683 0.04800222] [ 0. 0. 0. 1. ]] SLAMing on 14.583426265 meters Centerline goodness : 0.092172 with order 3 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.03 [[ 0.99462499 0.00783133 -0.10324635 0.92337764] [-0.01292907 0.99872498 -0.04879816 0.14705505] [ 0.10273255 0.04987075 0.99345807 0.03315077] [ 0. 0. 0. 1. ]] SLAMing on 14.643426264999999 meters Centerline goodness : 0.117924 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:0.04 [[ 9.95327664e-01 3.84039607e-04 -9.65540958e-02 1.00535248e+00] [-5.63022341e-03 9.98521406e-01 -5.40675701e-02 1.39313693e-01] [ 9.63905675e-02 5.43585694e-02 9.93858141e-01 3.86721562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703426265 meters Centerline goodness : 0.190851 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:0.13, Z:0.04 [[ 0.99439776 -0.00130523 -0.10569481 1.11069769] [-0.00404722 0.99872039 -0.05041026 0.13194663] [ 0.10562536 0.05055562 0.99312004 0.04339037] [ 0. 0. 0. 1. ]] SLAMing on 14.763426265 meters Centerline goodness : 0.094953 with order 3 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.05 [[ 0.99463694 -0.00186143 -0.10341131 1.14930861] [-0.00345278 0.99868315 -0.0511863 0.13185247] [ 0.10337041 0.05126884 0.99332073 0.05221203] [ 0. 0. 0. 1. ]] SLAMing on 14.823426265 meters Centerline goodness : 0.108316 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.12, Z:0.11 [[ 0.99139627 0.02382461 -0.12870832 1.4449256 ] [-0.03195121 0.99759873 -0.0614483 0.12090624] [ 0.12693527 0.065032 0.98977688 0.11462581] [ 0. 0. 0. 1. ]] SLAMing on 14.883426264999999 meters Centerline goodness : 0.133822 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:0.12 [[ 0.99168527 0.02687851 -0.1258486 1.43387833] [-0.03491762 0.99745801 -0.06211512 0.1215848 ] [ 0.12385913 0.06599298 0.99010295 0.12495471] [ 0. 0. 0. 1. ]] SLAMing on 14.943426265 meters Centerline goodness : 0.090482 with order 2 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.10 [[ 0.98961839 0.03618292 -0.13909074 1.26927014] [-0.04474324 0.99725959 -0.05891812 0.1343106 ] [ 0.13657775 0.06452983 0.98852538 0.10443262] [ 0. 0. 0. 1. ]] SLAMing on 15.003426265 meters Centerline goodness : 0.104774 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:0.09 [[ 0.98946375 0.04377319 -0.13800506 1.03857916] [-0.05299157 0.99655189 -0.06384539 0.14691486] [ 0.13473448 0.0704858 0.98837158 0.08543744] [ 0. 0. 0. 1. ]] SLAMing on 15.063426264999999 meters Centerline goodness : 0.104215 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:0.07 [[ 0.99014633 0.05355008 -0.1293933 0.85498579] [-0.06166112 0.99632136 -0.05951186 0.1571233 ] [ 0.12573045 0.06690399 0.9898059 0.06744605] [ 0. 0. 0. 1. ]] SLAMing on 15.123426264999999 meters Centerline goodness : 0.096301 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.16, Z:0.05 [[ 0.98936417 0.05170961 -0.13595829 0.720768 ] [-0.06065851 0.99619858 -0.06252151 0.16196559] [ 0.13220849 0.07010357 0.98873981 0.05097215] [ 0. 0. 0. 1. ]] SLAMing on 15.183426265 meters Centerline goodness : 0.140780 with order 3 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:0.04 [[ 0.98869084 0.04809453 -0.14204696 0.58283542] [-0.05798962 0.99610913 -0.06636118 0.16632061] [ 0.13830266 0.07384794 0.98763296 0.03802208] [ 0. 0. 0. 1. ]] SLAMing on 15.243426265 meters Centerline goodness : 0.140551 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:0.03 [[ 0.99092473 0.04292453 -0.12738003 0.49559085] [-0.05205337 0.99624219 -0.06922394 0.16826657] [ 0.12392995 0.07522627 0.98943538 0.0307193 ] [ 0. 0. 0. 1. ]] SLAMing on 15.303426264999999 meters Centerline goodness : 0.129818 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.17, Z:0.01 [[ 0.98987406 0.0376542 -0.1368631 0.29718117] [-0.04753514 0.99643768 -0.06965892 0.17142078] [ 0.1337526 0.07545936 0.98813771 0.00955819] [ 0. 0. 0. 1. ]] SLAMing on 15.363426265 meters Centerline goodness : 0.095372 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:0.00 [[ 0.99059387 0.0207637 -0.13525034 0.2391748 ] [-0.03001601 0.99731929 -0.0667328 0.16772558] [ 0.13350215 0.07016478 0.98856162 0.00244014] [ 0. 0. 0. 1. ]] SLAMing on 15.423426265 meters Centerline goodness : 0.138311 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.17, Z:-0.01 [[ 0.99044302 0.016743 -0.1369025 0.19385304] [-0.02659124 0.99716246 -0.07042687 0.16669169] [ 0.13533487 0.0733942 0.98807781 -0.00529743] [ 0. 0. 0. 1. ]] SLAMing on 15.483426264999999 meters Centerline goodness : 0.107692 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.16, Z:-0.00 [[ 0.99068139 0.00845197 -0.13593728 0.22151566] [-0.01778492 0.99755471 -0.06758917 0.16289913] [ 0.13503362 0.06937697 0.98840921 -0.00348855] [ 0. 0. 0. 1. ]] SLAMing on 15.543426264999999 meters Centerline goodness : 0.113426 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.00 [[ 0.99211038 0.00225492 -0.12534718 0.23546536] [-0.01136344 0.99733997 -0.07199895 0.15807968] [ 0.12485141 0.07285528 0.98949696 -0.00154338] [ 0. 0. 0. 1. ]] SLAMing on 15.603426265 meters Centerline goodness : 0.142931 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-0.01 [[ 0.99123764 -0.00376964 -0.13203688 0.28392479] [-0.00532436 0.99764007 -0.06845399 0.15656112] [ 0.13198333 0.06855718 0.98887831 -0.00729059] [ 0. 0. 0. 1. ]] SLAMing on 15.663426265 meters Centerline goodness : 0.098197 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:0.00 [[ 0.99222114 -0.00337152 -0.12444213 0.33961073] [-0.00603555 0.99715476 -0.07513952 0.15545727] [ 0.1243414 0.0753061 0.98937769 0.00360059] [ 0. 0. 0. 1. ]] SLAMing on 15.723426264999999 meters Centerline goodness : 0.114062 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.15, Z:0.02 [[ 0.99069362 0.00712843 -0.13592404 0.45689664] [-0.01745822 0.99703393 -0.07495698 0.14784595] [ 0.13498656 0.0766324 0.9878796 0.02324607] [ 0. 0. 0. 1. ]] SLAMing on 15.783426265 meters Centerline goodness : 0.099521 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:0.14, Z:0.03 [[ 0.99085463 0.00496612 -0.1348423 0.50091924] [-0.01533285 0.99699364 -0.07595119 0.14262142] [ 0.13405973 0.07732411 0.98795191 0.03033207] [ 0. 0. 0. 1. ]] SLAMing on 15.843426265 meters Centerline goodness : 0.144195 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:0.04 [[ 0.99052034 0.00563197 -0.13725066 0.45090824] [-0.01706067 0.99646689 -0.08223545 0.1441444 ] [ 0.13630259 0.08379748 0.9871168 0.04314555] [ 0. 0. 0. 1. ]] SLAMing on 15.903426264999998 meters Centerline goodness : 0.115546 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.14, Z:0.06 [[ 0.98937353 0.01210477 -0.14489132 0.50386859] [-0.02580558 0.99532631 -0.09305706 0.14409308] [ 0.1430877 0.09580719 0.98506187 0.06227846] [ 0. 0. 0. 1. ]] SLAMing on 15.963426264999999 meters Centerline goodness : 0.144670 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.15, Z:0.04 [[ 0.98810819 0.01984957 -0.1524736 0.27787916] [-0.0339663 0.99531289 -0.09054578 0.14822949] [ 0.14996164 0.09464799 0.98415104 0.03699562] [ 0. 0. 0. 1. ]] SLAMing on 16.023426265 meters Centerline goodness : 0.089863 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:0.15, Z:0.02 [[ 0.98821503 0.02569345 -0.15090031 0.1266481 ] [-0.04057249 0.99451867 -0.09636642 0.15045657] [ 0.14759719 0.10135314 0.98384075 0.01910336] [ 0. 0. 0. 1. ]] SLAMing on 16.083426265 meters Centerline goodness : 0.119069 with order 2 Centerline is valid? [False, False] Translation: X:0.12, Y:0.16, Z:0.02 [[ 0.9881684 0.03505405 -0.14931315 0.11985144] [-0.04884665 0.99476744 -0.0897315 0.15634998] [ 0.14538641 0.09596328 0.98471003 0.0202201 ] [ 0. 0. 0. 1. ]] SLAMing on 16.143426265000002 meters Centerline goodness : 0.104484 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.16, Z:0.02 [[ 0.98835091 0.03548363 -0.14799791 0.11468383] [-0.04933603 0.99462774 -0.09100336 0.16107956] [ 0.1439737 0.09724488 0.98479186 0.0194013 ] [ 0. 0. 0. 1. ]] SLAMing on 16.203426265 meters Centerline goodness : 0.122794 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:0.16, Z:0.02 [[ 0.98865527 0.03653905 -0.14569026 0.1057165 ] [-0.05028032 0.99450906 -0.09178024 0.16358034] [ 0.14153672 0.09806437 0.98506382 0.01896395] [ 0. 0. 0. 1. ]] SLAMing on 16.263426265 meters Centerline goodness : 0.147963 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.17, Z:0.01 [[ 0.98821101 0.04309671 -0.14690701 0.11500173] [-0.0563122 0.99461378 -0.08701932 0.17097157] [ 0.14236549 0.0942661 0.98531516 0.01409591] [ 0. 0. 0. 1. ]] SLAMing on 16.323426265000002 meters Centerline goodness : 0.123855 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:0.18, Z:0.01 [[ 0.98825302 0.04209033 -0.14691621 0.11745048] [-0.05573146 0.99438091 -0.09000342 0.17805875] [ 0.1423024 0.09713401 0.98504569 0.0087444 ] [ 0. 0. 0. 1. ]] SLAMing on 16.383426265 meters Centerline goodness : 0.259785 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.18, Z:0.01 [[ 0.98825748 0.04262239 -0.1467327 0.11650945] [-0.05625985 0.99434409 -0.09008142 0.17994686] [ 0.14206331 0.0972788 0.98506591 0.00852242] [ 0. 0. 0. 1. ]] SLAMing on 16.443426265 meters Centerline goodness : 0.104836 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.18, Z:0.02 [[ 0.98898604 0.0327322 -0.1443441 0.13578712] [-0.04592683 0.99496796 -0.08904763 0.17955364] [ 0.14070303 0.09469613 0.98551271 0.01508049] [ 0. 0. 0. 1. ]] SLAMing on 16.503426265 meters Centerline goodness : 0.144217 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:0.18, Z:0.02 [[ 0.98837082 0.02426526 -0.15011435 0.13093633] [-0.03705252 0.99586199 -0.08298192 0.1785481 ] [ 0.1474796 0.08757902 0.98518003 0.01562199] [ 0. 0. 0. 1. ]] SLAMing on 16.563426265 meters Centerline goodness : 0.135593 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:0.17, Z:0.02 [[ 0.9891411 0.01107903 -0.14655082 0.1151209 ] [-0.02519128 0.99517814 -0.09479386 0.17191141] [ 0.14479395 0.09745631 0.98465069 0.01764082] [ 0. 0. 0. 1. ]] SLAMing on 16.623426265000003 meters Centerline goodness : 0.234393 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.17, Z:0.02 [[ 0.98880073 0.01031964 -0.14888462 0.15259327] [-0.02289828 0.9962847 -0.08302091 0.16903169] [ 0.14747472 0.08550034 0.98536333 0.02235639] [ 0. 0. 0. 1. ]] SLAMing on 16.683426265 meters Centerline goodness : 0.177456 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.16, Z:0.01 [[ 0.98799488 -0.00308082 -0.1544559 0.1261909 ] [-0.01123643 0.99571997 -0.09173596 0.163716 ] [ 0.15407745 0.09237019 0.98373161 0.01369547] [ 0. 0. 0. 1. ]] SLAMing on 16.743426265 meters Centerline goodness : 0.126467 with order 2 Centerline is valid? [False, False] Translation: X:0.17, Y:0.17, Z:0.03 [[ 9.88134456e-01 -1.23014180e-02 -1.53097915e-01 1.69598012e-01] [-9.12769572e-05 9.96740277e-01 -8.06772098e-02 1.66651055e-01] [ 1.53591303e-01 7.97339052e-02 9.84912289e-01 3.24050034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803426265000002 meters Centerline goodness : 0.229810 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:0.03 [[ 0.98772497 -0.02071163 -0.15482379 0.18006402] [ 0.00702178 0.99605576 -0.0884512 0.16573201] [ 0.1560451 0.08627832 0.98397458 0.02634699] [ 0. 0. 0. 1. ]] SLAMing on 16.863426265 meters Centerline goodness : 0.187788 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:0.01 [[ 0.987842 -0.0198629 -0.15418703 0.04700536] [ 0.00796259 0.99696691 -0.07741818 0.16057895] [ 0.15525711 0.0752492 0.98500395 0.0117163 ] [ 0. 0. 0. 1. ]] SLAMing on 16.923426265 meters Centerline goodness : 0.120980 with order 2 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:0.00 [[ 9.88117003e-01 -2.57645598e-02 -1.51528793e-01 -1.25677079e-01] [ 1.53907633e-02 9.97481330e-01 -6.92395961e-02 1.59727943e-01] [ 1.52931069e-01 6.60846784e-02 9.86024799e-01 7.79825635e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983426265000002 meters Centerline goodness : 0.317906 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.16, Z:-0.01 [[ 0.9873085 -0.0315217 -0.15565447 -0.15540894] [ 0.02033252 0.99712752 -0.07296089 0.15933855] [ 0.1575072 0.06887006 0.98511339 -0.01135273] [ 0. 0. 0. 1. ]] SLAMing on 17.043426265 meters Centerline goodness : 0.088204 with order 2 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.01 [[ 0.98702803 -0.0286943 -0.15796296 -0.14679468] [ 0.01784727 0.99741088 -0.0696635 0.16082265] [ 0.15955292 0.06594062 0.98498462 -0.01104198] [ 0. 0. 0. 1. ]] SLAMing on 17.103426265 meters Centerline goodness : 0.087208 with order 2 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.01 [[ 0.98785275 -0.02915056 -0.1526342 -0.17020805] [ 0.01822254 0.99720107 -0.07251181 0.16223774] [ 0.15432075 0.06884961 0.98561901 -0.00819328] [ 0. 0. 0. 1. ]] SLAMing on 17.163426265000002 meters Centerline goodness : 0.128979 with order 3 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.16, Z:-0.02 [[ 0.98854367 -0.02090012 -0.14948109 -0.2918204 ] [ 0.01144792 0.99789598 -0.06381664 0.16379046] [ 0.15050035 0.06137428 0.98670302 -0.02420393] [ 0. 0. 0. 1. ]] SLAMing on 17.223426265 meters Centerline goodness : 0.162084 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.16, Z:-0.04 [[ 0.98664542 -0.01848641 -0.16183037 -0.36738181] [ 0.00794513 0.99781803 -0.06554428 0.16416182] [ 0.16268894 0.0633832 0.98463947 -0.03951852] [ 0. 0. 0. 1. ]] SLAMing on 17.283426265000003 meters Centerline goodness : 0.477794 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.16, Z:-0.04 [[ 0.9866763 -0.01364111 -0.16212282 -0.36818204] [ 0.00370041 0.99810267 -0.06146031 0.16477238] [ 0.1626536 0.06004151 0.98485472 -0.03701454] [ 0. 0. 0. 1. ]] SLAMing on 17.343426265 meters Centerline goodness : 0.112303 with order 1 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.17, Z:-0.03 [[ 0.98953468 -0.00313813 -0.14426109 -0.35840145] [-0.00669415 0.99768867 -0.06762028 0.16587296] [ 0.14413985 0.06787832 0.98722654 -0.0338003 ] [ 0. 0. 0. 1. ]] SLAMing on 17.403426265 meters Centerline goodness : 0.140756 with order 2 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.16, Z:-0.03 [[ 9.88048648e-01 -6.63567805e-04 -1.54140936e-01 -2.99700636e-01] [-7.52967271e-03 9.98589153e-01 -5.25643269e-02 1.62210987e-01] [ 1.53958347e-01 5.30967429e-02 9.86649666e-01 -3.41585653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463426265000003 meters Centerline goodness : 0.111225 with order 1 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.17, Z:-0.03 [[ 0.98855991 -0.00205733 -0.15081467 -0.27594138] [-0.0074722 0.99801116 -0.06259311 0.16860606] [ 0.1506435 0.06300395 0.98657845 -0.02672 ] [ 0. 0. 0. 1. ]] SLAMing on 17.523426265 meters Centerline goodness : 0.202644 with order 3 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.17, Z:-0.02 [[ 0.98794774 0.00130176 -0.15478231 -0.21545995] [-0.01079782 0.99810821 -0.06052615 0.17353998] [ 0.1544107 0.06146798 0.98609281 -0.0218729 ] [ 0. 0. 0. 1. ]] SLAMing on 17.583426265 meters Centerline goodness : 0.152116 with order 3 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.17, Z:-0.01 [[ 0.98790984 0.00706692 -0.15486833 -0.13065436] [-0.01605755 0.99825191 -0.05687957 0.17318327] [ 0.15419564 0.0586787 0.98629636 -0.00673072] [ 0. 0. 0. 1. ]] SLAMing on 17.643426265000002 meters Centerline goodness : 0.098702 with order 3 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.17, Z:-0.00 [[ 0.9878789 0.0033653 -0.15519003 -0.13147434] [-0.01257622 0.99821352 -0.05840902 0.16682644] [ 0.15471622 0.05965275 0.9861564 -0.00294398] [ 0. 0. 0. 1. ]] SLAMing on 17.703426265 meters Centerline goodness : 0.142006 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.17, Z:-0.00 [[ 0.98787385 0.00289348 -0.15523172 -0.13117316] [-0.01218465 0.99818743 -0.05893551 0.16626862] [ 0.15477982 0.0601123 0.98611851 -0.003668 ] [ 0. 0. 0. 1. ]] SLAMing on 17.763426265 meters Centerline goodness : 0.212348 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.17, Z:-0.00 [[ 0.98803498 0.003333 -0.15419393 -0.13479432] [-0.0125334 0.99819498 -0.05873419 0.16510977] [ 0.15371985 0.05996401 0.98629333 -0.00390198] [ 0. 0. 0. 1. ]] SLAMing on 17.823426265000002 meters Centerline goodness : 0.102919 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:-0.02 [[ 0.98681601 0.00398594 -0.16179702 -0.22455127] [-0.01363192 0.99819131 -0.05855154 0.16232586] [ 0.161271 0.0599852 0.9850855 -0.01522275] [ 0. 0. 0. 1. ]] SLAMing on 17.883426265 meters Centerline goodness : 0.140217 with order 1 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.16, Z:-0.03 [[ 0.98727824 0.00265328 -0.15897996 -0.32133634] [-0.01225347 0.99815688 -0.05943642 0.15733501] [ 0.15852924 0.06062834 0.98549109 -0.03016834] [ 0. 0. 0. 1. ]] SLAMing on 17.943426265 meters Centerline goodness : 0.216740 with order 3 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.15, Z:-0.03 [[ 0.98742856 0.0039893 -0.1580156 -0.32725537] [-0.01329668 0.99823451 -0.05788833 0.15477503] [ 0.15750569 0.05926168 0.98573831 -0.02677933] [ 0. 0. 0. 1. ]] SLAMing on 18.003426265 meters Centerline goodness : 0.147412 with order 3 Centerline is valid? [False, False] Translation: X:-0.42, Y:0.15, Z:-0.04 [[ 9.86382823e-01 -2.57300470e-04 -1.64465376e-01 -4.19351618e-01] [-1.02803217e-02 9.97946818e-01 -6.32175914e-02 1.49444385e-01] [ 1.64143965e-01 6.40475032e-02 9.84354954e-01 -3.82782526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063426265 meters Centerline goodness : 0.083464 with order 2 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.15, Z:-0.03 [[ 0.98651564 0.00575851 -0.16356569 -0.42603885] [-0.01525533 0.99826534 -0.05686465 0.14527401] [ 0.16295451 0.05859312 0.98489221 -0.03273741] [ 0. 0. 0. 1. ]] SLAMing on 18.123426265000003 meters Centerline goodness : 0.190426 with order 3 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.04 [[ 0.98623273 0.00281755 -0.16533923 -0.46846666] [-0.01256695 0.99824041 -0.05794958 0.14407627] [ 0.16488502 0.05922958 0.98453278 -0.04005765] [ 0. 0. 0. 1. ]] SLAMing on 18.183426265 meters Centerline goodness : 0.118588 with order 1 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.04 [[ 0.98638131 0.00255408 -0.16445482 -0.4707947 ] [-0.0122206 0.99825372 -0.05779427 0.14053301] [ 0.16402002 0.05901692 0.98469002 -0.04070938] [ 0. 0. 0. 1. ]] SLAMing on 18.243426265 meters Centerline goodness : 0.103055 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.14, Z:-0.05 [[ 0.98517469 0.00184009 -0.17154426 -0.5586095 ] [-0.01226489 0.9981392 -0.05973029 0.1372567 ] [ 0.17111515 0.06094874 0.98336405 -0.05404226] [ 0. 