+ python -m lidar_slam --result /working/result.json --no-model /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 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 0.00463044 Adjusted end_distance from 9.223372036854776e+18 to 505.36463044 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00463044 meters Centerline goodness : 0.484814 with order 1 Centerline is valid? [0, False] SLAMing on 0.06463044 meters Centerline goodness : 0.482468 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998660e-01 1.14921943e-03 -1.16575520e-03 1.44298079e-02] [-1.14889989e-03 9.99999302e-01 2.74743411e-04 5.94858822e-03] [ 1.16607013e-03 -2.73403707e-04 9.99999283e-01 -8.69211258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12463044 meters Centerline goodness : 0.495015 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99997300e-01 1.39495982e-03 -1.85848286e-03 2.89634323e-02] [-1.39570158e-03 9.99998947e-01 -3.97884414e-04 1.47997401e-02] [ 1.85792587e-03 4.00477227e-04 9.99998194e-01 -1.76881937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18463044 meters Centerline goodness : 0.484676 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 9.99997255e-01 1.25026742e-03 -1.98166285e-03 3.68910590e-02] [-1.25191819e-03 9.99998870e-01 -8.31998642e-04 1.92985797e-02] [ 1.98062039e-03 8.34477238e-04 9.99997690e-01 -2.28308000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24463044 meters Centerline goodness : 0.476218 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 9.99996461e-01 4.74428916e-04 -2.61775668e-03 5.12182366e-02] [-4.78679142e-04 9.99998568e-01 -1.62322616e-03 2.55801607e-02] [ 2.61698283e-03 1.62447348e-03 9.99995256e-01 -3.10460051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30463044 meters Centerline goodness : 0.475621 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.04 [[ 9.99994266e-01 -4.90620084e-04 -3.35069656e-03 6.34077766e-02] [ 4.83414725e-04 9.99997570e-01 -2.15087783e-03 2.71310521e-02] [ 3.35174368e-03 2.14924572e-03 9.99992073e-01 -3.79138085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36463044 meters Centerline goodness : 0.062921 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 0.99998997 -0.00119181 -0.00431642 0.07632569] [ 0.00118133 0.99999635 -0.00243002 0.0290045 ] [ 0.0043193 0.0024249 0.99998773 -0.04493575] [ 0. 0. 0. 1. ]] SLAMing on 0.42463044 meters Centerline goodness : 0.450877 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.05 [[ 0.99998189 -0.00166306 -0.00578469 0.09504556] [ 0.00164681 0.99999469 -0.002813 0.03077 ] [ 0.00578934 0.00280342 0.99997931 -0.05490122] [ 0. 0. 0. 1. ]] SLAMing on 0.48463044 meters Centerline goodness : 0.337938 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 9.99975776e-01 -8.64895257e-04 -6.90649508e-03 1.09183865e-01] [ 8.48464324e-04 9.99996804e-01 -2.38163084e-03 3.15969169e-02] [ 6.90853287e-03 2.37571323e-03 9.99973314e-01 -6.24282552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54463044 meters Centerline goodness : 0.335324 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.07 [[ 9.99968466e-01 3.66654025e-04 -7.93294847e-03 1.27510375e-01] [-3.80175121e-04 9.99998478e-01 -1.70298166e-03 3.10844597e-02] [ 7.93231198e-03 1.70594386e-03 9.99967084e-01 -7.23738386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60463044 meters Centerline goodness : 0.061776 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.09 [[ 9.99944955e-01 3.26797189e-03 -9.97035595e-03 1.53020080e-01] [-3.26668207e-03 9.99994654e-01 1.45648305e-04 3.44959912e-02] [ 9.97077862e-03 -1.13070305e-04 9.99950284e-01 -8.53562614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6646304399999999 meters Centerline goodness : 0.037018 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.09 [[ 9.99929707e-01 4.16779846e-03 -1.11000512e-02 1.67395316e-01] [-4.16859444e-03 9.99991310e-01 -4.85745689e-05 3.98841450e-02] [ 1.10997523e-02 9.48427663e-05 9.99938391e-01 -9.24513354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72463044 meters Centerline goodness : 0.099770 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.12 [[ 9.99984168e-01 4.96096622e-03 -2.65549573e-03 1.79095850e-01] [-4.96099194e-03 9.99987694e-01 -3.09880638e-06 4.42247590e-02] [ 2.65544768e-03 1.62726503e-05 9.99996474e-01 -1.16848396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78463044 meters Centerline goodness : 0.096502 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.05, Z:-0.13 [[ 9.99980032e-01 4.81243398e-03 -4.09595099e-03 1.97014771e-01] [-4.81493987e-03 9.99988227e-01 -6.02155944e-04 5.02080155e-02] [ 4.09300493e-03 6.21865678e-04 9.99991430e-01 -1.25243178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84463044 meters Centerline goodness : 0.098760 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.13 [[ 9.99979809e-01 4.46438886e-03 -4.52234079e-03 2.07531288e-01] [-4.46861758e-03 9.99989587e-01 -9.25402732e-04 5.31206514e-02] [ 4.51816234e-03 9.45592659e-04 9.99989346e-01 -1.30240135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9046304399999999 meters Centerline goodness : 0.117214 with order 3 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.14 [[ 0.99997583 0.00349845 -0.00600915 0.22501586] [-0.00350719 0.99999281 -0.00144498 0.05657185] [ 0.00600405 0.00146602 0.9999809 -0.13697517] [ 0. 0. 0. 1. ]] SLAMing on 0.96463044 meters Centerline goodness : 0.141420 with order 2 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.14 [[ 0.99997261 0.00350851 -0.00651668 0.22938035] [-0.00351707 0.99999297 -0.00130328 0.05584619] [ 0.00651207 0.00132616 0.99997792 -0.13835521] [ 0. 0. 0. 1. ]] SLAMing on 1.02463044 meters Centerline goodness : 0.068190 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:-0.14 [[ 0.99996782 0.00215106 -0.00772926 0.24510287] [-0.00216442 0.99999618 -0.0017201 0.05523563] [ 0.00772553 0.00173678 0.99996865 -0.14385043] [ 0. 0. 0. 1. ]] SLAMing on 1.08463044 meters Centerline goodness : 0.068215 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.15 [[ 0.99995915 0.00145988 -0.00891949 0.25947785] [-0.00147689 0.9999971 -0.00190125 0.05542817] [ 0.00891668 0.00191434 0.99995841 -0.14976776] [ 0. 0. 0. 1. ]] SLAMing on 1.1446304399999998 meters SLAMing on 1.2046304399999999 meters Centerline goodness : 0.115013 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.06, Z:-0.14 [[ 9.99788077e-01 8.32649272e-04 -2.05695718e-02 3.38563193e-01] [-8.78661551e-04 9.99997132e-01 -2.22797339e-03 5.93825661e-02] [ 2.05676577e-02 2.24557492e-03 9.99785942e-01 -1.38719940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26463044 meters Centerline goodness : 0.249691 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.06, Z:-0.16 [[ 9.99919788e-01 5.98626942e-04 -1.26514703e-02 3.55735901e-01] [-6.34264959e-04 9.99995842e-01 -2.81308249e-03 5.79660053e-02] [ 1.26497337e-02 2.82088124e-03 9.99916010e-01 -1.64408805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3246304399999997 meters Centerline goodness : 0.226568 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.17 [[ 9.99969469e-01 -3.78207383e-04 -7.80499913e-03 4.08338328e-01] [ 3.57143915e-04 9.99996291e-01 -2.69993225e-03 5.82220008e-02] [ 7.80599132e-03 2.69706231e-03 9.99965896e-01 -1.71156939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3846304399999998 meters Centerline goodness : 0.431850 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.17 [[ 9.99966836e-01 -8.74167106e-05 -8.14370283e-03 4.14070646e-01] [ 6.86990499e-05 9.99997356e-01 -2.29867277e-03 5.52096356e-02] [ 8.14388223e-03 2.29803707e-03 9.99964197e-01 -1.71674029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4446304399999998 meters SLAMing on 1.50463044 meters Centerline goodness : 0.353405 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:-0.16 [[ 9.99798890e-01 4.97133460e-04 -2.00482676e-02 4.93616080e-01] [-5.34114472e-04 9.99998166e-01 -1.83928649e-03 4.74240922e-02] [ 2.00473164e-02 1.84962466e-03 9.99797321e-01 -1.58706248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56463044 meters Centerline goodness : 0.109330 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.17 [[ 0.99991372 0.0042107 -0.01244286 0.52146217] [-0.00428349 0.99997383 -0.00582934 0.04765267] [ 0.01241799 0.00588214 0.99990559 -0.17007793] [ 0. 0. 0. 1. ]] SLAMing on 1.6246304399999998 meters Centerline goodness : 0.279374 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.18 [[ 0.99996461 0.0039551 -0.00742559 0.57448101] [-0.00398972 0.99998122 -0.00465294 0.04761152] [ 0.00740705 0.0046824 0.9999616 -0.17652047] [ 0. 0. 0. 1. ]] SLAMing on 1.6846304399999998 meters Centerline goodness : 0.302568 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.18 [[ 0.99995929 0.00407965 -0.0080489 0.58182069] [-0.00411309 0.99998296 -0.00414154 0.04379907] [ 0.00803186 0.00417448 0.99995903 -0.17679405] [ 0. 0. 0. 1. ]] SLAMing on 1.74463044 meters Centerline goodness : 0.261214 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.18 [[ 0.99994831 0.00380378 -0.00942885 0.60021468] [-0.00384093 0.99998492 -0.00392439 0.04093141] [ 0.00941378 0.0039604 0.99994785 -0.18102873] [ 0. 0. 0. 1. ]] SLAMing on 1.8046304399999997 meters Centerline goodness : 0.097262 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:-0.18 [[ 0.99994182 0.00411435 -0.00997178 0.60676403] [-0.00415049 0.99998489 -0.00360579 0.03884787] [ 0.00995679 0.00364696 0.99994378 -0.18110621] [ 0. 0. 0. 1. ]] SLAMing on 1.8646304399999998 meters Centerline goodness : 0.098974 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.19 [[ 0.9999181 0.00446327 -0.01199442 0.62828082] [-0.00450273 0.99998453 -0.00326475 0.0370916 ] [ 0.01197966 0.00331849 0.99992273 -0.1869846 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9246304399999998 meters Centerline goodness : 0.096252 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.19 [[ 0.99990126 0.0040949 -0.01344235 0.6422954 ] [-0.00413698 0.99998663 -0.00310398 0.03481676] [ 0.01342946 0.00315928 0.99990483 -0.19124919] [ 0. 0. 0. 1. ]] SLAMing on 1.9846304399999999 meters Centerline goodness : 0.095731 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.20 [[ 0.99987548 0.00288179 -0.01551484 0.66264637] [-0.00292151 0.99999251 -0.00253769 0.02739554] [ 0.01550741 0.0025827 0.99987642 -0.19540866] [ 0. 0. 0. 1. ]] SLAMing on 2.04463044 meters Centerline goodness : 0.146073 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.20 [[ 0.9998491 0.00209314 -0.01724503 0.67831739] [-0.00213472 0.99999486 -0.00239296 0.02391851] [ 0.01723993 0.00242941 0.99984843 -0.20010432] [ 0. 0. 0. 1. ]] SLAMing on 2.10463044 meters Centerline goodness : 0.092308 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.21 [[ 0.99990135 0.00170875 -0.01394156 0.73111607] [-0.00173188 0.99999714 -0.00164669 0.02016517] [ 0.0139387 0.00167067 0.99990146 -0.20750538] [ 0. 0. 0. 1. ]] SLAMing on 2.1646304400000003 meters Centerline goodness : 0.091710 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.20 [[ 0.99976931 0.00274047 -0.02130315 0.77797201] [-0.0027764 0.99999477 -0.00165708 0.02111996] [ 0.02129849 0.00171584 0.99977169 -0.20371309] [ 0. 0. 0. 1. ]] SLAMing on 2.22463044 meters Centerline goodness : 0.143417 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.21 [[ 9.99879686e-01 3.07186094e-03 -1.52044829e-02 8.20631433e-01] [-3.08741746e-03 9.99994734e-01 -9.99787137e-04 2.18740198e-02] [ 1.52013317e-02 1.04660944e-03 9.99883905e-01 -2.05764008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28463044 meters Centerline goodness : 0.142019 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.20 [[ 9.99869775e-01 2.97694231e-03 -1.58609676e-02 8.31137337e-01] [-2.98190318e-03 9.99995512e-01 -2.89132069e-04 1.49448271e-02] [ 1.58600357e-02 3.36390286e-04 9.99874165e-01 -2.02730591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34463044 meters Centerline goodness : 0.187001 with order 2 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.21 [[ 9.99951955e-01 1.63241567e-03 -9.66560357e-03 8.73587815e-01] [-1.63728169e-03 9.99998537e-01 -4.95545048e-04 1.18271062e-02] [ 9.66478049e-03 5.11346555e-04 9.99953164e-01 -2.05100097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40463044 meters Centerline goodness : 0.133878 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.21 [[ 9.99934205e-01 1.23201355e-03 -1.14047134e-02 8.92712429e-01] [-1.23155047e-03 9.99999241e-01 4.76266945e-05 6.28267482e-03] [ 1.14047634e-02 -3.35780807e-05 9.99934963e-01 -2.08480476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46463044 meters Centerline goodness : 0.087586 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.21 [[ 9.99924159e-01 1.66872401e-03 -1.22021033e-02 9.00347262e-01] [-1.66711812e-03 9.99998600e-01 1.41777678e-04 6.47186650e-03] [ 1.22023228e-02 -1.21424578e-04 9.99925542e-01 -2.07707440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52463044 meters Centerline goodness : 0.143196 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.20 [[ 0.99983818 0.007889 -0.01616736 0.93356261] [-0.00791152 0.99996782 -0.00132934 0.01120274] [ 0.01615636 0.00145704 0.99986842 -0.20259878] [ 0. 0. 0. 1. ]] SLAMing on 2.58463044 meters Centerline goodness : 0.181465 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.20 [[ 9.99907848e-01 1.01441819e-02 -9.02171598e-03 9.71768553e-01] [-1.01409510e-02 9.99948498e-01 4.03808954e-04 1.72682222e-02] [ 9.02534765e-03 -3.12282963e-04 9.99959222e-01 -2.02115410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64463044 meters Centerline goodness : 0.088895 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.20 [[ 9.99883335e-01 1.08784401e-02 -1.07226571e-02 9.87655351e-01] [-1.08794354e-02 9.99940817e-01 -3.44911093e-05 2.42846009e-02] [ 1.07216473e-02 1.51143541e-04 9.99942510e-01 -2.03305313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70463044 meters Centerline goodness : 0.092432 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.20 [[ 9.99792609e-01 1.03252427e-02 -1.75535923e-02 1.02966629e+00] [-1.03389267e-02 9.99946315e-01 -6.88982015e-04 2.98411093e-02] [ 1.75455360e-02 8.70324430e-04 9.99845686e-01 -1.97061219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76463044 meters Centerline goodness : 0.088464 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:-0.19 [[ 9.99771809e-01 4.29570035e-03 -2.09255021e-02 1.05670625e+00] [-4.28717779e-03 9.99990708e-01 4.52124709e-04 3.41988004e-02] [ 2.09272499e-02 -3.62310190e-04 9.99780935e-01 -1.90096962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82463044 meters Centerline goodness : 0.090339 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.19 [[ 9.99892916e-01 3.50825199e-03 -1.42073697e-02 1.09248848e+00] [-3.50672135e-03 9.99993843e-01 1.32645617e-04 3.75567239e-02] [ 1.42077476e-02 -8.28101255e-05 9.99899061e-01 -1.90042100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88463044 meters Centerline goodness : 0.090431 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.19 [[ 9.99887936e-01 3.47662313e-03 -1.45612146e-02 1.09462551e+00] [-3.47444147e-03 9.99993949e-01 1.75121988e-04 3.73545160e-02] [ 1.45617354e-02 -1.24510276e-04 9.99893965e-01 -1.89863856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94463044 meters Centerline goodness : 0.092822 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.03, Z:-0.19 [[ 9.99885324e-01 3.20751661e-03 -1.48003777e-02 1.10150409e+00] [-3.19957759e-03 9.99994725e-01 5.60054338e-04 3.43595104e-02] [ 1.48020960e-02 -5.12635157e-04 9.99890312e-01 -1.87292722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00463044 meters Centerline goodness : 0.094522 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.03, Z:-0.19 [[ 9.99874731e-01 3.19509091e-03 -1.55020727e-02 1.10682386e+00] [-3.18072775e-03 9.99994489e-01 9.51098163e-04 3.13115602e-02] [ 1.55050261e-02 -9.01671147e-04 9.99879383e-01 -1.86590907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06463044 meters Centerline goodness : 0.096809 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.19 [[ 0.99993205 0.0081617 -0.00832391 1.13043975] [-0.00818448 0.99996284 -0.00270715 0.03417766] [ 0.00830151 0.00277509 0.99996169 -0.19310077] [ 0. 0. 0. 1. ]] SLAMing on 3.1246304400000002 meters Centerline goodness : 0.097796 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:-0.19 [[ 9.99887577e-01 1.25671070e-02 -8.17925877e-03 1.13561235e+00] [-1.25584393e-02 9.99920523e-01 1.11021238e-03 3.81979790e-02] [ 8.19256087e-03 -1.00736884e-03 9.99965933e-01 -1.91529868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18463044 meters Centerline goodness : 0.104040 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.19 [[ 0.99983001 0.01676753 -0.00766769 1.13938079] [-0.01673297 0.99984965 0.00454903 0.04530159] [ 0.00774281 -0.00441995 0.99996026 -0.18888242] [ 0. 0. 0. 1. ]] SLAMing on 3.24463044 meters Centerline goodness : 0.110409 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.19 [[ 0.99983205 0.01655837 -0.0078544 1.14240844] [-0.01652458 0.99985401 0.00434669 0.04710366] [ 0.00792523 -0.00421617 0.99995971 -0.18752463] [ 0. 0. 0. 1. ]] SLAMing on 3.30463044 meters Centerline goodness : 0.117192 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:-0.19 [[ 9.99959593e-01 8.95570776e-03 -7.79489307e-04 1.15820958e+00] [-8.95050338e-03 9.99939193e-01 6.44200453e-03 4.84980013e-02] [ 8.37134618e-04 -6.43476741e-03 9.99978946e-01 -1.88586501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36463044 meters Centerline goodness : 0.439035 with order 2 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.19 [[ 9.99982079e-01 -6.31238811e-04 5.95338111e-03 1.17688372e+00] [ 5.89709176e-04 9.99975501e-01 6.97498399e-03 4.76040820e-02] [-5.95763814e-03 -6.97134823e-03 9.99957953e-01 -1.89589799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42463044 meters Centerline goodness : 0.185192 with order 2 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.19 [[ 0.99997146 -0.00460745 0.00598677 1.17893265] [ 0.00458781 0.99998407 0.00328946 0.04781791] [-0.00600183 -0.0032619 0.99997667 -0.18898538] [ 0. 0. 0. 1. ]] SLAMing on 3.48463044 meters Centerline goodness : 0.139681 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.19 [[ 0.99996773 -0.0045403 0.00662818 1.18046252] [ 0.00451466 0.99998229 0.00387871 0.04457993] [-0.00664567 -0.00384866 0.99997051 -0.18722359] [ 0. 0. 0. 1. ]] SLAMing on 3.54463044 meters Centerline goodness : 0.140751 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:-0.19 [[ 0.99994343 0.001358 0.0105493 1.16048028] [-0.00139935 0.99999136 0.00391389 0.03605026] [-0.01054389 -0.00392843 0.99993669 -0.18701493] [ 0. 0. 0. 1. ]] SLAMing on 3.6046304399999998 meters Centerline goodness : 0.153642 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:-0.19 [[ 0.99993018 0.00198326 0.01164901 1.15986752] [-0.00203619 0.99998765 0.00453324 0.03642387] [-0.01163987 -0.00455665 0.99992187 -0.18665943] [ 0. 0. 0. 1. ]] SLAMing on 3.66463044 meters Centerline goodness : 0.305850 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:-0.19 [[ 0.99989617 0.00273304 0.01414868 1.1579104 ] [-0.00280306 0.99998391 0.00493204 0.03714395] [-0.01413498 -0.00497118 0.99988774 -0.18660409] [ 0. 0. 0. 1. ]] SLAMing on 3.72463044 meters Centerline goodness : 0.272632 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.03, Z:-0.19 [[ 0.99978663 0.00962744 0.01827565 1.13663367] [-0.00972966 0.99993747 0.00551272 0.03068354] [-0.01822143 -0.00568936 0.99981779 -0.1861779 ] [ 0. 0. 0. 1. ]] SLAMing on 3.78463044 meters Centerline goodness : 0.267763 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.18 [[ 0.99972932 0.01094602 0.02052993 1.13369541] [-0.01108154 0.99991748 0.00649899 0.03149753] [-0.0204571 -0.00672473 0.99976812 -0.18456798] [ 0. 0. 0. 1. ]] SLAMing on 3.84463044 meters Centerline goodness : 0.263503 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.18 [[ 0.99969497 0.01155849 0.02182598 1.13221324] [-0.01170538 0.99990961 0.00661466 0.03353955] [-0.02174755 -0.00686812 0.9997399 -0.18370975] [ 0. 0. 0. 1. ]] SLAMing on 3.90463044 meters Centerline goodness : 0.257910 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.18 [[ 0.99961493 0.01536171 0.02310884 1.13171835] [-0.0155956 0.99982862 0.00997533 0.03717035] [-0.02295165 -0.01033188 0.99968319 -0.18378336] [ 0. 0. 0. 1. ]] SLAMing on 3.96463044 meters Centerline goodness : 0.254583 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.18 [[ 0.99959772 0.00897209 0.02690546 1.10954537] [-0.00925383 0.99990346 0.01036497 0.04415127] [-0.02680986 -0.01060977 0.99958425 -0.18414488] [ 0. 0. 0. 1. ]] SLAMing on 4.024630439999999 meters Centerline goodness : 0.253472 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:-0.18 [[ 9.99680311e-01 9.51126362e-04 2.52660217e-02 1.09171185e+00] [-1.24294019e-03 9.99932680e-01 1.15364620e-02 4.72360028e-02] [-2.52533482e-02 -1.15641781e-02 9.99614195e-01 -1.84537120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08463044 meters Centerline goodness : 0.244513 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:-0.18 [[ 9.99670410e-01 6.11543273e-04 2.56650962e-02 1.09156434e+00] [-9.05004734e-04 9.99934332e-01 1.14242058e-02 4.74927708e-02] [-2.56564244e-02 -1.14436675e-02 9.99605317e-01 -1.84061777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144630439999999 meters Centerline goodness : 0.238240 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:-0.18 [[ 0.9995993 -0.00142078 0.02827063 1.08545132] [ 0.00115221 0.99995408 0.0095141 0.04916485] [-0.02828285 -0.00947772 0.99955503 -0.18091594] [ 0. 0. 0. 1. ]] SLAMing on 4.20463044 meters Centerline goodness : 0.240550 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.05, Z:-0.18 [[ 0.99959293 0.00627942 0.02783045 1.06610388] [-0.0065006 0.99994795 0.00786408 0.04730884] [-0.02777962 -0.00804179 0.99958172 -0.18146425] [ 0. 0. 0. 1. ]] SLAMing on 4.2646304399999995 meters Centerline goodness : 0.238210 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:-0.18 [[ 9.99706931e-01 6.53845678e-04 2.41996708e-02 1.05327515e+00] [-9.11222598e-04 9.99943127e-01 1.06260559e-02 5.48071473e-02] [-2.41913467e-02 -1.06449930e-02 9.99650670e-01 -1.84256741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32463044 meters Centerline goodness : 0.308305 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:-0.18 [[ 9.99708669e-01 5.89271799e-04 2.41294274e-02 1.05346736e+00] [-8.42178796e-04 9.99944808e-01 1.04724478e-02 5.57656234e-02] [-2.41219245e-02 -1.04897181e-02 9.99653989e-01 -1.83892048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38463044 meters Centerline goodness : 0.169653 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.18 [[ 0.99965337 0.00631246 0.02555971 1.02911691] [-0.00650708 0.99995042 0.00753825 0.05188677] [-0.02551086 -0.00770196 0.99964487 -0.18151211] [ 0. 0. 0. 1. ]] SLAMing on 4.444630439999999 meters Centerline goodness : 0.232206 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.18 [[ 0.99965226 0.00624704 0.02561915 1.02942992] [-0.00643938 0.99995165 0.00743215 0.05236266] [-0.02557148 -0.00759454 0.99964415 -0.18190309] [ 0. 0. 0. 1. ]] SLAMing on 4.50463044 meters Centerline goodness : 0.224294 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.18 [[ 9.99736390e-01 -8.64316662e-04 2.29435007e-02 1.01263997e+00] [ 6.55981727e-04 9.99958503e-01 9.08632012e-03 5.59550622e-02] [-2.29504021e-02 -9.06887436e-03 9.99695471e-01 -1.83367289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564630439999999 meters Centerline goodness : 0.272330 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.18 [[ 9.99732919e-01 -9.79248067e-04 2.30896450e-02 1.01179554e+00] [ 7.78148387e-04 9.99961704e-01 8.71689487e-03 5.79550063e-02] [-2.30972967e-02 -8.69659958e-03 9.99695396e-01 -1.81696151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62463044 meters Centerline goodness : 0.256714 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.18 [[ 0.99971541 -0.00123371 0.02382377 1.01001751] [ 0.00103166 0.99996342 0.00849125 0.05822989] [-0.02383337 -0.00846426 0.99968011 -0.18038134] [ 0. 0. 0. 1. ]] SLAMing on 4.684630439999999 meters Centerline goodness : 0.185650 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.18 [[ 0.99971427 -0.00126754 0.02386997 1.01056742] [ 0.00106582 0.99996363 0.00846151 0.05829413] [-0.02387983 -0.00843365 0.99967926 -0.1811916 ] [ 0. 0. 0. 1. ]] SLAMing on 4.74463044 meters Centerline goodness : 0.186493 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.18 [[ 0.99973293 -0.00132416 0.02307179 1.01255177] [ 0.00112102 0.99996051 0.00881575 0.05563216] [-0.02308256 -0.00878753 0.99969494 -0.1814553 ] [ 0. 0. 0. 1. ]] SLAMing on 4.8046304399999995 meters Centerline goodness : 0.098201 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.18 [[ 0.99975227 0.00415754 0.02186565 0.99209536] [-0.00427626 0.99997635 0.00538552 0.04986611] [-0.02184275 -0.00547769 0.99974641 -0.18086421] [ 0. 0. 0. 1. ]] SLAMing on 4.864630439999999 meters SLAMing on 4.92463044 meters SLAMing on 4.984630439999999 meters Centerline goodness : 0.295298 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.18 [[ 0.99974539 -0.00664022 0.02156532 0.97010993] [ 0.00654236 0.99996799 0.00460539 0.01868336] [-0.02159521 -0.00446313 0.99975683 -0.1808894 ] [ 0. 0. 0. 1. ]] SLAMing on 5.04463044 meters Centerline goodness : 0.321941 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.18 [[ 0.99975254 -0.00654717 0.02126023 0.97111596] [ 0.00644301 0.99996692 0.00496399 0.01617058] [-0.02129203 -0.00482578 0.99976165 -0.18137144] [ 0. 0. 0. 1. ]] SLAMing on 5.104630439999999 meters Centerline goodness : 0.310873 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.18 [[ 0.99980175 0.00113536 0.01987888 0.95403686] [-0.00120318 0.9999935 0.00339996 0.00883894] [-0.01987489 -0.0034232 0.99979661 -0.18319993] [ 0. 0. 0. 1. ]] SLAMing on 5.16463044 meters Centerline goodness : 0.438123 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.18 [[ 0.99979447 0.00137224 0.02022718 0.95301516] [-0.00145139 0.99999135 0.00389881 0.00637634] [-0.02022165 -0.00392737 0.99978781 -0.18250354] [ 0. 0. 0. 1. ]] SLAMing on 5.224630439999999 meters Centerline goodness : 0.440313 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.00, Z:-0.18 [[ 0.99978703 0.00142199 0.02058795 0.95197528] [-0.00150818 0.99999016 0.00417136 0.00460636] [-0.02058181 -0.00420152 0.99977934 -0.18187202] [ 0. 0. 0. 1. ]] SLAMing on 5.284630439999999 meters Centerline goodness : 0.311803 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.00, Z:-0.18 [[ 0.9997863 0.00137722 0.02062649 0.95216079] [-0.00146633 0.99998966 0.0043055 0.002683 ] [-0.02062035 -0.00433483 0.99977798 -0.18225274] [ 0. 0. 0. 1. ]] SLAMing on 5.3446304399999995 meters Centerline goodness : 0.186220 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.00, Z:-0.18 [[ 0.99978319 0.00163451 0.02075811 0.95170038] [-0.00173197 0.99998756 0.00467795 0.00160195] [-0.02075021 -0.00471289 0.99977358 -0.18187263] [ 0. 0. 0. 1. ]] SLAMing on 5.404630439999999 meters Centerline goodness : 0.441118 with order 2 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.00, Z:-0.18 [[ 9.99771809e-01 -2.30736874e-04 2.13606141e-02 9.48508430e-01] [ 1.61690139e-04 9.99994757e-01 3.23410275e-03 -2.93037115e-03] [-2.13612484e-02 -3.22991096e-03 9.99766605e-01 -1.79425345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46463044 meters Centerline goodness : 0.449444 with order 2 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.18 [[ 9.99770298e-01 -1.67872130e-04 2.14318322e-02 9.48251631e-01] [ 8.60028704e-05 9.99992697e-01 3.82084870e-03 -6.24351381e-03] [-2.14323171e-02 -3.81812785e-03 9.99763011e-01 -1.79039606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524630439999999 meters Centerline goodness : 0.448847 with order 2 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.01, Z:-0.18 [[ 0.99972753 -0.00160528 0.02328705 0.94295694] [ 0.00153066 0.99999364 0.00322197 -0.01242889] [-0.02329207 -0.00318545 0.99972363 -0.17661751] [ 0. 0. 0. 1. ]] SLAMing on 5.58463044 meters Centerline goodness : 0.393187 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.01, Z:-0.18 [[ 0.99972319 -0.00147368 0.02348116 0.94270509] [ 0.00139166 0.99999287 0.00350919 -0.01377551] [-0.02348617 -0.00347554 0.99971812 -0.17676901] [ 0. 0. 0. 1. ]] SLAMing on 5.644630439999999 meters Centerline goodness : 0.453029 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.18 [[ 0.9997661 0.0088999 0.01971132 0.9280769 ] [-0.00897642 0.9999525 0.00379701 -0.0123094 ] [-0.01967659 -0.00397306 0.9997985 -0.17972477] [ 0. 0. 0. 1. ]] SLAMing on 5.70463044 meters SLAMing on 5.7646304399999995 meters Centerline goodness : 0.342220 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.00, Z:-0.18 [[ 0.99959263 0.02189189 0.01831168 0.90840541] [-0.02199332 0.99974377 0.00535624 -0.00176017] [-0.01818973 -0.00575679 0.99981798 -0.17968617] [ 0. 0. 0. 1. ]] SLAMing on 5.824630439999999 meters Centerline goodness : 0.454561 with order 2 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.18 [[ 0.99982019 0.008636 0.01688225 0.90271264] [-0.00876919 0.99993088 0.00783157 0.00589098] [-0.01681345 -0.0079782 0.99982681 -0.17738809] [ 0. 0. 0. 1. ]] SLAMing on 5.88463044 meters Centerline goodness : 0.198802 with order 2 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.18 [[ 9.99882825e-01 -9.20621527e-04 1.52803659e-02 8.82541450e-01] [ 7.99685741e-04 9.99968327e-01 7.91868019e-03 7.56347720e-03] [-1.52871720e-02 -7.90553282e-03 9.99851891e-01 -1.76987485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944630439999999 meters Centerline goodness : 0.098192 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.18 [[ 0.99986949 -0.00402271 0.01564646 0.88111246] [ 0.00394508 0.99997977 0.00498914 0.00637853] [-0.01566622 -0.00492676 0.99986514 -0.17602047] [ 0. 0. 0. 1. ]] SLAMing on 6.00463044 meters Centerline goodness : 0.456827 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.17 [[ 0.99990485 -0.0044273 0.0130649 0.83618026] [ 0.00436388 0.99997858 0.00487906 0.00128607] [-0.01308622 -0.00482159 0.99990275 -0.17422546] [ 0. 0. 0. 1. ]] SLAMing on 6.064630439999999 meters Centerline goodness : 0.098364 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.18 [[ 0.99991541 -0.00437206 0.01225007 0.83860708] [ 0.00431562 0.99997997 0.00462955 0.00297381] [-0.01227007 -0.00457629 0.99991425 -0.17556307] [ 0. 0. 0. 1. ]] SLAMing on 6.12463044 meters Centerline goodness : 0.459372 with order 2 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.17 [[ 0.99990717 -0.00186764 0.01349668 0.83345975] [ 0.00177442 0.99997451 0.00691568 0.00596743] [-0.01350926 -0.00689109 0.999885 -0.17262973] [ 0. 0. 0. 1. ]] SLAMing on 6.184630439999999 meters Centerline goodness : 0.221130 with order 3 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.17 [[ 0.99990584 -0.00203295 0.01357153 0.83341152] [ 0.00194394 0.99997654 0.00656881 0.00701049] [-0.01358456 -0.00654181 0.99988633 -0.17291003] [ 0. 0. 0. 1. ]] SLAMing on 6.24463044 meters Centerline goodness : 0.455039 with order 3 Centerline is valid? [False, False] Translation: X:0.81, Y:0.00, Z:-0.17 [[ 0.99990562 0.00316108 0.01337039 0.81209811] [-0.00320099 0.99999048 0.00296496 0.00229606] [-0.01336089 -0.00300748 0.99990622 -0.17295555] [ 0. 0. 0. 1. ]] SLAMing on 6.3046304399999995 meters Centerline goodness : 0.092802 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.17 [[ 0.99991611 0.00303192 0.01259294 0.81379174] [-0.00307646 0.99998908 0.00351886 -0.00143524] [-0.01258214 -0.00355731 0.99991451 -0.17262815] [ 0. 0. 0. 1. ]] SLAMing on 6.364630439999999 meters Centerline goodness : 0.395643 with order 2 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.17 [[ 0.99993784 -0.00502775 0.0099519 0.79484214] [ 0.00497973 0.99997587 0.0048436 -0.00433741] [-0.00997601 -0.00479374 0.99993875 -0.17384324] [ 0. 0. 0. 1. ]] SLAMing on 6.42463044 meters Centerline goodness : 0.198738 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.18 [[ 0.99996072 0.00221331 0.00858287 0.77895146] [-0.00223728 0.99999362 0.00278489 -0.01179386] [-0.00857665 -0.00280399 0.99995929 -0.17658252] [ 0. 0. 0. 1. ]] SLAMing on 6.484630439999999 meters Centerline goodness : 0.099341 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.18 [[ 0.9999606 0.00236722 0.00855536 0.77853492] [-0.00238848 0.99999408 0.0024766 -0.00931512] [-0.00854945 -0.00249694 0.99996034 -0.17604387] [ 0. 0. 0. 1. ]] SLAMing on 6.54463044 meters Centerline goodness : 0.101630 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.18 [[ 0.99993667 0.00615101 0.00942472 0.77633384] [-0.00620517 0.99996434 0.00572817 -0.00571337] [-0.00938915 -0.00578629 0.99993918 -0.17572158] [ 0. 0. 0. 1. ]] SLAMing on 6.604630439999999 meters Centerline goodness : 0.455298 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.00, Z:-0.18 [[ 0.99995864 0.00276575 0.00866405 0.77844544] [-0.00278108 0.99999459 0.00175801 -0.0031579 ] [-0.00865914 -0.00178203 0.99996092 -0.17668394] [ 0. 0. 0. 1. ]] SLAMing on 6.66463044 meters Centerline goodness : 0.098296 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.00, Z:-0.18 [[ 0.99995783 -0.00589394 0.00704286 0.75847352] [ 0.00587692 0.99997977 0.00243463 -0.00196131] [-0.00705706 -0.00239314 0.99997223 -0.17689024] [ 0. 0. 0. 1. ]] SLAMing on 6.724630439999999 meters Centerline goodness : 0.098543 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.00, Z:-0.18 [[ 0.99995525 -0.00592235 0.00737778 0.75686371] [ 0.00590162 0.99997859 0.00282808 -0.0037479 ] [-0.00739437 -0.00278442 0.99996878 -0.17528609] [ 0. 0. 0. 1. ]] SLAMing on 6.784630439999999 meters Centerline goodness : 0.201441 with order 2 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:-0.18 [[ 9.99969013e-01 -4.50673612e-04 7.85934817e-03 7.35074198e-01] [ 4.53113177e-04 9.99999850e-01 -3.08625111e-04 -9.62485937e-03] [-7.85920790e-03 3.12176722e-04 9.99969067e-01 -1.75208162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8446304399999995 meters Centerline goodness : 0.098880 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:-0.18 [[ 9.99971400e-01 -2.81512693e-04 7.55775854e-03 7.36242081e-01] [ 2.81194185e-04 9.99999960e-01 4.32056875e-05 -1.10510562e-02] [-7.55777040e-03 -4.10792541e-05 9.99971439e-01 -1.76002130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904630439999999 meters Centerline goodness : 0.457299 with order 3 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:-0.18 [[ 9.99970016e-01 -2.04338776e-04 7.74119790e-03 7.35241440e-01] [ 2.01257871e-04 9.99999900e-01 3.98764980e-04 -1.29937528e-02] [-7.74127861e-03 -3.97195047e-04 9.99969957e-01 -1.75010643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96463044 meters Centerline goodness : 0.454585 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.17 [[ 9.99967521e-01 -4.50565140e-04 8.04692616e-03 7.34327048e-01] [ 4.45184890e-04 9.99999676e-01 6.70388040e-04 -1.60125968e-02] [-8.04722561e-03 -6.66783897e-04 9.99967398e-01 -1.74490257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024630439999999 meters Centerline goodness : 0.454373 with order 2 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.17 [[ 0.99995494 -0.00317303 0.00894713 0.7309436 ] [ 0.00318301 0.99999433 -0.0011021 -0.02306808] [-0.00894358 0.00113053 0.99995937 -0.17262576] [ 0. 0. 0. 1. ]] SLAMing on 7.08463044 meters Centerline goodness : 0.453086 with order 3 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99998092 -0.00366807 0.00497018 0.69080051] [ 0.00367448 0.99999243 -0.00128198 -0.030206 ] [-0.00496544 0.00130022 0.99998683 -0.17306005] [ 0. 0. 0. 1. ]] SLAMing on 7.144630439999999 meters Centerline goodness : 0.266983 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99998063 -0.00357097 0.00509706 0.69071735] [ 0.00357755 0.99999278 -0.00128184 -0.02975902] [-0.00509244 0.00130005 0.99998619 -0.17347777] [ 0. 0. 0. 1. ]] SLAMing on 7.204630439999999 meters SLAMing on 7.2646304399999995 meters Centerline goodness : 0.445137 with order 2 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.18 [[ 0.99997885 0.00431877 0.00486241 0.67353108] [-0.00430158 0.99998448 -0.0035408 -0.03274477] [-0.00487763 0.00351981 0.99998191 -0.1768726 ] [ 0. 0. 0. 1. ]] SLAMing on 7.324630439999999 meters Centerline goodness : 0.196681 with order 2 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.18 [[ 0.99999015 -0.00397343 0.00197566 0.65498493] [ 0.00397806 0.99998933 -0.00234827 -0.03399024] [-0.00196631 0.00235611 0.99999529 -0.1779508 ] [ 0. 0. 0. 1. ]] SLAMing on 7.38463044 meters Centerline goodness : 0.450754 with order 3 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.18 [[ 0.99997038 -0.00751431 0.00166338 0.65598927] [ 0.00752278 0.99995847 -0.00514447 -0.0393456 ] [-0.00162465 0.00515683 0.99998538 -0.17817428] [ 0. 0. 0. 1. ]] SLAMing on 7.444630439999999 meters Centerline goodness : 0.217276 with order 3 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.18 [[ 9.99988457e-01 -5.52356533e-04 4.77295746e-03 6.37119992e-01] [ 5.73428495e-04 9.99990091e-01 -4.41462463e-03 -5.07709905e-02] [-4.77047172e-03 4.41731062e-03 9.99978865e-01 -1.79029845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50463044 meters Centerline goodness : 0.405126 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.18 [[ 0.99997591 -0.00289565 0.00630875 0.63193716] [ 0.00293435 0.99997688 -0.00613434 -0.05700196] [-0.00629084 0.0061527 0.99996128 -0.17684319] [ 0. 0. 0. 1. ]] SLAMing on 7.564630439999999 meters Centerline goodness : 0.259916 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.18 [[ 0.99997677 -0.00233454 0.00640418 0.6320546 ] [ 0.00236757 0.99998391 -0.00515436 -0.06044996] [-0.00639205 0.0051694 0.99996621 -0.17741073] [ 0. 0. 0. 1. ]] SLAMing on 7.62463044 meters Centerline goodness : 0.463554 with order 3 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.07, Z:-0.18 [[ 0.99997504 -0.00220837 0.00671063 0.63073138] [ 0.00223855 0.9999874 -0.00449358 -0.06511641] [-0.00670062 0.00450849 0.99996739 -0.17641019] [ 0. 0. 0. 1. ]] SLAMing on 7.684630439999999 meters Centerline goodness : 0.092767 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.18 [[ 0.9999187 -0.01110283 0.00627004 0.60825682] [ 0.01112561 0.99993159 -0.003611 -0.0696521 ] [-0.00622952 0.00368046 0.99997382 -0.17574094] [ 0. 0. 0. 1. ]] SLAMing on 7.744630439999999 meters Centerline goodness : 0.451855 with order 2 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.17 [[ 0.99998228 -0.00378775 0.00459294 0.62721524] [ 0.00380383 0.99998665 -0.0034969 -0.08103409] [-0.00457963 0.00351431 0.99998334 -0.17460273] [ 0. 0. 0. 1. ]] SLAMing on 7.8046304399999995 meters Centerline goodness : 0.550819 with order 3 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.17 [[ 0.99998266 -0.00353833 0.00470757 0.62690189] [ 0.00355247 0.9999892 -0.00299808 -0.08337876] [-0.00469691 0.00301475 0.99998443 -0.17450444] [ 0. 0. 0. 1. ]] SLAMing on 7.864630439999999 meters Centerline goodness : 0.572404 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.18 [[ 0.99998517 0.00432487 0.00331135 0.60901337] [-0.0043115 0.99998256 -0.00403534 -0.09282465] [-0.00332874 0.00402101 0.99998638 -0.17638833] [ 0. 0. 0. 1. ]] SLAMing on 7.92463044 meters Centerline goodness : 0.452592 with order 2 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.18 [[ 0.99998495 0.00445085 0.0032063 0.60951712] [-0.00443956 0.99998395 -0.00351937 -0.09616153] [-0.00322191 0.00350509 0.99998867 -0.17683044] [ 0. 0. 0. 1. ]] SLAMing on 7.984630439999999 meters Centerline goodness : 0.087476 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.18 [[ 0.99998268 0.00487603 0.00329689 0.6094585 ] [-0.00486739 0.99998471 -0.00262268 -0.09972615] [-0.00330963 0.00260659 0.99999113 -0.17699054] [ 0. 0. 0. 1. ]] SLAMing on 8.044630439999999 meters Centerline goodness : 0.452148 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.18 [[ 0.99998002 -0.00235449 0.00586598 0.58750354] [ 0.00236664 0.99999507 -0.00206454 -0.0946534 ] [-0.00586109 0.00207838 0.99998066 -0.17758301] [ 0. 0. 0. 1. ]] SLAMing on 8.10463044 meters Centerline goodness : 0.440193 with order 3 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.18 [[ 9.99987321e-01 7.33556904e-04 4.98204042e-03 5.90563132e-01] [-7.31969568e-04 9.99999681e-01 -3.20427519e-04 -8.58312248e-02] [-4.98227389e-03 3.16776754e-04 9.99987538e-01 -1.79440399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16463044 meters Centerline goodness : 0.452007 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:-0.18 [[ 0.99997652 0.00440081 0.005252 0.58969355] [-0.00441529 0.99998647 0.00274868 -0.08129805] [-0.00523983 -0.00277181 0.99998243 -0.17922036] [ 0. 0. 0. 1. ]] SLAMing on 8.224630439999999 meters Centerline goodness : 0.353096 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:-0.18 [[ 0.9999778 0.00391592 0.00539146 0.58908097] [-0.00392439 0.99999108 0.00156128 -0.07529306] [-0.0053853 -0.00158241 0.99998425 -0.17906596] [ 0. 0. 0. 1. ]] SLAMing on 8.284630439999999 meters SLAMing on 8.34463044 meters Centerline goodness : 0.264135 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 9.99998268e-01 1.36616265e-03 1.26385748e-03 5.47921858e-01] [-1.36533595e-03 9.99998854e-01 -6.54739690e-04 -6.92768105e-02] [-1.26475051e-03 6.53012966e-04 9.99998987e-01 -1.79161241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40463044 meters Centerline goodness : 0.090631 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 9.99998712e-01 1.15022512e-03 1.11933690e-03 5.47790400e-01] [-1.14911043e-03 9.99998844e-01 -9.95983466e-04 -6.66266423e-02] [-1.12048121e-03 9.94695941e-04 9.99998878e-01 -1.78547549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464630439999999 meters Centerline goodness : 0.212160 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 9.99998685e-01 9.68509296e-04 1.30106917e-03 5.47583660e-01] [-9.67029841e-04 9.99998886e-01 -1.13725563e-03 -6.62829085e-02] [-1.30216916e-03 1.13599596e-03 9.99998507e-01 -1.78843033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52463044 meters Centerline goodness : 0.103988 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.18 [[ 9.99999979e-01 -1.87685264e-04 8.02779627e-05 5.00628731e-01] [ 1.87830079e-04 9.99998348e-01 -1.80772372e-03 -6.79395341e-02] [-7.99385470e-05 1.80773876e-03 9.99998363e-01 -1.77226473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58463044 meters Centerline goodness : 0.415669 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.18 [[ 9.99999974e-01 -2.24217699e-04 2.81161589e-05 5.00750452e-01] [ 2.24271385e-04 9.99998124e-01 -1.92419421e-03 -6.73602737e-02] [-2.76846678e-05 1.92420047e-03 9.99998148e-01 -1.77261149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64463044 meters Centerline goodness : 0.092830 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.18 [[ 9.99999918e-01 -3.45556995e-04 -2.11817646e-04 5.01623775e-01] [ 3.45103730e-04 9.99997659e-01 -2.13619684e-03 -6.70071473e-02] [ 2.12555328e-04 2.13612357e-03 9.99997696e-01 -1.77777148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704630439999999 meters Centerline goodness : 0.098042 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.18 [[ 0.99999636 -0.00129177 -0.00236796 0.45678092] [ 0.00128492 0.99999499 -0.00289304 -0.07142378] [ 0.00237169 0.00288999 0.99999301 -0.17757811] [ 0. 0. 0. 1. ]] SLAMing on 8.76463044 meters Centerline goodness : 0.424078 with order 3 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.18 [[ 0.9999975 -0.00174016 -0.00140562 0.5019315 ] [ 0.0017361 0.99999433 -0.00288438 -0.07091776] [ 0.00141063 0.00288193 0.99999485 -0.17834348] [ 0. 0. 0. 1. ]] SLAMing on 8.82463044 meters Centerline goodness : 0.100182 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.08, Z:-0.18 [[ 0.99998992 -0.00263671 -0.00363384 0.45629675] [ 0.002625 0.99999136 -0.00322179 -0.07622084] [ 0.0036423 0.00321222 0.99998821 -0.17717251] [ 0. 0. 0. 1. ]] SLAMing on 8.884630439999999 meters Centerline goodness : 0.453362 with order 2 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.18 [[ 0.99999312 -0.00313541 -0.00198405 0.45177228] [ 0.00312891 0.99998975 -0.0032721 -0.0787692 ] [ 0.00199429 0.00326587 0.99999268 -0.17588679] [ 0. 0. 0. 1. ]] SLAMing on 8.94463044 meters Centerline goodness : 0.205230 with order 2 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.18 [[ 0.99999289 -0.00295947 -0.00233643 0.453059 ] [ 0.00295278 0.99999154 -0.00286261 -0.08056063] [ 0.00234488 0.00285569 0.99999317 -0.17655449] [ 0. 0. 0. 1. ]] SLAMing on 9.00463044 meters Centerline goodness : 0.098502 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.18 [[ 0.99996948 -0.00236202 -0.00744754 0.41668296] [ 0.00234735 0.99999529 -0.00197706 -0.08651222] [ 0.00745217 0.00195952 0.99997031 -0.1790729 ] [ 0. 0. 0. 1. ]] SLAMing on 9.06463044 meters Centerline goodness : 0.096534 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.18 [[ 0.99997191 0.00317222 -0.00679113 0.39506887] [-0.00320867 0.99998047 -0.00536323 -0.09084991] [ 0.00677398 0.00538487 0.99996256 -0.17860796] [ 0. 0. 0. 1. ]] SLAMing on 9.124630439999999 meters Centerline goodness : 0.358868 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.18 [[ 0.99997874 0.00338776 -0.00557159 0.39160036] [-0.00341784 0.99997959 -0.00539843 -0.0893998 ] [ 0.00555319 0.00541736 0.99996991 -0.17764441] [ 0. 0. 0. 1. ]] SLAMing on 9.18463044 meters Centerline goodness : 0.455936 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.09, Z:-0.18 [[ 0.99996586 0.00452935 -0.00691112 0.34431562] [-0.00456102 0.99997914 -0.00457285 -0.0887889 ] [ 0.00689026 0.00460421 0.99996566 -0.17710173] [ 0. 0. 0. 1. ]] SLAMing on 9.24463044 meters Centerline goodness : 0.451637 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:-0.18 [[ 0.99995754 0.00442399 -0.0080832 0.3474538 ] [-0.00446691 0.99997598 -0.00529963 -0.08532401] [ 0.00805956 0.00533552 0.99995329 -0.1780462 ] [ 0. 0. 0. 1. ]] SLAMing on 9.304630439999999 meters Centerline goodness : 0.460565 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.18 [[ 0.99994303 0.00388367 -0.00994267 0.30106907] [-0.0039383 0.99997723 -0.00547987 -0.08799706] [ 0.00992116 0.00551871 0.99993556 -0.17671124] [ 0. 0. 0. 1. ]] SLAMing on 9.36463044 meters Centerline goodness : 0.271938 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.18 [[ 0.99994829 0.0037898 -0.00943698 0.29980296] [-0.00384101 0.99997796 -0.00541462 -0.08878939] [ 0.00941625 0.00545059 0.99994081 -0.17645029] [ 0. 0. 0. 1. ]] SLAMing on 9.42463044 meters Centerline goodness : 0.098542 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.18 [[ 0.99994051 -0.004268 -0.01003803 0.28046149] [ 0.00422188 0.99998045 -0.00461166 -0.08531734] [ 0.01005752 0.00456901 0.99993898 -0.17763009] [ 0. 0. 0. 1. ]] SLAMing on 9.48463044 meters Centerline goodness : 0.090864 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.18 [[ 0.99994536 -0.00402333 -0.00964836 0.27942739] [ 0.00397799 0.99998098 -0.0047136 -0.08373134] [ 0.00966714 0.00467496 0.99994234 -0.17751881] [ 0. 0. 0. 1. ]] SLAMing on 9.544630439999999 meters Centerline goodness : 0.300400 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.18 [[ 0.9999192 -0.00275702 -0.01240975 0.23518923] [ 0.00270522 0.99998757 -0.00418903 -0.08534005] [ 0.01242114 0.00415512 0.99991422 -0.17723848] [ 0. 0. 0. 1. ]] SLAMing on 9.60463044 meters Centerline goodness : 0.105518 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.18 [[ 0.99991054 -0.00293681 -0.01304949 0.23739046] [ 0.00287941 0.99998611 -0.00441514 -0.0855352 ] [ 0.01306227 0.00437717 0.9999051 -0.17847753] [ 0. 0. 0. 1. ]] SLAMing on 9.66463044 meters Centerline goodness : 0.102743 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.18 [[ 0.99990822 -0.00292946 -0.01322747 0.23797921] [ 0.00287276 0.99998661 -0.00430345 -0.08643628] [ 0.0132399 0.00426506 0.99990325 -0.17872949] [ 0. 0. 0. 1. ]] SLAMing on 9.724630439999999 meters Centerline goodness : 0.101437 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:-0.18 [[ 0.9999173 -0.00296051 -0.0125153 0.23560956] [ 0.00291229 0.99998827 -0.00386904 -0.08879349] [ 0.01252661 0.00383227 0.9999142 -0.17751295] [ 0. 0. 0. 1. ]] SLAMing on 9.784630439999999 meters Centerline goodness : 0.095661 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.18 [[ 0.99988659 0.0045904 -0.01434344 0.21878432] [-0.00466757 0.99997479 -0.0053513 -0.09527426] [ 0.01431851 0.00541764 0.99988281 -0.17951479] [ 0. 0. 0. 1. ]] SLAMing on 9.84463044 meters Centerline goodness : 0.294219 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.18 [[ 0.99987882 0.0044295 -0.01492381 0.22081931] [-0.00451353 0.99997413 -0.00560152 -0.09474102] [ 0.01489861 0.0056682 0.99987294 -0.18061001] [ 0. 0. 0. 1. ]] SLAMing on 9.90463044 meters Centerline goodness : 0.404219 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.18 [[ 0.99988959 0.004387 -0.01419701 0.21850614] [-0.004467 0.9999743 -0.00560829 -0.09441157] [ 0.01417204 0.00567109 0.99988349 -0.17964387] [ 0. 0. 0. 1. ]] SLAMing on 9.964630439999999 meters Centerline goodness : 0.456728 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.18 [[ 0.99989455 0.00432795 -0.01386236 0.21719734] [-0.00440509 0.99997495 -0.00553952 -0.09494997] [ 0.01383804 0.0056 0.99988857 -0.17880388] [ 0. 0. 0. 1. ]] SLAMing on 10.02463044 meters Centerline goodness : 0.098244 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.18 [[ 0.99989386 0.0041893 -0.01395447 0.21745461] [-0.00426988 0.99997435 -0.00574978 -0.09420313] [ 0.01393002 0.00580875 0.9998861 -0.17883805] [ 0. 0. 0. 1. ]] SLAMing on 10.08463044 meters SLAMing on 10.144630439999998 meters SLAMing on 10.204630439999999 meters Centerline goodness : 0.100316 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:-0.18 [[ 0.99971249 0.01865178 -0.01506836 0.14627684] [-0.0187464 0.99980528 -0.00616255 -0.09180532] [ 0.01495048 0.00644325 0.99986747 -0.17839662] [ 0. 0. 0. 1. ]] SLAMing on 10.26463044 meters Centerline goodness : 0.227992 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.18 [[ 0.99984999 0.01205757 -0.01243445 0.1268019 ] [-0.01213199 0.99990884 -0.0059264 -0.08239486] [ 0.01236186 0.00607637 0.99990513 -0.18003494] [ 0. 0. 0. 1. ]] SLAMing on 10.32463044 meters Centerline goodness : 0.454451 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.18 [[ 0.9999358 0.00651004 -0.00927467 0.10616914] [-0.0065558 0.99996645 -0.00491175 -0.07127265] [ 0.00924238 0.00497224 0.99994493 -0.18122375] [ 0. 0. 0. 1. ]] SLAMing on 10.384630439999999 meters Centerline goodness : 0.347922 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.18 [[ 9.99938164e-01 -6.00456738e-04 -1.11044357e-02 1.25705005e-01] [ 5.51485755e-04 9.99990112e-01 -4.41257430e-03 -6.13786175e-02] [ 1.11069755e-02 4.40617751e-03 9.99928608e-01 -1.79973817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44463044 meters Centerline goodness : 0.435673 with order 3 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.18 [[ 9.99928129e-01 -8.76158516e-04 -1.19569817e-02 1.28228468e-01] [ 8.18524291e-04 9.99988029e-01 -4.82417437e-03 -5.98872332e-02] [ 1.19610653e-02 4.81404058e-03 9.99916876e-01 -1.80795299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50463044 meters Centerline goodness : 0.087822 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.18 [[ 9.99925214e-01 -9.42974476e-04 -1.21932918e-02 1.28933387e-01] [ 8.83429267e-04 9.99987664e-01 -4.88790435e-03 -5.97462119e-02] [ 1.21977505e-02 4.87676690e-03 9.99913712e-01 -1.81022044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564630439999998 meters Centerline goodness : 0.210096 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.18 [[ 0.99996911 -0.00327231 -0.00714586 0.08767562] [ 0.0032334 0.99997992 -0.0054494 -0.06079834] [ 0.00716355 0.00542612 0.99995962 -0.1822041 ] [ 0. 0. 0. 1. ]] SLAMing on 10.624630439999999 meters Centerline goodness : 0.094642 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.18 [[ 0.9999696 -0.00342111 -0.00700712 0.08718577] [ 0.00338056 0.99997752 -0.00579018 -0.05923956] [ 0.00702677 0.00576632 0.99995869 -0.18197588] [ 0. 0. 0. 1. ]] SLAMing on 10.68463044 meters Centerline goodness : 0.094078 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.18 [[ 0.99995428 0.00534997 -0.00792549 0.06768968] [-0.00540281 0.99996322 -0.00666045 -0.06060249] [ 0.00788957 0.00670296 0.99994641 -0.1831354 ] [ 0. 0. 0. 1. ]] SLAMing on 10.74463044 meters Centerline goodness : 0.398413 with order 3 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.18 [[ 0.99995382 0.00514687 -0.00811619 0.06824172] [-0.00520591 0.99996002 -0.00727005 -0.05779812] [ 0.00807845 0.00731197 0.99994064 -0.18345776] [ 0. 0. 0. 1. ]] SLAMing on 10.804630439999999 meters Centerline goodness : 0.224759 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.18 [[ 0.99995556 0.00503567 -0.00797004 0.06762062] [-0.00509336 0.99996086 -0.00723499 -0.05851857] [ 0.0079333 0.00727526 0.99994206 -0.18294477] [ 0. 0. 0. 1. ]] SLAMing on 10.86463044 meters Centerline goodness : 0.443240 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.18 [[ 0.99995998 0.00487164 -0.00750414 0.06638958] [-0.00492467 0.99996292 -0.00706421 -0.06010876] [ 0.00746945 0.00710088 0.99994689 -0.18257169] [ 0. 0. 0. 1. ]] SLAMing on 10.92463044 meters Centerline goodness : 0.188645 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.18 [[ 0.99996521 -0.00477482 -0.00683999 0.0421986 ] [ 0.00472473 0.99996204 -0.0073205 -0.06241496] [ 0.00687468 0.00728793 0.99994981 -0.18212638] [ 0. 0. 0. 1. ]] SLAMing on 10.98463044 meters Centerline goodness : 0.315958 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.18 [[ 0.9999632 -0.004611 -0.0072343 0.04325494] [ 0.00456338 0.9999679 -0.00658624 -0.06621219] [ 0.00726444 0.00655299 0.99995214 -0.18222133] [ 0. 0. 0. 1. ]] SLAMing on 11.044630439999999 meters Centerline goodness : 0.448075 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.18 [[ 0.99992274 -0.00564519 -0.01107431 0.00181299] [ 0.00556094 0.99995548 -0.00762372 -0.07464721] [ 0.01111685 0.00756154 0.99990962 -0.18272757] [ 0. 0. 0. 1. ]] SLAMing on 11.10463044 meters Centerline goodness : 0.298058 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.18 [[ 0.99992643 -0.00535322 -0.01088434 0.00171742] [ 0.00527802 0.99996208 -0.00692622 -0.0781532 ] [ 0.010921 0.00686826 0.99991678 -0.18319565] [ 0. 0. 0. 1. ]] SLAMing on 11.16463044 meters Centerline goodness : 0.452069 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.18 [[ 0.99992472 -0.00505012 -0.01118297 0.00266654] [ 0.00497288 0.99996367 -0.00692343 -0.07741176] [ 0.01121753 0.0068673 0.9999135 -0.18373597] [ 0. 0. 0. 1. ]] SLAMing on 11.224630439999999 meters Centerline goodness : 0.282246 with order 2 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:-0.19 [[ 0.99987716 -0.00123852 -0.01562447 -0.03629174] [ 0.00116061 0.99998685 -0.00499432 -0.0744953 ] [ 0.01563045 0.00497557 0.99986546 -0.18538554] [ 0. 0. 0. 1. ]] SLAMing on 11.284630439999999 meters Centerline goodness : 0.453454 with order 3 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:-0.19 [[ 0.9998807 0.00263179 -0.01522017 -0.03743768] [-0.00265891 0.99999491 -0.00176183 -0.0702438 ] [ 0.01521545 0.00180208 0.99988261 -0.18525157] [ 0. 0. 0. 1. ]] SLAMing on 11.34463044 meters Centerline goodness : 0.485983 with order 3 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:-0.18 [[ 0.99988738 0.00209671 -0.01486012 -0.03914051] [-0.00214195 0.99999312 -0.00302881 -0.0642747 ] [ 0.01485366 0.0030603 0.99988499 -0.18423673] [ 0. 0. 0. 1. ]] SLAMing on 11.40463044 meters Centerline goodness : 0.448817 with order 3 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:-0.18 [[ 0.99989069 0.00195278 -0.01465584 -0.0401862 ] [-0.00199989 0.99999288 -0.00320048 -0.06294681] [ 0.01464949 0.00322944 0.99988748 -0.1833528 ] [ 0. 0. 0. 1. ]] SLAMing on 11.464630439999999 meters Centerline goodness : 0.459462 with order 3 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:-0.18 [[ 0.99989192 -0.00674675 -0.0130628 -0.06379838] [ 0.00670746 0.99997286 -0.00304874 -0.05943859] [ 0.01308302 0.00296079 0.99991003 -0.18350683] [ 0. 0. 0. 1. ]] SLAMing on 11.52463044 meters Centerline goodness : 0.476621 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.18 [[ 9.99899959e-01 -7.24818710e-04 -1.41261021e-02 -8.52215076e-02] [ 6.36748719e-04 9.99980340e-01 -6.23805788e-03 -6.26004956e-02] [ 1.41303458e-02 6.22843904e-03 9.99880763e-01 -1.82596454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58463044 meters Centerline goodness : 0.450359 with order 2 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.18 [[ 9.99898137e-01 -6.79395633e-04 -1.42567035e-02 -8.51823754e-02] [ 5.87740657e-04 9.99979141e-01 -6.43210919e-03 -6.15032684e-02] [ 1.42607760e-02 6.42307475e-03 9.99877680e-01 -1.82246461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644630439999998 meters Centerline goodness : 0.092581 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:-0.18 [[ 9.99897213e-01 8.88089579e-04 -1.43099513e-02 -1.33482559e-01] [-9.81058326e-04 9.99978451e-01 -6.49108037e-03 -6.13961083e-02] [ 1.43038783e-02 6.50445207e-03 9.99876538e-01 -1.80797954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704630439999999 meters Centerline goodness : 0.454637 with order 2 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.18 [[ 0.99988264 0.00476638 -0.01455948 -0.13282453] [-0.00483026 0.99997885 -0.00435543 -0.05014449] [ 0.01453842 0.00442524 0.99988452 -0.18146749] [ 0. 0. 0. 1. ]] SLAMing on 11.76463044 meters Centerline goodness : 0.184565 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:-0.18 [[ 0.99984179 0.00906152 -0.01530664 -0.1307061 ] [-0.00908438 0.99995772 -0.00142447 -0.03965406] [ 0.01529309 0.0015633 0.99988183 -0.18239902] [ 0. 0. 0. 1. ]] SLAMing on 11.82463044 meters Centerline goodness : 0.470419 with order 2 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:-0.18 [[ 0.9998006 0.01114662 -0.01656825 -0.17846826] [-0.01117164 0.99993659 -0.0014186 -0.0304872 ] [ 0.01655138 0.00160341 0.99986173 -0.18137018] [ 0. 0. 0. 1. ]] SLAMing on 11.884630439999999 meters Centerline goodness : 0.105654 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:-0.18 [[ 0.9998285 0.00306731 -0.0182637 -0.15998591] [-0.00310486 0.99999312 -0.00202787 -0.01468854] [ 0.01825736 0.00208423 0.99983115 -0.17892209] [ 0. 0. 0. 1. ]] SLAMing on 11.94463044 meters Centerline goodness : 0.166224 with order 3 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:-0.18 [[ 0.99982862 0.00212002 -0.018391 -0.16013026] [-0.00216843 0.99999424 -0.00261288 -0.01380447] [ 0.01838535 0.00265231 0.99982746 -0.17815682] [ 0. 0. 0. 1. ]] SLAMing on 12.00463044 meters Centerline goodness : 0.093581 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:-0.18 [[ 0.9998237 -0.00727869 -0.01730843 -0.18358165] [ 0.0072324 0.9999701 -0.00273575 -0.01249388] [ 0.01732782 0.00261009 0.99984646 -0.1784925 ] [ 0. 0. 0. 1. ]] SLAMing on 12.064630439999998 meters Centerline goodness : 0.103484 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:-0.18 [[ 0.99981147 -0.00784828 -0.01776029 -0.18225122] [ 0.00778831 0.99996374 -0.00344335 -0.01016018] [ 0.01778667 0.00330438 0.99983634 -0.17885067] [ 0. 0. 0. 1. ]] SLAMing on 12.124630439999999 meters Centerline goodness : 0.101109 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:-0.18 [[ 0.9998016 0.00182928 -0.01983484 -0.19985585] [-0.00190849 0.99999028 -0.00397501 -0.00955178] [ 0.01982737 0.00401208 0.99979537 -0.17991309] [ 0. 0. 0. 1. ]] SLAMing on 12.18463044 meters Centerline goodness : 0.103923 with order 1 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.01, Z:-0.18 [[ 0.99976641 0.00125555 -0.02157643 -0.24568175] [-0.00137418 0.99998402 -0.00548392 -0.01066092] [ 0.0215692 0.00551229 0.99975216 -0.17948541] [ 0. 0. 0. 1. ]] SLAMing on 12.24463044 meters Centerline goodness : 0.102653 with order 1 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.01, Z:-0.18 [[ 9.99771991e-01 8.84797247e-04 -2.13350350e-02 -2.46587024e-01] [-1.00103517e-03 9.99984712e-01 -5.43815386e-03 -1.21562886e-02] [ 2.13298972e-02 5.45827104e-03 9.99757592e-01 -1.78798624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304630439999999 meters Centerline goodness : 0.247359 with order 3 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.02, Z:-0.18 [[ 0.99976173 -0.0084859 -0.02011168 -0.31482985] [ 0.00836506 0.9999465 -0.00608498 -0.02265459] [ 0.02016224 0.00591529 0.99977922 -0.17917976] [ 0. 0. 0. 1. ]] SLAMing on 12.36463044 meters Centerline goodness : 0.095050 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.03, Z:-0.18 [[ 0.99975708 -0.00886198 -0.02018057 -0.31462956] [ 0.00874771 0.99994524 -0.00574325 -0.0293139 ] [ 0.02023036 0.00556532 0.99977986 -0.17896118] [ 0. 0. 0. 1. ]] SLAMing on 12.42463044 meters Centerline goodness : 0.261578 with order 3 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.04, Z:-0.18 [[ 0.99972474 -0.00833381 -0.02193153 -0.36095123] [ 0.00821405 0.99995089 -0.0055449 -0.03601252] [ 0.02197666 0.00536323 0.9997441 -0.17810822] [ 0. 0. 0. 1. ]] SLAMing on 12.48463044 meters Centerline goodness : 0.275489 with order 3 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.05, Z:-0.18 [[ 0.99971293 -0.0087131 -0.02231901 -0.35940173] [ 0.00860485 0.99995077 -0.00494158 -0.04699362] [ 0.02236097 0.00474811 0.99973869 -0.17870333] [ 0. 0. 0. 1. ]] SLAMing on 12.544630439999999 meters Centerline goodness : 0.262156 with order 3 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.06, Z:-0.18 [[ 9.99741228e-01 -7.45059388e-04 -2.27359308e-02 -3.76493575e-01] [ 6.09218752e-04 9.99981928e-01 -5.98105358e-03 -5.89442772e-02] [ 2.27399762e-02 5.96565470e-03 9.99723614e-01 -1.81725458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60463044 meters Centerline goodness : 0.097674 with order 1 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:-0.18 [[ 0.99973224 0.00743219 -0.02191374 -0.39540273] [-0.00757181 0.99995152 -0.00629537 -0.07062437] [ 0.02186589 0.00645961 0.99974004 -0.18344243] [ 0. 0. 0. 1. ]] SLAMing on 12.66463044 meters Centerline goodness : 0.456818 with order 2 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:-0.18 [[ 0.99974818 0.00609135 -0.02159817 -0.39713285] [-0.00624302 0.99995628 -0.00696162 -0.07884236] [ 0.02155482 0.0070947 0.99974249 -0.18249498] [ 0. 0. 0. 1. ]] SLAMing on 12.724630439999999 meters Centerline goodness : 0.102091 with order 1 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:-0.18 [[ 0.9997547 0.0064008 -0.0212031 -0.39787877] [-0.00653543 0.99995889 -0.00628616 -0.08239259] [ 0.021162 0.00642319 0.99975543 -0.18279307] [ 0. 0. 0. 1. ]] SLAMing on 12.784630439999999 meters Centerline goodness : 0.454636 with order 2 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:-0.18 [[ 0.99976706 0.00660437 -0.02054755 -0.39957164] [-0.00672586 0.99996027 -0.00584905 -0.08467076] [ 0.0205081 0.00598589 0.99977177 -0.18259237] [ 0. 0. 0. 1. ]] SLAMing on 12.84463044 meters Centerline goodness : 0.457868 with order 2 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:-0.18 [[ 0.99974952 0.00729236 -0.0211593 -0.39803874] [-0.0074139 0.99995643 -0.00567139 -0.08312961] [ 0.02111702 0.00582685 0.99976003 -0.18301259] [ 0. 0. 0. 1. ]] SLAMing on 12.90463044 meters Centerline goodness : 0.451134 with order 2 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.19 [[ 0.99969921 0.00996106 -0.02241133 -0.39319367] [-0.01004739 0.99994252 -0.00374281 -0.07742492] [ 0.02237276 0.00396686 0.99974183 -0.18537176] [ 0. 0. 0. 1. ]] SLAMing on 12.964630439999999 meters Centerline goodness : 0.092319 with order 1 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:-0.18 [[ 0.99970991 0.00994851 -0.02193464 -0.39503016] [-0.01004723 0.99993987 -0.00439512 -0.07153546] [ 0.02188959 0.00461422 0.99974975 -0.18457543] [ 0. 0. 0. 1. ]] SLAMing on 13.02463044 meters Centerline goodness : 0.455662 with order 2 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.06, Z:-0.19 [[ 0.9998192 0.00380588 -0.01863025 -0.4139988 ] [-0.00389628 0.9999808 -0.00481838 -0.05844623] [ 0.01861155 0.0048901 0.99981483 -0.18581132] [ 0. 0. 0. 1. ]] SLAMing on 13.08463044 meters SLAMing on 13.144630439999998 meters Centerline goodness : 0.094206 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:-0.19 [[ 0.99980809 -0.00314238 -0.0193368 -0.47780497] [ 0.00306034 0.9999862 -0.00427102 -0.05335122] [ 0.01934995 0.00421102 0.9998039 -0.18551124] [ 0. 0. 0. 1. ]] SLAMing on 13.204630439999999 meters Centerline goodness : 0.091718 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:-0.18 [[ 0.99979775 -0.00713316 -0.01880364 -0.48026466] [ 0.00698576 0.99994445 -0.00789305 -0.05486284] [ 0.0188589 0.00776009 0.99979204 -0.18366547] [ 0. 0. 0. 1. ]] SLAMing on 13.26463044 meters Centerline goodness : 0.095533 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.06, Z:-0.18 [[ 0.99981076 -0.00731612 -0.01802571 -0.48214721] [ 0.00718865 0.99994877 -0.00712626 -0.06005469] [ 0.01807692 0.00699533 0.99981213 -0.18320514] [ 0. 0. 0. 1. ]] SLAMing on 13.32463044 meters Centerline goodness : 0.095566 with order 1 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.07, Z:-0.19 [[ 0.99985759 -0.0012176 -0.01683201 -0.49742479] [ 0.00106427 0.99995789 -0.00911546 -0.06976064] [ 0.0168424 0.00909625 0.99981678 -0.18695692] [ 0. 0. 0. 1. ]] SLAMing on 13.384630439999999 meters Centerline goodness : 0.236162 with order 3 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.07, Z:-0.19 [[ 9.99853269e-01 -1.07077057e-03 -1.70965923e-02 -4.96529794e-01] [ 9.25675670e-04 9.99963510e-01 -8.49243203e-03 -7.37486715e-02] [ 1.71050619e-02 8.47536003e-03 9.99817776e-01 -1.87303150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44463044 meters Centerline goodness : 0.094367 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:-0.19 [[ 0.99986109 0.00573337 -0.0156499 -0.51389477] [-0.00588165 0.99993809 -0.00944572 -0.08674887] [ 0.01559478 0.00953645 0.99983292 -0.19012802] [ 0. 0. 0. 1. ]] SLAMing on 13.50463044 meters Centerline goodness : 0.095415 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:-0.19 [[ 0.99985905 0.00600545 -0.0156784 -0.51397867] [-0.00614289 0.999943 -0.00873287 -0.09075015] [ 0.01562506 0.00882795 0.99983895 -0.18986032] [ 0. 0. 0. 1. ]] SLAMing on 13.564630439999998 meters Centerline goodness : 0.261079 with order 3 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.10, Z:-0.19 [[ 0.99992269 0.00374968 -0.0118553 -0.5552173 ] [-0.00385526 0.99995301 -0.00889512 -0.10094757] [ 0.01182138 0.00894014 0.99989016 -0.19256603] [ 0. 0. 0. 