0. 0. 1. ]] SLAMing on 18.303426265000002 meters Centerline goodness : 0.139088 with order 3 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.14, Z:-0.06 [[ 0.98686084 -0.00189171 -0.16156146 -0.61629844] [-0.0070671 0.99846912 -0.05485874 0.13929838] [ 0.1614179 0.05527971 0.9853367 -0.062771 ] [ 0. 0. 0. 1. ]] SLAMing on 18.363426265 meters Centerline goodness : 0.121843 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.07 [[ 0.98626536 -0.00203668 -0.16515596 -0.59963243] [-0.00722067 0.99843633 -0.05543238 0.13876914] [ 0.16501061 0.05586357 0.98470847 -0.07001011] [ 0. 0. 0. 1. ]] SLAMing on 18.423426265 meters Centerline goodness : 0.185363 with order 3 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.14, Z:-0.07 [[ 0.98755312 -0.00688454 -0.15713511 -0.59384546] [-0.00121227 0.99867876 -0.05137373 0.13977698] [ 0.15728118 0.05092478 0.98623998 -0.06631084] [ 0. 0. 0. 1. ]] SLAMing on 18.483426265000002 meters Centerline goodness : 0.149020 with order 3 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.14, Z:-0.07 [[ 9.87689198e-01 -7.83471210e-03 -1.56232730e-01 -5.93808033e-01] [-6.12117189e-04 9.98543752e-01 -5.39444222e-02 1.40991974e-01] [ 1.56427855e-01 5.33759559e-02 9.86246082e-01 -7.23444903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543426265 meters Centerline goodness : 0.119141 with order 2 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.07 [[ 0.98773874 -0.00305886 -0.15608594 -0.59573187] [-0.00470931 0.99876923 -0.04937451 0.14016744] [ 0.15604486 0.04950417 0.98650866 -0.07021377] [ 0. 0. 0. 1. ]] SLAMing on 18.603426265 meters Centerline goodness : 0.267266 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.14, Z:-0.08 [[ 0.98757393 -0.00290191 -0.15712835 -0.58843836] [-0.00500282 0.99874226 -0.04988864 0.13956655] [ 0.1570755 0.0500548 0.98631729 -0.07595186] [ 0. 0. 0. 1. ]] SLAMing on 18.663426265000002 meters Centerline goodness : 0.103776 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.14, Z:-0.10 [[ 0.98728579 -0.00413702 -0.15890141 -0.80826522] [-0.00379097 0.9987641 -0.04955702 0.13609936] [ 0.15891004 0.04952934 0.98604992 -0.10211732] [ 0. 0. 0. 1. ]] SLAMing on 18.723426265 meters Centerline goodness : 0.206475 with order 3 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.13, Z:-0.12 [[ 0.9888777 -0.00302063 -0.14870025 -0.97278587] [-0.00581069 0.99824581 -0.05891985 0.13126986] [ 0.14861738 0.05912857 0.98712547 -0.12127608] [ 0. 0. 0. 1. ]] SLAMing on 18.783426265 meters Centerline goodness : 0.100198 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.13, Z:-0.15 [[ 0.98723555 -0.00170683 -0.15925782 -1.16090972] [-0.00684939 0.99856245 -0.05316123 0.12723838] [ 0.15911961 0.05357347 0.98580466 -0.14606446] [ 0. 0. 0. 1. ]] SLAMing on 18.843426265 meters Centerline goodness : 0.140166 with order 3 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.15 [[ 0.98804081 -0.00652366 -0.15405453 -1.22325127] [-0.00233997 0.99835516 -0.05728439 0.11838712] [ 0.15417483 0.0569598 0.98640038 -0.15131845] [ 0. 0. 0. 1. ]] SLAMing on 18.903426265 meters Centerline goodness : 0.115609 with order 2 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.11, Z:-0.16 [[ 0.98723963 -0.02237111 -0.15766244 -1.20334173] [ 0.01441742 0.99857345 -0.05141203 0.11164374] [ 0.15858767 0.04848291 0.98615382 -0.15529128] [ 0. 0. 0. 1. ]] SLAMing on 18.963426265000003 meters Centerline goodness : 0.129933 with order 3 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.15 [[ 0.98729794 -0.04038695 -0.15366089 -1.18557554] [ 0.03208605 0.99790813 -0.05612347 0.10475138] [ 0.15560611 0.05048022 0.9865285 -0.14719151] [ 0. 0. 0. 1. ]] SLAMing on 19.023426265 meters Centerline goodness : 0.153054 with order 3 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.15 [[ 0.98593636 -0.0503036 -0.15937076 -1.1966304 ] [ 0.04210646 0.99763091 -0.0544023 0.10113376] [ 0.16172983 0.04692667 0.9857187 -0.15131713] [ 0. 0. 0. 1. ]] SLAMing on 19.083426265 meters Centerline goodness : 0.144862 with order 1 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.15 [[ 0.98482475 -0.06324139 -0.16161911 -1.2127433 ] [ 0.05532662 0.9970598 -0.05301618 0.09266753] [ 0.16449673 0.04326981 0.9854281 -0.15104773] [ 0. 0. 0. 1. ]] SLAMing on 19.143426265000002 meters Centerline goodness : 0.117954 with order 2 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.08, Z:-0.15 [[ 0.98472516 -0.07478234 -0.15723855 -1.18900669] [ 0.06715642 0.99631926 -0.05327235 0.0841648 ] [ 0.16064363 0.04189904 0.98612276 -0.14868705] [ 0. 0. 0. 1. ]] SLAMing on 19.203426265 meters Centerline goodness : 0.088319 with order 3 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.08, Z:-0.15 [[ 0.98467542 -0.07960413 -0.15516925 -1.15728946] [ 0.0727738 0.99613311 -0.04922197 0.08044061] [ 0.1584875 0.03717541 0.98666088 -0.15235704] [ 0. 0. 0. 1. ]] SLAMing on 19.263426265 meters Centerline goodness : 0.242733 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.07, Z:-0.15 [[ 0.98534328 -0.08409967 -0.14841113 -1.13637403] [ 0.07822418 0.99591956 -0.04500227 0.07144933] [ 0.15159022 0.03273335 0.98790128 -0.15430907] [ 0. 0. 0. 1. ]] SLAMing on 19.323426265000002 meters Centerline goodness : 0.140587 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.07, Z:-0.16 [[ 0.98530541 -0.08143263 -0.15013985 -1.12619721] [ 0.07593013 0.99622675 -0.04203414 0.06570552] [ 0.15299628 0.03001633 0.9877708 -0.15940054] [ 0. 0. 0. 1. ]] SLAMing on 19.383426265 meters Centerline goodness : 0.123395 with order 3 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.06, Z:-0.17 [[ 0.98555216 -0.07919066 -0.149719 -1.20313191] [ 0.0728988 0.99622825 -0.04706419 0.05943264] [ 0.15288135 0.03546988 0.98760781 -0.16739841] [ 0. 0. 0. 1. ]] SLAMing on 19.443426265 meters Centerline goodness : 0.093647 with order 2 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.05, Z:-0.17 [[ 0.98596941 -0.07313029 -0.1500543 -1.25444535] [ 0.06756943 0.99683708 -0.04183551 0.05415682] [ 0.15263913 0.03110945 0.98779223 -0.17249188] [ 0. 0. 0. 1. ]] SLAMing on 19.503426265 meters Centerline goodness : 0.110108 with order 2 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.05, Z:-0.17 [[ 0.98626461 -0.06771846 -0.15065302 -1.25282098] [ 0.06278375 0.99733065 -0.03727969 0.05248882] [ 0.15277539 0.02730908 0.98788354 -0.17332301] [ 0. 0. 0. 1. ]] SLAMing on 19.563426265 meters Centerline goodness : 0.099307 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.05, Z:-0.18 [[ 0.98676025 -0.06731353 -0.14755708 -1.31004156] [ 0.06242484 0.99734415 -0.03752039 0.04793353] [ 0.14969082 0.0278124 0.9883416 -0.17935752] [ 0. 0. 0. 1. ]] SLAMing on 19.623426265000003 meters Centerline goodness : 0.094747 with order 2 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.04, Z:-0.19 [[ 0.98735615 -0.05778733 -0.14760914 -1.3347347 ] [ 0.05262048 0.99786538 -0.03867526 0.04305225] [ 0.14952899 0.03041899 0.98828931 -0.18640788] [ 0. 0. 0. 1. ]] SLAMing on 19.683426265 meters Centerline goodness : 0.156201 with order 3 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.04, Z:-0.19 [[ 0.98740124 -0.05178559 -0.1495227 -1.37837864] [ 0.0476238 0.99837533 -0.03128389 0.0356049 ] [ 0.15089983 0.02376891 0.98826327 -0.1924001 ] [ 0. 0. 0. 1. ]] SLAMing on 19.743426265 meters Centerline goodness : 0.165224 with order 3 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.03, Z:-0.20 [[ 0.98741704 -0.04772759 -0.15076362 -1.40086157] [ 0.04256311 0.99839724 -0.03730052 0.02866038] [ 0.15230225 0.0304142 0.98786588 -0.19739051] [ 0. 0. 0. 1. ]] SLAMing on 19.803426265000002 meters Centerline goodness : 0.478683 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.03, Z:-0.19 [[ 0.98795505 -0.03915678 -0.14970494 -1.40760404] [ 0.03520368 0.99896028 -0.02896643 0.02789199] [ 0.15068352 0.02334737 0.98830632 -0.19385344] [ 0. 0. 0. 1. ]] SLAMing on 19.863426265 meters Centerline goodness : 0.145047 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.02, Z:-0.19 [[ 0.98786543 -0.03972692 -0.15014547 -1.40536276] [ 0.03575952 0.99893861 -0.02903291 0.02395814] [ 0.1511395 0.02331148 0.98823754 -0.19452563] [ 0. 0. 0. 1. ]] SLAMing on 19.923426265 meters Centerline goodness : 0.218235 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.03, Z:-0.20 [[ 0.98880226 -0.03544088 -0.1449622 -1.40247305] [ 0.02999332 0.99876559 -0.03959419 0.02525414] [ 0.14618651 0.03480293 0.98864466 -0.19734387] [ 0. 0. 0. 1. ]] SLAMing on 19.983426265000002 meters Centerline goodness : 0.075058 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.02, Z:-0.20 [[ 0.98890575 -0.02241057 -0.14684407 -1.39671399] [ 0.01870238 0.99947159 -0.02658494 0.02404823] [ 0.14736226 0.02354367 0.98880234 -0.19580205] [ 0. 0. 0. 1. ]] SLAMing on 20.043426265 meters Centerline goodness : 0.109817 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.02, Z:-0.19 [[ 0.98893336 -0.02637535 -0.14599711 -1.40047409] [ 0.02220591 0.99929975 -0.03011504 0.02293453] [ 0.14668917 0.02653976 0.98882654 -0.19424941] [ 0. 0. 0. 1. ]] SLAMing on 20.103426265 meters Centerline goodness : 0.112901 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.02, Z:-0.19 [[ 0.98896639 -0.02633466 -0.14578056 -1.40102599] [ 0.02221385 0.99930831 -0.02982356 0.02214776] [ 0.14646512 0.02625615 0.98886732 -0.19411274] [ 0. 0. 0. 1. ]] SLAMing on 20.163426265000002 meters Centerline goodness : 0.208326 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.02, Z:-0.19 [[ 0.98977362 -0.02649106 -0.1401656 -1.37867074] [ 0.02145287 0.99907253 -0.03733446 0.02389413] [ 0.14102463 0.0339457 0.98942394 -0.19283458] [ 0. 0. 0. 1. ]] SLAMing on 20.223426265 meters Centerline goodness : 0.166474 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.03, Z:-0.20 [[ 0.98887705 -0.02629204 -0.14639302 -1.39026675] [ 0.02227761 0.99933128 -0.02899485 0.02601996] [ 0.14705746 0.02541106 0.98880149 -0.20100546] [ 0. 0. 0. 1. ]] SLAMing on 20.283426265 meters Centerline goodness : 0.203139 with order 3 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.02, Z:-0.21 [[ 0.98924163 -0.0299457 -0.14319306 -1.43343934] [ 0.02367355 0.99869255 -0.04530727 0.01558189] [ 0.1443626 0.04142995 0.98865717 -0.20900773] [ 0. 0. 0. 1. ]] SLAMing on 20.343426265 meters Centerline goodness : 0.107775 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.01, Z:-0.19 [[ 0.98977424 -0.03163306 -0.13909098 -1.38678652] [ 0.02857678 0.99930545 -0.02391622 0.01293388] [ 0.13975092 0.01969689 0.98999076 -0.18942121] [ 0. 0. 0. 1. ]] SLAMing on 20.403426265 meters Centerline goodness : 0.102479 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.01, Z:-0.20 [[ 0.98890598 -0.0352291 -0.14430478 -1.39691397] [ 0.03034691 0.99889467 -0.03589568 0.00665737] [ 0.14540985 0.03111825 0.98888201 -0.19737643] [ 0. 0. 0. 1. ]] SLAMing on 20.463426265000003 meters Centerline goodness : 0.136826 with order 3 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.00, Z:-0.20 [[ 0.99088109 -0.03876978 -0.12904094 -1.40920237] [ 0.03516098 0.99892741 -0.03012879 0.003721 ] [ 0.13007061 0.02531684 0.99118146 -0.20309826] [ 0. 0. 0. 1. ]] SLAMing on 20.523426265 meters Centerline goodness : 0.118641 with order 3 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.00, Z:-0.21 [[ 9.88545460e-01 -3.68296594e-02 -1.46360681e-01 -1.39366244e+00] [ 3.29354188e-02 9.99038325e-01 -2.89427626e-02 -2.46976637e-04] [ 1.47285882e-01 2.37907862e-02 9.88807801e-01 -2.09598540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583426265 meters Centerline goodness : 0.118964 with order 3 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.01, Z:-0.20 [[ 0.98904245 -0.03514443 -0.14338724 -1.41183116] [ 0.03164661 0.99914502 -0.02660303 -0.0076913 ] [ 0.1441996 0.02177381 0.98930904 -0.20005065] [ 0. 0. 0. 1. ]] SLAMing on 20.643426265000002 meters Centerline goodness : 0.109204 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.01, Z:-0.20 [[ 0.98947928 -0.04688115 -0.13686821 -1.39791701] [ 0.04343724 0.9986625 -0.02804304 -0.01244439] [ 0.13799984 0.02180283 0.99019224 -0.19603434] [ 0. 0. 0. 1. ]] SLAMing on 20.703426265 meters Centerline goodness : 0.120134 with order 2 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.01, Z:-0.20 [[ 0.98909826 -0.03653214 -0.14265354 -1.41080421] [ 0.03291626 0.99907623 -0.02762622 -0.01114423] [ 0.14353101 0.02262942 0.98938706 -0.20317238] [ 0. 0. 0. 1. ]] SLAMing on 20.763426265 meters Centerline goodness : 0.154416 with order 3 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.01, Z:-0.20 [[ 0.9895807 -0.03462889 -0.13975291 -1.38723878] [ 0.03012326 0.99895997 -0.03422815 -0.01404834] [ 0.14079285 0.0296617 0.98959464 -0.20073964] [ 0. 0. 0. 1. ]] SLAMing on 20.823426265000002 meters Centerline goodness : 0.148976 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.02, Z:-0.20 [[ 0.98970907 -0.02947781 -0.14002502 -1.38694247] [ 0.02559716 0.99923889 -0.02943495 -0.01707147] [ 0.14078613 0.02554779 0.98971035 -0.20060486] [ 0. 0. 0. 1. ]] SLAMing on 20.883426265 meters Centerline goodness : 0.111381 with order 2 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.02, Z:-0.20 [[ 0.991701 -0.02627702 -0.12585166 -1.3893755 ] [ 0.02361366 0.99946549 -0.02260824 -0.02078271] [ 0.12637847 0.01944879 0.99179142 -0.20169592] [ 0. 0. 0. 1. ]] SLAMing on 20.943426265 meters Centerline goodness : 0.264342 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.02, Z:-0.21 [[ 0.99033386 -0.02153533 -0.13702216 -1.37166252] [ 0.01713443 0.99930127 -0.03321707 -0.02115933] [ 0.13764176 0.03054819 0.99001089 -0.20827038] [ 0. 0. 0. 1. ]] SLAMing on 21.003426265 meters Centerline goodness : 0.119320 with order 3 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.02, Z:-0.20 [[ 0.99096987 -0.00568404 -0.13396423 -1.39046848] [ 0.00319294 0.99981811 -0.01880276 -0.02045572] [ 0.13404674 0.01820523 0.99080777 -0.19858451] [ 0. 0. 0. 1. ]] SLAMing on 21.063426265 meters Centerline goodness : 0.228051 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.03, Z:-0.21 [[ 0.99111086 -0.00149956 -0.1330301 -1.41947718] [-0.00226015 0.99960238 -0.02810658 -0.02643463] [ 0.13301935 0.0281574 0.99071339 -0.21300806] [ 0. 0. 0. 1. ]] SLAMing on 21.123426265 meters Centerline goodness : 0.104633 with order 2 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.03, Z:-0.23 [[ 0.99175059 0.00530842 -0.12807259 -1.5539112 ] [-0.00771566 0.99980264 -0.01830708 -0.02780682] [ 0.12795013 0.01914423 0.99159582 -0.22926665] [ 0. 0. 0. 1. ]] SLAMing on 21.183426265 meters Centerline goodness : 0.109822 with order 2 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.03, Z:-0.24 [[ 0.99226675 0.0117231 -0.1235689 -1.59990613] [-0.01517963 0.99951833 -0.02706822 -0.02541649] [ 0.12319206 0.02873462 0.99196675 -0.23763663] [ 0. 0. 0. 1. ]] SLAMing on 21.243426265 meters Centerline goodness : 0.102129 with order 2 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.02, Z:-0.24 [[ 0.992188 0.01679278 -0.12361621 -1.59891528] [-0.01979752 0.99953668 -0.02311884 -0.02120039] [ 0.12317071 0.02538553 0.99206076 -0.23881511] [ 0. 0. 0. 1. ]] SLAMing on 21.303426265000002 meters Centerline goodness : 0.096556 with order 2 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.24 [[ 0.99187018 0.02326242 -0.12510958 -1.62535402] [-0.02680881 0.99928294 -0.0267375 -0.02359014] [ 0.12439789 0.02987417 0.99178259 -0.240049 ] [ 0. 0. 0. 1. ]] SLAMing on 21.363426265 meters Centerline goodness : 0.142930 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.24 [[ 0.99294083 0.01945171 -0.11700485 -1.63373371] [-0.02128943 0.99966853 -0.01447703 -0.02337736] [ 0.11668446 0.0168658 0.99302582 -0.24049411] [ 0. 0. 0. 1. ]] SLAMing on 21.423426265 meters Centerline goodness : 0.116108 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.02, Z:-0.25 [[ 0.99205238 0.01974956 -0.12426598 -1.63726478] [-0.0229209 0.99944573 -0.0241427 -0.02324343] [ 0.1237203 0.02679911 0.99195519 -0.25027877] [ 0. 0. 0. 1. ]] SLAMing on 21.483426265000002 meters Centerline goodness : 0.095259 with order 2 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.03, Z:-0.24 [[ 0.99282424 0.01421162 -0.1187352 -1.68201707] [-0.01667667 0.999665 -0.01979317 -0.02600884] [ 0.11841414 0.02163125 0.99272865 -0.24452541] [ 0. 0. 0. 1. ]] SLAMing on 21.543426265 meters Centerline goodness : 0.153945 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.03, Z:-0.25 [[ 0.99286461 0.01019714 -0.11881028 -1.68109711] [-0.01307214 0.99963968 -0.0234441 -0.0269917 ] [ 0.1185284 0.02482992 0.99264016 -0.24586676] [ 0. 0. 0. 1. ]] SLAMing on 21.603426265 meters Centerline goodness : 0.138893 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.03, Z:-0.25 [[ 0.99277461 0.0070157 -0.11978879 -1.67468906] [-0.01013213 0.99962534 -0.02542681 -0.03420518] [ 0.11956553 0.02645681 0.99247374 -0.24970333] [ 0. 0. 0. 1. ]] SLAMing on 21.663426265000002 meters Centerline goodness : 0.111942 with order 2 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.04, Z:-0.26 [[ 0.99338403 0.00721977 -0.11461256 -1.73924497] [-0.0094645 0.99977367 -0.01905327 -0.04232152] [ 0.11444906 0.02001196 0.99322753 -0.25945626] [ 0. 0. 0. 1. ]] SLAMing on 21.723426265 meters Centerline goodness : 0.100209 with order 2 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.05, Z:-0.25 [[ 0.99362211 0.0041675 -0.11268424 -1.7199602 ] [-0.0077404 0.99948043 -0.03128823 -0.04746017] [ 0.1124953 0.0319609 0.99313811 -0.25480713] [ 0. 0. 0. 1. ]] SLAMing on 21.783426265 meters Centerline goodness : 0.107553 with order 2 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.06, Z:-0.27 [[ 9.94402497e-01 7.06102593e-04 -1.05655928e-01 -1.81026175e+00] [-2.94474856e-03 9.99774433e-01 -2.10335762e-02 -5.54801403e-02] [ 1.05617243e-01 2.12269708e-02 9.94180272e-01 -2.65116242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843426265 meters Centerline goodness : 0.235685 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:-0.27 [[ 0.99358524 0.00355433 -0.11302981 -1.81602297] [-0.00659235 0.99962666 -0.02651563 -0.06285609] [ 0.11289336 0.02709068 0.99323773 -0.2741716 ] [ 0. 0. 0. 1. ]] SLAMing on 21.903426265 meters Centerline goodness : 0.224699 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.27 [[ 0.99372111 0.00595272 -0.11172703 -1.82457349] [-0.00865079 0.99968217 -0.02367955 -0.06759187] [ 0.11155056 0.0244974 0.99345677 -0.26908093] [ 0. 0. 0. 1. ]] SLAMing on 21.963426265000003 meters Centerline goodness : 0.099573 with order 1 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.28 [[ 0.99471169 0.00679019 -0.10248195 -1.89566383] [-0.00940246 0.99964252 -0.02502856 -0.07176747] [ 0.10227537 0.02585978 0.99441994 -0.27698476] [ 0. 0. 0. 1. ]] SLAMing on 22.023426265 meters Centerline goodness : 0.095060 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.08, Z:-0.29 [[ 0.9944315 0.00542132 -0.10524544 -1.93376048] [-0.00814258 0.99964309 -0.02544388 -0.07514922] [ 0.10506994 0.02615917 0.99412072 -0.28760072] [ 0. 0. 0. 1. ]] SLAMing on 22.083426265 meters Centerline goodness : 0.154657 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.08, Z:-0.28 [[ 0.99455195 0.00419351 -0.10415774 -1.94060832] [-0.00702792 0.99961448 -0.02686059 -0.0767974 ] [ 0.10400495 0.02744626 0.99419801 -0.28408721] [ 0. 0. 0. 1. ]] SLAMing on 22.143426265000002 meters Centerline goodness : 0.237804 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.08, Z:-0.29 [[ 0.99431319 0.00995868 -0.10602877 -1.93146069] [-0.01228171 0.99969814 -0.02127904 -0.08109327] [ 0.10578485 0.02246025 0.99413535 -0.28855051] [ 0. 0. 0. 1. ]] SLAMing on 22.203426265 meters Centerline goodness : 0.102983 with order 2 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.09, Z:-0.29 [[ 0.99568508 0.01304116 -0.09187574 -1.92954315] [-0.0147396 0.99973235 -0.017832 -0.08644526] [ 0.0916186 0.01910927 0.9956108 -0.29113677] [ 0. 0. 0. 1. ]] SLAMing on 22.263426265 meters Centerline goodness : 0.131897 with order 3 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.09, Z:-0.29 [[ 0.99573622 0.00902822 -0.09180341 -1.92931199] [-0.01105597 0.99970548 -0.02160349 -0.09043979] [ 0.09158133 0.02252635 0.99554278 -0.2922606 ] [ 0. 0. 0. 1. ]] SLAMing on 22.323426265000002 meters Centerline goodness : 0.097906 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.10, Z:-0.29 [[ 0.99575343 0.01118897 -0.09137785 -1.93182059] [-0.0130052 0.99972906 -0.01930487 -0.09516617] [ 0.09113709 0.02041128 0.99562915 -0.29133947] [ 0. 0. 0. 1. ]] SLAMing on 22.383426265 meters Centerline goodness : 0.103469 with order 2 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.10, Z:-0.29 [[ 0.99577524 0.01158432 -0.09109049 -1.9330232 ] [-0.01330643 0.99974361 -0.01832094 -0.10177554] [ 0.0908549 0.01945563 0.99567408 -0.29087054] [ 0. 0. 0. 1. ]] SLAMing on 22.443426265 meters Centerline goodness : 0.107184 with order 1 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.11, Z:-0.30 [[ 0.9954458 0.00525956 -0.09518406 -2.00095361] [-0.00644331 0.99990563 -0.0121334 -0.11188235] [ 0.09511126 0.01269144 0.99538574 -0.29729943] [ 0. 0. 0. 1. ]] SLAMing on 22.503426265 meters Centerline goodness : 0.098388 with order 1 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.11, Z:-0.29 [[ 0.99575761 0.0047554 -0.0918921 -1.9845089 ] [-0.00689298 0.99971266 -0.02295845 -0.11460053] [ 0.09175652 0.02349446 0.99550427 -0.2918177 ] [ 0. 0. 0. 1. ]] SLAMing on 22.563426265 meters Centerline goodness : 0.272996 with order 1 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.12, Z:-0.29 [[ 0.99578802 0.00868344 -0.09127334 -1.98622093] [-0.0103667 0.99978453 -0.01798402 -0.1208588 ] [ 0.09109751 0.01885447 0.99566347 -0.29179497] [ 0. 0. 0. 1. ]] SLAMing on 22.623426265 meters Centerline goodness : 0.097300 with order 2 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.12, Z:-0.30 [[ 0.99561715 0.00743202 -0.09322694 -1.97597571] [-0.00925581 0.99977386 -0.01914585 -0.12263565] [ 0.09306356 0.01992482 0.99546079 -0.29726929] [ 0. 0. 0. 1. ]] SLAMing on 22.683426265 meters Centerline goodness : 0.102179 with order 2 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.13, Z:-0.30 [[ 0.99645082 0.00649124 -0.0839263 -2.00713946] [-0.0076762 0.99987525 -0.01380402 -0.13005794] [ 0.08382622 0.01439926 0.99637635 -0.29738856] [ 0. 0. 0. 1. ]] SLAMing on 22.743426265 meters Centerline goodness : 0.279205 with order 1 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.13, Z:-0.30 [[ 9.96437018e-01 -2.12654195e-03 -8.43133830e-02 -2.00507001e+00] [ 2.44046281e-04 9.99750594e-01 -2.23313875e-02 -1.32304148e-01] [ 8.43398433e-02 2.22312448e-02 9.96189020e-01 -2.99035418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803426265000002 meters Centerline goodness : 0.159520 with order 1 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.14, Z:-0.31 [[ 9.96222780e-01 -2.19464587e-03 -8.68064307e-02 -2.11738177e+00] [ 1.25612132e-03 9.99940187e-01 -1.08648394e-02 -1.37649840e-01] [ 8.68250830e-02 1.07147611e-02 9.96165949e-01 -3.10005508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863426265 meters Centerline goodness : 0.162265 with order 1 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.14, Z:-0.30 [[ 9.96397829e-01 -2.80440774e-03 -8.47555355e-02 -2.09976264e+00] [ 1.01239366e-03 9.99775189e-01 -2.11789168e-02 -1.42227221e-01] [ 8.47958758e-02 2.10168207e-02 9.96176667e-01 -3.04086739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923426265 meters Centerline goodness : 0.124151 with order 2 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:-0.30 [[ 9.96399358e-01 1.93083305e-03 -8.47619638e-02 -2.09985070e+00] [-3.30442335e-03 9.99865442e-01 -1.60679626e-02 -1.46571705e-01] [ 8.47195339e-02 1.62901970e-02 9.96271665e-01 -3.04139640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983426265000002 meters Centerline goodness : 0.101552 with order 2 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:-0.30 [[ 9.96457037e-01 1.84498095e-03 -8.40831136e-02 -2.10272668e+00] [-3.17207530e-03 9.99872464e-01 -1.56522641e-02 -1.50930137e-01] [ 8.40435119e-02 1.58635267e-02 9.96335805e-01 -3.02955556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043426265 meters Centerline goodness : 0.099301 with order 2 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:-0.30 [[ 9.96489254e-01 -1.44162216e-03 -8.37083568e-02 -2.10382689e+00] [-1.63874334e-04 9.99816233e-01 -1.91696064e-02 -1.52512137e-01] [ 8.37206093e-02 1.91160244e-02 9.96305895e-01 -3.03328257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103426265 meters Centerline goodness : 0.155903 with order 3 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.16, Z:-0.31 [[ 9.96268884e-01 -2.86264473e-04 -8.63031245e-02 -2.14307997e+00] [-1.10386147e-03 9.99870431e-01 -1.60593284e-02 -1.61762688e-01] [ 8.62965395e-02 1.60946759e-02 9.96139483e-01 -3.11615192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163426265000002 meters Centerline goodness : 0.108000 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.17, Z:-0.31 [[ 9.96350133e-01 -1.63846514e-03 -8.53447577e-02 -2.14875302e+00] [ 2.33198769e-04 9.99864282e-01 -1.64731283e-02 -1.70448300e-01] [ 8.53601655e-02 1.63931013e-02 9.96215292e-01 -3.08512637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223426265 meters Centerline goodness : 0.238401 with order 1 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.18, Z:-0.31 [[ 0.99644899 -0.00494923 -0.08405302 -2.15505628] [ 0.00341293 0.99982467 -0.01841161 -0.18108096] [ 0.0841294 0.01805936 0.99629117 -0.30556256] [ 0. 0. 0. 1. ]] SLAMing on 23.283426265 meters Centerline goodness : 0.170369 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.19, Z:-0.31 [[ 0.99640813 -0.00471923 -0.08454917 -2.1523255 ] [ 0.00322869 0.99983711 -0.01775732 -0.18701944] [ 0.0846192 0.01742055 0.99626107 -0.30748247] [ 0. 0. 0. 1. ]] SLAMing on 23.343426265 meters Centerline goodness : 0.131698 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.31 [[ 0.99591022 -0.00669279 -0.09010017 -2.24399152] [ 0.00523075 0.99985095 -0.01645329 -0.20008116] [ 0.09019686 0.01591471 0.99579679 -0.31233826] [ 0. 0. 0. 1. ]] SLAMing on 23.403426265 meters Centerline goodness : 0.256422 with order 1 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.21, Z:-0.31 [[ 0.99608463 -0.00452018 -0.08828922 -2.25343039] [ 0.00333227 0.999902 -0.01359754 -0.20748708] [ 0.08834203 0.0132501 0.99600207 -0.30741834] [ 0. 0. 0. 1. ]] SLAMing on 23.463426265000003 meters Centerline goodness : 0.170898 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.21, Z:-0.31 [[ 9.96162608e-01 -1.43206487e-03 -8.75100373e-02 -2.22472086e+00] [-3.50035335e-04 9.99792942e-01 -2.03457856e-02 -2.12272329e-01] [ 8.75210542e-02 2.02983425e-02 9.95955844e-01 -3.08880653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523426265 meters Centerline goodness : 0.258946 with order 1 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.21, Z:-0.31 [[ 9.96055522e-01 4.84077821e-04 -8.87308449e-02 -2.21758127e+00] [-2.11634254e-03 9.99830255e-01 -1.83025308e-02 -2.14515907e-01] [ 8.87069234e-02 1.84181217e-02 9.95887471e-01 -3.12726474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583426265 meters Centerline goodness : 0.267248 with order 1 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.22, Z:-0.31 [[ 0.99672744 0.00704089 -0.08052852 -2.27521064] [-0.00909387 0.99964219 -0.0251555 -0.22061924] [ 0.08032258 0.02580549 0.99643482 -0.31331191] [ 0. 0. 0. 1. ]] SLAMing on 23.643426265000002 meters Centerline goodness : 0.296662 with order 1 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.23, Z:-0.32 [[ 0.99621536 0.00821308 -0.08653036 -2.28248434] [-0.00944239 0.99986009 -0.01380699 -0.22567918] [ 0.08640486 0.01457178 0.99615353 -0.32223156] [ 0. 0. 0. 1. ]] SLAMing on 23.703426265 meters Centerline goodness : 0.135672 with order 2 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.23, Z:-0.32 [[ 0.99670708 0.01079269 -0.08036494 -2.27356673] [-0.01252997 0.99969791 -0.02114464 -0.23195439] [ 0.08011245 0.02208198 0.99654121 -0.31620585] [ 0. 0. 0. 1. ]] SLAMing on 23.763426265 meters Centerline goodness : 0.326158 with order 1 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.24, Z:-0.32 [[ 0.99589824 0.01229687 -0.08964087 -2.35266195] [-0.0139242 0.99974901 -0.01755114 -0.24252506] [ 0.08940254 0.01872733 0.9958195 -0.32459788] [ 0. 0. 0. 1. ]] SLAMing on 23.823426265000002 meters Centerline goodness : 0.269263 with order 1 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.25, Z:-0.32 [[ 0.99609966 0.01105509 -0.08753997 -2.36436938] [-0.01272936 0.99974614 -0.01859064 -0.24571049] [ 0.08731223 0.01963246 0.99598752 -0.31860938] [ 0. 0. 0. 1. ]] SLAMing on 23.883426265 meters Centerline goodness : 0.168265 with order 3 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.25, Z:-0.32 [[ 0.99609696 0.0117342 -0.08748235 -2.36391308] [-0.01335332 0.99974979 -0.01794575 -0.24643886] [ 0.08724988 0.01904389 0.99600441 -0.31961224] [ 0. 0. 0. 1. ]] SLAMing on 23.943426265 meters Centerline goodness : 0.098053 with order 1 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.25, Z:-0.32 [[ 0.99604955 0.01221396 -0.08795522 -2.36132623] [-0.01380602 0.99975127 -0.01751531 -0.24794422] [ 0.08771942 0.01866043 0.99597043 -0.32161097] [ 0. 0. 0. 1. ]] SLAMing on 24.003426265 meters Centerline goodness : 0.153872 with order 2 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.25, Z:-0.31 [[ 0.99625661 0.01216883 -0.08558438 -2.37465762] [-0.01370325 0.99975532 -0.01736411 -0.25093431] [ 0.08535214 0.0184719 0.9961796 -0.3141978 ] [ 0. 0. 0. 1. ]] SLAMing on 24.063426265 meters Centerline goodness : 0.096030 with order 2 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.25, Z:-0.32 [[ 0.99615926 0.01137502 -0.08681787 -2.36732553] [-0.01298573 0.99975346 -0.01801056 -0.25302145] [ 0.08659159 0.01906878 0.99606138 -0.31882228] [ 0. 0. 0. 1. ]] SLAMing on 24.123426265 meters Centerline goodness : 0.131622 with order 2 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.26, Z:-0.31 [[ 0.99626502 0.01246954 -0.08544306 -2.37459179] [-0.01388479 0.99977575 -0.0159894 -0.2592052 ] [ 0.08522452 0.01711604 0.99621475 -0.31468565] [ 0. 0. 0. 1. ]] SLAMing on 24.183426265 meters Centerline goodness : 0.149015 with order 3 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.26, Z:-0.33 [[ 0.99599528 0.00741707 -0.08909764 -2.40846641] [-0.00915577 0.99977524 -0.01912174 -0.26451093] [ 0.08893578 0.01986092 0.99583933 -0.32589206] [ 0. 0. 0. 1. ]] SLAMing on 24.243426265 meters Centerline goodness : 0.101513 with order 1 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.27, Z:-0.32 [[ 0.99625589 0.0071318 -0.08615875 -2.42272013] [-0.0087509 0.99979187 -0.01842902 -0.26724085] [ 0.08600939 0.01911398 0.99611096 -0.31849637] [ 0. 0. 0. 1. ]] SLAMing on 24.303426265000002 meters Centerline goodness : 0.294482 with order 1 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.27, Z:-0.32 [[ 9.96174054e-01 1.24757227e-03 -8.73824832e-02 -2.41580883e+00] [-3.34780114e-03 9.99708929e-01 -2.38924716e-02 -2.68391141e-01] [ 8.73272411e-02 2.40935994e-02 9.95888273e-01 -3.22620705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363426265 meters Centerline goodness : 0.166562 with order 1 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.27, Z:-0.32 [[ 9.96108333e-01 -2.31827447e-03 -8.81068349e-02 -2.44431059e+00] [ 8.51891684e-04 9.99860563e-01 -1.66771944e-02 -2.70391953e-01] [ 8.81332119e-02 1.65372348e-02 9.95971414e-01 -3.21985205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423426265 meters Centerline goodness : 0.090235 with order 2 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.27, Z:-0.32 [[ 0.99610766 -0.00709965 -0.08785858 -2.44539079] [ 0.00531228 0.99977449 -0.02056085 -0.27395163] [ 0.08798475 0.02001409 0.99592074 -0.32120736] [ 0. 0. 0. 1. ]] SLAMing on 24.483426265000002 meters Centerline goodness : 0.111543 with order 2 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.28, Z:-0.33 [[ 0.99602037 -0.00838528 -0.0887305 -2.49197282] [ 0.00671005 0.99979389 -0.01916145 -0.28011586] [ 0.08887288 0.01848981 0.99587135 -0.3258628 ] [ 0. 0. 0. 1. ]] SLAMing on 24.543426265 meters Centerline goodness : 0.091549 with order 2 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.28, Z:-0.33 [[ 0.99637534 -0.01427864 -0.0838588 -2.46764607] [ 0.01289693 0.99977239 -0.01699529 -0.2831437 ] [ 0.08408238 0.01585217 0.99633271 -0.32789294] [ 0. 0. 0. 1. ]] SLAMing on 24.603426265 meters Centerline goodness : 0.096843 with order 2 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.28, Z:-0.33 [[ 0.99613884 -0.01611259 -0.08630063 -2.45605388] [ 0.01454898 0.99971897 -0.01871671 -0.28298196] [ 0.08657795 0.01738886 0.99609331 -0.33326784] [ 0. 0. 0. 1. ]] SLAMing on 24.663426265000002 meters Centerline goodness : 0.430207 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.29, Z:-0.33 [[ 0.99687573 -0.01311059 -0.07789024 -2.52419709] [ 0.01216765 0.99984698 -0.0125683 -0.28864425] [ 0.0780431 0.01158129 0.99688272 -0.32959352] [ 0. 0. 0. 1. ]] SLAMing on 24.723426265 meters Centerline goodness : 0.265915 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.29, Z:-0.34 [[ 0.99667535 -0.01859973 -0.07932397 -2.51531609] [ 0.01723083 0.99969117 -0.01790687 -0.29011317] [ 0.07963254 0.01648052 0.99668804 -0.33525163] [ 0. 0. 0. 1. ]] SLAMing on 24.783426265 meters Centerline goodness : 0.152714 with order 3 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.29, Z:-0.33 [[ 0.99674487 -0.01456066 -0.07929474 -2.51590777] [ 0.01351852 0.99981526 -0.01366362 -0.28996994] [ 0.07947904 0.01254719 0.99675757 -0.33472548] [ 0. 0. 0. 1. ]] SLAMing on 24.843426265 meters Centerline goodness : 0.096225 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.29, Z:-0.33 [[ 0.9967962 -0.01445227 -0.07866685 -2.51908047] [ 0.01338251 0.99981091 -0.01410887 -0.28954541] [ 0.07885588 0.01301091 0.99680112 -0.33309515] [ 0. 0. 0. 1. ]] SLAMing on 24.903426265 meters Centerline goodness : 0.100726 with order 2 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.29, Z:-0.33 [[ 0.99682986 -0.01029551 -0.07889383 -2.51918483] [ 0.00953437 0.99990436 -0.01001827 -0.29051669] [ 0.07898943 0.00923431 0.99683268 -0.33205059] [ 0. 0. 0. 1. ]] SLAMing on 24.963426265000003 meters Centerline goodness : 0.171726 with order 1 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.29, Z:-0.33 [[ 0.99712997 -0.00538852 -0.07551678 -2.4994445 ] [ 0.00423196 0.99987142 -0.01546697 -0.28953851] [ 0.07559041 0.015103 0.99702457 -0.33037944] [ 0. 0. 0. 1. ]] SLAMing on 25.023426265 meters Centerline goodness : 0.281271 with order 1 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.29, Z:-0.34 [[ 9.97031567e-01 -3.33806192e-03 -7.69214653e-02 -2.49035640e+00] [ 2.27890867e-03 9.99901446e-01 -1.38529480e-02 -2.87856549e-01] [ 7.69601264e-02 1.36365294e-02 9.96940913e-01 -3.36400127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083426265 meters Centerline goodness : 0.097673 with order 2 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.29, Z:-0.34 [[ 9.97024638e-01 -3.35192693e-03 -7.70106222e-02 -2.49096188e+00] [ 2.27987732e-03 9.99899333e-01 -1.40045050e-02 -2.87775841e-01] [ 7.70498118e-02 1.37872617e-02 9.96931912e-01 -3.35452798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143426265000002 meters Centerline goodness : 0.104857 with order 2 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.29, Z:-0.33 [[ 9.97222564e-01 -1.97214577e-04 -7.44789795e-02 -2.50426751e+00] [-5.97716881e-04 9.99943100e-01 -1.06507920e-02 -2.87158265e-01] [ 7.44768422e-02 1.06657274e-02 9.97165705e-01 -3.28361766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203426265 meters Centerline goodness : 0.077325 with order 1 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.28, Z:-0.33 [[ 0.99718246 -0.00491257 -0.07485324 -2.50132397] [ 0.00375646 0.9998716 -0.01557805 -0.28468275] [ 0.07492016 0.01525297 0.99707287 -0.33123026] [ 0. 0. 0. 1. ]] SLAMing on 25.263426265 meters Centerline goodness : 0.095271 with order 2 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.28, Z:-0.33 [[ 0.99719718 -0.00484185 -0.07466154 -2.5017234 ] [ 0.00372357 0.99987891 -0.01510983 -0.28328773] [ 0.07472566 0.01478947 0.99709445 -0.33165247] [ 0. 0. 0. 1. ]] SLAMing on 25.323426265000002 meters Centerline goodness : 0.437113 with order 2 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.29, Z:-0.34 [[ 0.99696252 -0.01071766 -0.0771418 -2.54155863] [ 0.00931324 0.9997847 -0.0185425 -0.28670893] [ 0.07732392 0.01776774 0.99684769 -0.33944628] [ 0. 0. 0. 1. ]] SLAMing on 25.383426265 meters Centerline goodness : 0.302299 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.29, Z:-0.33 [[ 0.99711878 -0.01388666 -0.07457413 -2.55399701] [ 0.01238668 0.99971232 -0.020539 -0.29176969] [ 0.07483789 0.0195561 0.99700394 -0.33268338] [ 0. 0. 0. 