1. ]] SLAMing on 13.624630439999999 meters Centerline goodness : 0.093332 with order 1 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.10, Z:-0.19 [[ 9.99927078e-01 1.64370029e-04 -1.20752231e-02 -5.54542192e-01] [-3.12168855e-04 9.99925052e-01 -1.22389773e-02 -1.03204544e-01] [ 1.20723064e-02 1.22418543e-02 9.99852187e-01 -1.92858781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68463044 meters Centerline goodness : 0.098954 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.11, Z:-0.19 [[ 9.99887516e-01 7.79653516e-04 -1.49782584e-02 -5.97798266e-01] [-9.54201238e-04 9.99931684e-01 -1.16497958e-02 -1.07881728e-01] [ 1.49681523e-02 1.16627777e-02 9.99819951e-01 -1.93220885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74463044 meters Centerline goodness : 0.097715 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.11, Z:-0.19 [[ 0.9998815 -0.00294133 -0.01511084 -0.59740414] [ 0.00271843 0.99988751 -0.0147505 -0.11152338] [ 0.01515253 0.01470768 0.99977702 -0.19326879] [ 0. 0. 0. 1. ]] SLAMing on 13.804630439999999 meters Centerline goodness : 0.096668 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.12, Z:-0.19 [[ 0.99986057 -0.0065604 -0.01535556 -0.5967143 ] [ 0.00628697 0.99982202 -0.01778795 -0.11500882] [ 0.01546953 0.01768893 0.99972386 -0.19339957] [ 0. 0. 0. 1. ]] SLAMing on 13.86463044 meters Centerline goodness : 0.100448 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.12, Z:-0.19 [[ 0.99983837 -0.01013619 -0.01484925 -0.59750098] [ 0.00982736 0.99973692 -0.02072484 -0.11871293] [ 0.01505542 0.02057556 0.99967494 -0.19370192] [ 0. 0. 0. 1. ]] SLAMing on 13.92463044 meters Centerline goodness : 0.106488 with order 1 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.12, Z:-0.19 [[ 0.99982592 -0.01013458 -0.01566582 -0.5949393 ] [ 0.00981043 0.99973901 -0.02063162 -0.1193382 ] [ 0.01587082 0.02047434 0.9996644 -0.19476272] [ 0. 0. 0. 1. ]] SLAMing on 13.984630439999998 meters Centerline goodness : 0.093357 with order 1 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.12, Z:-0.20 [[ 0.99985818 -0.00144925 -0.01677877 -0.61439464] [ 0.00109735 0.99977965 -0.02096286 -0.12480617] [ 0.01680545 0.02094147 0.99963945 -0.19565519] [ 0. 0. 0. 1. ]] SLAMing on 14.044630439999999 meters Centerline goodness : 0.236505 with order 3 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.13, Z:-0.19 [[ 0.99987828 -0.00322753 -0.01526481 -0.62084047] [ 0.00288231 0.9997408 -0.02258376 -0.1251999 ] [ 0.01533374 0.02253702 0.99962841 -0.192235 ] [ 0. 0. 0. 1. ]] SLAMing on 14.10463044 meters Centerline goodness : 0.097011 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.13, Z:-0.19 [[ 0.99984124 -0.00901715 -0.01536818 -0.68783621] [ 0.00868705 0.99973298 -0.02141265 -0.12836856] [ 0.01555716 0.02127574 0.9996526 -0.19256491] [ 0. 0. 0. 1. ]] SLAMing on 14.16463044 meters Centerline goodness : 0.098047 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.13, Z:-0.19 [[ 0.99980988 -0.01259284 -0.01488694 -0.68931118] [ 0.01222769 0.99962821 -0.02437044 -0.13204734] [ 0.01518829 0.02418377 0.99959215 -0.19183328] [ 0. 0. 0. 1. ]] SLAMing on 14.224630439999999 meters Centerline goodness : 0.099385 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.13, Z:-0.19 [[ 0.99980608 -0.01262123 -0.0151164 -0.68883939] [ 0.01225408 0.9996335 -0.02413942 -0.13370319] [ 0.01541553 0.02394951 0.99959431 -0.19172527] [ 0. 0. 0. 1. ]] SLAMing on 14.284630439999999 meters Centerline goodness : 0.098772 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.13, Z:-0.19 [[ 0.99980174 -0.01261058 -0.01540927 -0.68791501] [ 0.01223577 0.99963272 -0.02418082 -0.13482126] [ 0.01570854 0.02398748 0.99958884 -0.19199113] [ 0. 0. 0. 1. ]] SLAMing on 14.34463044 meters Centerline goodness : 0.099336 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.20 [[ 0.99988616 -0.00780168 -0.01291509 -0.70350185] [ 0.00745457 0.99961543 -0.02671013 -0.1410326 ] [ 0.0131185 0.02661081 0.99955979 -0.19502792] [ 0. 0. 0. 1. ]] SLAMing on 14.404630439999998 meters Centerline goodness : 0.103176 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.20 [[ 0.99989174 -0.0079732 -0.0123666 -0.70463105] [ 0.00763665 0.99960553 -0.02702708 -0.14091382] [ 0.01257721 0.02692972 0.9995582 -0.19522619] [ 0. 0. 0. 1. ]] SLAMing on 14.464630439999999 meters Centerline goodness : 0.106802 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.20 [[ 0.99988725 -0.00815678 -0.01260793 -0.70382521] [ 0.00780863 0.99959349 -0.02742052 -0.14059956] [ 0.01282647 0.02731898 0.99954447 -0.19561216] [ 0. 0. 0. 1. ]] SLAMing on 14.52463044 meters Centerline goodness : 0.103198 with order 1 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.14, Z:-0.20 [[ 9.99913625e-01 -5.41683268e-04 -1.31319738e-02 -7.20792253e-01] [ 1.58448282e-04 9.99574545e-01 -2.91668424e-02 -1.43976083e-01] [ 1.31421859e-02 2.91622424e-02 9.99488292e-01 -1.97485757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58463044 meters Centerline goodness : 0.101729 with order 1 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.14, Z:-0.20 [[ 9.99898330e-01 -1.37995608e-03 -1.41924160e-02 -7.17856947e-01] [ 9.53241630e-04 9.99548564e-01 -3.00293064e-02 -1.42502360e-01] [ 1.42274482e-02 3.00127245e-02 9.99448256e-01 -1.98277763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644630439999998 meters Centerline goodness : 0.097571 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.14, Z:-0.20 [[ 0.9998802 -0.00194518 -0.0153561 -0.71458872] [ 0.00147636 0.99953421 -0.03048266 -0.14135866] [ 0.01540825 0.03045634 0.99941733 -0.19922409] [ 0. 0. 0. 1. ]] SLAMing on 14.704630439999999 meters Centerline goodness : 0.090484 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.14, Z:-0.20 [[ 0.99985474 -0.00911634 -0.01440111 -0.69354903] [ 0.00870761 0.99956454 -0.02819418 -0.13809457] [ 0.01465187 0.02806469 0.99949872 -0.1994161 ] [ 0. 0. 0. 1. ]] SLAMing on 14.76463044 meters Centerline goodness : 0.091594 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.20 [[ 0.99986282 -0.00965539 -0.01345815 -0.6958305 ] [ 0.00926901 0.99955133 -0.02848215 -0.13878814] [ 0.01372712 0.0283535 0.9995037 -0.19915836] [ 0. 0. 0. 1. ]] SLAMing on 14.82463044 meters Centerline goodness : 0.230305 with order 3 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.14, Z:-0.20 [[ 0.99973099 -0.02039733 -0.01104097 -0.67700465] [ 0.02006864 0.99937491 -0.02910378 -0.14053777] [ 0.01162771 0.02887437 0.99951542 -0.19882183] [ 0. 0. 0. 1. ]] SLAMing on 14.884630439999999 meters Centerline goodness : 0.127628 with order 3 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.14, Z:-0.20 [[ 0.99972704 -0.0206345 -0.01095766 -0.67651136] [ 0.02031057 0.99937613 -0.02889354 -0.1430194 ] [ 0.01154703 0.02866309 0.99952243 -0.19984035] [ 0. 0. 0. 1. ]] SLAMing on 14.94463044 meters Centerline goodness : 0.246564 with order 3 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.14, Z:-0.20 [[ 0.99974148 -0.01895102 -0.01256316 -0.72428295] [ 0.01859415 0.99943667 -0.02793938 -0.14226306] [ 0.01308556 0.02769855 0.99953067 -0.19856999] [ 0. 0. 0. 1. ]] SLAMing on 15.00463044 meters SLAMing on 15.064630439999998 meters Centerline goodness : 0.139280 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.20 [[ 0.9998713 -0.01078473 -0.01187703 -0.70394173] [ 0.01043732 0.99952684 -0.02893363 -0.1436437 ] [ 0.01218345 0.02880594 0.99951077 -0.19829387] [ 0. 0. 0. 1. ]] SLAMing on 15.124630439999999 meters Centerline goodness : 0.098678 with order 2 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.15, Z:-0.20 [[ 0.99992123 -0.00276879 -0.01224234 -0.72284494] [ 0.00239795 0.99954091 -0.03020303 -0.14643228] [ 0.01232035 0.0301713 0.99946881 -0.20012012] [ 0. 0. 0. 1. ]] SLAMing on 15.18463044 meters Centerline goodness : 0.142601 with order 3 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.15, Z:-0.20 [[ 0.99989865 -0.00340592 -0.01382325 -0.71817921] [ 0.00298375 0.99953193 -0.03044701 -0.14709776] [ 0.01392048 0.03040268 0.99944079 -0.20193575] [ 0. 0. 0. 1. ]] SLAMing on 15.24463044 meters Centerline goodness : 0.128045 with order 1 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.15, Z:-0.20 [[ 0.99988999 -0.00366365 -0.01437323 -0.71632257] [ 0.00322976 0.99954183 -0.03009495 -0.14974639] [ 0.0144769 0.03004522 0.9994437 -0.20312849] [ 0. 0. 0. 1. ]] SLAMing on 15.304630439999999 meters Centerline goodness : 0.127582 with order 1 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.16, Z:-0.20 [[ 0.99988295 -0.00617762 -0.01399747 -0.71855832] [ 0.00573394 0.99948671 -0.03151877 -0.15719729] [ 0.014185 0.03143482 0.99940514 -0.20185005] [ 0. 0. 0. 1. ]] SLAMing on 15.36463044 meters Centerline goodness : 0.115058 with order 2 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.16, Z:-0.20 [[ 0.99988413 -0.00612779 -0.01393507 -0.71846344] [ 0.00569116 0.9994982 -0.03116012 -0.15966959] [ 0.01411902 0.0310772 0.99941726 -0.20235449] [ 0. 0. 0. 1. ]] SLAMing on 15.42463044 meters Centerline goodness : 0.137178 with order 1 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.16, Z:-0.20 [[ 0.99987949 -0.00596937 -0.01433104 -0.71717418] [ 0.00552434 0.99950736 -0.03089516 -0.16076194] [ 0.01450841 0.03081226 0.99941989 -0.20301772] [ 0. 0. 0. 1. ]] SLAMing on 15.484630439999998 meters SLAMing on 15.544630439999999 meters Centerline goodness : 0.455546 with order 2 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.16, Z:-0.20 [[ 0.99990209 0.00465352 -0.01319658 -0.78376215] [-0.00504344 0.99954705 -0.02966926 -0.15642912] [ 0.01305254 0.02973291 0.99947265 -0.20363424] [ 0. 0. 0. 1. ]] SLAMing on 15.60463044 meters Centerline goodness : 0.104821 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.15, Z:-0.20 [[ 0.99990558 0.00689253 -0.01188837 -0.78870109] [-0.00722167 0.99958549 -0.02786929 -0.15272489] [ 0.01169136 0.02795251 0.99954088 -0.20133035] [ 0. 0. 0. 1. ]] SLAMing on 15.66463044 meters Centerline goodness : 0.122345 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.14, Z:-0.20 [[ 0.99989958 0.0023447 -0.01397592 -0.80857431] [-0.00268677 0.99969604 -0.02450734 -0.14359926] [ 0.01391421 0.02454243 0.99960195 -0.2014666 ] [ 0. 0. 0. 1. ]] SLAMing on 15.724630439999999 meters Centerline goodness : 0.131364 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.13, Z:-0.20 [[ 0.99993915 -0.00378365 -0.0103622 -0.82706742] [ 0.00352442 0.99968318 -0.02492225 -0.1321656 ] [ 0.01045322 0.02488421 0.99963569 -0.2025969 ] [ 0. 0. 0. 1. ]] SLAMing on 15.784630439999999 meters SLAMing on 15.84463044 meters Centerline goodness : 0.119265 with order 3 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.12, Z:-0.20 [[ 0.99988187 -0.00936124 -0.01219046 -0.80555149] [ 0.00909103 0.99971584 -0.02203622 -0.12172917] [ 0.01239328 0.02192279 0.99968285 -0.20101214] [ 0. 0. 0. 1. ]] SLAMing on 15.904630439999998 meters Centerline goodness : 0.123469 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.12, Z:-0.20 [[ 0.99987907 -0.00996327 -0.01194026 -0.80630415] [ 0.009683 0.99968152 -0.02330442 -0.11537452] [ 0.01216864 0.02318599 0.99965711 -0.20046307] [ 0. 0. 0. 1. ]] SLAMing on 15.964630439999999 meters Centerline goodness : 0.142507 with order 3 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.11, Z:-0.20 [[ 0.99990382 -0.00699266 -0.01197721 -0.8061741 ] [ 0.00674171 0.99975954 -0.02086633 -0.11064356] [ 0.01212024 0.02078358 0.99971053 -0.20039084] [ 0. 0. 0. 1. ]] SLAMing on 16.02463044 meters Centerline goodness : 0.182223 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.10, Z:-0.20 [[ 0.99988993 -0.00529411 -0.01386007 -0.79958397] [ 0.00502057 0.9997934 -0.01969626 -0.1039327 ] [ 0.01396148 0.01962451 0.99970994 -0.20281905] [ 0. 0. 0. 1. ]] SLAMing on 16.084630439999998 meters Centerline goodness : 0.136297 with order 2 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.10, Z:-0.21 [[ 0.9998746 -0.00386 -0.01535828 -0.79387237] [ 0.00356898 0.99981442 -0.01893128 -0.09563138] [ 0.01542851 0.0188741 0.99970282 -0.20507277] [ 0. 0. 0. 1. ]] SLAMing on 16.14463044 meters Centerline goodness : 0.145768 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.09, Z:-0.20 [[ 0.99987451 -0.00428601 -0.01525119 -0.79405802] [ 0.00398156 0.99979331 -0.01993709 -0.09043764] [ 0.01533349 0.01987387 0.99968491 -0.20498619] [ 0. 0. 0. 1. ]] SLAMing on 16.20463044 meters Centerline goodness : 0.164485 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.09, Z:-0.21 [[ 0.99988503 -0.00133377 -0.01510424 -0.7941187 ] [ 0.00107487 0.99985259 -0.01713575 -0.08830246] [ 0.01512487 0.01711755 0.99973908 -0.20532785] [ 0. 0. 0. 1. ]] SLAMing on 16.264630439999998 meters Centerline goodness : 0.179070 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.08, Z:-0.20 [[ 0.99988624 -0.00168709 -0.01498874 -0.79490069] [ 0.0014177 0.99983761 -0.01796495 -0.08387681] [ 0.01501662 0.01794166 0.99972626 -0.20441905] [ 0. 0. 0. 1. ]] SLAMing on 16.32463044 meters Centerline goodness : 0.177868 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.08, Z:-0.20 [[ 0.99989168 -0.00185165 -0.01460154 -0.79578438] [ 0.00158891 0.99983698 -0.01798557 -0.08416818] [ 0.01463246 0.01796042 0.99973162 -0.20447865] [ 0. 0. 0. 1. ]] SLAMing on 16.38463044 meters Centerline goodness : 0.181286 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.09, Z:-0.20 [[ 0.99989666 -0.00206232 -0.01422747 -0.79672899] [ 0.00180888 0.99983987 -0.01780318 -0.08610034] [ 0.0142619 0.01777561 0.99974028 -0.20440264] [ 0. 0. 0. 1. ]] SLAMing on 16.444630439999997 meters Centerline goodness : 0.179912 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.09, Z:-0.20 [[ 0.99988428 -0.00195835 -0.01508603 -0.79450925] [ 0.00169904 0.99985093 -0.0171825 -0.08945576] [ 0.01511743 0.01715488 0.99973855 -0.20494143] [ 0. 0. 0. 1. ]] SLAMing on 16.50463044 meters Centerline goodness : 0.120197 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.09, Z:-0.20 [[ 0.99989004 -0.00180881 -0.01471833 -0.7956461 ] [ 0.00155904 0.99985489 -0.01696377 -0.09049645] [ 0.01474688 0.01693895 0.99974777 -0.20452484] [ 0. 0. 0. 1. ]] SLAMing on 16.56463044 meters Centerline goodness : 0.166497 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.09, Z:-0.20 [[ 0.99989743 -0.00176489 -0.01421318 -0.79772664] [ 0.00152798 0.99986002 -0.01666157 -0.09262998] [ 0.01424059 0.01663815 0.99976016 -0.20321791] [ 0. 0. 0. 1. ]] SLAMing on 16.62463044 meters Centerline goodness : 0.176199 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.10, Z:-0.20 [[ 0.9999066 -0.00188634 -0.01353615 -0.79946971] [ 0.00166725 0.99986773 -0.01617825 -0.09649077] [ 0.01356488 0.01615417 0.99977749 -0.20313482] [ 0. 0. 0. 1. ]] SLAMing on 16.68463044 meters Centerline goodness : 0.140755 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:-0.20 [[ 0.99987493 -0.00323205 -0.01548185 -0.84455437] [ 0.00296309 0.99984484 -0.01736441 -0.10188531] [ 0.01553557 0.01731636 0.99972936 -0.2033715 ] [ 0. 0. 0. 1. ]] SLAMing on 16.744630439999998 meters Centerline goodness : 0.121261 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:-0.20 [[ 0.99986884 -0.00288007 -0.01593778 -0.84328004] [ 0.00261536 0.99985871 -0.01660503 -0.10479466] [ 0.01598335 0.01656117 0.99973509 -0.20382374] [ 0. 0. 0. 1. ]] SLAMing on 16.80463044 meters SLAMing on 16.86463044 meters Centerline goodness : 0.117852 with order 3 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.11, Z:-0.21 [[ 0.99973959 0.00649031 -0.02187743 -0.90398298] [-0.0068616 0.99983298 -0.01693917 -0.10516912] [ 0.02176384 0.01708487 0.99961715 -0.20628594] [ 0. 0. 0. 1. ]] SLAMing on 16.924630439999998 meters Centerline goodness : 0.178375 with order 3 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:-0.21 [[ 0.99970942 0.01017285 -0.02185392 -0.90371614] [-0.01047242 0.99985216 -0.01363774 -0.10283527] [ 0.02171196 0.01386264 0.99966815 -0.20648348] [ 0. 0. 0. 1. ]] SLAMing on 16.98463044 meters Centerline goodness : 0.115201 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:-0.20 [[ 0.99969953 0.01258536 -0.02103468 -0.90705826] [-0.01284563 0.99984203 -0.01228425 -0.09487247] [ 0.02087675 0.01255077 0.99970328 -0.20442944] [ 0. 0. 0. 1. ]] SLAMing on 17.04463044 meters Centerline goodness : 0.156037 with order 3 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:-0.21 [[ 0.99980133 0.00677682 -0.01874493 -0.9243866 ] [-0.00699403 0.99990888 -0.01154633 -0.08416715] [ 0.01866498 0.01167513 0.99975763 -0.20614617] [ 0. 0. 0. 1. ]] SLAMing on 17.104630439999998 meters Centerline goodness : 0.163189 with order 3 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:-0.21 [[ 0.99981406 0.00567942 -0.01842817 -0.92536043] [-0.00590787 0.99990608 -0.01236623 -0.08370555] [ 0.0183562 0.0124728 0.99975371 -0.2059344 ] [ 0. 0. 0. 1. ]] SLAMing on 17.16463044 meters Centerline goodness : 0.122906 with order 3 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:-0.21 [[ 0.9997943 -0.00326132 -0.02001798 -0.94419502] [ 0.00302252 0.99992406 -0.01194766 -0.08092083] [ 0.02005542 0.0118847 0.99972823 -0.20721323] [ 0. 0. 0. 1. ]] SLAMing on 17.22463044 meters Centerline goodness : 0.136231 with order 3 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:-0.21 [[ 0.99979159 -0.00337309 -0.02013456 -0.94369568] [ 0.00313974 0.99992767 -0.0116098 -0.08313146] [ 0.02017227 0.01154416 0.99972987 -0.20768633] [ 0. 0. 0. 1. ]] SLAMing on 17.28463044 meters Centerline goodness : 0.122393 with order 3 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:-0.21 [[ 0.99978262 -0.0119743 -0.01706854 -0.92529024] [ 0.01179659 0.99987555 -0.01047483 -0.08443973] [ 0.01719184 0.0102712 0.99979945 -0.20624766] [ 0. 0. 0. 1. ]] SLAMing on 17.34463044 meters Centerline goodness : 0.147344 with order 3 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:-0.21 [[ 0.9998415 -0.00318416 -0.01751661 -0.94480557] [ 0.00298576 0.99993123 -0.01134072 -0.08888999] [ 0.01755152 0.01128662 0.99978225 -0.20780952] [ 0. 0. 0. 1. ]] SLAMing on 17.40463044 meters Centerline goodness : 0.154041 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.09, Z:-0.21 [[ 9.99848942e-01 4.64881471e-04 -1.73746120e-02 -9.45155225e-01] [-5.96551027e-04 9.99971140e-01 -7.57385884e-03 -8.99172784e-02] [ 1.73705896e-02 7.58307959e-03 9.99820364e-01 -2.07874416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46463044 meters Centerline goodness : 0.145490 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.09, Z:-0.21 [[ 9.99851385e-01 5.59226125e-04 -1.72306225e-02 -9.45846693e-01] [-6.89998096e-04 9.99970999e-01 -7.58449932e-03 -8.95346248e-02] [ 1.72258814e-02 7.59526125e-03 9.99822775e-01 -2.07255115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52463044 meters Centerline goodness : 0.229395 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.09, Z:-0.21 [[ 9.99849968e-01 5.39921901e-04 -1.73133076e-02 -9.45196443e-01] [-6.71060416e-04 9.99971126e-01 -7.56951978e-03 -9.00220210e-02] [ 1.73087208e-02 7.58000238e-03 9.99821460e-01 -2.07994749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584630439999998 meters Centerline goodness : 0.157744 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:-0.21 [[ 0.99978014 0.001948 -0.02087764 -0.98668961] [-0.00209646 0.99997266 -0.00709114 -0.08901471] [ 0.02086325 0.00713335 0.99975689 -0.20918013] [ 0. 0. 0. 1. ]] SLAMing on 17.64463044 meters Centerline goodness : 0.196604 with order 3 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.09, Z:-0.21 [[ 0.9997618 0.00212363 -0.02172165 -0.98450713] [-0.00225941 0.99997805 -0.00622851 -0.09365026] [ 0.02170795 0.0062761 0.99974466 -0.20979016] [ 0. 0. 0. 1. ]] SLAMing on 17.70463044 meters Centerline goodness : 0.187601 with order 3 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.10, Z:-0.21 [[ 0.9997628 -0.00135131 -0.02173746 -0.98491798] [ 0.00115858 0.99995993 -0.00887628 -0.0995782 ] [ 0.02174858 0.00884899 0.99972431 -0.20937466] [ 0. 0. 0. 1. ]] SLAMing on 17.764630439999998 meters Centerline goodness : 0.157888 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:-0.21 [[ 9.99772248e-01 -1.11604548e-03 -2.13121067e-02 -9.85974135e-01] [ 9.46045664e-04 9.99967671e-01 -7.98509512e-03 -1.04539981e-01] [ 2.13203294e-02 7.96311427e-03 9.99740983e-01 -2.09523030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82463044 meters Centerline goodness : 0.193996 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.11, Z:-0.21 [[ 9.99734869e-01 1.81615540e-04 -2.30251807e-02 -1.03355431e+00] [-3.59365856e-04 9.99970167e-01 -7.71592014e-03 -1.05412231e-01] [ 2.30230924e-02 7.72214887e-03 9.99705109e-01 -2.08520473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88463044 meters Centerline goodness : 0.110075 with order 2 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:-0.21 [[ 0.99973 0.00352728 -0.02296687 -1.03560027] [-0.00363795 0.99998196 -0.00477889 -0.10369084] [ 0.0229496 0.00486116 0.9997248 -0.20623845] [ 0. 0. 0. 1. ]] SLAMing on 17.944630439999997 meters Centerline goodness : 0.136139 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.10, Z:-0.21 [[ 0.99971842 0.00368108 -0.02344186 -1.03406166] [-0.00380097 0.99997991 -0.005072 -0.10108608] [ 0.02342272 0.00515967 0.99971234 -0.20683427] [ 0. 0. 0. 1. ]] SLAMing on 18.00463044 meters Centerline goodness : 0.133973 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.10, Z:-0.21 [[ 0.99972084 0.0035344 -0.02336128 -1.03448699] [-0.00366478 0.99997794 -0.00554054 -0.09830683] [ 0.02334118 0.00562461 0.99971173 -0.20642906] [ 0. 0. 0. 1. ]] SLAMing on 18.06463044 meters Centerline goodness : 0.189550 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.10, Z:-0.21 [[ 0.9997122 0.00340917 -0.02374662 -1.03367491] [-0.00354724 0.99997703 -0.0057749 -0.09719073] [ 0.02372639 0.00585747 0.99970133 -0.20623784] [ 0. 0. 0. 1. ]] SLAMing on 18.12463044 meters Centerline goodness : 0.119081 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.10, Z:-0.21 [[ 0.99971023 0.00335165 -0.02383754 -1.03355909] [-0.00349271 0.99997662 -0.00587859 -0.09663927] [ 0.02381728 0.00596014 0.99969856 -0.20610499] [ 0. 0. 0. 1. ]] SLAMing on 18.18463044 meters Centerline goodness : 0.160206 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.09, Z:-0.21 [[ 0.99971604 0.00311696 -0.02362445 -1.03432854] [-0.00327192 0.99997337 -0.0065235 -0.09301538] [ 0.02360349 0.00659894 0.99969962 -0.20554382] [ 0. 0. 0. 1. ]] SLAMing on 18.244630439999998 meters Centerline goodness : 0.197122 with order 3 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:-0.21 [[ 0.99972351 0.00286284 -0.02333902 -1.03520556] [-0.00303349 0.9999689 -0.00727953 -0.08907714] [ 0.02331746 0.00734832 0.9997011 -0.2051022 ] [ 0. 0. 0. 1. ]] SLAMing on 18.30463044 meters Centerline goodness : 0.175467 with order 3 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:-0.20 [[ 0.99974181 0.0049681 -0.02217272 -1.03966247] [-0.00509333 0.99997138 -0.00559487 -0.08500414] [ 0.02214429 0.00570635 0.9997385 -0.2031295 ] [ 0. 0. 0. 1. ]] SLAMing on 18.36463044 meters Centerline goodness : 0.184761 with order 3 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:-0.20 [[ 0.9997269 0.00482605 -0.02286577 -1.03710623] [-0.00496542 0.99996942 -0.00604227 -0.08186178] [ 0.02283591 0.00615416 0.99972028 -0.20438168] [ 0. 0. 0. 1. ]] SLAMing on 18.424630439999998 meters Centerline goodness : 0.198921 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:-0.21 [[ 0.99970785 0.0045656 -0.02373548 -1.03429873] [-0.00471864 0.99996842 -0.00639544 -0.08064853] [ 0.02370553 0.00650557 0.99969782 -0.20549713] [ 0. 0. 0. 1. ]] SLAMing on 18.48463044 meters Centerline goodness : 0.163069 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:-0.20 [[ 0.99970475 0.00446521 -0.02388466 -1.03435869] [-0.00462522 0.9999672 -0.00664845 -0.07930793] [ 0.02385419 0.00675696 0.99969261 -0.20485484] [ 0. 0. 0. 1. ]] SLAMing on 18.54463044 meters Centerline goodness : 0.262403 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:-0.20 [[ 0.99973614 -0.00265211 -0.02281718 -1.01796408] [ 0.00255345 0.99998727 -0.00435204 -0.0738295 ] [ 0.02282843 0.00429263 0.99973018 -0.20190029] [ 0. 0. 0. 1. ]] SLAMing on 18.604630439999998 meters Centerline goodness : 0.196368 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:-0.20 [[ 0.99973513 -0.00275469 -0.02284921 -1.01785355] [ 0.00264724 0.9999853 -0.00473172 -0.07179777] [ 0.02286191 0.00466998 0.99972773 -0.20192237] [ 0. 0. 0. 1. ]] SLAMing on 18.66463044 meters Centerline goodness : 0.199001 with order 2 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:-0.20 [[ 9.99771220e-01 -7.24001748e-04 -2.13771568e-02 -1.02393782e+00] [ 6.58732489e-04 9.99995101e-01 -3.06010835e-03 -6.97885025e-02] [ 2.13792676e-02 3.04532644e-03 9.99766799e-01 -1.98837912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72463044 meters Centerline goodness : 0.161510 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:-0.20 [[ 9.99790778e-01 -5.63889167e-04 -2.04470422e-02 -1.02665002e+00] [ 5.00042816e-04 9.99994984e-01 -3.12750092e-03 -6.88465490e-02] [ 2.04487032e-02 3.11662218e-03 9.99786046e-01 -1.97888335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784630439999997 meters Centerline goodness : 0.161133 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:-0.20 [[ 9.99806938e-01 -3.31085888e-04 -1.96462766e-02 -1.02892733e+00] [ 2.68277356e-04 9.99994846e-01 -3.19951822e-03 -6.76473212e-02] [ 1.96472347e-02 3.19362986e-03 9.99801874e-01 -1.97175160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84463044 meters Centerline goodness : 0.164352 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:-0.20 [[ 9.99811829e-01 -2.98663875e-04 -1.93963283e-02 -1.02985179e+00] [ 2.31292764e-04 9.99993934e-01 -3.47554554e-03 -6.65846139e-02] [ 1.93972486e-02 3.47040532e-03 9.99805833e-01 -1.96657036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90463044 meters Centerline goodness : 0.161847 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:-0.20 [[ 9.99818806e-01 3.03751593e-03 -1.87917173e-02 -1.03127679e+00] [-3.04377863e-03 9.99995321e-01 -3.04676503e-04 -6.60861073e-02] [ 1.87907039e-02 3.61819125e-04 9.99823374e-01 -1.96668525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96463044 meters Centerline goodness : 0.140298 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:-0.20 [[ 0.999808 0.00640598 -0.01851843 -1.03259267] [-0.00636169 0.99997676 0.00244942 -0.06301347] [ 0.01853369 -0.00233114 0.99982552 -0.19583439] [ 0. 0. 0. 1. ]] SLAMing on 19.02463044 meters Centerline goodness : 0.229110 with order 3 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.20 [[ 9.99817455e-01 5.11390181e-04 -1.90996311e-02 -1.04629100e+00] [-4.31621127e-04 9.99991169e-01 4.18035968e-03 -5.16061139e-02] [ 1.91016003e-02 -4.17135277e-03 9.99808846e-01 -1.98764965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084630439999998 meters SLAMing on 19.14463044 meters Centerline goodness : 0.132375 with order 2 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.06, Z:-0.20 [[ 0.99973455 0.00738392 -0.02182458 -0.98108094] [-0.00729011 0.99996386 0.00437491 -0.06225643] [ 0.0218561 -0.00421465 0.99975224 -0.19785346] [ 0. 0. 0. 1. ]] SLAMing on 19.20463044 meters Centerline goodness : 0.135344 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.06, Z:-0.20 [[ 0.99973128 0.00753654 -0.0219217 -0.98110081] [-0.00743655 0.99996159 0.00463939 -0.06319223] [ 0.02195582 -0.00447513 0.99974893 -0.19763268] [ 0. 0. 0. 1. ]] SLAMing on 19.264630439999998 meters Centerline goodness : 0.183480 with order 3 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.06, Z:-0.20 [[ 0.99972204 0.00759713 -0.02231886 -0.97989365] [-0.00749036 0.99996012 0.0048633 -0.06439281] [ 0.02235492 -0.00469478 0.99973907 -0.19819586] [ 0. 0. 0. 1. ]] SLAMing on 19.32463044 meters Centerline goodness : 0.141966 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.06, Z:-0.20 [[ 9.99702947e-01 6.19155219e-04 -2.43646161e-02 -9.61741878e-01] [-5.02250785e-04 9.99988335e-01 4.80395036e-03 -6.19156824e-02] [ 2.43673063e-02 -4.79028619e-03 9.99691596e-01 -1.99209427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38463044 meters SLAMing on 19.444630439999997 meters SLAMing on 19.50463044 meters Centerline goodness : 0.130185 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.09, Z:-0.20 [[ 0.99978482 0.00272318 -0.02056431 -0.98145499] [-0.00267712 0.99999385 0.00226701 -0.09381423] [ 0.02057035 -0.00221147 0.99978596 -0.1962738 ] [ 0. 0. 0. 1. ]] SLAMing on 19.56463044 meters Centerline goodness : 0.108917 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:-0.20 [[ 0.99981982 0.00522328 -0.01824962 -0.93980416] [-0.00515882 0.99998029 0.00357733 -0.09269545] [ 0.01826795 -0.00348254 0.99982706 -0.19538162] [ 0. 0. 0. 1. ]] SLAMing on 19.62463044 meters Centerline goodness : 0.257450 with order 3 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:-0.20 [[ 0.99980381 0.00573222 -0.01895998 -0.93834056] [-0.00566908 0.99997821 0.00338202 -0.09190893] [ 0.01897895 -0.00327388 0.99981452 -0.19514632] [ 0. 0. 0. 1. ]] SLAMing on 19.68463044 meters Centerline goodness : 0.108557 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:-0.20 [[ 0.99979615 0.00597024 -0.01928757 -0.93771529] [-0.00590704 0.999977 0.00333238 -0.09261645] [ 0.01930702 -0.00321777 0.99980842 -0.19505979] [ 0. 0. 0. 1. ]] SLAMing on 19.744630439999998 meters Centerline goodness : 0.100971 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.10, Z:-0.19 [[ 0.99983535 0.00434662 -0.01761746 -0.94336647] [-0.0043068 0.99998809 0.00229728 -0.09863367] [ 0.01762723 -0.00222102 0.99984216 -0.19296666] [ 0. 0. 0. 1. ]] SLAMing on 19.80463044 meters Centerline goodness : 0.103783 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.10, Z:-0.20 [[ 9.99815494e-01 2.61994518e-03 -1.90292968e-02 -9.38146613e-01] [-2.60276524e-03 9.99996183e-01 9.27525813e-04 -1.03987220e-01] [ 1.90316542e-02 -8.77825886e-04 9.99818496e-01 -1.95176236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86463044 meters Centerline goodness : 0.098618 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.11, Z:-0.20 [[ 0.99979593 0.00317394 -0.01995037 -0.93547144] [-0.00313971 0.99999355 0.00174679 -0.1079185 ] [ 0.01995578 -0.0016838 0.99979945 -0.19594244] [ 0. 0. 0. 1. ]] SLAMing on 19.924630439999998 meters Centerline goodness : 0.103607 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.12, Z:-0.20 [[ 9.99752982e-01 1.08774209e-02 -1.93818906e-02 -9.53171565e-01] [-1.08680667e-02 9.99940768e-01 5.87892039e-04 -1.19120448e-01] [ 1.93871373e-02 -3.77103139e-04 9.99811981e-01 -1.98663809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98463044 meters Centerline goodness : 0.150096 with order 3 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.12, Z:-0.20 [[ 0.99976376 0.0039087 -0.02138109 -0.9706508 ] [-0.00386221 0.99999009 0.00221532 -0.11742746] [ 0.02138953 -0.00213222 0.99976894 -0.20023714] [ 0. 0. 0. 1. ]] SLAMing on 20.04463044 meters Centerline goodness : 0.164629 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.12, Z:-0.20 [[ 9.99689500e-01 1.22982835e-02 -2.16715667e-02 -9.89468124e-01] [-1.22761979e-02 9.99923981e-01 1.15185324e-03 -1.22150067e-01] [ 2.16840851e-02 -8.85451151e-04 9.99764480e-01 -2.02146710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104630439999998 meters Centerline goodness : 0.268460 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.12, Z:-0.20 [[ 9.99690972e-01 1.26587965e-02 -2.13942937e-02 -9.90626700e-01] [-1.26423495e-02 9.99919674e-01 9.03837118e-04 -1.20469885e-01] [ 2.14040167e-02 -6.33083668e-04 9.99770707e-01 -2.01521911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16463044 meters Centerline goodness : 0.098137 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.12, Z:-0.20 [[ 9.99698043e-01 1.28814973e-02 -2.09258172e-02 -9.92022546e-01] [-1.28644556e-02 9.99916799e-01 9.48801690e-04 -1.20445767e-01] [ 2.09362981e-02 -6.79315948e-04 9.99780581e-01 -2.01135579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22463044 meters Centerline goodness : 0.252657 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.12, Z:-0.20 [[ 9.99794676e-01 3.01855766e-03 -2.00372968e-02 -1.01632474e+00] [-3.00763723e-03 9.99995312e-01 5.75118515e-04 -1.23637652e-01] [ 2.00389388e-02 -5.14735510e-04 9.99799068e-01 -2.00393539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284630439999997 meters Centerline goodness : 0.206396 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:-0.20 [[ 0.99980421 0.00316082 -0.01953336 -1.01798775] [-0.003132 0.99999396 0.0015061 -0.129612 ] [ 0.01953801 -0.00144463 0.99980807 -0.19945604] [ 0. 0. 0. 1. ]] SLAMing on 20.34463044 meters Centerline goodness : 0.102580 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:-0.20 [[ 9.99800564e-01 -3.66753145e-04 -1.99674187e-02 -1.01622892e+00] [ 3.34648814e-04 9.99998646e-01 -1.61115347e-03 -1.32997203e-01] [ 1.99679826e-02 1.60415008e-03 9.99799333e-01 -2.00504792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40463044 meters Centerline goodness : 0.459351 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:-0.20 [[ 9.99797401e-01 8.49672716e-05 -2.01283268e-02 -1.01592406e+00] [-1.02795659e-04 9.99999603e-01 -8.84703185e-04 -1.35851551e-01] [ 2.01282436e-02 8.86593050e-04 9.99797013e-01 -2.00412674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46463044 meters Centerline goodness : 0.460760 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:-0.20 [[ 9.99799054e-01 4.43681519e-04 -2.00413214e-02 -1.01640933e+00] [-4.55912610e-04 9.99999713e-01 -6.05728760e-04 -1.36613770e-01] [ 2.00410469e-02 6.14744133e-04 9.99798969e-01 -1.99986907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52463044 meters Centerline goodness : 0.340036 with order 2 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.14, Z:-0.20 [[ 0.99976296 0.00892246 -0.01985987 -1.03652969] [-0.00895348 0.99995883 -0.00147331 -0.14316248] [ 0.0198459 0.00165078 0.99980169 -0.20172527] [ 0. 0. 0. 1. ]] SLAMing on 20.584630439999998 meters Centerline goodness : 0.453304 with order 1 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.14, Z:-0.20 [[ 0.99976088 0.00895784 -0.0199486 -1.03610372] [-0.00898726 0.99995865 -0.00138577 -0.14379838] [ 0.01993536 0.00156472 0.99980005 -0.20213087] [ 0. 0. 0. 1. ]] SLAMing on 20.64463044 meters Centerline goodness : 0.345319 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.15, Z:-0.20 [[ 9.99748607e-01 8.92514089e-03 -2.05685331e-02 -1.03435563e+00] [-8.94603273e-03 9.99959557e-01 -9.23927705e-04 -1.46964801e-01] [ 2.05594551e-02 1.10770221e-03 9.99788018e-01 -2.02634714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70463044 meters Centerline goodness : 0.106418 with order 1 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.15, Z:-0.20 [[ 0.99974505 -0.00206622 -0.02248467 -1.0530047 ] [ 0.00202986 0.99999659 -0.00164009 -0.15079266] [ 0.02248799 0.00159403 0.99974584 -0.20366987] [ 0. 0. 0. 1. ]] SLAMing on 20.764630439999998 meters Centerline goodness : 0.281575 with order 2 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.15, Z:-0.20 [[ 0.99974003 -0.00210909 -0.0227028 -1.05233777] [ 0.00208283 0.99999713 -0.00118009 -0.1545653 ] [ 0.02270522 0.00113249 0.99974156 -0.20380092] [ 0. 0. 0. 1. ]] SLAMing on 20.82463044 meters Centerline goodness : 0.352758 with order 3 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.16, Z:-0.20 [[ 9.99741137e-01 -1.73113849e-03 -2.26861476e-02 -1.05199433e+00] [ 1.72259468e-03 9.99998438e-01 -3.96145829e-04 -1.57865338e-01] [ 2.26867980e-02 3.56964245e-04 9.99742558e-01 -2.04296474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88463044 meters Centerline goodness : 0.456335 with order 3 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.17, Z:-0.21 [[ 0.99972114 0.00455216 -0.02317148 -1.07171929] [-0.00462319 0.99998477 -0.0030127 -0.16654896] [ 0.02315741 0.00311899 0.99972697 -0.20507853] [ 0. 0. 0. 1. ]] SLAMing on 20.944630439999997 meters Centerline goodness : 0.109322 with order 1 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.17, Z:-0.20 [[ 0.99973275 0.00501486 -0.0225671 -1.07367913] [-0.00507311 0.99998394 -0.00252457 -0.16778551] [ 0.02255407 0.00263838 0.99974214 -0.20417252] [ 0. 0. 0. 1. ]] SLAMing on 21.00463044 meters Centerline goodness : 0.089559 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.17, Z:-0.20 [[ 0.99977139 0.00598094 -0.02052815 -1.07881713] [-0.00602012 0.99998017 -0.00184739 -0.16872524] [ 0.02051669 0.00197055 0.99978757 -0.20344194] [ 0. 0. 0. 1. ]] SLAMing on 21.06463044 meters Centerline goodness : 0.091201 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.17, Z:-0.20 [[ 0.99977958 0.00644909 -0.01998004 -1.08013264] [-0.0064845 0.99997752 -0.00170812 -0.16795205] [ 0.01996857 0.00183731 0.99979892 -0.20350347] [ 0. 0. 0. 1. ]] SLAMing on 21.124630439999997 meters Centerline goodness : 0.453939 with order 2 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.17, Z:-0.20 [[ 0.99978224 0.00679139 -0.01973204 -1.080862 ] [-0.00682388 0.99997547 -0.00157953 -0.16726954] [ 0.01972083 0.00171384 0.99980406 -0.20337692] [ 0. 0. 0. 1. ]] SLAMing on 21.18463044 meters Centerline goodness : 0.458543 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.17, Z:-0.20 [[ 0.99975533 -0.0023917 -0.02199015 -1.10183514] [ 0.00235456 0.99999576 -0.00171467 -0.16801101] [ 0.02199416 0.00166248 0.99975672 -0.20333313] [ 0. 0. 0. 1. ]] SLAMing on 21.244630439999998 meters Centerline goodness : 0.096467 with order 1 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.17, Z:-0.20 [[ 0.99976184 -0.00226627 -0.0217056 -1.10282804] [ 0.00223618 0.99999651 -0.00141028 -0.16923751] [ 0.02170872 0.00136141 0.99976341 -0.20276735] [ 0. 0. 0. 1. ]] SLAMing on 21.30463044 meters Centerline goodness : 0.535069 with order 3 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.17, Z:-0.20 [[ 0.99976152 -0.00196598 -0.02174936 -1.10227501] [ 0.00193176 0.99999686 -0.00159413 -0.16688619] [ 0.02175242 0.00155173 0.99976218 -0.20360785] [ 0. 0. 0. 1. ]] SLAMing on 21.36463044 meters Centerline goodness : 0.454207 with order 2 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.17, Z:-0.20 [[ 0.99974989 -0.00200935 -0.02227395 -1.10037564] [ 0.00196629 0.99999616 -0.00195479 -0.16516115] [ 0.02227779 0.0019105 0.99974999 -0.20475394] [ 0. 0. 0. 1. ]] SLAMing on 21.424630439999998 meters Centerline goodness : 0.454417 with order 2 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.17, Z:-0.21 [[ 0.99970872 0.00329669 -0.02390828 -1.12054737] [-0.00342758 0.99997935 -0.00543607 -0.16989763] [ 0.02388986 0.00551644 0.99969938 -0.20525007] [ 0. 0. 0. 1. ]] SLAMing on 21.48463044 meters Centerline goodness : 0.151205 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.18, Z:-0.21 [[ 0.99969046 0.00222855 -0.02477919 -1.11770227] [-0.00237264 0.99998044 -0.00578695 -0.17547674] [ 0.02476581 0.00584395 0.9996762 -0.2061747 ] [ 0. 0. 0. 1. ]] SLAMing on 21.54463044 meters Centerline goodness : 0.096074 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.18, Z:-0.21 [[ 0.999692 0.00206394 -0.02473152 -1.11755953] [-0.00220369 0.99998175 -0.00562452 -0.17753869] [ 0.02471946 0.00567729 0.99967831 -0.20639161] [ 0. 0. 0. 1. ]] SLAMing on 21.604630439999998 meters Centerline goodness : 0.105760 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.18, Z:-0.21 [[ 0.99964897 0.01006831 -0.02450628 -1.13731296] [-0.01023015 0.99992662 -0.0064876 -0.18330652] [ 0.02443916 0.00673603 0.99967863 -0.20748508] [ 0. 0. 0. 1. ]] SLAMing on 21.66463044 meters Centerline goodness : 0.543123 with order 3 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.18, Z:-0.21 [[ 0.99963993 0.01049995 -0.02469325 -1.13711344] [-0.01066151 0.99992255 -0.00642003 -0.18222804] [ 0.02462393 0.00668099 0.99967446 -0.20723873] [ 0. 0. 0. 1. ]] SLAMing on 21.72463044 meters Centerline goodness : 0.252540 with order 3 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.18, Z:-0.20 [[ 0.99971011 0.00342275 -0.02383218 -1.12098763] [-0.00353028 0.99998377 -0.00447122 -0.17869353] [ 0.02381649 0.00455406 0.99970597 -0.20422453] [ 0. 0. 0. 1. ]] SLAMing on 21.784630439999997 meters Centerline goodness : 0.250182 with order 3 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.18, Z:-0.20 [[ 0.99971431 0.00352819 -0.02363995 -1.12189162] [-0.00362335 0.9999855 -0.00398378 -0.18171773] [ 0.02362556 0.0040683 0.9997126 -0.20350038] [ 0. 0. 0. 1. ]] SLAMing on 21.84463044 meters Centerline goodness : 0.227298 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.19, Z:-0.20 [[ 0.9997533 0.00173515 -0.02214347 -1.12739226] [-0.00184823 0.99998535 -0.00508723 -0.18761375] [ 0.02213432 0.0051269 0.99974186 -0.20114696] [ 0. 0. 0. 1. ]] SLAMing on 21.90463044 meters Centerline goodness : 0.268629 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.19, Z:-0.20 [[ 0.99975506 0.00207043 -0.02203464 -1.12779016] [-0.00216127 0.99998926 -0.00409921 -0.19380613] [ 0.02202591 0.00414583 0.9997488 -0.20077205] [ 0. 0. 0. 1. ]] SLAMing on 21.96463044 meters Centerline goodness : 0.103760 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.20, Z:-0.20 [[ 0.99974624 0.00140256 -0.02248293 -1.12596462] [-0.00149704 0.99999012 -0.00418593 -0.20181433] [ 0.02247684 0.00421853 0.99973846 -0.20170664] [ 0. 0. 0. 1. ]] SLAMing on 22.02463044 meters Centerline goodness : 0.091870 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.20, Z:-0.20 [[ 0.99974976 0.00173074 -0.02230281 -1.12626206] [-0.00181175 0.99999183 -0.00361245 -0.20480226] [ 0.02229638 0.00365195 0.99974473 -0.20185356] [ 0. 0. 0. 1. ]] SLAMing on 22.084630439999998 meters Centerline goodness : 0.098797 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.21, Z:-0.20 [[ 0.99975825 0.002725 -0.02181798 -1.12717687] [-0.00278275 0.9999927 -0.00261714 -0.20749397] [ 0.02181069 0.00267722 0.99975853 -0.2022256 ] [ 0. 0. 0. 1. ]] SLAMing on 22.14463044 meters Centerline goodness : 0.105262 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.21, Z:-0.20 [[ 0.99975798 0.00301222 -0.02179241 -1.12682795] [-0.00306577 0.99999236 -0.00242449 -0.20776801] [ 0.02178494 0.00249072 0.99975958 -0.20296374] [ 0. 0. 0. 1. ]] SLAMing on 22.20463044 meters Centerline goodness : 0.084577 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.21, Z:-0.20 [[ 0.99975143 0.00312183 -0.02207556 -1.12562973] [-0.00317029 0.99999264 -0.00216056 -0.20930162] [ 0.02206866 0.00223001 0.99975397 -0.20374157] [ 0. 0. 0. 1. ]] SLAMing on 22.264630439999998 meters Centerline goodness : 0.140216 with order 3 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.21, Z:-0.20 [[ 9.99754386e-01 -5.52179051e-04 -2.21554203e-02 -1.12609881e+00] [ 4.30979153e-04 9.99984920e-01 -5.47484198e-03 -2.11133273e-01] [ 2.21581093e-02 5.46394875e-03 9.99739548e-01 -2.02950529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32463044 meters Centerline goodness : 0.103435 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.21, Z:-0.20 [[ 9.99755148e-01 -5.85410521e-04 -2.21201438e-02 -1.12660978e+00] [ 4.76171687e-04 9.99987668e-01 -4.94337680e-03 -2.13930528e-01] [ 2.21227649e-02 4.93163342e-03 9.99743098e-01 -2.02021720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38463044 meters Centerline goodness : 0.101170 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.22, Z:-0.20 [[ 9.99744051e-01 -7.09515499e-04 -2.26125772e-02 -1.12555954e+00] [ 5.98836987e-04 9.99987811e-01 -4.90095110e-03 -2.15043141e-01] [ 2.26157789e-02 4.88615546e-03 9.99732290e-01 -2.01812319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444630439999997 meters Centerline goodness : 0.108749 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.22, Z:-0.20 [[ 9.99736967e-01 -6.60141326e-04 -2.29251151e-02 -1.12548005e+00] [ 5.51869183e-04 9.99988667e-01 -4.72886705e-03 -2.15938944e-01] [ 2.29279770e-02 4.71497154e-03 9.99726001e-01 -2.00800076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50463044 meters Centerline goodness : 0.117219 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.22, Z:-0.20 [[ 0.99975976 -0.00254003 -0.02177093 -1.13092633] [ 0.002404 0.99997744 -0.00627211 -0.21825896] [ 0.02178637 0.00621826 0.99974331 -0.19748549] [ 0. 0. 0. 1. ]] SLAMing on 22.56463044 meters Centerline goodness : 0.111868 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.22, Z:-0.20 [[ 0.99976886 -0.00229114 -0.0213771 -1.13280412] [ 0.00216808 0.99998096 -0.005778 -0.21995195] [ 0.02138993 0.00573032 0.99975479 -0.1959822 ] [ 0. 0. 0. 1. ]] SLAMing on 22.624630439999997 meters Centerline goodness : 0.119206 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.23, Z:-0.20 [[ 0.99976943 0.00454842 -0.02098566 -1.15027715] [-0.00470592 0.99996109 -0.0074618 -0.22714764] [ 0.0209509 0.00755884 0.99975193 -0.19833216] [ 0. 0. 0. 1. ]] SLAMing on 22.68463044 meters Centerline goodness : 0.085201 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.23, Z:-0.20 [[ 0.99977338 0.00458909 -0.02078773 -1.15112895] [-0.00474341 0.99996151 -0.0073806 -0.22747628] [ 0.02075306 0.00747753 0.99975667 -0.1977858 ] [ 0. 0. 0. 1. ]] SLAMing on 22.744630439999998 meters Centerline goodness : 0.104566 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.23, Z:-0.20 [[ 0.99977388 0.00467979 -0.02074342 -1.15104055] [-0.00483258 0.99996152 -0.00732152 -0.2272276 ] [ 0.02070836 0.00742011 0.99975802 -0.19804329] [ 0. 0. 0. 1. ]] SLAMing on 22.80463044 meters Centerline goodness : 0.104471 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.23, Z:-0.20 [[ 0.99975342 0.00429724 -0.02178591 -1.14800783] [-0.00446116 0.99996206 -0.00748115 -0.22852088] [ 0.02175294 0.00757649 0.99973467 -0.19893426] [ 0. 0. 0. 1. ]] SLAMing on 22.86463044 meters Centerline goodness : 0.116311 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.23, Z:-0.20 [[ 0.99973689 0.00388511 -0.02260662 -1.14628004] [-0.00405198 0.99996485 -0.00734017 -0.23200026] [ 0.02257731 0.00742984 0.99971749 -0.19857972] [ 0. 0. 0. 1. ]] SLAMing on 22.924630439999998 meters Centerline goodness : 0.241595 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.24, Z:-0.20 [[ 9.99750040e-01 4.44746197e-04 -2.23530859e-02 -1.14702213e+00] [-6.59785786e-04 9.99953570e-01 -9.61367568e-03 -2.40610729e-01] [ 2.23477724e-02 9.62602089e-03 9.99703915e-01 -1.98301357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98463044 meters Centerline goodness : 0.230645 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.25, Z:-0.20 [[ 9.99744232e-01 7.35174975e-04 -2.26037560e-02 -1.14571614e+00] [-9.29532020e-04 9.99962681e-01 -8.58913613e-03 -2.47045676e-01] [ 2.25965979e-02 8.60795022e-03 9.99707606e-01 -1.99136337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04463044 meters Centerline goodness : 0.114448 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.25, Z:-0.20 [[ 9.99728581e-01 8.83464881e-04 -2.32805607e-02 -1.14379170e+00] [-1.07018832e-03 9.99967352e-01 -8.00933517e-03 -2.51206756e-01] [ 2.32727247e-02 8.03207587e-03 9.99696887e-01 -1.99527542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104630439999998 meters Centerline goodness : 0.120897 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.25, Z:-0.20 [[ 0.99973518 0.00209245 -0.02291717 -1.14540222] [-0.00225256 0.99997322 -0.006963 -0.25314755] [ 0.02290199 0.00701278 0.99971312 -0.19854236] [ 0. 0. 0. 1. ]] SLAMing on 23.16463044 meters Centerline goodness : 0.122947 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.25, Z:-0.20 [[ 0.99974962 0.00294981 -0.02218117 -1.14726384] [-0.00308968 0.99997554 -0.00627414 -0.25371703] [ 0.02216212 0.0063411 0.99973428 -0.19835921] [ 0. 0. 0. 1. ]] SLAMing on 23.22463044 meters Centerline goodness : 0.180792 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.26, Z:-0.20 [[ 0.99975031 0.00295029 -0.02214964 -1.14769052] [-0.00308468 0.99997703 -0.00603567 -0.25628297] [ 0.02213132 0.00610249 0.99973645 -0.19786085] [ 0. 0. 0. 1. ]] SLAMing on 23.284630439999997 meters Centerline goodness : 0.157288 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.26, Z:-0.20 [[ 9.99766669e-01 5.25631546e-04 -2.15946907e-02 -1.15070032e+00] [-6.92014114e-04 9.99970130e-01 -7.69804039e-03 -2.61690599e-01] [ 2.15899993e-02 7.71118803e-03 9.99737170e-01 -1.95862798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34463044 meters Centerline goodness : 0.135495 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.27, Z:-0.19 [[ 0.99977842 -0.00244193 -0.02090805 -1.15357752] [ 0.00225189 0.99995599 -0.00910802 -0.27355825] [ 0.02092937 0.00905892 0.99973991 -0.19398653] [ 0. 0. 0. 1. ]] SLAMing on 23.40463044 meters Centerline goodness : 0.168230 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.28, Z:-0.19 [[ 0.99978306 -0.00390007 -0.02046013 -1.15441389] [ 0.00371087 0.99995008 -0.00927688 -0.28379671] [ 0.02049529 0.00919894 0.99974763 -0.19391441] [ 0. 0. 0. 1. ]] SLAMing on 23.46463044 meters Centerline goodness : 0.114673 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.29, Z:-0.20 [[ 0.99976777 -0.00635902 -0.02059059 -1.15210973] [ 0.00613943 0.9999238 -0.01071004 -0.29425218] [ 0.02065712 0.01058113 0.99973063 -0.19608544] [ 0. 0. 0. 1. ]] SLAMing on 23.52463044 meters Centerline goodness : 0.361741 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.31, Z:-0.20 [[ 0.99977958 0.0014391 -0.02094586 -1.17027097] [-0.00166294 0.99994166 -0.01067318 -0.30765628] [ 0.02092927 0.01070565 0.99972364 -0.19880973] [ 0. 0. 0. 1. ]] SLAMing on 23.584630439999998 meters Centerline goodness : 0.113788 with order 2 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.31, Z:-0.20 [[ 0.99977239 0.00185927 -0.02125332 -1.1689864 ] [-0.00206653 0.99995049 -0.00973401 -0.31312785] [ 0.02123417 0.00977572 0.99972674 -0.19955181] [ 0. 0. 0. 1. ]] SLAMing on 23.64463044 meters Centerline goodness : 0.244641 with order 3 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.32, Z:-0.20 [[ 0.9997871 -0.00504529 -0.02000732 -1.14951188] [ 0.00488365 0.99995511 -0.00811987 -0.31740373] [ 0.02004739 0.00802043 0.99976686 -0.1986261 ] [ 0. 0. 0. 1. ]] SLAMing on 23.70463044 meters Centerline goodness : 0.109864 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.33, Z:-0.20 [[ 9.99853363e-01 1.12775604e-03 -1.70874694e-02 -1.16738684e+00] [-1.25786191e-03 9.99970288e-01 -7.60527627e-03 -3.30246131e-01] [ 1.70783848e-02 7.62565473e-03 9.99825074e-01 -2.00468831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764630439999998 meters Centerline goodness : 0.117044 with order 3 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.34, Z:-0.20 [[ 9.99824923e-01 -4.27524644e-04 -1.87066756e-02 -1.16208865e+00] [ 2.69151548e-04 9.99964111e-01 -8.46782607e-03 -3.37530536e-01] [ 1.87096244e-02 8.46130862e-03 9.99789156e-01 -2.02302438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82463044 meters Centerline goodness : 0.116393 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.34, Z:-0.20 [[ 9.99820883e-01 -3.02846639e-04 -1.89237967e-02 -1.16156732e+00] [ 1.50849170e-04 9.99967724e-01 -8.03299239e-03 -3.39972213e-01] [ 1.89256186e-02 8.02869890e-03 9.99788658e-01 -2.02292016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88463044 meters Centerline goodness : 0.111531 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.35, Z:-0.20 [[ 0.99985152 -0.00226559 -0.01708212 -1.16799108] [ 0.00211345 0.99995799 -0.00891903 -0.34826645] [ 0.01710161 0.00888161 0.99981431 -0.19936789] [ 0. 0. 0. 1. ]] SLAMing on 23.944630439999997 meters Centerline goodness : 0.118842 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.35, Z:-0.20 [[ 0.99985413 -0.00203702 -0.01695772 -1.16888462] [ 0.00189716 0.99996409 -0.00825937 -0.35156549] [ 0.01697393 0.00822599 0.99982209 -0.1983998 ] [ 0. 0. 0. 1. ]] SLAMing on 24.00463044 meters Centerline goodness : 0.116785 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.35, Z:-0.20 [[ 0.99984256 -0.00176539 -0.01765594 -1.166521 ] [ 0.00163069 0.99996948 -0.00764078 -0.35447388] [ 0.01766889 0.00761079 0.99981493 -0.19944199] [ 0. 0. 0. 1. ]] SLAMing on 24.06463044 meters Centerline goodness : 0.116022 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.36, Z:-0.20 [[ 0.99983531 -0.00526974 -0.01736611 -1.16742194] [ 0.00509025 0.99993334 -0.01036407 -0.36032329] [ 0.01741957 0.01027397 0.99979548 -0.19903549] [ 0. 0. 0. 1. ]] SLAMing on 24.124630439999997 meters Centerline goodness : 0.113278 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.37, Z:-0.20 [[ 0.99983954 -0.00542119 -0.01707332 -1.16877521] [ 0.00525555 0.99993884 -0.00973136 -0.36604033] [ 0.01712503 0.00964006 0.99980688 -0.19792087] [ 0. 0. 0. 1. ]] SLAMing on 24.18463044 meters Centerline goodness : 0.087287 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.38, Z:-0.20 [[ 0.99986014 -0.00711222 -0.01513663 -1.17359723] [ 0.00696018 0.99992504 -0.01007298 -0.37697405] [ 0.01520714 0.00996622 0.9998347 -0.19694689] [ 0. 0. 0. 1. ]] SLAMing on 24.244630439999998 meters Centerline goodness : 0.113869 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.39, Z:-0.20 [[ 0.99983222 -0.00837556 -0.01629047 -1.16919859] [ 0.00820554 0.99991146 -0.0104758 -0.38507669] [ 0.01637677 0.01034037 0.99981242 -0.1989754 ] [ 0. 0. 0. 1. ]] SLAMing on 24.30463044 meters Centerline goodness : 0.105916 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.39, Z:-0.20 [[ 0.99979164 -0.010097 -0.01774083 -1.16410606] [ 0.00989591 0.99988621 -0.01138609 -0.39328352] [ 0.01785378 0.01120815 0.99977779 -0.20086638] [ 0. 0. 0. 1. ]] SLAMing on 24.36463044 meters Centerline goodness : 0.160162 with order 3 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.40, Z:-0.20 [[ 0.99975435 -0.01313498 -0.01785225 -1.16354975] [ 0.0128983 0.99982824 -0.01330893 -0.40362144] [ 0.018024 0.0130754 0.99975205 -0.2009674 ] [ 0. 0. 0. 1. ]] SLAMing on 24.424630439999998 meters Centerline goodness : 0.103227 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.41, Z:-0.20 [[ 0.99976573 -0.01249184 -0.0176761 -1.16368066] [ 0.0122811 0.9998528 -0.01198102 -0.40935471] [ 0.01782316 0.01176113 0.99977198 -0.20126816] [ 0. 0. 0. 1. ]] SLAMing on 24.48463044 meters Centerline goodness : 0.200186 with order 3 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.42, Z:-0.20 [[ 0.99974751 -0.01315778 -0.01821531 -1.16171192] [ 0.01294733 0.99984862 -0.01162362 -0.42064853] [ 0.01836549 0.01138485 0.99976652 -0.20204187] [ 0. 0. 0. 1. ]] SLAMing on 24.54463044 meters Centerline goodness : 0.097449 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.43, Z:-0.20 [[ 0.99973927 -0.01279294 -0.01891361 -1.15978464] [ 0.01259357 0.99986427 -0.010623 -0.42572687] [ 0.01904695 0.01038204 0.99976469 -0.20242516] [ 0. 0. 0. 1. ]] SLAMing on 24.604630439999998 meters Centerline goodness : 0.097302 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.43, Z:-0.20 [[ 0.99971118 -0.01591906 -0.01800405 -1.16233979] [ 0.01568586 0.99979219 -0.0130204 -0.43116431] [ 0.01820758 0.01273423 0.99975313 -0.20160213] [ 0. 0. 0. 1. ]] SLAMing on 24.66463044 meters Centerline goodness : 0.085310 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.44, Z:-0.20 [[ 0.99970283 -0.01849333 -0.01588215 -1.16949517] [ 0.01829168 0.9997514 -0.0127493 -0.44381453] [ 0.01611397 0.012455 0.99979258 -0.19996198] [ 0. 0. 0. 1. ]] SLAMing on 24.72463044 meters Centerline goodness : 0.175204 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.46, Z:-0.20 [[ 0.99961955 -0.02253872 -0.01589875 -1.16903771] [ 0.02230726 0.99964472 -0.01458861 -0.45547879] [ 0.01622191 0.0142284 0.99976717 -0.20166501] [ 0. 0. 0. 1. ]] SLAMing on 24.784630439999997 meters Centerline goodness : 0.102035 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.46, Z:-0.20 [[ 0.99959306 -0.02344072 -0.01625572 -1.16894985] [ 0.02320043 0.99962104 -0.01481629 -0.46090785] [ 0.01659687 0.01443312 0.99975809 -0.20128433] [ 0. 0. 0. 1. ]] SLAMing on 24.84463044 meters Centerline goodness : 0.105043 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.47, Z:-0.20 [[ 0.99977783 -0.01417169 -0.01560322 -1.1844174 ] [ 0.0139468 0.99979863 -0.01442876 -0.46993965] [ 0.01580456 0.01420794 0.99977415 -0.20291893] [ 0. 0. 0. 1. ]] SLAMing on 24.90463044 meters Centerline goodness : 0.104278 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.47, Z:-0.20 [[ 0.99976575 -0.01420854 -0.01632686 -1.18211264] [ 0.01398351 0.99980678 -0.01381501 -0.47293606] [ 0.01651999 0.01358347 0.99977126 -0.20443998] [ 0. 0. 0. 1. ]] SLAMing on 24.96463044 meters Centerline goodness : 0.106108 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.48, Z:-0.21 [[ 0.99975999 -0.01404612 -0.01681268 -1.18095681] [ 0.01383121 0.99982202 -0.0128309 -0.47655625] [ 0.01698991 0.01259528 0.99977633 -0.20525946] [ 0. 0. 0. 1. ]] SLAMing on 25.02463044 meters Centerline goodness : 0.107697 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.49, Z:-0.21 [[ 0.99967521 -0.01818074 -0.01785867 -1.17821904] [ 0.01791433 0.9997275 -0.01496651 -0.48808419] [ 0.01812591 0.01464172 0.9997285 -0.20697301] [ 0. 0. 0. 1. ]] SLAMing on 25.084630439999998 meters Centerline goodness : 0.107315 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.50, Z:-0.21 [[ 0.99964721 -0.02012114 -0.01733796 -1.18079894] [ 0.01985909 0.9996879 -0.01515627 -0.49693103] [ 0.01763751 0.01480661 0.99973481 -0.20635343] [ 0. 0. 0. 1. ]] SLAMing on 25.14463044 meters Centerline goodness : 0.273180 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.51, Z:-0.21 [[ 0.99981611 -0.01122114 -0.01555108 -1.19688794] [ 0.01099066 0.99982966 -0.01482776 -0.50687819] [ 0.01571481 0.01465411 0.99976912 -0.20734807] [ 0. 0. 0. 1. ]] SLAMing on 25.20463044 meters Centerline goodness : 0.266530 with order 3 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.51, Z:-0.21 [[ 9.99838474e-01 4.49471900e-04 -1.79673209e-02 -1.20840112e+00] [-7.15860498e-04 9.99889883e-01 -1.48226029e-02 -5.11300486e-01] [ 1.79586800e-02 1.48330707e-02 9.99728696e-01 -2.08571992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264630439999998 meters Centerline goodness : 0.107055 with order 1 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.51, Z:-0.21 [[ 9.99840300e-01 5.71865450e-04 -1.78618856e-02 -1.20869682e+00] [-8.41180110e-04 9.99886031e-01 -1.50737445e-02 -5.09579711e-01] [ 1.78512297e-02 1.50863622e-02 9.99726830e-01 -2.08413827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32463044 meters Centerline goodness : 0.176075 with order 3 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.50, Z:-0.20 [[ 0.99981654 -0.00513727 -0.01845237 -1.19336804] [ 0.00487897 0.99988987 -0.01401597 -0.50026637] [ 0.01852235 0.01392337 0.9997315 -0.20445677] [ 0. 0. 0. 1. ]] SLAMing on 25.38463044 meters Centerline goodness : 0.271904 with order 2 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.50, Z:-0.20 [[ 0.99982439 -0.00539906 -0.01794556 -1.1958219 ] [ 0.00514478 0.99988615 -0.01418532 -0.49967836] [ 0.01802011 0.01409051 0.99973833 -0.20266971] [ 0. 0. 0. 1. ]] SLAMing on 25.444630439999997 meters Centerline goodness : 0.277081 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.50, Z:-0.20 [[ 0.9998151 -0.00577573 -0.01834137 -1.19527356] [ 0.00551379 0.99988255 -0.01429994 -0.50024448] [ 0.01842181 0.01419617 0.99972952 -0.20223115] [ 0. 0. 0. 1. ]] SLAMing on 25.50463044 meters Centerline goodness : 0.169513 with order 3 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.50, Z:-0.20 [[ 0.99982012 -0.00575758 -0.01807132 -1.19617269] [ 0.00550419 0.99988628 -0.0140401 -0.50118997] [ 0.01815011 0.01393811 0.99973812 -0.20189431] [ 0. 0. 0. 1. ]] SLAMing on 25.56463044 meters Centerline goodness : 0.272475 with order 3 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.50, Z:-0.20 [[ 0.99976477 -0.01467004 -0.01597511 -1.178191 ] [ 0.01444131 0.99979288 -0.01434022 -0.50000112] [ 0.01618217 0.01410614 0.99976955 -0.19993923] [ 0. 0. 0. 1. ]] SLAMing on 25.624630439999997 meters Centerline goodness : 0.272116 with order 3 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.50, Z:-0.20 [[ 0.99976277 -0.01428748 -0.01643996 -1.1770903 ] [ 0.01406353 0.99980782 -0.01365822 -0.50147425] [ 0.01663195 0.01342378 0.99977156 -0.20040831] [ 0. 0. 0. 1. ]] SLAMing on 25.68463044 meters Centerline goodness : 0.109414 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.51, Z:-0.20 [[ 0.99984045 -0.00757568 -0.0161767 -1.18814532] [ 0.00731129 0.99983974 -0.01634123 -0.50822974] [ 0.0162979 0.01622035 0.9997356 -0.20497834] [ 0. 0. 0. 1. ]] SLAMing on 25.744630439999998 meters Centerline goodness : 0.110592 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.51, Z:-0.21 [[ 0.99983901 -0.00751911 -0.01629161 -1.18773635] [ 0.00725587 0.99984314 -0.01615703 -0.50912744] [ 0.01641054 0.01603622 0.99973673 -0.20525503] [ 0. 0. 0. 1. ]] SLAMing on 25.80463044 meters Centerline goodness : 0.111125 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.51, Z:-0.20 [[ 0.99983974 -0.00728849 -0.01635136 -1.18799303] [ 0.00703137 0.99985159 -0.01572745 -0.51045637] [ 0.01646356 0.01560996 0.99974261 -0.2047838 ] [ 0. 0. 0. 1. ]] SLAMing on 25.86463044 meters Centerline goodness : 0.274856 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.51, Z:-0.20 [[ 0.99983413 -0.00738745 -0.01664748 -1.18755683] [ 0.00712322 0.9998486 -0.01587565 -0.51027597] [ 0.01676224 0.01575444 0.99973538 -0.20440409] [ 0. 0. 0. 1. ]] SLAMing on 25.924630439999998 meters Centerline goodness : 0.108515 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.51, Z:-0.20 [[ 0.99984666 -0.0070113 -0.01604645 -1.18849897] [ 0.00675309 0.99984776 -0.01608906 -0.50654591] [ 0.01615681 0.01597823 0.99974179 -0.20495697] [ 0. 0. 0. 1. ]] SLAMing on 25.98463044 meters Centerline goodness : 0.199983 with order 3 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.50, Z:-0.21 [[ 9.99824228e-01 7.83589774e-04 -1.87322823e-02 -1.20664777e+00] [-1.10998047e-03 9.99847645e-01 -1.74199260e-02 -5.03999287e-01] [ 1.87157783e-02 1.74376566e-02 9.99672770e-01 -2.06137511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04463044 meters Centerline goodness : 0.109155 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.50, Z:-0.21 [[ 0.99978189 -0.00351879 -0.02058601 -1.18439826] [ 0.003216 0.99988643 -0.01472332 -0.49775423] [ 0.02063548 0.0146539 0.99967967 -0.2052693 ] [ 0. 0. 0. 1. ]] SLAMing on 26.104630439999998 meters Centerline goodness : 0.173820 with order 3 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.50, Z:-0.20 [[ 0.99980087 -0.00340448 -0.01966292 -1.18669493] [ 0.00311191 0.99988429 -0.01489064 -0.49552168] [ 0.01971134 0.01482649 0.99969577 -0.20497498] [ 0. 0. 0. 1. ]] SLAMing on 26.16463044 meters Centerline goodness : 0.112016 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.49, Z:-0.20 [[ 0.99982069 -0.00181679 -0.01884892 -1.19008069] [ 0.0015494 0.99989811 -0.0141908 -0.48737953] [ 0.01887278 0.01415905 0.99972163 -0.20322405] [ 0. 0. 0. 1. ]] SLAMing on 26.22463044 meters Centerline goodness : 0.111456 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.48, Z:-0.20 [[ 0.99981984 0.00162189 -0.01891179 -1.18953217] [-0.00183935 0.99993233 -0.01148678 -0.48201699] [ 0.01889188 0.0115195 0.99975517 -0.20373484] [ 0. 0. 0. 1. ]] SLAMing on 26.284630439999997 meters Centerline goodness : 0.157397 with order 2 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.47, Z:-0.20 [[ 0.99983583 0.00292669 -0.01788153 -1.19425157] [-0.00312857 0.99993157 -0.01127265 -0.4724474 ] [ 0.01784732 0.01132675 0.99977656 -0.2008835 ] [ 0. 0. 0. 1. ]] SLAMing on 26.34463044 meters Centerline goodness : 0.193925 with order 2 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.47, Z:-0.20 [[ 0.99983836 0.00280787 -0.01775853 -1.1944255 ] [-0.0030184 0.99992536 -0.01183925 -0.46832417] [ 0.01772396 0.01189094 0.99977221 -0.20105129] [ 0. 0. 0. 1. ]] SLAMing on 26.40463044 meters Centerline goodness : 0.114886 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.46, Z:-0.20 [[ 0.99985931 -0.00386571 -0.01632235 -1.17765394] [ 0.00368306 0.99993044 -0.01120517 -0.45779993] [ 0.01636453 0.01114348 0.99980399 -0.19915033] [ 0. 0. 0. 1. ]] SLAMing on 26.464630439999997 meters Centerline goodness : 0.111787 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.45, Z:-0.20 [[ 9.99864412e-01 -4.76716999e-04 -1.64599400e-02 -1.17808341e+00] [ 3.39483986e-04 9.99965171e-01 -8.33918227e-03 -4.54713845e-01] [ 1.64633421e-02 8.33246369e-03 9.99829750e-01 -1.98204907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52463044 meters Centerline goodness : 0.107413 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.45, Z:-0.20 [[ 0.99984272 0.00222813 -0.01759443 -1.17426748] [-0.00234289 0.9999761 -0.00650416 -0.44877759] [ 0.01757952 0.00654435 0.99982405 -0.19955048] [ 0. 0. 0. 1. ]] SLAMing on 26.584630439999998 meters Centerline goodness : 0.139785 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.44, Z:-0.20 [[ 0.99978652 -0.00586772 -0.01981103 -1.19133055] [ 0.00577451 0.999972 -0.00475893 -0.44444575] [ 0.0198384 0.00464352 0.99979242 -0.20120125] [ 0. 0. 0. 1. ]] SLAMing on 26.64463044 meters Centerline goodness : 0.108441 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.45, Z:-0.20 [[ 0.9998391 0.00207507 -0.01781791 -1.17333175] [-0.00219169 0.99997629 -0.00652773 -0.44945611] [ 0.01780395 0.00656573 0.99981994 -0.19939797] [ 0. 0. 0. 1. ]] SLAMing on 26.70463044 meters Centerline goodness : 0.271852 with order 3 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.45, Z:-0.20 [[ 0.9998402 0.00227472 -0.01773121 -1.17326286] [-0.00238662 0.99997735 -0.00629243 -0.45012186] [ 0.0177165 0.00633374 0.99982299 -0.19970889] [ 0. 0. 0. 1. ]] SLAMing on 26.764630439999998 meters Centerline goodness : 0.108426 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.45, Z:-0.20 [[ 0.99981802 0.00562358 -0.0182291 -1.17010903] [-0.00568714 0.99997792 -0.0034367 -0.44774193] [ 0.01820938 0.00353974 0.99982793 -0.20204472] [ 0. 0. 0. 1. ]] SLAMing on 26.82463044 meters Centerline goodness : 0.107409 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.45, Z:-0.20 [[ 0.99982042 0.00586441 -0.01802046 -1.17054479] [-0.00592843 0.9999763 -0.00350135 -0.44637448] [ 0.0179995 0.00360755 0.99983149 -0.20207858] [ 0. 0. 0. 1. ]] SLAMing on 26.88463044 meters Centerline goodness : 0.258790 with order 2 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.44, Z:-0.20 [[ 9.99824533e-01 -8.34658073e-04 -1.87138042e-02 -1.15242750e+00] [ 7.83853195e-04 9.99995988e-01 -2.72200504e-03 -4.42058578e-01] [ 1.87160011e-02 2.70685854e-03 9.99821176e-01 -1.99750824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944630439999997 meters Centerline goodness : 0.276473 with order 2 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.44, Z:-0.20 [[ 9.99830035e-01 -6.37923158e-04 -1.84253456e-02 -1.15317847e+00] [ 5.95798980e-04 9.99997197e-01 -2.29160717e-03 -4.43845776e-01] [ 1.84267558e-02 2.28023987e-03 9.99827613e-01 -1.99624569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00463044 meters Centerline goodness : 0.277111 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.45, Z:-0.20 [[ 9.99837223e-01 -5.08939676e-04 -1.80352060e-02 -1.15435686e+00] [ 4.78397805e-04 9.99998444e-01 -1.69773229e-03 -4.47243250e-01] [ 1.80360420e-02 1.68882793e-03 9.99835911e-01 -1.99135879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06463044 meters Centerline goodness : 0.101170 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.45, Z:-0.20 [[ 9.99838211e-01 -7.97134648e-03 -1.61247896e-02 -1.13485578e+00] [ 7.96731996e-03 9.99968211e-01 -3.13935726e-04 -4.50698921e-01] [ 1.61267795e-02 1.85413577e-04 9.99869938e-01 -1.97893330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124630439999997 meters Centerline goodness : 0.471495 with order 3 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.45, Z:-0.20 [[ 9.99825844e-01 -7.77685605e-03 -1.69647162e-02 -1.13266264e+00] [ 7.78882059e-03 9.99969462e-01 6.39301139e-04 -4.54988560e-01] [ 1.69592264e-02 -7.71324933e-04 9.99855884e-01 -1.98665995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18463044 meters Centerline goodness : 0.109319 with order 3 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.47, Z:-0.20 [[ 9.99886917e-01 -2.23046657e-03 -1.48720514e-02 -1.14290384e+00] [ 2.22686979e-03 9.99997487e-01 -2.58403600e-04 -4.68152387e-01] [ 1.48725904e-02 2.25256257e-04 9.99889372e-01 -2.03108360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244630439999998 meters Centerline goodness : 0.278474 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.47, Z:-0.20 [[ 9.99888258e-01 -1.88346171e-03 -1.48298243e-02 -1.14354169e+00] [ 1.89354474e-03 9.99997986e-01 6.65903791e-04 -4.73032942e-01] [ 1.48285402e-02 -6.93910317e-04 9.99889810e-01 -2.02206456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30463044 meters Centerline goodness : 0.275047 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.49, Z:-0.20 [[ 9.99824045e-01 3.65405663e-03 -1.83991080e-02 -1.12155010e+00] [-3.66951929e-03 9.99992942e-01 -8.06712194e-04 -4.88495463e-01] [ 1.83960304e-02 8.74086130e-04 9.99830397e-01 -2.01523375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36463044 meters Centerline goodness : 0.426636 with order 3 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.50, Z:-0.20 [[ 9.99823759e-01 2.67729861e-03 -1.85817732e-02 -1.12099339e+00] [-2.69474060e-03 9.99995952e-01 -9.13685899e-04 -4.97368288e-01] [ 1.85792517e-02 9.63597929e-04 9.99826926e-01 -2.01592805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424630439999998 meters Centerline goodness : 0.092284 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.50, Z:-0.20 [[ 9.99820315e-01 3.42212436e-03 -1.86447487e-02 -1.12092098e+00] [-3.40969326e-03 9.99993943e-01 6.98483182e-04 -5.04682635e-01] [ 1.86470261e-02 -6.34784801e-04 9.99825928e-01 -2.01386279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48463044 meters Centerline goodness : 0.091663 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.51, Z:-0.20 [[ 9.99847151e-01 3.76803183e-03 -1.70726883e-02 -1.07688104e+00] [-3.77823564e-03 9.99992703e-01 -5.65453647e-04 -5.09427951e-01] [ 1.70704330e-02 6.29871857e-04 9.99854091e-01 -2.01378179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54463044 meters Centerline goodness : 0.100282 with order 1 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.52, Z:-0.20 [[ 9.99855789e-01 9.08768249e-05 -1.69821482e-02 -1.07746122e+00] [-1.38344474e-04 9.99996087e-01 -2.79399602e-03 -5.21724438e-01] [ 1.69818278e-02 2.79594248e-03 9.99851889e-01 -2.00866082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604630439999998 meters Centerline goodness : 0.251730 with order 2 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.53, Z:-0.20 [[ 0.9998598 -0.00127944 -0.01669581 -1.07784336] [ 0.00123106 0.99999501 -0.00290814 -0.5313741 ] [ 0.01669945 0.00288717 0.99985639 -0.20098363] [ 0. 0. 0. 1. ]] SLAMing on 27.66463044 meters Centerline goodness : 0.104410 with order 1 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.54, Z:-0.20 [[ 0.99985379 -0.00941548 -0.01427423 -1.05863895] [ 0.00938604 0.99995369 -0.00212796 -0.53593786] [ 0.01429361 0.00199367 0.99989585 -0.20035211] [ 0. 0. 0. 1. ]] SLAMing on 27.72463044 meters Centerline goodness : 0.276285 with order 1 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.54, Z:-0.20 [[ 0.9998711 -0.00939062 -0.01302281 -1.06249399] [ 0.00937333 0.99995511 -0.00138798 -0.54166391] [ 0.01303526 0.00126574 0.99991424 -0.19878143] [ 0. 0. 0. 1. ]] SLAMing on 27.784630439999997 meters Centerline goodness : 0.268300 with order 2 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.55, Z:-0.20 [[ 9.99908175e-01 -4.74027059e-04 -1.35431600e-02 -1.04367622e+00] [ 4.43365379e-04 9.99997332e-01 -2.26691022e-03 -5.50273777e-01] [ 1.35441984e-02 2.26069749e-03 9.99905718e-01 -1.97145306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84463044 meters Centerline goodness : 0.276512 with order 1 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.55, Z:-0.20 [[ 9.99908884e-01 -3.29292402e-04 -1.34950102e-02 -1.04284413e+00] [ 3.02154900e-04 9.99997928e-01 -2.01291813e-03 -5.51350768e-01] [ 1.34956451e-02 2.00865714e-03 9.99906912e-01 -1.98558486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90463044 meters Centerline goodness : 0.273402 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.55, Z:-0.20 [[ 9.99905292e-01 -6.98148788e-03 -1.18602288e-02 -1.02457896e+00] [ 6.97174311e-03 9.99975325e-01 -8.62780793e-04 -5.48532796e-01] [ 1.18659596e-02 7.80012613e-04 9.99929293e-01 -1.97052671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964630439999997 meters Centerline goodness : 0.271864 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.55, Z:-0.20 [[ 0.99994315 0.0021769 -0.01043797 -1.0065884 ] [-0.00219758 0.99999564 -0.00197085 -0.55179563] [ 0.01043364 0.00199367 0.99994358 -0.19608978] [ 0. 0. 0. 1. ]] SLAMing on 28.02463044 meters Centerline goodness : 0.274584 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.55, Z:-0.20 [[ 0.9999455 0.00221019 -0.01020318 -1.00625066] [-0.00223115 0.99999542 -0.00204339 -0.55119944] [ 0.01019862 0.00206604 0.99994586 -0.19733416] [ 0. 0. 0. 1. ]] SLAMing on 28.084630439999998 meters Centerline goodness : 0.172603 with order 3 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.55, Z:-0.20 [[ 0.99994435 0.00242525 -0.01026749 -1.00521059] [-0.00244388 0.99999539 -0.00180176 -0.55161705] [ 0.01026307 0.00182675 0.99994566 -0.19858926] [ 0. 0. 0. 1. ]] SLAMing on 28.14463044 meters Centerline goodness : 0.091027 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.55, Z:-0.20 [[ 0.99993502 0.00225747 -0.01117415 -1.0023737 ] [-0.00227602 0.99999605 -0.00164725 -0.55411201] [ 0.01117039 0.00167257 0.99993621 -0.1997088 ] [ 0. 0. 0. 1. ]] SLAMing on 28.20463044 meters Centerline goodness : 0.096428 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.56, Z:-0.20 [[ 0.99993281 0.00228917 -0.01136382 -1.00180012] [-0.00230361 0.99999655 -0.00125842 -0.55663796] [ 0.0113609 0.00128452 0.99993464 -0.19993735] [ 0. 0. 0. 1. ]] SLAMing on 28.264630439999998 meters Centerline goodness : 0.095345 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.56, Z:-0.20 [[ 9.99929840e-01 2.37649514e-03 -1.16046194e-02 -1.00091589e+00] [-2.38588787e-03 9.99996837e-01 -7.95618708e-04 -5.59402973e-01] [ 1.16026919e-02 8.23250208e-04 9.99932348e-01 -2.00391227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32463044 meters Centerline goodness : 0.238351 with order 2 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.56, Z:-0.20 [[ 9.99911403e-01 -5.00491043e-03 -1.23343775e-02 -9.79869950e-01] [ 5.00042310e-03 9.99987420e-01 -3.94619924e-04 -5.61082259e-01] [ 1.23361974e-02 3.32907856e-04 9.99923851e-01 -1.99958423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38463044 meters Centerline goodness : 0.108055 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.56, Z:-0.20 [[ 9.99912180e-01 -4.88490729e-03 -1.23195232e-02 -9.80180148e-01] [ 4.88729285e-03 9.99988044e-01 1.63541691e-04 -5.63959940e-01] [ 1.23185770e-02 -2.23736446e-04 9.99924098e-01 -1.99587916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444630439999997 meters Centerline goodness : 0.268250 with order 2 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.57, Z:-0.20 [[ 9.99910585e-01 -4.89780177e-03 -1.24431924e-02 -9.79820041e-01] [ 4.90449780e-03 9.99987844e-01 5.07670210e-04 -5.66005461e-01] [ 1.24405547e-02 -5.68652427e-04 9.99922452e-01 -1.99758698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50463044 meters Centerline goodness : 0.107075 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.57, Z:-0.20 [[ 9.99922594e-01 -4.88566436e-03 -1.14427160e-02 -9.82687010e-01] [ 4.89478840e-03 9.99987724e-01 7.69495859e-04 -5.66938923e-01] [ 1.14388161e-02 -8.25445969e-04 9.99934234e-01 -1.98961147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56463044 meters Centerline goodness : 0.266326 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.56, Z:-0.20 [[ 0.99996496 0.00203594 -0.00812029 -0.9623273 ] [-0.00205021 0.99999637 -0.00174938 -0.564826 ] [ 0.0081167 0.00176596 0.9999655 -0.20056921] [ 0. 0. 0. 1. ]] SLAMing on 28.624630439999997 meters Centerline goodness : 0.265055 with order 3 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.56, Z:-0.20 [[ 0.99996461 0.00178754 -0.0082209 -0.96173335] [-0.00180628 0.99999579 -0.00227263 -0.56223889] [ 0.0082168 0.0022874 0.99996363 -0.20115356] [ 0. 0. 0. 1. ]] SLAMing on 28.68463044 meters Centerline goodness : 0.266292 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.55, Z:-0.20 [[ 0.99996198 0.0026851 -0.00829589 -0.95991443] [-0.00270146 0.99999443 -0.00196256 -0.55423097] [ 0.00829057 0.0019849 0.99996366 -0.20319238] [ 0. 0. 0. 1. ]] SLAMing on 28.744630439999998 meters Centerline goodness : 0.271362 with order 1 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.55, Z:-0.21 [[ 0.99994428 -0.0067928 -0.008081 -0.97814945] [ 0.00678393 0.99997636 -0.00112467 -0.54689801] [ 0.00808845 0.00106979 0.99996672 -0.20519456] [ 0. 0. 0. 1. ]] SLAMing on 28.804630439999997 meters Centerline goodness : 0.267497 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.55, Z:-0.21 [[ 0.99997757 0.00115472 -0.00659796 -0.95817649] [-0.00117589 0.99999417 -0.0032046 -0.54593941] [ 0.00659422 0.00321228 0.9999731 -0.20573367] [ 0. 0. 0. 1. ]] SLAMing on 28.86463044 meters Centerline goodness : 0.106223 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.54, Z:-0.21 [[ 9.99981084e-01 8.72626023e-04 -6.08859575e-03 -9.58587421e-01] [-8.95775181e-04 9.99992377e-01 -3.80036137e-03 -5.42320483e-01] [ 6.08523304e-03 3.80574349e-03 9.99974243e-01 -2.06908170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924630439999998 meters Centerline goodness : 0.267493 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.54, Z:-0.21 [[ 0.99997542 0.00295706 -0.00635698 -0.95628836] [-0.00296944 0.99999371 -0.00193861 -0.5383062 ] [ 0.00635121 0.00195744 0.99997792 -0.20889877] [ 0. 0. 0. 1. ]] SLAMing on 28.98463044 meters Centerline goodness : 0.094884 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.53, Z:-0.21 [[ 0.99998131 0.00238981 -0.00562722 -0.9585897 ] [-0.00240778 0.99999202 -0.00318807 -0.53194406] [ 0.00561955 0.00320156 0.99997909 -0.20796323] [ 0. 0. 0. 1. ]] SLAMing on 29.04463044 meters Centerline goodness : 0.268967 with order 2 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.52, Z:-0.21 [[ 0.99997042 0.00536073 -0.00551588 -0.95677986] [-0.00536764 0.99998483 -0.00123919 -0.52132958] [ 0.00550916 0.00126876 0.99998402 -0.21052632] [ 0. 0. 0. 1. ]] SLAMing on 29.104630439999998 meters Centerline goodness : 0.110431 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.51, Z:-0.21 [[ 0.99997111 0.00495907 -0.00576021 -0.95479436] [-0.00497324 0.99998464 -0.00244865 -0.51206086] [ 0.00574798 0.00247722 0.99998041 -0.21234256] [ 0. 0. 0. 1. ]] SLAMing on 29.16463044 meters Centerline goodness : 0.088498 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.50, Z:-0.21 [[ 0.99997106 0.00419951 -0.00634439 -0.95290811] [-0.00422545 0.99998274 -0.00408115 -0.5034099 ] [ 0.00632714 0.00410784 0.99997155 -0.21293919] [ 0. 0. 0. 1. ]] SLAMing on 29.22463044 meters Centerline goodness : 0.185327 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.49, Z:-0.21 [[ 0.99995494 0.00741196 -0.0059311 -0.95286404] [-0.007424 0.99997042 -0.00201105 -0.49146549] [ 0.00591602 0.00205499 0.99998039 -0.2140614 ] [ 0. 0. 0. 1. ]] SLAMing on 29.284630439999997 meters Centerline goodness : 0.218977 with order 1 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.48, Z:-0.21 [[ 0.9999668 0.00144926 -0.00801911 -0.93515919] [-0.00146716 0.99999645 -0.00222623 -0.4796903 ] [ 0.00801585 0.00223793 0.99996537 -0.21267841] [ 0. 0. 0. 1. ]] SLAMing on 29.34463044 meters Centerline goodness : 0.094207 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.47, Z:-0.21 [[ 9.99927090e-01 -1.75005176e-03 -1.19478646e-02 -9.14897742e-01] [ 1.74967315e-03 9.99998468e-01 -4.21411861e-05 -4.70697624e-01] [ 1.19479201e-02 2.12332557e-05 9.99928621e-01 -2.11702950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40463044 meters Centerline goodness : 0.161982 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.46, Z:-0.21 [[ 0.99992615 0.00146348 -0.01206421 -0.91332169] [-0.00143461 0.99999609 0.00240123 -0.46495822] [ 0.01206768 -0.00238374 0.99992434 -0.21328638] [ 0. 0. 0. 1. ]] SLAMing on 29.464630439999997 meters Centerline goodness : 0.161354 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.46, Z:-0.21 [[ 0.99991091 0.00337998 -0.01291337 -0.9107593 ] [-0.00333907 0.99998934 0.00318843 -0.45677361] [ 0.01292401 -0.00314502 0.99991154 -0.21409859] [ 0. 0. 0. 1. ]] SLAMing on 29.52463044 meters Centerline goodness : 0.116281 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.45, Z:-0.21 [[ 0.99991544 0.00355786 -0.01250857 -0.91162642] [-0.00352188 0.9999896 0.00289781 -0.45385852] [ 0.01251874 -0.00285351 0.99991757 -0.21415203] [ 0. 0. 0. 1. ]] SLAMing on 29.584630439999998 meters Centerline goodness : 0.239459 with order 2 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.45, Z:-0.21 [[ 0.99989736 0.00718201 -0.01239742 -0.91147173] [-0.0071119 0.99995852 0.0056905 -0.44829473] [ 0.01243778 -0.00560175 0.99990696 -0.21457948] [ 0. 0. 0. 1. ]] SLAMing on 29.64463044 meters Centerline goodness : 0.189403 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.44, Z:-0.22 [[ 0.99987019 0.00986466 -0.012739 -0.90849132] [-0.00977442 0.99992683 0.00712683 -0.43901239] [ 0.01280837 -0.00700138 0.99989346 -0.21730731] [ 0. 0. 0. 1. ]] SLAMing on 29.70463044 meters Centerline goodness : 0.202294 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.43, Z:-0.22 [[ 0.99987581 0.00967707 -0.01243876 -0.90884895] [-0.0095983 0.9999336 0.00637685 -0.43443258] [ 0.01249964 -0.00625666 0.9999023 -0.21780633] [ 0. 0. 0. 1. ]] SLAMing on 29.764630439999998 meters Centerline goodness : 0.156631 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.43, Z:-0.22 [[ 0.99993055 0.00244262 -0.01152911 -0.89028245] [-0.00236116 0.99997219 0.00707439 -0.42727617] [ 0.01154607 -0.00704667 0.99990851 -0.21639777] [ 0. 0. 0. 1. ]] SLAMing on 29.82463044 meters Centerline goodness : 0.255014 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.43, Z:-0.22 [[ 0.99993322 0.00199036 -0.01138376 -0.8907434 ] [-0.00191521 0.99997633 0.00660872 -0.42610293] [ 0.01139664 -0.00658647 0.99991336 -0.2162651 ] [ 0. 0. 0. 1. ]] SLAMing on 29.88463044 meters Centerline goodness : 0.164078 with order 3 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.42, Z:-0.22 [[ 0.99994283 0.00263788 -0.01036203 -0.84710277] [-0.00258308 0.99998262 0.00529893 -0.42307207] [ 0.01037583 -0.00527186 0.99993227 -0.21592086] [ 0. 0. 0. 1. ]] SLAMing on 29.944630439999997 meters Centerline goodness : 0.185622 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.42, Z:-0.22 [[ 0.99994401 0.00252446 -0.01027627 -0.84673026] [-0.002475 0.9999853 0.00482335 -0.42027115] [ 0.01028829 -0.00479764 0.99993556 -0.21672586] [ 0. 0. 0. 1. ]] SLAMing on 30.00463044 meters Centerline goodness : 0.213141 with order 3 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.42, Z:-0.22 [[ 0.99994761 0.00255393 -0.00991255 -0.84738521] [-0.00251028 0.99998711 0.00441364 -0.41753838] [ 0.0099237 -0.00438852 0.99994113 -0.21689874] [ 0. 0. 0. 1. ]] SLAMing on 30.06463044 meters Centerline goodness : 0.221976 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.41, Z:-0.22 [[ 0.99992866 0.00612831 -0.01025309 -0.84570456] [-0.00605824 0.99995818 0.00685108 -0.40985098] [ 0.01029465 -0.00678847 0.99992397 -0.21807188] [ 0. 0. 0. 1. ]] SLAMing on 30.124630439999997 meters Centerline goodness : 0.130924 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.22 [[ 0.99989636 0.0082142 -0.01182358 -0.83930764] [-0.00811758 0.99993345 0.00819714 -0.40421923] [ 0.01189013 -0.00810031 0.9998965 -0.22159827] [ 0. 0. 0. 1. ]] SLAMing on 30.18463044 meters Centerline goodness : 0.173689 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.22 [[ 0.99989412 0.00799338 -0.01215986 -0.83781674] [-0.00790219 0.99994043 0.00752909 -0.40097206] [ 0.01221932 -0.0074322 0.99989772 -0.22269998] [ 0. 0. 0. 1. ]] SLAMing on 30.244630439999998 meters Centerline goodness : 0.174683 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.40, Z:-0.22 [[ 0.99989671 0.00775338 -0.01210155 -0.83803664] [-0.00766657 0.99994466 0.00720389 -0.39995554] [ 0.01215673 -0.00711037 0.99990082 -0.22260907] [ 0. 0. 0. 1. ]] SLAMing on 30.304630439999997 meters Centerline goodness : 0.091280 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.40, Z:-0.22 [[ 0.99991679 0.00831668 -0.00986153 -0.79346628] [-0.00825252 0.99994463 0.00652907 -0.39868767] [ 0.00991528 -0.00644714 0.99993006 -0.22349829] [ 0. 0. 0. 1. ]] SLAMing on 30.36463044 meters Centerline goodness : 0.193840 with order 3 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.39, Z:-0.23 [[ 9.99957740e-01 -6.14672926e-04 -9.17285120e-03 -8.12838924e-01] [ 6.82411089e-04 9.99972510e-01 7.38333368e-03 -3.94191991e-01] [ 9.16806070e-03 -7.38928131e-03 9.99930670e-01 -2.25205407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424630439999998 meters Centerline goodness : 0.210341 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.39, Z:-0.23 [[ 0.99991549 0.00906321 -0.00932086 -0.79061304] [-0.00899995 0.99993634 0.00680627 -0.39449538] [ 0.00938196 -0.0067218 0.9999334 -0.22561743] [ 0. 0. 0. 1. ]] SLAMing on 30.48463044 meters Centerline goodness : 0.121170 with order 3 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.39, Z:-0.23 [[ 0.99987932 0.01280778 -0.0087922 -0.79101631] [-0.01272503 0.99987482 0.0094035 -0.38640135] [ 0.00891153 -0.00929048 0.99991713 -0.22665163] [ 0. 0. 0. 1. ]] SLAMing on 30.54463044 meters Centerline goodness : 0.093775 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.38, Z:-0.23 [[ 0.99995365 0.00662732 -0.00698446 -0.81008209] [-0.00654664 0.99991232 0.01151067 -0.37547572] [ 0.00706013 -0.01146441 0.99990936 -0.22913994] [ 0. 0. 0. 1. ]] SLAMing on 30.604630439999998 meters Centerline goodness : 0.217825 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.37, Z:-0.23 [[ 0.99995332 0.00655223 -0.00710133 -0.80878996] [-0.00647489 0.99992007 0.01085953 -0.36987129] [ 0.00717191 -0.01081304 0.99991582 -0.23065555] [ 0. 0. 0. 1. ]] SLAMing on 30.66463044 meters Centerline goodness : 0.228374 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.36, Z:-0.23 [[ 0.99995723 0.00606402 -0.00698318 -0.8077209 ] [-0.00599505 0.99993346 0.00985527 -0.36247564] [ 0.00704248 -0.00981298 0.99992705 -0.23299018] [ 0. 0. 0. 1. ]] SLAMing on 30.72463044 meters Centerline goodness : 0.124284 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.36, Z:-0.23 [[ 0.99996353 0.00583684 -0.0062351 -0.80986096] [-0.00577999 0.9999419 0.00909854 -0.35700932] [ 0.00628784 -0.00906217 0.99993917 -0.23248384] [ 0. 0. 0. 1. ]] SLAMing on 30.784630439999997 meters Centerline goodness : 0.129420 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.35, Z:-0.23 [[ 0.99996676 0.00510136 -0.0063611 -0.80889987] [-0.00505224 0.99995748 0.00771509 -0.35065512] [ 0.00640018 -0.0076827 0.99995001 -0.23354087] [ 0. 0. 0. 1. ]] SLAMing on 30.84463044 meters Centerline goodness : 0.123943 with order 1 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.35, Z:-0.24 [[ 0.99996471 0.00340727 -0.00767966 -0.80397499] [-0.00336341 0.99997801 0.00571638 -0.34647846] [ 0.00769896 -0.00569034 0.99995417 -0.23622567] [ 0. 0. 0. 1. ]] SLAMing on 30.90463044 meters Centerline goodness : 0.091164 with order 1 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.34, Z:-0.24 [[ 0.99997045 -0.00486991 -0.0059479 -0.78487807] [ 0.00490721 0.99996829 0.00627182 -0.34158538] [ 0.00591717 -0.00630082 0.99996264 -0.23516177] [ 0. 0. 0. 1. ]] SLAMing on 30.964630439999997 meters Centerline goodness : 0.125095 with order 1 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.35, Z:-0.24 [[ 0.99997382 0.00291663 -0.00662219 -0.8000634 ] [-0.00289199 0.99998887 0.00372715 -0.34672251] [ 0.00663299 -0.0037079 0.99997113 -0.2368093 ] [ 0. 0. 0. 1. ]] SLAMing on 31.02463044 meters SLAMing on 31.084630439999998 meters Centerline goodness : 0.126577 with order 3 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.34, Z:-0.24 [[ 0.99993099 0.00776858 -0.00881232 -0.75277022] [-0.0077305 0.99996067 0.0043473 -0.33545467] [ 0.00884575 -0.00427888 0.99995172 -0.23868189] [ 0. 0. 0. 1. ]] SLAMing on 31.14463044 meters Centerline goodness : 0.135307 with order 3 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.33, Z:-0.24 [[ 0.99992825 0.00775126 -0.0091332 -0.75210853] [-0.00771961 0.9999641 0.003495 -0.32929295] [ 0.00915996 -0.00342425 0.99995218 -0.23854067] [ 0. 0. 0. 1. ]] SLAMing on 31.20463044 meters Centerline goodness : 0.234347 with order 3 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.32, Z:-0.24 [[ 9.99966986e-01 2.16073714e-04 -8.12285418e-03 -7.71011689e-01] [-1.78194266e-04 9.99989109e-01 4.66375193e-03 -3.20854349e-01] [ 8.12377342e-03 -4.66215052e-03 9.99956133e-01 -2.40600313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264630439999998 meters Centerline goodness : 0.211341 with order 3 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.32, Z:-0.24 [[ 9.99966434e-01 1.55196339e-04 -8.19185178e-03 -7.70310807e-01] [-1.22575810e-04 9.99992063e-01 3.98242207e-03 -3.16995097e-01] [ 8.19240482e-03 -3.98128428e-03 9.99958516e-01 -2.41500517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32463044 meters Centerline goodness : 0.126622 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.24 [[ 0.99991621 0.00907474 -0.00923119 -0.7911552 ] [-0.00904597 0.99995411 0.00315359 -0.31258841] [ 0.00925938 -0.00306983 0.99995242 -0.24213816] [ 0. 0. 0. 1. ]] SLAMing on 31.38463044 meters Centerline goodness : 0.150917 with order 3 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.30, Z:-0.25 [[ 0.99995822 0.00219545 -0.00887329 -0.80765398] [-0.00215262 0.99998601 0.00483267 -0.30312933] [ 0.00888378 -0.00481337 0.99994895 -0.24552451] [ 0. 0. 0. 1. ]] SLAMing on 31.444630439999997 meters Centerline goodness : 0.127306 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.30, Z:-0.25 [[ 0.99995683 0.00201898 -0.00906955 -0.8068484 ] [-0.00197783 0.99998772 0.00454322 -0.3022438 ] [ 0.00907862 -0.00452509 0.99994855 -0.24608966] [ 0. 0. 0. 1. ]] SLAMing on 31.50463044 meters Centerline goodness : 0.127107 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.30, Z:-0.25 [[ 9.99909418e-01 5.66509630e-03 -1.22091011e-02 -8.26685974e-01] [-5.65837208e-03 9.99983820e-01 5.85228280e-04 -3.04369769e-01] [ 1.22122189e-02 -5.16091633e-04 9.99925295e-01 -2.46644750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56463044 meters Centerline goodness : 0.124603 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.31, Z:-0.25 [[ 0.99994447 0.0031724 -0.01004997 -0.83220211] [-0.00318536 0.99999412 -0.00127327 -0.30823178] [ 0.01004587 0.00130522 0.99994869 -0.24628756] [ 0. 0. 0. 1. ]] SLAMing on 31.624630439999997 meters Centerline goodness : 0.143661 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.31, Z:-0.25 [[ 0.99994863 0.00316483 -0.00962897 -0.83353311] [-0.00317692 0.99999418 -0.00124068 -0.30817637] [ 0.00962498 0.00127121 0.99995287 -0.24582115] [ 0. 0. 0. 1. ]] SLAMing on 31.68463044 meters Centerline goodness : 0.134093 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.30, Z:-0.25 [[ 9.99914321e-01 4.96934411e-03 -1.21101660e-02 -8.25157849e-01] [-4.97057278e-03 9.99987644e-01 -7.13611730e-05 -3.04091186e-01] [ 1.21096617e-02 1.31549520e-04 9.99926667e-01 -2.49069605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744630439999998 meters SLAMing on 31.804630439999997 meters SLAMing on 31.86463044 meters Centerline goodness : 0.151826 with order 3 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.29, Z:-0.25 [[ 0.99992704 0.00637427 -0.01026081 -0.78386159] [-0.00639167 0.99997819 -0.00166386 -0.28521626] [ 0.01024998 0.00172932 0.99994597 -0.2498775 ] [ 0. 0. 0. 1. ]] SLAMing on 31.924630439999998 meters Centerline goodness : 0.142981 with order 3 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.28, Z:-0.25 [[ 9.99931769e-01 -2.00602902e-03 -1.15079856e-02 -8.01529088e-01] [ 1.99922044e-03 9.99997820e-01 -6.03113185e-04 -2.77634869e-01] [ 1.15091704e-02 5.80065033e-04 9.99933599e-01 -2.52743407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98463044 meters Centerline goodness : 0.106025 with order 2 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.27, Z:-0.25 [[ 0.99994157 -0.00267253 -0.01047477 -0.80440413] [ 0.00265795 0.99999548 -0.00140515 -0.27499932] [ 0.01047848 0.00137723 0.99994415 -0.25207602] [ 0. 0. 0. 1. ]] SLAMing on 32.04463044 meters Centerline goodness : 0.231271 with order 3 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.28, Z:-0.25 [[ 0.99992438 0.0046178 -0.01139746 -0.8228262 ] [-0.00464964 0.99998536 -0.00276879 -0.27799593] [ 0.0113845 0.00282157 0.99993121 -0.2535377 ] [ 0. 0. 0. 1. ]] SLAMing on 32.10463044 meters Centerline goodness : 0.100558 with order 2 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.27, Z:-0.25 [[ 0.99992865 0.00416158 -0.01119674 -0.8228018 ] [-0.00420246 0.99998458 -0.00363074 -0.27444447] [ 0.01118146 0.00367753 0.99993072 -0.25433531] [ 0. 0. 0. 1. ]] SLAMing on 32.164630439999996 meters Centerline goodness : 0.101005 with order 2 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.27, Z:-0.25 [[ 0.9999319 0.00398117 -0.01097022 -0.82333606] [-0.00402849 0.99998266 -0.00429506 -0.27073795] [ 0.01095293 0.00433897 0.9999306 -0.2544372 ] [ 0. 0. 0. 1. ]] SLAMing on 32.22463044 meters Centerline goodness : 0.105982 with order 1 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.26, Z:-0.26 [[ 9.99888010e-01 -6.97940371e-04 -1.49492321e-02 -7.99852690e-01] [ 6.47523035e-04 9.99994088e-01 -3.37714509e-03 -2.58349601e-01] [ 1.49515007e-02 3.36708692e-03 9.99882551e-01 -2.55908559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28463044 meters Centerline goodness : 0.111794 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.26, Z:-0.26 [[ 0.99989881 0.00418778 -0.01359531 -0.82362646] [-0.00427882 0.99996858 -0.00667361 -0.26101948] [ 0.01356694 0.00673111 0.99988531 -0.25571791] [ 0. 0. 0. 1. ]] SLAMing on 32.344630439999996 meters Centerline goodness : 0.096400 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.26, Z:-0.26 [[ 0.99989028 0.00431352 -0.0141713 -0.82169169] [-0.004402 0.99997098 -0.00621827 -0.26296404] [ 0.01414406 0.00627997 0.99988025 -0.25661783] [ 0. 0. 0. 1. ]] SLAMing on 32.40463044 meters Centerline goodness : 0.098362 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.26, Z:-0.26 [[ 0.9998869 0.003961 -0.01450847 -0.81980865] [-0.00406044 0.99996843 -0.00683073 -0.26134131] [ 0.01448095 0.00688887 0.99987141 -0.25811311] [ 0. 0. 0. 1. ]] SLAMing on 32.46463044 meters Centerline goodness : 0.100112 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.26, Z:-0.26 [[ 0.99986204 0.00768941 -0.01472337 -0.81919076] [-0.00774619 0.99996276 -0.00380335 -0.25691681] [ 0.01469357 0.00391687 0.99988437 -0.25835423] [ 0. 0. 0. 1. ]] SLAMing on 32.524630439999996 meters Centerline goodness : 0.101987 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.25, Z:-0.26 [[ 0.99990676 0.0013873 -0.01358476 -0.83535751] [-0.00141962 0.99999618 -0.00236993 -0.24683721] [ 0.01358142 0.00238899 0.99990491 -0.2615708 ] [ 0. 0. 0. 1. ]] SLAMing on 32.58463044 meters Centerline goodness : 0.108291 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.24, Z:-0.26 [[ 0.99990474 0.00134189 -0.01373699 -0.8345397 ] [-0.00138147 0.99999492 -0.00287225 -0.24375065] [ 0.01373307 0.00289096 0.99990152 -0.26242566] [ 0. 0. 0. 1. ]] SLAMing on 32.64463044 meters Centerline goodness : 0.109919 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.24, Z:-0.26 [[ 0.99991426 0.00124191 -0.01303612 -0.83556612] [-0.00128478 0.99999379 -0.00328038 -0.24118667] [ 0.01303196 0.00329685 0.99990965 -0.26339244] [ 0. 0. 0. 1. ]] SLAMing on 32.704630439999995 meters Centerline goodness : 0.246014 with order 3 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.26 [[ 9.99864159e-01 -5.97755273e-04 -1.64713464e-02 -8.78006276e-01] [ 5.21873730e-04 9.99989234e-01 -4.61079485e-03 -2.39121036e-01] [ 1.64739252e-02 4.60157255e-03 9.99853707e-01 -2.63765400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76463044 meters Centerline goodness : 0.117514 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.27 [[ 9.99851390e-01 -7.22768900e-04 -1.72242644e-02 -8.75360980e-01] [ 6.36536811e-04 9.99987240e-01 -5.01138748e-03 -2.36885380e-01] [ 1.72276667e-02 4.99967886e-03 9.99839092e-01 -2.65202603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82463044 meters Centerline goodness : 0.181426 with order 3 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.23, Z:-0.27 [[ 9.99851063e-01 -7.17225475e-04 -1.72435025e-02 -8.74475447e-01] [ 6.25626350e-04 9.99985669e-01 -5.31690275e-03 -2.34504954e-01] [ 1.72470688e-02 5.30532287e-03 9.99837183e-01 -2.66457784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884630439999995 meters Centerline goodness : 0.108524 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.23, Z:-0.27 [[ 0.99987035 -0.00112062 -0.01606301 -0.87792128] [ 0.00102921 0.99998324 -0.00569772 -0.23316797] [ 0.01606913 0.00568045 0.99985475 -0.26541254] [ 0. 0. 0. 1. ]] SLAMing on 32.94463044 meters Centerline goodness : 0.111159 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.27 [[ 0.99978409 -0.00424948 -0.02033979 -0.9172467 ] [ 0.00409491 0.99996247 -0.00763503 -0.23614475] [ 0.02037147 0.00755009 0.99976397 -0.26664741] [ 0. 0. 0. 1. ]] SLAMing on 33.00463044 meters Centerline goodness : 0.115800 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.27 [[ 0.99976427 -0.00705981 -0.02053215 -0.91505049] [ 0.00687865 0.99993691 -0.00888024 -0.2438482 ] [ 0.02059355 0.00873691 0.99974975 -0.26940274] [ 0. 0. 0. 1. ]] SLAMing on 33.06463044 meters Centerline goodness : 0.102670 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.27 [[ 0.99973645 -0.01078753 -0.02026463 -0.9153587 ] [ 0.01054692 0.99987306 -0.01194294 -0.24723539] [ 0.02039089 0.01172606 0.99972332 -0.26980513] [ 0. 0. 0. 1. ]] SLAMing on 33.12463044 meters Centerline goodness : 0.262711 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.25, Z:-0.27 [[ 0.99972885 -0.01070724 -0.02067787 -0.91455678] [ 0.01046721 0.99987698 -0.01168174 -0.24879115] [ 0.0208004 0.01146213 0.99971794 -0.26949341] [ 0. 0. 0. 1. ]] SLAMing on 33.18463044 meters Centerline goodness : 0.106236 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.25, Z:-0.27 [[ 0.99972884 -0.0102608 -0.0209036 -0.91366409] [ 0.010034 0.99988997 -0.01092573 -0.2516565 ] [ 0.0210134 0.01071302 0.9997218 -0.26989369] [ 0. 0. 0. 1. ]] SLAMing on 33.24463044 meters Centerline goodness : 0.113048 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.26, Z:-0.27 [[ 0.99977111 -0.00326334 -0.02114412 -0.89614968] [ 0.00299968 0.99991751 -0.01248936 -0.25933773] [ 0.02118313 0.01242307 0.99969843 -0.26780386] [ 0. 0. 0. 1. ]] SLAMing on 33.30463044 meters Centerline goodness : 0.093144 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.26, Z:-0.27 [[ 0.9997352 -0.00198241 -0.0229261 -0.89044676] [ 0.00172582 0.99993572 -0.01120645 -0.26240371] [ 0.02294684 0.01116392 0.99967435 -0.26959816] [ 0. 0. 0. 1. ]] SLAMing on 33.36463044 meters Centerline goodness : 0.095033 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.26, Z:-0.27 [[ 0.99972583 -0.00181319 -0.02334481 -0.88901463] [ 0.00155833 0.99993904 -0.01093096 -0.26355664] [ 0.0233632 0.01089159 0.99966771 -0.270161 ] [ 0. 0. 0. 1. ]] SLAMing on 33.42463044 meters Centerline goodness : 0.183618 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.27, Z:-0.27 [[ 0.99971188 -0.00165799 -0.02394597 -0.88748294] [ 0.00140846 0.99994458 -0.01043365 -0.26667091] [ 0.02396194 0.01039691 0.99965881 -0.27035002] [ 0. 0. 0. 1. ]] SLAMing on 33.48463044 meters Centerline goodness : 0.237762 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.27, Z:-0.27 [[ 9.99724214e-01 -7.48447698e-04 -2.34720287e-02 -8.89029276e-01] [ 5.27578279e-04 9.99955542e-01 -9.41468015e-03 -2.69210730e-01] [ 2.34780316e-02 9.39970038e-03 9.99680163e-01 -2.69676239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54463044 meters Centerline goodness : 0.109351 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.27, Z:-0.27 [[ 0.99965329 0.00801719 -0.0250803 -0.9083403 ] [-0.00826952 0.99991607 -0.00997322 -0.27243987] [ 0.02499824 0.01017717 0.99963569 -0.27163306] [ 0. 0. 0. 1. ]] SLAMing on 33.60463044 meters Centerline goodness : 0.114449 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.27, Z:-0.27 [[ 0.99964095 0.00373028 -0.02653388 -0.88764485] [-0.00389679 0.99997302 -0.00622661 -0.26857739] [ 0.02650993 0.00632777 0.99962852 -0.27005172] [ 0. 0. 0. 1. ]] SLAMing on 33.664630439999996 meters Centerline goodness : 0.118075 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.27, Z:-0.27 [[ 0.99964055 0.00381168 -0.02653771 -0.88789272] [-0.0039669 0.99997532 -0.00579898 -0.27105129] [ 0.02651495 0.00590217 0.99963099 -0.2696761 ] [ 0. 0. 0. 1. ]] SLAMing on 33.72463044 meters Centerline goodness : 0.123263 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.27, Z:-0.27 [[ 9.99660572e-01 1.17163740e-04 -2.60523997e-02 -8.88982591e-01] [-3.57943080e-04 9.99957268e-01 -9.23764618e-03 -2.72398396e-01] [ 2.60502041e-02 9.24383594e-03 9.99617896e-01 -2.69782851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78463044 meters Centerline goodness : 0.119379 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99658250e-01 8.94450249e-05 -2.61414589e-02 -8.88584784e-01] [-3.12037447e-04 9.99963732e-01 -8.51096445e-03 -2.76760675e-01] [ 2.61397496e-02 8.51621293e-03 9.99622022e-01 -2.70030550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844630439999996 meters Centerline goodness : 0.116200 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99660551e-01 2.52961971e-04 -2.60522446e-02 -8.89176704e-01] [-4.57126249e-04 9.99969232e-01 -7.83106765e-03 -2.80244120e-01] [ 2.60494620e-02 7.84031856e-03 9.99629909e-01 -2.69413852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90463044 meters Centerline goodness : 0.119756 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99689047e-01 -1.97582963e-04 -2.49353021e-02 -8.93019016e-01] [ 5.53820072e-06 9.99970343e-01 -7.70155596e-03 -2.82182813e-01] [ 2.49360843e-02 7.69902304e-03 9.99659400e-01 -2.68019849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96463044 meters Centerline goodness : 0.250804 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99685190e-01 -7.89672020e-05 -2.50901448e-02 -8.92568971e-01] [-1.04043603e-04 9.99973402e-01 -7.29274190e-03 -2.83806730e-01] [ 2.50900533e-02 7.29305654e-03 9.99658592e-01 -2.68195665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024630439999996 meters Centerline goodness : 0.122344 with order 1 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.28, Z:-0.27 [[ 0.999588 -0.00791588 -0.02758918 -0.86823747] [ 0.00772821 0.99994631 -0.00690231 -0.28095087] [ 0.02764233 0.00668625 0.99959552 -0.26805489] [ 0. 0. 0. 1. ]] SLAMing on 34.08463044 meters Centerline goodness : 0.250677 with order 3 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 0.99960993 -0.01136529 -0.025511 -0.8750898 ] [ 0.01115422 0.9999025 -0.00840068 -0.28870715] [ 0.02560398 0.00811285 0.99963924 -0.26680308] [ 0. 0. 0. 1. ]] SLAMing on 34.14463044 meters Centerline goodness : 0.212408 with order 3 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:-0.27 [[ 0.99955031 -0.01452721 -0.02623238 -0.87219081] [ 0.0142574 0.99984382 -0.01044347 -0.2941238 ] [ 0.02638 0.01006477 0.99960132 -0.26908035] [ 0. 0. 0. 1. ]] SLAMing on 34.204630439999995 meters Centerline goodness : 0.106410 with order 1 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.30, Z:-0.27 [[ 0.99955874 -0.01500006 -0.02563829 -0.87425518] [ 0.01474526 0.99984028 -0.01009896 -0.29676239] [ 0.02578568 0.00971646 0.99962027 -0.26894964] [ 0. 0. 0. 1. ]] SLAMing on 34.26463044 meters Centerline goodness : 0.253595 with order 3 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.30, Z:-0.27 [[ 0.99969063 -0.00628023 -0.02406659 -0.85644357] [ 0.00602409 0.9999246 -0.01070098 -0.29926059] [ 0.02413198 0.01055269 0.99965308 -0.26696062] [ 0. 0. 0. 1. ]] SLAMing on 34.32463044 meters Centerline goodness : 0.120579 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.30, Z:-0.27 [[ 0.99965782 -0.00405741 -0.02584156 -0.85034675] [ 0.00382962 0.99995343 -0.00885844 -0.29535101] [ 0.0258763 0.00875644 0.9996268 -0.26910242] [ 0. 0. 0. 1. ]] SLAMing on 34.384630439999995 meters Centerline goodness : 0.255847 with order 3 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:-0.27 [[ 0.99963227 -0.00241884 -0.02700874 -0.84569452] [ 0.00220285 0.99996538 -0.00802405 -0.28849477] [ 0.02702721 0.00796161 0.99960299 -0.27132853] [ 0. 0. 0. 1. ]] SLAMing on 34.44463044 meters Centerline goodness : 0.260013 with order 3 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.28, Z:-0.27 [[ 9.99672957e-01 -4.07519687e-04 -2.55697772e-02 -8.52152751e-01] [ 2.42599329e-04 9.99979152e-01 -6.45258665e-03 -2.83995084e-01] [ 2.55718737e-02 6.44427316e-03 9.99652215e-01 -2.67724553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50463044 meters Centerline goodness : 0.110102 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.28, Z:-0.27 [[ 0.99964344 0.00267755 -0.02656722 -0.84832677] [-0.00279167 0.99998703 -0.00425912 -0.27797018] [ 0.02655548 0.00433177 0.99963796 -0.26938671] [ 0. 0. 0. 1. ]] SLAMing on 34.56463044 meters Centerline goodness : 0.115103 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.27, Z:-0.27 [[ 0.99961994 0.00452914 -0.0271929 -0.84696531] [-0.00461532 0.99998452 -0.00310731 -0.27283955] [ 0.0271784 0.00323164 0.99962538 -0.26918609] [ 0. 0. 0. 1. ]] SLAMing on 34.62463044 meters Centerline goodness : 0.112466 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.27, Z:-0.27 [[ 0.99959602 0.00540067 -0.02790397 -0.84539451] [-0.0054822 0.99998092 -0.00284609 -0.2713415 ] [ 0.02788806 0.00299791 0.99960656 -0.2688199 ] [ 0. 0. 0. 1. ]] SLAMing on 34.68463044 meters Centerline goodness : 0.117330 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.27, Z:-0.27 [[ 0.9995376 0.00695404 -0.02960101 -0.83819577] [-0.00699532 0.9999747 -0.00129126 -0.27350468] [ 0.02959128 0.00149773 0.99956096 -0.27289644] [ 0. 0. 0. 1. ]] SLAMing on 34.74463044 meters Centerline goodness : 0.112018 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.27, Z:-0.27 [[ 9.99529236e-01 7.22364893e-03 -2.98181934e-02 -8.37382348e-01] [-7.25468054e-03 9.99973250e-01 -9.32638753e-04 -2.74710882e-01] [ 2.98106587e-02 1.14852117e-03 9.99554904e-01 -2.73236655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80463044 meters Centerline goodness : 0.108286 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.28, Z:-0.27 [[ 9.99501284e-01 7.49873799e-03 -3.06749569e-02 -8.35864724e-01] [-7.51722581e-03 9.99971626e-01 -4.87421227e-04 -2.77237549e-01] [ 3.06704315e-02 7.17768720e-04 9.99529294e-01 -2.72209145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86463044 meters Centerline goodness : 0.111920 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.28, Z:-0.27 [[ 9.99491399e-01 7.72760338e-03 -3.09390851e-02 -8.35367607e-01] [-7.73483410e-03 9.99970079e-01 -1.14030315e-04 -2.79006942e-01] [ 3.09372782e-02 3.53281009e-04 9.99521265e-01 -2.71943476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92463044 meters Centerline goodness : 0.246542 with order 3 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.28, Z:-0.27 [[ 9.99589413e-01 9.62095766e-04 -2.86370524e-02 -8.17462792e-01] [-8.93739129e-04 9.99996721e-01 2.39970369e-03 -2.78088089e-01] [ 2.86392672e-02 -2.37312435e-03 9.99586995e-01 -2.71152991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98463044 meters Centerline goodness : 0.119846 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.28, Z:-0.27 [[ 9.99625925e-01 -1.47311736e-03 -2.73100793e-02 -8.22874898e-01] [ 1.49288250e-03 9.99998638e-01 7.03355428e-04 -2.84125719e-01] [ 2.73090060e-02 -7.43863060e-04 9.99626763e-01 -2.68412582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04463044 meters Centerline goodness : 0.127955 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.27 [[ 9.99642605e-01 -3.87537122e-03 -2.64507726e-02 -8.26774103e-01] [ 3.85085168e-03 9.99992107e-01 -9.77862872e-04 -2.90004887e-01] [ 2.64543534e-02 8.75655387e-04 9.99649639e-01 -2.66244815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10463044 meters Centerline goodness : 0.112452 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.27 [[ 9.99648488e-01 -3.50652792e-03 -2.62793749e-02 -8.26854351e-01] [ 3.49995860e-03 9.99993831e-01 -2.95972423e-04 -2.92694098e-01] [ 2.62802507e-02 2.03891660e-04 9.99654594e-01 -2.66653789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164630439999996 meters Centerline goodness : 0.111313 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.27 [[ 9.99647832e-01 -3.62118060e-03 -2.62887526e-02 -8.26228182e-01] [ 3.61464429e-03 9.99993423e-01 -2.96151546e-04 -2.93946753e-01] [ 2.62896521e-02 2.01022762e-04 9.99654347e-01 -2.67483660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22463044 meters Centerline goodness : 0.112115 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.30, Z:-0.27 [[ 9.99643588e-01 -3.38827498e-03 -2.64805069e-02 -8.26466430e-01] [ 3.39307383e-03 9.99994234e-01 1.36290844e-04 -2.95994406e-01] [ 2.64798924e-02 -2.26092583e-04 9.99649321e-01 -2.66470264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28463044 meters Centerline goodness : 0.117949 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.9997064 0.00254489 -0.02409643 -0.84264566] [-0.00257064 0.99999616 -0.00103763 -0.30102019] [ 0.0240937 0.00109927 0.9997091 -0.2700733 ] [ 0. 0. 0. 1. ]] SLAMing on 35.344630439999996 meters Centerline goodness : 0.127920 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.99969101 0.00255175 -0.02472592 -0.84052306] [-0.00258518 0.99999579 -0.0013199 -0.29986055] [ 0.02472245 0.00138341 0.9996934 -0.27083726] [ 0. 0. 0. 1. ]] SLAMing on 35.40463044 meters Centerline goodness : 0.121054 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.99969905 0.00311729 -0.02433299 -0.84176944] [-0.00314307 0.99999454 -0.00102111 -0.29876182] [ 0.02432967 0.00109728 0.99970339 -0.27050614] [ 0. 0. 0. 1. ]] SLAMing on 35.46463044 meters Centerline goodness : 0.139133 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.99969629 0.00302417 -0.02445761 -0.84104362] [-0.00305509 0.99999458 -0.00122681 -0.29818553] [ 0.02445376 0.00130116 0.99970012 -0.27116642] [ 0. 0. 0. 1. ]] SLAMing on 35.524630439999996 meters Centerline goodness : 0.160016 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.99968887 0.00295798 -0.02476729 -0.84043541] [-0.00299233 0.99999461 -0.00134962 -0.29784673] [ 0.02476317 0.00142332 0.99969233 -0.27103527] [ 0. 0. 0. 1. ]] SLAMing on 35.58463044 meters Centerline goodness : 0.098504 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.9996783 0.00300372 -0.02518493 -0.83955148] [-0.00303975 0.99999441 -0.00139222 -0.29713769] [ 0.02518061 0.00146832 0.99968184 -0.27088455] [ 0. 0. 0. 1. ]] SLAMing on 35.64463044 meters Centerline goodness : 0.239016 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.27 [[ 0.99967931 0.00280522 -0.02516761 -0.83948001] [-0.0028486 0.99999452 -0.00168805 -0.29648873] [ 0.02516274 0.0017592 0.99968182 -0.27103842] [ 0. 0. 0. 1. ]] SLAMing on 35.704630439999995 meters Centerline goodness : 0.120104 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:-0.27 [[ 9.99717823e-01 4.85308177e-03 -2.32534361e-02 -8.46750438e-01] [-4.85181030e-03 9.99988224e-01 1.11097115e-04 -2.93903839e-01] [ 2.32537014e-02 1.75549476e-06 9.99729596e-01 -2.67756865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76463044 meters Centerline goodness : 0.170394 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.29, Z:-0.27 [[ 9.99699855e-01 5.00061204e-03 -2.39832018e-02 -8.44977267e-01] [-5.01237747e-03 9.99987345e-01 -4.30479187e-04 -2.89249641e-01] [ 2.39807456e-02 5.50562841e-04 9.99712269e-01 -2.68035083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82463044 meters Centerline goodness : 0.134725 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.28, Z:-0.27 [[ 0.99965104 0.00752981 -0.02532 -0.83934162] [-0.0074917 0.99997066 0.00159975 -0.28483691] [ 0.02533131 -0.0014095 0.99967812 -0.27096148] [ 0. 0. 0. 1. ]] SLAMing on 35.884630439999995 meters Centerline goodness : 0.108494 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.28, Z:-0.27 [[ 9.99662057e-01 7.12306473e-03 -2.50006935e-02 -8.40562489e-01] [-7.10172303e-03 9.99974338e-01 9.42329430e-04 -2.82580672e-01] [ 2.50067642e-02 -7.64462975e-04 9.99686990e-01 -2.70286112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94463044 meters Centerline goodness : 0.239172 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.28, Z:-0.27 [[ 0.99969313 0.00343615 -0.02453237 -0.84244071] [-0.00350796 0.99998969 -0.00288474 -0.2801575 ] [ 0.0245222 0.00296991 0.99969487 -0.26953687] [ 0. 0. 0. 1. ]] SLAMing on 36.00463044 meters Centerline goodness : 0.117149 with order 1 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.28, Z:-0.27 [[ 0.99970368 -0.00561056 -0.02368695 -0.86534373] [ 0.00556092 0.9999822 -0.00216093 -0.27747556] [ 0.02369865 0.00202856 0.99971709 -0.26993247] [ 0. 0. 0. 1. ]] SLAMing on 36.064630439999995 meters Centerline goodness : 0.098841 with order 1 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.28, Z:-0.27 [[ 0.99966141 -0.00670459 -0.02514185 -0.86082757] [ 0.00663387 0.9999738 -0.00289509 -0.28018996] [ 0.0251606 0.00272732 0.9996797 -0.27122091] [ 0. 0. 0. 1. ]] SLAMing on 36.12463044 meters Centerline goodness : 0.215202 with order 3 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.28, Z:-0.27 [[ 0.99965413 -0.00670071 -0.0254309 -0.8595558 ] [ 0.00663637 0.99997456 -0.00261355 -0.28237321] [ 0.02544777 0.00244388 0.99967317 -0.27201587] [ 0. 0. 0. 1. ]] SLAMing on 36.18463044 meters Centerline goodness : 0.087940 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99753889e-01 -5.56717001e-04 -2.21777365e-02 -8.79481703e-01] [ 4.85885767e-04 9.99994765e-01 -3.19905964e-03 -2.90293791e-01] [ 2.21794014e-02 3.18749647e-03 9.99748925e-01 -2.73721883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24463044 meters Centerline goodness : 0.101210 with order 3 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99778645e-01 1.98861167e-04 -2.10385821e-02 -8.82940216e-01] [-2.55191421e-04 9.99996390e-01 -2.67482301e-03 -2.90166888e-01] [ 2.10379743e-02 2.67959979e-03 9.99775086e-01 -2.72547069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30463044 meters Centerline goodness : 0.278837 with order 3 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99784034e-01 4.79677106e-04 -2.07763361e-02 -8.83601555e-01] [-5.41017949e-04 9.99995511e-01 -2.94691780e-03 -2.87524568e-01] [ 2.07748293e-02 2.95752173e-03 9.99779806e-01 -2.72607006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36463044 meters Centerline goodness : 0.107813 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.28, Z:-0.27 [[ 9.99769164e-01 4.25762228e-03 -2.10592110e-02 -8.82861181e-01] [-4.25318341e-03 9.99990923e-01 2.55565422e-04 -2.83697756e-01] [ 2.10601079e-02 -1.65937741e-04 9.99778198e-01 -2.72769902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42463044 meters Centerline goodness : 0.109234 with order 2 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.28, Z:-0.27 [[ 9.99792095e-01 4.39062542e-04 -2.03856099e-02 -8.84493099e-01] [-5.13631661e-04 9.99993196e-01 -3.65283748e-03 -2.82650349e-01] [ 2.03838674e-02 3.66254873e-03 9.99785519e-01 -2.72810267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48463044 meters Centerline goodness : 0.119538 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99804598e-01 6.72932413e-04 -1.97563495e-02 -8.86902470e-01] [-7.36864299e-04 9.99994516e-01 -3.22891588e-03 -2.83534038e-01] [ 1.97540684e-02 3.24284269e-03 9.99799610e-01 -2.71505502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54463044 meters Centerline goodness : 0.120945 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.28, Z:-0.27 [[ 9.99802019e-01 7.84395324e-04 -1.98823553e-02 -8.86505603e-01] [-8.46571749e-04 9.99994778e-01 -3.11899246e-03 -2.83605305e-01] [ 1.98798050e-02 3.13520680e-03 9.99797461e-01 -2.71627596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60463044 meters Centerline goodness : 0.126788 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99775287e-01 -7.65238017e-04 -2.11846557e-02 -8.81126729e-01] [ 6.69545332e-04 9.99989543e-01 -4.52379965e-03 -2.85251612e-01] [ 2.11878960e-02 4.50859901e-03 9.99765345e-01 -2.74211471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664630439999996 meters Centerline goodness : 0.128709 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99771790e-01 -5.71241071e-04 -2.13551173e-02 -8.81126869e-01] [ 4.85631151e-04 9.99991827e-01 -4.01384248e-03 -2.87509985e-01] [ 2.13572356e-02 4.00255577e-03 9.99763896e-01 -2.73601333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72463044 meters Centerline goodness : 0.128223 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99777402e-01 -6.03027114e-04 -2.10898511e-02 -8.82155928e-01] [ 5.21122722e-04 9.99992303e-01 -3.88887290e-03 -2.88581925e-01] [ 2.10920339e-02 3.87701684e-03 9.99770021e-01 -2.72978397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78463044 meters Centerline goodness : 0.125680 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:-0.27 [[ 9.99796485e-01 -3.50130024e-04 -2.01709176e-02 -8.84631758e-01] [ 2.67462676e-04 9.99991556e-01 -4.10089544e-03 -2.86084815e-01] [ 2.01721831e-02 4.09466588e-03 9.99788136e-01 -2.72593084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844630439999996 meters Centerline goodness : 0.233863 with order 3 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.29, Z:-0.27 [[ 0.99971124 0.00833354 -0.02253858 -0.90424343] [-0.00843784 0.99995411 -0.00453631 -0.28656591] [ 0.02249974 0.00472518 0.99973568 -0.27348853] [ 0. 0. 0. 1. ]] SLAMing on 36.90463044 meters Centerline goodness : 0.127271 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.28, Z:-0.27 [[ 0.99969252 0.00817615 -0.02340969 -0.90151376] [-0.00829734 0.99995265 -0.0050844 -0.2840162 ] [ 0.02336701 0.00527707 0.99971303 -0.27456533] [ 0. 0. 0. 1. ]] SLAMing on 36.96463044 meters Centerline goodness : 0.118502 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.28, Z:-0.27 [[ 9.99765154e-01 2.14460493e-04 -2.16700329e-02 -8.84417617e-01] [-2.92107460e-04 9.99993549e-01 -3.58004766e-03 -2.80559469e-01] [ 2.16691253e-02 3.58553688e-03 9.99758767e-01 -2.71627953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024630439999996 meters Centerline goodness : 0.130153 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:-0.27 [[ 0.99983322 -0.00297662 -0.01801892 -0.92631875] [ 0.00289854 0.9999863 -0.0043578 -0.28361338] [ 0.01803164 0.00430484 0.99982815 -0.27397906] [ 0. 0. 0. 1. ]] SLAMing on 37.08463044 meters Centerline goodness : 0.121181 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:-0.27 [[ 0.99983088 -0.00306927 -0.01813257 -0.92583301] [ 0.00298919 0.99998567 -0.00444159 -0.28390382] [ 0.01814594 0.00438663 0.99982573 -0.27427756] [ 0. 0. 0. 1. ]] SLAMing on 37.14463044 meters Centerline goodness : 0.224767 with order 3 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:-0.27 [[ 0.99982916 -0.00301474 -0.01823655 -0.92540831] [ 0.00293194 0.99998528 -0.00456539 -0.28301299] [ 0.01825005 0.00451114 0.99982328 -0.27461086] [ 0. 0. 0. 1. ]] SLAMing on 37.204630439999995 meters Centerline goodness : 0.108378 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:-0.27 [[ 0.99982952 -0.00301805 -0.01821626 -0.92541676] [ 0.00293013 0.99998394 -0.00485135 -0.2812873 ] [ 0.01823061 0.00479715 0.9998223 -0.27473683] [ 0. 0. 0. 1. ]] SLAMing on 37.26463044 meters Centerline goodness : 0.436588 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.28, Z:-0.27 [[ 0.99985767 0.00515609 -0.01606426 -0.94901563] [-0.00523876 0.99997323 -0.00510823 -0.28255049] [ 0.01603749 0.00519166 0.99985791 -0.27457572] [ 0. 0. 0. 1. ]] SLAMing on 37.32463044 meters Centerline goodness : 0.393868 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.28, Z:-0.27 [[ 0.99986795 0.00517675 -0.01540415 -0.95094257] [-0.00526228 0.99997094 -0.00551682 -0.27937594] [ 0.01537514 0.00559716 0.99986613 -0.27403538] [ 0. 0. 0. 1. ]] SLAMing on 37.384630439999995 meters Centerline goodness : 0.102512 with order 3 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.28, Z:-0.27 [[ 0.99987295 0.00485751 -0.01518191 -0.95198642] [-0.00495363 0.99996789 -0.00629996 -0.27590941] [ 0.01515082 0.00637437 0.9998649 -0.27329864] [ 0. 0. 0. 1. ]] SLAMing on 37.44463044 meters Centerline goodness : 0.105603 with order 1 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.27, Z:-0.27 [[ 0.99987799 0.00476927 -0.01487461 -0.95277982] [-0.00487218 0.99996439 -0.00688999 -0.27179508] [ 0.01484122 0.00696162 0.99986563 -0.27329956] [ 0. 0. 0. 1. ]] SLAMing on 37.50463044 meters Centerline goodness : 0.244019 with order 3 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 0.99987339 -0.00385893 -0.01543752 -0.97243239] [ 0.00376679 0.99997495 -0.00599278 -0.2673116 ] [ 0.01546025 0.00593387 0.99986288 -0.27474616] [ 0. 0. 0. 1. ]] SLAMing on 37.564630439999995 meters Centerline goodness : 0.107855 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 0.99986797 -0.00392435 -0.01576858 -0.97182588] [ 0.00383236 0.99997549 -0.00585943 -0.26825672] [ 0.01579119 0.00579823 0.9998585 -0.2745023 ] [ 0. 0. 0. 1. ]] SLAMing on 37.62463044 meters Centerline goodness : 0.110809 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 0.99985893 -0.00442599 -0.01620296 -0.97071874] [ 0.00433524 0.99997475 -0.00563159 -0.27183891] [ 0.01622748 0.00556055 0.99985286 -0.27448204] [ 0. 0. 0. 1. ]] SLAMing on 37.68463044 meters Centerline goodness : 0.109306 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.27 [[ 0.99986048 -0.00438317 -0.0161186 -0.9705522 ] [ 0.00430231 0.999978 -0.00504805 -0.27540395] [ 0.01614037 0.004978 0.99985734 -0.27494064] [ 0. 0. 0. 1. ]] SLAMing on 37.74463044 meters Centerline goodness : 0.109883 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.27 [[ 0.99986111 -0.00420293 -0.01612741 -0.97045713] [ 0.00413229 0.99998173 -0.00441087 -0.27876985] [ 0.01614566 0.00434362 0.99986022 -0.27495865] [ 0. 0. 0. 1. ]] SLAMing on 37.80463044 meters Centerline goodness : 0.108898 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 0.99984142 -0.00445908 -0.01724097 -0.96721625] [ 0.00438282 0.99998046 -0.00445811 -0.28080393] [ 0.01726052 0.00438184 0.99984142 -0.27584944] [ 0. 0. 0. 1. ]] SLAMing on 37.86463044 meters Centerline goodness : 0.108512 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 0.99983731 -0.00418493 -0.0175452 -0.96619795] [ 0.00410676 0.99998149 -0.00448906 -0.2793051 ] [ 0.01756366 0.00441627 0.99983599 -0.27641496] [ 0. 0. 0. 1. ]] SLAMing on 37.92463044 meters Centerline goodness : 0.111263 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:-0.28 [[ 0.99989875 0.00397476 -0.01366339 -0.99267149] [-0.00403652 0.99998175 -0.00449563 -0.28059322] [ 0.01364527 0.00455033 0.99989655 -0.27577034] [ 0. 0. 0. 1. ]] SLAMing on 37.98463044 meters Centerline goodness : 0.175928 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:-0.28 [[ 0.99989214 0.00401587 -0.01412757 -0.99095302] [-0.00408642 0.99997931 -0.00496834 -0.27730508] [ 0.01410732 0.00502554 0.99988786 -0.27685646] [ 0. 0. 0. 1. ]] SLAMing on 38.04463044 meters Centerline goodness : 0.116610 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99831643e-01 -1.92852308e-04 -1.83480021e-02 -9.66437331e-01] [ 1.34670414e-04 9.99994959e-01 -3.17220340e-03 -2.69084897e-01] [ 1.83485214e-02 3.16919840e-03 9.99826629e-01 -2.78104733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10463044 meters Centerline goodness : 0.126171 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99831917e-01 -4.87518938e-04 -1.83275679e-02 -9.66459950e-01] [ 4.24942376e-04 9.99994068e-01 -3.41808011e-03 -2.68946188e-01] [ 1.83291256e-02 3.40971743e-03 9.99826193e-01 -2.78137129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164630439999996 meters Centerline goodness : 0.120852 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99840313e-01 -4.97669202e-04 -1.78634048e-02 -9.68135544e-01] [ 4.45147321e-04 9.99995567e-01 -2.94405012e-03 -2.71623652e-01] [ 1.78647908e-02 2.93562815e-03 9.99836102e-01 -2.77222323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22463044 meters Centerline goodness : 0.254698 with order 3 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 9.99822543e-01 -6.77688682e-04 -1.88261409e-02 -9.64801167e-01] [ 6.28671899e-04 9.99996398e-01 -2.60945164e-03 -2.75066975e-01] [ 1.88278415e-02 2.59715311e-03 9.99819367e-01 -2.78686017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28463044 meters Centerline goodness : 0.127322 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99823378e-01 -6.29118689e-04 -1.87834075e-02 -9.65098535e-01] [ 5.78483339e-04 9.99996185e-01 -2.70106061e-03 -2.74436489e-01] [ 1.87850352e-02 2.68971766e-03 9.99819928e-01 -2.78418195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344630439999996 meters Centerline goodness : 0.132796 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99837604e-01 -1.30876395e-04 -1.80207860e-02 -9.67163473e-01] [ 8.36655365e-05 9.99996563e-01 -2.62052916e-03 -2.72912499e-01] [ 1.80210671e-02 2.61859587e-03 9.99834178e-01 -2.78014512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40463044 meters Centerline goodness : 0.211177 with order 3 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99833787e-01 3.54047694e-03 -1.78847482e-02 -9.67554674e-01] [-3.53790293e-03 9.99993726e-01 1.75560059e-04 -2.67822297e-01] [ 1.78852576e-02 -1.12256376e-04 9.99840040e-01 -2.78081324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46463044 meters Centerline goodness : 0.129921 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.28 [[ 9.99840971e-01 3.57473417e-03 -1.74715239e-02 -9.68548347e-01] [-3.57909436e-03 9.99993571e-01 -2.18297582e-04 -2.65094403e-01] [ 1.74706312e-02 2.80795099e-04 9.99847337e-01 -2.78170144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524630439999996 meters Centerline goodness : 0.129705 with order 1 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.26, Z:-0.28 [[ 9.99833682e-01 3.21175954e-03 -1.79525312e-02 -9.67141065e-01] [-3.22762410e-03 9.99994426e-01 -8.54790100e-04 -2.62672338e-01] [ 1.79496858e-02 9.12591955e-04 9.99838475e-01 -2.78686888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58463044 meters Centerline goodness : 0.125062 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.26, Z:-0.28 [[ 9.99827671e-01 -5.24889195e-03 -1.78066651e-02 -9.88258198e-01] [ 5.25418040e-03 9.99986165e-01 2.50222353e-04 -2.57812962e-01] [ 1.78051054e-02 -3.43738663e-04 9.99841417e-01 -2.79695608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64463044 meters Centerline goodness : 0.106166 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.26, Z:-0.28 [[ 9.99841327e-01 -5.55759868e-03 -1.69243757e-02 -9.90895207e-01] [ 5.55768742e-03 9.99984555e-01 -4.17906452e-05 -2.57038709e-01] [ 1.69243465e-02 -5.22763757e-05 9.99856772e-01 -2.78824776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704630439999995 meters Centerline goodness : 0.106487 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.25, Z:-0.28 [[ 9.99844782e-01 -5.46985106e-03 -1.67479052e-02 -9.92346922e-01] [ 5.46321385e-03 9.99984979e-01 -4.42027630e-04 -2.52450351e-01] [ 1.67500714e-02 3.50461632e-04 9.99859646e-01 -2.77623245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76463044 meters Centerline goodness : 0.117486 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.25, Z:-0.28 [[ 9.99851354e-01 -5.30698327e-03 -1.64044233e-02 -9.93739373e-01] [ 5.29372018e-03 9.99985625e-01 -8.51824805e-04 -2.48250855e-01] [ 1.64087081e-02 7.64857758e-04 9.99865076e-01 -2.76892118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82463044 meters Centerline goodness : 0.122560 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.25, Z:-0.28 [[ 0.99984914 0.00266899 -0.01716327 -1.01407316] [-0.00270635 0.99999402 -0.00215363 -0.24873539] [ 0.01715742 0.00219976 0.99985038 -0.27757404] [ 0. 0. 0. 1. ]] SLAMing on 38.884630439999995 meters Centerline goodness : 0.106696 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.24, Z:-0.28 [[ 0.99986906 0.0025633 -0.01597761 -1.01770571] [-0.00261132 0.99999213 -0.00298532 -0.2435537 ] [ 0.01596983 0.00302665 0.99986789 -0.27640613] [ 0. 0. 0. 1. ]] SLAMing on 38.94463044 meters Centerline goodness : 0.107955 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.24, Z:-0.27 [[ 0.99988895 0.00286015 -0.01462551 -1.0218787 ] [-0.00290715 0.99999068 -0.00319324 -0.24021941] [ 0.01461624 0.0032354 0.99988794 -0.27494308] [ 0. 0. 0. 1. ]] SLAMing on 39.00463044 meters Centerline goodness : 0.246563 with order 3 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.23, Z:-0.28 [[ 0.99986295 0.0057089 -0.01553989 -1.01763649] [-0.00573668 0.99998203 -0.00174318 -0.22923912] [ 0.01552966 0.00183209 0.99987773 -0.27785223] [ 0. 0. 0. 1. ]] SLAMing on 39.064630439999995 meters Centerline goodness : 0.107219 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.23, Z:-0.28 [[ 0.99985892 0.00557193 -0.01584619 -1.01649244] [-0.00561141 0.99998126 -0.00244821 -0.22549018] [ 0.01583225 0.00253678 0.99987144 -0.27866655] [ 0. 0. 0. 1. ]] SLAMing on 39.12463044 meters Centerline goodness : 0.205508 with order 3 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.22, Z:-0.28 [[ 0.99982373 0.00731518 -0.01729168 -1.011816 ] [-0.00734792 0.99997133 -0.00183048 -0.21647114] [ 0.01727779 0.00195722 0.99984881 -0.28050471] [ 0. 0. 0. 1. ]] SLAMing on 39.18463044 meters Centerline goodness : 0.123828 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.21, Z:-0.28 [[ 9.99789570e-01 1.04790627e-02 -1.76353559e-02 -1.01075113e+00] [-1.04771456e-02 9.99945093e-01 2.01093841e-04 -2.05515397e-01] [ 1.76364949e-02 -1.62833333e-05 9.99844465e-01 -2.80911850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24463044 meters Centerline goodness : 0.124284 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.20, Z:-0.28 [[ 0.99979646 0.0097794 -0.01764681 -1.01071746] [-0.00980231 0.99995122 -0.00121236 -0.1987875 ] [ 0.01763409 0.00138509 0.99984355 -0.28106396] [ 0. 0. 0. 1. ]] SLAMing on 39.30463044 meters Centerline goodness : 0.127015 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.19, Z:-0.28 [[ 0.99989047 0.0011899 -0.01475252 -1.03323802] [-0.00122295 0.99999676 -0.00223129 -0.18577098] [ 0.01474981 0.00224909 0.99988869 -0.28217664] [ 0. 0. 0. 1. ]] SLAMing on 39.36463044 meters SLAMing on 39.42463044 meters Centerline goodness : 0.132230 with order 1 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.18, Z:-0.28 [[ 0.99983688 -0.00841629 -0.01598057 -1.05421291] [ 0.00837874 0.99996198 -0.00241521 -0.17835519] [ 0.01600029 0.00228092 0.99986939 -0.28257504] [ 0. 0. 0. 1. ]] SLAMing on 39.48463044 meters Centerline goodness : 0.442482 with order 1 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.18, Z:-0.28 [[ 0.99983245 -0.01050883 -0.0149882 -1.05865128] [ 0.01045124 0.99993772 -0.00391558 -0.18032838] [ 0.01502841 0.00375828 0.99988 -0.27996792] [ 0. 0. 0. 1. ]] SLAMing on 39.54463044 meters Centerline goodness : 0.318780 with order 1 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.18, Z:-0.28 [[ 0.99981907 -0.01091158 -0.015581 -1.05664222] [ 0.01085515 0.99993423 -0.0037018 -0.18361235] [ 0.01562036 0.00353199 0.99987176 -0.28079635] [ 0. 0. 0. 1. ]] SLAMing on 39.60463044 meters Centerline goodness : 0.257734 with order 1 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.19, Z:-0.28 [[ 0.99975909 -0.01502677 -0.01599839 -1.05567008] [ 0.01492494 0.99986771 -0.0064655 -0.19414098] [ 0.01609343 0.00622517 0.99985111 -0.28046997] [ 0. 0. 0. 1. ]] SLAMing on 39.664630439999996 meters Centerline goodness : 0.284861 with order 1 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.20, Z:-0.28 [[ 0.99975761 -0.01487745 -0.01622885 -1.05468357] [ 0.01478806 0.99987489 -0.00561433 -0.20121389] [ 0.01631035 0.00537298 0.99985254 -0.28081996] [ 0. 0. 0. 1. ]] SLAMing on 39.72463044 meters Centerline goodness : 0.191881 with order 2 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.21, Z:-0.28 [[ 0.99982765 -0.0071958 -0.01711416 -1.07233331] [ 0.00707464 0.99994956 -0.00712959 -0.2095945 ] [ 0.0171646 0.00700728 0.99982812 -0.28325852] [ 0. 0. 0. 1. ]] SLAMing on 39.78463044 meters Centerline goodness : 0.099033 with order 1 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.21, Z:-0.28 [[ 0.99980683 0.00575792 -0.01879216 -1.09159313] [-0.00584905 0.99997138 -0.00479801 -0.20792961] [ 0.018764 0.004907 0.9998119 -0.28481278] [ 0. 0. 0. 1. ]] SLAMing on 39.844630439999996 meters Centerline goodness : 0.128880 with order 2 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.20, Z:-0.29 [[ 0.99965483 0.01662032 -0.02034646 -1.11187538] [-0.01671198 0.99985091 -0.00434323 -0.2036415 ] [ 0.02027124 0.00468176 0.99978356 -0.28601822] [ 0. 0. 0. 