1. ]] SLAMing on 25.443426265 meters Centerline goodness : 0.109729 with order 2 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.30, Z:-0.33 [[ 0.99712539 -0.01826698 -0.07353416 -2.55651408] [ 0.01657387 0.9995848 -0.02356964 -0.2960634 ] [ 0.07393417 0.02228314 0.99701414 -0.33324489] [ 0. 0. 0. 1. ]] SLAMing on 25.503426265 meters Centerline goodness : 0.208572 with order 1 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.30, Z:-0.34 [[ 0.99631578 -0.02997445 -0.08035177 -2.56065146] [ 0.02817381 0.99932793 -0.02345058 -0.3029258 ] [ 0.08100069 0.02110036 0.99649067 -0.34353304] [ 0. 0. 0. 1. ]] SLAMing on 25.563426265 meters Centerline goodness : 0.133294 with order 3 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.31, Z:-0.33 [[ 0.99664554 -0.03881628 -0.07204828 -2.54860202] [ 0.03702334 0.99897464 -0.0260565 -0.30824528] [ 0.07298582 0.02330163 0.99706073 -0.33432504] [ 0. 0. 0. 1. ]] SLAMing on 25.623426265 meters Centerline goodness : 0.129613 with order 1 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.31, Z:-0.33 [[ 0.9966265 -0.04293341 -0.06994524 -2.55683659] [ 0.04106438 0.99876566 -0.0279442 -0.31344714] [ 0.07105864 0.02497767 0.99715936 -0.33436168] [ 0. 0. 0. 1. ]] SLAMing on 25.683426265 meters Centerline goodness : 0.083657 with order 3 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.32, Z:-0.35 [[ 0.99629364 -0.04855896 -0.07100008 -2.54824886] [ 0.04651088 0.99846052 -0.03022133 -0.32033683] [ 0.07235829 0.02680704 0.99701839 -0.34513521] [ 0. 0. 0. 1. ]] SLAMing on 25.743426265 meters Centerline goodness : 0.130565 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.33, Z:-0.35 [[ 0.99648345 -0.04571793 -0.07021826 -2.55153858] [ 0.04410336 0.99872956 -0.02437519 -0.32574529] [ 0.07124344 0.02119261 0.9972338 -0.34972582] [ 0. 0. 0. 1. ]] SLAMing on 25.803426265000002 meters Centerline goodness : 0.075385 with order 2 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.33, Z:-0.35 [[ 0.99617826 -0.05519018 -0.06769732 -2.56099217] [ 0.05313553 0.99808129 -0.03178591 -0.33110731] [ 0.0693217 0.0280673 0.99719944 -0.34733618] [ 0. 0. 0. 1. ]] SLAMing on 25.863426265 meters Centerline goodness : 0.084351 with order 3 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.33, Z:-0.35 [[ 0.99606608 -0.0617636 -0.06354232 -2.54955735] [ 0.0603386 0.99788681 -0.02410747 -0.32910981] [ 0.064897 0.02017858 0.99768793 -0.3510759 ] [ 0. 0. 0. 1. ]] SLAMing on 25.923426265 meters Centerline goodness : 0.215022 with order 1 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.33, Z:-0.35 [[ 0.99638118 -0.06058652 -0.05961393 -2.53160582] [ 0.05868569 0.99772636 -0.03313752 -0.33269425] [ 0.06148607 0.02951912 0.99767133 -0.34772725] [ 0. 0. 0. 1. ]] SLAMing on 25.983426265000002 meters Centerline goodness : 0.310074 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.34, Z:-0.36 [[ 0.99617521 -0.05829617 -0.06508845 -2.51647152] [ 0.05672341 0.99805763 -0.02575698 -0.33662889] [ 0.06646356 0.02196643 0.99754703 -0.36333928] [ 0. 0. 0. 1. ]] SLAMing on 26.043426265 meters Centerline goodness : 0.284888 with order 1 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.34, Z:-0.36 [[ 0.99713174 -0.05653844 -0.05031594 -2.5878137 ] [ 0.05491955 0.99794543 -0.03299651 -0.33956512] [ 0.05207814 0.03013854 0.99818813 -0.36019541] [ 0. 0. 0. 1. ]] SLAMing on 26.103426265 meters Centerline goodness : 0.241816 with order 1 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.34, Z:-0.37 [[ 0.99725171 -0.05284512 -0.05192707 -2.57888957] [ 0.05140436 0.99826541 -0.02870115 -0.34135192] [ 0.05335372 0.025953 0.99823836 -0.36740935] [ 0. 0. 0. 1. ]] SLAMing on 26.163426265000002 meters Centerline goodness : 0.193350 with order 3 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.34, Z:-0.37 [[ 0.99725692 -0.05206285 -0.05261261 -2.57684232] [ 0.05059837 0.99830389 -0.02879482 -0.3421232 ] [ 0.05402252 0.02605372 0.99819977 -0.36561405] [ 0. 0. 0. 1. ]] SLAMing on 26.223426265 meters Centerline goodness : 0.072775 with order 2 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.34, Z:-0.37 [[ 0.99772498 -0.04349578 -0.0515071 -2.55120151] [ 0.04202385 0.99868619 -0.02932395 -0.34435586] [ 0.05271489 0.02709271 0.99824202 -0.36892109] [ 0. 0. 0. 1. ]] SLAMing on 26.283426265 meters Centerline goodness : 0.484579 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.35, Z:-0.37 [[ 0.9976768 -0.04289817 -0.05292213 -2.54658459] [ 0.04134814 0.99869297 -0.03004458 -0.3465785 ] [ 0.05414181 0.02778655 0.99814657 -0.36673126] [ 0. 0. 0. 1. ]] SLAMing on 26.343426265 meters Centerline goodness : 0.108762 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.35, Z:-0.36 [[ 0.99802237 -0.03568405 -0.05174945 -2.553846 ] [ 0.0345597 0.99915019 -0.02246148 -0.34849577] [ 0.05250699 0.02062862 0.99840747 -0.36387241] [ 0. 0. 0. 1. ]] SLAMing on 26.403426265 meters Centerline goodness : 0.075983 with order 1 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.35, Z:-0.37 [[ 0.99843472 -0.03152272 -0.04619984 -2.58966668] [ 0.03013051 0.99907969 -0.0305274 -0.35444052] [ 0.04711963 0.02908759 0.99846565 -0.36763596] [ 0. 0. 0. 1. ]] SLAMing on 26.463426265 meters Centerline goodness : 0.247115 with order 3 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.36, Z:-0.37 [[ 0.99852278 -0.02048734 -0.05032424 -2.6514951 ] [ 0.0193028 0.99952769 -0.02391251 -0.35658363] [ 0.05079038 0.02290579 0.99844662 -0.37377151] [ 0. 0. 0. 1. ]] SLAMing on 26.523426265 meters Centerline goodness : 0.074905 with order 2 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.36, Z:-0.38 [[ 0.99839686 -0.02404682 -0.05123934 -2.64723388] [ 0.02265892 0.99936503 -0.02749762 -0.36035279] [ 0.05186803 0.02629251 0.99830777 -0.37585708] [ 0. 0. 0. 1. ]] SLAMing on 26.583426265 meters Centerline goodness : 0.075358 with order 3 Centerline is valid? [False, False] Translation: X:-2.71, Y:-0.36, Z:-0.37 [[ 0.99867929 -0.02365691 -0.04560724 -2.71059994] [ 0.0224935 0.99941258 -0.02585596 -0.36009423] [ 0.04619212 0.02479594 0.99862478 -0.37102287] [ 0. 0. 0. 1. ]] SLAMing on 26.643426265000002 meters Centerline goodness : 0.137307 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.36, Z:-0.38 [[ 0.99856726 -0.0189005 -0.05006185 -2.77566331] [ 0.01754154 0.99946933 -0.02744722 -0.36141128] [ 0.05055405 0.02652974 0.9983689 -0.37674335] [ 0. 0. 0. 1. ]] SLAMing on 26.703426265 meters Centerline goodness : 0.184342 with order 3 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.36, Z:-0.38 [[ 0.99855962 -0.01911109 -0.05013436 -2.82514102] [ 0.01779555 0.9994889 -0.02655674 -0.36140467] [ 0.05061626 0.02562632 0.99838935 -0.37842253] [ 0. 0. 0. 1. ]] SLAMing on 26.763426265 meters Centerline goodness : 0.483376 with order 1 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.36, Z:-0.38 [[ 0.99862842 -0.0150692 -0.05014179 -2.8254891 ] [ 0.0139549 0.99964946 -0.02249925 -0.36170545] [ 0.05046326 0.02176866 0.99848865 -0.37829648] [ 0. 0. 0. 1. ]] SLAMing on 26.823426265000002 meters Centerline goodness : 0.103813 with order 2 Centerline is valid? [False, False] Translation: X:-2.86, Y:-0.36, Z:-0.38 [[ 0.9988612 -0.01275304 -0.04597459 -2.85814583] [ 0.01148066 0.99954662 -0.02783428 -0.36309333] [ 0.04630872 0.02727476 0.99855475 -0.37782454] [ 0. 0. 0. 1. ]] SLAMing on 26.883426265 meters Centerline goodness : 0.085545 with order 3 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.36, Z:-0.38 [[ 0.99870263 -0.00617857 -0.05054578 -2.97270905] [ 0.00484835 0.99963977 -0.02639747 -0.36389453] [ 0.05069067 0.02611816 0.99837283 -0.38100164] [ 0. 0. 0. 1. ]] SLAMing on 26.943426265 meters Centerline goodness : 0.302659 with order 1 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.37, Z:-0.38 [[ 0.99866736 -0.01003844 -0.05062349 -2.97135317] [ 0.00855692 0.99953116 -0.02939778 -0.3677885 ] [ 0.05089487 0.02892542 0.99828505 -0.38257877] [ 0. 0. 0. 1. ]] SLAMing on 27.003426265 meters Centerline goodness : 0.107847 with order 2 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.37, Z:-0.38 [[ 0.99864504 -0.0100487 -0.05105983 -2.97037312] [ 0.00857011 0.99953991 -0.02909489 -0.37155338] [ 0.05132871 0.02861787 0.9982717 -0.38240108] [ 0. 0. 0. 1. ]] SLAMing on 27.063426265 meters Centerline goodness : 0.189265 with order 3 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.38, Z:-0.39 [[ 0.99938981 -0.01223758 -0.03271476 -3.06718351] [ 0.01143394 0.999631 -0.02464014 -0.37780805] [ 0.03300423 0.02425105 0.99916095 -0.38559401] [ 0. 0. 0. 1. ]] SLAMing on 27.123426265 meters Centerline goodness : 0.103138 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.38, Z:-0.40 [[ 0.99894565 -0.01062186 -0.04466289 -3.01434066] [ 0.00922177 0.99946316 -0.03143806 -0.37976549] [ 0.04497285 0.03099304 0.99850732 -0.39759379] [ 0. 0. 0. 1. ]] SLAMing on 27.183426265 meters Centerline goodness : 0.289574 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.38, Z:-0.39 [[ 0.99907789 -0.01408274 -0.04055922 -3.09657483] [ 0.0131557 0.99964813 -0.02303345 -0.38163001] [ 0.04086932 0.02247863 0.99891161 -0.39330349] [ 0. 0. 0. 1. ]] SLAMing on 27.243426265 meters Centerline goodness : 0.115679 with order 2 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.38, Z:-0.39 [[ 0.99884099 -0.01889115 -0.04426965 -3.11742517] [ 0.01727325 0.99917893 -0.03664837 -0.38427241] [ 0.04492563 0.03584121 0.99834718 -0.39397631] [ 0. 0. 0. 1. ]] SLAMing on 27.303426265000002 meters Centerline goodness : 0.101108 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.39, Z:-0.40 [[ 0.99953362 -0.02054269 -0.0225952 -3.2246905 ] [ 0.01992839 0.99943449 -0.02708434 -0.38580927] [ 0.0231388 0.02662142 0.99937775 -0.40436012] [ 0. 0. 0. 1. ]] SLAMing on 27.363426265 meters Centerline goodness : 0.075321 with order 2 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.39, Z:-0.42 [[ 0.99906731 -0.02881679 -0.03215738 -3.23322264] [ 0.02772397 0.9990397 -0.03392716 -0.39284438] [ 0.03310417 0.03300398 0.99890683 -0.42454451] [ 0. 0. 0. 1. ]] SLAMing on 27.423426265 meters Centerline goodness : 0.088546 with order 3 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.40, Z:-0.41 [[ 0.99914125 -0.03399521 -0.02368732 -3.23058008] [ 0.03327922 0.99899598 -0.02999212 -0.39634187] [ 0.02468312 0.02917807 0.99926942 -0.41427631] [ 0. 0. 0. 1. ]] SLAMing on 27.483426265000002 meters Centerline goodness : 0.090157 with order 2 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.40, Z:-0.43 [[ 0.99870155 -0.04071801 -0.03061477 -3.20360055] [ 0.03966802 0.99862898 -0.03415573 -0.40473363] [ 0.03196355 0.03289695 0.99894751 -0.42868593] [ 0. 0. 0. 1. ]] SLAMing on 27.543426265 meters Centerline goodness : 0.122297 with order 3 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.41, Z:-0.42 [[ 0.99875385 -0.04411605 -0.02333484 -3.23204125] [ 0.04333128 0.99851129 -0.03313015 -0.41305872] [ 0.02476167 0.03207774 0.9991786 -0.41874035] [ 0. 0. 0. 1. ]] SLAMing on 27.603426265 meters Centerline goodness : 0.207553 with order 3 Centerline is valid? [False, False] Translation: X:-3.21, Y:-0.42, Z:-0.42 [[ 0.99847127 -0.05162999 -0.01973495 -3.20758755] [ 0.0510222 0.99824226 -0.03015165 -0.42264237] [ 0.02125699 0.02909863 0.99935049 -0.42157326] [ 0. 0. 0. 1. ]] SLAMing on 27.663426265000002 meters Centerline goodness : 0.107037 with order 1 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.43, Z:-0.43 [[ 0.99831953 -0.05488555 -0.01859306 -3.16641166] [ 0.0543272 0.99809291 -0.02931037 -0.42963854] [ 0.02016632 0.028251 0.99939742 -0.42664393] [ 0. 0. 0. 1. ]] SLAMing on 27.723426265 meters Centerline goodness : 0.131391 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.44, Z:-0.42 [[ 0.99838022 -0.05441381 -0.01661527 -3.19506903] [ 0.05375245 0.99783299 -0.03794733 -0.43683871] [ 0.01864413 0.03699275 0.9991416 -0.42395484] [ 0. 0. 0. 1. ]] SLAMing on 27.783426265 meters Centerline goodness : 0.134872 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.45, Z:-0.44 [[ 0.998248 -0.056365 -0.01799766 -3.188966 ] [ 0.05573833 0.99787971 -0.03360548 -0.44661372] [ 0.01985368 0.03254344 0.99927311 -0.43897618] [ 0. 0. 0. 1. ]] SLAMing on 27.843426265 meters Centerline goodness : 0.071512 with order 1 Centerline is valid? [False, False] Translation: X:-3.18, Y:-0.45, Z:-0.43 [[ 0.99811641 -0.06058868 -0.00962509 -3.17564564] [ 0.06022716 0.99759777 -0.03422548 -0.45364407] [ 0.01167565 0.03358132 0.99936779 -0.42926554] [ 0. 0. 0. 1. ]] SLAMing on 27.903426265 meters Centerline goodness : 0.205382 with order 3 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.47, Z:-0.43 [[ 0.99785312 -0.06475689 -0.00978208 -3.17398947] [ 0.06435445 0.99724095 -0.03699985 -0.46626159] [ 0.01215108 0.0362909 0.99926739 -0.43018043] [ 0. 0. 0. 1. ]] SLAMing on 27.963426265 meters Centerline goodness : 0.129481 with order 1 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.48, Z:-0.44 [[ 0.99818295 -0.0591778 -0.01134864 -3.16756557] [ 0.05886423 0.99792165 -0.02621781 -0.47934303] [ 0.01287657 0.02550214 0.99959183 -0.44321376] [ 0. 0. 0. 1. ]] SLAMing on 28.023426265 meters Centerline goodness : 0.193080 with order 1 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.49, Z:-0.44 [[ 0.99767421 -0.06746808 -0.00970737 -3.17479353] [ 0.06711006 0.99718624 -0.03340419 -0.48971209] [ 0.01193377 0.03267504 0.99939478 -0.43737297] [ 0. 0. 0. 1. ]] SLAMing on 28.083426265 meters Centerline goodness : 0.126977 with order 1 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.50, Z:-0.44 [[ 0.99761697 -0.06823233 -0.01023407 -3.17282234] [ 0.06790087 0.99724584 -0.02983646 -0.50101197] [ 0.0122417 0.02907046 0.9995024 -0.4444153 ] [ 0. 0. 0. 1. ]] SLAMing on 28.143426265000002 meters Centerline goodness : 0.123598 with order 3 Centerline is valid? [False, False] Translation: X:-3.16, Y:-0.51, Z:-0.44 [[ 0.99789558 -0.06460899 -0.00548537 -3.15951157] [ 0.06435239 0.99718951 -0.0383647 -0.50561812] [ 0.00794866 0.03793097 0.99924875 -0.4369432 ] [ 0. 0. 0. 1. ]] SLAMing on 28.203426265 meters Centerline goodness : 0.215126 with order 1 Centerline is valid? [False, False] Translation: X:-3.21, Y:-0.51, Z:-0.44 [[ 0.99817715 -0.06025519 -0.00341933 -3.21348982] [ 0.06014542 0.99784566 -0.02620259 -0.51424467] [ 0.0049908 0.02594917 0.99965081 -0.4418747 ] [ 0. 0. 0. 1. ]] SLAMing on 28.263426265 meters Centerline goodness : 0.404927 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.52, Z:-0.45 [[ 0.99766016 -0.0676985 -0.00954529 -3.18650685] [ 0.06733084 0.99712859 -0.03465746 -0.52434054] [ 0.01186414 0.03393367 0.99935367 -0.45190077] [ 0. 0. 0. 1. ]] SLAMing on 28.323426265000002 meters Centerline goodness : 0.086065 with order 2 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.53, Z:-0.45 [[ 9.97804446e-01 -6.60206030e-02 5.25040849e-03 -3.19358982e+00] [ 6.61532664e-02 9.97317233e-01 -3.13381774e-02 -5.30865384e-01] [-3.16735750e-03 3.16167044e-02 9.99495048e-01 -4.47667703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383426265 meters Centerline goodness : 0.494784 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.55, Z:-0.46 [[ 0.99768975 -0.0676929 0.0057296 -3.19559302] [ 0.06781787 0.99737114 -0.02552545 -0.54557874] [-0.00398664 0.02585505 0.99965775 -0.45852863] [ 0. 0. 0. 1. ]] SLAMing on 28.443426265 meters Centerline goodness : 0.494897 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.55, Z:-0.46 [[ 0.99789354 -0.06368598 0.01235251 -3.19124705] [ 0.06412497 0.9971724 -0.03918159 -0.55351678] [-0.00982226 0.03989116 0.99915575 -0.45952512] [ 0. 0. 0. 1. ]] SLAMing on 28.503426265 meters Centerline goodness : 0.137447 with order 1 Centerline is valid? [False, False] Translation: X:-3.20, Y:-0.56, Z:-0.47 [[ 0.99812301 -0.05977188 0.01333334 -3.19872261] [ 0.06009703 0.99786709 -0.02548767 -0.56497794] [-0.01178145 0.02624113 0.99958621 -0.47099076] [ 0. 0. 0. 1. ]] SLAMing on 28.563426265 meters Centerline goodness : 0.128291 with order 1 Centerline is valid? [False, False] Translation: X:-3.18, Y:-0.57, Z:-0.46 [[ 0.99839162 -0.05479577 0.01454639 -3.17966248] [ 0.0552701 0.9978752 -0.03450083 -0.56926727] [-0.01262499 0.03524932 0.9992988 -0.46215374] [ 0. 0. 0. 1. ]] SLAMing on 28.623426265 meters Centerline goodness : 0.495390 with order 1 Centerline is valid? [False, False] Translation: X:-3.16, Y:-0.57, Z:-0.46 [[ 0.99913149 -0.03919919 0.01413125 -3.15609909] [ 0.03961212 0.99875766 -0.03023274 -0.56937131] [-0.01292859 0.03076625 0.99944299 -0.46420048] [ 0. 0. 0. 1. ]] SLAMing on 28.683426265 meters Centerline goodness : 0.117992 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.57, Z:-0.46 [[ 0.99954513 -0.02520092 0.01656614 -3.09340396] [ 0.02573924 0.99911963 -0.03312778 -0.56939039] [-0.0157167 0.03353912 0.99931382 -0.46427653] [ 0. 0. 0. 1. ]] SLAMing on 28.743426265 meters Centerline goodness : 0.132113 with order 3 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.57, Z:-0.47 [[ 0.9999473 -0.00730531 0.00721278 -2.9957158 ] [ 0.00749064 0.9996336 -0.02601066 -0.56966182] [-0.00702012 0.02606331 0.99963564 -0.47049964] [ 0. 0. 0. 1. ]] SLAMing on 28.803426265 meters Centerline goodness : 0.084313 with order 3 Centerline is valid? [False, False] Translation: X:-2.95, Y:-0.56, Z:-0.47 [[ 0.99985771 0.00798766 0.01485811 -2.95099654] [-0.00751583 0.99947406 -0.03154551 -0.56212326] [-0.01510227 0.03142935 0.99939187 -0.47192103] [ 0. 0. 0. 1. ]] SLAMing on 28.863426265 meters Centerline goodness : 0.460660 with order 1 Centerline is valid? [False, False] Translation: X:-2.95, Y:-0.55, Z:-0.48 [[ 0.99967898 0.02267348 0.01130729 -2.94569331] [-0.02223059 0.99903552 -0.03786601 -0.55166598] [-0.01215494 0.03760248 0.99921885 -0.47695578] [ 0. 0. 0. 1. ]] SLAMing on 28.923426265 meters Centerline goodness : 0.121875 with order 1 Centerline is valid? [False, False] Translation: X:-2.99, Y:-0.55, Z:-0.47 [[ 0.99886501 0.04391248 0.01844954 -2.9897142 ] [-0.04336954 0.99864204 -0.02886438 -0.54625993] [-0.01969199 0.02803148 0.99941306 -0.4742531 ] [ 0. 0. 0. 1. ]] SLAMing on 28.983426265000002 meters Centerline goodness : 0.117049 with order 2 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.54, Z:-0.48 [[ 0.99842747 0.05589286 0.00431011 -3.01249962] [-0.05569654 0.99776575 -0.03689714 -0.54053692] [-0.00636277 0.03659906 0.99930977 -0.47517988] [ 0. 0. 0. 1. ]] SLAMing on 29.043426265 meters Centerline goodness : 0.161691 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.53, Z:-0.46 [[ 0.99784736 0.06304259 0.01806309 -3.08922669] [-0.06243482 0.99752177 -0.03243795 -0.53103463] [-0.02006329 0.03124036 0.99931051 -0.46396063] [ 0. 