1. ]] SLAMing on 39.90463044 meters Centerline goodness : 0.126195 with order 1 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.20, Z:-0.29 [[ 0.99959285 0.01998793 -0.02036197 -1.1123521 ] [-0.02002994 0.99979765 -0.00186124 -0.19794653] [ 0.02032065 0.00226834 0.99979094 -0.28532122] [ 0. 0. 0. 1. ]] SLAMing on 39.96463044 meters Centerline goodness : 0.244172 with order 3 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.19, Z:-0.28 [[ 0.99968634 0.01283312 -0.0215068 -1.0940935 ] [-0.01286546 0.9999163 -0.00136582 -0.18739201] [ 0.02148748 0.00164208 0.99976777 -0.28280734] [ 0. 0. 0. 1. ]] SLAMing on 40.024630439999996 meters SLAMing on 40.08463044 meters Centerline goodness : 0.439223 with order 2 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.19, Z:-0.28 [[ 0.99978934 0.00306371 -0.02029506 -1.16380147] [-0.00312175 0.99999113 -0.00282875 -0.18852509] [ 0.02028622 0.00289151 0.99979003 -0.28239802] [ 0. 0. 0. 1. ]] SLAMing on 40.14463044 meters Centerline goodness : 0.445496 with order 3 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.19, Z:-0.28 [[ 0.99978315 -0.00497847 -0.02022059 -1.18410883] [ 0.00494844 0.99998658 -0.0015351 -0.18528493] [ 0.02022797 0.0014347 0.99979436 -0.28394022] [ 0. 0. 0. 1. ]] SLAMing on 40.204630439999995 meters Centerline goodness : 0.445450 with order 3 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.19, Z:-0.28 [[ 0.99980487 -0.00544409 -0.01898917 -1.18790342] [ 0.00541642 0.99998419 -0.00150794 -0.1869883 ] [ 0.01899708 0.00140479 0.99981855 -0.28247942] [ 0. 0. 0. 1. ]] SLAMing on 40.26463044 meters Centerline goodness : 0.413048 with order 1 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.19, Z:-0.28 [[ 0.99976773 -0.00784848 -0.02007229 -1.18380155] [ 0.00778025 0.9999637 -0.00347469 -0.19105073] [ 0.02009884 0.00331772 0.99979249 -0.28413119] [ 0. 0. 0. 1. ]] SLAMing on 40.32463044 meters Centerline goodness : 0.101100 with order 1 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.20, Z:-0.29 [[ 0.99969337 -0.0085085 -0.02325443 -1.22648582] [ 0.00842992 0.99995843 -0.00347492 -0.1987672 ] [ 0.02328303 0.00327782 0.99972354 -0.2851716 ] [ 0. 0. 0. 1. ]] SLAMing on 40.384630439999995 meters Centerline goodness : 0.093306 with order 1 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.21, Z:-0.28 [[ 0.9996957 -0.01088532 -0.02213613 -1.23082996] [ 0.01077841 0.99992969 -0.0049429 -0.20630762] [ 0.02218838 0.0047028 0.99974275 -0.28294991] [ 0. 0. 0. 1. ]] SLAMing on 40.44463044 meters Centerline goodness : 0.095874 with order 1 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.21, Z:-0.28 [[ 0.99969699 -0.01040288 -0.02230917 -1.23016781] [ 0.01030796 0.99993734 -0.00436565 -0.2081897 ] [ 0.02235318 0.00413437 0.99974159 -0.28322085] [ 0. 0. 0. 1. ]] SLAMing on 40.50463044 meters Centerline goodness : 0.285924 with order 1 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.21, Z:-0.28 [[ 9.99697951e-01 -1.23437984e-03 -2.45455350e-02 -1.24861908e+00] [ 1.11492076e-03 9.99987472e-01 -4.87992537e-03 -2.13102932e-01] [ 2.45512511e-02 4.85108506e-03 9.99686802e-01 -2.84751291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564630439999995 meters Centerline goodness : 0.237951 with order 3 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.21, Z:-0.28 [[ 9.99714105e-01 -4.49099921e-04 -2.39062088e-02 -1.25055283e+00] [ 3.47866504e-04 9.99990957e-01 -4.23859803e-03 -2.13900869e-01] [ 2.39078962e-02 4.22907007e-03 9.99705220e-01 -2.84215481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62463044 meters Centerline goodness : 0.095599 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.22, Z:-0.28 [[ 9.99665314e-01 1.68012331e-05 -2.58700429e-02 -1.29633265e+00] [-1.21779637e-04 9.99991766e-01 -4.05634366e-03 -2.16460189e-01] [ 2.58697617e-02 4.05813650e-03 9.99657085e-01 -2.84353776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68463044 meters Centerline goodness : 0.090262 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.22, Z:-0.29 [[ 9.99651563e-01 -2.34152325e-04 -2.63950440e-02 -1.29405814e+00] [ 1.14939901e-04 9.99989788e-01 -4.51789670e-03 -2.15758557e-01] [ 2.63958323e-02 4.51328866e-03 9.99641381e-01 -2.85865956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74463044 meters Centerline goodness : 0.090205 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.21, Z:-0.29 [[ 9.99642652e-01 -2.92002405e-05 -2.67314073e-02 -1.29323602e+00] [-9.34571013e-05 9.99989474e-01 -4.58724962e-03 -2.13833147e-01] [ 2.67312598e-02 4.58810861e-03 9.99632127e-01 -2.85975605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80463044 meters Centerline goodness : 0.100301 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.21, Z:-0.29 [[ 9.99629675e-01 -2.01212077e-04 -2.72116337e-02 -1.29222908e+00] [ 5.84541358e-05 9.99986233e-01 -5.24690359e-03 -2.11029102e-01] [ 2.72123148e-02 5.24336989e-03 9.99615925e-01 -2.85903089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86463044 meters Centerline goodness : 0.099676 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.29 [[ 9.99550713e-01 -4.72227975e-04 -2.99691270e-02 -1.33634618e+00] [ 3.19683384e-04 9.99986971e-01 -5.09464518e-03 -2.12195508e-01] [ 2.99711424e-02 5.08277559e-03 9.99537841e-01 -2.86658545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92463044 meters Centerline goodness : 0.095775 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.29 [[ 9.99582841e-01 -1.00621674e-03 -2.88640127e-02 -1.33987256e+00] [ 8.52594849e-04 9.99985410e-01 -5.33407736e-03 -2.12808634e-01] [ 2.88689588e-02 5.30724289e-03 9.99569115e-01 -2.85177571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98463044 meters Centerline goodness : 0.428444 with order 2 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.28 [[ 9.99587242e-01 -1.04948627e-03 -2.87096600e-02 -1.34063063e+00] [ 8.94515895e-04 9.99984965e-01 -5.41015851e-03 -2.12679730e-01] [ 2.87149063e-02 5.38224418e-03 9.99573152e-01 -2.84606366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04463044 meters Centerline goodness : 0.422166 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.21, Z:-0.29 [[ 9.99578762e-01 -1.05661008e-03 -2.90031368e-02 -1.33949769e+00] [ 8.95321209e-04 9.99984067e-01 -5.57350680e-03 -2.11319935e-01] [ 2.90085637e-02 5.54519190e-03 9.99563782e-01 -2.85216397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10463044 meters Centerline goodness : 0.442254 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.21, Z:-0.29 [[ 9.99455756e-01 -1.16572453e-03 -3.29671338e-02 -1.37940601e+00] [ 9.58813574e-04 9.99979749e-01 -6.29139255e-03 -2.08368821e-01] [ 3.29738002e-02 6.25635916e-03 9.99436635e-01 -2.87483827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164630439999996 meters Centerline goodness : 0.439158 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.21, Z:-0.29 [[ 9.99431787e-01 -1.16528062e-03 -3.36859844e-02 -1.37748360e+00] [ 9.42609702e-04 9.99977608e-01 -6.62532019e-03 -2.05992282e-01] [ 3.36929505e-02 6.58980286e-03 9.99410506e-01 -2.87859594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22463044 meters Centerline goodness : 0.440862 with order 3 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.21, Z:-0.29 [[ 0.99948812 0.00438523 -0.03169031 -1.39223899] [-0.00464835 0.9999553 -0.00823389 -0.20991522] [ 0.03165278 0.00837698 0.99946382 -0.29119848] [ 0. 0. 0. 1. ]] SLAMing on 41.28463044 meters Centerline goodness : 0.439236 with order 3 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.21, Z:-0.29 [[ 0.99949437 0.00423766 -0.03151262 -1.39314841] [-0.00450184 0.99995528 -0.0083169 -0.20964855] [ 0.03147597 0.00845456 0.99946875 -0.29045042] [ 0. 0. 0. 1. ]] SLAMing on 41.344630439999996 meters Centerline goodness : 0.441064 with order 2 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.21, Z:-0.29 [[ 0.99951215 -0.00425709 -0.03094087 -1.41405685] [ 0.00401667 0.99996129 -0.00782861 -0.20657681] [ 0.030973 0.00770051 0.99949056 -0.29148625] [ 0. 0. 0. 1. ]] SLAMing on 41.40463044 meters Centerline goodness : 0.222864 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.29 [[ 0.99953896 0.00356184 -0.03015269 -1.43201004] [-0.00381971 0.99995659 -0.00849861 -0.21322901] [ 0.03012111 0.00860986 0.99950917 -0.29341764] [ 0. 0. 0. 1. ]] SLAMing on 41.46463044 meters Centerline goodness : 0.097898 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.21, Z:-0.29 [[ 0.99943585 0.00296197 -0.03345456 -1.47426347] [-0.00327611 0.99995102 -0.00933909 -0.21472739] [ 0.03342526 0.00944342 0.9993966 -0.29449122] [ 0. 0. 0. 1. ]] SLAMing on 41.524630439999996 meters Centerline goodness : 0.434152 with order 3 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.21, Z:-0.29 [[ 0.99941878 0.00295828 -0.03396113 -1.47298971] [-0.00328559 0.99994865 -0.00958614 -0.21363417] [ 0.03393103 0.00969215 0.99937718 -0.29460411] [ 0. 0. 0. 1. ]] SLAMing on 41.58463044 meters Centerline goodness : 0.297004 with order 3 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.21, Z:-0.29 [[ 0.9993229 0.01279623 -0.03449622 -1.49377542] [-0.01313874 0.99986643 -0.00972045 -0.2138092 ] [ 0.03436722 0.01016711 0.99935756 -0.29448202] [ 0. 0. 0. 1. ]] SLAMing on 41.64463044 meters Centerline goodness : 0.094305 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.21, Z:-0.29 [[ 0.9993145 0.01302015 -0.03465554 -1.49341076] [-0.01338301 0.99985781 -0.01025907 -0.20935735] [ 0.03451704 0.01071583 0.99934666 -0.29456072] [ 0. 0. 0. 1. ]] SLAMing on 41.704630439999995 meters Centerline goodness : 0.127500 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.20, Z:-0.30 [[ 0.99936857 0.00803088 -0.03461161 -1.51190185] [-0.00831453 0.99993296 -0.00805925 -0.1978326 ] [ 0.03454456 0.00834194 0.99936834 -0.29610223] [ 0. 0. 0. 1. ]] SLAMing on 41.76463044 meters Centerline goodness : 0.196415 with order 3 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:-0.30 [[ 0.99937178 0.00796236 -0.03453458 -1.51239095] [-0.00827248 0.99992665 -0.00884666 -0.19260983] [ 0.03446161 0.00912679 0.99936435 -0.29578097] [ 0. 0. 0. 1. ]] SLAMing on 41.82463044 meters SLAMing on 41.884630439999995 meters Centerline goodness : 0.092997 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.18, Z:-0.30 [[ 0.99942812 0.00524057 -0.03340621 -1.58479199] [-0.00553257 0.99994724 -0.00865445 -0.17670688] [ 0.03335909 0.00883433 0.99940439 -0.29503309] [ 0. 0. 0. 1. ]] SLAMing on 41.94463044 meters Centerline goodness : 0.315680 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.17, Z:-0.29 [[ 0.99949768 -0.00376185 -0.03146799 -1.56856214] [ 0.00348999 0.99995615 -0.00868997 -0.16538144] [ 0.0314993 0.00857578 0.99946698 -0.29156158] [ 0. 0. 0. 1. ]] SLAMing on 42.00463044 meters Centerline goodness : 0.180174 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.16, Z:-0.29 [[ 0.99951213 -0.00463544 -0.03088716 -1.5709397 ] [ 0.00435366 0.99994835 -0.00918364 -0.1647966 ] [ 0.03092814 0.00904468 0.99948069 -0.29005141] [ 0. 0. 0. 1. ]] SLAMing on 42.064630439999995 meters Centerline goodness : 0.411809 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.17, Z:-0.29 [[ 0.9994835 -0.00842583 -0.03101182 -1.57036767] [ 0.00804686 0.99989167 -0.01232452 -0.16656884] [ 0.0311123 0.01206861 0.99944303 -0.29013555] [ 0. 0. 0. 1. ]] SLAMing on 42.12463044 meters Centerline goodness : 0.247394 with order 3 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.17, Z:-0.29 [[ 0.99950543 -0.0092558 -0.03005365 -1.57330233] [ 0.00887362 0.99987838 -0.01282517 -0.16705206] [ 0.0301687 0.01255215 0.999466 -0.28904677] [ 0. 0. 0. 1. ]] SLAMing on 42.18463044 meters Centerline goodness : 0.100725 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.17, Z:-0.29 [[ 0.99951247 -0.0093339 -0.02979425 -1.57435384] [ 0.00896155 0.99988038 -0.01260633 -0.16843869] [ 0.02990836 0.01233319 0.99947655 -0.28831858] [ 0. 0. 0. 1. ]] SLAMing on 42.244630439999995 meters Centerline goodness : 0.220282 with order 3 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.18, Z:-0.29 [[ 0.99960126 -0.00314354 -0.02806119 -1.59175705] [ 0.00276409 0.99990436 -0.01355079 -0.17976083] [ 0.0281011 0.01346782 0.99951435 -0.29073061] [ 0. 0. 0. 1. ]] SLAMing on 42.30463044 meters Centerline goodness : 0.445906 with order 2 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.18, Z:-0.29 [[ 0.99957873 -0.0068141 -0.02821237 -1.59118357] [ 0.00634666 0.99984165 -0.0166253 -0.18378349] [ 0.02832119 0.01643924 0.99946369 -0.29096784] [ 0. 0. 0. 1. ]] SLAMing on 42.36463044 meters Centerline goodness : 0.432052 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:-0.29 [[ 0.99958345 -0.00644036 -0.02813264 -1.59133555] [ 0.00600067 0.99985897 -0.01568561 -0.18834656] [ 0.02822969 0.01551026 0.99948112 -0.29095044] [ 0. 0. 0. 1. ]] SLAMing on 42.42463044 meters Centerline goodness : 0.443015 with order 3 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:-0.29 [[ 0.99961192 -0.00582185 -0.02724175 -1.59399891] [ 0.00541871 0.99987506 -0.01484928 -0.1925146 ] [ 0.0273248 0.0146959 0.99951858 -0.29008519] [ 0. 0. 0. 1. ]] SLAMing on 42.48463044 meters Centerline goodness : 0.221750 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.29 [[ 0.99954419 0.00417643 -0.0298994 -1.61056629] [-0.00462139 0.99987938 -0.01482827 -0.19783945] [ 0.02983386 0.01495969 0.99944292 -0.29280146] [ 0. 0. 0. 1. ]] SLAMing on 42.54463044 meters Centerline goodness : 0.201512 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.29 [[ 0.99954907 0.0047334 -0.02965209 -1.61126593] [-0.00517304 0.99987757 -0.01476751 -0.19641153] [ 0.02957856 0.01491424 0.99945119 -0.29272358] [ 0. 0. 0. 1. ]] SLAMing on 42.60463044 meters Centerline goodness : 0.448331 with order 3 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99956314 0.00509503 -0.02911295 -1.61291072] [-0.00552953 0.99987424 -0.0148638 -0.19403267] [ 0.02903356 0.01501829 0.99946561 -0.29222441] [ 0. 0. 0. 1. ]] SLAMing on 42.664630439999996 meters Centerline goodness : 0.443206 with order 2 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99954047 0.00509888 -0.02988062 -1.61082273] [-0.00555367 0.9998697 -0.01515697 -0.19223676] [ 0.02979944 0.01531595 0.99943855 -0.292707 ] [ 0. 0. 0. 1. ]] SLAMing on 42.72463044 meters Centerline goodness : 0.391015 with order 3 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99950206 0.0049736 -0.03115923 -1.60730281] [-0.00545028 0.99986914 -0.01523175 -0.19225754] [ 0.03107939 0.01539399 0.99939837 -0.29350079] [ 0. 0. 0. 1. ]] SLAMing on 42.78463044 meters Centerline goodness : 0.420210 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99949602 0.00421375 -0.03146355 -1.60724229] [-0.00471314 0.99986383 -0.01581478 -0.19185206] [ 0.03139262 0.0159551 0.99937978 -0.29249167] [ 0. 0. 0. 1. ]] SLAMing on 42.844630439999996 meters Centerline goodness : 0.443098 with order 3 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.9995116 0.00428081 -0.03095553 -1.60898141] [-0.00477319 0.99986299 -0.01584966 -0.19043427] [ 0.03088344 0.01598967 0.99939509 -0.29169823] [ 0. 0. 0. 1. ]] SLAMing on 42.90463044 meters Centerline goodness : 0.444004 with order 3 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99951787 0.00421744 -0.03076105 -1.60962907] [-0.00471181 0.99986062 -0.01601661 -0.18939334] [ 0.03068921 0.01615383 0.99939843 -0.29137932] [ 0. 0. 0. 1. ]] SLAMing on 42.96463044 meters Centerline goodness : 0.426399 with order 2 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:-0.29 [[ 0.99953186 0.00366573 -0.0303746 -1.61131453] [-0.00417064 0.99985391 -0.01657614 -0.18815652] [ 0.0303094 0.01669506 0.99940113 -0.29025216] [ 0. 0. 0. 1. ]] SLAMing on 43.024630439999996 meters Centerline goodness : 0.399991 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.19, Z:-0.29 [[ 0.99951404 -0.00472097 -0.03081243 -1.63271474] [ 0.00423874 0.99986781 -0.01569694 -0.18593703] [ 0.03088246 0.01555871 0.99940192 -0.29040285] [ 0. 0. 0. 1. ]] SLAMing on 43.08463044 meters Centerline goodness : 0.433656 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.19, Z:-0.29 [[ 9.99559950e-01 -4.61735697e-04 -2.96596131e-02 -1.65347328e+00] [-1.09177533e-04 9.99814805e-01 -1.92443399e-02 -1.91682207e-01] [ 2.96630061e-02 1.92391096e-02 9.99374786e-01 -2.90216033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14463044 meters Centerline goodness : 0.331891 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.19, Z:-0.29 [[ 9.99559955e-01 -7.45075018e-04 -2.96536912e-02 -1.65386638e+00] [ 1.65397425e-04 9.99808947e-01 -1.95458981e-02 -1.91161696e-01] [ 2.96625889e-02 1.95323924e-02 9.99369109e-01 -2.89716233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204630439999995 meters Centerline goodness : 0.100347 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.19, Z:-0.29 [[ 9.99564062e-01 7.74990302e-04 -2.95141496e-02 -1.70132875e+00] [-1.31670801e-03 9.99830950e-01 -1.83394990e-02 -1.89716256e-01] [ 2.94949473e-02 1.83703656e-02 9.99396107e-01 -2.89720298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26463044 meters Centerline goodness : 0.205024 with order 3 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.18, Z:-0.29 [[ 9.99538706e-01 1.38481383e-04 -3.03703076e-02 -1.69871076e+00] [-7.42801123e-04 9.99801938e-01 -1.98879947e-02 -1.83487393e-01] [ 3.03615383e-02 1.99013796e-02 9.99340839e-01 -2.90606526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32463044 meters Centerline goodness : 0.100641 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.18, Z:-0.29 [[ 9.99452506e-01 1.05869115e-03 -3.30691425e-02 -1.74258756e+00] [-1.72990403e-03 9.99792939e-01 -2.02752455e-02 -1.76653996e-01] [ 3.30408299e-02 2.03213514e-02 9.99247390e-01 -2.90218286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384630439999995 meters Centerline goodness : 0.103997 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.17, Z:-0.29 [[ 9.99448394e-01 1.29085421e-03 -3.31849689e-02 -1.78896764e+00] [-2.02357821e-03 9.99754691e-01 -2.20559024e-02 -1.66457074e-01] [ 3.31483574e-02 2.21108886e-02 9.99205832e-01 -2.89660928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44463044 meters Centerline goodness : 0.190781 with order 3 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.16, Z:-0.29 [[ 9.99446990e-01 7.51340939e-04 -3.32437966e-02 -1.78888907e+00] [-1.52412311e-03 9.99729063e-01 -2.32266756e-02 -1.61044971e-01] [ 3.32173384e-02 2.32644987e-02 9.99177347e-01 -2.89651832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50463044 meters Centerline goodness : 0.251995 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:-0.29 [[ 9.99477105e-01 5.85173699e-04 -3.23291526e-02 -1.83698014e+00] [-1.36354311e-03 9.99709596e-01 -2.40595963e-02 -1.55673121e-01] [ 3.23056850e-02 2.40910979e-02 9.99187651e-01 -2.89368782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564630439999995 meters Centerline goodness : 0.156611 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:-0.29 [[ 0.99950852 -0.002886 -0.03121524 -1.84197931] [ 0.00203979 0.99963046 -0.02710672 -0.15747497] [ 0.03128193 0.02702972 0.99914505 -0.28640771] [ 0. 0. 0. 1. ]] SLAMing on 43.62463044 meters Centerline goodness : 0.183896 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:-0.29 [[ 0.9994785 -0.00655768 -0.03161853 -1.84079956] [ 0.00560039 0.99952606 -0.03027024 -0.16003906] [ 0.03180205 0.03007738 0.99904153 -0.28666646] [ 0. 0. 0. 1. ]] SLAMing on 43.68463044 meters Centerline goodness : 0.099341 with order 1 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:-0.29 [[ 0.99948859 -0.00718272 -0.03116034 -1.84217368] [ 0.00623348 0.99951673 -0.0304542 -0.16193654] [ 0.03136402 0.03024438 0.99905034 -0.2861827 ] [ 0. 0. 0. 1. ]] SLAMing on 43.744630439999995 meters Centerline goodness : 0.112175 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.16, Z:-0.29 [[ 0.99941666 -0.01386653 -0.03120989 -1.81918249] [ 0.01301581 0.9995426 -0.02729808 -0.16322277] [ 0.03157414 0.02687593 0.99914001 -0.28662486] [ 0. 0. 0. 1. ]] SLAMing on 43.80463044 meters Centerline goodness : 0.270823 with order 3 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.17, Z:-0.29 [[ 0.99938615 -0.01433024 -0.03196811 -1.81638864] [ 0.01346296 0.99953984 -0.02718203 -0.16739927] [ 0.03234293 0.02673496 0.9991192 -0.28799122] [ 0. 0. 0. 1. ]] SLAMing on 43.86463044 meters Centerline goodness : 0.114089 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.17, Z:-0.29 [[ 0.99938752 -0.01405948 -0.03204557 -1.81620403] [ 0.01321458 0.9995634 -0.02642682 -0.17134548] [ 0.03240313 0.02598716 0.99913698 -0.28811921] [ 0. 0. 0. 1. ]] SLAMing on 43.92463044 meters Centerline goodness : 0.113528 with order 1 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.18, Z:-0.29 [[ 0.99938074 -0.01388721 -0.03233071 -1.81481189] [ 0.01305575 0.99958218 -0.0257878 -0.17512942] [ 0.03267533 0.02534973 0.99914449 -0.28924353] [ 0. 0. 0. 1. ]] SLAMing on 43.98463044 meters Centerline goodness : 0.117593 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.18, Z:-0.29 [[ 0.99939186 -0.0134554 -0.03216914 -1.81589077] [ 0.0126607 0.99961273 -0.0247811 -0.18033605] [ 0.03249012 0.02435875 0.99917518 -0.28841686] [ 0. 0. 0. 1. ]] SLAMing on 44.04463044 meters Centerline goodness : 0.123365 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.18, Z:-0.29 [[ 0.99939242 -0.0132771 -0.03222577 -1.81599371] [ 0.01248912 0.99962105 -0.024531 -0.18210262] [ 0.03253926 0.02411362 0.99917953 -0.28805252] [ 0. 0. 0. 1. ]] SLAMing on 44.10463044 meters Centerline goodness : 0.108346 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.19, Z:-0.29 [[ 0.99950229 -0.00515216 -0.03112273 -1.79803811] [ 0.00434906 0.99965722 -0.02581715 -0.18616748] [ 0.03124508 0.02566895 0.99918209 -0.28589685] [ 0. 0. 0. 1. ]] SLAMing on 44.164630439999996 meters Centerline goodness : 0.104320 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.18, Z:-0.28 [[ 9.99562365e-01 -2.33613972e-03 -2.94893460e-02 -1.80404062e+00] [ 1.62090584e-03 9.99704499e-01 -2.42546210e-02 -1.83129230e-01] [ 2.95372940e-02 2.41962069e-02 9.99270780e-01 -2.83121671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22463044 meters Centerline goodness : 0.214797 with order 3 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.18, Z:-0.28 [[ 9.99495312e-01 -1.93096314e-03 -3.17079376e-02 -1.84663382e+00] [ 1.13111871e-03 9.99681185e-01 -2.52239577e-02 -1.84144805e-01] [ 3.17465352e-02 2.51753620e-02 9.99178842e-01 -2.84484719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28463044 meters Centerline goodness : 0.107988 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.19, Z:-0.28 [[ 9.99487279e-01 -1.90108397e-03 -3.19619389e-02 -1.84585074e+00] [ 1.10503913e-03 9.99689205e-01 -2.49052656e-02 -1.87338308e-01] [ 3.19993522e-02 2.48571770e-02 9.99178744e-01 -2.84713721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344630439999996 meters Centerline goodness : 0.103200 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.19, Z:-0.28 [[ 9.99495114e-01 -1.76614585e-03 -3.17237887e-02 -1.84692562e+00] [ 9.84761637e-04 9.99696160e-01 -2.46296174e-02 -1.90113847e-01] [ 3.17576492e-02 2.45859419e-02 9.99193166e-01 -2.83976085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40463044 meters Centerline goodness : 0.115330 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.19, Z:-0.28 [[ 9.99489379e-01 -1.75179463e-03 -3.19047369e-02 -1.84603485e+00] [ 9.69921393e-04 9.99699225e-01 -2.45055023e-02 -1.92421052e-01] [ 3.19380693e-02 2.44620442e-02 9.99190456e-01 -2.84578802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46463044 meters Centerline goodness : 0.100078 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.20, Z:-0.29 [[ 9.99483922e-01 -1.46203813e-03 -3.20897614e-02 -1.84511373e+00] [ 6.92893976e-04 9.99712520e-01 -2.39665676e-02 -1.95523185e-01] [ 3.21155763e-02 2.39319642e-02 9.99197604e-01 -2.85338129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524630439999996 meters Centerline goodness : 0.255736 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.20, Z:-0.29 [[ 9.99478369e-01 -1.31490499e-03 -3.22685832e-02 -1.84487749e+00] [ 5.54682905e-04 9.99722345e-01 -2.35568549e-02 -1.98107640e-01] [ 3.22905987e-02 2.35266681e-02 9.99201588e-01 -2.85167826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58463044 meters Centerline goodness : 0.436000 with order 2 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.21, Z:-0.29 [[ 0.99939247 0.00647733 -0.03424527 -1.86099175] [-0.00734054 0.99965696 -0.02514113 -0.20681745] [ 0.03407067 0.02537723 0.99909719 -0.28823776] [ 0. 0. 0. 1. ]] SLAMing on 44.64463044 meters Centerline goodness : 0.102084 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.21, Z:-0.29 [[ 0.99937794 0.00697373 -0.03457028 -1.85999519] [-0.00783219 0.99966276 -0.02475945 -0.20734514] [ 0.03438595 0.0250148 0.99909552 -0.28863025] [ 0. 0. 0. 1. ]] SLAMing on 44.704630439999995 meters Centerline goodness : 0.442123 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.21, Z:-0.29 [[ 0.99938123 0.00727739 -0.03441208 -1.86101138] [-0.0081192 0.99966964 -0.02438642 -0.20920661] [ 0.03422324 0.02465073 0.99911016 -0.2877789 ] [ 0. 0. 0. 1. ]] SLAMing on 44.76463044 meters Centerline goodness : 0.275120 with order 2 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.21, Z:-0.29 [[ 9.99415524e-01 -9.79093193e-04 -3.41709169e-02 -1.88190781e+00] [ 1.57597189e-04 9.99711100e-01 -2.40352127e-02 -2.06306644e-01] [ 3.41845776e-02 2.40157795e-02 9.99126947e-01 -2.88517515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82463044 meters Centerline goodness : 0.144274 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.21, Z:-0.29 [[ 9.99426753e-01 -7.55892365e-04 -3.38466257e-02 -1.88257902e+00] [-5.44670465e-05 9.99713521e-01 -2.39347830e-02 -2.06589696e-01] [ 3.38550214e-02 2.39229060e-02 9.99140397e-01 -2.88570999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884630439999995 meters Centerline goodness : 0.429806 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.21, Z:-0.29 [[ 9.99325140e-01 8.57714495e-04 -3.67223196e-02 -1.92823161e+00] [-1.71153699e-03 9.99728783e-01 -2.32256591e-02 -2.07670280e-01] [ 3.66924389e-02 2.32728366e-02 9.99055574e-01 -2.88468376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94463044 meters Centerline goodness : 0.176163 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.20, Z:-0.29 [[ 9.99305585e-01 1.04921283e-03 -3.72457699e-02 -1.92734844e+00] [-1.93236884e-03 9.99717639e-01 -2.36835058e-02 -2.04916661e-01] [ 3.72104041e-02 2.37390322e-02 9.99025447e-01 -2.88085726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00463044 meters Centerline goodness : 0.438962 with order 2 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.21, Z:-0.29 [[ 9.99224475e-01 1.50707864e-03 -3.93468841e-02 -1.97619844e+00] [-2.44212746e-03 9.99715492e-01 -2.37270037e-02 -2.05478872e-01] [ 3.92999311e-02 2.38046929e-02 9.98943868e-01 -2.86886206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064630439999995 meters Centerline goodness : 0.442360 with order 3 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.21, Z:-0.28 [[ 9.99279498e-01 -4.39105600e-04 -3.79511843e-02 -1.98197514e+00] [-5.09889730e-04 9.99687511e-01 -2.49923884e-02 -2.10197980e-01] [ 3.79502993e-02 2.49937322e-02 9.98967011e-01 -2.84033491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12463044 meters Centerline goodness : 0.443853 with order 3 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.22, Z:-0.28 [[ 9.99304618e-01 -2.74363783e-03 -3.71853757e-02 -1.98575541e+00] [ 1.75615706e-03 9.99645617e-01 -2.65623150e-02 -2.16092934e-01] [ 3.72450752e-02 2.64785407e-02 9.98955300e-01 -2.81894182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18463044 meters Centerline goodness : 0.142051 with order 1 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.22, Z:-0.28 [[ 0.99931941 -0.0050573 -0.03653963 -1.98871922] [ 0.00402759 0.9995942 -0.02819946 -0.22233668] [ 0.03666741 0.0280331 0.99893426 -0.28040382] [ 0. 0. 0. 1. ]] SLAMing on 45.244630439999995 meters SLAMing on 45.30463044 meters Centerline goodness : 0.098518 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.23, Z:-0.28 [[ 0.99939986 0.00543482 -0.03421071 -2.05500493] [-0.00638642 0.99959398 -0.02776843 -0.23459744] [ 0.03404591 0.02797025 0.9990288 -0.28213094] [ 0. 0. 0. 1. ]] SLAMing on 45.36463044 meters Centerline goodness : 0.282319 with order 1 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.23, Z:-0.28 [[ 0.99935048 0.00710158 -0.03532955 -2.05137208] [-0.00804692 0.99961143 -0.02668787 -0.23352735] [ 0.03512629 0.02695483 0.99901931 -0.28355625] [ 0. 0. 0. 1. ]] SLAMing on 45.42463044 meters Centerline goodness : 0.443842 with order 2 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.23, Z:-0.28 [[ 0.99934014 0.00719241 -0.03560277 -2.0508199 ] [-0.00814356 0.99961184 -0.02664313 -0.23374331] [ 0.03539732 0.02691548 0.9990108 -0.28354291] [ 0. 0. 0. 1. ]] SLAMing on 45.48463044 meters Centerline goodness : 0.091900 with order 1 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.24, Z:-0.28 [[ 0.99934094 0.00731434 -0.03555547 -2.05057658] [-0.00825287 0.99961946 -0.02632164 -0.23541358] [ 0.03534941 0.02659773 0.99902101 -0.28409143] [ 0. 0. 0. 1. ]] SLAMing on 45.54463044 meters Centerline goodness : 0.094282 with order 1 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.23, Z:-0.29 [[ 9.99342953e-01 -5.45684478e-04 -3.62403603e-02 -2.07046886e+00] [-3.51616614e-04 9.99693641e-01 -2.47487299e-02 -2.33186227e-01] [ 3.62427628e-02 2.47452115e-02 9.99036604e-01 -2.85687144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60463044 meters Centerline goodness : 0.438674 with order 3 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.23, Z:-0.29 [[ 9.99327005e-01 -4.79382185e-04 -3.66784370e-02 -2.06921585e+00] [-4.23862572e-04 9.99696932e-01 -2.46143044e-02 -2.33783336e-01] [ 3.66791206e-02 2.46132857e-02 9.99023938e-01 -2.86036088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664630439999996 meters Centerline goodness : 0.443093 with order 2 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.23, Z:-0.29 [[ 9.99310956e-01 -6.18683780e-04 -3.71110585e-02 -2.06771265e+00] [-2.95787478e-04 9.99696569e-01 -2.46309256e-02 -2.34937774e-01] [ 3.71150366e-02 2.46249308e-02 9.99007551e-01 -2.86750346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72463044 meters Centerline goodness : 0.443343 with order 3 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.24, Z:-0.29 [[ 9.99329169e-01 -4.32650685e-04 -3.66200178e-02 -2.06957314e+00] [-4.56604230e-04 9.99705301e-01 -2.42714548e-02 -2.36464630e-01] [ 3.66197270e-02 2.42718936e-02 9.99034469e-01 -2.85726554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78463044 meters Centerline goodness : 0.089432 with order 1 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.24, Z:-0.29 [[ 9.99303520e-01 -3.67549510e-04 -3.73140780e-02 -2.06755598e+00] [-5.36537458e-04 9.99706601e-01 -2.42162071e-02 -2.36548595e-01] [ 3.73120307e-02 2.42193614e-02 9.99010128e-01 -2.86301092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844630439999996 meters Centerline goodness : 0.098993 with order 1 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.24, Z:-0.29 [[ 9.99266055e-01 -6.14374068e-04 -3.83010886e-02 -2.06437391e+00] [-3.28623809e-04 9.99697086e-01 -2.46094985e-02 -2.35677634e-01] [ 3.83046062e-02 2.46040231e-02 9.98963162e-01 -2.87603029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90463044 meters Centerline goodness : 0.441866 with order 3 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.23, Z:-0.29 [[ 9.99244721e-01 -7.15070109e-04 -3.88519843e-02 -2.06300795e+00] [-2.56056408e-04 9.99687798e-01 -2.49848211e-02 -2.33520035e-01] [ 3.88577205e-02 2.49758989e-02 9.98932571e-01 -2.87706851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96463044 meters Centerline goodness : 0.223574 with order 1 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.23, Z:-0.29 [[ 0.99942616 0.00239861 -0.03378765 -2.10421724] [-0.00322062 0.99969964 -0.02429538 -0.23188783] [ 0.03371923 0.02439026 0.99913369 -0.29012462] [ 0. 0. 0. 1. ]] SLAMing on 46.024630439999996 meters Centerline goodness : 0.397047 with order 3 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.23, Z:-0.29 [[ 0.99943271 0.00221455 -0.03360594 -2.10509196] [-0.00304244 0.99969264 -0.02460419 -0.23092643] [ 0.03354112 0.02469248 0.99913226 -0.28951645] [ 0. 0. 0. 1. ]] SLAMing on 46.08463044 meters Centerline goodness : 0.449209 with order 3 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.29 [[ 0.99943971 -0.00668121 -0.03279686 -2.12854681] [ 0.00589665 0.99969552 -0.0239605 -0.22982436] [ 0.03294696 0.02375368 0.99917479 -0.28921259] [ 0. 0. 0. 1. ]] SLAMing on 46.14463044 meters Centerline goodness : 0.448544 with order 2 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.29 [[ 0.99948795 -0.00734569 -0.03114297 -2.13305175] [ 0.00659815 0.99968925 -0.02403882 -0.23245123] [ 0.03130987 0.02382102 0.99922583 -0.2880581 ] [ 0. 0. 0. 1. ]] SLAMing on 46.204630439999995 meters Centerline goodness : 0.459817 with order 3 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.29 [[ 0.99948733 -0.00722757 -0.03119047 -2.13277829] [ 0.00649067 0.99969893 -0.02366274 -0.23438108] [ 0.03135211 0.02344816 0.99923332 -0.28826239] [ 0. 0. 0. 1. ]] SLAMing on 46.26463044 meters Centerline goodness : 0.441392 with order 2 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.24, Z:-0.29 [[ 0.99942443 0.00383803 -0.03370571 -2.14849768] [-0.00461098 0.99972748 -0.02288479 -0.23512355] [ 0.03360869 0.02302704 0.99916976 -0.29142075] [ 0. 0. 0. 1. ]] SLAMing on 46.32463044 meters Centerline goodness : 0.438850 with order 3 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.23, Z:-0.29 [[ 0.99938122 0.00415513 -0.03492719 -2.14516188] [-0.00497572 0.99971285 -0.02344037 -0.23041906] [ 0.03481976 0.02359966 0.99911493 -0.29230478] [ 0. 0. 0. 1. ]] SLAMing on 46.384630439999995 meters Centerline goodness : 0.195231 with order 1 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.23, Z:-0.29 [[ 0.99935836 0.00809758 -0.03488986 -2.14582917] [-0.00879521 0.99976352 -0.01988835 -0.22823914] [ 0.03472056 0.02018245 0.99919325 -0.29143563] [ 0. 0. 0. 1. ]] SLAMing on 46.44463044 meters Centerline goodness : 0.443097 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.23, Z:-0.29 [[ 9.99514721e-01 -7.26161253e-04 -3.11415236e-02 -2.17329640e+00] [ 9.58393659e-05 9.99795201e-01 -2.02372783e-02 -2.26060342e-01] [ 3.11498413e-02 2.02244730e-02 9.99310091e-01 -2.90646055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50463044 meters Centerline goodness : 0.443274 with order 3 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.23, Z:-0.29 [[ 0.99952097 -0.00946475 -0.02946607 -2.15321052] [ 0.0089002 0.99977544 -0.01923179 -0.22857094] [ 0.02964148 0.01896032 0.99938075 -0.28943901] [ 0. 0. 0. 1. ]] SLAMing on 46.564630439999995 meters Centerline goodness : 0.443059 with order 3 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.29 [[ 9.99539666e-01 -2.54316020e-03 -3.02322387e-02 -2.17124515e+00] [ 1.89781351e-03 9.99770136e-01 -2.13558691e-02 -2.37174905e-01] [ 3.02796008e-02 2.12886632e-02 9.99314735e-01 -2.91826325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62463044 meters Centerline goodness : 0.321945 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.29 [[ 9.99537887e-01 -2.00264421e-03 -3.03315310e-02 -2.17096093e+00] [ 1.37159871e-03 9.99782477e-01 -2.08114691e-02 -2.38006222e-01] [ 3.03666111e-02 2.07602491e-02 9.99323211e-01 -2.91999004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68463044 meters Centerline goodness : 0.091317 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.29 [[ 9.99537101e-01 -1.75113770e-03 -3.03729757e-02 -2.17089350e+00] [ 1.12461087e-03 9.99786493e-01 -2.06326026e-02 -2.37934627e-01] [ 3.04026214e-02 2.05888940e-02 9.99325662e-01 -2.91976121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744630439999995 meters Centerline goodness : 0.328976 with order 2 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.29 [[ 9.99526844e-01 -1.73721184e-03 -3.07094426e-02 -2.17035930e+00] [ 1.09256588e-03 9.99778960e-01 -2.09961129e-02 -2.37132401e-01] [ 3.07391293e-02 2.09526263e-02 9.99307807e-01 -2.91842563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80463044 meters Centerline goodness : 0.093196 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.24, Z:-0.29 [[ 0.99952057 0.00643652 -0.03028537 -2.18925399] [-0.00709478 0.99973982 -0.02167849 -0.24303673] [ 0.03013796 0.02188296 0.99930618 -0.2945718 ] [ 0. 0. 0. 1. ]] SLAMing on 46.86463044 meters Centerline goodness : 0.446076 with order 2 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.25, Z:-0.29 [[ 0.99957021 0.00409418 -0.02902811 -2.19381511] [-0.00476693 0.99972076 -0.02314458 -0.24990256] [ 0.02892524 0.02327301 0.99931061 -0.29282312] [ 0. 0. 0. 1. ]] SLAMing on 46.92463044 meters Centerline goodness : 0.282385 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.26, Z:-0.29 [[ 0.99957398 0.00317115 -0.029014 -2.19433322] [-0.00384606 0.99972263 -0.02323522 -0.25774499] [ 0.02893227 0.02333691 0.99930892 -0.29233319] [ 0. 0. 0. 1. ]] SLAMing on 46.98463044 meters Centerline goodness : 0.107225 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.26, Z:-0.29 [[ 0.99948841 0.00261188 -0.03187617 -2.23792111] [-0.00336663 0.9997147 -0.02364712 -0.26492634] [ 0.03180531 0.02374233 0.99921205 -0.2935108 ] [ 0. 0. 0. 1. ]] SLAMing on 47.04463044 meters Centerline goodness : 0.110372 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.26, Z:-0.29 [[ 0.99950825 0.00314213 -0.03119916 -2.24013951] [-0.00387716 0.99971569 -0.0235269 -0.26358555] [ 0.03111637 0.0236363 0.99923626 -0.29267133] [ 0. 0. 0. 1. ]] SLAMing on 47.10463044 meters Centerline goodness : 0.114700 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.26, Z:-0.29 [[ 0.99948755 0.00718714 -0.03119281 -2.24061487] [-0.00782644 0.99976082 -0.02042169 -0.25836141] [ 0.03103857 0.02065535 0.99930474 -0.29207965] [ 0. 0. 0. 1. ]] SLAMing on 47.164630439999996 meters Centerline goodness : 0.119135 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.25, Z:-0.29 [[ 0.99946514 0.00682899 -0.03198125 -2.2384518 ] [-0.00751757 0.99974144 -0.02146032 -0.25401103] [ 0.03182643 0.02168927 0.99925805 -0.29275281] [ 0. 0. 0. 1. ]] SLAMing on 47.22463044 meters SLAMing on 47.28463044 meters Centerline goodness : 0.116679 with order 1 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.24, Z:-0.29 [[ 0.99950205 0.00807255 -0.03050387 -2.28903649] [-0.00873872 0.99972483 -0.02176924 -0.24349054] [ 0.03031974 0.02202497 0.99929756 -0.29147365] [ 0. 0. 0. 1. ]] SLAMing on 47.344630439999996 meters Centerline goodness : 0.128158 with order 1 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.24, Z:-0.29 [[ 0.99949724 0.00780735 -0.03072963 -2.28871615] [-0.0084973 0.99971329 -0.02238588 -0.24028414] [ 0.03054605 0.02263575 0.99927702 -0.29125383] [ 0. 0. 0. 1. ]] SLAMing on 47.40463044 meters SLAMing on 47.46463044 meters SLAMing on 47.524630439999996 meters Centerline goodness : 0.093677 with order 1 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.29 [[ 9.99634743e-01 -2.71661618e-04 -2.70241858e-02 -2.37221972e+00] [-3.58824328e-04 9.99727921e-01 -2.33228477e-02 -2.44839968e-01] [ 2.70231690e-02 2.33240258e-02 9.99362666e-01 -2.91070897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58463044 meters Centerline goodness : 0.101767 with order 1 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.29 [[ 9.99627435e-01 -4.59518009e-04 -2.72906754e-02 -2.37152483e+00] [-1.96524275e-04 9.99711182e-01 -2.40315177e-02 -2.41183926e-01] [ 2.72938363e-02 2.40279277e-02 9.99338634e-01 -2.91283728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64463044 meters Centerline goodness : 0.452006 with order 3 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.29 [[ 0.99960327 0.00308986 -0.02799566 -2.36995236] [-0.00368735 0.99976599 -0.02131576 -0.23584979] [ 0.02792325 0.02141053 0.99938075 -0.29128217] [ 0. 0. 0. 1. ]] SLAMing on 47.704630439999995 meters Centerline goodness : 0.101559 with order 1 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.29 [[ 0.99958749 -0.00449597 -0.02836623 -2.38705361] [ 0.00390976 0.99977834 -0.02068774 -0.22836858] [ 0.02845295 0.0205683 0.9993835 -0.29437748] [ 0. 0. 0. 1. ]] SLAMing on 47.76463044 meters Centerline goodness : 0.098440 with order 1 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.22, Z:-0.29 [[ 0.99958335 -0.00469386 -0.02847955 -2.38679277] [ 0.00408265 0.9997609 -0.02148195 -0.22384294] [ 0.02857358 0.02135673 0.99936352 -0.29452721] [ 0. 0. 0. 1. ]] SLAMing on 47.82463044 meters Centerline goodness : 0.451711 with order 3 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.22, Z:-0.29 [[ 0.99957885 -0.00475018 -0.02862804 -2.38657501] [ 0.00412988 0.99975626 -0.02168803 -0.22269983] [ 0.02872408 0.02156066 0.99935482 -0.29442611] [ 0. 0. 0. 1. ]] SLAMing on 47.884630439999995 meters Centerline goodness : 0.447498 with order 2 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.22, Z:-0.30 [[ 0.99957445 -0.00469323 -0.02879045 -2.38557289] [ 0.00406874 0.999756 -0.02171146 -0.22182809] [ 0.02888532 0.02158508 0.99934965 -0.29533166] [ 0. 0. 0. 1. ]] SLAMing on 47.94463044 meters Centerline goodness : 0.098425 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.22, Z:-0.30 [[ 0.99958574 0.0040686 -0.02849193 -2.40593921] [-0.00470924 0.99973678 -0.0224541 -0.22472262] [ 0.02839308 0.02257898 0.99934179 -0.29697806] [ 0. 0. 0. 1. ]] SLAMing on 48.00463044 meters Centerline goodness : 0.446501 with order 2 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.22, Z:-0.30 [[ 0.99958907 0.00426529 -0.02834596 -2.40653433] [-0.00491821 0.99972326 -0.02300457 -0.22043998] [ 0.02824 0.02313453 0.99933343 -0.29680893] [ 0. 0. 0. 1. ]] SLAMing on 48.064630439999995 meters Centerline goodness : 0.398474 with order 2 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.21, Z:-0.30 [[ 0.9995618 0.00766188 -0.02859184 -2.40596662] [-0.00825371 0.99975293 -0.02063877 -0.21356559] [ 0.02842665 0.02086572 0.99937808 -0.29685198] [ 0. 0. 0. 1. ]] SLAMing on 48.12463044 meters Centerline goodness : 0.104352 with order 1 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.30 [[ 9.99645921e-01 1.16493319e-04 -2.66086285e-02 -2.42705012e+00] [-6.51482352e-04 9.99797801e-01 -2.00980637e-02 -2.07209812e-01] [ 2.66009070e-02 2.01082825e-02 9.99443870e-01 -2.98742650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18463044 meters Centerline goodness : 0.469758 with order 3 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.30 [[ 9.99634990e-01 -8.67478022e-04 -2.70024939e-02 -2.42544193e+00] [ 3.09509914e-04 9.99786493e-01 -2.06609016e-02 -2.07603681e-01] [ 2.70146516e-02 2.06450026e-02 9.99421829e-01 -2.99603712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244630439999995 meters Centerline goodness : 0.347797 with order 1 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.30 [[ 9.99639143e-01 -1.35425929e-03 -2.68281528e-02 -2.42595393e+00] [ 7.98254449e-04 9.99784905e-01 -2.07245579e-02 -2.08947699e-01] [ 2.68504486e-02 2.06956636e-02 9.99425206e-01 -2.99350379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30463044 meters Centerline goodness : 0.178149 with order 1 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.21, Z:-0.30 [[ 0.99957743 -0.00955912 -0.02745144 -2.44664851] [ 0.00902666 0.99976998 -0.01945501 -0.20916187] [ 0.0276311 0.019199 0.9994338 -0.30017742] [ 0. 0. 0. 1. ]] SLAMing on 48.36463044 meters Centerline goodness : 0.227073 with order 2 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.21, Z:-0.30 [[ 0.99959385 -0.00973974 -0.02678197 -2.44850203] [ 0.00922432 0.99977115 -0.0193019 -0.21128818] [ 0.02696383 0.01904702 0.99945493 -0.29966658] [ 0. 0. 0. 1. ]] SLAMing on 48.42463044 meters Centerline goodness : 0.431901 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.22, Z:-0.30 [[ 9.99698467e-01 -2.63214248e-03 -2.44140609e-02 -2.46921332e+00] [ 2.15075541e-03 9.99803170e-01 -1.97229582e-02 -2.20663928e-01] [ 2.44611691e-02 1.96645024e-02 9.99507358e-01 -3.00866076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48463044 meters SLAMing on 48.54463044 meters SLAMing on 48.60463044 meters SLAMing on 48.664630439999996 meters SLAMing on 48.72463044 meters Centerline goodness : 0.445468 with order 2 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.28, Z:-0.31 [[ 0.99957838 0.01863121 -0.02226961 -2.62189841] [-0.01912986 0.99956622 -0.02239233 -0.27836692] [ 0.02184275 0.0228089 0.9995012 -0.30724634] [ 0. 0. 0. 1. ]] SLAMing on 48.78463044 meters Centerline goodness : 0.450282 with order 3 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.27, Z:-0.31 [[ 0.99966138 0.00743467 -0.02493684 -2.62542201] [-0.00791266 0.9997858 -0.01912448 -0.27278294] [ 0.02478932 0.01931532 0.99950608 -0.30636658] [ 0. 0. 0. 1. ]] SLAMing on 48.844630439999996 meters Centerline goodness : 0.107124 with order 1 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.27, Z:-0.31 [[ 9.99650851e-01 -1.64871652e-04 -2.64225216e-02 -2.64387250e+00] [-3.11078120e-04 9.99837796e-01 -1.80079110e-02 -2.67496265e-01] [ 2.64212047e-02 1.80098430e-02 9.99488652e-01 -3.08607231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90463044 meters Centerline goodness : 0.198297 with order 2 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.26, Z:-0.31 [[ 9.99637135e-01 -3.50811935e-04 -2.69346533e-02 -2.64253639e+00] [-1.56503687e-04 9.99822676e-01 -1.88306350e-02 -2.63294953e-01] [ 2.69364831e-02 1.88280174e-02 9.99459820e-01 -3.08965020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96463044 meters Centerline goodness : 0.104087 with order 1 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.26, Z:-0.31 [[ 9.99633979e-01 -5.19157987e-04 -2.70488243e-02 -2.64253377e+00] [-4.78707989e-06 9.99812448e-01 -1.93666808e-02 -2.60424291e-01] [ 2.70538056e-02 1.93597216e-02 9.99446493e-01 -3.08696636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024630439999996 meters Centerline goodness : 0.305578 with order 1 Centerline is valid? [False, False] Translation: X:-2.67, Y:-0.26, Z:-0.31 [[ 0.9996601 -0.0084208 -0.02467339 -2.6664343 ] [ 0.00796082 0.99979378 -0.01868226 -0.25759051] [ 0.02482562 0.01847949 0.99952098 -0.30923202] [ 0. 0. 0. 1. ]] SLAMing on 49.08463044 meters Centerline goodness : 0.448871 with order 3 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.26, Z:-0.31 [[ 9.99629754e-01 -8.00586419e-04 -2.71976698e-02 -2.68353046e+00] [ 2.54065110e-04 9.99798104e-01 -2.00919324e-02 -2.63380767e-01] [ 2.72082640e-02 2.00775834e-02 9.99428137e-01 -3.11094673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14463044 meters Centerline goodness : 0.443392 with order 2 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.26, Z:-0.31 [[ 9.99627179e-01 -8.71321995e-04 -2.72899813e-02 -2.68343475e+00] [ 3.16151098e-04 9.99793048e-01 -2.03411075e-02 -2.61994156e-01] [ 2.73020572e-02 2.03248962e-02 9.99420580e-01 -3.10976367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204630439999995 meters Centerline goodness : 0.157120 with order 1 Centerline is valid? [False, False] Translation: X:-2.69, Y:-0.26, Z:-0.31 [[ 9.99669591e-01 5.19846105e-04 -2.56989877e-02 -2.68972019e+00] [-1.00674083e-03 9.99820177e-01 -1.89367603e-02 -2.62857411e-01] [ 2.56845223e-02 1.89563756e-02 9.99490351e-01 -3.07819069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26463044 meters Centerline goodness : 0.449842 with order 2 Centerline is valid? [False, False] Translation: X:-2.69, Y:-0.26, Z:-0.31 [[ 9.99657100e-01 2.65946147e-04 -2.61841974e-02 -2.68800023e+00] [-7.74845851e-04 9.99810975e-01 -1.94271480e-02 -2.60980259e-01] [ 2.61740814e-02 1.94407751e-02 9.99468346e-01 -3.08687673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32463044 meters Centerline goodness : 0.455477 with order 3 Centerline is valid? [False, False] Translation: X:-2.69, Y:-0.26, Z:-0.31 [[ 9.99643323e-01 1.92039488e-04 -2.67056114e-02 -2.68625327e+00] [-7.19553695e-04 9.99804795e-01 -1.97447284e-02 -2.59099748e-01] [ 2.66966066e-02 1.97569021e-02 9.99448326e-01 -3.09496182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384630439999995 meters Centerline goodness : 0.101305 with order 1 Centerline is valid? [False, False] Translation: X:-2.73, Y:-0.26, Z:-0.31 [[ 9.99618634e-01 5.51460824e-04 -2.76094539e-02 -2.73306130e+00] [-1.12274279e-03 9.99785509e-01 -2.06803105e-02 -2.57246945e-01] [ 2.75921275e-02 2.07034221e-02 9.99404844e-01 -3.09384761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44463044 meters Centerline goodness : 0.097024 with order 1 Centerline is valid? [False, False] Translation: X:-2.74, Y:-0.25, Z:-0.31 [[ 9.99646984e-01 4.18481145e-04 -2.65656207e-02 -2.73636155e+00] [-9.87495017e-04 9.99770299e-01 -2.14096785e-02 -2.52559952e-01] [ 2.65505590e-02 2.14283539e-02 9.99417777e-01 -3.08222051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50463044 meters Centerline goodness : 0.452380 with order 3 Centerline is valid? [False, False] Translation: X:-2.74, Y:-0.25, Z:-0.31 [[ 9.99649178e-01 2.60563508e-04 -2.64849624e-02 -2.73647776e+00] [-8.40949957e-04 9.99759702e-01 -2.19050354e-02 -2.49706441e-01] [ 2.64728905e-02 2.19196231e-02 9.99409184e-01 -3.08296643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564630439999995 meters Centerline goodness : 0.136841 with order 1 Centerline is valid? [False, False] Translation: X:-2.74, Y:-0.25, Z:-0.31 [[ 9.99650240e-01 5.72431669e-05 -2.64460824e-02 -2.73686133e+00] [-6.45085167e-04 9.99752898e-01 -2.22199459e-02 -2.48641891e-01] [ 2.64382756e-02 2.22292342e-02 9.99403261e-01 -3.07866124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62463044 meters Centerline goodness : 0.172595 with order 3 Centerline is valid? [False, False] Translation: X:-2.73, Y:-0.25, Z:-0.31 [[ 9.99608635e-01 3.28219466e-04 -2.79726369e-02 -2.73255777e+00] [-9.41102840e-04 9.99759729e-01 -2.18997560e-02 -2.48818997e-01] [ 2.79587279e-02 2.19175103e-02 9.99368767e-01 -3.09016514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68463044 meters Centerline goodness : 0.103201 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.25, Z:-0.31 [[ 9.99552738e-01 -2.48224731e-04 -2.99042107e-02 -2.77715571e+00] [-4.26730110e-04 9.99745353e-01 -2.25620659e-02 -2.53559166e-01] [ 2.99021961e-02 2.25647358e-02 9.99298099e-01 -3.10002619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744630439999995 meters Centerline goodness : 0.112120 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.25, Z:-0.31 [[ 9.99556048e-01 -1.24659894e-04 -2.97941538e-02 -2.77735623e+00] [-5.44843992e-04 9.99747553e-01 -2.24618069e-02 -2.53866496e-01] [ 2.97894325e-02 2.24680681e-02 9.99303645e-01 -3.10077260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80463044 meters Centerline goodness : 0.109239 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.25, Z:-0.31 [[ 9.99534767e-01 3.06625469e-04 -3.04984524e-02 -2.77531775e+00] [-9.95022051e-04 9.99745020e-01 -2.25589102e-02 -2.51469455e-01] [ 3.04837588e-02 2.25787617e-02 9.99280211e-01 -3.10723110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86463044 meters Centerline goodness : 0.099064 with order 1 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.25, Z:-0.31 [[ 9.99536825e-01 -2.52119871e-03 -3.03278606e-02 -2.84096436e+00] [ 1.88842565e-03 9.99780310e-01 -2.08749923e-02 -2.50659544e-01] [ 3.03738278e-02 2.08080516e-02 9.99321998e-01 -3.10217984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92463044 meters Centerline goodness : 0.099179 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.25, Z:-0.31 [[ 0.99956245 -0.00454262 -0.02922807 -2.84532636] [ 0.00388872 0.99974175 -0.02239019 -0.25384346] [ 0.02932223 0.02226673 0.99932197 -0.30815631] [ 0. 0. 0. 1. ]] SLAMing on 49.98463044 meters Centerline goodness : 0.100997 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-0.26, Z:-0.31 [[ 0.99954699 -0.00848052 -0.02887723 -2.84587922] [ 0.00775886 0.99965705 -0.02501153 -0.26042764] [ 0.02907943 0.02477614 0.99927 -0.30822575] [ 0. 0. 0. 1. ]] SLAMing on 50.04463044 meters Centerline goodness : 0.103199 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.27, Z:-0.31 [[ 0.99945696 -0.01030972 -0.03129683 -2.88986639] [ 0.00949216 0.9996127 -0.02615991 -0.27140496] [ 0.03155441 0.02584862 0.99916774 -0.30890266] [ 0. 0. 0. 1. ]] SLAMing on 50.10463044 meters Centerline goodness : 0.099847 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.28, Z:-0.31 [[ 0.99940349 -0.01385332 -0.0316346 -2.88883476] [ 0.01293849 0.99949734 -0.0289423 -0.27632012] [ 0.03201964 0.02851573 0.99908038 -0.30902691] [ 0. 0. 0. 1. ]] SLAMing on 50.164630439999996 meters Centerline goodness : 0.100534 with order 1 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.29, Z:-0.31 [[ 0.99955497 -0.00825257 -0.02866641 -2.90633779] [ 0.00740256 0.99953345 -0.02963258 -0.29185486] [ 0.02889758 0.02940718 0.99914971 -0.31213742] [ 0. 0. 0. 1. ]] SLAMing on 50.22463044 meters Centerline goodness : 0.391042 with order 3 Centerline is valid? [False, False] Translation: X:-2.92, Y:-0.30, Z:-0.32 [[ 9.99628114e-01 -1.25232053e-03 -2.72408919e-02 -2.92372016e+00] [ 4.12671642e-04 9.99525269e-01 -3.08069149e-02 -3.04890516e-01] [ 2.72665400e-02 3.07842167e-02 9.99154076e-01 -3.16110517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28463044 meters Centerline goodness : 0.447885 with order 2 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.31, Z:-0.32 [[ 9.99550421e-01 1.16347512e-04 -2.99823619e-02 -2.96718367e+00] [-1.02539486e-03 9.99540147e-01 -3.03058131e-02 -3.11469010e-01] [ 2.99650484e-02 3.03229320e-02 9.99090895e-01 -3.17411155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344630439999996 meters Centerline goodness : 0.450161 with order 3 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.31, Z:-0.32 [[ 9.99541582e-01 7.44300503e-04 -3.02666943e-02 -2.96657890e+00] [-1.63815976e-03 9.99562886e-01 -2.95187055e-02 -3.14159142e-01] [ 3.02314935e-02 2.95547553e-02 9.99105887e-01 -3.17407031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40463044 meters Centerline goodness : 0.452306 with order 2 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.32, Z:-0.32 [[ 9.99544208e-01 9.75755773e-04 -3.01732392e-02 -2.96668697e+00] [-1.85686544e-03 9.99572230e-01 -2.91874770e-02 -3.15360616e-01] [ 3.01318521e-02 2.92302013e-02 9.99118445e-01 -3.17607564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46463044 meters Centerline goodness : 0.448387 with order 2 Centerline is valid? [False, False] Translation: X:-2.99, Y:-0.31, Z:-0.32 [[ 0.99953692 -0.00699453 -0.02961472 -2.98791939] [ 0.00615322 0.99957756 -0.0284049 -0.3147569 ] [ 0.02980089 0.02820952 0.99915771 -0.3186598 ] [ 0. 0. 0. 1. ]] SLAMing on 50.524630439999996 meters Centerline goodness : 0.434864 with order 1 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.32, Z:-0.32 [[ 0.99947242 -0.00600501 -0.03191908 -3.03416005] [ 0.00512277 0.99960454 -0.02765012 -0.32035885] [ 0.0320725 0.02747202 0.99910792 -0.31868106] [ 0. 0. 0. 1. ]] SLAMing on 50.58463044 meters SLAMing on 50.64463044 meters Centerline goodness : 0.200177 with order 1 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.34, Z:-0.32 [[ 0.99948233 -0.00957318 -0.03071518 -3.07011156] [ 0.00873153 0.99958587 -0.02741973 -0.34131106] [ 0.03096496 0.02713734 0.99915201 -0.32178895] [ 0. 0. 0. 1. ]] SLAMing on 50.704630439999995 meters Centerline goodness : 0.414576 with order 3 Centerline is valid? [False, False] Translation: X:-3.07, Y:-0.35, Z:-0.32 [[ 0.99949742 -0.00916533 -0.0303464 -3.07111317] [ 0.008367 0.99961828 -0.02633043 -0.34643716] [ 0.03057614 0.02606328 0.99919258 -0.32153798] [ 0. 0. 0. 1. ]] SLAMing on 50.76463044 meters Centerline goodness : 0.446113 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.36, Z:-0.32 [[ 0.99941938 -0.00978135 -0.03263795 -3.11807775] [ 0.00890657 0.99960003 -0.02684108 -0.35720307] [ 0.03288744 0.0265348 0.99910676 -0.32126121] [ 0. 0. 0. 1. ]] SLAMing on 50.82463044 meters Centerline goodness : 0.444231 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.37, Z:-0.32 [[ 0.99941791 -0.01037526 -0.03249929 -3.11833955] [ 0.00952295 0.99960949 -0.02627134 -0.36838315] [ 0.03275917 0.02594656 0.99912642 -0.32138418] [ 0. 0. 0. 1. ]] SLAMing on 50.884630439999995 meters Centerline goodness : 0.263353 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.37, Z:-0.32 [[ 0.99941669 -0.01000158 -0.03265355 -3.11763474] [ 0.00917443 0.99963569 -0.02538335 -0.37276456] [ 0.03289553 0.02506897 0.99914435 -0.3218705 ] [ 0. 0. 0. 1. ]] SLAMing on 50.94463044 meters Centerline goodness : 0.124149 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.38, Z:-0.32 [[ 9.99491303e-01 -1.40288136e-03 -3.18616902e-02 -3.09915752e+00] [ 5.71998657e-04 9.99659905e-01 -2.60719554e-02 -3.78910905e-01] [ 3.18874300e-02 2.60404679e-02 9.99152184e-01 -3.19529708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00463044 meters Centerline goodness : 0.447956 with order 2 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.38, Z:-0.32 [[ 9.99413913e-01 5.99594347e-04 -3.42267553e-02 -3.14723968e+00] [-1.44581439e-03 9.99693751e-01 -2.47045415e-02 -3.83635955e-01] [ 3.42014607e-02 2.47395480e-02 9.99108710e-01 -3.19239470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064630439999995 meters Centerline goodness : 0.449478 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.39, Z:-0.32 [[ 9.99409112e-01 6.97401379e-04 -3.43648275e-02 -3.14657956e+00] [-1.53591896e-03 9.99701581e-01 -2.43801062e-02 -3.86109065e-01] [ 3.43375696e-02 2.44184819e-02 9.99111940e-01 -3.19845975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12463044 meters Centerline goodness : 0.452437 with order 1 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.39, Z:-0.32 [[ 9.99408678e-01 8.15657170e-04 -3.43748451e-02 -3.14650320e+00] [-1.62679433e-03 9.99720736e-01 -2.35754657e-02 -3.90811005e-01] [ 3.43460160e-02 2.36174458e-02 9.99130906e-01 -3.19916873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18463044 meters Centerline goodness : 0.448913 with order 2 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.40, Z:-0.32 [[ 9.99393655e-01 -2.76052610e-03 -3.47088013e-02 -3.14531986e+00] [ 1.85946769e-03 9.99661096e-01 -2.59660461e-02 -3.99282275e-01] [ 3.47687183e-02 2.58857618e-02 9.99060090e-01 -3.20444657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244630439999995 meters Centerline goodness : 0.282969 with order 3 Centerline is valid? [False, False] Translation: X:-3.14, Y:-0.40, Z:-0.32 [[ 9.99391379e-01 -2.65974209e-03 -3.47821545e-02 -3.14483782e+00] [ 1.78070474e-03 9.99678843e-01 -2.52792544e-02 -4.03248350e-01] [ 3.48382203e-02 2.52019321e-02 9.99075153e-01 -3.20864314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30463044 meters Centerline goodness : 0.444545 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.41, Z:-0.32 [[ 9.99405208e-01 -2.30015085e-03 -3.44084246e-02 -3.14597619e+00] [ 1.45491726e-03 9.99697062e-01 -2.45696269e-02 -4.06099289e-01] [ 3.44545149e-02 2.45049517e-02 9.99105797e-01 -3.20454036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36463044 meters Centerline goodness : 0.459981 with order 3 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.41, Z:-0.32 [[ 9.99298322e-01 -2.32457068e-03 -3.73826261e-02 -3.18980432e+00] [ 1.40447269e-03 9.99695885e-01 -2.46204356e-02 -4.08274506e-01] [ 3.74284894e-02 2.45506571e-02 9.98997684e-01 -3.21356787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424630439999994 meters Centerline goodness : 0.438384 with order 3 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.41, Z:-0.32 [[ 9.99319737e-01 -2.21280218e-03 -3.68125869e-02 -3.19147997e+00] [ 1.30389718e-03 9.99694163e-01 -2.46957715e-02 -4.06448434e-01] [ 3.68559751e-02 2.46309720e-02 9.99016993e-01 -3.20879115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48463044 meters Centerline goodness : 0.448426 with order 2 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.41, Z:-0.32 [[ 9.99335133e-01 -2.31961224e-03 -3.63855800e-02 -3.19277740e+00] [ 1.41630782e-03 9.99690634e-01 -2.48320479e-02 -4.05779985e-01] [ 3.64319243e-02 2.47640047e-02 9.99029258e-01 -3.20440742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54463044 meters Centerline goodness : 0.448770 with order 2 Centerline is valid? [False, False] Translation: X:-3.21, Y:-0.40, Z:-0.32 [[ 0.99914772 -0.01142171 -0.03966573 -3.20993424] [ 0.01045667 0.99964631 -0.02445217 -0.40285365] [ 0.03993099 0.02401656 0.99891377 -0.3224168 ] [ 0. 0. 0. 1. ]] SLAMing on 51.60463044 meters Centerline goodness : 0.095609 with order 1 Centerline is valid? [False, False] Translation: X:-3.21, Y:-0.40, Z:-0.32 [[ 0.99910896 -0.01223767 -0.04039204 -3.20769845] [ 0.01123743 0.99962683 -0.02489818 -0.40347238] [ 0.04068167 0.0244221 0.99887365 -0.32316076] [ 0. 0. 0. 1. ]] SLAMing on 51.664630439999996 meters Centerline goodness : 0.274958 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.41, Z:-0.32 [[ 0.99904977 -0.01536599 -0.0407853 -3.25422229] [ 0.01435203 0.99958346 -0.02503845 -0.4078924 ] [ 0.04115305 0.0244293 0.99885416 -0.32394649] [ 0. 0. 0. 1. ]] SLAMing on 51.72463044 meters Centerline goodness : 0.103269 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.42, Z:-0.33 [[ 0.99913967 -0.01158643 -0.03982065 -3.26790203] [ 0.01047184 0.99955067 -0.02808564 -0.41549725] [ 0.04012817 0.02764448 0.99881205 -0.3272798 ] [ 0. 0. 0. 1. ]] SLAMing on 51.78463044 meters Centerline goodness : 0.456720 with order 2 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.42, Z:-0.33 [[ 0.99913999 -0.01252855 -0.03952619 -3.26909129] [ 0.01141852 0.9995375 -0.02818532 -0.41888552] [ 0.03986103 0.02770975 0.99882094 -0.32670868] [ 0. 0. 0. 1. ]] SLAMing on 51.844630439999996 meters Centerline goodness : 0.132944 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.42, Z:-0.33 [[ 0.99913842 -0.01290237 -0.03944544 -3.26919827] [ 0.01179833 0.99953563 -0.02809489 -0.421003 ] [ 0.03978961 0.02760529 0.99882668 -0.32688358] [ 0. 0. 0. 1. ]] SLAMing on 51.90463044 meters Centerline goodness : 0.452349 with order 2 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.42, Z:-0.33 [[ 0.99913262 -0.01282151 -0.03961829 -3.26931175] [ 0.01171704 0.99953966 -0.02798528 -0.42121832] [ 0.03995887 0.0274968 0.99882291 -0.32613707] [ 0. 0. 0. 1. ]] SLAMing on 51.96463044 meters Centerline goodness : 0.133758 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.42, Z:-0.33 [[ 0.9991424 -0.01263979 -0.03942957 -3.27018605] [ 0.01152696 0.99953233 -0.02832396 -0.41925119] [ 0.03976914 0.02784517 0.99882084 -0.32539443] [ 0. 0. 0. 1. ]] SLAMing on 52.024630439999996 meters Centerline goodness : 0.241759 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.32 [[ 0.99916074 -0.01241355 -0.03903473 -3.27144209] [ 0.0112848 0.99951556 -0.02900505 -0.41498133] [ 0.03937587 0.02854021 0.9988168 -0.32477344] [ 0. 0. 0. 1. ]] SLAMing on 52.08463044 meters Centerline goodness : 0.415729 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.32 [[ 0.99916031 -0.01236093 -0.03906257 -3.27148865] [ 0.01121691 0.99950562 -0.02937154 -0.4129483 ] [ 0.03940631 0.02890872 0.998805 -0.32458725] [ 0. 0. 0. 1. ]] SLAMing on 52.14463044 meters Centerline goodness : 0.223738 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.32 [[ 0.99918247 -0.01257527 -0.03842204 -3.27330678] [ 0.01143901 0.99949485 -0.02965136 -0.41251725] [ 0.03877551 0.02918761 0.99882158 -0.32396938] [ 0. 0. 0. 1. ]] SLAMing on 52.204630439999995 meters Centerline goodness : 0.414352 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.41, Z:-0.32 [[ 0.99902345 -0.02250036 -0.03802464 -3.25188312] [ 0.02135891 0.99931677 -0.03016286 -0.40809244] [ 0.03867733 0.02932124 0.99882147 -0.32361916] [ 0. 0. 0. 1. ]] SLAMing on 52.26463044 meters Centerline goodness : 0.102330 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.33 [[ 0.99918948 -0.01492649 -0.03738419 -3.27110767] [ 0.01376237 0.99941824 -0.03120544 -0.41131585] [ 0.03782823 0.03066565 0.99881362 -0.32583345] [ 0. 0. 0. 1. ]] SLAMing on 52.32463044 meters Centerline goodness : 0.098092 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.33 [[ 0.99918259 -0.01517188 -0.03746944 -3.27078687] [ 0.01399867 0.99940957 -0.03137749 -0.41043704] [ 0.03792338 0.03082732 0.99880503 -0.32592338] [ 0. 0. 0. 1. ]] SLAMing on 52.384630439999995 meters Centerline goodness : 0.095619 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.33 [[ 0.99917403 -0.01521071 -0.0376815 -3.27008616] [ 0.01403035 0.99940862 -0.03139361 -0.41043547] [ 0.03813673 0.03083899 0.99879655 -0.32621129] [ 0. 0. 0. 1. ]] SLAMing on 52.44463044 meters Centerline goodness : 0.094669 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.41, Z:-0.33 [[ 0.99914046 -0.0154168 -0.0384794 -3.26709272] [ 0.01420147 0.9993978 -0.03166006 -0.40934219] [ 0.03894432 0.03108638 0.99875772 -0.3277542 ] [ 0. 0. 0. 1. ]] SLAMing on 52.50463044 meters Centerline goodness : 0.097875 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.41, Z:-0.33 [[ 0.99915626 -0.00725978 -0.04042364 -3.28532725] [ 0.00593263 0.99944252 -0.0328549 -0.41264824] [ 0.04063963 0.03258736 0.99864232 -0.32982593] [ 0. 0. 0. 1. ]] SLAMing on 52.564630439999995 meters Centerline goodness : 0.098749 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.41, Z:-0.33 [[ 0.99911668 -0.00697824 -0.04143875 -3.28207673] [ 0.00563845 0.99946034 -0.03236113 -0.41449198] [ 0.04164221 0.0320989 0.99861684 -0.33110319] [ 0. 0. 0. 1. ]] SLAMing on 52.62463044 meters Centerline goodness : 0.103244 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.41, Z:-0.33 [[ 0.99909912 -0.00674532 -0.04189809 -3.28080962] [ 0.00539516 0.99946511 -0.03225486 -0.41466797] [ 0.04209325 0.03199976 0.99860111 -0.33132909] [ 0. 0. 0. 1. ]] SLAMing on 52.68463044 meters Centerline goodness : 0.106070 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.41, Z:-0.33 [[ 9.99140022e-01 -2.24524130e-03 -4.14025933e-02 -3.28297050e+00] [ 1.06269854e-03 9.99591459e-01 -2.85619641e-02 -4.12473089e-01] [ 4.14498071e-02 2.84934030e-02 9.98734219e-01 -3.29871978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744630439999995 meters Centerline goodness : 0.286414 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.41, Z:-0.33 [[ 0.99914256 0.00737141 -0.04074061 -3.26220675] [-0.00856003 0.99954048 -0.02907827 -0.41296621] [ 0.04050754 0.02940208 0.99874654 -0.32868739] [ 0. 0. 0. 1. ]] SLAMing on 52.80463044 meters Centerline goodness : 0.309554 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.41, Z:-0.33 [[ 0.99913018 0.01069057 -0.04030618 -3.26426296] [-0.01177146 0.99957483 -0.02667575 -0.40798989] [ 0.04000386 0.02712701 0.99883123 -0.32755447] [ 0. 