0. 0. 1. ]] SLAMing on 29.103426265 meters Centerline goodness : 0.478370 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.52, Z:-0.47 [[ 0.99839801 0.05521135 0.01237418 -3.14576678] [-0.05483977 0.99808585 -0.02858729 -0.52309518] [-0.01392884 0.02786289 0.99951471 -0.46917745] [ 0. 0. 0. 1. ]] SLAMing on 29.163426265000002 meters Centerline goodness : 0.319775 with order 1 Centerline is valid? [False, False] Translation: X:-3.16, Y:-0.52, Z:-0.47 [[ 0.99839918 0.05625766 0.00584486 -3.16137033] [-0.05600651 0.99775551 -0.03670448 -0.52010571] [-0.00789665 0.03631838 0.99930907 -0.47108166] [ 0. 0. 0. 1. ]] SLAMing on 29.223426265 meters Centerline goodness : 0.084293 with order 3 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.52, Z:-0.46 [[ 0.99870754 0.0481059 0.01640361 -3.22649715] [-0.04769563 0.99856025 -0.02454695 -0.52067441] [-0.01756085 0.02373284 0.99956409 -0.4607333 ] [ 0. 0. 0. 1. ]] SLAMing on 29.283426265 meters Centerline goodness : 0.078170 with order 2 Centerline is valid? [False, False] Translation: X:-3.23, Y:-0.53, Z:-0.47 [[ 0.9996245 0.02627537 0.00777605 -3.23379651] [-0.02598926 0.99905444 -0.03485375 -0.53133309] [-0.0086845 0.03463857 0.99936217 -0.4666078 ] [ 0. 0. 0. 1. ]] SLAMing on 29.343426265 meters Centerline goodness : 0.486632 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.54, Z:-0.46 [[ 0.99987735 0.00434797 0.01504574 -3.26621112] [-0.00390958 0.99957046 -0.029045 -0.54282534] [-0.01516557 0.02898261 0.99946486 -0.46061246] [ 0. 0. 0. 1. ]] SLAMing on 29.403426265 meters Centerline goodness : 0.494102 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.57, Z:-0.47 [[ 0.99916348 -0.03596369 0.01946697 -3.25859904] [ 0.03650396 0.998937 -0.02814824 -0.56636151] [-0.01843396 0.02883532 0.99941419 -0.46727593] [ 0. 0. 0. 1. ]] SLAMing on 29.463426265 meters Centerline goodness : 0.114272 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.58, Z:-0.47 [[ 0.99873241 -0.04687316 0.01834318 -3.24993167] [ 0.04753552 0.99816486 -0.03751387 -0.57518944] [-0.01655113 0.03833827 0.99912774 -0.47444103] [ 0. 0. 0. 1. ]] SLAMing on 29.523426265 meters Centerline goodness : 0.498409 with order 1 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.59, Z:-0.47 [[ 0.99780616 -0.06371666 0.01797363 -3.21516578] [ 0.06434484 0.9972469 -0.03685585 -0.59364215] [-0.01557582 0.03793151 0.99915894 -0.46561377] [ 0. 0. 0. 1. ]] SLAMing on 29.583426265 meters Centerline goodness : 0.069301 with order 1 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.60, Z:-0.47 [[ 0.99789171 -0.06185798 0.01964007 -3.17283221] [ 0.06251084 0.99744513 -0.03457749 -0.60258797] [-0.017451 0.03573231 0.99920902 -0.4652673 ] [ 0. 0. 0. 1. ]] SLAMing on 29.643426265000002 meters Centerline goodness : 0.130325 with order 1 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.62, Z:-0.47 [[ 0.99708972 -0.07409459 0.01794652 -3.11714345] [ 0.07483988 0.99617052 -0.04520282 -0.61946305] [-0.01452851 0.04641438 0.99881661 -0.46979134] [ 0. 0. 0. 1. ]] SLAMing on 29.703426265 meters Centerline goodness : 0.224395 with order 3 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.63, Z:-0.47 [[ 0.99693226 -0.07443101 0.02420956 -3.09286925] [ 0.07534642 0.99637882 -0.03939743 -0.63000238] [-0.0211895 0.04110067 0.9989303 -0.47318846] [ 0. 0. 0. 1. ]] SLAMing on 29.763426265 meters Centerline goodness : 0.498027 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.65, Z:-0.48 [[ 0.99665429 -0.07803787 0.02429655 -3.09177358] [ 0.0789463 0.99611597 -0.03899308 -0.64617034] [-0.02115925 0.04078075 0.99894405 -0.4782204 ] [ 0. 0. 0. 1. ]] SLAMing on 29.823426265000002 meters Centerline goodness : 0.495588 with order 1 Centerline is valid? [False, False] Translation: X:-3.06, Y:-0.66, Z:-0.48 [[ 0.99667367 -0.07640946 0.02834053 -3.06079551] [ 0.07732463 0.99646833 -0.03273798 -0.65659866] [-0.02573895 0.0348205 0.99906208 -0.48149012] [ 0. 0. 0. 1. ]] SLAMing on 29.883426265 meters Centerline goodness : 0.105508 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.67, Z:-0.49 [[ 0.99746981 -0.06804582 0.02058493 -3.01221816] [ 0.06879878 0.99689135 -0.0383975 -0.66733395] [-0.01790815 0.03971656 0.9990505 -0.48801536] [ 0. 0. 0. 1. ]] SLAMing on 29.943426265 meters Centerline goodness : 0.176603 with order 2 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.67, Z:-0.48 [[ 0.99718364 -0.06233157 0.0417081 -3.03891588] [ 0.06365715 0.99748255 -0.03124625 -0.67130863] [-0.03965548 0.03381327 0.99864113 -0.48061945] [ 0. 0. 0. 1. ]] SLAMing on 30.003426265 meters Centerline goodness : 0.142583 with order 3 Centerline is valid? [False, False] Translation: X:-2.99, Y:-0.68, Z:-0.49 [[ 0.99831043 -0.05722981 0.01005173 -2.99480221] [ 0.05750921 0.9978898 -0.0301435 -0.68184937] [-0.00830541 0.03067064 0.99949504 -0.49261762] [ 0. 0. 0. 1. ]] SLAMing on 30.063426265 meters Centerline goodness : 0.070464 with order 1 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.69, Z:-0.48 [[ 0.99826845 -0.04632167 0.03625475 -3.01703314] [ 0.04768603 0.99814995 -0.03771883 -0.68535581] [-0.03444048 0.03938237 0.9986305 -0.47926137] [ 0. 0. 0. 1. ]] SLAMing on 30.123426265 meters Centerline goodness : 0.505689 with order 1 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.70, Z:-0.49 [[ 0.99902189 -0.04035529 0.01807498 -2.96811101] [ 0.04085209 0.99877236 -0.02801581 -0.69627384] [-0.01692221 0.02872681 0.99944405 -0.49379438] [ 0. 0. 0. 1. ]] SLAMing on 30.183426265 meters Centerline goodness : 0.127172 with order 1 Centerline is valid? [False, False] Translation: X:-3.00, Y:-0.70, Z:-0.48 [[ 0.99855188 -0.03634742 0.03966111 -3.00403165] [ 0.03767269 0.99873862 -0.03319533 -0.70396464] [-0.03840452 0.0346414 0.99866164 -0.48254178] [ 0. 0. 0. 1. ]] SLAMing on 30.243426265 meters Centerline goodness : 0.126676 with order 1 Centerline is valid? [False, False] Translation: X:-2.94, Y:-0.71, Z:-0.50 [[ 0.99948403 -0.0278278 0.01604024 -2.9359876 ] [ 0.02819326 0.99933724 -0.0230267 -0.7125228 ] [-0.01538883 0.02346705 0.99960616 -0.49664011] [ 0. 0. 0. 1. ]] SLAMing on 30.303426265 meters Centerline goodness : 0.078026 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.72, Z:-0.48 [[ 0.99920032 -0.02122344 0.03388627 -2.93496688] [ 0.02253476 0.99899299 -0.03879681 -0.7225289 ] [-0.03302874 0.03952941 0.99867238 -0.48473392] [ 0. 0. 0. 1. ]] SLAMing on 30.363426265 meters Centerline goodness : 0.095530 with order 1 Centerline is valid? [False, False] Translation: X:-2.86, Y:-0.73, Z:-0.49 [[ 0.99971025 -0.01128021 0.02126459 -2.85828181] [ 0.01181626 0.99961124 -0.02525347 -0.73067716] [-0.02097146 0.02549742 0.99945489 -0.49319059] [ 0. 0. 0. 1. ]] SLAMing on 30.423426265 meters Centerline goodness : 0.461294 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.73, Z:-0.49 [[ 0.99964322 -0.00746021 0.02564712 -2.84842286] [ 0.00832242 0.99939809 -0.03367774 -0.73418384] [-0.02538044 0.03387917 0.99910362 -0.48679487] [ 0. 0. 0. 1. ]] SLAMing on 30.483426265000002 meters Centerline goodness : 0.106052 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.74, Z:-0.49 [[ 9.99706760e-01 2.70514540e-03 2.40640009e-02 -2.81868084e+00] [-1.89074802e-03 9.99426775e-01 -3.38015764e-02 -7.41847541e-01] [-2.41416450e-02 3.37461654e-02 9.99138818e-01 -4.93317835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543426265 meters Centerline goodness : 0.078900 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.75, Z:-0.50 [[ 9.99560578e-01 -8.79166960e-04 2.96289943e-02 -2.79643000e+00] [ 1.76163425e-03 9.99555194e-01 -2.97709819e-02 -7.49975918e-01] [-2.95896415e-02 2.98100953e-02 9.99117516e-01 -4.96604188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603426265 meters Centerline goodness : 0.142554 with order 3 Centerline is valid? [False, False] Translation: X:-2.79, Y:-0.75, Z:-0.50 [[ 9.99591447e-01 -1.40966284e-03 2.85473734e-02 -2.79148338e+00] [ 2.24855412e-03 9.99565927e-01 -2.93751902e-02 -7.54764805e-01] [-2.84935727e-02 2.94273792e-02 9.99160721e-01 -5.00166509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663426265000002 meters Centerline goodness : 0.132825 with order 1 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.76, Z:-0.50 [[ 0.99953649 -0.00860523 0.0292019 -2.79582914] [ 0.00967511 0.99927964 -0.03669587 -0.76036621] [-0.02886509 0.03696139 0.99889973 -0.49626879] [ 0. 0. 0. 1. ]] SLAMing on 30.723426265 meters Centerline goodness : 0.187999 with order 3 Centerline is valid? [False, False] Translation: X:-2.73, Y:-0.76, Z:-0.50 [[ 0.99954457 -0.00490244 0.02977608 -2.7298794 ] [ 0.00571542 0.9996115 -0.0272796 -0.76104233] [-0.02963078 0.02743736 0.99918427 -0.49813894] [ 0. 0. 0. 1. ]] SLAMing on 30.783426265 meters Centerline goodness : 0.100584 with order 1 Centerline is valid? [False, False] Translation: X:-2.72, Y:-0.77, Z:-0.50 [[ 0.99954198 -0.01021946 0.02848503 -2.72297961] [ 0.0111422 0.99941204 -0.03242562 -0.76627116] [-0.02813691 0.03272815 0.99906816 -0.50273462] [ 0. 0. 0. 1. ]] SLAMing on 30.843426265 meters Centerline goodness : 0.122872 with order 3 Centerline is valid? [False, False] Translation: X:-2.72, Y:-0.77, Z:-0.50 [[ 0.99956784 -0.00645405 0.0286789 -2.72499509] [ 0.00726293 0.99957618 -0.02819061 -0.76860782] [-0.0284848 0.02838672 0.99919108 -0.50073352] [ 0. 0. 0. 1. ]] SLAMing on 30.903426265 meters Centerline goodness : 0.474391 with order 1 Centerline is valid? [False, False] Translation: X:-2.69, Y:-0.78, Z:-0.50 [[ 0.99947983 -0.00489365 0.03187656 -2.68870161] [ 0.00580658 0.99957378 -0.02861023 -0.77645307] [-0.03172297 0.02878044 0.99908225 -0.49710271] [ 0. 0. 0. 1. ]] SLAMing on 30.963426265 meters Centerline goodness : 0.479623 with order 1 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.79, Z:-0.50 [[ 0.99973967 -0.00282209 0.0226411 -2.61909086] [ 0.00340601 0.9996615 -0.02579313 -0.7862955 ] [-0.02256065 0.02586353 0.99941087 -0.50324013] [ 0. 0. 0. 1. ]] SLAMing on 31.023426265 meters Centerline goodness : 0.157896 with order 3 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.79, Z:-0.50 [[ 0.99971243 -0.0033999 0.02373806 -2.6235621 ] [ 0.00402891 0.99964069 -0.02650028 -0.78512714] [-0.02363943 0.0265883 0.99936692 -0.50025323] [ 0. 0. 0. 1. ]] SLAMing on 31.083426265 meters Centerline goodness : 0.068801 with order 1 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.79, Z:-0.50 [[ 0.99973705 -0.00500848 0.02237717 -2.61694475] [ 0.00562965 0.99959812 -0.02778308 -0.78568081] [-0.02222903 0.02790175 0.99936348 -0.50487096] [ 0. 0. 0. 1. ]] SLAMing on 31.143426265000002 meters Centerline goodness : 0.144013 with order 3 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.79, Z:-0.50 [[ 0.99967579 -0.00565641 0.02482592 -2.55868797] [ 0.00628949 0.99965511 -0.02549696 -0.79006458] [-0.02467313 0.02564484 0.99936659 -0.50138853] [ 0. 0. 0. 1. ]] SLAMing on 31.203426265 meters Centerline goodness : 0.479120 with order 1 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.79, Z:-0.51 [[ 0.99966786 -0.01127526 0.02317424 -2.55040332] [ 0.01199149 0.99944734 -0.0310034 -0.79360839] [-0.02281186 0.031271 0.99925059 -0.50706844] [ 0. 0. 0. 1. ]] SLAMing on 31.263426265 meters Centerline goodness : 0.132947 with order 1 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.80, Z:-0.50 [[ 0.99958957 -0.01488388 0.02447763 -2.51827793] [ 0.01538488 0.99967335 -0.02040828 -0.800725 ] [-0.02416588 0.02077649 0.99949204 -0.50255324] [ 0. 0. 0. 1. ]] SLAMing on 31.323426265000002 meters Centerline goodness : 0.224025 with order 1 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.81, Z:-0.50 [[ 0.99955808 -0.01853926 0.02323649 -2.49340873] [ 0.01938278 0.99914134 -0.03661805 -0.80987196] [-0.02253767 0.03705225 0.99905915 -0.50318442] [ 0. 0. 0. 1. ]] SLAMing on 31.383426265 meters Centerline goodness : 0.124413 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.81, Z:-0.50 [[ 0.99949734 -0.02279978 0.02202804 -2.47118443] [ 0.02309043 0.99964844 -0.01303164 -0.81434695] [-0.02172318 0.01353373 0.99967242 -0.50111609] [ 0. 0. 0. 1. ]] SLAMing on 31.443426265 meters Centerline goodness : 0.497630 with order 1 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.82, Z:-0.50 [[ 0.99950171 -0.02284502 0.02178158 -2.44677409] [ 0.02339139 0.99940952 -0.02516847 -0.82274186] [-0.02119374 0.02566543 0.9994459 -0.50290403] [ 0. 0. 0. 1. ]] SLAMing on 31.503426265 meters Centerline goodness : 0.133597 with order 3 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.82, Z:-0.51 [[ 0.99966227 -0.01027049 0.02387185 -2.42486573] [ 0.01083966 0.99965709 -0.02383706 -0.81903897] [-0.02361884 0.02408777 0.9994308 -0.50599878] [ 0. 0. 0. 1. ]] SLAMing on 31.563426265 meters Centerline goodness : 0.481592 with order 1 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.82, Z:-0.51 [[ 0.99978092 0.0052048 0.02027387 -2.37641939] [-0.00451695 0.99941749 -0.03382705 -0.81664795] [-0.02043813 0.03372806 0.99922205 -0.50763915] [ 0. 0. 0. 1. ]] SLAMing on 31.623426265 meters Centerline goodness : 0.483054 with order 1 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.81, Z:-0.51 [[ 0.99921178 0.03451802 0.0196044 -2.30277112] [-0.03407009 0.9991607 -0.02274057 -0.81163956] [-0.02037291 0.02205472 0.99954917 -0.51338274] [ 0. 0. 0. 1. ]] SLAMing on 31.683426265 meters Centerline goodness : 0.096062 with order 2 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.80, Z:-0.52 [[ 0.99765 0.06589813 0.01875915 -2.31264504] [-0.06550511 0.99763445 -0.0208469 -0.80364387] [-0.02008855 0.01956909 0.99960667 -0.52421013] [ 0. 0. 0. 1. ]] SLAMing on 31.743426265 meters Centerline goodness : 0.076220 with order 2 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.79, Z:-0.52 [[ 0.9949931 0.09735081 0.02261762 -2.410821 ] [-0.09685987 0.99505761 -0.0218751 -0.7899254 ] [-0.02463539 0.01957484 0.99950484 -0.52276192] [ 0. 0. 0. 1. ]] SLAMing on 31.803426265 meters Centerline goodness : 0.082037 with order 1 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.79, Z:-0.51 [[ 0.99557411 0.09033621 0.02591444 -2.44744206] [-0.08990919 0.99580148 -0.01719753 -0.789679 ] [-0.02735919 0.01479147 0.99951623 -0.51219974] [ 0. 0. 0. 1. ]] SLAMing on 31.863426265 meters Centerline goodness : 0.074632 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.79, Z:-0.51 [[ 0.99687319 0.07538966 0.02366952 -2.47180333] [-0.07492576 0.99699032 -0.01991047 -0.79190445] [-0.02509933 0.01807475 0.99952155 -0.50786165] [ 0. 0. 0. 1. ]] SLAMing on 31.923426265 meters Centerline goodness : 0.207304 with order 1 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.79, Z:-0.51 [[ 0.99639649 0.08279791 0.01839949 -2.48679753] [-0.08238028 0.99634913 -0.02240303 -0.79069799] [-0.02018724 0.02080655 0.99957969 -0.51053751] [ 0. 0. 0. 1. ]] SLAMing on 31.983426265000002 meters Centerline goodness : 0.227066 with order 1 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.79, Z:-0.50 [[ 0.99629755 0.08441702 0.01627742 -2.51456493] [-0.08424695 0.99638565 -0.01086665 -0.78764235] [-0.01713592 0.00945509 0.99980846 -0.50101683] [ 0. 0. 0. 1. ]] SLAMing on 32.043426265 meters Centerline goodness : 0.301756 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.79, Z:-0.49 [[ 0.99792596 0.06254437 0.01523102 -2.5668927 ] [-0.0624263 0.99801664 -0.00810823 -0.78940085] [-0.01570794 0.00714059 0.99985113 -0.49359884] [ 0. 0. 0. 1. ]] SLAMing on 32.103426265 meters Centerline goodness : 0.075772 with order 1 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.79, Z:-0.49 [[ 0.99878504 0.04793748 0.01142151 -2.5854277 ] [-0.04780207 0.99878656 -0.01184741 -0.78583985] [-0.01197559 0.01128705 0.99986458 -0.49374756] [ 0. 0. 0. 1. ]] SLAMing on 32.163426265 meters Centerline goodness : 0.497326 with order 1 Centerline is valid? [False, False] Translation: X:-2.67, Y:-0.77, Z:-0.50 [[ 0.9986443 0.04973067 0.01537603 -2.66617805] [-0.04966095 0.99875419 -0.00488375 -0.76699021] [-0.01559974 0.00411354 0.99986985 -0.49588255] [ 0. 0. 0. 1. ]] SLAMing on 32.223426265 meters Centerline goodness : 0.499509 with order 1 Centerline is valid? [False, False] Translation: X:-2.72, Y:-0.75, Z:-0.49 [[ 9.98510735e-01 5.25813199e-02 1.45436485e-02 -2.71532961e+00] [-5.25677749e-02 9.98616496e-01 -1.31231746e-03 -7.50890185e-01] [-1.45925307e-02 5.45835828e-04 9.99893374e-01 -4.90876256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283426265 meters Centerline goodness : 0.146013 with order 3 Centerline is valid? [False, False] Translation: X:-2.75, Y:-0.74, Z:-0.48 [[ 9.98860121e-01 4.48812044e-02 1.62522531e-02 -2.74708622e+00] [-4.48991679e-02 9.98991248e-01 7.41922983e-04 -7.35226206e-01] [-1.62025602e-02 -1.47078992e-03 9.99867648e-01 -4.84452463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343426265 meters Centerline goodness : 0.113188 with order 2 Centerline is valid? [False, False] Translation: X:-2.77, Y:-0.72, Z:-0.48 [[ 0.99943017 0.03190214 0.01102682 -2.76886591] [-0.03186088 0.99948471 -0.00389756 -0.72214211] [-0.01114547 0.00354402 0.99993161 -0.47929121] [ 0. 0. 0. 1. ]] SLAMing on 32.403426265 meters Centerline goodness : 0.488598 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.71, Z:-0.47 [[ 0.99938983 0.03184614 0.01434523 -2.84406848] [-0.03196175 0.99945785 0.00790297 -0.70698047] [-0.01408577 -0.00835665 0.99986587 -0.47471321] [ 0. 0. 0. 1. ]] SLAMing on 32.463426265 meters Centerline goodness : 0.113773 with order 3 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.69, Z:-0.48 [[ 9.99265806e-01 3.65525940e-02 1.14785068e-02 -2.91485957e+00] [-3.65773622e-02 9.99328912e-01 1.95525250e-03 -6.88841809e-01] [-1.13993341e-02 -2.37367046e-03 9.99932208e-01 -4.81239732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523426265 meters Centerline goodness : 0.491304 with order 1 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.67, Z:-0.48 [[ 0.99911698 0.03564935 0.0222346 -2.97232284] [-0.03584563 0.99932125 0.00849245 -0.66755865] [-0.02191675 -0.00928196 0.99971671 -0.4776665 ] [ 0. 0. 0. 1. ]] SLAMing on 32.583426265 meters Centerline goodness : 0.470074 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.65, Z:-0.48 [[ 9.99398053e-01 2.86795329e-02 1.95196171e-02 -3.01160770e+00] [-2.87160442e-02 9.99586340e-01 1.59272329e-03 -6.50026944e-01] [-1.94658640e-02 -2.15229074e-03 9.99808205e-01 -4.81133489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643426265 meters Centerline goodness : 0.072624 with order 1 Centerline is valid? [False, False] Translation: X:-3.09, Y:-0.63, Z:-0.48 [[ 0.99949308 0.02304582 0.0219654 -3.08880745] [-0.02317996 0.99971407 0.0058716 -0.63049421] [-0.0218238 -0.00637778 0.99974149 -0.47838538] [ 0. 