0. 0. 1. ]] SLAMing on 52.86463044 meters Centerline goodness : 0.457209 with order 2 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.40, Z:-0.33 [[ 0.99909632 0.01447282 -0.03996348 -3.2653402 ] [-0.01543839 0.99959372 -0.02395926 -0.40238644] [ 0.03960049 0.02455458 0.99891385 -0.32719503] [ 0. 0. 0. 1. ]] SLAMing on 52.924630439999994 meters Centerline goodness : 0.349482 with order 3 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.40, Z:-0.33 [[ 0.99912175 0.01451605 -0.03930653 -3.26816323] [-0.01547863 0.99958496 -0.02429634 -0.39981157] [ 0.03893753 0.02488342 0.99893177 -0.32546031] [ 0. 0. 0. 1. ]] SLAMing on 52.98463044 meters SLAMing on 53.04463044 meters Centerline goodness : 0.454150 with order 3 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.40, Z:-0.32 [[ 0.99936677 0.00395959 -0.03536065 -3.25290491] [-0.00484714 0.99967446 -0.02504955 -0.40343661] [ 0.03524995 0.02520509 0.99906063 -0.32360272] [ 0. 0. 0. 1. ]] SLAMing on 53.10463044 meters Centerline goodness : 0.237392 with order 1 Centerline is valid? [False, False] Translation: X:-3.25, Y:-0.42, Z:-0.32 [[ 9.99363516e-01 1.20828703e-03 -3.56525215e-02 -3.25155916e+00] [-2.14977604e-03 9.99649653e-01 -2.63808561e-02 -4.16017971e-01] [ 3.56081551e-02 2.64407100e-02 9.99015990e-01 -3.24535783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164630439999996 meters Centerline goodness : 0.291222 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.43, Z:-0.33 [[ 0.99936985 0.00770453 -0.03464896 -3.26633521] [-0.00866832 0.99957725 -0.02775208 -0.42904664] [ 0.03442049 0.02803494 0.99901415 -0.32902144] [ 0. 0. 0. 1. ]] SLAMing on 53.22463044 meters Centerline goodness : 0.094362 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.43, Z:-0.33 [[ 0.99931383 0.00888509 -0.03595721 -3.26255657] [-0.00984984 0.99959382 -0.02674284 -0.4325549 ] [ 0.03570499 0.02707866 0.99899545 -0.33038511] [ 0. 0. 0. 1. ]] SLAMing on 53.28463044 meters Centerline goodness : 0.125383 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.43, Z:-0.33 [[ 0.99928343 0.01013642 -0.03646751 -3.26100064] [-0.01108613 0.99960215 -0.02593538 -0.43278218] [ 0.03619011 0.02632108 0.99899824 -0.33106561] [ 0. 0. 0. 1. ]] SLAMing on 53.344630439999996 meters Centerline goodness : 0.098556 with order 1 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.43, Z:-0.33 [[ 0.99929002 0.01101765 -0.03602864 -3.26173089] [-0.01194635 0.99959924 -0.02566402 -0.43130864] [ 0.03573144 0.02607621 0.99902117 -0.33164056] [ 0. 0. 0. 1. ]] SLAMing on 53.40463044 meters Centerline goodness : 0.090799 with order 1 Centerline is valid? [False, False] Translation: X:-3.28, Y:-0.43, Z:-0.33 [[ 0.99921156 0.00379209 -0.03952049 -3.27751347] [-0.0047485 0.99969744 -0.02413461 -0.4265317 ] [ 0.03941701 0.02430325 0.99892725 -0.33415348] [ 0. 0. 0. 1. ]] SLAMing on 53.46463044 meters Centerline goodness : 0.309686 with order 1 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.42, Z:-0.34 [[ 9.99123554e-01 -4.11914530e-03 -4.16551977e-02 -3.29491331e+00] [ 3.17352184e-03 9.99736332e-01 -2.27419110e-02 -4.23564035e-01] [ 4.17378918e-02 2.25897852e-02 9.98873190e-01 -3.36352440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524630439999996 meters Centerline goodness : 0.280914 with order 1 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.43, Z:-0.34 [[ 9.99143045e-01 -4.03152146e-03 -4.11937203e-02 -3.29652292e+00] [ 3.11736313e-03 9.99747981e-01 -2.22318779e-02 -4.25974764e-01] [ 4.12729670e-02 2.20844104e-02 9.98903810e-01 -3.35576582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58463044 meters Centerline goodness : 0.432303 with order 1 Centerline is valid? [False, False] Translation: X:-3.30, Y:-0.43, Z:-0.33 [[ 0.99915601 -0.00419898 -0.04086118 -3.29778647] [ 0.00329982 0.99975147 -0.0220478 -0.42876189] [ 0.04094361 0.02189435 0.99892155 -0.33485008] [ 0. 0. 0. 1. ]] SLAMing on 53.64463044 meters Centerline goodness : 0.402929 with order 3 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.43, Z:-0.34 [[ 0.99920996 0.00378429 -0.03956177 -3.31892545] [-0.00467868 0.99973501 -0.02253926 -0.43490592] [ 0.039466 0.02270655 0.99896289 -0.33612058] [ 0. 0. 0. 1. ]] SLAMing on 53.704630439999995 meters Centerline goodness : 0.090682 with order 1 Centerline is valid? [False, False] Translation: X:-3.32, Y:-0.43, Z:-0.34 [[ 0.99922204 0.00497348 -0.03912271 -3.32023827] [-0.00583327 0.99974329 -0.02189337 -0.4337116 ] [ 0.03900378 0.02210455 0.99899454 -0.33570213] [ 0. 0. 0. 1. ]] SLAMing on 53.76463044 meters Centerline goodness : 0.200650 with order 2 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.43, Z:-0.34 [[ 0.9991037 0.00471224 -0.04206648 -3.3644535 ] [-0.00567528 0.99972386 -0.02280329 -0.43444543] [ 0.04194741 0.02302159 0.99885455 -0.33604902] [ 0. 0. 0. 1. ]] SLAMing on 53.82463044 meters Centerline goodness : 0.240148 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.44, Z:-0.34 [[ 0.99910399 0.00491559 -0.04203642 -3.36495213] [-0.00585787 0.99973367 -0.02232217 -0.43669772] [ 0.0419155 0.02254842 0.99886669 -0.33549168] [ 0. 0. 0. 1. ]] SLAMing on 53.884630439999995 meters Centerline goodness : 0.093393 with order 1 Centerline is valid? [False, False] Translation: X:-3.39, Y:-0.44, Z:-0.34 [[ 0.99918296 -0.00476743 -0.04013324 -3.38883971] [ 0.00386812 0.99974035 -0.02245584 -0.43816738] [ 0.04022988 0.02228226 0.99894197 -0.33661693] [ 0. 0. 0. 1. ]] SLAMing on 53.94463044 meters SLAMing on 54.00463044 meters Centerline goodness : 0.311503 with order 1 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.44, Z:-0.34 [[ 9.99022769e-01 -2.61879479e-03 -4.41208451e-02 -3.42657285e+00] [ 1.68850669e-03 9.99775752e-01 -2.11090902e-02 -4.41554034e-01] [ 4.41662315e-02 2.10139634e-02 9.98803162e-01 -3.39930221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064630439999995 meters Centerline goodness : 0.448533 with order 3 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.44, Z:-0.34 [[ 9.99028683e-01 -2.74427289e-03 -4.39790719e-02 -3.42694451e+00] [ 1.80396038e-03 9.99769230e-01 -2.14063506e-02 -4.40510182e-01] [ 4.40276678e-02 2.13062218e-02 9.98803088e-01 -3.39962207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12463044 meters Centerline goodness : 0.312728 with order 3 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.44, Z:-0.34 [[ 9.98994424e-01 -2.56130848e-03 -4.47613766e-02 -3.42447341e+00] [ 1.62657968e-03 9.99780113e-01 -2.09064448e-02 -4.42704243e-01] [ 4.48050820e-02 2.08126138e-02 9.98778924e-01 -3.40829362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18463044 meters Centerline goodness : 0.541928 with order 3 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.45, Z:-0.34 [[ 9.98935038e-01 -4.44517591e-03 -4.59241737e-02 -3.47219527e+00] [ 3.42518224e-03 9.99746231e-01 -2.22652523e-02 -4.49088482e-01] [ 4.60114925e-02 2.20842420e-02 9.98696765e-01 -3.41010883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244630439999995 meters Centerline goodness : 0.448751 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.45, Z:-0.34 [[ 9.98945256e-01 -4.20120579e-03 -4.57244420e-02 -3.47328333e+00] [ 3.21642102e-03 9.99761742e-01 -2.15896850e-02 -4.52597385e-01] [ 4.58042504e-02 2.14198444e-02 9.98720762e-01 -3.40150154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30463044 meters Centerline goodness : 0.456995 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.46, Z:-0.34 [[ 9.98937995e-01 -3.85822092e-03 -4.59129179e-02 -3.47237103e+00] [ 2.90017932e-03 9.99777054e-01 -2.09148422e-02 -4.55422678e-01] [ 4.59833759e-02 2.07594748e-02 9.98726476e-01 -3.40790107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36463044 meters Centerline goodness : 0.102615 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.46, Z:-0.34 [[ 9.98936842e-01 -3.64648601e-03 -4.59552840e-02 -3.47222416e+00] [ 2.71321510e-03 9.99789149e-01 -2.03542777e-02 -4.58913087e-01] [ 4.60198158e-02 2.02079513e-02 9.98736109e-01 -3.40843667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424630439999994 meters Centerline goodness : 0.313046 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98780493e-01 -1.23826431e-03 -4.93557829e-02 -3.51535889e+00] [ 3.63635475e-04 9.99842817e-01 -1.77259402e-02 -4.69682648e-01] [ 4.93699744e-02 1.76863757e-02 9.98623952e-01 -3.41576756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48463044 meters Centerline goodness : 0.103468 with order 1 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.47, Z:-0.34 [[ 9.98766078e-01 -1.13913965e-03 -4.96489980e-02 -3.51443060e+00] [ 2.70394287e-04 9.99846810e-01 -1.75009475e-02 -4.71392830e-01] [ 4.96613283e-02 1.74659279e-02 9.98613386e-01 -3.41913425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54463044 meters Centerline goodness : 0.107743 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98838828e-01 5.82085785e-04 -4.81731894e-02 -3.51908445e+00] [-1.33985762e-03 9.99875860e-01 -1.56993610e-02 -4.74404728e-01] [ 4.81580708e-02 1.57456766e-02 9.98715612e-01 -3.40704928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60463044 meters Centerline goodness : 0.104613 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98842662e-01 4.71174282e-04 -4.80948459e-02 -3.51913359e+00] [-1.24175566e-03 9.99871325e-01 -1.59934990e-02 -4.73500060e-01] [ 4.80811215e-02 1.60347112e-02 9.98714721e-01 -3.40927927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664630439999996 meters Centerline goodness : 0.106972 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98826512e-01 3.31590205e-04 -4.84302489e-02 -3.51838551e+00] [-1.12563914e-03 9.99865379e-01 -1.63693698e-02 -4.72062722e-01] [ 4.84183012e-02 1.64046755e-02 9.98692422e-01 -3.40986542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72463044 meters Centerline goodness : 0.108385 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98822373e-01 8.11781392e-04 -4.85098766e-02 -3.51746590e+00] [-1.60437526e-03 9.99865825e-01 -1.63021119e-02 -4.68802045e-01] [ 4.84901340e-02 1.63607421e-02 9.98689658e-01 -3.41935175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78463044 meters Centerline goodness : 0.114291 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98839947e-01 1.59758843e-04 -4.81532348e-02 -3.51888234e+00] [-9.86368241e-04 9.99852562e-01 -1.71429545e-02 -4.66556736e-01] [ 4.81433965e-02 1.71705646e-02 9.98692838e-01 -3.41151399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844630439999996 meters Centerline goodness : 0.104681 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98875078e-01 -5.83307198e-05 -4.74191399e-02 -3.52092256e+00] [-7.62038012e-04 9.99850363e-01 -1.72821095e-02 -4.65898143e-01] [ 4.74130523e-02 1.72988037e-02 9.98725565e-01 -3.40722625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90463044 meters Centerline goodness : 0.106245 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98874220e-01 -2.84747052e-04 -4.74363868e-02 -3.52109021e+00] [-5.40183515e-04 9.99848871e-01 -1.73765217e-02 -4.65931715e-01] [ 4.74341657e-02 1.73825840e-02 9.98723108e-01 -3.40383230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96463044 meters Centerline goodness : 0.109357 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98806971e-01 -3.92431363e-04 -4.88311463e-02 -3.51741464e+00] [-4.41226296e-04 9.99854365e-01 -1.70603022e-02 -4.67790304e-01] [ 4.88307298e-02 1.70614943e-02 9.98661337e-01 -3.40858478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024630439999996 meters Centerline goodness : 0.111205 with order 1 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98839356e-01 -4.01093194e-04 -4.81640863e-02 -3.51990887e+00] [-4.06169442e-04 9.99859631e-01 -1.67497191e-02 -4.69863093e-01] [ 4.81640437e-02 1.67498414e-02 9.98698988e-01 -3.39519960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08463044 meters Centerline goodness : 0.252250 with order 3 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.47, Z:-0.34 [[ 9.98810863e-01 -1.76909138e-04 -4.87527262e-02 -3.51828746e+00] [-6.45527386e-04 9.99857765e-01 -1.68532881e-02 -4.68775904e-01] [ 4.87487734e-02 1.68647185e-02 9.98668683e-01 -3.39908750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14463044 meters Centerline goodness : 0.106473 with order 1 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.47, Z:-0.34 [[ 0.99865986 0.00874188 -0.0510104 -3.53674963] [-0.00964374 0.99980104 -0.01746077 -0.47056669] [ 0.05084761 0.01792931 0.99854547 -0.34188065] [ 0. 0. 0. 1. ]] SLAMing on 55.204630439999995 meters Centerline goodness : 0.240701 with order 3 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.47, Z:-0.34 [[ 0.99870225 0.00951465 -0.05003289 -3.53996407] [-0.01039386 0.99979559 -0.01734198 -0.46680888] [ 0.04985766 0.01783951 0.998597 -0.34085173] [ 0. 0. 0. 1. ]] SLAMing on 55.26463044 meters Centerline goodness : 0.113207 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98843759e-01 1.70070655e-03 -4.80442786e-02 -3.56217074e+00] [-2.50205211e-03 9.99858680e-01 -1.66241007e-02 -4.60995505e-01] [ 4.80092162e-02 1.67250885e-02 9.98706857e-01 -3.42810486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32463044 meters Centerline goodness : 0.118478 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98838817e-01 1.46242621e-03 -4.81547416e-02 -3.56193602e+00] [-2.28785046e-03 9.99851330e-01 -1.70904261e-02 -4.59129272e-01] [ 4.81225890e-02 1.71807518e-02 9.98693666e-01 -3.42819937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384630439999995 meters Centerline goodness : 0.105639 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98828917e-01 1.18872469e-03 -4.83671481e-02 -3.56099637e+00] [-2.04470725e-03 9.99842101e-01 -1.76519761e-02 -4.56483062e-01] [ 4.83385276e-02 1.77302008e-02 9.98673634e-01 -3.43471882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44463044 meters Centerline goodness : 0.112156 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98809346e-01 1.12598322e-03 -4.87711209e-02 -3.55984578e+00] [-1.99362390e-03 9.99840556e-01 -1.77450606e-02 -4.55655891e-01] [ 4.87433641e-02 1.78211637e-02 9.98652337e-01 -3.43742760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50463044 meters Centerline goodness : 0.110143 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98730730e-01 5.74061734e-04 -5.03646673e-02 -3.55553956e+00] [-1.48802376e-03 9.99834870e-01 -1.81112706e-02 -4.56297975e-01] [ 5.03459536e-02 1.81632263e-02 9.98566664e-01 -3.44538541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564630439999995 meters Centerline goodness : 0.109470 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98728220e-01 4.99686748e-04 -5.04152075e-02 -3.55558292e+00] [-1.40231367e-03 9.99839334e-01 -1.78700796e-02 -4.58293339e-01] [ 5.03981781e-02 1.79180507e-02 9.98568459e-01 -3.44240846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62463044 meters Centerline goodness : 0.106642 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98763143e-01 4.12967429e-04 -4.97193532e-02 -3.55797170e+00] [-1.29390740e-03 9.99842729e-01 -1.76873689e-02 -4.60036338e-01] [ 4.97042295e-02 1.77298244e-02 9.98606601e-01 -3.43143717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68463044 meters Centerline goodness : 0.109755 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98717342e-01 7.56818360e-04 -5.06270494e-02 -3.55529706e+00] [-1.63927103e-03 9.99847418e-01 -1.73912076e-02 -4.59900498e-01] [ 5.06061626e-02 1.74518921e-02 9.98566196e-01 -3.43879791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744630439999995 meters Centerline goodness : 0.111056 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98710040e-01 4.94561289e-04 -5.07741270e-02 -3.55500891e+00] [-1.40918738e-03 9.99837364e-01 -1.79794077e-02 -4.57865412e-01] [ 5.07569774e-02 1.80277653e-02 9.98548311e-01 -3.43822582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80463044 meters Centerline goodness : 0.110133 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.46, Z:-0.34 [[ 9.98756728e-01 8.29934640e-04 -4.98428448e-02 -3.55771925e+00] [-1.72472690e-03 9.99838081e-01 -1.79119459e-02 -4.56522216e-01] [ 4.98199085e-02 1.79756417e-02 9.98596442e-01 -3.43143580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86463044 meters Centerline goodness : 0.112639 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.45, Z:-0.34 [[ 9.98781298e-01 1.04805836e-03 -4.93438911e-02 -3.55944576e+00] [-1.93879612e-03 9.99835977e-01 -1.80072311e-02 -4.54657343e-01] [ 4.93169249e-02 1.80809534e-02 9.98619507e-01 -3.42430723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924630439999994 meters Centerline goodness : 0.110603 with order 1 Centerline is valid? [False, False] Translation: X:-3.56, Y:-0.45, Z:-0.34 [[ 0.99877429 0.00489356 -0.04925417 -3.56042787] [-0.00563146 0.99987382 -0.01485393 -0.45106803] [ 0.04917527 0.0151131 0.99867582 -0.34148524] [ 0. 0. 0. 1. ]] SLAMing on 55.98463044 meters Centerline goodness : 0.105373 with order 1 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.44, Z:-0.34 [[ 9.98844862e-01 -4.53859795e-04 -4.80493050e-02 -3.54147879e+00] [-1.38311740e-04 9.99924094e-01 -1.23202056e-02 -4.43727021e-01] [ 4.80512494e-02 1.23126198e-02 9.98768981e-01 -3.39903551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04463044 meters Centerline goodness : 0.194271 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.44, Z:-0.34 [[ 9.98713322e-01 9.89768268e-04 -5.07022856e-02 -3.58563021e+00] [-1.56099486e-03 9.99935746e-01 -1.12279295e-02 -4.41233969e-01] [ 5.06879148e-02 1.12926288e-02 9.98650696e-01 -3.41642938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10463044 meters Centerline goodness : 0.112004 with order 1 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.44, Z:-0.34 [[ 9.98684579e-01 7.40859506e-04 -5.12695159e-02 -3.58381646e+00] [-1.33928319e-03 9.99931371e-01 -1.16387448e-02 -4.39620632e-01] [ 5.12573747e-02 1.16920993e-02 9.98617032e-01 -3.42331072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164630439999996 meters Centerline goodness : 0.114707 with order 1 Centerline is valid? [False, False] Translation: X:-3.59, Y:-0.44, Z:-0.34 [[ 9.98742823e-01 -1.90127386e-03 -5.00914948e-02 -3.58880500e+00] [ 1.21251086e-03 9.99904359e-01 -1.37768997e-02 -4.41559966e-01] [ 5.01128976e-02 1.36988432e-02 9.98649608e-01 -3.39962962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22463044 meters SLAMing on 56.28463044 meters Centerline goodness : 0.112014 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.45, Z:-0.34 [[ 9.98762493e-01 1.21398231e-03 -4.97193089e-02 -3.65362151e+00] [-2.08442226e-03 9.99845408e-01 -1.74589743e-02 -4.46897452e-01] [ 4.96904277e-02 1.75410047e-02 9.98610622e-01 -3.42670325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344630439999996 meters Centerline goodness : 0.158152 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.44, Z:-0.34 [[ 0.99871533 0.00517673 -0.05040722 -3.65134141] [-0.00590633 0.99987979 -0.01433598 -0.44242914] [ 0.05032695 0.01461528 0.99862585 -0.34365071] [ 0. 0. 0. 1. ]] SLAMing on 56.40463044 meters Centerline goodness : 0.120640 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.44, Z:-0.34 [[ 0.99870057 0.00525799 -0.05069054 -3.65041348] [-0.00601857 0.99987142 -0.01486335 -0.43915388] [ 0.05060587 0.01514912 0.9986038 -0.34413627] [ 0. 0. 0. 1. ]] SLAMing on 56.46463044 meters Centerline goodness : 0.120840 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.43, Z:-0.35 [[ 0.99864111 0.00757737 -0.05156087 -3.64757949] [-0.00829571 0.9998713 -0.01373214 -0.43193209] [ 0.05145019 0.01414121 0.99857544 -0.34511031] [ 0. 0. 0. 1. ]] SLAMing on 56.524630439999996 meters Centerline goodness : 0.124634 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.43, Z:-0.35 [[ 9.98640207e-01 3.00840625e-03 -5.20450497e-02 -3.66827916e+00] [-3.52965061e-03 9.99944504e-01 -9.92624123e-03 -4.26164708e-01] [ 5.20122993e-02 1.00964444e-02 9.98595405e-01 -3.47036646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58463044 meters Centerline goodness : 0.123446 with order 3 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.42, Z:-0.35 [[ 9.98655299e-01 2.57918630e-03 -5.17778018e-02 -3.66969796e+00] [-3.14315577e-03 9.99936591e-01 -1.08136381e-02 -4.22261365e-01] [ 5.17466282e-02 1.09618427e-02 9.98600082e-01 -3.46091418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64463044 meters Centerline goodness : 0.131891 with order 3 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.42, Z:-0.35 [[ 9.98663587e-01 2.45043400e-03 -5.16239898e-02 -3.67051805e+00] [-3.02256462e-03 9.99934847e-01 -1.10074962e-02 -4.20844816e-01] [ 5.15936532e-02 1.11488225e-02 9.98605928e-01 -3.45497771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704630439999995 meters Centerline goodness : 0.136752 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:-0.42, Z:-0.34 [[ 9.98697648e-01 2.32385368e-03 -5.09667281e-02 -3.67275356e+00] [-2.88842514e-03 9.99935256e-01 -1.10063995e-02 -4.20287472e-01] [ 5.09378510e-02 1.11392789e-02 9.98639701e-01 -3.44492278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76463044 meters Centerline goodness : 0.413268 with order 2 Centerline is valid? [False, False] Translation: X:-3.68, Y:-0.42, Z:-0.34 [[ 9.98726873e-01 -1.93566001e-03 -5.04072039e-02 -3.67536753e+00] [ 1.20171997e-03 9.99892890e-01 -1.45864599e-02 -4.22184041e-01] [ 5.04300392e-02 1.45073141e-02 9.98622225e-01 -3.42740884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82463044 meters SLAMing on 56.884630439999995 meters SLAMing on 56.94463044 meters Centerline goodness : 0.314840 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.45, Z:-0.35 [[ 0.9983812 -0.02529734 -0.05094128 -3.76781945] [ 0.02449968 0.9995682 -0.01622259 -0.45240267] [ 0.05132967 0.01494829 0.99856988 -0.34747666] [ 0. 0. 0. 1. ]] SLAMing on 57.00463044 meters Centerline goodness : 0.456536 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.46, Z:-0.35 [[ 0.99839127 -0.0277551 -0.0494422 -3.77249392] [ 0.02691667 0.99948372 -0.0175436 -0.4608016 ] [ 0.04990359 0.01618456 0.9986229 -0.34578563] [ 0. 0. 0. 1. ]] SLAMing on 57.064630439999995 meters Centerline goodness : 0.453168 with order 3 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.47, Z:-0.35 [[ 0.99861798 -0.02092394 -0.0482112 -3.79133783] [ 0.02004928 0.9996268 -0.01855498 -0.47219382] [ 0.04858145 0.01756274 0.99866481 -0.34846464] [ 0. 0. 0. 1. ]] SLAMing on 57.12463044 meters Centerline goodness : 0.095861 with order 1 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.48, Z:-0.35 [[ 0.99857025 -0.01327139 -0.0517816 -3.80694097] [ 0.01227641 0.99973476 -0.01948586 -0.4818711 ] [ 0.05202647 0.01882231 0.99846831 -0.3515335 ] [ 0. 0. 0. 1. ]] SLAMing on 57.18463044 meters Centerline goodness : 0.400220 with order 1 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.48, Z:-0.35 [[ 0.99855658 -0.01306203 -0.05209749 -3.80575427] [ 0.0120775 0.99974333 -0.01916803 -0.48341812] [ 0.0523345 0.01851115 0.99845803 -0.35215765] [ 0. 0. 0. 1. ]] SLAMing on 57.244630439999995 meters Centerline goodness : 0.189949 with order 1 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.49, Z:-0.36 [[ 9.98695975e-01 -4.69514432e-03 -5.08360526e-02 -3.82571100e+00] [ 3.71570432e-03 9.99805982e-01 -1.93440361e-02 -4.91963710e-01] [ 5.09170125e-02 1.91299193e-02 9.98519656e-01 -3.55166368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30463044 meters Centerline goodness : 0.130726 with order 1 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.49, Z:-0.36 [[ 9.98696980e-01 -4.57401588e-03 -5.08273626e-02 -3.82568245e+00] [ 3.61503608e-03 9.99814024e-01 -1.89433320e-02 -4.94563462e-01] [ 5.09045570e-02 1.87349057e-02 9.98527781e-01 -3.55271372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36463044 meters Centerline goodness : 0.172491 with order 1 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.50, Z:-0.36 [[ 9.98739732e-01 3.18183687e-03 -5.00881587e-02 -3.84493450e+00] [-4.15460238e-03 9.99804546e-01 -1.93289496e-02 -5.04059262e-01] [ 5.00168673e-02 1.95126863e-02 9.98557744e-01 -3.57617127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424630439999994 meters Centerline goodness : 0.116732 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.51, Z:-0.36 [[ 9.98800981e-01 9.51791388e-04 -4.89458379e-02 -3.84897746e+00] [-1.97894200e-03 9.99778749e-01 -2.09412782e-02 -5.09758559e-01] [ 4.89150768e-02 2.10130302e-02 9.98581878e-01 -3.56225702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48463044 meters Centerline goodness : 0.115329 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.51, Z:-0.36 [[ 9.98788089e-01 1.21825824e-03 -4.92023258e-02 -3.84795371e+00] [-2.22678758e-03 9.99788438e-01 -2.04479847e-02 -5.11839715e-01] [ 4.91670055e-02 2.05327667e-02 9.98579497e-01 -3.56870709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54463044 meters Centerline goodness : 0.121044 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.51, Z:-0.36 [[ 9.98792468e-01 1.39294447e-03 -4.91087099e-02 -3.84792040e+00] [-2.38041542e-03 9.99796042e-01 -2.00551108e-02 -5.13976488e-01] [ 4.90707581e-02 2.01477928e-02 9.98592072e-01 -3.57273944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604630439999994 meters Centerline goodness : 0.125893 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.51, Z:-0.36 [[ 9.98796080e-01 1.51857936e-03 -4.90314672e-02 -3.84837908e+00] [-2.49537933e-03 9.99799521e-01 -1.98668372e-02 -5.14551701e-01] [ 4.89914681e-02 1.99652712e-02 9.98599631e-01 -3.56934951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664630439999996 meters Centerline goodness : 0.129662 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.52, Z:-0.36 [[ 9.98780836e-01 1.57925424e-03 -4.93391077e-02 -3.84722584e+00] [-2.55238584e-03 9.99803337e-01 -1.96665575e-02 -5.15603463e-01] [ 4.92983460e-02 1.97685132e-02 9.98588443e-01 -3.57535623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72463044 meters Centerline goodness : 0.112367 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.52, Z:-0.36 [[ 9.98813024e-01 1.13114036e-03 -4.86956134e-02 -3.84941665e+00] [-2.08442728e-03 9.99807096e-01 -1.95301154e-02 -5.18517179e-01] [ 4.86641285e-02 1.96084361e-02 9.98622707e-01 -3.56585308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78463044 meters Centerline goodness : 0.114034 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.53, Z:-0.36 [[ 9.98797772e-01 -1.62506142e-03 -4.89935699e-02 -3.84682172e+00] [ 5.88827676e-04 9.99775983e-01 -2.11574215e-02 -5.26004635e-01] [ 4.90169766e-02 2.11031367e-02 9.98574981e-01 -3.58648097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844630439999996 meters Centerline goodness : 0.109911 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-0.53, Z:-0.36 [[ 9.98775986e-01 -1.56641179e-03 -4.94375940e-02 -3.84547813e+00] [ 5.33233692e-04 9.99781326e-01 -2.09049060e-02 -5.28017582e-01] [ 4.94595290e-02 2.08529563e-02 9.98558416e-01 -3.58993754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90463044 meters Centerline goodness : 0.113923 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.53, Z:-0.36 [[ 9.98580205e-01 1.22115735e-03 -5.32548849e-02 -3.88631227e+00] [-2.24086618e-03 9.99815216e-01 -1.90922000e-02 -5.26910035e-01] [ 5.32217296e-02 1.91844301e-02 9.98398420e-01 -3.61157077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96463044 meters Centerline goodness : 0.112285 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.53, Z:-0.36 [[ 9.98587631e-01 1.48648567e-03 -5.31086996e-02 -3.88689709e+00] [-2.50706160e-03 9.99813377e-01 -1.91552881e-02 -5.25234349e-01] [ 5.30703143e-02 1.92613805e-02 9.98404998e-01 -3.60871412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024630439999996 meters Centerline goodness : 0.113749 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.52, Z:-0.36 [[ 9.98602576e-01 1.42994411e-03 -5.28285054e-02 -3.88809191e+00] [-2.45194507e-03 9.99811003e-01 -1.92858910e-02 -5.24926441e-01] [ 5.27909433e-02 1.93884731e-02 9.98417349e-01 -3.60159093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08463044 meters Centerline goodness : 0.112112 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.53, Z:-0.36 [[ 9.98623973e-01 1.55319727e-03 -5.24189584e-02 -3.88962321e+00] [-2.55748443e-03 9.99814361e-01 -1.90972190e-02 -5.25530537e-01] [ 5.23795656e-02 1.92050014e-02 9.98442562e-01 -3.59427539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14463044 meters Centerline goodness : 0.112721 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.53, Z:-0.36 [[ 9.98628213e-01 1.55139749e-03 -5.23381736e-02 -3.89007599e+00] [-2.55297870e-03 9.99814790e-01 -1.90753007e-02 -5.25857855e-01] [ 5.22988867e-02 1.91827517e-02 9.98447219e-01 -3.59072523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204630439999995 meters Centerline goodness : 0.115209 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.53, Z:-0.36 [[ 9.98542630e-01 2.01850054e-03 -5.39308958e-02 -3.93677813e+00] [-3.01619446e-03 9.99825705e-01 -1.84245044e-02 -5.29442726e-01] [ 5.38843061e-02 1.85603191e-02 9.98374677e-01 -3.60008654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26463044 meters Centerline goodness : 0.102493 with order 1 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.53, Z:-0.36 [[ 9.98496302e-01 2.55447463e-03 -5.47595624e-02 -3.93423297e+00] [-3.55036952e-03 9.99829930e-01 -1.80971251e-02 -5.29202476e-01] [ 5.47040208e-02 1.82643292e-02 9.98335557e-01 -3.60868211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32463044 meters Centerline goodness : 0.122749 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.53, Z:-0.36 [[ 9.98508027e-01 2.50825105e-03 -5.45474957e-02 -3.93525748e+00] [-3.51609420e-03 9.99824738e-01 -1.83883204e-02 -5.28487528e-01] [ 5.44918131e-02 1.85526797e-02 9.98341845e-01 -3.60255382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384630439999995 meters Centerline goodness : 0.104066 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 0.99849886 0.01141549 -0.05356962 -3.95801049] [-0.01241466 0.99975443 -0.01835634 -0.5341012 ] [ 0.05334692 0.01899384 0.99839538 -0.36135749] [ 0. 0. 0. 1. ]] SLAMing on 58.44463044 meters Centerline goodness : 0.116084 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 0.99847817 0.01153199 -0.05392923 -3.95662846] [-0.01254518 0.9997504 -0.01848667 -0.53316023] [ 0.05370258 0.01913508 0.99837362 -0.36213643] [ 0. 0. 0. 1. ]] SLAMing on 58.50463044 meters Centerline goodness : 0.106501 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 0.99850623 0.01219483 -0.05325979 -3.95888213] [-0.01318025 0.99974767 -0.01819026 -0.53186701] [ 0.05302452 0.01886506 0.998415 -0.36137067] [ 0. 0. 0. 1. ]] SLAMing on 58.564630439999995 meters Centerline goodness : 0.109487 with order 2 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 0.99852937 0.01229903 -0.05279998 -3.9595475 ] [-0.01328069 0.99974467 -0.0182817 -0.53109734] [ 0.05256165 0.01895603 0.99843775 -0.36198787] [ 0. 0. 0. 1. ]] SLAMing on 58.62463044 meters Centerline goodness : 0.108639 with order 2 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.53, Z:-0.36 [[ 9.98585252e-01 3.65170877e-03 -5.30486470e-02 -3.98102655e+00] [-4.59610621e-03 9.99832931e-01 -1.76914069e-02 -5.29360938e-01] [ 5.29751803e-02 1.79101952e-02 9.98435203e-01 -3.63486560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68463044 meters Centerline goodness : 0.245026 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.53, Z:-0.36 [[ 9.98611177e-01 3.68994775e-03 -5.25556937e-02 -3.98290808e+00] [-4.60658550e-03 9.99839198e-01 -1.73308220e-02 -5.31535580e-01] [ 5.24832928e-02 1.75488549e-02 9.98467597e-01 -3.62450566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744630439999995 meters Centerline goodness : 0.123572 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 0.99862816 -0.00496818 -0.05212594 -3.96299457] [ 0.00410921 0.99985422 -0.01657296 -0.53203299] [ 0.05220067 0.01633603 0.99850299 -0.36085507] [ 0. 0. 0. 1. ]] SLAMing on 58.80463044 meters Centerline goodness : 0.125108 with order 1 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.53, Z:-0.36 [[ 9.98590584e-01 -4.68338857e-03 -5.28669257e-02 -3.96039770e+00] [ 3.84360973e-03 9.99864999e-01 -1.59752778e-02 -5.34555337e-01] [ 5.29346070e-02 1.57495622e-02 9.98473775e-01 -3.61930210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86463044 meters Centerline goodness : 0.149362 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.54, Z:-0.36 [[ 9.98508395e-01 2.59034457e-03 -5.45369252e-02 -3.97794167e+00] [-3.54685233e-03 9.99841459e-01 -1.74492406e-02 -5.42397318e-01] [ 5.44830794e-02 1.76166477e-02 9.98359278e-01 -3.64315627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924630439999994 meters Centerline goodness : 0.105561 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.54, Z:-0.36 [[ 9.98489933e-01 2.66659500e-03 -5.48702440e-02 -3.97699391e+00] [-3.61251086e-03 9.99846450e-01 -1.71471843e-02 -5.44214448e-01] [ 5.48160941e-02 1.73195102e-02 9.98346248e-01 -3.64548175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98463044 meters Centerline goodness : 0.242422 with order 3 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.55, Z:-0.37 [[ 9.98461931e-01 1.51673558e-03 -5.54208655e-02 -3.97516272e+00] [-2.48141012e-03 9.99846543e-01 -1.73416764e-02 -5.52263354e-01] [ 5.53860580e-02 1.74525256e-02 9.98312473e-01 -3.65130323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04463044 meters Centerline goodness : 0.115802 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.55, Z:-0.36 [[ 9.98487370e-01 1.38351360e-03 -5.49641582e-02 -3.97684121e+00] [-2.32713182e-03 9.99850946e-01 -1.71075912e-02 -5.54944698e-01] [ 5.49322970e-02 1.72096226e-02 9.98341761e-01 -3.64260609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104630439999994 meters Centerline goodness : 0.123338 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-0.55, Z:-0.36 [[ 9.98494376e-01 1.61603216e-03 -5.48303678e-02 -3.97750917e+00] [-2.55010300e-03 9.99852748e-01 -1.69699629e-02 -5.54605670e-01] [ 5.47948699e-02 1.70842356e-02 9.98351467e-01 -3.63828700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164630439999996 meters Centerline goodness : 0.123724 with order 1 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.55, Z:-0.37 [[ 0.99843575 0.00424676 -0.0557496 -3.97374978] [-0.00510585 0.99987027 -0.01527634 -0.54859917] [ 0.05567749 0.01553709 0.99832791 -0.36560925] [ 0. 0. 0. 1. ]] SLAMing on 59.22463044 meters Centerline goodness : 0.216762 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.54, Z:-0.36 [[ 0.99841256 0.00771976 -0.05579217 -3.97421142] [-0.00844138 0.99988359 -0.01270997 -0.54284424] [ 0.05568756 0.01316076 0.9983615 -0.36492806] [ 0. 0. 0. 1. ]] SLAMing on 59.28463044 meters Centerline goodness : 0.107680 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.54, Z:-0.37 [[ 0.99830043 0.00643135 -0.05792137 -4.01958583] [-0.00723849 0.99987945 -0.01373614 -0.54179303] [ 0.05782604 0.01413206 0.99822664 -0.36620472] [ 0. 0. 0. 1. ]] SLAMing on 59.344630439999996 meters Centerline goodness : 0.234430 with order 3 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.53, Z:-0.36 [[ 9.98279998e-01 -9.51225131e-04 -5.86185986e-02 -4.00111359e+00] [ 2.06356999e-04 9.99919181e-01 -1.27117708e-02 -5.33753882e-01] [ 5.86259529e-02 1.26778102e-02 9.98199515e-01 -3.63256567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40463044 meters Centerline goodness : 0.110038 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.53, Z:-0.36 [[ 9.98276081e-01 -1.11375159e-03 -5.86824110e-02 -4.00113482e+00] [ 3.69246431e-04 9.99919330e-01 -1.26963404e-02 -5.34024531e-01] [ 5.86918177e-02 1.26527847e-02 9.98195962e-01 -3.62944369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46463044 meters Centerline goodness : 0.110610 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.54, Z:-0.36 [[ 9.98268190e-01 -1.93527281e-03 -5.87951972e-02 -4.00092813e+00] [ 1.17304288e-03 9.99914862e-01 -1.29959026e-02 -5.35889058e-01] [ 5.88153421e-02 1.29044269e-02 9.98185469e-01 -3.62671623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524630439999996 meters Centerline goodness : 0.114982 with order 1 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.54, Z:-0.36 [[ 9.98244019e-01 -1.97494788e-03 -5.92028543e-02 -3.99964474e+00] [ 1.20788277e-03 9.99914903e-01 -1.29895437e-02 -5.36316636e-01] [ 5.92234699e-02 1.28952242e-02 9.98161457e-01 -3.63060843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58463044 meters Centerline goodness : 0.128535 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.54, Z:-0.36 [[ 0.99811765 0.00803338 -0.06079979 -4.01875799] [-0.00882996 0.99987852 -0.01284436 -0.5355886 ] [ 0.06068922 0.01335704 0.99806734 -0.36488004] [ 0. 0. 0. 1. ]] SLAMing on 59.64463044 meters Centerline goodness : 0.157802 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.53, Z:-0.37 [[ 0.99809808 0.01189995 -0.06048645 -4.01935575] [-0.01251726 0.99987327 -0.00983697 -0.53111509] [ 0.06036173 0.01057538 0.99812055 -0.36500422] [ 0. 0. 0. 1. ]] SLAMing on 59.704630439999995 meters Centerline goodness : 0.107790 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.52, Z:-0.36 [[ 0.99809171 0.0121094 -0.06054991 -4.01988284] [-0.0127686 0.99986322 -0.01051184 -0.52341795] [ 0.06041434 0.01126492 0.99810982 -0.36433247] [ 0. 0. 0. 1. ]] SLAMing on 59.76463044 meters Centerline goodness : 0.100907 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.52, Z:-0.36 [[ 0.99808871 0.01175193 -0.06066973 -4.02006162] [-0.01244531 0.99986135 -0.01106344 -0.52130081] [ 0.0605313 0.01179735 0.99809658 -0.36373536] [ 0. 0. 0. 1. ]] SLAMing on 59.82463044 meters Centerline goodness : 0.251565 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.52, Z:-0.36 [[ 9.98166015e-01 -4.15486484e-03 -6.03932340e-02 -4.02037130e+00] [ 3.64618958e-03 9.99956967e-01 -8.53048393e-03 -5.16306061e-01] [ 6.04260781e-02 8.29463398e-03 9.98138211e-01 -3.63570905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884630439999995 meters Centerline goodness : 0.104947 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.52, Z:-0.36 [[ 0.99815016 -0.00460111 -0.06062251 -4.02013874] [ 0.0040891 0.99995494 -0.00856729 -0.51761967] [ 0.06065919 0.00830355 0.998124 -0.362947 ] [ 0. 0. 0. 1. ]] SLAMing on 59.94463044 meters Centerline goodness : 0.106784 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.52, Z:-0.36 [[ 9.98139439e-01 2.61571719e-04 -6.09720520e-02 -4.04147791e+00] [-9.91172248e-04 9.99928270e-01 -1.19362090e-02 -5.22564366e-01] [ 6.09645563e-02 1.19744348e-02 9.98068102e-01 -3.63733108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00463044 meters Centerline goodness : 0.107910 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.52, Z:-0.36 [[ 9.98134063e-01 2.46130848e-04 -6.10600647e-02 -4.04188145e+00] [-9.67560202e-04 9.99930077e-01 -1.17857910e-02 -5.23315538e-01] [ 6.10528943e-02 1.18228787e-02 9.98064509e-01 -3.62866578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064630439999995 meters Centerline goodness : 0.113680 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.52, Z:-0.36 [[ 9.98090751e-01 2.76951640e-04 -6.17638757e-02 -4.04044994e+00] [-9.95942773e-04 9.99932100e-01 -1.16104831e-02 -5.23949146e-01] [ 6.17564664e-02 1.16498291e-02 9.98023256e-01 -3.62484409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12463044 meters Centerline goodness : 0.112919 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.52, Z:-0.36 [[ 9.98109065e-01 -4.86625596e-05 -6.14678105e-02 -4.04171498e+00] [-6.73786995e-04 9.99930945e-01 -1.17325166e-02 -5.24945598e-01] [ 6.14641368e-02 1.17517474e-02 9.98040108e-01 -3.61664036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18463044 meters Centerline goodness : 0.116781 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.53, Z:-0.36 [[ 9.98175253e-01 8.61369477e-05 -6.03834121e-02 -4.04525034e+00] [-7.73966918e-04 9.99935086e-01 -1.13677456e-02 -5.26368451e-01] [ 6.03785131e-02 1.13937371e-02 9.98110524e-01 -3.60232235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244630439999995 meters Centerline goodness : 0.105826 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.53, Z:-0.36 [[ 9.98185580e-01 -1.23532661e-04 -6.02123892e-02 -4.04639791e+00] [-5.58253456e-04 9.99935929e-01 -1.13060668e-02 -5.28839671e-01] [ 6.02099280e-02 1.13191667e-02 9.98121556e-01 -3.59221853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30463044 meters Centerline goodness : 0.232208 with order 3 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.53, Z:-0.36 [[ 9.98193309e-01 2.01924266e-04 -6.00839221e-02 -4.04694085e+00] [-8.51754395e-04 9.99941424e-01 -1.07899597e-02 -5.30587092e-01] [ 6.00782239e-02 1.08216423e-02 9.98135010e-01 -3.58909928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36463044 meters Centerline goodness : 0.109426 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.53, Z:-0.36 [[ 9.98202187e-01 2.64582494e-04 -5.99360017e-02 -4.04741327e+00] [-8.81660719e-04 9.99946880e-01 -1.02694074e-02 -5.34545206e-01] [ 5.99301008e-02 1.03037881e-02 9.98149395e-01 -3.58665033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424630439999994 meters Centerline goodness : 0.122190 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.55, Z:-0.36 [[ 9.98145697e-01 -9.64044810e-04 -6.08624532e-02 -4.04448135e+00] [ 3.38786939e-04 9.99947073e-01 -1.02827775e-02 -5.45519488e-01] [ 6.08691450e-02 1.02430907e-02 9.98093195e-01 -3.59486978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48463044 meters Centerline goodness : 0.101464 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.55, Z:-0.36 [[ 9.98130744e-01 -9.96205213e-04 -6.11066700e-02 -4.04339038e+00] [ 4.02262275e-04 9.99952569e-01 -9.73130458e-03 -5.53344796e-01] [ 6.11134660e-02 9.68853338e-03 9.98083802e-01 -3.59982614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54463044 meters Centerline goodness : 0.106021 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.56, Z:-0.36 [[ 9.98180377e-01 -3.18085677e-03 -6.02147534e-02 -4.04681524e+00] [ 2.53290461e-03 9.99938103e-01 -1.08339596e-02 -5.62915228e-01] [ 6.02454876e-02 1.06617276e-02 9.98126650e-01 -3.58533567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604630439999994 meters Centerline goodness : 0.098515 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.57, Z:-0.36 [[ 9.98147697e-01 -2.85253397e-03 -6.07703744e-02 -4.04476905e+00] [ 2.24049786e-03 9.99946109e-01 -1.01370524e-02 -5.66529428e-01] [ 6.07960157e-02 9.98211960e-03 9.98100296e-01 -3.59405102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664630439999996 meters Centerline goodness : 0.206785 with order 3 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.57, Z:-0.36 [[ 9.98090049e-01 -2.93718322e-03 -6.17059686e-02 -4.04137277e+00] [ 2.33339850e-03 9.99948719e-01 -9.85465078e-03 -5.71008668e-01] [ 6.17317492e-02 9.69184427e-03 9.98045720e-01 -3.60812907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72463044 meters Centerline goodness : 0.263866 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.57, Z:-0.36 [[ 9.98109417e-01 -2.72485679e-03 -6.14016910e-02 -4.04244627e+00] [ 2.17078442e-03 9.99956341e-01 -9.08863339e-03 -5.74974450e-01] [ 6.14237756e-02 8.93816074e-03 9.98071755e-01 -3.60256178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78463044 meters Centerline goodness : 0.106430 with order 1 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.59, Z:-0.36 [[ 0.99815855 -0.00583771 -0.06037732 -4.04641097] [ 0.00520899 0.99993062 -0.0105654 -0.58547441] [ 0.0604348 0.01023144 0.99811971 -0.3582798 ] [ 0. 0. 0. 1. ]] SLAMing on 60.844630439999996 meters Centerline goodness : 0.107819 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.59, Z:-0.36 [[ 0.99810397 -0.00940291 -0.06082802 -4.04489222] [ 0.00863407 0.99987964 -0.01289021 -0.5931528 ] [ 0.0609419 0.01234058 0.99806503 -0.35864128] [ 0. 0. 0. 1. ]] SLAMing on 60.90463044 meters Centerline goodness : 0.111324 with order 1 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.61, Z:-0.36 [[ 0.99799175 -0.01241737 -0.06211508 -4.03996066] [ 0.01155542 0.99983217 -0.01421666 -0.60519083] [ 0.06228119 0.01347035 0.99796774 -0.36049292] [ 0. 0. 0. 1. ]] SLAMing on 60.96463044 meters Centerline goodness : 0.110464 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.62, Z:-0.36 [[ 0.99824749 -0.00769153 -0.05867524 -4.05733089] [ 0.00682215 0.99986418 -0.0150027 -0.61968536] [ 0.05878266 0.01457612 0.99816438 -0.36344669] [ 0. 0. 0. 1. ]] SLAMing on 61.024630439999996 meters Centerline goodness : 0.114487 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.62, Z:-0.36 [[ 0.99824 -0.00763626 -0.0588097 -4.05752822] [ 0.00680729 0.99987482 -0.01428315 -0.62373872] [ 0.0589114 0.01385768 0.99816703 -0.36303032] [ 0. 0. 0. 1. ]] SLAMing on 61.08463044 meters Centerline goodness : 0.113049 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.63, Z:-0.36 [[ 0.99816923 -0.01078072 -0.05951439 -4.05557559] [ 0.00983933 0.99982216 -0.01608831 -0.63175997] [ 0.05967725 0.01547328 0.99809779 -0.36368482] [ 0. 0. 0. 1. ]] SLAMing on 61.14463044 meters Centerline goodness : 0.105680 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.64, Z:-0.37 [[ 9.98427995e-01 -4.32241363e-03 -5.58825120e-02 -4.07425739e+00] [ 3.38971531e-03 9.99853554e-01 -1.67743707e-02 -6.42902527e-01] [ 5.59468340e-02 1.65585755e-02 9.98296432e-01 -3.66764881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204630439999995 meters Centerline goodness : 0.102498 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.65, Z:-0.37 [[ 9.98466760e-01 -4.37227107e-03 -5.51816330e-02 -4.07705649e+00] [ 3.47048310e-03 9.99859038e-01 -1.64274356e-02 -6.45993394e-01] [ 5.52456797e-02 1.62107415e-02 9.98341188e-01 -3.65040628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26463044 meters SLAMing on 61.32463044 meters Centerline goodness : 0.098526 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.65, Z:-0.36 [[ 9.98436828e-01 -3.65097217e-03 -5.57724906e-02 -4.07598720e+00] [ 2.82534486e-03 9.99885367e-01 -1.48751701e-02 -6.52353582e-01] [ 5.58204061e-02 1.46943411e-02 9.98332689e-01 -3.64905987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384630439999995 meters Centerline goodness : 0.205430 with order 2 Centerline is valid? [False, False] Translation: X:-4.10, Y:-0.67, Z:-0.37 [[ 9.98649231e-01 -5.16758422e-04 -5.19562015e-02 -4.09528533e+00] [-3.72603877e-04 9.99853605e-01 -1.71063958e-02 -6.67447561e-01] [ 5.19574353e-02 1.71026481e-02 9.98502841e-01 -3.67064711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44463044 meters Centerline goodness : 0.238432 with order 3 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.67, Z:-0.36 [[ 0.99864697 -0.008745 -0.05126168 -4.07513526] [ 0.00793828 0.99984176 -0.01591987 -0.67019218] [ 0.05139278 0.0154914 0.99855836 -0.36467271] [ 0. 0. 0. 1. ]] SLAMing on 61.50463044 meters Centerline goodness : 0.094813 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.68, Z:-0.36 [[ 0.99870837 -0.01143397 -0.04950603 -4.08049164] [ 0.0106412 0.99981137 -0.01624765 -0.67986818] [ 0.04968247 0.01569986 0.99864166 -0.36494705] [ 0. 0. 0. 1. ]] SLAMing on 61.564630439999995 meters Centerline goodness : 0.221806 with order 3 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.68, Z:-0.37 [[ 0.99869975 -0.011655 -0.04962828 -4.08062596] [ 0.01090716 0.99982326 -0.01531308 -0.68450953] [ 0.04979799 0.01475186 0.99865036 -0.36554459] [ 0. 0. 0. 1. ]] SLAMing on 61.62463044 meters Centerline goodness : 0.104483 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.69, Z:-0.37 [[ 0.99862572 -0.01505923 -0.05019855 -4.07916367] [ 0.01422307 0.99975478 -0.0169729 -0.69298411] [ 0.05044184 0.0162356 0.99859503 -0.36679511] [ 0. 0. 0. 1. ]] SLAMing on 61.68463044 meters Centerline goodness : 0.104272 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.70, Z:-0.37 [[ 0.99874849 -0.0072641 -0.04948422 -4.09494805] [ 0.00633413 0.99980085 -0.01892433 -0.69956045] [ 0.04961184 0.01858721 0.9985956 -0.36933965] [ 0. 0. 0. 1. ]] SLAMing on 61.744630439999995 meters Centerline goodness : 0.108361 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.70, Z:-0.37 [[ 9.98763974e-01 -3.24907538e-03 -4.95980556e-02 -4.09478484e+00] [ 2.49014966e-03 9.99878994e-01 -1.53556515e-02 -6.96679090e-01] [ 4.96419456e-02 1.52131649e-02 9.98651209e-01 -3.69019429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80463044 meters Centerline goodness : 0.102228 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.69, Z:-0.37 [[ 9.98763133e-01 5.78112623e-06 -4.97212725e-02 -4.09458853e+00] [-6.42185390e-04 9.99918082e-01 -1.27834709e-02 -6.92566508e-01] [ 4.97171255e-02 1.27995897e-02 9.98681320e-01 -3.68837810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86463044 meters Centerline goodness : 0.121535 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.69, Z:-0.37 [[ 9.98709290e-01 2.48649015e-03 -5.07303866e-02 -4.09045734e+00] [-3.05115992e-03 9.99934221e-01 -1.10563944e-02 -6.85504338e-01] [ 5.06995580e-02 1.11969103e-02 9.98651182e-01 -3.70679199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924630439999994 meters Centerline goodness : 0.103815 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.68, Z:-0.37 [[ 9.98687958e-01 2.20010054e-03 -5.11617256e-02 -4.08915913e+00] [-2.78655907e-03 9.99931200e-01 -1.13943345e-02 -6.82770667e-01] [ 5.11331370e-02 1.15219498e-02 9.98625379e-01 -3.70976614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98463044 meters Centerline goodness : 0.104293 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.68, Z:-0.37 [[ 9.98657529e-01 1.84986209e-03 -5.17659829e-02 -4.08755249e+00] [-2.46452345e-03 9.99927192e-01 -1.18125350e-02 -6.79602858e-01] [ 5.17403624e-02 1.19242555e-02 9.98589379e-01 -3.71124332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04463044 meters Centerline goodness : 0.104672 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.68, Z:-0.37 [[ 9.98663584e-01 1.67807987e-03 -5.16549162e-02 -4.08778640e+00] [-2.30404413e-03 9.99924609e-01 -1.20610324e-02 -6.76058709e-01] [ 5.16307825e-02 1.21639291e-02 9.98592160e-01 -3.70947947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104630439999994 meters Centerline goodness : 0.104074 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.67, Z:-0.37 [[ 9.98688226e-01 1.38575286e-03 -5.11850316e-02 -4.08912259e+00] [-2.04653139e-03 9.99915220e-01 -1.28594514e-02 -6.69950973e-01] [ 5.11628721e-02 1.29473345e-02 9.98606392e-01 -3.70407457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164630439999996 meters Centerline goodness : 0.108458 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.66, Z:-0.37 [[ 0.9986531 0.00493986 -0.05164874 -4.08795122] [-0.00547449 0.99993284 -0.010215 -0.66364013] [ 0.05159481 0.01048399 0.99861307 -0.37027056] [ 0. 0. 0. 1. ]] SLAMing on 62.22463044 meters Centerline goodness : 0.118421 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.66, Z:-0.37 [[ 0.99865512 0.00479995 -0.05162275 -4.08826412] [-0.00536696 0.99992672 -0.01085087 -0.65804699] [ 0.05156689 0.01111334 0.99860771 -0.3697874 ] [ 0. 0. 0. 1. ]] SLAMing on 62.28463044 meters Centerline goodness : 0.118679 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.65, Z:-0.37 [[ 0.99868271 0.00731052 -0.05078776 -4.09121134] [-0.00777073 0.99993047 -0.00886973 -0.65249518] [ 0.05071939 0.0092527 0.99867008 -0.36857274] [ 0. 0. 0. 1. ]] SLAMing on 62.344630439999996 meters Centerline goodness : 0.103902 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.65, Z:-0.37 [[ 0.99868781 0.00700639 -0.05073036 -4.09134197] [-0.00749109 0.99992804 -0.00937058 -0.64939447] [ 0.05066105 0.00973831 0.99866843 -0.36855546] [ 0. 0. 0. 1. ]] SLAMing on 62.40463044 meters Centerline goodness : 0.107848 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.65, Z:-0.37 [[ 9.98710437e-01 -4.12754778e-04 -5.07670369e-02 -4.07231783e+00] [ 1.33592522e-05 9.99969052e-01 -7.86730926e-03 -6.45753796e-01] [ 5.07687130e-02 7.85648566e-03 9.98679535e-01 -3.66022134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46463044 meters Centerline goodness : 0.105542 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.64, Z:-0.37 [[ 9.98734665e-01 -8.71553353e-04 -5.02823022e-02 -4.07371977e+00] [ 4.55936560e-04 9.99965645e-01 -8.27654552e-03 -6.44038022e-01] [ 5.02877882e-02 8.24314737e-03 9.98700750e-01 -3.65417650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524630439999996 meters Centerline goodness : 0.097802 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.64, Z:-0.37 [[ 9.98697076e-01 2.51755649e-03 -5.09687381e-02 -4.07218416e+00] [-2.80162036e-03 9.99980936e-01 -5.50261956e-03 -6.39940470e-01] [ 5.09539132e-02 5.63824512e-03 9.98685090e-01 -3.65316986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58463044 meters Centerline goodness : 0.096223 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.63, Z:-0.37 [[ 9.98662596e-01 6.20226375e-03 -5.13278818e-02 -4.07093240e+00] [-6.34952617e-03 9.99976179e-01 -2.70648770e-03 -6.33477477e-01] [ 5.13098728e-02 3.02877576e-03 9.98678188e-01 -3.65653877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64463044 meters Centerline goodness : 0.102109 with order 1 Centerline is valid? [False, False] Translation: X:-4.07, Y:-0.62, Z:-0.36 [[ 9.98676664e-01 8.13691871e-03 -5.07810229e-02 -4.07346923e+00] [-8.26132907e-03 9.99963365e-01 -2.24052073e-03 -6.21654822e-01] [ 5.07609316e-02 2.65707451e-03 9.98707298e-01 -3.64163597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704630439999995 meters Centerline goodness : 0.217695 with order 3 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.61, Z:-0.37 [[ 9.98797568e-01 7.44295583e-04 -4.90190281e-02 -4.09180844e+00] [-8.03258195e-04 9.99998977e-01 -1.18316319e-03 -6.11451559e-01] [ 4.90180973e-02 1.22111545e-03 9.98797144e-01 -3.66855755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76463044 meters Centerline goodness : 0.112413 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.61, Z:-0.37 [[ 9.98729921e-01 -2.11350514e-03 -5.03396340e-02 -4.08724070e+00] [ 1.92492595e-03 9.99990949e-01 -3.79432367e-03 -6.07732766e-01] [ 5.03471977e-02 3.69260451e-03 9.98724949e-01 -3.68596261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82463044 meters Centerline goodness : 0.109029 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.60, Z:-0.37 [[ 9.98788934e-01 5.02804158e-04 -4.91976947e-02 -4.09162664e+00] [-5.89599778e-04 9.99998295e-01 -1.74972493e-03 -6.00746404e-01] [ 4.91967311e-02 1.77661284e-03 9.98787528e-01 -3.66374735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884630439999995 meters Centerline goodness : 0.284162 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.59, Z:-0.37 [[ 9.98810252e-01 2.40131475e-04 -4.87649788e-02 -4.09238272e+00] [-3.78635379e-04 9.99995921e-01 -2.83101535e-03 -5.91862748e-01] [ 4.87641001e-02 2.84611130e-03 9.98806269e-01 -3.66544375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94463044 meters Centerline goodness : 0.102468 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.58, Z:-0.37 [[ 9.98794504e-01 3.67330848e-03 -4.89494162e-02 -4.09157191e+00] [-3.69147033e-03 9.99993147e-01 -2.80636187e-04 -5.84956795e-01] [ 4.89480499e-02 4.60993199e-04 9.98801219e-01 -3.66910049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00463044 meters Centerline goodness : 0.276689 with order 1 Centerline is valid? [False, False] Translation: X:-4.09, Y:-0.57, Z:-0.37 [[ 9.98781277e-01 4.02768868e-03 -4.91908416e-02 -4.09089226e+00] [-4.06725672e-03 9.99991481e-01 -7.04307976e-04 -5.74641112e-01] [ 4.91875858e-02 9.03521401e-04 9.98789149e-01 -3.66963424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064630439999995 meters Centerline goodness : 0.454725 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.57, Z:-0.37 [[ 9.98735696e-01 -4.76159037e-03 -5.00433522e-02 -4.10983347e+00] [ 4.77121586e-03 9.99988615e-01 7.28854841e-05 -5.68781125e-01] [ 5.00424354e-02 -3.11560971e-04 9.98747044e-01 -3.68766977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12463044 meters Centerline goodness : 0.454277 with order 1 Centerline is valid? [False, False] Translation: X:-4.11, Y:-0.57, Z:-0.37 [[ 9.98729929e-01 -5.88748398e-03 -5.00386510e-02 -4.10943714e+00] [ 5.86662569e-03 9.99982632e-01 -5.63705669e-04 -5.68328915e-01] [ 5.00411008e-02 2.69431687e-04 9.98747123e-01 -3.69288606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18463044 meters Centerline goodness : 0.458201 with order 1 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.57, Z:-0.37 [[ 9.98636504e-01 -7.04633123e-03 -5.17250627e-02 -4.15551649e+00] [ 6.99172156e-03 9.99974793e-01 -1.23663920e-03 -5.65499154e-01] [ 5.17324727e-02 8.73305807e-04 9.98660597e-01 -3.70042786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244630439999995 meters Centerline goodness : 0.458258 with order 3 Centerline is valid? [False, False] Translation: X:-4.16, Y:-0.56, Z:-0.37 [[ 9.98651421e-01 -3.55889933e-03 -5.17945376e-02 -4.15612542e+00] [ 3.64021118e-03 9.99992286e-01 1.47564175e-03 -5.60725972e-01] [ 5.17888864e-02 -1.66219479e-03 9.98656672e-01 -3.69037589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30463044 meters Centerline goodness : 0.428593 with order 2 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.56, Z:-0.37 [[ 9.98603623e-01 -1.43297426e-03 -5.28086311e-02 -4.15170166e+00] [ 1.59835917e-03 9.99993950e-01 3.08967807e-03 -5.56322991e-01] [ 5.28038841e-02 -3.16977087e-03 9.98599871e-01 -3.71214985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36463044 meters Centerline goodness : 0.095110 with order 1 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.55, Z:-0.37 [[ 0.99848729 -0.00915046 -0.05421624 -4.16827818] [ 0.00941081 0.99994537 0.00454855 -0.54969367] [ 0.05417166 -0.00505189 0.99851886 -0.37448331] [ 0. 0. 0. 1. ]] SLAMing on 63.424630439999994 meters Centerline goodness : 0.452999 with order 2 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.55, Z:-0.37 [[ 0.99848631 -0.00987968 -0.05410618 -4.16975306] [ 0.01012211 0.99993991 0.00420839 -0.55092793] [ 0.05406135 -0.00474969 0.99852632 -0.37318274] [ 0. 0. 0. 1. ]] SLAMing on 63.48463044 meters Centerline goodness : 0.432319 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.56, Z:-0.38 [[ 9.98418527e-01 -3.48780443e-03 -5.61095335e-02 -4.18665176e+00] [ 3.64862355e-03 9.99989524e-01 2.76397711e-03 -5.57749467e-01] [ 5.60993055e-02 -2.96432852e-03 9.98420793e-01 -3.76044094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54463044 meters Centerline goodness : 0.453151 with order 2 Centerline is valid? [False, False] Translation: X:-4.21, Y:-0.56, Z:-0.38 [[ 9.98412783e-01 4.97890967e-03 -5.60992520e-02 -4.20753268e+00] [-4.86772443e-03 9.99985909e-01 2.11841011e-03 -5.59222711e-01] [ 5.61090089e-02 -1.84197203e-03 9.98422950e-01 -3.77950061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604630439999994 meters Centerline goodness : 0.453628 with order 1 Centerline is valid? [False, False] Translation: X:-4.23, Y:-0.56, Z:-0.38 [[ 9.98427687e-01 1.53712977e-02 -5.39061908e-02 -4.23416528e+00] [-1.52360986e-02 9.99879666e-01 2.91813089e-03 -5.56019990e-01] [ 5.39445595e-02 -2.09222264e-03 9.98541740e-01 -3.77972648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664630439999996 meters Centerline goodness : 0.452205 with order 3 Centerline is valid? [False, False] Translation: X:-4.25, Y:-0.55, Z:-0.38 [[ 9.98524063e-01 7.31381969e-03 -5.38163855e-02 -4.25337408e+00] [-7.13071112e-03 9.99968119e-01 3.59369864e-03 -5.50067670e-01] [ 5.38409535e-02 -3.20464547e-03 9.98544382e-01 -3.79693161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72463044 meters Centerline goodness : 0.450118 with order 2 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.55, Z:-0.38 [[ 9.98418555e-01 -1.68673520e-03 -5.61920213e-02 -4.27067404e+00] [ 1.94476516e-03 9.99987814e-01 4.53756541e-03 -5.49409282e-01] [ 5.61836828e-02 -4.63966978e-03 9.98409669e-01 -3.81818326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78463044 meters Centerline goodness : 0.457783 with order 3 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.55, Z:-0.38 [[ 9.98432629e-01 -2.21556989e-03 -5.59229490e-02 -4.27164028e+00] [ 2.48754966e-03 9.99985413e-01 4.79433184e-03 -5.52532851e-01] [ 5.59115111e-02 -4.92592845e-03 9.98423577e-01 -3.81535099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844630439999996 meters Centerline goodness : 0.457223 with order 1 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.55, Z:-0.38 [[ 9.98444030e-01 -2.31526730e-03 -5.57149666e-02 -4.27241940e+00] [ 2.59843906e-03 9.99984071e-01 5.01060253e-03 -5.54398218e-01] [ 5.57024782e-02 -5.14757813e-03 9.98434142e-01 -3.81224043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90463044 meters Centerline goodness : 0.483040 with order 3 Centerline is valid? [False, False] Translation: X:-4.27, Y:-0.56, Z:-0.38 [[ 9.98437832e-01 -2.49992949e-03 -5.58179671e-02 -4.27216314e+00] [ 2.81050205e-03 9.99981001e-01 5.48621884e-03 -5.57919774e-01] [ 5.58031915e-02 -5.63452496e-03 9.98425889e-01 -3.81379238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96463044 meters Centerline goodness : 0.439867 with order 3 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.56, Z:-0.38 [[ 0.99832225 -0.00535944 -0.05765376 -4.31623465] [ 0.00562147 0.99997459 0.0043836 -0.56358953] [ 0.0576288 -0.00470034 0.99832701 -0.38392428] [ 0. 0. 0. 1. ]] SLAMing on 64.02463044 meters Centerline goodness : 0.329328 with order 3 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.57, Z:-0.38 [[ 0.99834973 -0.00529397 -0.05718201 -4.31757093] [ 0.00559741 0.99997108 0.00514782 -0.56903623] [ 0.0571531 -0.00545939 0.9983505 -0.38376877] [ 0. 0. 0. 1. ]] SLAMing on 64.08463044 meters Centerline goodness : 0.157927 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.57, Z:-0.39 [[ 9.98367894e-01 2.50408902e-03 -5.70550424e-02 -4.33767395e+00] [-2.26308285e-03 9.99988244e-01 4.28832083e-03 -5.74158481e-01] [ 5.70651100e-02 -4.15220155e-03 9.98361824e-01 -3.86013973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14463044 meters Centerline goodness : 0.099719 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.57, Z:-0.39 [[ 9.98344599e-01 2.82731823e-03 -5.74462121e-02 -4.33647838e+00] [-2.56720996e-03 9.99986119e-01 4.60115257e-03 -5.74668314e-01] [ 5.74584236e-02 -4.44605933e-03 9.98338000e-01 -3.86381552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20463044 meters Centerline goodness : 0.098154 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.57, Z:-0.39 [[ 9.98346866e-01 2.88447413e-03 -5.74039620e-02 -4.33667053e+00] [-2.62796559e-03 9.99986225e-01 4.54347007e-03 -5.74233965e-01] [ 5.74162768e-02 -4.38510347e-03 9.98340694e-01 -3.86265352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26463043999999 meters Centerline goodness : 0.455348 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.57, Z:-0.38 [[ 0.99840528 0.00486594 -0.05624253 -4.34171323] [-0.00452154 0.99997025 0.00624905 -0.57272909] [ 0.05627126 -0.00598478 0.99839758 -0.38394107] [ 0. 0. 0. 1. ]] SLAMing on 64.32463043999999 meters Centerline goodness : 0.335446 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.57, Z:-0.39 [[ 0.99818402 0.00506027 -0.06002553 -4.38185721] [-0.00469407 0.99996951 0.00624011 -0.56609246] [ 0.06005528 -0.00594701 0.99817734 -0.38668183] [ 0. 0. 0. 1. ]] SLAMing on 64.38463044 meters Centerline goodness : 0.096140 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.56, Z:-0.39 [[ 0.99816255 0.00497394 -0.06038868 -4.38078411] [-0.00462555 0.99997185 0.00590755 -0.56379056] [ 0.06041637 -0.00561736 0.99815746 -0.38694607] [ 0. 0. 0. 1. ]] SLAMing on 64.44463044 meters Centerline goodness : 0.330622 with order 1 Centerline is valid? [False, False] Translation: X:-4.39, Y:-0.56, Z:-0.38 [[ 0.99828534 0.00660196 -0.05816174 -4.38800716] [-0.0062344 0.99995945 0.0064988 -0.55590873] [ 0.05820229 -0.00612505 0.99828602 -0.38456578] [ 0. 0. 0. 1. ]] SLAMing on 64.50463044 meters Centerline goodness : 0.133420 with order 2 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.55, Z:-0.39 [[ 0.9981804 0.00834314 -0.05971833 -4.38258022] [-0.00792403 0.99994231 0.00725154 -0.5465125 ] [ 0.05977539 -0.00676513 0.99818893 -0.38645849] [ 0. 0. 0. 1. ]] SLAMing on 64.56463044 meters Centerline goodness : 0.111957 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.54, Z:-0.39 [[ 0.99815807 0.0079268 -0.06014674 -4.38130373] [-0.00756066 0.99995149 0.00631268 -0.54083186] [ 0.06019386 -0.0058463 0.99816958 -0.38674817] [ 0. 0. 0. 1. ]] SLAMing on 64.62463044 meters Centerline goodness : 0.106622 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.53, Z:-0.39 [[ 9.98326893e-01 1.27634688e-03 -5.78081804e-02 -4.40331998e+00] [-8.49406907e-04 9.99972189e-01 7.40942933e-03 -5.29484656e-01] [ 5.78160297e-02 -7.34792989e-03 9.98300213e-01 -3.88368746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68463043999999 meters Centerline goodness : 0.121009 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.52, Z:-0.39 [[ 9.98334092e-01 9.16100174e-04 -5.76905752e-02 -4.40240757e+00] [-5.31172668e-04 9.99977499e-01 6.68725829e-03 -5.24879361e-01] [ 5.76954033e-02 -6.64547428e-03 9.98312115e-01 -3.89788165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74463044 meters Centerline goodness : 0.120956 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.52, Z:-0.39 [[ 9.98337539e-01 4.69740542e-04 -5.76362582e-02 -4.40227122e+00] [-1.28304628e-04 9.99982424e-01 5.92753538e-03 -5.21939485e-01] [ 5.76380295e-02 -5.91028608e-03 9.98320052e-01 -3.90070351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80463044 meters Centerline goodness : 0.101162 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.52, Z:-0.39 [[ 9.98308685e-01 4.10331016e-03 -5.79907980e-02 -4.40103703e+00] [-3.60591912e-03 9.99955834e-01 8.67911074e-03 -5.16443744e-01] [ 5.80238499e-02 -8.45532150e-03 9.98279390e-01 -3.90460507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86463044 meters Centerline goodness : 0.116844 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.51, Z:-0.39 [[ 0.99830168 0.00535637 -0.0580091 -4.40117116] [-0.00483897 0.99994728 0.00905621 -0.50915519] [ 0.05805455 -0.00876012 0.99827498 -0.39011532] [ 0. 0. 0. 1. ]] SLAMing on 64.92463044 meters Centerline goodness : 0.109850 with order 1 Centerline is valid? [False, False] Translation: X:-4.41, Y:-0.50, Z:-0.39 [[ 0.99833515 0.0074956 -0.05719039 -4.40517923] [-0.00693529 0.99992605 0.00998933 -0.50030479] [ 0.05726104 -0.00957607 0.99831331 -0.38778182] [ 0. 0. 0. 1. ]] SLAMing on 64.98463044 meters Centerline goodness : 0.110303 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.49, Z:-0.39 [[ 9.98535201e-01 4.48590917e-03 -5.39196440e-02 -4.44092317e+00] [-3.96596361e-03 9.99944641e-01 9.74610579e-03 -4.92114202e-01] [ 5.39603792e-02 -9.51798636e-03 9.98497714e-01 -3.91699636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04463043999999 meters Centerline goodness : 0.122890 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.49, Z:-0.39 [[ 9.98520473e-01 4.33952769e-03 -5.42036378e-02 -4.43979370e+00] [-3.82323228e-03 9.99946368e-01 9.62517023e-03 -4.91254706e-01] [ 5.42424995e-02 -9.40369643e-03 9.98483511e-01 -3.92331363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10463044 meters Centerline goodness : 0.120289 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.49, Z:-0.39 [[ 9.98491498e-01 4.35485340e-03 -5.47335749e-02 -4.43806287e+00] [-3.83254780e-03 9.99946151e-01 9.64403471e-03 -4.90423323e-01] [ 5.47726259e-02 -9.41971762e-03 9.98454420e-01 -3.92984690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16463044 meters Centerline goodness : 0.129944 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.48, Z:-0.39 [[ 9.98528165e-01 -3.66039170e-03 -5.41119733e-02 -4.45767914e+00] [ 4.20270814e-03 9.99942046e-01 9.91172287e-03 -4.83419449e-01] [ 5.40725565e-02 -1.01245513e-02 9.98485679e-01 -3.94362952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22463044 meters Centerline goodness : 0.108298 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.48, Z:-0.39 [[ 9.98547581e-01 -3.70649498e-03 -5.37493361e-02 -4.45905002e+00] [ 4.22397259e-03 9.99945789e-01 9.51720712e-03 -4.80944503e-01] [ 5.37111468e-02 -9.73041987e-03 9.98509104e-01 -3.93672789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28463044 meters Centerline goodness : 0.113090 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.48, Z:-0.39 [[ 9.98577103e-01 -3.57103976e-03 -5.32073035e-02 -4.46077387e+00] [ 4.08288248e-03 9.99946404e-01 9.51419370e-03 -4.79955019e-01] [ 5.31704763e-02 -9.71789515e-03 9.98538163e-01 -3.93038576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34463044 meters Centerline goodness : 0.107967 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.48, Z:-0.40 [[ 0.99835414 -0.00647874 -0.05698283 -4.50203021] [ 0.00686537 0.99995471 0.00659188 -0.47777188] [ 0.05693754 -0.00697224 0.9983534 -0.39525901] [ 0. 0. 0. 1. ]] SLAMing on 65.40463043999999 meters Centerline goodness : 0.238556 with order 3 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.48, Z:-0.39 [[ 0.998353 -0.00625658 -0.05702762 -4.50232956] [ 0.00666902 0.99995295 0.00704492 -0.4785381 ] [ 0.05698086 -0.00741363 0.99834774 -0.39476537] [ 0. 0. 0. 1. ]] SLAMing on 65.46463044 meters Centerline goodness : 0.112530 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.48, Z:-0.40 [[ 0.99828077 -0.00691312 -0.05820415 -4.5493419 ] [ 0.00730176 0.99995243 0.00646717 -0.47630096] [ 0.05815667 -0.00688105 0.99828375 -0.39589925] [ 0. 0. 0. 1. ]] SLAMing on 65.52463044 meters Centerline goodness : 0.117095 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.48, Z:-0.40 [[ 0.99827187 -0.00739088 -0.05829793 -4.54918088] [ 0.00778597 0.99994822 0.00655288 -0.47845091] [ 0.05824648 -0.00699547 0.99827772 -0.39597453] [ 0. 0. 0. 1. ]] SLAMing on 65.58463044 meters Centerline goodness : 0.121506 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.48, Z:-0.40 [[ 0.99824817 -0.00741515 -0.05869927 -4.54765589] [ 0.00783487 0.99994534 0.00692354 -0.48076449] [ 0.05864472 -0.00737131 0.9982517 -0.3968487 ] [ 0. 0. 0. 1. ]] SLAMing on 65.64463044 meters Centerline goodness : 0.121397 with order 1 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.48, Z:-0.40 [[ 9.98293047e-01 6.97384807e-04 -5.83995291e-02 -4.56714739e+00] [-3.42316222e-04 9.99981399e-01 6.08977395e-03 -4.84333504e-01] [ 5.84026897e-02 -6.05938788e-03 9.98274717e-01 -3.99187041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70463044 meters Centerline goodness : 0.248599 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.48, Z:-0.40 [[ 9.98291506e-01 4.45036496e-03 -5.82603141e-02 -4.56757375e+00] [-3.91265362e-03 9.99948724e-01 9.34028426e-03 -4.81969891e-01] [ 5.82988944e-02 -9.09637401e-03 9.98257730e-01 -3.98977603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76463043999999 meters Centerline goodness : 0.105767 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.47, Z:-0.40 [[ 9.98397706e-01 -1.53623277e-03 -5.65655361e-02 -4.58337808e+00] [ 2.11850376e-03 9.99945375e-01 1.02352154e-02 -4.73184042e-01] [ 5.65467225e-02 -1.03386499e-02 9.98346423e-01 -4.01998222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82463043999999 meters Centerline goodness : 0.103287 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.47, Z:-0.40 [[ 9.98423851e-01 -1.55111364e-03 -5.61017594e-02 -4.58493711e+00] [ 2.10016804e-03 9.99950465e-01 9.72912549e-03 -4.70246562e-01] [ 5.60838895e-02 -9.83161407e-03 9.98377652e-01 -4.01319557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88463044 meters Centerline goodness : 0.104972 with order 1 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.47, Z:-0.40 [[ 0.99851768 0.00641989 -0.05404832 -4.60682094] [-0.00595659 0.99994416 0.0087287 -0.47344315] [ 0.05410134 -0.00839382 0.99850017 -0.40361409] [ 0. 0. 0. 1. ]] SLAMing on 65.94463044 meters Centerline goodness : 0.104752 with order 1 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.47, Z:-0.40 [[ 0.99851189 0.00643683 -0.05415316 -4.6062925 ] [-0.00597554 0.99994451 0.00867593 -0.47328599] [ 0.054206 -0.00833942 0.99849495 -0.40401094] [ 0. 0. 0. 1. ]] SLAMing on 66.00463044 meters Centerline goodness : 0.114272 with order 1 Centerline is valid? [False, False] Translation: X:-4.62, Y:-0.47, Z:-0.41 [[ 9.98563411e-01 3.41111158e-03 -5.34740832e-02 -4.62338050e+00] [-2.75448908e-03 9.99919965e-01 1.23481604e-02 -4.66115609e-01] [ 5.35119243e-02 -1.21831274e-02 9.98492887e-01 -4.05405610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06463044 meters Centerline goodness : 0.122290 with order 1 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.46, Z:-0.41 [[ 0.99851122 0.01329008 -0.05290297 -4.64655368] [-0.01268513 0.99985045 0.01175444 -0.46293753] [ 0.05305128 -0.01106586 0.99853047 -0.40692146] [ 0. 0. 0. 1. ]] SLAMing on 66.12463044 meters Centerline goodness : 0.127319 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.45, Z:-0.41 [[ 0.99866327 0.00973939 -0.05076244 -4.66561709] [-0.00899926 0.99985015 0.0147885 -0.45467819] [ 0.05089886 -0.01431191 0.99860126 -0.40859163] [ 0. 0. 0. 1. ]] SLAMing on 66.18463043999999 meters Centerline goodness : 0.327012 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.45, Z:-0.41 [[ 0.99861575 0.01336545 -0.05087187 -4.66585997] [-0.0124729 0.99976337 0.01782228 -0.45138723] [ 0.05109803 -0.01716309 0.99854615 -0.40782709] [ 0. 0. 0. 1. ]] SLAMing on 66.24463044 meters Centerline goodness : 0.386287 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.44, Z:-0.41 [[ 0.99860104 0.01528346 -0.05061985 -4.66645581] [-0.01435573 0.99972318 0.01864062 -0.44321065] [ 0.05089073 -0.01788786 0.99854402 -0.40777216] [ 0. 0. 0. 1. ]] SLAMing on 66.30463044 meters Centerline goodness : 0.098487 with order 1 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.44, Z:-0.40 [[ 0.99860488 0.00902613 -0.05202709 -4.65026092] [-0.00800246 0.99977093 0.01985056 -0.43605161] [ 0.05219435 -0.01940652 0.99844836 -0.40468706] [ 0. 0. 0. 1. ]] SLAMing on 66.36463044 meters Centerline goodness : 0.100626 with order 1 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.44, Z:-0.40 [[ 0.99858369 0.0084662 -0.0525256 -4.64887923] [-0.00743757 0.99977732 0.01974814 -0.43674643] [ 0.05268109 -0.01932951 0.99842429 -0.40482466] [ 0. 0. 0. 1. ]] SLAMing on 66.42463044 meters Centerline goodness : 0.101604 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.43, Z:-0.41 [[ 9.98567617e-01 6.25831007e-05 -5.35042973e-02 -4.66733559e+00] [ 1.04483372e-03 9.99785817e-01 2.06694951e-02 -4.34018615e-01] [ 5.34941312e-02 -2.06957916e-02 9.98353676e-01 -4.06720564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48463044 meters Centerline goodness : 0.103364 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.44, Z:-0.41 [[ 9.98515162e-01 1.39313095e-04 -5.44743173e-02 -4.66510788e+00] [ 1.02103915e-03 9.99773194e-01 2.12724936e-02 -4.36624878e-01] [ 5.44649257e-02 -2.12965278e-02 9.98288550e-01 -4.06621451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54463043999999 meters Centerline goodness : 0.108808 with order 1 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.44, Z:-0.41 [[ 9.98352352e-01 -1.02529896e-03 -5.73718556e-02 -4.70724010e+00] [ 2.18843915e-03 9.99793270e-01 2.02145522e-02 -4.38412206e-01] [ 5.73392692e-02 -2.03068006e-02 9.98148206e-01 -4.09070902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60463044 meters Centerline goodness : 0.109221 with order 1 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.44, Z:-0.41 [[ 9.98400550e-01 -9.54665927e-04 -5.65281421e-02 -4.71044094e+00] [ 2.13194442e-03 9.99782012e-01 2.07697726e-02 -4.41857045e-01] [ 5.64959915e-02 -2.08570673e-02 9.98184946e-01 -4.07318755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66463044 meters Centerline goodness : 0.198382 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.44, Z:-0.41 [[ 9.98411667e-01 -6.29826197e-04 -5.63360219e-02 -4.71117287e+00] [ 1.83208839e-03 9.99771625e-01 2.12918134e-02 -4.43049628e-01] [ 5.63097461e-02 -2.13612075e-02 9.98184808e-01 -4.06841492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72463044 meters Centerline goodness : 0.453335 with order 1 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.45, Z:-0.40 [[ 0.99841863 0.00729041 -0.05574131 -4.69260243] [-0.0061847 0.99978118 0.01998341 -0.44852433] [ 0.0558748 -0.01960706 0.99824525 -0.40434294] [ 0. 0. 0. 1. ]] SLAMing on 66.78463044 meters Centerline goodness : 0.195377 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.45, Z:-0.40 [[ 0.99843513 0.01124962 -0.05477902 -4.69583692] [-0.00998092 0.99967685 0.02337897 -0.44706401] [ 0.05502432 -0.02279564 0.99822477 -0.4031997 ] [ 0. 0. 0. 1. ]] SLAMing on 66.84463044 meters Centerline goodness : 0.088729 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.45, Z:-0.40 [[ 0.99846607 0.01157698 -0.05414317 -4.69786777] [-0.0103241 0.99967374 0.02336286 -0.4459063 ] [ 0.05439597 -0.02276804 0.99825983 -0.40256316] [ 0. 0. 0. 1. ]] SLAMing on 66.90463043999999 meters Centerline goodness : 0.474645 with order 3 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.44, Z:-0.40 [[ 9.98452049e-01 5.68649817e-03 -5.53278450e-02 -4.71969940e+00] [-4.24748009e-03 9.99650526e-01 2.60918474e-02 -4.44147437e-01] [ 5.54568806e-02 -2.58164546e-02 9.98127269e-01 -4.03465538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96463044 meters Centerline goodness : 0.239450 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.45, Z:-0.40 [[ 9.98451018e-01 2.40722797e-03 -5.55856938e-02 -4.71858939e+00] [-1.12287821e-03 9.99731941e-01 2.31254431e-02 -4.46941002e-01] [ 5.56264618e-02 -2.30272063e-02 9.98186077e-01 -4.04150061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02463044 meters Centerline goodness : 0.094195 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.45, Z:-0.40 [[ 9.98452875e-01 2.74129906e-03 -5.55368498e-02 -4.71873415e+00] [-1.41360725e-03 9.99712597e-01 2.39316955e-02 -4.50924659e-01] [ 5.55864923e-02 -2.38161628e-02 9.98169791e-01 -4.03927943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08463044 meters Centerline goodness : 0.212525 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.46, Z:-0.40 [[ 9.98432127e-01 3.17273637e-03 -5.58857842e-02 -4.71777981e+00] [-1.78844667e-03 9.99690768e-01 2.48025982e-02 -4.56061082e-01] [ 5.59471947e-02 -2.46637621e-02 9.98129055e-01 -4.03850468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14463044 meters Centerline goodness : 0.100774 with order 1 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.46, Z:-0.41 [[ 0.99832841 0.01093904 -0.05675137 -4.73605211] [-0.0096055 0.99967255 0.02371779 -0.46425855] [ 0.05699224 -0.02313302 0.99810658 -0.40651071] [ 0. 0. 0. 1. ]] SLAMing on 67.20463044 meters Centerline goodness : 0.372605 with order 2 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.47, Z:-0.41 [[ 0.99828899 0.01122441 -0.05738555 -4.73374873] [-0.00984702 0.99965794 0.02422909 -0.46683146] [ 0.05763788 -0.02362255 0.99805804 -0.4075762 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26463043999999 meters SLAMing on 67.32463043999999 meters Centerline goodness : 0.111456 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.47, Z:-0.41 [[ 0.99820744 0.01224987 -0.05858202 -4.7303057 ] [-0.01076577 0.99961474 0.02558252 -0.47326301] [ 0.05887283 -0.02490598 0.99795475 -0.40826914] [ 0. 0. 0. 1. ]] SLAMing on 67.38463044 meters Centerline goodness : 0.475282 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.47, Z:-0.41 [[ 0.99818643 0.01267898 -0.05884814 -4.72944292] [-0.01116648 0.99960062 0.02595985 -0.47459217] [ 0.05915378 -0.02525564 0.99792935 -0.40859961] [ 0. 0. 0. 1. ]] SLAMing on 67.44463044 meters Centerline goodness : 0.094209 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.48, Z:-0.41 [[ 0.99821461 0.01313188 -0.05826786 -4.73157832] [-0.01160721 0.99958332 0.02642821 -0.47560103] [ 0.05859064 -0.0257047 0.9979511 -0.40757201] [ 0. 0. 0. 1. ]] SLAMing on 67.50463044 meters Centerline goodness : 0.096196 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.48, Z:-0.41 [[ 0.99815552 0.01224802 -0.05946036 -4.77857521] [-0.01069843 0.99959659 0.02630976 -0.48411514] [ 0.05975862 -0.0256251 0.99788389 -0.40833891] [ 0. 0. 0. 1. ]] SLAMing on 67.56463044 meters Centerline goodness : 0.093301 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99815988 0.01244685 -0.05934591 -4.77883763] [-0.01087087 0.99958157 0.02680507 -0.48688618] [ 0.05965472 -0.0261106 0.99787752 -0.40826287] [ 0. 0. 0. 1. ]] SLAMing on 67.62463044 meters Centerline goodness : 0.102083 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99817558 0.01262674 -0.05904309 -4.77991403] [-0.01103252 0.99956779 0.02724934 -0.48953437] [ 0.05936164 -0.02654823 0.99788345 -0.40768963] [ 0. 0. 0. 1. ]] SLAMing on 67.68463043999999 meters Centerline goodness : 0.106406 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99818939 0.0128099 -0.05876937 -4.7806469 ] [-0.01120216 0.99955614 0.02760516 -0.49132906] [ 0.0590969 -0.02689683 0.99788983 -0.40755041] [ 0. 0. 0. 1. ]] SLAMing on 67.74463044 meters Centerline goodness : 0.099527 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99816651 0.01314898 -0.05908236 -4.77958199] [-0.01150079 0.99953753 0.0281505 -0.49361538] [ 0.05942519 -0.0274194 0.99785611 -0.40781802] [ 0. 0. 0. 1. ]] SLAMing on 67.80463044 meters Centerline goodness : 0.261530 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99812226 0.01315169 -0.05982468 -4.7766432 ] [-0.01149097 0.99954133 0.02801954 -0.49340575] [ 0.06016574 -0.02727949 0.99781557 -0.40944155] [ 0. 0. 0. 1. ]] SLAMing on 67.86463044 meters Centerline goodness : 0.090594 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.9981261 0.01319115 -0.0597518 -4.77701581] [-0.01153688 0.99954284 0.0279465 -0.49277072] [ 0.06009313 -0.02720478 0.99782199 -0.40923114] [ 0. 0. 0. 1. ]] SLAMing on 67.92463044 meters Centerline goodness : 0.248570 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99813527 0.01334404 -0.05956444 -4.77801641] [-0.01168973 0.99953856 0.02803596 -0.49234709] [ 0.05991106 -0.02728739 0.99783068 -0.4085116 ] [ 0. 0. 0. 1. ]] SLAMing on 67.98463044 meters Centerline goodness : 0.082148 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99811673 0.01327043 -0.05989066 -4.77675361] [-0.0116146 0.99954292 0.02791151 -0.49193092] [ 0.06023369 -0.02716334 0.99781464 -0.40919704] [ 0. 0. 0. 1. ]] SLAMing on 68.04463043999999 meters Centerline goodness : 0.102729 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99809405 0.01324176 -0.06027374 -4.77591428] [-0.01157888 0.99954491 0.02785488 -0.49112812] [ 0.06061516 -0.02710388 0.99779316 -0.40912 ] [ 0. 0. 0. 1. ]] SLAMing on 68.10463044 meters Centerline goodness : 0.102016 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.49, Z:-0.41 [[ 0.99813324 0.0096542 -0.06030615 -4.77623781] [-0.0081867 0.99966547 0.0245341 -0.4913675 ] [ 0.06052284 -0.02399459 0.99787837 -0.40875989] [ 0. 0. 0. 1. ]] SLAMing on 68.16463044 meters Centerline goodness : 0.101779 with order 1 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.49, Z:-0.41 [[ 9.98105616e-01 -6.96168145e-04 -6.15198724e-02 -4.79559953e+00] [ 2.20539602e-03 9.99698184e-01 2.44678681e-02 -4.92531584e-01] [ 6.14842709e-02 -2.45571923e-02 9.97805907e-01 -4.10814016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22463044 meters Centerline goodness : 0.107115 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.50, Z:-0.41 [[ 9.97985802e-01 -4.32739259e-03 -6.32899047e-02 -4.83878524e+00] [ 5.81873294e-03 9.99709288e-01 2.33983334e-02 -5.04382407e-01] [ 6.31702518e-02 -2.37194716e-02 9.97720856e-01 -4.12822527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28463044 meters Centerline goodness : 0.242947 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.51, Z:-0.41 [[ 0.99807544 -0.0064794 -0.06167197 -4.84428278] [ 0.00784241 0.99972974 0.02188458 -0.50907196] [ 0.06151351 -0.02232612 0.99785652 -0.41075076] [ 0. 0. 0. 1. ]] SLAMing on 68.34463044 meters Centerline goodness : 0.108245 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.52, Z:-0.41 [[ 9.98112110e-01 8.51177492e-04 -6.14124648e-02 -4.82767365e+00] [ 4.33209028e-04 9.99781524e-01 2.08977560e-02 -5.18950879e-01] [ 6.14168354e-02 -2.08849078e-02 9.97893678e-01 -4.06936959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40463043999999 meters Centerline goodness : 0.105352 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.52, Z:-0.41 [[ 9.98108240e-01 1.28842761e-03 -6.14677308e-02 -4.82735204e+00] [ 5.24720674e-05 9.99762174e-01 2.18080930e-02 -5.23111043e-01] [ 6.14812103e-02 -2.17700627e-02 9.97870796e-01 -4.07006761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46463044 meters Centerline goodness : 0.105846 with order 2 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.53, Z:-0.41 [[ 9.98107988e-01 -2.52714226e-03 -6.14333635e-02 -4.82740122e+00] [ 3.68817178e-03 9.99816594e-01 1.87929633e-02 -5.28550623e-01] [ 6.13746037e-02 -1.89839836e-02 9.97934250e-01 -4.06849252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52463044 meters Centerline goodness : 0.115121 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.54, Z:-0.41 [[ 9.98184345e-01 -3.76920527e-03 -6.01149489e-02 -4.83153361e+00] [ 4.92050199e-03 9.99807089e-01 1.90150691e-02 -5.41136638e-01] [ 6.00316804e-02 -1.92763400e-02 9.98010331e-01 -4.05078888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58463044 meters Centerline goodness : 0.155933 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.55, Z:-0.41 [[ 0.99822603 -0.00552544 -0.05928117 -4.83307348] [ 0.00661308 0.9998131 0.01816674 -0.54948158] [ 0.05916971 -0.01852654 0.99807601 -0.40511191] [ 0. 0. 0. 1. ]] SLAMing on 68.64463044 meters Centerline goodness : 0.464967 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.56, Z:-0.41 [[ 0.99810216 0.00755653 -0.06111451 -4.82809071] [-0.00667647 0.99987125 0.01459155 -0.56361526] [ 0.0612169 -0.01415583 0.9980241 -0.40665077] [ 0. 0. 0. 1. ]] SLAMing on 68.70463044 meters Centerline goodness : 0.123805 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.57, Z:-0.41 [[ 0.99800451 0.0086509 -0.06254723 -4.82373182] [-0.0076984 0.99985095 0.01545359 -0.56507349] [ 0.0626716 -0.01494124 0.99792236 -0.40768407] [ 0. 0. 0. 1. ]] SLAMing on 68.76463043999999 meters Centerline goodness : 0.117389 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.56, Z:-0.41 [[ 0.99796945 0.00877208 -0.0630874 -4.82188868] [-0.00781857 0.99985169 0.01534526 -0.564524 ] [ 0.06321265 -0.01482084 0.99789003 -0.4083057 ] [ 0. 0. 0. 1. ]] SLAMing on 68.82463043999999 meters Centerline goodness : 0.122572 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.57, Z:-0.41 [[ 0.99795239 0.00931898 -0.06327869 -4.82083338] [-0.00831114 0.99983469 0.01617164 -0.56737699] [ 0.06341893 -0.01561261 0.99786486 -0.40911262] [ 0. 0. 0. 1. ]] SLAMing on 68.88463044 meters Centerline goodness : 0.137008 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.58, Z:-0.41 [[ 9.98050344e-01 4.02487141e-03 -6.22841241e-02 -4.82431803e+00] [-3.24969362e-03 9.99916064e-01 1.25421326e-02 -5.78226782e-01] [ 6.23293767e-02 -1.23152754e-02 9.97979650e-01 -4.07693701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94463044 meters Centerline goodness : 0.130635 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.58, Z:-0.41 [[ 9.98076342e-01 4.24810754e-04 -6.19954379e-02 -4.82481392e+00] [ 1.78743148e-04 9.99952650e-01 9.72958603e-03 -5.82795117e-01] [ 6.19966357e-02 -9.72195089e-03 9.98029008e-01 -4.07790407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00463044 meters Centerline goodness : 0.254437 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.59, Z:-0.41 [[ 9.98089051e-01 7.74424082e-04 -6.17871142e-02 -4.82506397e+00] [-1.36970603e-04 9.99946733e-01 1.03205010e-02 -5.85260894e-01] [ 6.17918154e-02 -1.02923160e-02 9.98035991e-01 -4.08025976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06463044 meters Centerline goodness : 0.137265 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.59, Z:-0.41 [[ 9.98109946e-01 1.83228139e-03 -6.14262031e-02 -4.82590044e+00] [-1.14628691e-03 9.99936608e-01 1.12011623e-02 -5.86668977e-01] [ 6.14428329e-02 -1.11095795e-02 9.98048774e-01 -4.08054683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12463044 meters Centerline goodness : 0.120419 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.59, Z:-0.41 [[ 9.98125436e-01 2.01259903e-03 -6.11683174e-02 -4.82697154e+00] [-1.33194739e-03 9.99936768e-01 1.11662578e-02 -5.86320072e-01] [ 6.11869228e-02 -1.10638530e-02 9.98065004e-01 -4.07522244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18463043999999 meters Centerline goodness : 0.115576 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.58, Z:-0.41 [[ 9.98164353e-01 2.77447180e-03 -6.04998123e-02 -4.82860895e+00] [-2.09157998e-03 9.99933423e-01 1.13479114e-02 -5.84131226e-01] [ 6.05272688e-02 -1.12005404e-02 9.98103701e-01 -4.07672696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24463044 meters Centerline goodness : 0.120044 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.58, Z:-0.41 [[ 9.98209530e-01 3.04901269e-03 -5.97364072e-02 -4.83033861e+00] [-2.38489747e-03 9.99934595e-01 1.11855721e-02 -5.81596622e-01] [ 5.97666051e-02 -1.10230794e-02 9.98151514e-01 -4.07946979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30463044 meters Centerline goodness : 0.113079 with order 2 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.58, Z:-0.41 [[ 9.98226935e-01 3.40264158e-03 -5.94256565e-02 -4.83153952e+00] [-2.75686433e-03 9.99936295e-01 1.09455851e-02 -5.77821379e-01] [ 5.94591147e-02 -1.07623494e-02 9.98172723e-01 -4.07543152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36463044 meters Centerline goodness : 0.085229 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.57, Z:-0.41 [[ 0.99816828 0.00595425 -0.0602049 -4.82802255] [-0.00523378 0.99991288 0.01211752 -0.56791259] [ 0.0602718 -0.01178022 0.99811249 -0.40976189] [ 0. 0. 0. 1. ]] SLAMing on 69.42463044 meters Centerline goodness : 0.137025 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.56, Z:-0.41 [[ 0.9981278 0.00961826 -0.06040182 -4.82729987] [-0.0087258 0.99984909 0.01502172 -0.56330819] [ 0.06053719 -0.01446654 0.9980611 -0.41021829] [ 0. 0. 0. 1. ]] SLAMing on 69.48463044 meters Centerline goodness : 0.093540 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.56, Z:-0.41 [[ 0.99811461 0.00905325 -0.06070635 -4.8270583 ] [-0.00822949 0.99987083 0.01380598 -0.55659649] [ 0.06082349 -0.01328037 0.99806019 -0.40991993] [ 0. 0. 0. 1. ]] SLAMing on 69.54463043999999 meters Centerline goodness : 0.117152 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.56, Z:-0.41 [[ 0.99812103 0.00886356 -0.06062874 -4.82755341] [-0.00805489 0.99987549 0.01356956 -0.5556684 ] [ 0.06074147 -0.0130557 0.99806815 -0.40952424] [ 0. 0. 0. 1. ]] SLAMing on 69.60463044 meters Centerline goodness : 0.092680 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.55, Z:-0.41 [[ 0.99812437 0.00854958 -0.06061885 -4.82760633] [-0.00776838 0.99988387 0.01311096 -0.55350477] [ 0.06072391 -0.01261546 0.99807488 -0.40952559] [ 0. 0. 0. 1. ]] SLAMing on 69.66463044 meters Centerline goodness : 0.243379 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.54, Z:-0.41 [[ 0.99812026 0.00802029 -0.06075866 -4.82635759] [-0.00730954 0.99990234 0.01191114 -0.54455648] [ 0.06084826 -0.01144463 0.99808141 -0.41087676] [ 0. 0. 0. 1. ]] SLAMing on 69.72463044 meters Centerline goodness : 0.123898 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.53, Z:-0.41 [[ 9.98388292e-01 2.74178838e-03 -5.66859890e-02 -4.84897256e+00] [-1.96611501e-03 9.99903738e-01 1.37349327e-02 -5.34187739e-01] [ 5.67181906e-02 -1.36013448e-02 9.98297576e-01 -4.12577019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78463044 meters Centerline goodness : 0.126360 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.53, Z:-0.41 [[ 9.98384104e-01 1.84894259e-03 -5.67957868e-02 -4.84896198e+00] [-1.15597868e-03 9.99924525e-01 1.22314054e-02 -5.28192003e-01] [ 5.68141154e-02 -1.21459860e-02 9.98310889e-01 -4.12521734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84463044 meters Centerline goodness : 0.135876 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.53, Z:-0.41 [[ 9.98410049e-01 1.77625121e-03 -5.63402132e-02 -4.85010825e+00] [-1.10597810e-03 9.99928273e-01 1.19258362e-02 -5.25888468e-01] [ 5.63573553e-02 -1.18445637e-02 9.98340400e-01 -4.12533801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90463043999999 meters Centerline goodness : 0.118089 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.52, Z:-0.41 [[ 9.98431099e-01 1.70102404e-03 -5.59682756e-02 -4.85169120e+00] [-1.05016063e-03 9.99931509e-01 1.16565053e-02 -5.23952659e-01] [ 5.59842703e-02 -1.15794417e-02 9.98364502e-01 -4.11649429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96463044 meters Centerline goodness : 0.121768 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.52, Z:-0.41 [[ 0.9982184 0.00901414 -0.05898117 -4.86977597] [-0.00843949 0.99991453 0.00998488 -0.52413637] [ 0.05906613 -0.00946932 0.99820916 -0.41405986] [ 0. 0. 0. 1. ]] SLAMing on 70.02463044 meters Centerline goodness : 0.213770 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.52, Z:-0.41 [[ 0.99819949 0.00910933 -0.05928571 -4.86867181] [-0.00854331 0.99991554 0.00979388 -0.52240177] [ 0.05936992 -0.00926975 0.99819301 -0.41468214] [ 0. 0. 0. 1. ]] SLAMing on 70.08463044 meters SLAMing on 70.14463044 meters Centerline goodness : 0.109102 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.52, Z:-0.42 [[ 0.9980676 0.01790949 -0.05950056 -4.88849519] [-0.01740848 0.9998086 0.00892805 -0.52107622] [ 0.05964907 -0.00787499 0.99818835 -0.41705541] [ 0. 0. 0. 1. ]] SLAMing on 70.20463044 meters Centerline goodness : 0.124230 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.52, Z:-0.42 [[ 0.99829984 0.00974186 -0.05746767 -4.91064758] [-0.00921248 0.99991272 0.00946959 -0.51553081] [ 0.0575549 -0.00892407 0.99830246 -0.41937112] [ 0. 0. 0. 1. ]] SLAMing on 70.26463043999999 meters Centerline goodness : 0.219881 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.51, Z:-0.42 [[ 0.99828418 0.00931218 -0.05780978 -4.90891773] [-0.0088393 0.9999254 0.0084302 -0.5106609 ] [ 0.05788397 -0.00790474 0.99829202 -0.42081145] [ 0. 0. 0. 1. ]] SLAMing on 70.32463043999999 meters Centerline goodness : 0.132142 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.50, Z:-0.42 [[ 9.98360331e-01 1.36262907e-03 -5.72258090e-02 -4.92826046e+00] [-8.06777282e-04 9.99952286e-01 9.73528607e-03 -5.04327948e-01] [ 5.72363441e-02 -9.67315494e-03 9.98313794e-01 -4.23947501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38463044 meters Centerline goodness : 0.111455 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.50, Z:-0.42 [[ 9.98370908e-01 9.36727493e-04 -5.70495706e-02 -4.92890101e+00] [-4.13082443e-04 9.99957687e-01 9.18987396e-03 -5.02029683e-01] [ 5.70557651e-02 -9.15133663e-03 9.98329050e-01 -4.23656349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44463044 meters Centerline goodness : 0.227736 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.50, Z:-0.42 [[ 9.98348801e-01 6.39030884e-04 -5.74392213e-02 -4.92789221e+00] [-1.35236936e-04 9.99961495e-01 8.77436419e-03 -5.00731258e-01] [ 5.74426167e-02 -8.75210806e-03 9.98310446e-01 -4.23800626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50463044 meters Centerline goodness : 0.112538 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.50, Z:-0.43 [[ 9.98313046e-01 2.39537797e-04 -5.80603499e-02 -4.92564667e+00] [ 2.15058336e-04 9.99969374e-01 7.82334250e-03 -4.96236983e-01] [ 5.80604458e-02 -7.82263125e-03 9.98282420e-01 -4.25001342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56463044 meters Centerline goodness : 0.103550 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.49, Z:-0.42 [[ 9.98335037e-01 1.78595886e-04 -5.76812025e-02 -4.92709919e+00] [ 2.41029393e-04 9.99973560e-01 7.26786604e-03 -4.92357883e-01] [ 5.76809754e-02 -7.26966818e-03 9.98308598e-01 -4.24453848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62463043999999 meters Centerline goodness : 0.106731 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.49, Z:-0.43 [[ 9.98244920e-01 1.78842460e-03 -5.91935959e-02 -4.97289037e+00] [-1.25936674e-03 9.99958941e-01 8.97385454e-03 -4.90554452e-01] [ 5.92072145e-02 -8.88355826e-03 9.98206185e-01 -4.26303285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68463043999999 meters Centerline goodness : 0.105548 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.49, Z:-0.43 [[ 9.98241197e-01 1.29591454e-03 -5.92691616e-02 -4.97290086e+00] [-8.22105187e-04 9.99967518e-01 8.01788260e-03 -4.86868086e-01] [ 5.92776269e-02 -7.95505524e-03 9.98209838e-01 -4.26230054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74463044 meters Centerline goodness : 0.101089 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.49, Z:-0.43 [[ 9.98249435e-01 8.68581730e-04 -5.91380734e-02 -5.02132494e+00] [-3.73939992e-04 9.99964861e-01 8.37473720e-03 -4.88355254e-01] [ 5.91432695e-02 -8.33796259e-03 9.98214682e-01 -4.27203307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80463044 meters Centerline goodness : 0.104314 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.49, Z:-0.43 [[ 9.98262399e-01 4.99769068e-04 -5.89231121e-02 -5.02168142e+00] [-2.62496589e-05 9.99967705e-01 8.03672554e-03 -4.87612480e-01] [ 5.89252257e-02 -8.02121420e-03 9.98230173e-01 -4.27362794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86463044 meters Centerline goodness : 0.105346 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.49, Z:-0.43 [[ 9.98213564e-01 3.72444371e-04 -5.97456503e-02 -5.01885998e+00] [ 1.10862793e-04 9.99967302e-01 8.08589302e-03 -4.88415317e-01] [ 5.97467083e-02 -8.07807166e-03 9.98180883e-01 -4.28478792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92463044 meters Centerline goodness : 0.105905 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.49, Z:-0.43 [[ 9.98248028e-01 -1.97578621e-03 -5.91351889e-02 -5.02188909e+00] [ 2.34123894e-03 9.99978585e-01 6.11130633e-03 -4.90615800e-01] [ 5.91218478e-02 -6.23904910e-03 9.98231276e-01 -4.26946174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98463044 meters Centerline goodness : 0.440709 with order 2 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.50, Z:-0.43 [[ 9.98173291e-01 -3.07091039e-03 -6.03378026e-02 -5.07005583e+00] [ 3.44674754e-03 9.99975297e-01 6.12579163e-03 -4.96204735e-01] [ 6.03175003e-02 -6.32257077e-03 9.98159218e-01 -4.27723649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04463043999999 meters SLAMing on 71.10463044 meters Centerline goodness : 0.470992 with order 2 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.50, Z:-0.43 [[ 9.98133558e-01 -5.89123014e-03 -6.07839896e-02 -5.06693624e+00] [ 6.15673693e-03 9.99972304e-01 4.18167297e-03 -5.02254367e-01] [ 6.07576709e-02 -4.54809916e-03 9.98142184e-01 -4.29841041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16463044 meters Centerline goodness : 0.108151 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.51, Z:-0.43 [[ 9.98111429e-01 -9.70265660e-03 -6.06583417e-02 -5.06736948e+00] [ 9.78965248e-03 9.99951434e-01 1.13716678e-03 -5.06698329e-01] [ 6.06443622e-02 -1.72884324e-03 9.98157940e-01 -4.29485096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22463044 meters Centerline goodness : 0.108022 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.51, Z:-0.43 [[ 9.98069334e-01 -9.60245493e-03 -6.13628377e-02 -5.06529429e+00] [ 9.72389615e-03 9.99951309e-01 1.68074322e-03 -5.10397343e-01] [ 6.13437106e-02 -2.27418413e-03 9.98114110e-01 -4.29884287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28463044 meters Centerline goodness : 0.107765 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.52, Z:-0.43 [[ 9.98378501e-01 -3.33809661e-03 -5.68262859e-02 -5.08680478e+00] [ 3.45403845e-03 9.99992149e-01 1.94218785e-03 -5.22790473e-01] [ 5.68193566e-02 -2.13531877e-03 9.98382192e-01 -4.32754553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34463044 meters Centerline goodness : 0.107683 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.53, Z:-0.43 [[ 9.98390849e-01 -6.85487370e-03 -5.62914112e-02 -5.08795177e+00] [ 6.80241237e-03 9.99976232e-01 -1.12351966e-03 -5.25740630e-01] [ 5.62977748e-02 7.38794352e-04 9.98413749e-01 -4.32792399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40463043999999 meters Centerline goodness : 0.107975 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-0.53, Z:-0.43 [[ 9.98378735e-01 -6.45259675e-03 -5.65532040e-02 -5.08696149e+00] [ 6.44290136e-03 9.99979182e-01 -3.53767893e-04 -5.28756841e-01] [ 5.65543094e-02 -1.11723729e-05 9.98399524e-01 -4.33250115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46463044 meters Centerline goodness : 0.110125 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.53, Z:-0.44 [[ 9.98470064e-01 9.16157986e-04 -5.52873499e-02 -5.10629153e+00] [-9.80517007e-04 9.99998873e-01 -1.13696760e-03 -5.34917333e-01] [ 5.52862460e-02 1.18943830e-03 9.98469837e-01 -4.35888462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52463044 meters Centerline goodness : 0.108437 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.54, Z:-0.44 [[ 9.98511453e-01 8.08493225e-04 -5.45364490e-02 -5.10862118e+00] [-8.74423310e-04 9.99998915e-01 -1.18506692e-03 -5.35348568e-01] [ 5.45354317e-02 1.23099084e-03 9.98511077e-01 -4.35100327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58463044 meters Centerline goodness : 0.121183 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:-0.54, Z:-0.43 [[ 9.98512413e-01 9.66353459e-04 -5.45162973e-02 -5.10880817e+00] [-1.02368522e-03 9.99998952e-01 -1.02372979e-03 -5.35387599e-01] [ 5.45152509e-02 1.07801443e-03 9.98512356e-01 -4.34918298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64463044 meters Centerline goodness : 0.124540 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:-0.54, Z:-0.44 [[ 9.98415722e-01 -5.68645964e-05 -5.62675974e-02 -5.10345069e+00] [-4.96914832e-05 9.99998208e-01 -1.89233693e-03 -5.35415045e-01] [ 5.62676042e-02 1.89213496e-03 9.98413930e-01 -4.36372516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70463044 meters Centerline goodness : 0.109196 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.54, Z:-0.44 [[ 9.98205568e-01 -2.14936311e-03 -5.98416561e-02 -5.14516836e+00] [ 1.98754782e-03 9.99994206e-01 -2.76344890e-03 -5.43027030e-01] [ 5.98472491e-02 2.63955192e-03 9.98204057e-01 -4.38731528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76463043999999 meters Centerline goodness : 0.230530 with order 3 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.55, Z:-0.44 [[ 9.98260707e-01 -3.22470132e-03 -5.88656360e-02 -5.14764103e+00] [ 3.08637465e-03 9.99992259e-01 -2.44063987e-03 -5.54372451e-01] [ 5.88730506e-02 2.25471347e-03 9.98262931e-01 -4.38162223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82463043999999 meters Centerline goodness : 0.105559 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.56, Z:-0.44 [[ 9.98262930e-01 -3.87859766e-03 -5.87884186e-02 -5.14741734e+00] [ 3.74948527e-03 9.99990311e-01 -2.30637136e-03 -5.63456678e-01] [ 5.87967945e-02 2.08193873e-03 9.98267801e-01 -4.38501875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88463044 meters Centerline goodness : 0.109995 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.58, Z:-0.44 [[ 9.98168012e-01 4.12424366e-03 -6.03623263e-02 -5.16570054e+00] [-4.29398903e-03 9.99987182e-01 -2.68266158e-03 -5.75728410e-01] [ 6.03504887e-02 2.93694214e-03 9.98172927e-01 -4.41108073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94463044 meters Centerline goodness : 0.135561 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.58, Z:-0.44 [[ 9.98162145e-01 4.65697016e-03 -6.04205657e-02 -5.16533286e+00] [-4.78639964e-03 9.99986550e-01 -1.99758823e-03 -5.78346614e-01] [ 6.04104503e-02 2.28311393e-03 9.98171010e-01 -4.41447820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00463044 meters Centerline goodness : 0.252745 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.58, Z:-0.44 [[ 9.98238548e-01 3.07293755e-03 -5.92482753e-02 -5.16909913e+00] [-3.25903738e-03 9.99990054e-01 -3.04464153e-03 -5.84870932e-01] [ 5.92383300e-02 3.23237088e-03 9.98238635e-01 -4.40518324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06463044 meters Centerline goodness : 0.269264 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.59, Z:-0.44 [[ 9.98219602e-01 -4.17842079e-04 -5.96443691e-02 -5.16781350e+00] [ 6.76372611e-05 9.99982749e-01 -5.87344683e-03 -5.88759937e-01] [ 5.96457943e-02 5.85895558e-03 9.98202410e-01 -4.41019354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12463043999999 meters Centerline goodness : 0.120449 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.60, Z:-0.44 [[ 9.98221212e-01 -1.61385020e-03 -5.95970481e-02 -5.16799339e+00] [ 1.25732417e-03 9.99981093e-01 -6.01929195e-03 -5.96949708e-01] [ 5.96056355e-02 5.93365210e-03 9.98204368e-01 -4.40842195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18463043999999 meters Centerline goodness : 0.122634 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.61, Z:-0.44 [[ 9.98234214e-01 -5.64577855e-03 -5.91318750e-02 -5.16964675e+00] [ 5.15096982e-03 9.99950463e-01 -8.51697271e-03 -6.08039773e-01] [ 5.91770307e-02 8.19734706e-03 9.98213846e-01 -4.39921022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24463044 meters Centerline goodness : 0.260901 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.62, Z:-0.44 [[ 0.99827941 -0.01051667 -0.05768549 -5.20652979] [ 0.01004575 0.99991386 -0.00844749 -0.61759404] [ 0.05776936 0.00785346 0.99829907 -0.44369271] [ 0. 0. 0. 1. ]] SLAMing on 72.30463044 meters Centerline goodness : 0.118494 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.63, Z:-0.44 [[ 0.99822232 -0.01328731 -0.05810033 -5.20553912] [ 0.01275241 0.99987291 -0.00956763 -0.62708262] [ 0.05822008 0.00880971 0.9982649 -0.44432688] [ 0. 0. 0. 1. ]] SLAMing on 72.36463044 meters Centerline goodness : 0.096986 with order 2 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.63, Z:-0.44 [[ 0.9982284 -0.01367003 -0.05790681 -5.20640545] [ 0.01315405 0.9998704 -0.00928234 -0.63304356] [ 0.05802619 0.00850419 0.99827884 -0.44418126] [ 0. 0. 0. 1. ]] SLAMing on 72.42463044 meters Centerline goodness : 0.088819 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.64, Z:-0.45 [[ 0.99847975 -0.00666518 -0.05471523 -5.22476153] [ 0.00615707 0.99993639 -0.00944978 -0.64467954] [ 0.05477473 0.00909853 0.99845728 -0.44730305] [ 0. 0. 0. 1. ]] SLAMing on 72.48463044 meters Centerline goodness : 0.481089 with order 3 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.65, Z:-0.45 [[ 0.99848691 -0.00670034 -0.05458026 -5.22604664] [ 0.00622519 0.99994128 -0.00887093 -0.64928237] [ 0.0546365 0.00851773 0.99846998 -0.44625517] [ 0. 0. 0. 1. ]] SLAMing on 72.54463043999999 meters Centerline goodness : 0.092152 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.65, Z:-0.45 [[ 0.99852299 -0.0061982 -0.05397615 -5.22740423] [ 0.00580299 0.99995522 -0.00747563 -0.65348492] [ 0.05402007 0.00715136 0.99851424 -0.44685022] [ 0. 0. 0. 1. ]] SLAMing on 72.60463044 meters Centerline goodness : 0.458344 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.66, Z:-0.45 [[ 0.99845583 -0.00963779 -0.054709 -5.22464013] [ 0.00913466 0.99991373 -0.00943917 -0.66265459] [ 0.05479525 0.00892485 0.99845772 -0.44874212] [ 0. 0. 0. 1. ]] SLAMing on 72.66463044 meters Centerline goodness : 0.188557 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.67, Z:-0.45 [[ 0.99838341 -0.00921804 -0.05608556 -5.22160248] [ 0.00877327 0.99992813 -0.00817127 -0.66864522] [ 0.05615685 0.00766601 0.99839253 -0.44899557] [ 0. 0. 0. 1. ]] SLAMing on 72.72463044 meters Centerline goodness : 0.094321 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.68, Z:-0.45 [[ 9.98528108e-01 -3.40756416e-03 -5.41295217e-02 -5.23322617e+00] [ 2.90990076e-03 9.99952798e-01 -9.27009137e-03 -6.84249726e-01] [ 5.41585551e-02 9.09893527e-03 9.98490891e-01 -4.52209077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78463044 meters Centerline goodness : 0.262125 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.69, Z:-0.45 [[ 9.98621865e-01 -1.35080349e-03 -5.24647191e-02 -5.18786307e+00] [ 9.11769397e-04 9.99964377e-01 -8.39121082e-03 -6.90128612e-01] [ 5.24741850e-02 8.33181087e-03 9.98587523e-01 -4.51299250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84463044 meters Centerline goodness : 0.451509 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.70, Z:-0.45 [[ 9.98592324e-01 -8.20768960e-04 -5.30348655e-02 -5.18593120e+00] [ 4.36710267e-04 9.99973603e-01 -7.25280945e-03 -6.95936389e-01] [ 5.30394184e-02 7.21943897e-03 9.98566322e-01 -4.51956010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90463043999999 meters Centerline goodness : 0.118653 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.71, Z:-0.45 [[ 0.99850495 0.00690933 -0.05422301 -5.16297837] [-0.00738648 0.9999357 -0.00860443 -0.70702809] [ 0.05416007 0.00899208 0.99849178 -0.45124851] [ 0. 0. 0. 1. ]] SLAMing on 72.96463044 meters Centerline goodness : 0.194157 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.71, Z:-0.45 [[ 9.98484340e-01 1.11967274e-02 -5.38855771e-02 -5.16397890e+00] [-1.14872121e-02 9.99921095e-01 -5.08405943e-03 -7.05154638e-01] [ 5.38244005e-02 5.69534878e-03 9.98534174e-01 -4.50781982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02463044 meters Centerline goodness : 0.173902 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.70, Z:-0.45 [[ 9.98450476e-01 1.43147742e-02 -5.37748556e-02 -5.16458603e+00] [-1.45098148e-02 9.99889483e-01 -3.23830384e-03 -6.98981367e-01] [ 5.37225570e-02 4.01354921e-03 9.98547835e-01 -4.49474002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08463044 meters Centerline goodness : 0.171934 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.70, Z:-0.45 [[ 9.98474675e-01 1.45301351e-02 -5.32653598e-02 -5.16533654e+00] [-1.47454747e-02 9.99884610e-01 -3.65198947e-03 -6.95406553e-01] [ 5.32061496e-02 4.43184202e-03 9.98573715e-01 -4.49877393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14463044 meters Centerline goodness : 0.109323 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.69, Z:-0.45 [[ 9.98519802e-01 1.34986182e-02 -5.26876891e-02 -5.16707544e+00] [-1.37838360e-02 9.99892227e-01 -5.05373864e-03 -6.91547339e-01] [ 5.26137923e-02 5.77249657e-03 9.98598251e-01 -4.49466125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20463044 meters Centerline goodness : 0.111376 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.69, Z:-0.45 [[ 9.98546682e-01 5.42523521e-03 -5.36198664e-02 -5.14662717e+00] [-5.64989304e-03 9.99975882e-01 -4.03912948e-03 -6.86013045e-01] [ 5.35966600e-02 4.33620586e-03 9.98553251e-01 -4.48971177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26463043999999 meters Centerline goodness : 0.217490 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.69, Z:-0.45 [[ 9.98458308e-01 3.20272054e-03 -5.54143380e-02 -5.14006976e+00] [-3.51227539e-03 9.99978763e-01 -5.48969874e-03 -6.90432972e-01] [ 5.53955792e-02 5.67586573e-03 9.98448353e-01 -4.52256845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32463043999999 meters Centerline goodness : 0.172761 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.69, Z:-0.45 [[ 9.98387990e-01 -4.04583966e-03 -5.66131916e-02 -5.11913837e+00] [ 3.80052486e-03 9.99982920e-01 -4.44016975e-03 -6.87726884e-01] [ 5.66301889e-02 4.21785231e-03 9.98386314e-01 -4.49748185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38463044 meters Centerline goodness : 0.117829 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.69, Z:-0.45 [[ 9.98377577e-01 -3.94976476e-03 -5.68032876e-02 -5.11868449e+00] [ 3.70422139e-03 9.99983339e-01 -4.42733843e-03 -6.87695266e-01] [ 5.68198281e-02 4.20974346e-03 9.98375573e-01 -4.49621404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44463044 meters Centerline goodness : 0.145487 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.69, Z:-0.45 [[ 9.98417970e-01 -3.40823727e-03 -5.61243374e-02 -5.12065104e+00] [ 3.16011013e-03 9.99984840e-01 -4.50918209e-03 -6.85199464e-01] [ 5.61388549e-02 4.32468934e-03 9.98413605e-01 -4.49227667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50463044 meters Centerline goodness : 0.125982 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.68, Z:-0.45 [[ 9.98368771e-01 6.62881559e-03 -5.67085136e-02 -5.14183064e+00] [-6.84918353e-03 9.99969727e-01 -3.69249732e-03 -6.84650261e-01] [ 5.66823200e-02 4.07488103e-03 9.98383949e-01 -4.50657083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56463044 meters Centerline goodness : 0.146267 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.68, Z:-0.45 [[ 9.98330575e-01 6.95288436e-03 -5.73386393e-02 -5.14003070e+00] [-7.20778165e-03 9.99965035e-01 -4.23985551e-03 -6.81008350e-01] [ 5.73071553e-02 4.64606178e-03 9.98345784e-01 -4.50810961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62463043999999 meters Centerline goodness : 0.161720 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.68, Z:-0.45 [[ 9.98312789e-01 6.89142816e-03 -5.76548593e-02 -5.13960721e+00] [-7.17469263e-03 9.99963181e-01 -4.70754758e-03 -6.78692410e-01] [ 5.76202948e-02 5.11326085e-03 9.98325476e-01 -4.50336021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68463043999999 meters Centerline goodness : 0.112164 with order 2 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.67, Z:-0.45 [[ 9.98418131e-01 -2.33373473e-03 -5.61764050e-02 -5.12450757e+00] [ 2.09752556e-03 9.99988712e-01 -4.26337063e-03 -6.73412647e-01] [ 5.61857204e-02 4.13879510e-03 9.98411756e-01 -4.47995457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74463044 meters Centerline goodness : 0.173154 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.68, Z:-0.45 [[ 9.98490053e-01 -4.26036071e-03 -5.47673534e-02 -5.12893704e+00] [ 3.95836167e-03 9.99976365e-01 -5.62151063e-03 -6.76440135e-01] [ 5.47900086e-02 5.39623346e-03 9.98483318e-01 -4.46760704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80463044 meters Centerline goodness : 0.180334 with order 3 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.68, Z:-0.45 [[ 9.98475015e-01 -4.29135253e-03 -5.50384346e-02 -5.12807876e+00] [ 3.98349889e-03 9.99975810e-01 -5.70191746e-03 -6.76315318e-01] [ 5.50615721e-02 5.47397657e-03 9.98467956e-01 -4.47034240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86463044 meters Centerline goodness : 0.110835 with order 2 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.68, Z:-0.45 [[ 9.98441589e-01 -4.59785724e-03 -5.56170291e-02 -5.12656047e+00] [ 4.26049468e-03 9.99971810e-01 -6.18286442e-03 -6.75194119e-01] [ 5.56438892e-02 5.93627291e-03 9.98433031e-01 -4.47258147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92463044 meters Centerline goodness : 0.123593 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.67, Z:-0.45 [[ 9.98463056e-01 -4.35630823e-03 -5.52498796e-02 -5.12755181e+00] [ 4.02557000e-03 9.99973316e-01 -6.09610491e-03 -6.74128015e-01] [ 5.52749618e-02 5.86432328e-03 9.98453949e-01 -4.47147407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98463044 meters Centerline goodness : 0.114224 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.67, Z:-0.45 [[ 9.98473152e-01 -4.48094555e-03 -5.50571131e-02 -5.12808699e+00] [ 4.14375111e-03 9.99971964e-01 -6.23708140e-03 -6.74256773e-01] [ 5.50835175e-02 5.99941535e-03 9.98463726e-01 -4.47011430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04463043999999 meters Centerline goodness : 0.216625 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.68, Z:-0.45 [[ 9.98450196e-01 1.83764854e-03 -5.56221954e-02 -5.14542701e+00] [-2.25867625e-03 9.99969267e-01 -7.50750083e-03 -6.83346750e-01] [ 5.56066898e-02 7.62149821e-03 9.98423662e-01 -4.49604302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10463044 meters Centerline goodness : 0.111425 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.68, Z:-0.45 [[ 9.98481361e-01 -3.16742156e-03 -5.49994386e-02 -5.12424551e+00] [ 2.93461401e-03 9.99986392e-01 -4.31315434e-03 -6.82148722e-01] [ 5.50123517e-02 4.14520209e-03 9.98477070e-01 -4.48513119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16463044 meters Centerline goodness : 0.129805 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.68, Z:-0.45 [[ 9.98493047e-01 5.98888119e-03 -5.45506042e-02 -5.14732012e+00] [-6.23461443e-03 9.99971166e-01 -4.33561925e-03 -6.83286160e-01] [ 5.45230657e-02 4.66918765e-03 9.98501594e-01 -4.49328065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22463044 meters Centerline goodness : 0.114063 with order 2 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.68, Z:-0.45 [[ 9.98401033e-01 9.79375505e-03 -5.56727846e-02 -5.14417761e+00] [-9.90000089e-03 9.99949661e-01 -1.63291780e-03 -6.78305054e-01] [ 5.56539897e-02 2.18146744e-03 9.98447733e-01 -4.49572156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28463044 meters Centerline goodness : 0.141647 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.67, Z:-0.45 [[ 9.98378224e-01 9.97444089e-03 -5.60484847e-02 -5.14345786e+00] [-1.01144282e-02 9.99946396e-01 -2.21448766e-03 -6.74298929e-01] [ 5.60233920e-02 2.77779463e-03 9.98425592e-01 -4.49241371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34463044 meters Centerline goodness : 0.158547 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.68, Z:-0.45 [[ 9.98464680e-01 7.19096254e-03 -5.49233336e-02 -5.14679927e+00] [-7.45442161e-03 9.99961665e-01 -4.59349067e-03 -6.76505995e-01] [ 5.48881965e-02 4.99585988e-03 9.98480008e-01 -4.48785067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40463043999999 meters Centerline goodness : 0.133547 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.67, Z:-0.45 [[ 0.9983709 0.00633724 -0.05670444 -5.14149678] [-0.00665363 0.99996332 -0.00539256 -0.67486999] [ 0.05666818 0.00576107 0.99837645 -0.45018336] [ 0. 0. 0. 1. ]] SLAMing on 74.46463044 meters Centerline goodness : 0.093519 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.67, Z:-0.45 [[ 0.99837803 0.00633083 -0.05657948 -5.141926 ] [-0.00666438 0.9999615 -0.00570847 -0.67227886] [ 0.05654116 0.00607628 0.99838178 -0.4500086 ] [ 0. 0. 0. 1. ]] SLAMing on 74.52463044 meters Centerline goodness : 0.113617 with order 2 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.67, Z:-0.45 [[ 0.99840146 0.00603121 -0.05619733 -5.14308627] [-0.00640666 0.99995833 -0.00650312 -0.66797896] [ 0.05615577 0.00685276 0.9983985 -0.44973832] [ 0. 0. 0. 1. ]] SLAMing on 74.58463044 meters Centerline goodness : 0.115558 with order 2 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.66, Z:-0.45 [[ 9.98301081e-01 -2.56368002e-03 -5.82097882e-02 -5.16123569e+00] [ 2.19098774e-03 9.99976698e-01 -6.46549077e-03 -6.55711663e-01] [ 5.82250072e-02 6.32696949e-03 9.98283436e-01 -4.52098447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64463044 meters Centerline goodness : 0.168075 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.65, Z:-0.45 [[ 9.98304836e-01 -3.00991396e-03 -5.81239613e-02 -5.16148639e+00] [ 2.58683644e-03 9.99969622e-01 -7.35275405e-03 -6.51628401e-01] [ 5.81443268e-02 7.18993275e-03 9.98282296e-01 -4.52122576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70463044 meters Centerline goodness : 0.145922 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.65, Z:-0.45 [[ 9.98394861e-01 -2.43668644e-03 -5.65841340e-02 -5.16718487e+00] [ 2.04796539e-03 9.99973913e-01 -6.92676060e-03 -6.47387834e-01] [ 5.65995363e-02 6.79975984e-03 9.98373806e-01 -4.49921710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76463043999999 meters Centerline goodness : 0.122917 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.64, Z:-0.45 [[ 9.98390376e-01 -2.79493320e-03 -5.66466749e-02 -5.16656674e+00] [ 2.36061205e-03 9.99967316e-01 -7.73266034e-03 -6.43236270e-01] [ 5.66664358e-02 7.58649284e-03 9.98364342e-01 -4.50593769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82463043999999 meters Centerline goodness : 0.119916 with order 2 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.64, Z:-0.45 [[ 9.98233173e-01 5.18206449e-03 -5.91918836e-02 -5.18514954e+00] [-5.72051293e-03 9.99943756e-01 -8.93083166e-03 -6.38915430e-01] [ 5.91422743e-02 9.25366035e-03 9.98206673e-01 -4.52436752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88463044 meters Centerline goodness : 0.162200 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98294439e-01 -1.68264759e-03 -5.83556499e-02 -5.16828474e+00] [ 1.23266959e-03 9.99969239e-01 -7.74609892e-03 -6.30583358e-01] [ 5.83668888e-02 7.66095424e-03 9.98265804e-01 -4.48765882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94463044 meters Centerline goodness : 0.255747 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98308097e-01 -2.05048834e-03 -5.81097101e-02 -5.16942355e+00] [ 1.58227273e-03 9.99965924e-01 -8.10230849e-03 -6.29687785e-01] [ 5.81243436e-02 7.99665476e-03 9.98277323e-01 -4.48008960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00463044 meters Centerline goodness : 0.122953 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98288892e-01 -2.10256546e-03 -5.84368698e-02 -5.16787737e+00] [ 1.62441300e-03 9.99964824e-01 -8.22867558e-03 -6.29041736e-01] [ 5.84521155e-02 8.11966982e-03 9.98257192e-01 -4.49077194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06463044 meters Centerline goodness : 0.121387 with order 2 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98283867e-01 -2.24550433e-03 -5.85173369e-02 -5.16772815e+00] [ 1.74647401e-03 9.99961686e-01 -8.57765392e-03 -6.27654522e-01] [ 5.85343561e-02 8.46073452e-03 9.98249541e-01 -4.48990389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12463043999999 meters Centerline goodness : 0.205676 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98259489e-01 -2.16211475e-03 -5.89348665e-02 -5.16637770e+00] [ 1.64691969e-03 9.99960020e-01 -8.78894175e-03 -6.26113800e-01] [ 5.89515130e-02 8.67658351e-03 9.98223139e-01 -4.49584167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18463043999999 meters Centerline goodness : 0.123064 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98256019e-01 -2.20416043e-03 -5.89920553e-02 -5.16608473e+00] [ 1.68967980e-03 9.99960118e-01 -8.76964691e-03 -6.26700204e-01] [ 5.90090323e-02 8.65467513e-03 9.98219931e-01 -4.49774860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24463044 meters Centerline goodness : 0.121985 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98273353e-01 -2.12881415e-03 -5.87007775e-02 -5.16725357e+00] [ 1.62265999e-03 9.99961108e-01 -8.66893336e-03 -6.26999424e-01] [ 5.87169490e-02 8.55871377e-03 9.98237982e-01 -4.49098615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30463044 meters Centerline goodness : 0.114729 with order 2 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.63, Z:-0.45 [[ 9.98422222e-01 -6.18470595e-04 -5.61487728e-02 -5.17582195e+00] [ 2.16644462e-04 9.99974327e-01 -7.16225933e-03 -6.28829885e-01] [ 5.61517610e-02 7.13879455e-03 9.98396723e-01 -4.45783107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36463044 meters Centerline goodness : 0.116008 with order 3 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.63, Z:-0.45 [[ 9.98436305e-01 -5.99897980e-04 -5.58979936e-02 -5.17640589e+00] [ 1.98824703e-04 9.99974201e-01 -7.18037761e-03 -6.28869360e-01] [ 5.59008590e-02 7.15803578e-03 9.98410665e-01 -4.45812965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42463044 meters Centerline goodness : 0.117414 with order 2 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98383966e-01 -1.09774076e-04 -5.68282027e-02 -5.17372508e+00] [-2.72170162e-04 9.99977429e-01 -6.71324985e-03 -6.29623150e-01] [ 5.68276569e-02 6.71786795e-03 9.98361401e-01 -4.46454600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48463044 meters Centerline goodness : 0.138769 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98371898e-01 -1.24008148e-04 -5.70397842e-02 -5.17324022e+00] [-2.53895373e-04 9.99978069e-01 -6.61796743e-03 -6.30573175e-01] [ 5.70393539e-02 6.62167485e-03 9.98349971e-01 -4.46452378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54463043999999 meters Centerline goodness : 0.117158 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98341992e-01 -7.47502986e-05 -5.75609295e-02 -5.17071524e+00] [-2.96865552e-04 9.99979171e-01 -6.44746518e-03 -6.31480177e-01] [ 5.75602125e-02 6.45386309e-03 9.98321176e-01 -4.48134658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60463044 meters Centerline goodness : 0.121862 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98347612e-01 -2.37381842e-04 -5.74629387e-02 -5.17139576e+00] [-1.36811479e-04 9.99978814e-01 -6.50788551e-03 -6.32348798e-01] [ 5.74632662e-02 6.50499355e-03 9.98326429e-01 -4.47588016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66463044 meters Centerline goodness : 0.126670 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98353503e-01 2.41802437e-04 -5.73604736e-02 -5.17171737e+00] [-5.70034358e-04 9.99983558e-01 -5.70597341e-03 -6.34640723e-01] [ 5.73581508e-02 5.72927599e-03 9.98337227e-01 -4.47452180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72463044 meters Centerline goodness : 0.134052 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.64, Z:-0.45 [[ 9.98331360e-01 4.19863412e-05 -5.77450711e-02 -5.17074816e+00] [-3.77073186e-04 9.99983155e-01 -5.79198096e-03 -6.35712584e-01] [ 5.77438553e-02 5.80409035e-03 9.98314560e-01 -4.47510272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78463044 meters Centerline goodness : 0.113013 with order 2 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.64, Z:-0.45 [[ 9.98325947e-01 2.12829895e-04 -5.78382122e-02 -5.17067742e+00] [-5.45067135e-04 9.99983443e-01 -5.72853621e-03 -6.35297756e-01] [ 5.78360354e-02 5.75047204e-03 9.98309534e-01 -4.47344656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84463044 meters Centerline goodness : 0.099235 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98406662e-01 9.51486882e-04 -5.64201453e-02 -5.17455978e+00] [-1.26459070e-03 9.99983998e-01 -5.51406099e-03 -6.33126774e-01] [ 5.64139959e-02 5.57662362e-03 9.98391888e-01 -4.46734100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90463043999999 meters Centerline goodness : 0.182817 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.63, Z:-0.45 [[ 9.98344363e-01 8.20981862e-04 -5.75139947e-02 -5.17120552e+00] [-1.18556915e-03 9.99979419e-01 -6.30527087e-03 -6.28974186e-01] [ 5.75076345e-02 6.36301844e-03 9.98324789e-01 -4.47966420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96463044 meters Centerline goodness : 0.167908 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.63, Z:-0.45 [[ 9.98188944e-01 2.73465831e-03 -6.00945437e-02 -5.21598068e+00] [-2.98198513e-03 9.99987448e-01 -4.02633240e-03 -6.25257258e-01] [ 6.00827788e-02 4.19824152e-03 9.98184569e-01 -4.49065368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02463044 meters Centerline goodness : 0.084046 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.62, Z:-0.45 [[ 9.98244361e-01 2.44578570e-03 -5.91794994e-02 -5.21896669e+00] [-2.72846879e-03 9.99985250e-01 -4.69637231e-03 -6.22224425e-01] [ 5.91671402e-02 4.84959659e-03 9.98236310e-01 -4.48005723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08463044 meters Centerline goodness : 0.099641 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.62, Z:-0.45 [[ 9.98271291e-01 2.25305536e-03 -5.87311928e-02 -5.21962920e+00] [-2.58189444e-03 9.99981411e-01 -5.52377030e-03 -6.17221792e-01] [ 5.87176556e-02 5.66585905e-03 9.98258551e-01 -4.48692846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14463044 meters Centerline goodness : 0.315252 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.61, Z:-0.45 [[ 9.98273918e-01 6.05957078e-03 -5.84163197e-02 -5.22086411e+00] [-6.23535110e-03 9.99976563e-01 -2.82728548e-03 -6.07449617e-01] [ 5.83978184e-02 3.18665161e-03 9.98288305e-01 -4.48247660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20463044 meters Centerline goodness : 0.086858 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.60, Z:-0.45 [[ 9.98315345e-01 4.45679328e-03 -5.78498753e-02 -5.22483481e+00] [-4.76116409e-03 9.99975534e-01 -5.12462527e-03 -5.99754618e-01] [ 5.78256205e-02 5.39142479e-03 9.98312141e-01 -4.45437409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26463043999999 meters Centerline goodness : 0.173653 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.60, Z:-0.45 [[ 9.98306834e-01 4.37189356e-03 -5.80030343e-02 -5.22413780e+00] [-4.68521952e-03 9.99975153e-01 -5.26699567e-03 -5.98305077e-01] [ 5.79785664e-02 5.52983472e-03 9.98302513e-01 -4.45885496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32463043999999 meters Centerline goodness : 0.122274 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.60, Z:-0.45 [[ 9.98257765e-01 3.54512387e-03 -5.88970902e-02 -5.22134371e+00] [-3.90217471e-03 9.99974695e-01 -5.94837596e-03 -5.97709546e-01] [ 5.88745121e-02 6.16783923e-03 9.98246337e-01 -4.46661383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38463044 meters Centerline goodness : 0.084902 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.60, Z:-0.45 [[ 0.99825189 -0.00678556 -0.05871217 -5.24416646] [ 0.00645643 0.99996237 -0.00579374 -0.59883816] [ 0.05874927 0.00540454 0.99825814 -0.44742384] [ 0. 0. 0. 1. ]] SLAMing on 76.44463044 meters Centerline goodness : 0.085410 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.60, Z:-0.45 [[ 0.99818261 -0.00703763 -0.0598494 -5.24079847] [ 0.00670584 0.99996102 -0.00574288 -0.60019225] [ 0.05988748 0.0053311 0.9981909 -0.44834337] [ 0. 0. 0. 1. ]] SLAMing on 76.50463044 meters Centerline goodness : 0.113344 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.60, Z:-0.45 [[ 0.99815117 -0.00707825 -0.06036664 -5.238787 ] [ 0.00674652 0.99996101 -0.00569739 -0.60071834] [ 0.06040462 0.00527959 0.99816001 -0.44937609] [ 0. 0. 0. 