0. 0. 1. ]] SLAMing on 32.703426265 meters Centerline goodness : 0.129633 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.61, Z:-0.48 [[ 0.99972515 0.0132497 0.01934099 -3.15299096] [-0.01337556 0.99989011 0.00639289 -0.61393699] [-0.01925416 -0.00664983 0.99979251 -0.47965687] [ 0. 0. 0. 1. ]] SLAMing on 32.763426265 meters Centerline goodness : 0.083557 with order 1 Centerline is valid? [False, False] Translation: X:-3.21, Y:-0.59, Z:-0.48 [[ 9.99677747e-01 1.04549123e-02 2.31321516e-02 -3.21429050e+00] [-1.04152427e-02 9.99944077e-01 -1.83472765e-03 -5.93559852e-01] [-2.31500399e-02 1.59320943e-03 9.99730732e-01 -4.78515643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823426265 meters Centerline goodness : 0.115494 with order 1 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.58, Z:-0.48 [[ 0.99948589 0.01442557 0.02863312 -3.30436331] [-0.0146599 0.9998606 0.00799115 -0.57821789] [-0.02851385 -0.0084068 0.99955805 -0.47661482] [ 0. 0. 0. 1. ]] SLAMing on 32.883426265 meters Centerline goodness : 0.129795 with order 3 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.56, Z:-0.47 [[ 0.99946354 0.02138647 0.02480438 -3.43130515] [-0.02149475 0.99976053 0.0041071 -0.56261568] [-0.0247106 -0.00463806 0.99968389 -0.4739142 ] [ 0. 0. 0. 1. ]] SLAMing on 32.943426265 meters Centerline goodness : 0.486471 with order 1 Centerline is valid? [False, False] Translation: X:-3.49, Y:-0.54, Z:-0.47 [[ 9.99365187e-01 2.23004508e-02 2.77833343e-02 -3.48767133e+00] [-2.23428917e-02 9.99749624e-01 1.21802571e-03 -5.43934894e-01] [-2.77492155e-02 -1.83801252e-03 9.99613227e-01 -4.73907567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003426265 meters Centerline goodness : 0.155423 with order 1 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.53, Z:-0.47 [[ 9.99327190e-01 2.35920789e-02 2.80816963e-02 -3.53610632e+00] [-2.36559028e-02 9.99718272e-01 1.94270415e-03 -5.29333934e-01] [-2.80279525e-02 -2.60569495e-03 9.99603744e-01 -4.72874455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063426265000004 meters Centerline goodness : 0.077727 with order 3 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.52, Z:-0.47 [[ 0.99931862 0.02385135 0.02816746 -3.58822858] [-0.02398454 0.99970265 0.00440017 -0.52270299] [-0.02805413 -0.00507275 0.99959353 -0.46821064] [ 0. 0. 0. 1. ]] SLAMing on 33.123426265 meters Centerline goodness : 0.146451 with order 3 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.52, Z:-0.46 [[ 0.99951099 0.01671233 0.02642867 -3.61581851] [-0.01690159 0.99983298 0.00695385 -0.5172046 ] [-0.02630804 -0.00739714 0.99962651 -0.46124678] [ 0. 0. 0. 1. ]] SLAMing on 33.183426265 meters Centerline goodness : 0.146230 with order 3 Centerline is valid? [False, False] Translation: X:-3.63, Y:-0.51, Z:-0.46 [[ 9.99535301e-01 2.15557037e-02 2.15530427e-02 -3.63337186e+00] [-2.15975854e-02 9.99765279e-01 1.71228528e-03 -5.13932548e-01] [-2.15110743e-02 -2.17698326e-03 9.99766240e-01 -4.63692213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243426265000004 meters Centerline goodness : 0.128028 with order 1 Centerline is valid? [False, False] Translation: X:-3.69, Y:-0.51, Z:-0.46 [[ 0.99939448 0.02611514 0.022993 -3.68653998] [-0.02631665 0.99961748 0.00850513 -0.51278851] [-0.02276209 -0.00910508 0.99969945 -0.45941865] [ 0. 0. 0. 1. ]] SLAMing on 33.303426265 meters Centerline goodness : 0.077488 with order 2 Centerline is valid? [False, False] Translation: X:-3.73, Y:-0.51, Z:-0.46 [[ 0.9994601 0.02447753 0.0219171 -3.733228 ] [-0.02468252 0.99965363 0.00913214 -0.51443325] [-0.02168597 -0.00966818 0.99971808 -0.4594539 ] [ 0. 0. 0. 1. ]] SLAMing on 33.363426265 meters Centerline goodness : 0.151958 with order 3 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.52, Z:-0.46 [[ 0.99953597 0.02293417 0.02004671 -3.77470606] [-0.02314554 0.99967826 0.01037589 -0.51563452] [-0.0198023 -0.01083507 0.9997452 -0.46255886] [ 0. 0. 0. 1. ]] SLAMing on 33.423426265 meters Centerline goodness : 0.101096 with order 3 Centerline is valid? [False, False] Translation: X:-3.76, Y:-0.52, Z:-0.46 [[ 0.99955584 0.01051119 0.02788599 -3.76177908] [-0.01062992 0.99993504 0.00411317 -0.51831889] [-0.02784094 -0.00440777 0.99960265 -0.46016681] [ 0. 0. 0. 1. ]] SLAMing on 33.483426265 meters Centerline goodness : 0.119496 with order 3 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.52, Z:-0.46 [[ 9.99801159e-01 3.81190874e-03 1.95732543e-02 -3.84736001e+00] [-3.88962645e-03 9.99984697e-01 3.93407376e-03 -5.19196387e-01] [-1.95579585e-02 -4.00942415e-03 9.99800686e-01 -4.57082274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543426265 meters Centerline goodness : 0.362368 with order 3 Centerline is valid? [False, False] Translation: X:-3.80, Y:-0.52, Z:-0.46 [[ 9.99789873e-01 3.41041368e-03 2.02133559e-02 -3.79967183e+00] [-3.45002030e-03 9.99992196e-01 1.92488061e-03 -5.16538598e-01] [-2.02066336e-02 -1.99421262e-03 9.99793836e-01 -4.60304656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603426265 meters Centerline goodness : 0.221196 with order 3 Centerline is valid? [False, False] Translation: X:-3.87, Y:-0.51, Z:-0.46 [[ 9.99589236e-01 4.16590220e-03 2.83549579e-02 -3.87121024e+00] [-4.16818477e-03 9.99991313e-01 2.13939180e-05 -5.12333030e-01] [-2.83546224e-02 -1.39573834e-04 9.99597917e-01 -4.56107936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663426265 meters Centerline goodness : 0.172898 with order 3 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.51, Z:-0.46 [[ 0.99971527 0.00742685 0.02267624 -3.88996692] [-0.00730731 0.99995899 -0.00535008 -0.51365601] [-0.02271505 0.00518286 0.99972855 -0.45646103] [ 0. 0. 0. 1. ]] SLAMing on 33.723426265 meters Centerline goodness : 0.077852 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.51, Z:-0.45 [[ 9.99677224e-01 9.50525250e-03 2.35605093e-02 -3.98491866e+00] [-9.56545728e-03 9.99951263e-01 2.44394279e-03 -5.12205506e-01] [-2.35361308e-02 -2.66852099e-03 9.99719425e-01 -4.52228393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783426265 meters Centerline goodness : 0.128945 with order 2 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.51, Z:-0.45 [[ 9.99682625e-01 5.94063843e-03 2.44817848e-02 -3.99033948e+00] [-5.90849379e-03 9.99981585e-01 -1.38513026e-03 -5.12660027e-01] [-2.44895626e-02 1.24004018e-03 9.99699317e-01 -4.47992363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843426265 meters Centerline goodness : 0.136505 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.51, Z:-0.45 [[ 9.99938963e-01 8.84060319e-04 1.10131280e-02 -3.99521938e+00] [-8.03661645e-04 9.99973013e-01 -7.30254568e-03 -5.09125666e-01] [-1.10192866e-02 7.29324913e-03 9.99912688e-01 -4.46294589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903426265 meters Centerline goodness : 0.081547 with order 1 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.51, Z:-0.44 [[ 9.99853278e-01 1.29095087e-03 1.70808846e-02 -4.11806427e+00] [-1.22063183e-03 9.99990741e-01 -4.12661169e-03 -5.06124488e-01] [-1.70860537e-02 4.10515675e-03 9.99845595e-01 -4.35366726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963426265 meters Centerline goodness : 0.161110 with order 3 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.51, Z:-0.44 [[ 9.99892623e-01 -1.66473654e-03 1.45592428e-02 -4.10597442e+00] [ 1.77207731e-03 9.99971323e-01 -7.36289890e-03 -5.05864358e-01] [-1.45465680e-02 7.38790840e-03 9.99866899e-01 -4.42281276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023426265 meters Centerline goodness : 0.386856 with order 2 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.50, Z:-0.44 [[ 9.99779480e-01 -2.64776098e-03 2.08321840e-02 -4.20113904e+00] [ 2.66859102e-03 9.99995967e-01 -9.72161030e-04 -4.98542654e-01] [-2.08295259e-02 1.02753923e-03 9.99782514e-01 -4.37345918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083426265 meters Centerline goodness : 0.162647 with order 3 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.50, Z:-0.44 [[ 9.99890887e-01 -7.58908230e-04 1.47525654e-02 -4.21481776e+00] [ 8.91234205e-04 9.99959415e-01 -8.96518853e-03 -4.96824460e-01] [-1.47451629e-02 8.97735830e-03 9.99850983e-01 -4.41159411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143426265 meters Centerline goodness : 0.194539 with order 3 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.49, Z:-0.44 [[ 9.99582173e-01 -3.87060439e-03 2.86443247e-02 -4.28281222e+00] [ 3.84172583e-03 9.99992055e-01 1.06314191e-03 -4.92324735e-01] [-2.86482122e-02 -9.52654062e-04 9.99589102e-01 -4.38930705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203426265 meters Centerline goodness : 0.494711 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.49, Z:-0.44 [[ 9.99771486e-01 -3.93735235e-03 2.10112586e-02 -4.38417615e+00] [ 4.02211935e-03 9.99983937e-01 -3.99362773e-03 -4.86532380e-01] [-2.09951967e-02 4.07722492e-03 9.99771263e-01 -4.39322325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263426265 meters Centerline goodness : 0.485352 with order 1 Centerline is valid? [False, False] Translation: X:-4.39, Y:-0.48, Z:-0.43 [[ 0.99972109 -0.00665684 0.02265891 -4.39180854] [ 0.00683906 0.99994482 -0.00797427 -0.47874563] [-0.02260457 0.00812701 0.99971145 -0.43413555] [ 0. 0. 0. 1. ]] SLAMing on 34.323426265 meters Centerline goodness : 0.496199 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-0.47, Z:-0.44 [[ 9.99908515e-01 4.82275283e-04 1.35177542e-02 -4.44780214e+00] [-4.17102726e-04 9.99988279e-01 -4.82366089e-03 -4.70485298e-01] [-1.35199221e-02 4.81758130e-03 9.99896996e-01 -4.35762175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383426265 meters Centerline goodness : 0.465000 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.47, Z:-0.43 [[ 9.99901845e-01 1.56449926e-03 1.39231248e-02 -4.49846766e+00] [-1.51014896e-03 9.99991203e-01 -3.91325734e-03 -4.67131950e-01] [-1.39291246e-02 3.89184724e-03 9.99895411e-01 -4.32598873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443426265 meters Centerline goodness : 0.373586 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.46, Z:-0.43 [[ 9.99790693e-01 2.00244033e-02 4.19454458e-03 -4.58237148e+00] [-2.00083242e-02 9.99792436e-01 -3.84085762e-03 -4.64854159e-01] [-4.27058482e-03 3.75612789e-03 9.99983827e-01 -4.26902401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503426265 meters Centerline goodness : 0.349140 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.47, Z:-0.42 [[ 9.99606287e-01 2.09382230e-02 1.86778374e-02 -4.58450361e+00] [-2.08602596e-02 9.99772898e-01 -4.35924143e-03 -4.74157744e-01] [-1.87648704e-02 3.96790060e-03 9.99816051e-01 -4.23848343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563426265000004 meters Centerline goodness : 0.131913 with order 1 Centerline is valid? [False, False] Translation: X:-4.63, Y:-0.49, Z:-0.42 [[ 9.99860980e-01 -1.58609868e-04 1.66731772e-02 -4.63210286e+00] [ 1.86034632e-04 9.99998632e-01 -1.64330518e-03 -4.88055644e-01] [-1.66728938e-02 1.64617851e-03 9.99859643e-01 -4.21712723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623426265 meters Centerline goodness : 0.491022 with order 1 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.50, Z:-0.42 [[ 9.99812057e-01 -1.41554134e-02 1.32466791e-02 -4.65236518e+00] [ 1.41964599e-02 9.99894695e-01 -3.00973596e-03 -4.96343491e-01] [-1.32026802e-02 3.19722625e-03 9.99907729e-01 -4.21003434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683426265 meters Centerline goodness : 0.228314 with order 1 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.50, Z:-0.42 [[ 0.99973039 -0.01529234 0.01747262 -4.68524109] [ 0.01548551 0.99981987 -0.01097396 -0.50482802] [-0.01730166 0.01124157 0.99978712 -0.4164556 ] [ 0. 0. 0. 1. ]] SLAMing on 34.743426265000004 meters Centerline goodness : 0.173680 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.51, Z:-0.42 [[ 0.99995524 -0.00684617 0.00653081 -4.7333778 ] [ 0.00690044 0.99994155 -0.00832395 -0.50814738] [-0.00647344 0.00836864 0.99994403 -0.42328752] [ 0. 0. 0. 1. ]] SLAMing on 34.803426265 meters Centerline goodness : 0.106716 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.51, Z:-0.42 [[ 9.99915192e-01 -1.38977406e-03 1.29490075e-02 -4.82552781e+00] [ 1.52564814e-03 9.99943825e-01 -1.04890483e-02 -5.06236566e-01] [-1.29337026e-02 1.05079144e-02 9.99861142e-01 -4.16976374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863426265 meters Centerline goodness : 0.075282 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.51, Z:-0.42 [[ 9.99911404e-01 -2.45969098e-03 1.30818008e-02 -4.82675982e+00] [ 2.60609161e-03 9.99934040e-01 -1.11859203e-02 -5.08930659e-01] [-1.30534240e-02 1.12190217e-02 9.99851860e-01 -4.15278647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923426265 meters Centerline goodness : 0.128303 with order 1 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.51, Z:-0.42 [[ 0.99991668 -0.00825967 0.00991979 -4.86338738] [ 0.00838978 0.99987837 -0.01314739 -0.50723472] [-0.00980999 0.01322952 0.99986436 -0.42047681] [ 0. 0. 0. 1. ]] SLAMing on 34.983426265 meters Centerline goodness : 0.113154 with order 1 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.50, Z:-0.41 [[ 0.99974544 -0.01662406 0.01525456 -4.94370534] [ 0.01680038 0.99979268 -0.01150375 -0.5028337 ] [-0.01506016 0.0117571 0.99981746 -0.41462725] [ 0. 0. 0. 1. ]] SLAMing on 35.043426265 meters Centerline goodness : 0.199907 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.49, Z:-0.41 [[ 0.99988063 -0.01021565 0.01159166 -4.96907365] [ 0.01039175 0.99982994 -0.01523516 -0.49145996] [-0.01143406 0.0153538 0.99981674 -0.41252562] [ 0. 0. 0. 1. ]] SLAMing on 35.103426265 meters Centerline goodness : 0.146302 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.48, Z:-0.41 [[ 9.99867877e-01 1.57555811e-03 1.61785978e-02 -5.06045579e+00] [-1.31481735e-03 9.99869290e-01 -1.61144091e-02 -4.78910067e-01] [-1.62018723e-02 1.60910081e-02 9.99739255e-01 -4.11137373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163426265 meters Centerline goodness : 0.125462 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.47, Z:-0.41 [[ 0.99992053 0.0087526 0.00907288 -5.16396112] [-0.00861068 0.99984177 -0.01556548 -0.47023954] [-0.00920768 0.01548612 0.99983769 -0.41156932] [ 0. 0. 0. 1. ]] SLAMing on 35.223426265 meters Centerline goodness : 0.148812 with order 2 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.46, Z:-0.41 [[ 0.99979204 0.01249588 0.01611635 -5.23224071] [-0.01227697 0.99983199 -0.01361096 -0.46090022] [-0.01628373 0.01341027 0.99977748 -0.40514486] [ 0. 0. 0. 1. ]] SLAMing on 35.283426265 meters Centerline goodness : 0.145714 with order 3 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.46, Z:-0.40 [[ 0.99979939 0.01099007 0.01674482 -5.28503272] [-0.01076137 0.99984841 -0.01368739 -0.45870018] [-0.01689271 0.01350445 0.99976611 -0.40159446] [ 0. 0. 0. 1. ]] SLAMing on 35.343426265 meters Centerline goodness : 0.251206 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.46, Z:-0.41 [[ 9.99977053e-01 7.89824990e-04 6.72823071e-03 -5.29292060e+00] [-6.76614677e-04 9.99858442e-01 -1.68118540e-02 -4.57502193e-01] [-6.74055670e-03 1.68069158e-02 9.99836033e-01 -4.07986737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403426265 meters Centerline goodness : 0.151771 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.45, Z:-0.41 [[ 9.99921005e-01 -4.85602181e-03 1.15932261e-02 -5.37854208e+00] [ 5.04461720e-03 9.99854513e-01 -1.62942889e-02 -4.51911775e-01] [-1.15124140e-02 1.63514851e-02 9.99800027e-01 -4.08710829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463426265 meters Centerline goodness : 0.497556 with order 1 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.45, Z:-0.40 [[ 0.99990909 -0.00628059 0.01193154 -5.47779996] [ 0.00647189 0.99985004 -0.01606249 -0.44503104] [-0.01182886 0.01613825 0.9997998 -0.40219796] [ 0. 0. 0. 1. ]] SLAMing on 35.523426265 meters Centerline goodness : 0.492647 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.44, Z:-0.40 [[ 9.99852128e-01 -5.44344180e-03 1.63122850e-02 -5.53828926e+00] [ 5.75563169e-03 9.99800000e-01 -1.91528948e-02 -4.35397295e-01] [-1.62047648e-02 1.92439502e-02 9.99683488e-01 -4.00579262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583426265 meters Centerline goodness : 0.488868 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.43, Z:-0.40 [[ 9.99786967e-01 1.26016291e-03 2.06017809e-02 -5.66950143e+00] [-8.58441243e-04 9.99809555e-01 -1.94965937e-02 -4.30074385e-01] [-2.06224263e-02 1.94747548e-02 9.99597644e-01 -3.96587363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643426265 meters Centerline goodness : 0.144252 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.42, Z:-0.39 [[ 9.99853562e-01 2.54902219e-03 1.69221009e-02 -5.77154360e+00] [-2.22295884e-03 9.99812049e-01 -1.92594158e-02 -4.18717026e-01] [-1.69680130e-02 1.92189784e-02 9.99671305e-01 -3.94595623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703426265 meters Centerline goodness : 0.122658 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.41, Z:-0.39 [[ 0.9997051 0.00836566 0.02279756 -5.82098023] [-0.0077177 0.99956787 -0.0283638 -0.41294427] [-0.02302499 0.02817949 0.99933766 -0.39405612] [ 0. 0. 0. 1. ]] SLAMing on 35.763426265 meters Centerline goodness : 0.156531 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.41, Z:-0.40 [[ 9.99812932e-01 4.07089511e-03 1.89084516e-02 -5.88163370e+00] [-3.67679461e-03 9.99776255e-01 -2.08307628e-02 -4.05513668e-01] [-1.89890208e-02 2.07573435e-02 9.99604197e-01 -3.98529926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823426265 meters SLAMing on 35.883426265 meters Centerline goodness : 0.132644 with order 3 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.40, Z:-0.40 [[ 9.99687872e-01 -2.18493843e-03 2.48874391e-02 -6.26147660e+00] [ 2.78665244e-03 9.99704016e-01 -2.41684540e-02 -4.03689155e-01] [-2.48272662e-02 2.42302630e-02 9.99398069e-01 -3.95580565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943426265 meters Centerline goodness : 0.150168 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:-0.40, Z:-0.39 [[ 0.99960146 -0.00699114 0.02735033 -6.34304783] [ 0.00750782 0.99979443 -0.01883451 -0.39997814] [-0.02721303 0.01903234 0.99944846 -0.38691412] [ 0. 