1. ]] SLAMing on 76.56463044 meters SLAMing on 76.62463043999999 meters Centerline goodness : 0.084933 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.61, Z:-0.45 [[ 9.98192716e-01 5.13751013e-04 -6.00919050e-02 -5.25862008e+00] [-9.21616348e-04 9.99976727e-01 -6.75984010e-03 -6.05691882e-01] [ 6.00870336e-02 6.80300483e-03 9.98169959e-01 -4.51531272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68463043999999 meters Centerline goodness : 0.108575 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.61, Z:-0.45 [[ 9.98182908e-01 3.39148937e-04 -6.02558453e-02 -5.25807363e+00] [-7.47996345e-04 9.99976852e-01 -6.76276431e-03 -6.06840200e-01] [ 6.02521570e-02 6.79554690e-03 9.98160056e-01 -4.51696368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74463044 meters Centerline goodness : 0.111012 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.61, Z:-0.45 [[ 9.98249401e-01 -7.78734609e-03 -5.86301133e-02 -5.28037726e+00] [ 7.48978164e-03 9.99957941e-01 -5.29332972e-03 -6.05310600e-01] [ 5.86688684e-02 4.84493648e-03 9.98265741e-01 -4.53962428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80463044 meters Centerline goodness : 0.109490 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.60, Z:-0.45 [[ 9.98268737e-01 -7.61380850e-03 -5.83228780e-02 -5.28106758e+00] [ 7.32034521e-03 9.99959457e-01 -5.24370624e-03 -6.04676174e-01] [ 5.83604380e-02 4.80768441e-03 9.98284000e-01 -4.53950521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86463044 meters Centerline goodness : 0.137953 with order 3 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.60, Z:-0.45 [[ 9.98284409e-01 -3.99189900e-03 -5.84149168e-02 -5.28069210e+00] [ 3.85338008e-03 9.99989491e-01 -2.48374549e-03 -6.00747611e-01] [ 5.84242178e-02 2.25438952e-03 9.98289301e-01 -4.54381177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92463044 meters Centerline goodness : 0.370307 with order 3 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.60, Z:-0.45 [[ 9.98325836e-01 -3.49881417e-03 -5.77345939e-02 -5.28239473e+00] [ 3.35399442e-03 9.99990982e-01 -2.60508163e-03 -5.97399413e-01] [ 5.77431880e-02 2.40707879e-03 9.98328568e-01 -4.54438222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98463044 meters Centerline goodness : 0.208233 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.60, Z:-0.46 [[ 9.98372983e-01 4.89541198e-03 -5.68103942e-02 -5.30515729e+00] [-5.08308543e-03 9.99982090e-01 -3.15947226e-03 -5.97472271e-01] [ 5.67939098e-02 3.44310383e-03 9.98379986e-01 -4.56131285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04463043999999 meters Centerline goodness : 0.083213 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.60, Z:-0.46 [[ 9.98360307e-01 4.71216227e-03 -5.70481637e-02 -5.30430114e+00] [-4.91819252e-03 9.99981879e-01 -3.47165083e-03 -5.96183390e-01] [ 5.70307710e-02 3.74653224e-03 9.98365391e-01 -4.56525696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10463044 meters Centerline goodness : 0.461994 with order 3 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.60, Z:-0.46 [[ 9.98329859e-01 4.47889247e-03 -5.75971594e-02 -5.30261814e+00] [-4.70226778e-03 9.99981938e-01 -3.74328805e-03 -5.95745268e-01] [ 5.75793533e-02 4.00787349e-03 9.98332888e-01 -4.57066901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16463044 meters Centerline goodness : 0.120469 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.60, Z:-0.46 [[ 9.98325619e-01 4.46154707e-03 -5.76719454e-02 -5.30255906e+00] [-4.68648743e-03 9.99981928e-01 -3.76567874e-03 -5.95496036e-01] [ 5.76541024e-02 4.02965241e-03 9.98328486e-01 -4.56930059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22463044 meters Centerline goodness : 0.119405 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.60, Z:-0.46 [[ 9.98329690e-01 4.54804343e-03 -5.75946687e-02 -5.30267161e+00] [-4.76350505e-03 9.99982159e-01 -3.60426121e-03 -5.95755632e-01] [ 5.75772489e-02 3.87259347e-03 9.98333543e-01 -4.56979753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28463044 meters Centerline goodness : 0.083740 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.60, Z:-0.46 [[ 9.98298267e-01 4.12064467e-03 -5.81686351e-02 -5.30106385e+00] [-4.36045461e-03 9.99982508e-01 -3.99634078e-03 -5.95608865e-01] [ 5.81511501e-02 4.24318177e-03 9.98298772e-01 -4.57315100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34463044 meters Centerline goodness : 0.118644 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.59, Z:-0.46 [[ 9.98263308e-01 4.10250337e-03 -5.87668116e-02 -5.29882557e+00] [-4.36131253e-03 9.99981345e-01 -4.27641772e-03 -5.93430406e-01] [ 5.87481714e-02 4.52529133e-03 9.98262578e-01 -4.58461536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40463043999999 meters Centerline goodness : 0.117371 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.59, Z:-0.46 [[ 9.98309121e-01 4.29057741e-03 -5.79697304e-02 -5.30127380e+00] [-4.55201228e-03 9.99980054e-01 -4.37855312e-03 -5.91214508e-01] [ 5.79497876e-02 4.63502844e-03 9.98308739e-01 -4.57735064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46463044 meters Centerline goodness : 0.121921 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.59, Z:-0.46 [[ 9.98357650e-01 3.93431766e-03 -5.71535053e-02 -5.30405506e+00] [-4.20943602e-03 9.99980123e-01 -4.69408127e-03 -5.90914954e-01] [ 5.71339012e-02 4.92695598e-03 9.98354367e-01 -4.56598117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52463044 meters Centerline goodness : 0.127272 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.59, Z:-0.46 [[ 9.98335061e-01 4.00778043e-03 -5.75416613e-02 -5.30237963e+00] [-4.27068850e-03 9.99980994e-01 -4.44675750e-03 -5.92010651e-01] [ 5.75227460e-02 4.68509643e-03 9.98333203e-01 -4.57615747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58463044 meters SLAMing on 77.64463044 meters Centerline goodness : 0.129229 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.59, Z:-0.46 [[ 9.98416902e-01 4.44775252e-03 -5.60705606e-02 -5.30610808e+00] [-4.71325175e-03 9.99978295e-01 -4.60373910e-03 -5.89106115e-01] [ 5.60488673e-02 4.86072559e-03 9.98416195e-01 -4.57241389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70463044 meters Centerline goodness : 0.113350 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.59, Z:-0.46 [[ 9.98444096e-01 4.82947467e-03 -5.55523434e-02 -5.30742125e+00] [-5.10536013e-03 9.99975325e-01 -4.82538024e-03 -5.85425806e-01] [ 5.55276686e-02 5.10148713e-03 9.98444116e-01 -4.57260797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76463043999999 meters Centerline goodness : 0.116918 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.58, Z:-0.46 [[ 9.98373737e-01 7.27489417e-03 -5.65416421e-02 -5.30302543e+00] [-7.49317210e-03 9.99965266e-01 -3.64942968e-03 -5.76635863e-01] [ 5.65131290e-02 4.06717100e-03 9.98393572e-01 -4.59795962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82463043999999 meters Centerline goodness : 0.178206 with order 3 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.57, Z:-0.46 [[ 9.98382491e-01 6.87280116e-03 -5.64372718e-02 -5.30349358e+00] [-7.14044403e-03 9.99964191e-01 -4.54202061e-03 -5.72501667e-01] [ 5.64040344e-02 4.93766103e-03 9.98395815e-01 -4.59617796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88463044 meters Centerline goodness : 0.113032 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.57, Z:-0.46 [[ 0.9983784 0.00644343 -0.05656012 -5.3029183 ] [-0.00675978 0.99996255 -0.00540368 -0.56752564] [ 0.05652318 0.00577725 0.99838457 -0.46004156] [ 0. 0. 0. 1. ]] SLAMing on 77.94463044 meters Centerline goodness : 0.115667 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.56, Z:-0.46 [[ 0.99838349 0.00593078 -0.05652641 -5.30317996] [-0.00629583 0.99996045 -0.00628222 -0.56408649] [ 0.05648691 0.00662794 0.99838134 -0.4598239 ] [ 0. 0. 0. 1. ]] SLAMing on 78.00463044 meters Centerline goodness : 0.117530 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.56, Z:-0.46 [[ 9.98415244e-01 -2.34324351e-03 -5.62273038e-02 -5.32221668e+00] [ 2.02447187e-03 9.99981559e-01 -5.72562989e-03 -5.56652632e-01] [ 5.62396835e-02 5.60272557e-03 9.98401576e-01 -4.61846900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06463044 meters Centerline goodness : 0.102518 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.55, Z:-0.46 [[ 9.98425714e-01 -2.18762316e-03 -5.60473785e-02 -5.32261285e+00] [ 1.85850563e-03 9.99980728e-01 -5.92358115e-03 -5.53146032e-01] [ 5.60592569e-02 5.81009137e-03 9.98410538e-01 -4.62002613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12463043999999 meters Centerline goodness : 0.096923 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.55, Z:-0.46 [[ 9.98443635e-01 -2.43679104e-03 -5.57168802e-02 -5.32353458e+00] [ 2.08733102e-03 9.99977791e-01 -6.32940234e-03 -5.51513062e-01] [ 5.57310662e-02 6.20325190e-03 9.98426546e-01 -4.61820295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18463043999999 meters Centerline goodness : 0.432019 with order 2 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.55, Z:-0.46 [[ 9.98446225e-01 -2.63533381e-03 -5.56613944e-02 -5.32362280e+00] [ 2.27849806e-03 9.99976452e-01 -6.47331893e-03 -5.50996304e-01] [ 5.56771430e-02 6.33643647e-03 9.98428718e-01 -4.61898461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24463044 meters Centerline goodness : 0.097270 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.56, Z:-0.46 [[ 9.98287630e-01 -5.42988846e-03 -5.82436606e-02 -5.36672666e+00] [ 4.98535360e-03 9.99957347e-01 -7.77492386e-03 -5.57549528e-01] [ 5.82833933e-02 7.47124507e-03 9.98272120e-01 -4.64313295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30463044 meters Centerline goodness : 0.102814 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.56, Z:-0.46 [[ 9.98272089e-01 -5.27624012e-03 -5.85234810e-02 -5.36607374e+00] [ 4.86442423e-03 9.99962413e-01 -7.17699725e-03 -5.60535833e-01] [ 5.85591488e-02 6.87991300e-03 9.98260233e-01 -4.64196019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36463044 meters Centerline goodness : 0.108275 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.56, Z:-0.46 [[ 9.98269543e-01 -5.09678756e-03 -5.85827790e-02 -5.36555140e+00] [ 4.71304972e-03 9.99966537e-01 -6.68665817e-03 -5.63184102e-01] [ 5.86148992e-02 6.39898365e-03 9.98260160e-01 -4.64611809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42463044 meters Centerline goodness : 0.104757 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.57, Z:-0.47 [[ 9.98198275e-01 -5.03657678e-03 -5.97899355e-02 -5.36137798e+00] [ 4.67059838e-03 9.99969503e-01 -6.25924638e-03 -5.66730186e-01] [ 5.98196373e-02 5.96871416e-03 9.98191357e-01 -4.66372294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48463044 meters Centerline goodness : 0.103079 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.57, Z:-0.47 [[ 9.98180170e-01 -4.71682554e-03 -6.01173783e-02 -5.36037592e+00] [ 4.37037901e-03 9.99973086e-01 -5.89302023e-03 -5.67493562e-01] [ 6.01435566e-02 5.61956021e-03 9.98173919e-01 -4.66677359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54463043999999 meters Centerline goodness : 0.103720 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.57, Z:-0.47 [[ 9.98198912e-01 -4.57486033e-03 -5.98164142e-02 -5.36126379e+00] [ 4.23937071e-03 9.99974572e-01 -5.73435860e-03 -5.68630051e-01] [ 5.98411270e-02 5.47044656e-03 9.98192924e-01 -4.66435127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60463044 meters Centerline goodness : 0.103092 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.57, Z:-0.47 [[ 9.98196701e-01 -4.24449207e-03 -5.98776308e-02 -5.36113559e+00] [ 3.91579333e-03 9.99976621e-01 -5.60578040e-03 -5.68228197e-01] [ 5.99000246e-02 5.36120308e-03 9.98189984e-01 -4.66504031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66463044 meters Centerline goodness : 0.243935 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.57, Z:-0.47 [[ 0.99809874 0.00577862 -0.06136373 -5.37970386] [-0.00612263 0.99996657 -0.00541964 -0.56779823] [ 0.06133036 0.00578504 0.99810076 -0.46909279] [ 0. 0. 0. 1. ]] SLAMing on 78.72463044 meters Centerline goodness : 0.114840 with order 1 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.56, Z:-0.47 [[ 0.99817118 0.00615348 -0.06013677 -5.38310179] [-0.00650866 0.9999625 -0.00571208 -0.56426291] [ 0.06009936 0.00609305 0.9981738 -0.46862151] [ 0. 0. 0. 1. ]] SLAMing on 78.78463044 meters Centerline goodness : 0.118778 with order 1 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.56, Z:-0.47 [[ 0.99821506 0.00596602 -0.059423 -5.38529442] [-0.00635865 0.99995917 -0.00642056 -0.56050016] [ 0.05938226 0.00678695 0.99821224 -0.46811728] [ 0. 0. 0. 1. ]] SLAMing on 78.84463044 meters Centerline goodness : 0.115164 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.56, Z:-0.47 [[ 9.98287586e-01 -6.49595500e-04 -5.84933688e-02 -5.40952194e+00] [ 4.12072565e-04 9.99991622e-01 -4.07265193e-03 -5.57305451e-01] [ 5.84955243e-02 4.04157435e-03 9.98279490e-01 -4.68372573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90463043999999 meters Centerline goodness : 0.109918 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.56, Z:-0.47 [[ 9.98290913e-01 -7.82764015e-04 -5.84349254e-02 -5.40977220e+00] [ 5.32980625e-04 9.99990656e-01 -4.29001978e-03 -5.56309254e-01] [ 5.84377375e-02 4.25154308e-03 9.98282002e-01 -4.68185808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96463044 meters Centerline goodness : 0.111063 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.55, Z:-0.47 [[ 9.98264667e-01 -9.05011045e-04 -5.88798317e-02 -5.40817011e+00] [ 6.27263258e-04 9.99988591e-01 -4.73550899e-03 -5.53694795e-01] [ 5.88834456e-02 4.69035815e-03 9.98253846e-01 -4.68957451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02463044 meters Centerline goodness : 0.117170 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.55, Z:-0.47 [[ 9.98210355e-01 1.84172027e-03 -5.97720253e-02 -5.40497341e+00] [-2.03729082e-03 9.99992769e-01 -3.21116504e-03 -5.45387645e-01] [ 5.97656790e-02 3.32719120e-03 9.98206889e-01 -4.70337840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08463044 meters Centerline goodness : 0.199494 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.54, Z:-0.47 [[ 9.98202714e-01 1.69958368e-03 -5.99036915e-02 -5.40467139e+00] [-1.93312975e-03 9.99990755e-01 -3.84095526e-03 -5.41870377e-01] [ 5.98966096e-02 3.94985357e-03 9.98196772e-01 -4.70494069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14463044 meters Centerline goodness : 0.129902 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.53, Z:-0.47 [[ 9.98143581e-01 4.52717609e-03 -6.07362786e-02 -5.40140716e+00] [-4.67897601e-03 9.99986275e-01 -2.35733771e-03 -5.30767201e-01] [ 6.07247729e-02 2.63714510e-03 9.98151064e-01 -4.72174859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20463044 meters Centerline goodness : 0.196950 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.53, Z:-0.47 [[ 9.98143331e-01 3.78049137e-03 -6.07914287e-02 -5.40191654e+00] [-3.99939754e-03 9.99985948e-01 -3.47966388e-03 -5.26169211e-01] [ 6.07774196e-02 3.71633238e-03 9.98144425e-01 -4.71431496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26463043999999 meters Centerline goodness : 0.257501 with order 1 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.52, Z:-0.47 [[ 9.98199881e-01 -1.30470068e-02 -5.85386476e-02 -5.44711983e+00] [ 1.28940813e-02 9.99912399e-01 -2.98936487e-03 -5.19517576e-01] [ 5.85725219e-02 2.22918157e-03 9.98280667e-01 -4.72536004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32463043999999 meters Centerline goodness : 0.448301 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.52, Z:-0.47 [[ 0.99822308 -0.00980935 -0.05877468 -5.46507229] [ 0.00944478 0.99993442 -0.00647752 -0.52464518] [ 0.05883437 0.0059109 0.99825026 -0.4743748 ] [ 0. 0. 0. 1. ]] SLAMing on 79.38463044 meters Centerline goodness : 0.458357 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.53, Z:-0.47 [[ 0.99815348 -0.01467092 -0.05894402 -5.46507461] [ 0.01409616 0.99984908 -0.01015485 -0.52766281] [ 0.05908411 0.00930521 0.99820964 -0.47346936] [ 0. 0. 0. 1. ]] SLAMing on 79.44463044 meters Centerline goodness : 0.460396 with order 2 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.53, Z:-0.47 [[ 0.99818851 -0.01712247 -0.05767596 -5.46994816] [ 0.0164697 0.99979504 -0.01177436 -0.532041 ] [ 0.05786574 0.01080313 0.99826592 -0.47116577] [ 0. 0. 0. 1. ]] SLAMing on 79.50463044 meters Centerline goodness : 0.460649 with order 2 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.54, Z:-0.47 [[ 0.99819882 -0.01916603 -0.05684879 -5.47182059] [ 0.01848351 0.99975093 -0.01250758 -0.54091137] [ 0.05707435 0.01143428 0.99830445 -0.47092713] [ 0. 0. 0. 1. ]] SLAMing on 79.56463044 meters Centerline goodness : 0.127038 with order 1 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.55, Z:-0.48 [[ 0.99840137 -0.01455213 -0.05461638 -5.48709084] [ 0.01379328 0.99980339 -0.01424552 -0.55352507] [ 0.05481295 0.0134694 0.99840579 -0.47511225] [ 0. 0. 0. 1. ]] SLAMing on 79.62463043999999 meters Centerline goodness : 0.125539 with order 1 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.56, Z:-0.48 [[ 0.99831405 -0.01689853 -0.05552925 -5.48298871] [ 0.01606167 0.99975113 -0.01548245 -0.56359373] [ 0.05577706 0.01456446 0.99833702 -0.47692913] [ 0. 0. 0. 1. ]] SLAMing on 79.68463043999999 meters Centerline goodness : 0.094286 with order 1 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.58, Z:-0.48 [[ 9.98425301e-01 -5.32571435e-03 -5.58440199e-02 -5.52527905e+00] [ 4.33296364e-03 9.99830693e-01 -1.78832424e-02 -5.78302906e-01] [ 5.59298061e-02 1.76131116e-02 9.98279337e-01 -4.79205283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74463044 meters Centerline goodness : 0.434717 with order 2 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.59, Z:-0.48 [[ 9.98424291e-01 -4.77215999e-03 -5.59120970e-02 -5.52454100e+00] [ 3.84228127e-03 9.99852715e-01 -1.67267947e-02 -5.87628817e-01] [ 5.59836849e-02 1.64856082e-02 9.98295573e-01 -4.79926457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80463044 meters Centerline goodness : 0.099939 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.60, Z:-0.48 [[ 9.98365338e-01 2.88636285e-03 -5.70817107e-02 -5.54178313e+00] [-3.91113622e-03 9.99833041e-01 -1.78491827e-02 -5.96318173e-01] [ 5.70206611e-02 1.80432597e-02 9.98209940e-01 -4.83433984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86463044 meters Centerline goodness : 0.249656 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.60, Z:-0.48 [[ 9.98308968e-01 3.10395769e-03 -5.80479954e-02 -5.53865590e+00] [-4.10819856e-03 9.99843821e-01 -1.71888546e-02 -6.00421887e-01] [ 5.79855760e-02 1.73982603e-02 9.98165805e-01 -4.84646251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92463044 meters Centerline goodness : 0.442703 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.61, Z:-0.49 [[ 9.98186422e-01 1.68813924e-03 -6.01748941e-02 -5.58328854e+00] [-2.70101164e-03 9.99855981e-01 -1.67547786e-02 -6.11169244e-01] [ 6.01379433e-02 1.68869256e-02 9.98047223e-01 -4.85407577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98463044 meters Centerline goodness : 0.316007 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.61, Z:-0.48 [[ 0.99821391 -0.00678265 -0.05935467 -5.5628666 ] [ 0.00584689 0.99985609 -0.01592497 -0.61279401] [ 0.05945414 0.01554949 0.99810992 -0.48318669] [ 0. 0. 0. 1. ]] SLAMing on 80.04463043999999 meters Centerline goodness : 0.097905 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.62, Z:-0.48 [[ 0.99830004 -0.00889258 -0.05760163 -5.56924728] [ 0.00791568 0.99982133 -0.01716554 -0.61896762] [ 0.05774399 0.0166804 0.99819206 -0.48072118] [ 0. 0. 0. 1. ]] SLAMing on 80.10463044 meters Centerline goodness : 0.305359 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.62, Z:-0.48 [[ 0.99828242 -0.00958906 -0.05779504 -5.61932367] [ 0.00863222 0.9998219 -0.01678258 -0.6240378 ] [ 0.05794568 0.01625486 0.9981874 -0.48074476] [ 0. 0. 0. 1. ]] SLAMing on 80.16463044 meters Centerline goodness : 0.096614 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.62, Z:-0.48 [[ 0.99829302 -0.00947611 -0.05763026 -5.62050932] [ 0.00853155 0.99982558 -0.01661405 -0.62446489] [ 0.05777765 0.01609401 0.99819974 -0.47965054] [ 0. 0. 0. 1. ]] SLAMing on 80.22463044 meters Centerline goodness : 0.286793 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.63, Z:-0.48 [[ 9.98315844e-01 -1.94974721e-03 -5.79799504e-02 -5.63947411e+00] [ 9.08270719e-04 9.99837869e-01 -1.79836313e-02 -6.27773498e-01] [ 5.80056136e-02 1.79006825e-02 9.98155757e-01 -4.82331853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28463044 meters Centerline goodness : 0.453069 with order 2 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.63, Z:-0.48 [[ 9.98174137e-01 -2.45714784e-03 -6.03519172e-02 -5.68260493e+00] [ 1.39543344e-03 9.99843643e-01 -1.76279085e-02 -6.27776471e-01] [ 6.03857951e-02 1.75115053e-02 9.98021494e-01 -4.84750950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34463044 meters Centerline goodness : 0.456771 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.63, Z:-0.49 [[ 9.98155766e-01 -2.62977517e-03 -6.06477665e-02 -5.68169614e+00] [ 1.55472576e-03 9.99840955e-01 -1.77664982e-02 -6.28247651e-01] [ 6.06848426e-02 1.76394419e-02 9.98001102e-01 -4.85004178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40463043999999 meters Centerline goodness : 0.478670 with order 2 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.63, Z:-0.49 [[ 9.98155601e-01 -2.81212231e-03 -6.06422895e-02 -5.68146980e+00] [ 1.73013340e-03 9.99838513e-01 -1.78872840e-02 -6.28553728e-01] [ 6.06827978e-02 1.77493734e-02 9.97999277e-01 -4.85355445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46463044 meters Centerline goodness : 0.092367 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.63, Z:-0.49 [[ 9.98014230e-01 5.32091530e-03 -6.27637210e-02 -5.70037106e+00] [-6.49639432e-03 9.99807024e-01 -1.85394598e-02 -6.31513990e-01] [ 6.26529622e-02 1.89103826e-02 9.97856204e-01 -4.88356381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52463044 meters Centerline goodness : 0.097036 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.63, Z:-0.49 [[ 9.97941860e-01 5.40081715e-03 -6.38973750e-02 -5.69671426e+00] [-6.61319288e-03 9.99801815e-01 -1.87775352e-02 -6.29934507e-01] [ 6.37832975e-02 1.91614541e-02 9.97779800e-01 -4.89549114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58463044 meters Centerline goodness : 0.439815 with order 2 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.62, Z:-0.49 [[ 0.99785706 0.00755888 -0.06499349 -5.69363369] [-0.00870667 0.99981078 -0.01739511 -0.62438118] [ 0.0648497 0.01792371 0.99773406 -0.48991443] [ 0. 0. 0. 1. ]] SLAMing on 80.64463044 meters Centerline goodness : 0.325701 with order 1 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.62, Z:-0.49 [[ 0.99786841 0.00758796 -0.06481554 -5.69396365] [-0.00875561 0.99980412 -0.01774995 -0.62163914] [ 0.06466816 0.01827961 0.99773939 -0.48994878] [ 0. 0. 0. 1. ]] SLAMing on 80.70463044 meters SLAMing on 80.76463043999999 meters Centerline goodness : 0.316056 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.61, Z:-0.48 [[ 9.98033124e-01 1.47095850e-03 -6.26715295e-02 -5.68039785e+00] [-2.48273863e-03 9.99867797e-01 -1.60693599e-02 -6.09593443e-01] [ 6.26396068e-02 1.61933505e-02 9.97904833e-01 -4.83940135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82463043999999 meters SLAMing on 80.88463044 meters Centerline goodness : 0.091191 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.61, Z:-0.48 [[ 0.9979618 -0.00874883 -0.06321154 -5.70401339] [ 0.00771076 0.99983169 -0.01664751 -0.61273119] [ 0.06334654 0.01612617 0.99786129 -0.48329921] [ 0. 0. 0. 1. ]] SLAMing on 80.94463044 meters Centerline goodness : 0.401889 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.62, Z:-0.48 [[ 0.99794833 -0.01224164 -0.06284321 -5.70456686] [ 0.01106712 0.99975815 -0.01900398 -0.62119327] [ 0.06306066 0.0182695 0.99784246 -0.48356625] [ 0. 0. 0. 1. ]] SLAMing on 81.00463044 meters Centerline goodness : 0.099119 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.63, Z:-0.49 [[ 9.98109466e-01 -5.04348477e-03 -6.12540389e-02 -5.72342771e+00] [ 3.84913481e-03 9.99800479e-01 -1.96006764e-02 -6.30118326e-01] [ 6.13406731e-02 1.93278456e-02 9.97929735e-01 -4.86803617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06463044 meters Centerline goodness : 0.238691 with order 3 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.63, Z:-0.49 [[ 9.98152022e-01 -4.37169899e-03 -6.06088171e-02 -5.72490547e+00] [ 3.24968469e-03 9.99821750e-01 -1.85986204e-02 -6.34285291e-01] [ 6.06793211e-02 1.83672910e-02 9.97988308e-01 -4.86871475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12463043999999 meters Centerline goodness : 0.094383 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.64, Z:-0.49 [[ 9.98134040e-01 -4.03099616e-03 -6.09277415e-02 -5.72348595e+00] [ 2.93115841e-03 9.99831339e-01 -1.81301207e-02 -6.36403133e-01] [ 6.09905478e-02 1.79177018e-02 9.97977509e-01 -4.87791309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18463043999999 meters Centerline goodness : 0.266814 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.65, Z:-0.49 [[ 9.98078975e-01 3.87405338e-03 -6.18332565e-02 -5.74180218e+00] [-5.01891953e-03 9.99818645e-01 -1.83708140e-02 -6.47916715e-01] [ 6.17508732e-02 1.86458594e-02 9.97917412e-01 -4.90785947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24463044 meters Centerline goodness : 0.094398 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.65, Z:-0.49 [[ 9.98038736e-01 4.16755586e-03 -6.24604922e-02 -5.73986215e+00] [-5.28990142e-03 9.99827319e-01 -1.78143061e-02 -6.50440525e-01] [ 6.23754644e-02 1.81097774e-02 9.97888439e-01 -4.91429347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30463044 meters Centerline goodness : 0.095509 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.65, Z:-0.49 [[ 9.98030106e-01 4.31325995e-03 -6.25883714e-02 -5.73932042e+00] [-5.42037261e-03 9.99831649e-01 -1.75297938e-02 -6.52017040e-01] [ 6.25022240e-02 1.78345142e-02 9.97885465e-01 -4.91743662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36463044 meters Centerline goodness : 0.107649 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.66, Z:-0.49 [[ 9.98013546e-01 4.54757449e-03 -6.28353599e-02 -5.73901218e+00] [-5.62230834e-03 9.99840738e-01 -1.69377505e-02 -6.55007734e-01] [ 6.27483270e-02 1.72573842e-02 9.97880168e-01 -4.91440218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42463044 meters Centerline goodness : 0.244257 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.66, Z:-0.49 [[ 9.97989563e-01 4.64512838e-03 -6.32080249e-02 -5.73794587e+00] [-5.69723997e-03 9.99848043e-01 -1.64751788e-02 -6.57963787e-01] [ 6.31218907e-02 1.68021678e-02 9.97864377e-01 -4.91658953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48463044 meters Centerline goodness : 0.095762 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.67, Z:-0.49 [[ 9.97974078e-01 3.61032533e-03 -6.35193281e-02 -5.73729755e+00] [-4.67942749e-03 9.99849755e-01 -1.66904227e-02 -6.66248726e-01] [ 6.34495268e-02 1.69538433e-02 9.97841032e-01 -4.91754289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54463043999999 meters Centerline goodness : 0.094880 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.66, Z:-0.49 [[ 9.98028178e-01 -3.63161157e-03 -6.26623250e-02 -5.71902880e+00] [ 2.70363541e-03 9.99885518e-01 -1.48875978e-02 -6.64151698e-01] [ 6.27092173e-02 1.46888260e-02 9.97923741e-01 -4.89659947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60463044 meters Centerline goodness : 0.113595 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.67, Z:-0.49 [[ 9.98112302e-01 4.18508870e-03 -6.12724796e-02 -5.74041666e+00] [-5.17134268e-03 9.99859474e-01 -1.59464767e-02 -6.68344219e-01] [ 6.11971318e-02 1.62332355e-02 9.97993684e-01 -4.92362959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66463044 meters Centerline goodness : 0.144802 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.67, Z:-0.49 [[ 0.99811069 0.00840468 -0.06086387 -5.74162862] [-0.00915865 0.99988461 -0.0121194 -0.66735463] [ 0.06075499 0.01265393 0.9980725 -0.49198123] [ 0. 0. 0. 1. ]] SLAMing on 81.72463044 meters Centerline goodness : 0.260013 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.67, Z:-0.49 [[ 0.99812076 0.00837595 -0.06070245 -5.74169917] [-0.00914855 0.99988051 -0.01246088 -0.66554486] [ 0.06059082 0.0129928 0.99807812 -0.49233732] [ 0. 0. 0. 1. ]] SLAMing on 81.78463044 meters Centerline goodness : 0.229557 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.66, Z:-0.49 [[ 0.9981411 0.00829025 -0.06037893 -5.74243436] [-0.00908043 0.99987653 -0.01282433 -0.66364105] [ 0.06026516 0.01334876 0.99809314 -0.49237619] [ 0. 0. 0. 1. ]] SLAMing on 81.84463044 meters Centerline goodness : 0.118814 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.66, Z:-0.50 [[ 9.98106806e-01 9.78754968e-04 -6.14967081e-02 -5.75861763e+00] [-1.65742380e-03 9.99938281e-01 -1.09858144e-02 -6.56598514e-01] [ 6.14821601e-02 1.10669422e-02 9.98046826e-01 -4.96016562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90463043999999 meters Centerline goodness : 0.159102 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.65, Z:-0.50 [[ 9.98093541e-01 1.08552016e-03 -6.17098522e-02 -5.75785462e+00] [-1.79660790e-03 9.99932618e-01 -1.14687640e-02 -6.53001592e-01] [ 6.16932445e-02 1.15577677e-02 9.98028237e-01 -4.96471967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96463044 meters Centerline goodness : 0.232520 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.65, Z:-0.50 [[ 9.98067960e-01 4.77481000e-03 -6.19479413e-02 -5.75697165e+00] [-5.31863190e-03 9.99948730e-01 -8.61676575e-03 -6.48480873e-01] [ 6.19036218e-02 8.92959611e-03 9.98042185e-01 -4.96881279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02463044 meters Centerline goodness : 0.107362 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.64, Z:-0.50 [[ 0.99791634 0.00687478 -0.06415383 -5.80078984] [-0.00737492 0.99994421 -0.00756239 -0.63915187] [ 0.06409826 0.00801977 0.99791137 -0.49934777] [ 0. 0. 0. 1. ]] SLAMing on 82.08463044 meters Centerline goodness : 0.106685 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.63, Z:-0.50 [[ 0.99791365 0.00688521 -0.06419452 -5.80055894] [-0.00743358 0.99993786 -0.0083074 -0.6327546 ] [ 0.06413333 0.00876726 0.99790283 -0.49965864] [ 0. 0. 0. 1. ]] SLAMing on 82.14463044 meters Centerline goodness : 0.106908 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.63, Z:-0.50 [[ 0.99797729 0.00867936 -0.06297622 -5.80577063] [-0.00915798 0.99993131 -0.00731539 -0.62567269] [ 0.0629084 0.00787733 0.99798822 -0.49719107] [ 0. 0. 0. 1. ]] SLAMing on 82.20463044 meters Centerline goodness : 0.097653 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.62, Z:-0.49 [[ 9.97887523e-01 1.80096828e-03 -6.49403392e-02 -5.78670622e+00] [-2.23830917e-03 9.99975301e-01 -6.66237665e-03 -6.17516134e-01] [ 6.49267365e-02 6.79365909e-03 9.97866907e-01 -4.94443542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26463043999999 meters Centerline goodness : 0.112683 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.62, Z:-0.49 [[ 9.97862069e-01 1.42141083e-03 -6.53396571e-02 -5.78552519e+00] [-1.89313672e-03 9.99972587e-01 -7.15824780e-03 -6.15887748e-01] [ 6.53276911e-02 7.26664087e-03 9.97837406e-01 -4.94741458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32463043999999 meters Centerline goodness : 0.156165 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.61, Z:-0.49 [[ 9.97978031e-01 1.40021518e-03 -6.35443819e-02 -5.79176699e+00] [-1.87967876e-03 9.99970212e-01 -7.48617944e-03 -6.11885598e-01] [ 6.35320067e-02 7.59048565e-03 9.97950935e-01 -4.92234947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38463044 meters Centerline goodness : 0.100579 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.61, Z:-0.49 [[ 9.97996008e-01 1.05882454e-03 -6.32680593e-02 -5.79269329e+00] [-1.58218040e-03 9.99964943e-01 -8.22251075e-03 -6.08253531e-01] [ 6.32571351e-02 8.30613438e-03 9.97962696e-01 -4.91968441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44463044 meters Centerline goodness : 0.100232 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.60, Z:-0.49 [[ 9.97952314e-01 5.69016627e-04 -6.39597954e-02 -5.79028073e+00] [-1.16291736e-03 9.99956554e-01 -9.24868756e-03 -6.03415211e-01] [ 6.39517539e-02 9.30412911e-03 9.97909618e-01 -4.93062943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50463044 meters Centerline goodness : 0.096225 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.60, Z:-0.49 [[ 9.97814769e-01 -1.03409973e-05 -6.60733481e-02 -5.83655364e+00] [-6.20709733e-04 9.99954394e-01 -9.53022486e-03 -6.02346869e-01] [ 6.60704333e-02 9.55041148e-03 9.97769256e-01 -4.94547293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56463044 meters Centerline goodness : 0.102158 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.60, Z:-0.49 [[ 9.97836262e-01 -3.29467369e-04 -6.57471354e-02 -5.83815389e+00] [-3.36517101e-04 9.99948754e-01 -1.01181511e-02 -5.99723836e-01] [ 6.57470997e-02 1.01183831e-02 9.97785016e-01 -4.93536829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62463043999999 meters Centerline goodness : 0.183472 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.60, Z:-0.50 [[ 9.97653049e-01 -1.30834671e-03 -6.84593431e-02 -5.88122775e+00] [ 6.13717420e-04 9.99948130e-01 -1.01666443e-02 -5.99917690e-01] [ 6.84690936e-02 1.01007690e-02 9.97602104e-01 -4.96985332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68463043999999 meters Centerline goodness : 0.489403 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.60, Z:-0.50 [[ 9.97627513e-01 -1.96191918e-03 -6.88149366e-02 -5.88014191e+00] [ 1.23990582e-03 9.99943755e-01 -1.05332463e-02 -6.00852384e-01] [ 6.88317315e-02 1.04229323e-02 9.97573834e-01 -4.97231181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74463044 meters Centerline goodness : 0.276180 with order 3 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.61, Z:-0.49 [[ 9.97665584e-01 -4.10137103e-03 -6.81656960e-02 -5.88395752e+00] [ 3.33692388e-03 9.99930306e-01 -1.13246270e-02 -6.09207062e-01] [ 6.82073917e-02 1.10707269e-02 9.97609739e-01 -4.94681035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80463044 meters Centerline goodness : 0.497714 with order 2 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.62, Z:-0.50 [[ 0.99750713 -0.00692596 -0.07022508 -5.92783366] [ 0.00606026 0.99990309 -0.01253306 -0.61981734] [ 0.07030508 0.01207623 0.99745243 -0.49770961] [ 0. 0. 0. 1. ]] SLAMing on 82.86463044 meters SLAMing on 82.92463044 meters Centerline goodness : 0.104249 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.64, Z:-0.50 [[ 0.99751266 -0.00853588 -0.06996883 -5.9288539 ] [ 0.00767131 0.99989099 -0.01261583 -0.6359762 ] [ 0.07006889 0.0120477 0.9974694 -0.49697501] [ 0. 0. 0. 1. ]] SLAMing on 82.98463044 meters Centerline goodness : 0.095783 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.65, Z:-0.50 [[ 9.97708653e-01 -3.91679807e-03 -6.75433441e-02 -5.95095327e+00] [ 2.92793050e-03 9.99887173e-01 -1.47332734e-02 -6.50273051e-01] [ 6.75934306e-02 1.45017521e-02 9.97607552e-01 -4.98664888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04463043999999 meters Centerline goodness : 0.166066 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.66, Z:-0.50 [[ 9.97622544e-01 -1.86181575e-03 -6.88897155e-02 -5.94588060e+00] [ 1.04748814e-03 9.99929179e-01 -1.18549787e-02 -6.62847006e-01] [ 6.89069085e-02 1.17546328e-02 9.97553841e-01 -5.00763513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10463044 meters Centerline goodness : 0.117533 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.67, Z:-0.50 [[ 9.97624109e-01 -1.59425504e-03 -6.88737662e-02 -5.94543484e+00] [ 8.18021865e-04 9.99935851e-01 -1.12971089e-02 -6.66686633e-01] [ 6.88873585e-02 1.12139280e-02 9.97561416e-01 -5.01381953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16463044 meters Centerline goodness : 0.198841 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.67, Z:-0.50 [[ 9.97630535e-01 -8.03308348e-04 -6.87944093e-02 -5.94552433e+00] [ 8.65500796e-05 9.99945694e-01 -1.04211916e-02 -6.69864171e-01] [ 6.87990448e-02 1.03905448e-02 9.97576427e-01 -5.01597428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22463044 meters Centerline goodness : 0.126720 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.67, Z:-0.50 [[ 9.97596814e-01 -6.73764287e-04 -6.92830646e-02 -5.94363050e+00] [-4.26400563e-05 9.99946558e-01 -1.03382532e-02 -6.70117714e-01] [ 6.92863276e-02 1.03163627e-02 9.97543471e-01 -5.02707943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28463044 meters Centerline goodness : 0.259495 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.67, Z:-0.50 [[ 9.97634163e-01 -5.51320097e-04 -6.87442602e-02 -5.94489612e+00] [-1.48286754e-04 9.99948259e-01 -1.01714311e-02 -6.70432618e-01] [ 6.87463110e-02 1.01575610e-02 9.97582462e-01 -5.02806666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34463044 meters Centerline goodness : 0.121290 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.67, Z:-0.50 [[ 9.97661519e-01 -7.65456274e-04 -6.83440405e-02 -5.94612028e+00] [ 7.01728066e-05 9.99948230e-01 -1.01751072e-02 -6.71370851e-01] [ 6.83482909e-02 1.01465170e-02 9.97609923e-01 -5.02459438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40463043999999 meters Centerline goodness : 0.260484 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.68, Z:-0.50 [[ 9.97632971e-01 -3.27275771e-03 -6.86858303e-02 -5.94365312e+00] [ 2.46587325e-03 9.99926995e-01 -1.18289656e-02 -6.76644562e-01] [ 6.87195292e-02 1.16315955e-02 9.97568209e-01 -5.04143230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46463044 meters Centerline goodness : 0.464173 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.68, Z:-0.51 [[ 9.97476842e-01 -5.39101247e-03 -7.07876173e-02 -5.98860172e+00] [ 4.54880679e-03 9.99917008e-01 -1.20534587e-02 -6.83413715e-01] [ 7.08467228e-02 1.17010468e-02 9.97418582e-01 -5.06099161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52463044 meters Centerline goodness : 0.250070 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.69, Z:-0.51 [[ 9.97449029e-01 -5.21250637e-03 -7.11917445e-02 -5.98764795e+00] [ 4.40653867e-03 9.99924468e-01 -1.14734504e-02 -6.86477055e-01] [ 7.12461727e-02 1.11304728e-02 9.97396659e-01 -5.06081960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58463044 meters Centerline goodness : 0.111651 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.70, Z:-0.51 [[ 9.97480571e-01 2.04367548e-03 -7.09107410e-02 -6.00670856e+00] [-2.91961680e-03 9.99920688e-01 -1.22512841e-02 -6.95828777e-01] [ 7.08800793e-02 1.24274501e-02 9.97407426e-01 -5.08725682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64463044 meters Centerline goodness : 0.114612 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.70, Z:-0.51 [[ 9.97464755e-01 2.37820003e-03 -7.11224732e-02 -6.00626667e+00] [-3.23528987e-03 9.99923504e-01 -1.19381326e-02 -6.96664640e-01] [ 7.10886414e-02 1.21379683e-02 9.97396147e-01 -5.08679923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70463044 meters Centerline goodness : 0.120777 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.70, Z:-0.51 [[ 9.97483671e-01 2.82424312e-03 -7.08403069e-02 -6.00681289e+00] [-3.65448743e-03 9.99926120e-01 -1.15930761e-02 -6.97636801e-01] [ 7.08023316e-02 1.18227891e-02 9.97420298e-01 -5.08921744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76463043999999 meters Centerline goodness : 0.129449 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.70, Z:-0.51 [[ 9.97453311e-01 2.99313249e-03 -7.12596214e-02 -6.00550704e+00] [-3.80489104e-03 9.99929381e-01 -1.12585505e-02 -6.99415508e-01] [ 7.12208908e-02 1.15010136e-02 9.97394261e-01 -5.09374007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82463043999999 meters Centerline goodness : 0.125090 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.70, Z:-0.51 [[ 9.97460309e-01 3.11197721e-03 -7.11565008e-02 -6.00618479e+00] [-3.89249280e-03 9.99933745e-01 -1.08329672e-02 -7.02277035e-01] [ 7.11180744e-02 1.10824310e-02 9.97406336e-01 -5.08789518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88463044 meters Centerline goodness : 0.129896 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.70, Z:-0.51 [[ 9.97636044e-01 -4.68353153e-03 -6.85593824e-02 -5.98774494e+00] [ 4.03500806e-03 9.99945829e-01 -9.59472384e-03 -7.04861331e-01] [ 6.86006056e-02 9.29540467e-03 9.97600898e-01 -5.06466057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94463044 meters Centerline goodness : 0.146623 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.72, Z:-0.51 [[ 9.97737136e-01 1.28407592e-03 -6.72231934e-02 -6.00429420e+00] [-1.99373683e-03 9.99942983e-01 -1.04907627e-02 -7.15522678e-01] [ 6.72058896e-02 1.06010489e-02 9.97682808e-01 -5.10455507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00463044 meters Centerline goodness : 0.113296 with order 3 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.72, Z:-0.51 [[ 9.97694470e-01 -2.48227412e-03 -6.78202293e-02 -6.00247570e+00] [ 1.57539395e-03 9.99908679e-01 -1.34220367e-02 -7.20251652e-01] [ 6.78473531e-02 1.32842482e-02 9.97607270e-01 -5.10928949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06463044 meters Centerline goodness : 0.452654 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.73, Z:-0.51 [[ 9.97631630e-01 -2.50714380e-03 -6.87375042e-02 -5.99998749e+00] [ 1.63128558e-03 9.99916807e-01 -1.27952438e-02 -7.26064567e-01] [ 6.87638652e-02 1.26528095e-02 9.97552724e-01 -5.11260468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12463043999999 meters Centerline goodness : 0.127785 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.74, Z:-0.51 [[ 0.99769034 -0.0070614 -0.06755835 -6.00307686] [ 0.0060249 0.99986119 -0.01553378 -0.73967239] [ 0.06765866 0.01509087 0.99759439 -0.51064229] [ 0. 0. 0. 1. ]] SLAMing on 84.18463043999999 meters Centerline goodness : 0.455690 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.75, Z:-0.51 [[ 9.97686196e-01 -6.64106590e-03 -6.76620271e-02 -6.00252583e+00] [ 5.67254985e-03 9.99878835e-01 -1.44961154e-02 -7.46639256e-01] [ 6.77500984e-02 1.40787580e-02 9.97602984e-01 -5.10950909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24463044 meters Centerline goodness : 0.209102 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.75, Z:-0.51 [[ 9.97684434e-01 1.59033497e-03 -6.79944166e-02 -6.02228326e+00] [-2.59689859e-03 9.99888315e-01 -1.47177959e-02 -7.54789124e-01] [ 6.79634164e-02 1.48602905e-02 9.97577138e-01 -5.13562576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30463044 meters Centerline goodness : 0.119136 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.75, Z:-0.51 [[ 0.99759834 0.00678815 -0.06893098 -6.02030967] [-0.00752793 0.99991677 -0.01047806 -0.75461105] [ 0.06885412 0.0109718 0.9975664 -0.51331339] [ 0. 0. 0. 1. ]] SLAMing on 84.36463044 meters Centerline goodness : 0.084700 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.75, Z:-0.51 [[ 0.99762661 0.0073205 -0.06846573 -6.02144781] [-0.00805016 0.99991364 -0.0103874 -0.75391508] [ 0.06838378 0.01091391 0.99759939 -0.51333507] [ 0. 0. 0. 1. ]] SLAMing on 84.42463044 meters Centerline goodness : 0.118327 with order 3 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.75, Z:-0.51 [[ 0.99772279 0.00754824 -0.06702432 -6.02616856] [-0.00827292 0.99991022 -0.01054121 -0.75271698] [ 0.06693874 0.01107169 0.99769566 -0.51178981] [ 0. 0. 0. 1. ]] SLAMing on 84.48463043999999 meters Centerline goodness : 0.083855 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.75, Z:-0.51 [[ 0.99771765 0.00815276 -0.06702997 -6.02581881] [-0.00887375 0.99990586 -0.01046553 -0.74912469] [ 0.06693833 0.01103646 0.99769607 -0.51231753] [ 0. 0. 0. 1. ]] SLAMing on 84.54463043999999 meters Centerline goodness : 0.114615 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.74, Z:-0.51 [[ 9.97613378e-01 -4.65442106e-04 -6.90458575e-02 -6.04270883e+00] [-2.19020680e-04 9.99950918e-01 -9.90526075e-03 -7.40581916e-01] [ 6.90470789e-02 9.89674311e-03 9.97564311e-01 -5.14963494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60463044 meters Centerline goodness : 0.090935 with order 2 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.74, Z:-0.51 [[ 9.97562920e-01 -8.41894428e-04 -6.97675526e-02 -6.04111517e+00] [ 1.22473338e-04 9.99946788e-01 -1.03153220e-02 -7.39506518e-01] [ 6.97725246e-02 1.02816380e-02 9.97509941e-01 -5.14770635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66463044 meters Centerline goodness : 0.115365 with order 2 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.74, Z:-0.51 [[ 9.97538474e-01 -1.27947389e-03 -7.01096055e-02 -6.04054888e+00] [ 5.36316487e-04 9.99943486e-01 -1.06177356e-02 -7.39184571e-01] [ 7.01192284e-02 1.05539989e-02 9.97482785e-01 -5.14367235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72463044 meters Centerline goodness : 0.116237 with order 2 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.74, Z:-0.51 [[ 9.97558684e-01 -1.38444163e-03 -6.98194522e-02 -6.04167620e+00] [ 6.27051745e-04 9.99940739e-01 -1.08685854e-02 -7.36795224e-01] [ 6.98303615e-02 1.07982713e-02 9.97500435e-01 -5.13854634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78463044 meters Centerline goodness : 0.118720 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.74, Z:-0.51 [[ 9.97557260e-01 -1.48696709e-03 -6.98376849e-02 -6.04159296e+00] [ 7.09294228e-04 9.99937486e-01 -1.11589113e-02 -7.35141038e-01] [ 6.98499120e-02 1.10821175e-02 9.97495953e-01 -5.13906657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84463044 meters Centerline goodness : 0.114417 with order 2 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.73, Z:-0.51 [[ 9.97495116e-01 -1.83639386e-03 -7.07115330e-02 -6.03941250e+00] [ 9.79410505e-04 9.99925680e-01 -1.21521929e-02 -7.28183609e-01] [ 7.07285939e-02 1.20524974e-02 9.97422781e-01 -5.14067281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90463043999999 meters Centerline goodness : 0.118499 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.73, Z:-0.51 [[ 9.97512214e-01 -1.75808658e-03 -7.04719197e-02 -6.04067205e+00] [ 8.91806003e-04 9.99923682e-01 -1.23221423e-02 -7.25436289e-01] [ 7.04882048e-02 1.22286401e-02 9.97437654e-01 -5.13319961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96463044 meters Centerline goodness : 0.083961 with order 1 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.73, Z:-0.51 [[ 9.97527281e-01 -4.28471171e-03 -7.01495913e-02 -6.08896222e+00] [ 3.35643950e-03 9.99905314e-01 -1.33452814e-02 -7.26477850e-01] [ 7.02001298e-02 1.30768294e-02 9.97447211e-01 -5.14470848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02463044 meters Centerline goodness : 0.122515 with order 1 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.72, Z:-0.51 [[ 9.97516427e-01 -4.72954767e-03 -7.02752442e-02 -6.08884293e+00] [ 3.74912499e-03 9.99893892e-01 -1.40765369e-02 -7.23581716e-01] [ 7.03343631e-02 1.37781061e-02 9.97428314e-01 -5.14251171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08463044 meters Centerline goodness : 0.459828 with order 2 Centerline is valid? [False, False] Translation: X:-6.11, Y:-0.73, Z:-0.51 [[ 9.97666017e-01 3.09066032e-03 -6.82126529e-02 -6.11179750e+00] [-4.06985431e-03 9.99890598e-01 -1.42207215e-02 -7.25993891e-01] [ 6.81612388e-02 1.44651462e-02 9.97569449e-01 -5.14958958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14463044 meters Centerline goodness : 0.128553 with order 3 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.71, Z:-0.51 [[ 9.97469756e-01 -2.94941867e-03 -7.10308912e-02 -6.09352551e+00] [ 1.93541765e-03 9.99895303e-01 -1.43400890e-02 -7.14807438e-01] [ 7.10657494e-02 1.41663306e-02 9.97371031e-01 -5.12161828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20463044 meters Centerline goodness : 0.126594 with order 3 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.71, Z:-0.51 [[ 9.97417131e-01 -3.37902535e-03 -7.17471161e-02 -6.09126648e+00] [ 2.31259703e-03 9.99885694e-01 -1.49415791e-02 -7.12967049e-01] [ 7.17894030e-02 1.47370648e-02 9.97310935e-01 -5.12865523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26463043999999 meters Centerline goodness : 0.149383 with order 3 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.71, Z:-0.51 [[ 9.97457859e-01 -3.85335871e-03 -7.11545604e-02 -6.09296707e+00] [ 2.74848224e-03 9.99874235e-01 -1.56192220e-02 -7.10042769e-01] [ 7.12057981e-02 1.53839487e-02 9.97343004e-01 -5.12483384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32463043999999 meters Centerline goodness : 0.238363 with order 3 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.71, Z:-0.51 [[ 9.97458800e-01 -4.19975820e-03 -7.11217612e-02 -6.09348874e+00] [ 3.04098442e-03 9.99860997e-01 -1.63932631e-02 -7.05999833e-01] [ 7.11807228e-02 1.61353244e-02 9.97332921e-01 -5.11929342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38463044 meters Centerline goodness : 0.114860 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.70, Z:-0.52 [[ 9.97129096e-01 -3.20391695e-03 -7.56524951e-02 -6.13247825e+00] [ 2.05462648e-03 9.99881377e-01 -1.52646525e-02 -7.00640332e-01] [ 7.56924277e-02 1.50653915e-02 9.97017397e-01 -5.15849380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44463044 meters Centerline goodness : 0.120618 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.70, Z:-0.52 [[ 9.97119976e-01 -3.38762255e-03 -7.57646145e-02 -6.13224383e+00] [ 2.19720231e-03 9.99872917e-01 -1.57899270e-02 -6.97446663e-01] [ 7.58084764e-02 1.55779814e-02 9.97000703e-01 -5.15885282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50463044 meters Centerline goodness : 0.198138 with order 3 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.70, Z:-0.51 [[ 9.97143385e-01 -3.71958639e-03 -7.54402696e-02 -6.13403436e+00] [ 2.52446327e-03 9.99869904e-01 -1.59311551e-02 -6.97528758e-01] [ 7.54897124e-02 1.56951998e-02 9.97023051e-01 -5.14570086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56463044 meters Centerline goodness : 0.213260 with order 3 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.70, Z:-0.51 [[ 9.97144901e-01 -4.32557016e-03 -7.53878997e-02 -6.13468508e+00] [ 3.13614860e-03 9.99868850e-01 -1.58886012e-02 -7.00264832e-01] [ 7.54467399e-02 1.56068100e-02 9.97027691e-01 -5.13773329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62463043999999 meters Centerline goodness : 0.112531 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.71, Z:-0.52 [[ 9.97251117e-01 1.11674378e-03 -7.40875385e-02 -6.15669352e+00] [-2.47691819e-03 9.99830027e-01 -1.82696780e-02 -7.06196215e-01] [ 7.40545431e-02 1.84029655e-02 9.97084377e-01 -5.15792771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68463043999999 meters Centerline goodness : 0.131542 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.71, Z:-0.52 [[ 0.9972086 0.010171 -0.07396997 -6.17774637] [-0.01154908 0.99976718 -0.01822655 -0.70965734] [ 0.07376737 0.01902996 0.9970939 -0.51772523] [ 0. 0. 0. 1. ]] SLAMing on 85.74463044 meters Centerline goodness : 0.084199 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.70, Z:-0.52 [[ 0.99707006 0.00684331 -0.07618699 -6.1577302 ] [-0.00802377 0.99985229 -0.01519903 -0.70219758] [ 0.07607172 0.01576581 0.9969777 -0.51517759] [ 0. 0. 0. 1. ]] SLAMing on 85.80463044 meters Centerline goodness : 0.115194 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.70, Z:-0.52 [[ 0.99704542 0.00668853 -0.07652254 -6.15690633] [-0.00793167 0.99984128 -0.01595306 -0.69920129] [ 0.0764037 0.01651288 0.99694022 -0.5152977 ] [ 0. 0. 0. 1. ]] SLAMing on 85.86463044 meters Centerline goodness : 0.148383 with order 3 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.69, Z:-0.51 [[ 0.99704028 0.01048587 -0.07616248 -6.15845132] [-0.01152817 0.99984564 -0.01325849 -0.69316641] [ 0.0760117 0.01409727 0.99700727 -0.51460426] [ 0. 0. 0. 1. ]] SLAMing on 85.92463044 meters Centerline goodness : 0.207519 with order 3 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.69, Z:-0.52 [[ 9.97204893e-01 3.22710663e-03 -7.46457414e-02 -6.17865660e+00] [-4.15033244e-03 9.99916765e-01 -1.22162870e-02 -6.85241043e-01] [ 7.46001050e-02 1.24919458e-02 9.97135285e-01 -5.17814969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98463043999999 meters Centerline goodness : 0.124254 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.68, Z:-0.52 [[ 9.97268495e-01 3.14431344e-03 -7.37947278e-02 -6.18129791e+00] [-4.06377621e-03 9.99915936e-01 -1.23128968e-02 -6.84120150e-01] [ 7.37498086e-02 1.25791494e-02 9.97197438e-01 -5.17012936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04463043999999 meters Centerline goodness : 0.083795 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.68, Z:-0.52 [[ 9.97198378e-01 2.58160587e-03 -7.47578099e-02 -6.17854130e+00] [-3.53607539e-03 9.99913886e-01 -1.26379449e-02 -6.84559285e-01] [ 7.47187459e-02 1.28668874e-02 9.97121634e-01 -5.17516351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10463044 meters Centerline goodness : 0.245796 with order 3 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.68, Z:-0.52 [[ 9.97115138e-01 2.08014304e-03 -7.58753924e-02 -6.17558301e+00] [-3.07879600e-03 9.99910142e-01 -1.30471546e-02 -6.84588573e-01] [ 7.58414345e-02 1.32431202e-02 9.97031944e-01 -5.17915512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16463044 meters Centerline goodness : 0.088014 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.68, Z:-0.52 [[ 9.97348619e-01 -2.83860276e-03 -7.27163998e-02 -6.20032682e+00] [ 2.16538237e-03 9.99954080e-01 -9.33532598e-03 -6.82289459e-01] [ 7.27395600e-02 9.15311566e-03 9.97308968e-01 -5.19232705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22463044 meters Centerline goodness : 0.121856 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.68, Z:-0.52 [[ 9.97371657e-01 -3.08446176e-03 -7.23896683e-02 -6.20100957e+00] [ 2.40888659e-03 9.99952749e-01 -9.41792967e-03 -6.83602859e-01] [ 7.24152971e-02 9.21879762e-03 9.97331960e-01 -5.19305701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28463044 meters Centerline goodness : 0.109592 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.69, Z:-0.52 [[ 9.97342405e-01 -3.21857625e-03 -7.27857674e-02 -6.19973514e+00] [ 2.56306163e-03 9.99955330e-01 -9.09769106e-03 -6.86631145e-01] [ 7.28117977e-02 8.88695868e-03 9.97306104e-01 -5.19682386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34463044 meters Centerline goodness : 0.115447 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.69, Z:-0.52 [[ 9.97331292e-01 -3.18720201e-03 -7.29392542e-02 -6.19941089e+00] [ 2.52145275e-03 9.99954337e-01 -9.21770790e-03 -6.85494704e-01] [ 7.29653023e-02 9.00919565e-03 9.97293788e-01 -5.19693399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40463043999999 meters Centerline goodness : 0.114277 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.68, Z:-0.52 [[ 9.97406472e-01 -2.57298964e-03 -7.19284950e-02 -6.20246667e+00] [ 1.92659904e-03 9.99957151e-01 -9.05450667e-03 -6.82663988e-01] [ 7.19487101e-02 8.89244619e-03 9.97368692e-01 -5.18958636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46463044 meters Centerline goodness : 0.124426 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:-0.68, Z:-0.52 [[ 9.97398573e-01 -2.80472120e-03 -7.20293011e-02 -6.20232138e+00] [ 2.10074874e-03 9.99949307e-01 -9.84731509e-03 -6.78706477e-01] [ 7.20532688e-02 9.67038256e-03 9.97353904e-01 -5.18989202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52463044 meters Centerline goodness : 0.140183 with order 3 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.67, Z:-0.52 [[ 9.97459284e-01 -1.71485040e-03 -7.12182263e-02 -6.25115865e+00] [ 1.09184703e-03 9.99960808e-01 -8.78581601e-03 -6.74536872e-01] [ 7.12305015e-02 8.68573433e-03 9.97422064e-01 -5.21258860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58463044 meters Centerline goodness : 0.127174 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.67, Z:-0.52 [[ 9.97458295e-01 -2.06659065e-03 -7.12227454e-02 -6.25083285e+00] [ 1.38915542e-03 9.99953340e-01 -9.55972178e-03 -6.70850701e-01] [ 7.12391781e-02 9.43648432e-03 9.97414624e-01 -5.21754015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64463044 meters Centerline goodness : 0.253335 with order 3 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.66, Z:-0.52 [[ 9.97404204e-01 -2.24155969e-03 -7.19710360e-02 -6.24852327e+00] [ 1.50826191e-03 9.99946417e-01 -1.02415200e-02 -6.64676513e-01] [ 7.19901365e-02 1.01063840e-02 9.97354140e-01 -5.22533355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70463044 meters Centerline goodness : 0.101059 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.66, Z:-0.52 [[ 9.97423913e-01 -2.18913880e-03 -7.16989929e-02 -6.24939431e+00] [ 1.45934114e-03 9.99946613e-01 -1.02294348e-02 -6.63976733e-01] [ 7.17175588e-02 1.00984496e-02 9.97373858e-01 -5.22200531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76463043999999 meters Centerline goodness : 0.239805 with order 3 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.66, Z:-0.52 [[ 9.97541812e-01 -3.13999997e-03 -7.00033798e-02 -6.25411433e+00] [ 2.38196316e-03 9.99937653e-01 -1.09094211e-02 -6.63272646e-01] [ 7.00332709e-02 1.07158583e-02 9.97487098e-01 -5.21152039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82463043999999 meters Centerline goodness : 0.095662 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.67, Z:-0.52 [[ 9.97551764e-01 -7.13054667e-03 -6.95674739e-02 -6.25487656e+00] [ 6.16596157e-03 9.99881996e-01 -1.40703600e-02 -6.66012196e-01] [ 6.96595941e-02 1.36069620e-02 9.97478016e-01 -5.21387476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88463044 meters Centerline goodness : 0.100278 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.67, Z:-0.52 [[ 9.97596896e-01 -1.11668578e-03 -6.92761524e-02 -6.27227134e+00] [ 3.53020482e-05 9.99878171e-01 -1.56090153e-02 -6.74156887e-01] [ 6.92851430e-02 1.55690596e-02 9.97475400e-01 -5.24915552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94463044 meters Centerline goodness : 0.100787 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.68, Z:-0.53 [[ 9.97587339e-01 -4.71414204e-03 -6.92623802e-02 -6.27179850e+00] [ 3.44776916e-03 9.99824910e-01 -1.83918856e-02 -6.78034535e-01] [ 6.93369550e-02 1.81087115e-02 9.97428925e-01 -5.25441966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00463044 meters Centerline goodness : 0.107800 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.68, Z:-0.53 [[ 9.97590787e-01 -4.95143104e-03 -6.91961411e-02 -6.27206481e+00] [ 3.71086858e-03 9.99830285e-01 -1.80452606e-02 -6.81645796e-01] [ 6.92737473e-02 1.77450079e-02 9.97439854e-01 -5.25293200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06463044 meters Centerline goodness : 0.216161 with order 3 Centerline is valid? [False, False] Translation: X:-6.32, Y:-0.69, Z:-0.53 [[ 9.97487024e-01 -7.25758784e-03 -7.04766932e-02 -6.31683446e+00] [ 5.96144355e-03 9.99809529e-01 -1.85840571e-02 -6.88831801e-01] [ 7.05981449e-02 1.81172130e-02 9.97340297e-01 -5.28200316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12463043999999 meters Centerline goodness : 0.113298 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:-0.70, Z:-0.53 [[ 0.99745103 -0.01057389 -0.07056652 -6.31767795] [ 0.00915531 0.99975006 -0.02039602 -0.69807912] [ 0.07076455 0.01969797 0.99729854 -0.52738823] [ 0. 0. 0. 1. ]] SLAMing on 87.18463043999999 meters Centerline goodness : 0.114751 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:-0.70, Z:-0.53 [[ 0.99743762 -0.01081123 -0.07071998 -6.31695612] [ 0.00942622 0.99975776 -0.0198889 -0.70491098] [ 0.07091787 0.01917131 0.99729791 -0.52809299] [ 0. 0. 0. 1. ]] SLAMing on 87.24463044 meters Centerline goodness : 0.114512 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:-0.71, Z:-0.53 [[ 0.99746082 -0.01100444 -0.07036203 -6.31835922] [ 0.00965687 0.99976393 -0.01946351 -0.7109654 ] [ 0.07055961 0.01873461 0.99733162 -0.52765088] [ 0. 0. 0. 1. ]] SLAMing on 87.30463044 meters Centerline goodness : 0.125933 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.72, Z:-0.53 [[ 9.97422498e-01 -2.30058771e-03 -7.17151869e-02 -6.29747657e+00] [ 9.38713676e-04 9.99818702e-01 -1.90179589e-02 -7.15034489e-01] [ 7.17459375e-02 1.89016200e-02 9.97243826e-01 -5.26451285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36463044 meters Centerline goodness : 0.198503 with order 3 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.71, Z:-0.53 [[ 9.97401534e-01 -1.96767648e-03 -7.20160238e-02 -6.29558403e+00] [ 6.16067192e-04 9.99823346e-01 -1.87855765e-02 -7.14786089e-01] [ 7.20402658e-02 1.86923961e-02 9.97226551e-01 -5.27886410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42463044 meters Centerline goodness : 0.112785 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.72, Z:-0.53 [[ 9.97439836e-01 -2.66078631e-03 -7.14611406e-02 -6.29737165e+00] [ 1.31483478e-03 9.99820984e-01 -1.88751732e-02 -7.16337369e-01] [ 7.14985707e-02 1.87328900e-02 9.97264776e-01 -5.27895507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48463043999999 meters Centerline goodness : 0.117219 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.72, Z:-0.53 [[ 9.97342789e-01 -3.95877591e-03 -7.27439931e-02 -6.29337171e+00] [ 2.56866718e-03 9.99812493e-01 -1.91932263e-02 -7.17281984e-01] [ 7.28063348e-02 1.89553708e-02 9.97165950e-01 -5.28885201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54463043999999 meters Centerline goodness : 0.120781 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.72, Z:-0.53 [[ 9.97371952e-01 -4.05352258e-03 -7.23378006e-02 -6.29432404e+00] [ 2.69337220e-03 9.99817933e-01 -1.88904095e-02 -7.17162981e-01] [ 7.24012029e-02 1.86459320e-02 9.97201281e-01 -5.28770188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60463044 meters Centerline goodness : 0.176136 with order 3 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.72, Z:-0.53 [[ 9.97403750e-01 -4.22857876e-03 -7.18879522e-02 -6.29578844e+00] [ 2.86529912e-03 9.99814303e-01 -1.90565094e-02 -7.15311808e-01] [ 7.19551847e-02 1.88010534e-02 9.97230651e-01 -5.28085943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66463044 meters Centerline goodness : 0.303444 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.71, Z:-0.53 [[ 9.97240895e-01 -2.46106052e-03 -7.41925931e-02 -6.28865140e+00] [ 1.15121484e-03 9.99842817e-01 -1.76922671e-02 -7.10363257e-01] [ 7.42244730e-02 1.75580406e-02 9.97086979e-01 -5.29808525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72463044 meters Centerline goodness : 0.103261 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.71, Z:-0.53 [[ 9.97227534e-01 1.62550620e-04 -7.44124965e-02 -6.28842836e+00] [-1.29898088e-03 9.99883266e-01 -1.52238926e-02 -7.07113713e-01] [ 7.44013354e-02 1.52783453e-02 9.97111335e-01 -5.29318290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78463044 meters Centerline goodness : 0.459997 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.71, Z:-0.53 [[ 9.97254352e-01 -1.77446644e-04 -7.40521810e-02 -6.28951807e+00] [-9.64163640e-04 9.99881252e-01 -1.53802622e-02 -7.05642985e-01] [ 7.40461166e-02 1.54094318e-02 9.97135759e-01 -5.28776702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84463044 meters Centerline goodness : 0.107472 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.71, Z:-0.53 [[ 9.97273117e-01 -1.96729084e-04 -7.37989956e-02 -6.29040826e+00] [-9.21067399e-04 9.99885381e-01 -1.51121608e-02 -7.06117776e-01] [ 7.37935098e-02 1.51389256e-02 9.97158629e-01 -5.28332157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90463043999999 meters SLAMing on 87.96463044 meters Centerline goodness : 0.180817 with order 2 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.70, Z:-0.53 [[ 9.97271911e-01 -6.93560120e-03 -7.34890024e-02 -6.30840691e+00] [ 6.08539442e-03 9.99912016e-01 -1.17867713e-02 -6.97714213e-01] [ 7.35642849e-02 1.13074064e-02 9.97226373e-01 -5.29797919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02463044 meters Centerline goodness : 0.449389 with order 2 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.70, Z:-0.53 [[ 9.97272969e-01 -6.83401765e-03 -7.34841612e-02 -6.30818793e+00] [ 6.01097633e-03 9.99916773e-01 -1.14155847e-02 -6.98375587e-01] [ 7.35560596e-02 1.09427425e-02 9.97231048e-01 -5.29914964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08463044 meters Centerline goodness : 0.318288 with order 3 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.70, Z:-0.53 [[ 9.97473670e-01 1.84280579e-03 -7.10132568e-02 -6.33339203e+00] [-2.64522909e-03 9.99933698e-01 -1.12072420e-02 -6.98169534e-01] [ 7.09878957e-02 1.13667751e-02 9.97412410e-01 -5.30388273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14463044 meters Centerline goodness : 0.170734 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.69, Z:-0.53 [[ 9.97464103e-01 5.19604700e-03 -7.09814307e-02 -6.33382988e+00] [-5.81562875e-03 9.99946751e-01 -8.52491419e-03 -6.93770869e-01] [ 7.09333551e-02 8.91609754e-03 9.97441207e-01 -5.29749569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20463044 meters Centerline goodness : 0.463350 with order 3 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.69, Z:-0.53 [[ 9.97477286e-01 5.61214562e-03 -7.07641701e-02 -6.33389340e+00] [-6.22142315e-03 9.99945428e-01 -8.39250886e-03 -6.86909625e-01] [ 7.07132084e-02 8.81159080e-03 9.97457768e-01 -5.30089244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26463043999999 meters Centerline goodness : 0.512734 with order 3 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.68, Z:-0.53 [[ 9.97417271e-01 -3.64279340e-03 -7.17322603e-02 -6.31378111e+00] [ 2.97971502e-03 9.99951861e-01 -9.34863638e-03 -6.79317303e-01] [ 7.17628623e-02 9.11074969e-03 9.97380111e-01 -5.28147362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32463043999999 meters Centerline goodness : 0.102031 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.67, Z:-0.53 [[ 0.99715563 -0.0117915 -0.07444204 -6.3296837 ] [ 0.01123931 0.99990616 -0.00783224 -0.67261245] [ 0.07452741 0.00697329 0.99719458 -0.53121186] [ 0. 0. 0. 1. ]] SLAMing on 88.38463044 meters Centerline goodness : 0.473620 with order 3 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.67, Z:-0.53 [[ 0.99702728 -0.01313132 -0.07592214 -6.32574875] [ 0.01250132 0.99988342 -0.00876727 -0.67054287] [ 0.07602842 0.00779208 0.9970752 -0.53173722] [ 0. 0. 0. 1. ]] SLAMing on 88.44463044 meters Centerline goodness : 0.092938 with order 1 Centerline is valid? [False, False] Translation: X:-6.37, Y:-0.67, Z:-0.53 [[ 0.99684677 -0.01442309 -0.07802881 -6.37047892] [ 0.01376992 0.99986556 -0.00890249 -0.66906522] [ 0.07814672 0.00779997 0.99691136 -0.53416352] [ 0. 0. 0. 1. ]] SLAMing on 88.50463044 meters Centerline goodness : 0.455812 with order 2 Centerline is valid? [False, False] Translation: X:-6.39, Y:-0.67, Z:-0.54 [[ 9.96880391e-01 -6.73687465e-03 -7.86390528e-02 -6.39003862e+00] [ 5.96514036e-03 9.99931761e-01 -1.00444175e-02 -6.70890904e-01] [ 7.87013546e-02 9.54398986e-03 9.96852551e-01 -5.36518989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56463044 meters Centerline goodness : 0.095625 with order 1 Centerline is valid? [False, False] Translation: X:-6.39, Y:-0.67, Z:-0.54 [[ 9.96925438e-01 -2.87228648e-03 -7.83033969e-02 -6.39141014e+00] [ 2.33287010e-03 9.99972922e-01 -6.97940562e-03 -6.66763699e-01] [ 7.83213235e-02 6.77527535e-03 9.96905144e-01 -5.35677580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62463043999999 meters SLAMing on 88.68463043999999 meters Centerline goodness : 0.456770 with order 2 Centerline is valid? [False, False] Translation: X:-6.44, Y:-0.64, Z:-0.54 [[ 9.97338825e-01 6.91067619e-03 -7.25776166e-02 -6.44392167e+00] [-7.29429018e-03 9.99960786e-01 -5.02184588e-03 -6.40399233e-01] [ 7.25400663e-02 5.53788406e-03 9.97350124e-01 -5.40097123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74463044 meters Centerline goodness : 0.094790 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.63, Z:-0.54 [[ 9.97191303e-01 2.13436743e-03 -7.48662120e-02 -6.46143103e+00] [-2.28906806e-03 9.99995419e-01 -1.98061465e-03 -6.28459665e-01] [ 7.48616417e-02 2.14642556e-03 9.97191620e-01 -5.43017429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80463044 meters Centerline goodness : 0.146796 with order 1 Centerline is valid? [False, False] Translation: X:-6.48, Y:-0.62, Z:-0.55 [[ 9.96984670e-01 -5.53209118e-03 -7.74013193e-02 -6.47820368e+00] [ 5.47444319e-03 9.99984557e-01 -9.56957995e-04 -6.18092653e-01] [ 7.74054180e-02 5.30343325e-04 9.96999559e-01 -5.45775676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86463044 meters Centerline goodness : 0.106871 with order 1 Centerline is valid? [False, False] Translation: X:-6.48, Y:-0.61, Z:-0.55 [[ 9.96998355e-01 -6.60815411e-03 -7.71402119e-02 -6.47925446e+00] [ 6.45722661e-03 9.99976719e-01 -2.20580112e-03 -6.13584454e-01] [ 7.71529922e-02 1.70106826e-03 9.97017814e-01 -5.45125998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92463044 meters Centerline goodness : 0.468504 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:-0.61, Z:-0.55 [[ 9.96905676e-01 -6.03585042e-03 -7.83750098e-02 -6.52647416e+00] [ 5.89928039e-03 9.99980651e-01 -1.97393954e-03 -6.06969899e-01] [ 7.83854077e-02 1.50547537e-03 9.96921994e-01 -5.47547186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98463043999999 meters SLAMing on 89.04463043999999 meters Centerline goodness : 0.426393 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.59, Z:-0.55 [[ 9.96823911e-01 7.30638310e-03 -7.93013758e-02 -6.55023469e+00] [-7.29049454e-03 9.99973304e-01 4.89887747e-04 -5.85464026e-01] [ 7.93028381e-02 8.98144273e-05 9.96850566e-01 -5.47551938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10463044 meters Centerline goodness : 0.095811 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.57, Z:-0.55 [[ 9.96740078e-01 1.15156098e-02 -7.98536669e-02 -6.54863573e+00] [-1.13348375e-02 9.99932068e-01 2.71672853e-03 -5.71875783e-01] [ 7.98795271e-02 -1.80274387e-03 9.96802895e-01 -5.47610813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16463044 meters Centerline goodness : 0.099011 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.56, Z:-0.55 [[ 9.96723570e-01 1.43611565e-02 -7.95982562e-02 -6.55073988e+00] [-1.40485083e-02 9.99891250e-01 4.48647219e-03 -5.64183335e-01] [ 7.96540308e-02 -3.35353581e-03 9.96816929e-01 -5.45831046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22463044 meters Centerline goodness : 0.104013 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.55, Z:-0.54 [[ 9.96747181e-01 1.79615878e-02 -7.85648726e-02 -6.55429077e+00] [-1.75024909e-02 9.99825507e-01 6.52830068e-03 -5.52297689e-01] [ 7.86684222e-02 -5.13198433e-03 9.96887628e-01 -5.44120739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28463044 meters Centerline goodness : 0.099800 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:-0.54, Z:-0.54 [[ 9.96762623e-01 2.04443125e-02 -7.77579847e-02 -6.55757728e+00] [-1.99000986e-02 9.99771801e-01 7.76733955e-03 -5.43971783e-01] [ 7.78990384e-02 -6.19480218e-03 9.96942006e-01 -5.42696023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34463044 meters Centerline goodness : 0.093487 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:-0.54, Z:-0.54 [[ 0.99676905 0.02288881 -0.07699065 -6.56054077] [-0.0222583 0.9997114 0.00903773 -0.53573237] [ 0.0771753 -0.00729485 0.99699085 -0.54146011] [ 0. 