0. 0. 1. ]] SLAMing on 36.003426265 meters Centerline goodness : 0.496621 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.40, Z:-0.38 [[ 9.99750461e-01 -4.80624202e-03 2.18154870e-02 -6.45571007e+00] [ 5.32730521e-03 9.99700397e-01 -2.38900827e-02 -4.01336528e-01] [-2.16941295e-02 2.40003389e-02 9.99476537e-01 -3.81058926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063426265 meters Centerline goodness : 0.488693 with order 1 Centerline is valid? [False, False] Translation: X:-6.49, Y:-0.40, Z:-0.39 [[ 9.99808533e-01 -4.85032706e-03 1.89570951e-02 -6.49226745e+00] [ 5.25650173e-03 9.99756420e-01 -2.14352283e-02 -4.03539978e-01] [-1.88485097e-02 2.15307722e-02 9.99590496e-01 -3.87006988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123426265 meters Centerline goodness : 0.160526 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.41, Z:-0.38 [[ 0.99967272 -0.0117088 0.02274563 -6.45848416] [ 0.01234373 0.99953234 -0.02797748 -0.41209425] [-0.02240741 0.02824909 0.99934974 -0.37912565] [ 0. 0. 0. 1. ]] SLAMing on 36.183426265 meters Centerline goodness : 0.147178 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:-0.42, Z:-0.37 [[ 0.99960266 -0.01920096 0.02063599 -6.53060029] [ 0.01968374 0.99953116 -0.02345211 -0.41561094] [-0.02017601 0.02384898 0.99951196 -0.37487784] [ 0. 0. 0. 1. ]] SLAMing on 36.243426265000004 meters Centerline goodness : 0.491343 with order 1 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.41, Z:-0.37 [[ 0.99948599 -0.01928247 0.02561156 -6.65324735] [ 0.01995063 0.99946039 -0.02609395 -0.4135118 ] [-0.02509458 0.0265915 0.99933135 -0.36647199] [ 0. 0. 0. 1. ]] SLAMing on 36.303426265 meters Centerline goodness : 0.147568 with order 1 Centerline is valid? [False, False] Translation: X:-6.69, Y:-0.41, Z:-0.37 [[ 9.99795411e-01 -5.89309164e-03 1.93496131e-02 -6.69422059e+00] [ 6.50363132e-03 9.99478067e-01 -3.16432636e-02 -4.08126674e-01] [-1.91530373e-02 3.17626324e-02 9.99311911e-01 -3.68857361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363426265 meters Centerline goodness : 0.489711 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.40, Z:-0.36 [[ 9.99776134e-01 5.14887763e-04 2.11522275e-02 -6.85564123e+00] [ 6.50827276e-05 9.99624299e-01 -2.74090508e-02 -4.02439240e-01] [-2.11583932e-02 2.74042915e-02 9.99400484e-01 -3.62927275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423426265 meters Centerline goodness : 0.486578 with order 1 Centerline is valid? [False, False] Translation: X:-6.93, Y:-0.40, Z:-0.36 [[ 9.99786758e-01 4.70639706e-03 2.01069140e-02 -6.92883573e+00] [-4.02231823e-03 9.99416183e-01 -3.39280748e-02 -3.97016064e-01] [-2.02548543e-02 3.38399635e-02 9.99221996e-01 -3.59321843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483426265 meters Centerline goodness : 0.115537 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.39, Z:-0.35 [[ 9.99733664e-01 6.97321751e-03 2.19994538e-02 -7.00559132e+00] [-6.44327423e-03 9.99689547e-01 -2.40685295e-02 -3.93613342e-01] [-2.21604591e-02 2.39203707e-02 9.99468224e-01 -3.53983709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543426265 meters Centerline goodness : 0.468798 with order 1 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.39, Z:-0.35 [[ 9.99934026e-01 1.69962685e-03 1.13602552e-02 -7.06004515e+00] [-1.45949954e-03 9.99776042e-01 -2.11124621e-02 -3.93739364e-01] [-1.13935943e-02 2.10944890e-02 9.99712563e-01 -3.53790580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603426265 meters Centerline goodness : 0.117146 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.39, Z:-0.34 [[ 9.99898204e-01 3.35535666e-03 1.38680877e-02 -7.11931554e+00] [-3.06088153e-03 9.99770549e-01 -2.12009644e-02 -3.89011736e-01] [-1.39360424e-02 2.11563576e-02 9.99679046e-01 -3.44416533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663426265 meters Centerline goodness : 0.488943 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.39, Z:-0.34 [[ 9.99938929e-01 3.68096030e-03 1.04205612e-02 -7.21686300e+00] [-3.48050253e-03 9.99809798e-01 -1.91899652e-02 -3.86368403e-01] [-1.04892166e-02 1.91525244e-02 9.99761550e-01 -3.37769763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723426265 meters Centerline goodness : 0.097439 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:-0.39, Z:-0.33 [[ 9.99911349e-01 2.16542956e-03 1.31378936e-02 -7.27447282e+00] [-1.92719935e-03 9.99833986e-01 -1.81187012e-02 -3.87056553e-01] [-1.31749473e-02 1.80917756e-02 9.99749523e-01 -3.33185224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783426265 meters Centerline goodness : 0.490506 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:-0.39, Z:-0.34 [[ 9.99952198e-01 -7.08105409e-03 6.74249175e-03 -7.28915100e+00] [ 7.19585940e-03 9.99826898e-01 -1.71579118e-02 -3.91117575e-01] [-6.61982851e-03 1.72056096e-02 9.99830058e-01 -3.35663048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843426265 meters Centerline goodness : 0.486069 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.39, Z:-0.33 [[ 9.99881586e-01 -1.42503056e-02 5.80888844e-03 -7.33774050e+00] [ 1.43763554e-02 9.99648660e-01 -2.22683086e-02 -3.94942314e-01] [-5.48951734e-03 2.23491824e-02 9.99735155e-01 -3.33874696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903426265 meters Centerline goodness : 0.076795 with order 3 Centerline is valid? [False, False] Translation: X:-7.53, Y:-0.40, Z:-0.33 [[ 0.99980986 -0.00932602 0.01712482 -7.52506592] [ 0.0095883 0.999837 -0.01529809 -0.39816485] [-0.01697936 0.01545938 0.99973632 -0.32896273] [ 0. 0. 0. 1. ]] SLAMing on 36.963426265 meters Centerline goodness : 0.148218 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:-0.40, Z:-0.34 [[ 0.9998499 -0.00995134 0.01418275 -7.56142195] [ 0.01018144 0.99981621 -0.01624452 -0.39639393] [-0.01401849 0.01638648 0.99976746 -0.3360365 ] [ 0. 0. 0. 1. ]] SLAMing on 37.023426265 meters Centerline goodness : 0.092861 with order 1 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.39, Z:-0.33 [[ 9.99866606e-01 1.30842548e-03 1.62806143e-02 -7.65094999e+00] [-1.01645468e-03 9.99838746e-01 -1.79290163e-02 -3.87180205e-01] [-1.63014478e-02 1.79100762e-02 9.99706703e-01 -3.31063912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083426265 meters Centerline goodness : 0.096474 with order 1 Centerline is valid? [False, False] Translation: X:-7.70, Y:-0.38, Z:-0.33 [[ 9.99849904e-01 2.67318196e-03 1.71179159e-02 -7.70468570e+00] [-2.38612242e-03 9.99856559e-01 -1.67680602e-02 -3.84552168e-01] [-1.71602845e-02 1.67246980e-02 9.99712863e-01 -3.27051247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143426265 meters Centerline goodness : 0.325036 with order 1 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.39, Z:-0.33 [[ 9.99939323e-01 -3.68989057e-03 1.03795130e-02 -7.71921478e+00] [ 3.82855862e-03 9.99903264e-01 -1.33717923e-02 -3.85651679e-01] [-1.03291685e-02 1.34107195e-02 9.99856720e-01 -3.29116253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203426265 meters Centerline goodness : 0.125521 with order 2 Centerline is valid? [False, False] Translation: X:-7.78, Y:-0.39, Z:-0.32 [[ 0.99983811 -0.01193825 0.01346244 -7.77806225] [ 0.01220999 0.99971964 -0.02028702 -0.39045197] [-0.01321648 0.02044811 0.99970356 -0.32254296] [ 0. 0. 0. 1. ]] SLAMing on 37.263426265 meters Centerline goodness : 0.091200 with order 1 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.40, Z:-0.32 [[ 0.99952131 -0.02438602 0.0190388 -7.86678583] [ 0.02462214 0.99962156 -0.01226746 -0.39862954] [-0.01873244 0.01273037 0.99974348 -0.32459597] [ 0. 0. 0. 1. ]] SLAMing on 37.323426265 meters Centerline goodness : 0.105159 with order 2 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.40, Z:-0.33 [[ 0.99956484 -0.02671441 0.0125088 -7.8810262 ] [ 0.02699745 0.99937012 -0.02303268 -0.40130878] [-0.01188561 0.02336037 0.99965645 -0.32680016] [ 0. 0. 0. 1. ]] SLAMing on 37.383426265 meters Centerline goodness : 0.116554 with order 1 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.40, Z:-0.32 [[ 0.99956419 -0.02389529 0.0173333 -7.90092053] [ 0.02419347 0.99955929 -0.01720181 -0.40396907] [-0.01691462 0.01761367 0.99970178 -0.32202982] [ 0. 0. 0. 1. ]] SLAMing on 37.443426265 meters Centerline goodness : 0.471327 with order 3 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.41, Z:-0.32 [[ 0.99983019 -0.01506675 0.01061025 -7.98982801] [ 0.01531187 0.9996086 -0.02341347 -0.40693633] [-0.01025333 0.02357196 0.99966956 -0.31905427] [ 0. 0. 0. 1. ]] SLAMing on 37.503426265 meters Centerline goodness : 0.083520 with order 1 Centerline is valid? [False, False] Translation: X:-8.00, Y:-0.41, Z:-0.31 [[ 0.99985437 -0.01210857 0.01202606 -7.99715817] [ 0.01235337 0.99971365 -0.02049444 -0.40630818] [-0.01177446 0.02064002 0.99971764 -0.31428006] [ 0. 0. 0. 1. ]] SLAMing on 37.563426265 meters Centerline goodness : 0.490593 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.41, Z:-0.31 [[ 9.99931318e-01 -7.39942954e-03 9.08892544e-03 -8.06722543e+00] [ 7.60433246e-03 9.99712936e-01 -2.27204801e-02 -4.09366154e-01] [-8.91819774e-03 2.27880348e-02 9.99700541e-01 -3.12630552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623426265 meters Centerline goodness : 0.492455 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.41, Z:-0.31 [[ 0.99991613 -0.00904619 0.00926807 -8.11816306] [ 0.00924769 0.99971663 -0.02193477 -0.41450422] [-0.00906702 0.02201864 0.99971644 -0.31061189] [ 0. 0. 0. 1. ]] SLAMing on 37.683426265 meters Centerline goodness : 0.096082 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.42, Z:-0.31 [[ 0.99991695 -0.00951847 0.00868826 -8.11558944] [ 0.00970689 0.99971285 -0.02190871 -0.41684247] [-0.00847723 0.02199123 0.99972222 -0.31222043] [ 0. 0. 0. 1. ]] SLAMing on 37.743426265000004 meters Centerline goodness : 0.117173 with order 2 Centerline is valid? [False, False] Translation: X:-8.17, Y:-0.42, Z:-0.31 [[ 0.99982408 -0.0126685 0.01383211 -8.17490921] [ 0.01299223 0.99963775 -0.02357049 -0.41813237] [-0.0135285 0.02374605 0.99962648 -0.30818776] [ 0. 0. 0. 1. ]] SLAMing on 37.803426265 meters Centerline goodness : 0.482915 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.42, Z:-0.31 [[ 0.99987356 -0.01207532 0.01034637 -8.28287852] [ 0.012361 0.99953128 -0.02800775 -0.41595799] [-0.01000332 0.0281321 0.99955416 -0.3097126 ] [ 0. 0. 0. 1. ]] SLAMing on 37.863426265 meters Centerline goodness : 0.495636 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.41, Z:-0.31 [[ 9.99965447e-01 -3.90356888e-03 7.33943060e-03 -8.35153519e+00] [ 4.10631492e-03 9.99604649e-01 -2.78151589e-02 -4.11607736e-01] [-7.22795057e-03 2.78443358e-02 9.99586139e-01 -3.10206143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923426265 meters Centerline goodness : 0.074513 with order 2 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.41, Z:-0.30 [[ 9.99948610e-01 2.66239956e-03 9.78208544e-03 -8.38791153e+00] [-2.36002539e-03 9.99522979e-01 -3.07935807e-02 -4.11125543e-01] [-9.85940400e-03 3.07689122e-02 9.99477897e-01 -3.02377177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983426265 meters Centerline goodness : 0.117884 with order 2 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.40, Z:-0.30 [[ 0.99985321 0.01271068 0.01148864 -8.54106708] [-0.01241498 0.99959891 -0.02545355 -0.40077433] [-0.01180756 0.02530718 0.99960999 -0.30385612] [ 0. 0. 0. 1. ]] SLAMing on 38.043426265 meters Centerline goodness : 0.476551 with order 2 Centerline is valid? [False, False] Translation: X:-8.56, Y:-0.40, Z:-0.30 [[ 9.99859396e-01 1.52880887e-02 6.88926574e-03 -8.56042502e+00] [-1.50464485e-02 9.99313375e-01 -3.38582641e-02 -4.00620347e-01] [-7.40216355e-03 3.37498445e-02 9.99402900e-01 -3.03466375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103426265 meters Centerline goodness : 0.145459 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-0.39, Z:-0.30 [[ 0.99958441 0.02474389 0.01478984 -8.73605506] [-0.02444065 0.99949426 -0.02034399 -0.39182095] [-0.01528574 0.01997407 0.99968364 -0.30071009] [ 0. 0. 0. 1. ]] SLAMing on 38.163426265 meters Centerline goodness : 0.484250 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.39, Z:-0.30 [[ 0.99952086 0.02875877 0.01144455 -8.75912484] [-0.02842992 0.99920557 -0.02792791 -0.38709072] [-0.01223863 0.02758916 0.99954442 -0.29875428] [ 0. 0. 0. 1. ]] SLAMing on 38.223426265 meters Centerline goodness : 0.133892 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.38, Z:-0.30 [[ 0.99932131 0.03515538 0.0110007 -8.80683167] [-0.03489936 0.99913395 -0.02265784 -0.38132454] [-0.01178772 0.02225855 0.99968275 -0.29643411] [ 0. 0. 0. 1. ]] SLAMing on 38.283426265 meters Centerline goodness : 0.468087 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:-0.38, Z:-0.29 [[ 0.9993923 0.03262439 0.0122754 -8.83853586] [-0.03242942 0.99934976 -0.01576049 -0.37819008] [-0.01278159 0.01535283 0.99980044 -0.2920275 ] [ 0. 0. 0. 1. ]] SLAMing on 38.343426265 meters Centerline goodness : 0.123949 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-0.38, Z:-0.30 [[ 9.99285512e-01 3.74269865e-02 5.26185328e-03 -8.84910945e+00] [-3.73092333e-02 9.99084499e-01 -2.09328849e-02 -3.77046421e-01] [-6.04049085e-03 2.07216129e-02 9.99767036e-01 -2.97146330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403426265 meters Centerline goodness : 0.081735 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.38, Z:-0.29 [[ 0.99932277 0.03504715 0.01121179 -8.89338381] [-0.03488612 0.99928971 -0.01424932 -0.37633234] [-0.01170322 0.01384854 0.99983561 -0.28522827] [ 0. 0. 0. 1. ]] SLAMing on 38.463426265 meters Centerline goodness : 0.079984 with order 1 Centerline is valid? [False, False] Translation: X:-8.91, Y:-0.38, Z:-0.29 [[ 9.99389271e-01 3.46383949e-02 4.61150678e-03 -8.90686788e+00] [-3.45206765e-02 9.99126727e-01 -2.35394478e-02 -3.78330253e-01] [-5.42284836e-03 2.33658792e-02 9.99712273e-01 -2.89861497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523426265 meters Centerline goodness : 0.470293 with order 1 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.38, Z:-0.28 [[ 9.99606176e-01 2.75755253e-02 5.20415718e-03 -8.93891557e+00] [-2.74697830e-02 9.99434358e-01 -1.94003821e-02 -3.80865360e-01] [-5.73618922e-03 1.92497847e-02 9.99798251e-01 -2.84301201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583426265 meters Centerline goodness : 0.142876 with order 3 Centerline is valid? [False, False] Translation: X:-8.92, Y:-0.39, Z:-0.28 [[ 9.99973323e-01 6.58811204e-03 3.15446631e-03 -8.92342305e+00] [-6.54279834e-03 9.99878251e-01 -1.41659941e-02 -3.90663997e-01] [-3.24740942e-03 1.41449772e-02 9.99894681e-01 -2.80334959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643426265 meters Centerline goodness : 0.474963 with order 1 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.40, Z:-0.28 [[ 9.99879509e-01 -1.55051598e-02 7.46526380e-04 -8.99406428e+00] [ 1.55187193e-02 9.99584563e-01 -2.42872697e-02 -3.97442631e-01] [-3.69638247e-04 2.42959284e-02 9.99704742e-01 -2.79387002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703426265 meters Centerline goodness : 0.488896 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.40, Z:-0.28 [[ 9.99642242e-01 -2.66781412e-02 -1.91415371e-03 -9.01482618e+00] [ 2.66273177e-02 9.99382574e-01 -2.29228385e-02 -4.01064821e-01] [ 2.52451059e-03 2.28636689e-02 9.99735405e-01 -2.80230802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.763426265 meters Centerline goodness : 0.481621 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.41, Z:-0.28 [[ 9.98988619e-01 -4.47704340e-02 4.16497975e-03 -9.00956128e+00] [ 4.48581078e-02 9.98702526e-01 -2.41042389e-02 -4.11251100e-01] [-3.08041856e-03 2.42666934e-02 9.99700775e-01 -2.83442611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823426265 meters Centerline goodness : 0.129308 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.42, Z:-0.29 [[ 9.98766084e-01 -4.94594177e-02 4.48051753e-03 -9.00945693e+00] [ 4.95614802e-02 9.98416541e-01 -2.66095784e-02 -4.18086571e-01] [-3.15732857e-03 2.67988055e-02 9.99635861e-01 -2.87223252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883426265 meters Centerline goodness : 0.486731 with order 1 Centerline is valid? [False, False] Translation: X:-9.02, Y:-0.43, Z:-0.28 [[ 9.98773489e-01 -4.90836665e-02 6.50473959e-03 -9.01899097e+00] [ 4.92280002e-02 9.98492323e-01 -2.42834168e-02 -4.25312444e-01] [-5.30301341e-03 2.45738483e-02 9.99683952e-01 -2.83940420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.943426265 meters Centerline goodness : 0.146239 with order 3 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.43, Z:-0.29 [[ 9.98813491e-01 -4.83865878e-02 5.50891299e-03 -9.01460473e+00] [ 4.84990929e-02 9.98568679e-01 -2.25483994e-02 -4.32272775e-01] [-4.40998786e-03 2.27888228e-02 9.99730574e-01 -2.87406402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003426265 meters Centerline goodness : 0.489588 with order 1 Centerline is valid? [False, False] Translation: X:-9.02, Y:-0.44, Z:-0.29 [[ 0.99921031 -0.03810566 0.0112569 -9.01516488] [ 0.03837164 0.99896458 -0.02444135 -0.43803036] [-0.01031389 0.02485399 0.99963789 -0.29421925] [ 0. 0. 0. 1. ]] SLAMing on 39.063426265 meters Centerline goodness : 0.105764 with order 2 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.44, Z:-0.29 [[ 0.99957815 -0.02660413 0.01165101 -8.99465894] [ 0.02687049 0.99936653 -0.02333499 -0.4414637 ] [-0.01102283 0.02363822 0.99965981 -0.29118424] [ 0. 0. 0. 1. ]] SLAMing on 39.123426265 meters Centerline goodness : 0.085988 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.45, Z:-0.29 [[ 0.99971531 -0.02030639 0.01252788 -8.99920754] [ 0.02051063 0.99965519 -0.01639581 -0.44943307] [-0.01219062 0.01664809 0.99978709 -0.28783597] [ 0. 0. 0. 1. ]] SLAMing on 39.183426265 meters Centerline goodness : 0.489500 with order 1 Centerline is valid? [False, False] Translation: X:-9.05, Y:-0.45, Z:-0.29 [[ 9.99921327e-01 -1.00996504e-02 7.43886863e-03 -9.04508961e+00] [ 1.02805174e-02 9.99642275e-01 -2.46907384e-02 -4.51088280e-01] [-7.18683974e-03 2.47652713e-02 9.99667460e-01 -2.87071621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243426265000004 meters Centerline goodness : 0.285819 with order 1 Centerline is valid? [False, False] Translation: X:-9.12, Y:-0.45, Z:-0.28 [[ 9.99972586e-01 -3.64822799e-03 6.44344117e-03 -9.11892868e+00] [ 3.81110507e-03 9.99668851e-01 -2.54492454e-02 -4.53101244e-01] [-6.34846278e-03 2.54731043e-02 9.99655350e-01 -2.84920606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303426265 meters Centerline goodness : 0.114635 with order 3 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.46, Z:-0.28 [[ 9.99978381e-01 -1.26372681e-03 6.45287442e-03 -9.16886633e+00] [ 1.40901068e-03 9.99744500e-01 -2.25599129e-02 -4.55136408e-01] [-6.42271615e-03 2.25685174e-02 9.99724667e-01 -2.83402901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363426265 meters Centerline goodness : 0.493256 with order 1 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.46, Z:-0.28 [[ 9.99994662e-01 2.99239636e-03 1.31210603e-03 -9.23322100e+00] [-2.95740212e-03 9.99659986e-01 -2.59068719e-02 -4.60026047e-01] [-1.38918353e-03 2.59028532e-02 9.99663500e-01 -2.84341935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423426265 meters Centerline goodness : 0.486946 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.46, Z:-0.28 [[ 9.99888834e-01 1.32648785e-02 6.80904679e-03 -9.35419420e+00] [-1.31289934e-02 9.99721153e-01 -1.96276676e-02 -4.57066478e-01] [-7.06750674e-03 1.95360898e-02 9.99784172e-01 -2.78683088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483426265 meters Centerline goodness : 0.482601 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.46, Z:-0.28 [[ 9.99885687e-01 1.35110491e-02 6.78711447e-03 -9.35448587e+00] [-1.33718405e-02 9.99707470e-01 -2.01536019e-02 -4.56812964e-01] [-7.05742534e-03 2.00605418e-02 9.99773858e-01 -2.78635790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543426265 meters Centerline goodness : 0.488631 with order 1 Centerline is valid? [False, False] Translation: X:-9.39, Y:-0.46, Z:-0.28 [[ 9.99858525e-01 1.62621072e-02 4.29812309e-03 -9.39493033e+00] [-1.61846679e-02 9.99716278e-01 -1.74762506e-02 -4.56020053e-01] [-4.58110428e-03 1.74042144e-02 9.99838040e-01 -2.82450851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603426265 meters Centerline goodness : 0.220718 with order 3 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.46, Z:-0.28 [[ 9.99897425e-01 1.29698133e-02 6.07652415e-03 -9.42647678e+00] [-1.29046545e-02 9.99860096e-01 -1.06422695e-02 -4.57707815e-01] [-6.21370227e-03 1.05627624e-02 9.99924906e-01 -2.77685256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663426265 meters Centerline goodness : 0.475126 with order 3 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.47, Z:-0.27 [[ 9.99991409e-01 4.08380737e-03 -7.10594921e-04 -9.44820940e+00] [-4.09154432e-03 9.99928342e-01 -1.12503447e-02 -4.65731310e-01] [ 6.64599761e-04 1.12531555e-02 9.99936460e-01 -2.73399395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723426265 meters Centerline goodness : 0.488739 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.47, Z:-0.27 [[ 9.99977595e-01 6.60833654e-03 1.06733961e-03 -9.45563551e+00] [-6.59990361e-03 9.99948420e-01 -7.72006986e-03 -4.65620751e-01] [-1.11830138e-03 7.71285256e-03 9.99969630e-01 -2.69829285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783426265 meters Centerline goodness : 0.466806 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.47, Z:-0.26 [[ 9.99977644e-01 -3.88631814e-03 -5.44134622e-03 -9.47804449e+00] [ 3.83300216e-03 9.99944880e-01 -9.77468794e-03 -4.74714521e-01] [ 5.47903384e-03 9.75361273e-03 9.99937422e-01 -2.64486222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843426265 meters Centerline goodness : 0.493955 with order 1 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.48, Z:-0.26 [[ 9.99956954e-01 -7.87669043e-03 -4.90378587e-03 -9.57401350e+00] [ 7.83724906e-03 9.99937199e-01 -8.01096601e-03 -4.79911415e-01] [ 4.96657780e-03 7.97218898e-03 9.99955888e-01 -2.63116280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903426265 meters Centerline goodness : 0.390296 with order 3 Centerline is valid? [False, False] Translation: X:-9.63, Y:-0.49, Z:-0.26 [[ 9.99909546e-01 -1.29130715e-02 -3.76185452e-03 -9.62649627e+00] [ 1.28764920e-02 9.99871097e-01 -9.59093709e-03 -4.88423766e-01] [ 3.88521806e-03 9.54163006e-03 9.99946930e-01 -2.61453841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963426265 meters Centerline goodness : 0.478700 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:-0.49, Z:-0.26 [[ 9.99898954e-01 -1.32865057e-02 -5.05470046e-03 -9.67110589e+00] [ 1.32444596e-02 9.99878149e-01 -8.26267913e-03 -4.92212021e-01] [ 5.16386667e-03 8.19489744e-03 9.99953088e-01 -2.63820893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023426265 meters Centerline goodness : 0.469266 with order 2 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.50, Z:-0.27 [[ 9.99958239e-01 -8.03170526e-03 -4.36033135e-03 -9.64609370e+00] [ 7.97288522e-03 9.99879183e-01 -1.33436275e-02 -4.95248112e-01] [ 4.46697663e-03 1.33083058e-02 9.99901463e-01 -2.65352368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083426265 meters Centerline goodness : 0.487352 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.50, Z:-0.27 [[ 9.99978171e-01 -6.43278416e-03 -1.50890002e-03 -9.74062258e+00] [ 6.41738852e-03 9.99929453e-01 -9.99530270e-03 -4.98383253e-01] [ 1.57309120e-03 9.98540132e-03 9.99948907e-01 -2.65118079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143426265 meters Centerline goodness : 0.481749 with order 1 Centerline is valid? [False, False] Translation: X:-9.79, Y:-0.50, Z:-0.27 [[ 9.99988638e-01 -3.56064020e-03 -3.16937736e-03 -9.78597734e+00] [ 3.54024771e-03 9.99973146e-01 -6.41674474e-03 -4.96488161e-01] [ 3.19213997e-03 6.40545145e-03 9.99974390e-01 -2.66686277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203426265 meters Centerline goodness : 0.492249 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:-0.50, Z:-0.27 [[ 9.99989827e-01 1.52104266e-03 -4.24654970e-03 -9.81189631e+00] [-1.56808263e-03 9.99937208e-01 -1.10959566e-02 -4.98489039e-01] [ 4.22940563e-03 1.11025027e-02 9.99929421e-01 -2.65570243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263426265 meters Centerline goodness : 0.472740 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:-0.50, Z:-0.27 [[ 9.99982532e-01 2.56054034e-03 -5.32723089e-03 -9.85975808e+00] [-2.60622486e-03 9.99959739e-01 -8.58646433e-03 -4.96919058e-01] [ 5.30503042e-03 8.60019830e-03 9.99948945e-01 -2.66067427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323426265 meters Centerline goodness : 0.485804 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.50, Z:-0.26 [[ 9.99985679e-01 5.88961933e-04 -5.31932291e-03 -9.90945013e+00] [-6.43064891e-04 9.99948026e-01 -1.01750467e-02 -4.96205626e-01] [ 5.31305373e-03 1.01783216e-02 9.99934084e-01 -2.64786093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383426265 meters Centerline goodness : 0.280080 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:-0.49, Z:-0.27 [[ 9.99976603e-01 1.55706667e-03 -6.66106973e-03 -9.95530667e+00] [-1.60748536e-03 9.99970051e-01 -7.57051195e-03 -4.94037516e-01] [ 6.64908245e-03 7.58104239e-03 9.99949157e-01 -2.67183741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.443426265 meters Centerline goodness : 0.132544 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:-0.50, Z:-0.27 [[ 9.99970460e-01 -2.52547758e-03 -7.25960867e-03 -9.95388511e+00] [ 2.43817426e-03 9.99924908e-01 -1.20096975e-02 -4.95143147e-01] [ 7.28939376e-03 1.19916425e-02 9.99901528e-01 -2.67361196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503426265 meters Centerline goodness : 0.119343 with order 3 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.50, Z:-0.27 [[ 9.99964263e-01 -5.88160118e-03 -6.07290152e-03 -1.00697336e+01] [ 5.85938768e-03 9.99976102e-01 -3.66914310e-03 -4.97321998e-01] [ 6.09433682e-03 3.63342849e-03 9.99974828e-01 -2.66336266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563426265 meters Centerline goodness : 0.491211 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.50, Z:-0.27 [[ 9.99982212e-01 -5.71491278e-03 -1.70768918e-03 -1.00476002e+01] [ 5.69359738e-03 9.99908921e-01 -1.22365222e-02 -5.00719668e-01] [ 1.77746430e-03 1.22265816e-02 9.99923673e-01 -2.68830566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.623426265 meters Centerline goodness : 0.491776 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.51, Z:-0.27 [[ 9.99939371e-01 -1.07890981e-02 -2.20206487e-03 -1.00454579e+01] [ 1.07521387e-02 9.99811651e-01 -1.61571940e-02 -5.07807511e-01] [ 2.37597166e-03 1.61325375e-02 9.99867039e-01 -2.69534899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683426265 meters Centerline goodness : 0.077830 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.51, Z:-0.26 [[ 9.99857657e-01 -1.66769305e-02 -2.55862540e-03 -1.00763015e+01] [ 1.66501772e-02 9.99809922e-01 -1.01435134e-02 -5.11956396e-01] [ 2.72730174e-03 1.00994680e-02 9.99945280e-01 -2.64229434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743426265000004 meters Centerline goodness : 0.078164 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.52, Z:-0.27 [[ 9.99718467e-01 -2.34384611e-02 -3.69120799e-03 -1.00696648e+01] [ 2.33771170e-02 9.99600793e-01 -1.58670918e-02 -5.19935516e-01] [ 4.06163465e-03 1.57763349e-02 9.99867296e-01 -2.68588231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803426265 meters Centerline goodness : 0.194208 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.53, Z:-0.27 [[ 9.99794511e-01 -2.00893781e-02 -2.71173832e-03 -1.00744572e+01] [ 2.00577124e-02 9.99735653e-01 -1.12388583e-02 -5.25393522e-01] [ 2.93680315e-03 1.11821575e-02 9.99933165e-01 -2.65700161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863426265 meters Centerline goodness : 0.114397 with order 1 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.53, Z:-0.27 [[ 9.99838684e-01 -1.68590503e-02 -6.19495695e-03 -1.00950275e+01] [ 1.67494137e-02 9.99709301e-01 -1.73427558e-02 -5.28275048e-01] [ 6.48553847e-03 1.72361962e-02 9.99830411e-01 -2.66969936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923426265 meters Centerline goodness : 0.182048 with order 3 Centerline is valid? [False, False] Translation: X:-10.11, Y:-0.53, Z:-0.26 [[ 9.99902266e-01 -1.32994543e-02 -4.31072270e-03 -1.01060112e+01] [ 1.32389018e-02 9.99817355e-01 -1.37835993e-02 -5.26040617e-01] [ 4.49324971e-03 1.37251829e-02 9.99895710e-01 -2.59489170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983426265 meters Centerline goodness : 0.121395 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.53, Z:-0.26 [[ 9.99920858e-01 -9.90756490e-03 -7.75351948e-03 -1.02156251e+01] [ 9.78214348e-03 9.99823335e-01 -1.60501663e-02 -5.25645453e-01] [ 7.91116777e-03 1.59730500e-02 9.99841125e-01 -2.62687164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043426265 meters Centerline goodness : 0.139821 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.52, Z:-0.26 [[ 9.99971621e-01 -3.19766520e-03 -6.82150702e-03 -1.02212493e+01] [ 3.13180175e-03 9.99948589e-01 -9.64419337e-03 -5.22857310e-01] [ 6.85199522e-03 9.62255606e-03 9.99930226e-01 -2.58823491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103426265 meters Centerline goodness : 0.497389 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.52, Z:-0.26 [[ 9.99958533e-01 7.29535094e-03 -5.45065131e-03 -1.03325071e+01] [-7.39592617e-03 9.99798430e-01 -1.86654885e-02 -5.19811028e-01] [ 5.31338133e-03 1.87050271e-02 9.99810927e-01 -2.59106586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163426265 meters Centerline goodness : 0.082897 with order 3 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.51, Z:-0.26 [[ 9.99910466e-01 1.15410135e-02 -6.77234201e-03 -1.03266274e+01] [-1.16487287e-02 9.99802733e-01 -1.60873415e-02 -5.10508782e-01] [ 6.58534182e-03 1.61647903e-02 9.99847655e-01 -2.62913430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223426265 meters Centerline goodness : 0.182355 with order 1 Centerline is valid? [False, False] Translation: X:-10.42, Y:-0.50, Z:-0.26 [[ 9.99783091e-01 2.07466644e-02 -1.82933697e-03 -1.04177524e+01] [-2.07768830e-02 9.99614251e-01 -1.84301218e-02 -5.04890057e-01] [ 1.44626776e-03 1.84641321e-02 9.99828477e-01 -2.62966813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283426265 meters Centerline goodness : 0.142790 with order 3 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.50, Z:-0.26 [[ 9.99432685e-01 3.31335300e-02 -6.03969939e-03 -1.04371123e+01] [-3.32275255e-02 9.99316665e-01 -1.61905960e-02 -5.04670348e-01] [ 5.49912065e-03 1.63820951e-02 9.99850682e-01 -2.63844473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343426265 meters Centerline goodness : 0.081460 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:-0.51, Z:-0.26 [[ 9.99595750e-01 2.84218380e-02 -7.31654551e-04 -1.04751885e+01] [-2.84281569e-02 9.99535681e-01 -1.09664314e-02 -5.06426921e-01] [ 4.19628692e-04 1.09827979e-02 9.99939599e-01 -2.57900914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403426265 meters Centerline goodness : 0.089020 with order 1 Centerline is valid? [False, False] Translation: X:-10.49, Y:-0.51, Z:-0.26 [[ 9.99790538e-01 1.91369077e-02 -7.25662741e-03 -1.04904099e+01] [-1.92126989e-02 9.99760044e-01 -1.05226339e-02 -5.07887915e-01] [ 7.05351546e-03 1.06598492e-02 9.99918304e-01 -2.59529323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463426265 meters Centerline goodness : 0.148522 with order 1 Centerline is valid? [False, False] Translation: X:-10.51, Y:-0.51, Z:-0.25 [[ 9.99847116e-01 1.14972427e-02 -1.31741604e-02 -1.05146085e+01] [-1.16269827e-02 9.99884241e-01 -9.81415735e-03 -5.11900308e-01] [ 1.30597996e-02 9.96583265e-03 9.99865053e-01 -2.52895876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523426265 meters Centerline goodness : 0.141705 with order 3 Centerline is valid? [False, False] Translation: X:-10.52, Y:-0.52, Z:-0.25 [[ 9.99882044e-01 9.27073661e-03 -1.22454436e-02 -1.05212843e+01] [-9.40113504e-03 9.99899259e-01 -1.06344420e-02 -5.19059399e-01] [ 1.21456209e-02 1.07483087e-02 9.99868470e-01 -2.47566365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583426265 meters Centerline goodness : 0.146432 with order 3 Centerline is valid? [False, False] Translation: X:-10.55, Y:-0.52, Z:-0.24 [[ 9.99931936e-01 7.03584460e-04 -1.16459335e-02 -1.05517009e+01] [-7.88829063e-04 9.99972921e-01 -7.31671397e-03 -5.22915658e-01] [ 1.16404702e-02 7.32540261e-03 9.99905414e-01 -2.44998401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643426265 meters Centerline goodness : 0.492952 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.52, Z:-0.25 [[ 9.99911415e-01 -9.47961873e-04 -1.32764595e-02 -1.05433712e+01] [ 8.25106188e-04 9.99956821e-01 -9.25607059e-03 -5.24807227e-01] [ 1.32846606e-02 9.24429615e-03 9.99869022e-01 -2.50081709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703426265 meters Centerline goodness : 0.126992 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.53, Z:-0.25 [[ 9.99900330e-01 1.37400702e-03 -1.40514144e-02 -1.05924039e+01] [-1.45767824e-03 9.99981259e-01 -5.94614035e-03 -5.25109835e-01] [ 1.40429810e-02 5.96603014e-03 9.99883594e-01 -2.50467515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763426265 meters Centerline goodness : 0.447483 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.52, Z:-0.25 [[ 9.99892366e-01 2.20038787e-03 -1.45057116e-02 -1.05899295e+01] [-2.27679007e-03 9.99983613e-01 -5.25263471e-03 -5.23777662e-01] [ 1.44939161e-02 5.28509580e-03 9.99880990e-01 -2.52598504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823426265 meters Centerline goodness : 0.144751 with order 3 Centerline is valid? [False, False] Translation: X:-10.60, Y:-0.52, Z:-0.25 [[ 9.99896112e-01 4.42145954e-03 -1.37191606e-02 -1.05966675e+01] [-4.46925115e-03 9.99984045e-01 -3.45486574e-03 -5.23280345e-01] [ 1.37036662e-02 3.51582120e-03 9.99899919e-01 -2.47048839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883426265 meters Centerline goodness : 0.121775 with order 3 Centerline is valid? [False, False] Translation: X:-10.63, Y:-0.52, Z:-0.24 [[ 9.99827268e-01 1.15249881e-02 -1.45811133e-02 -1.06253340e+01] [-1.16210011e-02 9.99911235e-01 -6.51724941e-03 -5.21903879e-01] [ 1.45047078e-02 6.68557080e-03 9.99872450e-01 -2.44297152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943426265 meters Centerline goodness : 0.135766 with order 3 Centerline is valid? [False, False] Translation: X:-10.62, Y:-0.52, Z:-0.25 [[ 9.99760923e-01 1.60345679e-02 -1.48657318e-02 -1.06233509e+01] [-1.60764105e-02 9.99867122e-01 -2.69947862e-03 -5.16506851e-01] [ 1.48204715e-02 2.93782084e-03 9.99885855e-01 -2.46395114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003426265 meters Centerline goodness : 0.310916 with order 1 Centerline is valid? [False, False] Translation: X:-10.67, Y:-0.52, Z:-0.25 [[ 9.99767652e-01 1.37137436e-02 -1.66305647e-02 -1.06692177e+01] [-1.37816740e-02 9.99897119e-01 -3.97696325e-03 -5.16274610e-01] [ 1.65743147e-02 4.20523623e-03 9.99853793e-01 -2.48025313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063426265 meters Centerline goodness : 0.150042 with order 1 Centerline is valid? [False, False] Translation: X:-10.67, Y:-0.51, Z:-0.25 [[ 9.99773842e-01 1.36692048e-02 -1.62916658e-02 -1.06716570e+01] [-1.37441679e-02 9.99895426e-01 -4.49826317e-03 -5.14796846e-01] [ 1.62284744e-02 4.72116124e-03 9.99857163e-01 -2.45922088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123426265 meters Centerline goodness : 0.147342 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.51, Z:-0.25 [[ 9.99789177e-01 1.15473302e-02 -1.69782342e-02 -1.06964012e+01] [-1.14839080e-02 9.99926729e-01 3.82826455e-03 -5.14088672e-01] [ 1.70211964e-02 -3.63248099e-03 9.99848531e-01 -2.45635834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183426265 meters Centerline goodness : 0.147688 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.51, Z:-0.25 [[ 9.99830092e-01 7.73231125e-03 -1.67331352e-02 -1.06976523e+01] [-7.74310490e-03 9.99969853e-01 -5.80354216e-04 -5.11040059e-01] [ 1.67281433e-02 7.09822030e-04 9.99859823e-01 -2.45065362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243426265 meters Centerline goodness : 0.268203 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.51, Z:-0.25 [[ 9.99813611e-01 8.20462129e-03 -1.74765016e-02 -1.06943009e+01] [-8.22381884e-03 9.99965657e-01 -1.02689260e-03 -5.06658172e-01] [ 1.74674762e-02 1.17042478e-03 9.99846747e-01 -2.47462474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3420.33 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/1410 [00:00