0. 0. 1. ]] SLAMing on 89.40463043999999 meters Centerline goodness : 0.096065 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:-0.52, Z:-0.54 [[ 0.99673303 0.02399853 -0.07711902 -6.5601294 ] [-0.02337919 0.99968684 0.00892386 -0.52464021] [ 0.07730903 -0.00709172 0.99698196 -0.54157992] [ 0. 0. 0. 1. ]] SLAMing on 89.46463044 meters Centerline goodness : 0.094699 with order 1 Centerline is valid? [False, False] Translation: X:-6.54, Y:-0.51, Z:-0.54 [[ 0.99664831 0.01752942 -0.07990533 -6.54205161] [-0.01692739 0.99982305 0.00820546 -0.51326791] [ 0.08003503 -0.00682537 0.99676868 -0.54044307] [ 0. 0. 0. 1. ]] SLAMing on 89.52463044 meters Centerline goodness : 0.096142 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:-0.51, Z:-0.54 [[ 0.99645255 0.01958496 -0.08184581 -6.53497171] [-0.01887651 0.99977744 0.00942084 -0.50631685] [ 0.0820121 -0.00784246 0.99660048 -0.54287956] [ 0. 0. 0. 1. ]] SLAMing on 89.58463044 meters Centerline goodness : 0.103895 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:-0.50, Z:-0.54 [[ 9.96365068e-01 1.89212133e-02 -8.30580446e-02 -6.53115450e+00] [-1.83303742e-02 9.99801007e-01 7.87044253e-03 -5.00415861e-01] [ 8.31904349e-02 -6.31934897e-03 9.96513631e-01 -5.44451825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64463044 meters Centerline goodness : 0.098901 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.49, Z:-0.55 [[ 0.99614221 0.01359941 -0.08669341 -6.5462786 ] [-0.01278525 0.99986886 0.00993961 -0.48823737] [ 0.08681721 -0.00879287 0.99618545 -0.54761873] [ 0. 0. 0. 1. ]] SLAMing on 89.70463044 meters Centerline goodness : 0.102663 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.48, Z:-0.55 [[ 0.9962003 0.01370936 -0.08600589 -6.54823115] [-0.01298413 0.99987532 0.00898601 -0.48380045] [ 0.08611836 -0.00783516 0.9962541 -0.54815129] [ 0. 0. 0. 1. ]] SLAMing on 89.76463043999999 meters Centerline goodness : 0.174964 with order 3 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.48, Z:-0.55 [[ 0.99620163 0.01379339 -0.08597705 -6.54835342] [-0.01311875 0.9998786 0.0084068 -0.48099356] [ 0.08608257 -0.00724695 0.99626165 -0.54815981] [ 0. 0. 0. 1. ]] SLAMing on 89.82463043999999 meters Centerline goodness : 0.107921 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.48, Z:-0.55 [[ 0.99613204 0.01752583 -0.0861034 -6.54764039] [-0.0166282 0.99979978 0.01113117 -0.47579884] [ 0.08628124 -0.00965637 0.99622402 -0.54862227] [ 0. 0. 0. 1. ]] SLAMing on 89.88463044 meters Centerline goodness : 0.103260 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:-0.46, Z:-0.55 [[ 0.99647571 0.01206951 -0.08300891 -6.56249798] [-0.01115941 0.99987253 0.01141917 -0.4632173 ] [ 0.08313615 -0.0104526 0.99648338 -0.55278011] [ 0. 0. 0. 1. ]] SLAMing on 89.94463044 meters Centerline goodness : 0.178454 with order 3 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.46, Z:-0.56 [[ 0.99645628 0.01252343 -0.08317481 -6.60964079] [-0.01170035 0.99987771 0.0103758 -0.45740104] [ 0.08329458 -0.00936585 0.99648095 -0.55507585] [ 0. 0. 0. 1. ]] SLAMing on 90.00463044 meters Centerline goodness : 0.161511 with order 3 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.46, Z:-0.55 [[ 0.99653163 0.01201862 -0.08234231 -6.61184384] [-0.01123848 0.99988753 0.0099313 -0.45696383] [ 0.08245241 -0.00897146 0.99655462 -0.55457225] [ 0. 0. 0. 1. ]] SLAMing on 90.06463044 meters Centerline goodness : 0.110751 with order 1 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.45, Z:-0.56 [[ 9.96595230e-01 3.01227853e-03 -8.23946241e-02 -6.63343069e+00] [-2.23322837e-03 9.99951946e-01 9.54563545e-03 -4.54725377e-01] [ 8.24194188e-02 -9.32912874e-03 9.96554066e-01 -5.56516582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12463043999999 meters Centerline goodness : 0.184552 with order 3 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.45, Z:-0.56 [[ 9.96567837e-01 2.83540416e-03 -8.27315394e-02 -6.63276878e+00] [-2.07046599e-03 9.99954328e-01 9.33035759e-03 -4.54321671e-01] [ 8.27542162e-02 -9.12704143e-03 9.96528192e-01 -5.56244142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18463043999999 meters Centerline goodness : 0.216544 with order 3 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.45, Z:-0.56 [[ 9.96588250e-01 2.92010130e-03 -8.24823134e-02 -6.63340351e+00] [-2.16888669e-03 9.99955366e-01 9.19571658e-03 -4.53912577e-01] [ 8.25054843e-02 -8.98544830e-03 9.96550102e-01 -5.56086002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24463044 meters Centerline goodness : 0.120390 with order 1 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.45, Z:-0.56 [[ 9.96558911e-01 -6.47364708e-05 -8.28874734e-02 -6.63196254e+00] [ 5.77886024e-04 9.99980817e-01 6.16694196e-03 -4.54949109e-01] [ 8.28854841e-02 -6.19362048e-03 9.96539831e-01 -5.56523665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30463044 meters Centerline goodness : 0.155964 with order 3 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.46, Z:-0.56 [[ 9.96538598e-01 2.33999216e-04 -8.31310276e-02 -6.63105114e+00] [ 3.25576572e-04 9.99977383e-01 6.71763071e-03 -4.58783580e-01] [ 8.31307194e-02 -6.72144380e-03 9.96515984e-01 -5.56688290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36463044 meters Centerline goodness : 0.161983 with order 3 Centerline is valid? [False, False] Translation: X:-6.67, Y:-0.46, Z:-0.56 [[ 9.96234739e-01 -3.95403365e-04 -8.66959546e-02 -6.67152041e+00] [ 8.63706914e-04 9.99985239e-01 5.36423303e-03 -4.64932723e-01] [ 8.66925538e-02 -5.41891519e-03 9.96220375e-01 -5.60619233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42463044 meters Centerline goodness : 0.119890 with order 1 Centerline is valid? [False, False] Translation: X:-6.69, Y:-0.48, Z:-0.56 [[ 9.96027941e-01 4.80251381e-03 -8.89116199e-02 -6.68902486e+00] [-4.63019802e-03 9.99986982e-01 2.14420443e-03 -4.75808480e-01] [ 8.89207600e-02 -1.72400912e-03 9.96037211e-01 -5.63801771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48463043999999 meters Centerline goodness : 0.232773 with order 3 Centerline is valid? [False, False] Translation: X:-6.69, Y:-0.48, Z:-0.56 [[ 9.96000026e-01 4.99378116e-03 -8.92132895e-02 -6.68805801e+00] [-4.79711674e-03 9.99985569e-01 2.41870579e-03 -4.77738461e-01] [ 8.92240805e-02 -1.98106447e-03 9.96009608e-01 -5.64036473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54463043999999 meters Centerline goodness : 0.123272 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.48, Z:-0.57 [[ 9.95725095e-01 4.88747496e-03 -9.22369106e-02 -6.73222108e+00] [-4.76732374e-03 9.99987477e-01 1.52292467e-03 -4.84460926e-01] [ 9.22431988e-02 -1.07669110e-03 9.95735925e-01 -5.66928645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60463044 meters Centerline goodness : 0.109455 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.49, Z:-0.57 [[ 9.95731262e-01 5.52147814e-03 -9.21345016e-02 -6.73326854e+00] [-5.30068945e-03 9.99982464e-01 2.64091203e-03 -4.92088236e-01] [ 9.21474677e-02 -2.14126229e-03 9.95743069e-01 -5.65896974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66463044 meters Centerline goodness : 0.096880 with order 1 Centerline is valid? [False, False] Translation: X:-6.77, Y:-0.50, Z:-0.57 [[ 9.96100059e-01 4.74162081e-03 -8.81032904e-02 -6.77415920e+00] [-4.54347192e-03 9.99986678e-01 2.44945440e-03 -5.00973901e-01] [ 8.81137311e-02 -2.03960684e-03 9.96108333e-01 -5.71073517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72463044 meters Centerline goodness : 0.377602 with order 3 Centerline is valid? [False, False] Translation: X:-6.78, Y:-0.51, Z:-0.57 [[ 9.96216086e-01 2.91893830e-03 -8.68619056e-02 -6.77889021e+00] [-2.81916131e-03 9.99995218e-01 1.27133402e-03 -5.07496197e-01] [ 8.68652011e-02 -1.02164568e-03 9.96219551e-01 -5.69194246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78463044 meters Centerline goodness : 0.477062 with order 3 Centerline is valid? [False, False] Translation: X:-6.78, Y:-0.51, Z:-0.57 [[ 9.96214902e-01 3.50629451e-03 -8.68537564e-02 -6.77942273e+00] [-3.32509654e-03 9.99991984e-01 2.23082674e-03 -5.12824019e-01] [ 8.68608821e-02 -1.93358572e-03 9.96218575e-01 -5.68441673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84463044 meters Centerline goodness : 0.453302 with order 3 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.52, Z:-0.57 [[ 9.95933666e-01 4.13990337e-03 -8.99944165e-02 -6.82431943e+00] [-3.93290818e-03 9.99989198e-01 2.47729806e-03 -5.17498339e-01] [ 9.00037001e-02 -2.11328476e-03 9.95939189e-01 -5.71053085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90463043999999 meters Centerline goodness : 0.436862 with order 3 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.52, Z:-0.57 [[ 9.95900968e-01 4.26025103e-03 -9.03499419e-02 -6.82342189e+00] [-4.05059074e-03 9.99988662e-01 2.50377008e-03 -5.18258139e-01] [ 9.03595842e-02 -2.12753641e-03 9.95906933e-01 -5.70982412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96463044 meters Centerline goodness : 0.377217 with order 1 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.52, Z:-0.57 [[ 9.95737463e-01 4.23028482e-03 -9.21358164e-02 -6.81771472e+00] [-4.04080724e-03 9.99989320e-01 2.24295503e-03 -5.17198810e-01] [ 9.21443208e-02 -1.86109128e-03 9.95743923e-01 -5.72660301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02463044 meters Centerline goodness : 0.097886 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.52, Z:-0.58 [[ 9.95449524e-01 3.00588235e-03 -9.52429032e-02 -6.86003756e+00] [-2.94007506e-03 9.99995332e-01 8.31264154e-04 -5.17827752e-01] [ 9.52449573e-02 -5.47460222e-04 9.95453715e-01 -5.76838585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08463044 meters Centerline goodness : 0.190171 with order 3 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.52, Z:-0.58 [[ 9.95419028e-01 1.50214565e-03 -9.55965575e-02 -6.90796639e+00] [-1.49793710e-03 9.99998871e-01 1.15787203e-04 -5.20434017e-01] [ 9.55966236e-02 2.79408447e-05 9.95420155e-01 -5.79432180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14463044 meters Centerline goodness : 0.463754 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.53, Z:-0.58 [[ 9.95518034e-01 -9.85020517e-04 -9.45667730e-02 -6.91234411e+00] [ 8.41527294e-04 9.99998433e-01 -1.55724228e-03 -5.25149809e-01] [ 9.45681588e-02 1.47068225e-03 9.95517303e-01 -5.77426418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20463044 meters Centerline goodness : 0.096045 with order 1 Centerline is valid? [False, False] Translation: X:-6.92, Y:-0.53, Z:-0.58 [[ 9.95576577e-01 -3.12269569e-03 -9.39016949e-02 -6.91518115e+00] [ 2.83263919e-03 9.99990797e-01 -3.22206888e-03 -5.29593995e-01] [ 9.39108922e-02 2.94182668e-03 9.95576260e-01 -5.76176322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26463043999999 meters Centerline goodness : 0.110783 with order 1 Centerline is valid? [False, False] Translation: X:-6.94, Y:-0.54, Z:-0.58 [[ 9.95751374e-01 2.17652184e-03 -9.20568547e-02 -6.93714915e+00] [-2.68795973e-03 9.99981634e-01 -5.43205317e-03 -5.41587433e-01] [ 9.20433409e-02 5.65641953e-03 9.95738936e-01 -5.78889766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32463043999999 meters Centerline goodness : 0.211130 with order 3 Centerline is valid? [False, False] Translation: X:-6.94, Y:-0.55, Z:-0.58 [[ 9.95748862e-01 2.14974850e-03 -9.20846492e-02 -6.93716564e+00] [-2.61933992e-03 9.99984174e-01 -4.97900866e-03 -5.49766489e-01] [ 9.20724883e-02 5.19904320e-03 9.95738734e-01 -5.78699390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38463044 meters Centerline goodness : 0.098777 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.56, Z:-0.58 [[ 9.95428236e-01 2.22035491e-03 -9.54866353e-02 -6.97853294e+00] [-2.69089754e-03 9.99984863e-01 -4.79935318e-03 -5.58727537e-01] [ 9.54745336e-02 5.03435643e-03 9.95419142e-01 -5.82865962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44463044 meters Centerline goodness : 0.467084 with order 3 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.57, Z:-0.58 [[ 9.95435488e-01 2.53243378e-03 -9.54032331e-02 -6.97839709e+00] [-2.89362281e-03 9.99989160e-01 -3.64776428e-03 -5.69541176e-01] [ 9.53929612e-02 3.90717499e-03 9.95432025e-01 -5.83158071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50463044 meters Centerline goodness : 0.455358 with order 3 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.58, Z:-0.58 [[ 9.95452652e-01 2.98803130e-03 -9.52107578e-02 -6.97945671e+00] [-3.25194683e-03 9.99991288e-01 -2.61686633e-03 -5.77023605e-01] [ 9.52021091e-02 2.91458685e-03 9.95453697e-01 -5.82418953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56463044 meters Centerline goodness : 0.295073 with order 3 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.59, Z:-0.59 [[ 9.95195652e-01 1.64505731e-03 -9.78923297e-02 -6.97022472e+00] [-1.92225679e-03 9.99994406e-01 -2.73743097e-03 -5.89312413e-01] [ 9.78872788e-02 2.91245359e-03 9.95193247e-01 -5.85478650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62463043999999 meters Centerline goodness : 0.413642 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.60, Z:-0.59 [[ 9.95244817e-01 7.39684770e-04 -9.74022906e-02 -6.97119486e+00] [-1.00736120e-03 9.99995850e-01 -2.69900547e-03 -5.99135720e-01] [ 9.73998900e-02 2.78429050e-03 9.95241433e-01 -5.85585402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68463043999999 meters Centerline goodness : 0.201390 with order 1 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.61, Z:-0.58 [[ 9.95522224e-01 8.12284807e-03 -9.41781381e-02 -6.95664310e+00] [-8.53756517e-03 9.99955548e-01 -4.00144744e-03 -6.10317413e-01] [ 9.41414486e-02 4.78758185e-03 9.95547320e-01 -5.81118877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74463044 meters Centerline goodness : 0.107778 with order 1 Centerline is valid? [False, False] Translation: X:-6.95, Y:-0.61, Z:-0.58 [[ 9.95441069e-01 8.60241209e-03 -9.49898761e-02 -6.95398502e+00] [-8.96079065e-03 9.99954250e-01 -3.34688807e-03 -6.13320046e-01] [ 9.49567390e-02 4.18281424e-03 9.95472612e-01 -5.82009347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80463044 meters Centerline goodness : 0.104406 with order 1 Centerline is valid? [False, False] Translation: X:-6.95, Y:-0.62, Z:-0.58 [[ 9.95428758e-01 8.87488142e-03 -9.50937659e-02 -6.95334906e+00] [-9.17213348e-03 9.99954319e-01 -2.68923445e-03 -6.18118672e-01] [ 9.50655553e-02 3.54915402e-03 9.95464687e-01 -5.82449999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86463044 meters Centerline goodness : 0.242562 with order 3 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.63, Z:-0.58 [[ 9.95533173e-01 6.92663885e-03 -9.41579646e-02 -6.95771276e+00] [-7.31470247e-03 9.99966115e-01 -3.77689591e-03 -6.25286659e-01] [ 9.41286128e-02 4.44876267e-03 9.95550106e-01 -5.80438696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92463044 meters Centerline goodness : 0.105412 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95515760e-01 -1.68479326e-03 -9.45808312e-02 -6.97946169e+00] [ 1.39922916e-03 9.99994261e-01 -3.08549748e-03 -6.26234930e-01] [ 9.45854868e-02 2.93932111e-03 9.95512404e-01 -5.81942204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98463043999999 meters Centerline goodness : 0.102949 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95575992e-01 -1.47805734e-03 -9.39481707e-02 -6.98172059e+00] [ 1.23611329e-03 9.99995769e-01 -2.63343460e-03 -6.28464760e-01] [ 9.39516655e-02 2.50565369e-03 9.95573607e-01 -5.80928009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04463043999999 meters Centerline goodness : 0.103747 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95562897e-01 -1.16386229e-03 -9.40912486e-02 -6.98129188e+00] [ 9.69808609e-04 9.99997308e-01 -2.10809923e-03 -6.30879027e-01] [ 9.40934488e-02 2.00749487e-03 9.95561346e-01 -5.80999657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10463044 meters Centerline goodness : 0.107035 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95522517e-01 -9.97190815e-04 -9.45194351e-02 -6.98018093e+00] [ 8.29286783e-04 9.99998008e-01 -1.81566005e-03 -6.32372362e-01] [ 9.45210573e-02 1.72914675e-03 9.95521361e-01 -5.81067790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16463044 meters Centerline goodness : 0.101417 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95541427e-01 -7.85114621e-04 -9.43220627e-02 -6.98079206e+00] [ 6.46864520e-04 9.99998671e-01 -1.49628992e-03 -6.33712506e-01] [ 9.43231121e-02 1.42860501e-03 9.95540612e-01 -5.80894797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22463044 meters Centerline goodness : 0.113335 with order 1 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95519725e-01 -4.58038790e-04 -9.45529859e-02 -6.97948365e+00] [ 3.28223344e-04 9.99998982e-01 -1.38848614e-03 -6.33189310e-01] [ 9.45535257e-02 1.35123085e-03 9.95518862e-01 -5.81851288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28463044 meters Centerline goodness : 0.229479 with order 3 Centerline is valid? [False, False] Translation: X:-6.98, Y:-0.63, Z:-0.58 [[ 9.95518370e-01 1.49564563e-05 -9.45683583e-02 -6.97933863e+00] [-1.25639555e-04 9.99999314e-01 -1.16444909e-03 -6.32173576e-01] [ 9.45682760e-02 1.17111199e-03 9.95517689e-01 -5.82050234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34463044 meters Centerline goodness : 0.089978 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.64, Z:-0.58 [[ 9.95543517e-01 7.63190590e-03 -9.39939368e-02 -6.99878410e+00] [-7.87051653e-03 9.99966677e-01 -2.16811986e-03 -6.37157368e-01] [ 9.39742577e-02 2.89823851e-03 9.95570409e-01 -5.84866341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40463043999999 meters Centerline goodness : 0.114983 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.64, Z:-0.58 [[ 9.95537753e-01 7.55787543e-03 -9.40609454e-02 -6.99867180e+00] [-7.80303537e-03 9.99967050e-01 -2.23886656e-03 -6.37296363e-01] [ 9.40409250e-02 2.96283707e-03 9.95563924e-01 -5.84818806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46463044 meters Centerline goodness : 0.104446 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.64, Z:-0.59 [[ 9.95538562e-01 7.53034788e-03 -9.40545829e-02 -6.99843548e+00] [-7.78243390e-03 9.99967040e-01 -2.31369245e-03 -6.37076015e-01] [ 9.40340599e-02 3.03534363e-03 9.95564354e-01 -5.85157364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52463044 meters Centerline goodness : 0.215716 with order 3 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.64, Z:-0.59 [[ 9.95499756e-01 7.51456366e-03 -9.44656954e-02 -6.99643138e+00] [-7.79371541e-03 9.99966284e-01 -2.58645741e-03 -6.35214215e-01] [ 9.44430743e-02 3.31105647e-03 9.95524757e-01 -5.86439205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58463044 meters Centerline goodness : 0.119343 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.63, Z:-0.59 [[ 9.95461247e-01 7.23032001e-03 -9.48927187e-02 -6.99532553e+00] [-7.57144861e-03 9.99966102e-01 -3.23532468e-03 -6.32404758e-01] [ 9.48661096e-02 3.93911568e-03 9.95482247e-01 -5.86601098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64463044 meters Centerline goodness : 0.115684 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.62, Z:-0.59 [[ 9.95690701e-01 1.72966834e-03 -9.27202048e-02 -7.01798369e+00] [-1.86620832e-03 9.99997298e-01 -1.38591799e-03 -6.23683605e-01] [ 9.27175571e-02 1.55298087e-03 9.95691239e-01 -5.88190406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70463044 meters Centerline goodness : 0.118536 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.62, Z:-0.59 [[ 9.95760753e-01 1.50841592e-03 -9.19687342e-02 -7.01957721e+00] [-1.73059574e-03 9.99995774e-01 -2.33611755e-03 -6.16782466e-01] [ 9.19648217e-02 2.48537487e-03 9.95759155e-01 -5.88636638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76463043999999 meters Centerline goodness : 0.122376 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.61, Z:-0.59 [[ 9.95737235e-01 1.40123942e-03 -9.22247049e-02 -7.01901268e+00] [-1.68942725e-03 9.99993931e-01 -3.04684847e-03 -6.11531288e-01] [ 9.22198758e-02 3.18966740e-03 9.95733559e-01 -5.88798109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82463043999999 meters Centerline goodness : 0.098089 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.61, Z:-0.59 [[ 9.95802032e-01 1.85994026e-03 -9.15142309e-02 -7.02188249e+00] [-2.14868888e-03 9.99993020e-01 -3.05680841e-03 -6.06862987e-01] [ 9.15079066e-02 3.24061163e-03 9.95799077e-01 -5.87620290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88463044 meters Centerline goodness : 0.102967 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.60, Z:-0.59 [[ 9.95827806e-01 1.68315730e-03 -9.12367630e-02 -7.02303825e+00] [-2.02183754e-03 9.99991405e-01 -3.61980409e-03 -6.03223885e-01] [ 9.12298860e-02 3.78916748e-03 9.95822650e-01 -5.87129919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94463044 meters Centerline goodness : 0.447886 with order 2 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.60, Z:-0.59 [[ 9.95807924e-01 1.44066835e-03 -9.14576600e-02 -7.02232054e+00] [-1.81986265e-03 9.99990091e-01 -4.06285894e-03 -6.01276177e-01] [ 9.14509005e-02 4.21226751e-03 9.95800678e-01 -5.87403871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00463044 meters Centerline goodness : 0.099989 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.60, Z:-0.59 [[ 9.95797667e-01 1.14398708e-03 -9.15734499e-02 -7.02227018e+00] [-1.53816086e-03 9.99989854e-01 -4.23399500e-03 -6.01744824e-01] [ 9.15676771e-02 4.35705704e-03 9.95789323e-01 -5.87085651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06463044 meters Centerline goodness : 0.101846 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.60, Z:-0.58 [[ 9.95890024e-01 -6.64875804e-03 -9.03263729e-02 -7.00283142e+00] [ 6.41337083e-03 9.99975241e-01 -2.89595809e-03 -6.00461018e-01] [ 9.03433910e-02 2.30475924e-03 9.95908008e-01 -5.84374740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12463043999999 meters Centerline goodness : 0.101918 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.60, Z:-0.58 [[ 9.95811930e-01 -6.99279425e-03 -9.11575618e-02 -7.00030660e+00] [ 6.76936387e-03 9.99973279e-01 -2.75999148e-03 -6.04291256e-01] [ 9.11744260e-02 2.13135374e-03 9.95832657e-01 -5.84768014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18463043999999 meters Centerline goodness : 0.103717 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.61, Z:-0.59 [[ 9.95459717e-01 -8.96215787e-03 -9.47609152e-02 -7.04084361e+00] [ 8.65814525e-03 9.99955969e-01 -3.61888061e-03 -6.13500464e-01] [ 9.47891757e-02 2.78199610e-03 9.95493482e-01 -5.89155551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24463044 meters Centerline goodness : 0.105027 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.62, Z:-0.59 [[ 9.95653214e-01 -1.38645278e-03 -9.31276293e-02 -7.02227140e+00] [ 9.48325855e-04 9.99988275e-01 -4.74867496e-03 -6.16779812e-01] [ 9.31331212e-02 4.63971815e-03 9.95642855e-01 -5.85761185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30463044 meters Centerline goodness : 0.103396 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.62, Z:-0.59 [[ 9.95628958e-01 -1.38981377e-03 -9.33865399e-02 -7.02166282e+00] [ 9.36842541e-04 9.99987585e-01 -4.89416305e-03 -6.15653948e-01] [ 9.33921825e-02 4.78528198e-03 9.95617899e-01 -5.85710161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36463044 meters Centerline goodness : 0.104629 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.62, Z:-0.59 [[ 9.95566907e-01 6.63557945e-03 -9.38216527e-02 -7.04225720e+00] [-7.23903426e-03 9.99955235e-01 -6.09305555e-03 -6.15612889e-01] [ 9.37770218e-02 6.74522263e-03 9.95570375e-01 -5.88674827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42463044 meters Centerline goodness : 0.101847 with order 1 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.61, Z:-0.59 [[ 9.95717883e-01 8.64111883e-03 -9.20392810e-02 -7.04930333e+00] [-9.08851879e-03 9.99948828e-01 -4.44292954e-03 -6.13161659e-01] [ 9.19961793e-02 5.26040513e-03 9.95745465e-01 -5.85866988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48463043999999 meters Centerline goodness : 0.103358 with order 1 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.61, Z:-0.59 [[ 9.95641491e-01 8.04974397e-03 -9.29151340e-02 -7.04714513e+00] [-8.57476161e-03 9.99949440e-01 -5.25265841e-03 -6.10892082e-01] [ 9.28681537e-02 6.02648978e-03 9.95660177e-01 -5.85998130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54463043999999 meters Centerline goodness : 0.107769 with order 1 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.61, Z:-0.59 [[ 9.95475449e-01 -1.34131444e-05 -9.50191029e-02 -7.06503942e+00] [-3.61315361e-04 9.99992226e-01 -3.92651162e-03 -6.08679393e-01] [ 9.50184168e-02 3.94307778e-03 9.95467705e-01 -5.89422094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60463044 meters Centerline goodness : 0.438563 with order 2 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.61, Z:-0.59 [[ 9.95552052e-01 1.99000608e-05 -9.42131140e-02 -7.06763881e+00] [-4.02880463e-04 9.99991734e-01 -4.04602459e-03 -6.07342910e-01] [ 9.42122547e-02 4.06598470e-03 9.95543831e-01 -5.88547139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66463044 meters Centerline goodness : 0.458407 with order 2 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.60, Z:-0.59 [[ 9.95628368e-01 2.90066490e-04 -9.34027226e-02 -7.06981818e+00] [-6.76731208e-04 9.99991333e-01 -4.10811164e-03 -6.04805214e-01] [ 9.34007214e-02 4.15336102e-03 9.95619935e-01 -5.88343046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72463044 meters Centerline goodness : 0.101235 with order 1 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.60, Z:-0.59 [[ 9.95598325e-01 1.07102190e-04 -9.37228016e-02 -7.06893858e+00] [-5.63934359e-04 9.99988090e-01 -4.84781911e-03 -6.00730414e-01] [ 9.37211662e-02 4.87933410e-03 9.95586528e-01 -5.88637544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78463044 meters Centerline goodness : 0.108299 with order 1 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.60, Z:-0.59 [[ 9.95282101e-01 5.20699096e-06 -9.70233981e-02 -7.11100779e+00] [-5.03208093e-04 9.99986826e-01 -5.10832537e-03 -5.98633482e-01] [ 9.70220933e-02 5.13304777e-03 9.95268991e-01 -5.92734162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84463044 meters Centerline goodness : 0.540079 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.60, Z:-0.59 [[ 9.95213610e-01 -2.47403326e-04 -9.77231250e-02 -7.10880644e+00] [-2.84993312e-04 9.99985195e-01 -5.43401458e-03 -5.97475127e-01] [ 9.77230226e-02 5.43585571e-03 9.95198805e-01 -5.93319437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90463043999999 meters Centerline goodness : 0.237409 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.60, Z:-0.59 [[ 9.95160545e-01 -6.40358440e-04 -9.82602695e-02 -7.10718721e+00] [ 7.09646883e-05 9.99983188e-01 -5.79813611e-03 -5.97247157e-01] [ 9.82623304e-02 5.76310328e-03 9.95143859e-01 -5.93672563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96463044 meters Centerline goodness : 0.457354 with order 2 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.60, Z:-0.59 [[ 9.95203559e-01 -5.18084051e-04 -9.78243762e-02 -7.10860351e+00] [-3.76929025e-05 9.99983871e-01 -5.67944133e-03 -5.97003128e-01] [ 9.78257408e-02 5.65588751e-03 9.95187488e-01 -5.93294380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02463044 meters Centerline goodness : 0.083086 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.60, Z:-0.60 [[ 9.95149212e-01 7.01208480e-03 -9.81268341e-02 -7.12771139e+00] [-7.74288106e-03 9.99945040e-01 -7.06863299e-03 -6.00980254e-01] [ 9.80718751e-02 7.79412895e-03 9.95148812e-01 -5.96786197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08463044 meters Centerline goodness : 0.194904 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.60, Z:-0.60 [[ 9.95213331e-01 7.46060789e-03 -9.74410825e-02 -7.13012129e+00] [-8.18672005e-03 9.99941607e-01 -7.05411591e-03 -5.97970424e-01] [ 9.73827646e-02 7.81807306e-03 9.95216296e-01 -5.96019060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14463044 meters Centerline goodness : 0.303904 with order 3 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.60, Z:-0.60 [[ 0.9952556 0.00740408 -0.09701275 -7.17897264] [-0.00815372 0.99993987 -0.00733306 -0.59891305] [ 0.09695262 0.00808928 0.99525612 -0.59880555] [ 0. 0. 0. 1. ]] SLAMing on 94.20463044 meters Centerline goodness : 0.459753 with order 2 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.60, Z:-0.60 [[ 0.99530104 0.00733186 -0.09655093 -7.18028187] [-0.00808182 0.99994012 -0.00737872 -0.59891962] [ 0.09649105 0.00812436 0.99530069 -0.5986383 ] [ 0. 0. 0. 1. ]] SLAMing on 94.26463043999999 meters Centerline goodness : 0.234829 with order 3 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.60, Z:-0.60 [[ 9.95222986e-01 7.32387748e-03 -9.73528102e-02 -7.17825097e+00] [-8.04096005e-03 9.99943341e-01 -6.97551265e-03 -6.01703575e-01] [ 9.72962064e-02 7.72500058e-03 9.95225488e-01 -5.98709174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32463043999999 meters Centerline goodness : 0.238905 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.60, Z:-0.60 [[ 9.95213942e-01 7.34756478e-03 -9.74434376e-02 -7.17812300e+00] [-8.04520293e-03 9.99944730e-01 -6.76843371e-03 -6.03262302e-01] [ 9.73883204e-02 7.51999182e-03 9.95218049e-01 -5.98567629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38463044 meters Centerline goodness : 0.459789 with order 2 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.61, Z:-0.60 [[ 9.95273623e-01 7.41030326e-03 -9.68271810e-02 -7.17990875e+00] [-8.07117466e-03 9.99946720e-01 -6.43537074e-03 -6.05655292e-01] [ 9.67743339e-02 7.18646384e-03 9.95280404e-01 -5.98202927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44463044 meters Centerline goodness : 0.236113 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.61, Z:-0.60 [[ 9.95259254e-01 7.50981772e-03 -9.69671046e-02 -7.17868377e+00] [-8.17040329e-03 9.99946031e-01 -6.41719758e-03 -6.06173710e-01] [ 9.69136794e-02 7.17903563e-03 9.95266899e-01 -5.99319621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50463044 meters Centerline goodness : 0.093409 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.61, Z:-0.60 [[ 9.95237029e-01 7.64221841e-03 -9.71846365e-02 -7.17843393e+00] [-8.29026598e-03 9.99946002e-01 -6.26615444e-03 -6.06762215e-01] [ 9.71315014e-02 7.04199541e-03 9.95246644e-01 -5.99083614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56463044 meters Centerline goodness : 0.102565 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.61, Z:-0.60 [[ 9.95305215e-01 5.06353433e-03 -9.66534519e-02 -7.18149683e+00] [-5.88355680e-03 9.99949062e-01 -8.20103519e-03 -6.10609725e-01] [ 9.66070024e-02 8.73119917e-03 9.95284308e-01 -5.97470338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62463043999999 meters Centerline goodness : 0.106254 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.61, Z:-0.60 [[ 9.95309094e-01 1.20850424e-03 -9.67385506e-02 -7.18069586e+00] [-2.31706501e-03 9.99932927e-01 -1.13478307e-02 -6.13383076e-01] [ 9.67183481e-02 1.15187486e-02 9.95245135e-01 -5.98173904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68463043999999 meters Centerline goodness : 0.103485 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.62, Z:-0.60 [[ 9.95346797e-01 1.24117430e-03 -9.63494323e-02 -7.18170512e+00] [-2.29872495e-03 9.99938321e-01 -1.08659776e-02 -6.16408116e-01] [ 9.63300030e-02 1.10368969e-02 9.95288258e-01 -5.97990759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74463044 meters Centerline goodness : 0.104816 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.62, Z:-0.60 [[ 9.94913517e-01 2.14313543e-03 -1.00709980e-01 -7.22056884e+00] [-3.17913307e-03 9.99943661e-01 -1.01275740e-02 -6.19676455e-01] [ 1.00682601e-01 1.03962307e-02 9.94864278e-01 -6.02557285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80463044 meters Centerline goodness : 0.247881 with order 3 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.62, Z:-0.60 [[ 9.94934920e-01 3.28399726e-03 -1.00467506e-01 -7.22147409e+00] [-4.26357734e-03 9.99945432e-01 -9.53705289e-03 -6.17749633e-01] [ 1.00430704e-01 9.91709794e-03 9.94894630e-01 -6.02377542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86463044 meters Centerline goodness : 0.296870 with order 3 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.62, Z:-0.60 [[ 9.95050659e-01 4.12264934e-03 -9.92833799e-02 -7.22527662e+00] [-5.04943871e-03 9.99945979e-01 -9.08531402e-03 -6.16614226e-01] [ 9.92405609e-02 9.54167304e-03 9.95017722e-01 -6.01420668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92463044 meters Centerline goodness : 0.105759 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.62, Z:-0.60 [[ 9.95068882e-01 3.85772740e-03 -9.91112428e-02 -7.22591271e+00] [-4.79422586e-03 9.99946071e-01 -9.21253319e-03 -6.17685370e-01] [ 9.90703584e-02 9.64226678e-03 9.95033713e-01 -6.01223156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98463043999999 meters Centerline goodness : 0.192154 with order 2 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.62, Z:-0.60 [[ 9.95192152e-01 -4.11269898e-03 -9.78553305e-02 -7.20699434e+00] [ 3.34164336e-03 9.99962078e-01 -8.04213495e-03 -6.15282261e-01] [ 9.78846945e-02 7.67647197e-03 9.95168156e-01 -5.98269195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04463043999999 meters Centerline goodness : 0.574551 with order 3 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.62, Z:-0.60 [[ 9.95295173e-01 2.97440445e-03 -9.68435397e-02 -7.22618599e+00] [-3.83946926e-03 9.99954369e-01 -8.74747553e-03 -6.22244435e-01] [ 9.68131021e-02 9.07814796e-03 9.95261177e-01 -6.00796403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10463044 meters Centerline goodness : 0.458416 with order 2 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.62, Z:-0.60 [[ 9.95232923e-01 2.77833651e-03 -9.74869774e-02 -7.22422060e+00] [-3.70456380e-03 9.99949693e-01 -9.32131802e-03 -6.19465501e-01] [ 9.74561754e-02 9.63802930e-03 9.95193148e-01 -6.01413829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16463044 meters Centerline goodness : 0.094685 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.62, Z:-0.60 [[ 9.95202477e-01 2.58160719e-03 -9.78026824e-02 -7.22298905e+00] [-3.55152270e-03 9.99946216e-01 -9.74427109e-03 -6.17562753e-01] [ 9.77722664e-02 1.00448712e-02 9.95158120e-01 -6.02045003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22463044 meters Centerline goodness : 0.335504 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.62, Z:-0.60 [[ 9.95288172e-01 -4.93591243e-04 -9.69598402e-02 -7.22701784e+00] [-6.54689743e-04 9.99930037e-01 -1.18106802e-02 -6.22521843e-01] [ 9.69588863e-02 1.18185089e-02 9.95218216e-01 -5.99975172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28463044 meters Centerline goodness : 0.098427 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.63, Z:-0.60 [[ 9.95253507e-01 -4.07846134e-03 -9.72307742e-02 -7.22694990e+00] [ 2.71176160e-03 9.99895721e-01 -1.41842520e-02 -6.29000872e-01] [ 9.72784850e-02 1.38532599e-02 9.95160783e-01 -5.99210401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34463044 meters Centerline goodness : 0.466606 with order 2 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.64, Z:-0.60 [[ 9.95254962e-01 -7.42381434e-03 -9.70177710e-02 -7.22663154e+00] [ 5.87921603e-03 9.99851536e-01 -1.61969629e-02 -6.38007306e-01] [ 9.71236106e-02 1.55497192e-02 9.95150848e-01 -5.99877136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40463043999999 meters Centerline goodness : 0.097653 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.65, Z:-0.60 [[ 0.99522699 -0.01219922 -0.09682161 -7.22705914] [ 0.0104279 0.99976927 -0.0187796 -0.65494108] [ 0.09702837 0.01768031 0.99512457 -0.59960675] [ 0. 0. 0. 1. ]] SLAMing on 95.46463044 meters Centerline goodness : 0.100570 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.66, Z:-0.60 [[ 0.99509518 -0.01538938 -0.09771769 -7.22476096] [ 0.01341664 0.99969335 -0.02081332 -0.66383095] [ 0.09800803 0.01940019 0.99499651 -0.599451 ] [ 0. 0. 0. 1. ]] SLAMing on 95.52463044 meters Centerline goodness : 0.099525 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:-0.69, Z:-0.60 [[ 0.99556884 -0.01082321 -0.09341059 -7.243846 ] [ 0.00898311 0.99975768 -0.0200971 -0.68601043] [ 0.09360546 0.01916893 0.99542482 -0.60199076] [ 0. 0. 0. 1. ]] SLAMing on 95.58463044 meters Centerline goodness : 0.247425 with order 3 Centerline is valid? [False, False] Translation: X:-7.24, Y:-0.69, Z:-0.60 [[ 0.99556654 -0.01025524 -0.09349915 -7.24352324] [ 0.00851742 0.99978384 -0.01896659 -0.69445548] [ 0.09367345 0.01808613 0.99543869 -0.60204913] [ 0. 0. 0. 1. ]] SLAMing on 95.64463044 meters Centerline goodness : 0.102340 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:-0.71, Z:-0.61 [[ 9.95784265e-01 -2.57096527e-03 -9.16901729e-02 -7.26289650e+00] [ 8.97667230e-04 9.99832393e-01 -1.82860540e-02 -7.09199489e-01] [ 9.17218179e-02 1.81266576e-02 9.95619673e-01 -6.05117995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70463044 meters Centerline goodness : 0.103479 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:-0.71, Z:-0.60 [[ 9.95829740e-01 -2.35528659e-03 -9.12007737e-02 -7.26438646e+00] [ 7.38872813e-04 9.99842123e-01 -1.77533935e-02 -7.12706343e-01] [ 9.12281895e-02 1.76119715e-02 9.95674262e-01 -6.04751915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76463043999999 meters Centerline goodness : 0.097049 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.72, Z:-0.61 [[ 9.96055474e-01 3.76621075e-03 -8.86527458e-02 -7.28336837e+00] [-5.43460041e-03 9.99812504e-01 -1.85855369e-02 -7.21808658e-01] [ 8.85661267e-02 1.89940180e-02 9.95889185e-01 -6.08410941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82463043999999 meters Centerline goodness : 0.185353 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.72, Z:-0.61 [[ 9.95985872e-01 -5.18927676e-03 -8.93600300e-02 -7.30264977e+00] [ 3.62788298e-03 9.99838057e-01 -1.76266301e-02 -7.22887128e-01] [ 8.94370283e-02 1.72316869e-02 9.95843405e-01 -6.11504945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88463044 meters Centerline goodness : 0.464365 with order 2 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.72, Z:-0.61 [[ 9.95976888e-01 -5.27748743e-03 -8.94549477e-02 -7.30233936e+00] [ 3.73479568e-03 9.99841562e-01 -1.74040803e-02 -7.24900297e-01] [ 8.95326245e-02 1.69999658e-02 9.95838797e-01 -6.11548805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94463044 meters Centerline goodness : 0.092618 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.73, Z:-0.61 [[ 9.95860875e-01 -5.47049064e-03 -9.07259083e-02 -7.29896968e+00] [ 3.91957752e-03 9.99843286e-01 -1.72638606e-02 -7.26341457e-01] [ 9.08061320e-02 1.68367961e-02 9.95726252e-01 -6.11947539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00463044 meters Centerline goodness : 0.462436 with order 2 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.73, Z:-0.61 [[ 9.95601114e-01 -1.23261032e-03 -9.36851238e-02 -7.32037730e+00] [-6.83401827e-04 9.99791322e-01 -2.04167817e-02 -7.28912619e-01] [ 9.36907397e-02 2.03909952e-02 9.95392512e-01 -6.13903954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06463044 meters Centerline goodness : 0.223022 with order 2 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.73, Z:-0.62 [[ 9.95501828e-01 -4.21156721e-03 -9.46486788e-02 -7.36584967e+00] [ 2.18524074e-03 9.99766409e-01 -2.15023845e-02 -7.33468818e-01] [ 9.47171284e-02 2.11988329e-02 9.95278491e-01 -6.17181386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12463043999999 meters Centerline goodness : 0.105412 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:-0.74, Z:-0.61 [[ 0.9955221 -0.01293281 -0.09364022 -7.34576295] [ 0.0110199 0.99972049 -0.02091662 -0.73524799] [ 0.09388456 0.01979105 0.99538636 -0.61409393] [ 0. 0. 0. 1. ]] SLAMing on 96.18463043999999 meters Centerline goodness : 0.090256 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.74, Z:-0.62 [[ 0.99522722 -0.01388564 -0.09659182 -7.38863416] [ 0.01190187 0.99970687 -0.02108366 -0.73916527] [ 0.09685626 0.01983341 0.99510075 -0.61825441] [ 0. 0. 0. 1. ]] SLAMing on 96.24463044 meters Centerline goodness : 0.091254 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.74, Z:-0.62 [[ 9.95331693e-01 -6.25233108e-03 -9.63105865e-02 -7.40789899e+00] [ 4.16029001e-03 9.99751349e-01 -2.19073314e-02 -7.44035026e-01] [ 9.64236107e-02 2.14043813e-02 9.95110215e-01 -6.21729356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30463044 meters Centerline goodness : 0.274063 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.75, Z:-0.62 [[ 9.95690645e-01 1.91612186e-03 -9.27171363e-02 -7.43230389e+00] [-3.88969277e-03 9.99769594e-01 -2.11099093e-02 -7.49612088e-01] [ 9.26553246e-02 2.13795804e-02 9.95468686e-01 -6.23413225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36463044 meters Centerline goodness : 0.465116 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.75, Z:-0.62 [[ 9.95708248e-01 1.87412159e-03 -9.25287627e-02 -7.43299016e+00] [-3.84666807e-03 9.99769031e-01 -2.11444565e-02 -7.50091352e-01] [ 9.24677641e-02 2.14096372e-02 9.95485480e-01 -6.23130129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42463044 meters Centerline goodness : 0.092185 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.75, Z:-0.62 [[ 9.95748077e-01 1.69863661e-03 -9.21025659e-02 -7.43424977e+00] [-3.64990212e-03 9.99772362e-01 -2.10214890e-02 -7.51727313e-01] [ 9.20458920e-02 2.12682726e-02 9.95527606e-01 -6.22818519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48463043999999 meters Centerline goodness : 0.089664 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.75, Z:-0.62 [[ 9.96009323e-01 -6.06376919e-03 -8.90430194e-02 -7.41778808e+00] [ 4.30358215e-03 9.99791786e-01 -1.99465236e-02 -7.50032579e-01] [ 8.91454305e-02 1.94837195e-02 9.95828036e-01 -6.19010973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54463043999999 meters Centerline goodness : 0.282737 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.76, Z:-0.62 [[ 9.96295167e-01 -4.86398858e-06 -8.59996535e-02 -7.43717731e+00] [-1.81224741e-03 9.99776756e-01 -2.10512039e-02 -7.58370627e-01] [ 8.59805571e-02 2.11290653e-02 9.96072742e-01 -6.22352027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60463044 meters Centerline goodness : 0.091222 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.75, Z:-0.62 [[ 9.96142351e-01 -7.90476684e-03 -8.73952544e-02 -7.41528489e+00] [ 6.12203901e-03 9.99768070e-01 -2.06477018e-02 -7.53443790e-01] [ 8.75382001e-02 2.00330131e-02 9.95959709e-01 -6.19939821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66463044 meters Centerline goodness : 0.264824 with order 3 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.76, Z:-0.62 [[ 9.96154210e-01 1.70366796e-03 -8.76007263e-02 -7.43240587e+00] [-3.54284056e-03 9.99776468e-01 -2.08437588e-02 -7.57152869e-01] [ 8.75456339e-02 2.10739535e-02 9.95937574e-01 -6.23303730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72463044 meters Centerline goodness : 0.094675 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.75, Z:-0.62 [[ 9.95954863e-01 -5.89025414e-03 -8.96616697e-02 -7.40998663e+00] [ 4.04846242e-03 9.99777337e-01 -2.07095938e-02 -7.51787332e-01] [ 8.97636901e-02 2.02628288e-02 9.95756947e-01 -6.21020484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78463044 meters Centerline goodness : 0.095091 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.75, Z:-0.62 [[ 9.95743895e-01 -8.51912370e-03 -9.17688413e-02 -7.40332332e+00] [ 6.46290054e-03 9.99721875e-01 -2.26804712e-02 -7.54071779e-01] [ 9.19365358e-02 2.19908478e-02 9.95522012e-01 -6.23210015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84463044 meters Centerline goodness : 0.093491 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.76, Z:-0.63 [[ 9.95867505e-01 -3.28859637e-04 -9.08174267e-02 -7.41851199e+00] [-1.86922649e-03 9.99707390e-01 -2.41172362e-02 -7.57692694e-01] [ 9.07987837e-02 2.41873302e-02 9.95575489e-01 -6.26899457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90463043999999 meters Centerline goodness : 0.491738 with order 3 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.75, Z:-0.62 [[ 9.95905638e-01 -7.63178240e-03 -9.00761637e-02 -7.40060766e+00] [ 5.54976002e-03 9.99712137e-01 -2.33418931e-02 -7.48772752e-01] [ 9.02283743e-02 2.27464219e-02 9.95661308e-01 -6.23182172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96463044 meters Centerline goodness : 0.091462 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.75, Z:-0.63 [[ 9.95842587e-01 1.76177807e-03 -9.10738063e-02 -7.41587769e+00] [-4.06373909e-03 9.99676773e-01 -2.50965225e-02 -7.47913839e-01] [ 9.10001543e-02 2.53622861e-02 9.95527863e-01 -6.25581992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02463044 meters Centerline goodness : 0.092155 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.74, Z:-0.63 [[ 9.95826945e-01 1.46389027e-03 -9.12499419e-02 -7.41501740e+00] [-3.82549697e-03 9.99662095e-01 -2.57111105e-02 -7.42724454e-01] [ 9.11814699e-02 2.59528930e-02 9.95496051e-01 -6.25789121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08463044 meters Centerline goodness : 0.330499 with order 3 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.73, Z:-0.62 [[ 9.95506278e-01 -3.68158241e-03 -9.46239751e-02 -7.39722188e+00] [ 1.27367012e-03 9.99674139e-01 -2.54949776e-02 -7.27950686e-01] [ 9.46870027e-02 2.52598905e-02 9.95186570e-01 -6.22279360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14463044 meters Centerline goodness : 0.259981 with order 2 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.71, Z:-0.62 [[ 9.95803606e-01 -7.97141561e-03 -9.11681640e-02 -7.41638997e+00] [ 5.81425421e-03 9.99697386e-01 -2.39025110e-02 -7.12865514e-01] [ 9.13311121e-02 2.32721318e-02 9.95548610e-01 -6.24399444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20463044 meters Centerline goodness : 0.285300 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.71, Z:-0.62 [[ 9.95932902e-01 5.78073006e-04 -9.00961747e-02 -7.39717723e+00] [-2.78526405e-03 9.99699021e-01 -2.43743655e-02 -7.10754893e-01] [ 9.00549675e-02 2.45261742e-02 9.95634757e-01 -6.22742702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26463043999999 meters Centerline goodness : 0.090885 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.70, Z:-0.63 [[ 9.96193455e-01 -4.81465090e-03 -8.70368829e-02 -7.41527846e+00] [ 2.75679958e-03 9.99714171e-01 -2.37481969e-02 -6.97319641e-01] [ 8.71263445e-02 2.34178551e-02 9.95921987e-01 -6.25670007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32463043999999 meters Centerline goodness : 0.093121 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.68, Z:-0.63 [[ 9.96151309e-01 -1.34711971e-04 -8.76501622e-02 -7.41334370e+00] [-1.70900708e-03 9.99778863e-01 -2.09595941e-02 -6.83181181e-01] [ 8.76336030e-02 2.10287218e-02 9.95930793e-01 -6.25792900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38463044 meters Centerline goodness : 0.097331 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.67, Z:-0.63 [[ 9.96110207e-01 3.08555119e-03 -8.80621102e-02 -7.41168202e+00] [-4.77426180e-03 9.99808613e-01 -1.89721806e-02 -6.74198103e-01] [ 8.79867167e-02 1.93188143e-02 9.95934296e-01 -6.26202565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44463044 meters Centerline goodness : 0.089319 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.67, Z:-0.63 [[ 9.96108971e-01 6.86963631e-03 -8.78619730e-02 -7.41245685e+00] [-8.33034502e-03 9.99832946e-01 -1.62691851e-02 -6.67759483e-01] [ 8.77355319e-02 1.69378017e-02 9.95999793e-01 -6.25614585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50463044 meters Centerline goodness : 0.094475 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.62 [[ 9.96149159e-01 1.86030277e-03 -8.76549645e-02 -7.39048917e+00] [-3.13002445e-03 9.99892131e-01 -1.43502324e-02 -6.58465530e-01] [ 8.76188134e-02 1.45693341e-02 9.96047528e-01 -6.23730995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56463044 meters Centerline goodness : 0.235598 with order 2 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.63 [[ 9.96100387e-01 1.76080226e-03 -8.82095137e-02 -7.38800418e+00] [-3.05065349e-03 9.99890362e-01 -1.44899100e-02 -6.58086545e-01] [ 8.81743287e-02 1.47025016e-02 9.95996548e-01 -6.25166795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62463043999999 meters Centerline goodness : 0.098679 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.62 [[ 9.96077172e-01 1.79685949e-03 -8.84705527e-02 -7.38758351e+00] [-3.08745558e-03 9.99890781e-01 -1.44531795e-02 -6.58436090e-01] [ 8.84349197e-02 1.46696311e-02 9.95973929e-01 -6.24869402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68463043999999 meters Centerline goodness : 0.095266 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.62 [[ 9.96070322e-01 2.01027331e-03 -8.85430571e-02 -7.38803648e+00] [-3.28820184e-03 9.99892495e-01 -1.42893539e-02 -6.59135458e-01] [ 8.85048128e-02 1.45243487e-02 9.95969850e-01 -6.24066064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74463044 meters Centerline goodness : 0.092289 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.62 [[ 9.96093470e-01 2.58499989e-03 -8.82672976e-02 -7.38804687e+00] [-3.84674614e-03 9.99892802e-01 -1.41274964e-02 -6.58922051e-01] [ 8.82213160e-02 1.44118488e-02 9.95996636e-01 -6.24717086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80463044 meters Centerline goodness : 0.089412 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.66, Z:-0.62 [[ 9.96125214e-01 3.20020053e-03 -8.78880977e-02 -7.38948823e+00] [-4.46985192e-03 9.99888427e-01 -1.42532238e-02 -6.57496979e-01] [ 8.78326786e-02 1.45908424e-02 9.96028377e-01 -6.24013747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86463044 meters Centerline goodness : 0.100690 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.66, Z:-0.63 [[ 9.95861836e-01 -1.05573564e-03 -9.08740310e-02 -7.40999648e+00] [ 1.13708062e-04 9.99946215e-01 -1.03708544e-02 -6.57759076e-01] [ 9.08800922e-02 1.03176050e-02 9.95808393e-01 -6.25311777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92463044 meters Centerline goodness : 0.274545 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.66, Z:-0.63 [[ 9.95867542e-01 -6.29322360e-04 -9.08154329e-02 -7.40887488e+00] [-2.33586002e-04 9.99954934e-01 -9.49083970e-03 -6.62452034e-01] [ 9.08173130e-02 9.47283242e-03 9.95822515e-01 -6.26818658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98463043999999 meters Centerline goodness : 0.276473 with order 3 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.67, Z:-0.63 [[ 9.95957954e-01 -4.51421302e-04 -8.98195405e-02 -7.41205321e+00] [-3.62120980e-04 9.99959064e-01 -9.04101811e-03 -6.65712052e-01] [ 8.98199449e-02 9.03699944e-03 9.95917020e-01 -6.25698707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04463043999999 meters Centerline goodness : 0.236136 with order 2 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.67, Z:-0.63 [[ 9.95992111e-01 -2.23513995e-04 -8.94408496e-02 -7.41335814e+00] [-5.68558955e-04 9.99960851e-01 -8.83025465e-03 -6.66934580e-01] [ 8.94393217e-02 8.84571636e-03 9.95952991e-01 -6.25196606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10463044 meters Centerline goodness : 0.106589 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.67, Z:-0.63 [[ 9.95993083e-01 1.77163094e-05 -8.94303006e-02 -7.41324235e+00] [-7.97262797e-04 9.99962001e-01 -8.68109119e-03 -6.66833843e-01] [ 8.94267486e-02 8.71760623e-03 9.95955250e-01 -6.25422748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16463044 meters Centerline goodness : 0.236082 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.67, Z:-0.63 [[ 9.95890148e-01 1.19674183e-02 -8.97752445e-02 -7.43159925e+00] [-1.26138436e-02 9.99898418e-01 -6.63657235e-03 -6.69484146e-01] [ 8.96867023e-02 7.74170791e-03 9.95939939e-01 -6.29790632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22463044 meters Centerline goodness : 0.273177 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.67, Z:-0.63 [[ 9.95809840e-01 1.19907152e-02 -9.06586245e-02 -7.42903742e+00] [-1.26849984e-02 9.99894435e-01 -7.08588735e-03 -6.66997440e-01] [ 9.05640892e-02 8.20620085e-03 9.95856819e-01 -6.30457273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28463044 meters Centerline goodness : 0.511169 with order 3 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.66, Z:-0.63 [[ 9.95641453e-01 1.42524067e-02 -9.21681430e-02 -7.42257595e+00] [-1.48123333e-02 9.99875743e-01 -5.39380852e-03 -6.63651025e-01] [ 9.20798157e-02 6.73552461e-03 9.95728849e-01 -6.33123901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34463044 meters Centerline goodness : 0.096983 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.66, Z:-0.64 [[ 9.95807130e-01 4.96631889e-03 -9.13427313e-02 -7.44384686e+00] [-5.50873968e-03 9.99968655e-01 -5.68714151e-03 -6.60564366e-01] [ 9.13116239e-02 6.16647940e-03 9.95803275e-01 -6.35613030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40463043999999 meters Centerline goodness : 0.093161 with order 1 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.66, Z:-0.63 [[ 9.95825177e-01 2.51732888e-03 -9.12462618e-02 -7.44564312e+00] [-3.22085286e-03 9.99966207e-01 -7.56373509e-03 -6.63455121e-01] [ 9.12241379e-02 7.82604862e-03 9.95799633e-01 -6.34175586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46463044 meters Centerline goodness : 0.446744 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.67, Z:-0.64 [[ 9.95800041e-01 -1.07114825e-03 -9.15485183e-02 -7.44389668e+00] [ 1.41702997e-04 9.99948392e-01 -1.01583853e-02 -6.68573776e-01] [ 9.15546748e-02 1.01027478e-02 9.95748802e-01 -6.35153182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52463044 meters Centerline goodness : 0.470180 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.67, Z:-0.64 [[ 9.95746912e-01 -9.46060455e-04 -9.21259628e-02 -7.44203229e+00] [ 5.34782820e-05 9.99953043e-01 -9.69070140e-03 -6.71473215e-01] [ 9.21308048e-02 9.64455925e-03 9.95700205e-01 -6.35688247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58463044 meters SLAMing on 98.64463044 meters Centerline goodness : 0.089633 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.68, Z:-0.64 [[ 9.95940132e-01 5.89849169e-03 -8.98246170e-02 -7.51315177e+00] [-6.78204611e-03 9.99931547e-01 -9.53440156e-03 -6.84237688e-01] [ 8.97622296e-02 1.01048878e-02 9.95911961e-01 -6.39221920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70463044 meters Centerline goodness : 0.278229 with order 2 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.69, Z:-0.64 [[ 9.96353406e-01 7.60399222e-04 -8.53188842e-02 -7.49417662e+00] [-1.38660464e-03 9.99972535e-01 -7.28056773e-03 -6.87977753e-01] [ 8.53110048e-02 7.37232201e-03 9.96327096e-01 -6.38200385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76463043999999 meters Centerline goodness : 0.087285 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.69, Z:-0.64 [[ 9.96393004e-01 1.37477312e-03 -8.48474649e-02 -7.49486471e+00] [-1.96308704e-03 9.99974606e-01 -6.85074067e-03 -6.88359663e-01] [ 8.48358921e-02 6.99259304e-03 9.96370401e-01 -6.38786428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82463043999999 meters Centerline goodness : 0.087391 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.69, Z:-0.64 [[ 9.96396794e-01 5.54893576e-03 -8.46323746e-02 -7.49518499e+00] [-5.85864789e-03 9.99977018e-01 -3.41157554e-03 -6.85877672e-01] [ 8.46114990e-02 3.89511422e-03 9.96406404e-01 -6.39049117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88463044 meters Centerline goodness : 0.244814 with order 3 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.68, Z:-0.64 [[ 9.96240975e-01 8.24692753e-03 -8.62317063e-02 -7.48923462e+00] [-8.44436177e-03 9.99962493e-01 -1.92505748e-03 -6.79634293e-01] [ 8.62125962e-02 2.64599287e-03 9.96273249e-01 -6.41512799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94463044 meters Centerline goodness : 0.466858 with order 2 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.68, Z:-0.64 [[ 9.96188023e-01 8.03710977e-03 -8.68609699e-02 -7.48735517e+00] [-8.26458864e-03 9.99963295e-01 -2.25958152e-03 -6.78613380e-01] [ 8.68396211e-02 2.96883823e-03 9.96217881e-01 -6.42041560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00463044 meters Centerline goodness : 0.088748 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.68, Z:-0.64 [[ 9.96230463e-01 4.01242207e-03 -8.66531354e-02 -7.48859528e+00] [-4.51357153e-03 9.99974199e-01 -5.58824456e-03 -6.81064866e-01] [ 8.66284772e-02 5.95829459e-03 9.96222869e-01 -6.41201345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06463044 meters Centerline goodness : 0.086666 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.69, Z:-0.64 [[ 9.96265555e-01 5.22642289e-04 -8.63404313e-02 -7.48966701e+00] [-1.20219059e-03 9.99968710e-01 -7.81876034e-03 -6.87834863e-01] [ 8.63336433e-02 7.89335927e-03 9.96235011e-01 -6.40662202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12463043999999 meters Centerline goodness : 0.089866 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.69, Z:-0.64 [[ 9.96150718e-01 -1.84607505e-03 -8.76375447e-02 -7.48458175e+00] [ 1.00289257e-03 9.99952797e-01 -9.66430264e-03 -6.92163116e-01] [ 8.76512489e-02 9.53921097e-03 9.96105548e-01 -6.42521759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18463043999999 meters Centerline goodness : 0.102594 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.70, Z:-0.64 [[ 9.96104364e-01 -1.52145673e-03 -8.81690521e-02 -7.48267025e+00] [ 7.27883356e-04 9.99958945e-01 -9.03204081e-03 -6.95534915e-01] [ 8.81791743e-02 8.93267848e-03 9.96064576e-01 -6.43326141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24463044 meters Centerline goodness : 0.171592 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.70, Z:-0.64 [[ 9.96112991e-01 -1.34256149e-03 -8.80744352e-02 -7.48290005e+00] [ 5.79960901e-04 9.99962129e-01 -8.68361007e-03 -6.97439034e-01] [ 8.80827580e-02 8.59877707e-03 9.96076046e-01 -6.43275784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30463044 meters Centerline goodness : 0.138955 with order 3 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.70, Z:-0.64 [[ 9.96109244e-01 -1.22555311e-03 -8.81185136e-02 -7.48311127e+00] [ 4.89606707e-04 9.99964827e-01 -8.37290836e-03 -6.99649310e-01] [ 8.81256756e-02 8.29718800e-03 9.96074807e-01 -6.42893323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36463044 meters Centerline goodness : 0.239219 with order 3 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.70, Z:-0.64 [[ 9.96127144e-01 -8.78608251e-04 -8.79200784e-02 -7.48385036e+00] [ 1.96425357e-04 9.99969813e-01 -7.76747599e-03 -7.02719523e-01] [ 8.79242490e-02 7.72012395e-03 9.96097247e-01 -6.42539168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42463044 meters Centerline goodness : 0.103419 with order 1 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.71, Z:-0.64 [[ 9.96173888e-01 6.16518931e-03 -8.71755435e-02 -7.46511067e+00] [-7.04007109e-03 9.99927860e-01 -9.73197758e-03 -7.08618981e-01] [ 8.71092552e-02 1.03084640e-02 9.96145428e-01 -6.39407062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48463043999999 meters Centerline goodness : 0.159105 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.72, Z:-0.64 [[ 9.96110829e-01 5.65982047e-03 -8.79271434e-02 -7.51208869e+00] [-6.44826228e-03 9.99941489e-01 -8.68553835e-03 -7.16229039e-01] [ 8.78728401e-02 9.21873609e-03 9.96089042e-01 -6.41774083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54463043999999 meters Centerline goodness : 0.088932 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.72, Z:-0.64 [[ 9.96269873e-01 -1.97177550e-03 -8.62696461e-02 -7.49324167e+00] [ 1.36197548e-03 9.99973676e-01 -7.12682257e-03 -7.20424152e-01] [ 8.62814276e-02 6.98274148e-03 9.96246333e-01 -6.38564027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60463044 meters Centerline goodness : 0.169241 with order 3 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.73, Z:-0.64 [[ 9.96320294e-01 -1.74637618e-03 -8.56902731e-02 -7.49522374e+00] [ 1.21185707e-03 9.99979487e-01 -6.28942515e-03 -7.28213874e-01] [ 8.56994990e-02 6.16243754e-03 9.96301972e-01 -6.37757158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66463044 meters Centerline goodness : 0.095346 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.74, Z:-0.64 [[ 9.96366469e-01 4.71271855e-03 -8.50391085e-02 -7.51177316e+00] [-5.35175528e-03 9.99959119e-01 -7.28821865e-03 -7.43407127e-01] [ 8.50012847e-02 7.71684518e-03 9.96350958e-01 -6.42372931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72463044 meters Centerline goodness : 0.092496 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.74, Z:-0.64 [[ 9.96248906e-01 5.65136746e-03 -8.63491686e-02 -7.50754624e+00] [-6.25332564e-03 9.99957987e-01 -6.70230885e-03 -7.43711887e-01] [ 8.63076636e-02 7.21713733e-03 9.96242390e-01 -6.43784577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78463044 meters Centerline goodness : 0.177592 with order 2 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.74, Z:-0.64 [[ 9.96262466e-01 6.58393390e-03 -8.61263656e-02 -7.50765084e+00] [-7.15470981e-03 9.99954432e-01 -6.32018962e-03 -7.42255447e-01] [ 8.60808292e-02 6.91277685e-03 9.96264174e-01 -6.44453029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84463044 meters Centerline goodness : 0.091738 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.74, Z:-0.65 [[ 9.96203108e-01 7.29324376e-03 -8.67535383e-02 -7.50566063e+00] [-7.85900953e-03 9.99950010e-01 -6.18177151e-03 -7.40068286e-01] [ 8.67041163e-02 6.84009688e-03 9.96210625e-01 -6.45265325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90463043999999 meters Centerline goodness : 0.092360 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.74, Z:-0.65 [[ 9.96172062e-01 7.32616164e-03 -8.71065472e-02 -7.50430896e+00] [-7.88172795e-03 9.99950723e-01 -6.03578695e-03 -7.41036644e-01] [ 8.70580357e-02 6.69923244e-03 9.96180716e-01 -6.45931240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96463044 meters Centerline goodness : 0.093697 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.75, Z:-0.65 [[ 9.96212424e-01 3.29276570e-03 -8.68905326e-02 -7.50512117e+00] [-4.10011319e-03 9.99950054e-01 -9.11471521e-03 -7.45125848e-01] [ 8.68561802e-02 9.43645355e-03 9.96176168e-01 -6.45529665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02463044 meters Centerline goodness : 0.107055 with order 3 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.75, Z:-0.65 [[ 9.96222042e-01 3.30118997e-03 -8.67798682e-02 -7.50564922e+00] [-4.07687365e-03 9.99953295e-01 -8.76281128e-03 -7.47333541e-01] [ 8.67468875e-02 9.08349630e-03 9.96188972e-01 -6.45109370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08463044 meters Centerline goodness : 0.094264 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.75, Z:-0.64 [[ 9.96219472e-01 3.16720082e-03 -8.68143510e-02 -7.50566366e+00] [-3.89284277e-03 9.99958880e-01 -8.19052586e-03 -7.51959973e-01] [ 8.67848401e-02 8.49751597e-03 9.96190837e-01 -6.44766960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14463044 meters Centerline goodness : 0.098593 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.76, Z:-0.65 [[ 9.96161807e-01 4.97402157e-05 -8.75308579e-02 -7.50242516e+00] [-9.87212190e-04 9.99942619e-01 -1.06669321e-02 -7.56099495e-01] [ 8.75253047e-02 1.07124019e-02 9.96104696e-01 -6.46341316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20463044 meters Centerline goodness : 0.097088 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.76, Z:-0.65 [[ 9.96189787e-01 3.58436727e-04 -8.72111222e-02 -7.50355119e+00] [-1.27051513e-03 9.99945080e-01 -1.04029983e-02 -7.56152799e-01] [ 8.72026038e-02 1.04741637e-02 9.96135532e-01 -6.45892943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26463043999999 meters Centerline goodness : 0.099492 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.76, Z:-0.65 [[ 9.96240293e-01 5.86874035e-04 -8.66310223e-02 -7.50520997e+00] [-1.48874960e-03 9.99945367e-01 -1.03462979e-02 -7.55212249e-01] [ 8.66202175e-02 1.04363708e-02 9.96186740e-01 -6.45652562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32463043999999 meters Centerline goodness : 0.086585 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.76, Z:-0.65 [[ 9.96023454e-01 -5.85871007e-04 -8.90894838e-02 -7.54843191e+00] [-3.88738555e-04 9.99940278e-01 -1.09219258e-02 -7.57422449e-01] [ 8.90905621e-02 1.09131268e-02 9.95963742e-01 -6.50007722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38463044 meters Centerline goodness : 0.083574 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.75, Z:-0.65 [[ 9.96227840e-01 -5.49377194e-04 -8.67743556e-02 -7.50648660e+00] [-5.07881576e-04 9.99925918e-01 -1.21614531e-02 -7.52714573e-01] [ 8.67746084e-02 1.21596493e-02 9.96153758e-01 -6.45907895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44463044 meters Centerline goodness : 0.100778 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.75, Z:-0.65 [[ 9.96256668e-01 -3.97759870e-04 -8.64435816e-02 -7.50723629e+00] [-6.26027377e-04 9.99929993e-01 -1.18159839e-02 -7.54116014e-01] [ 8.64422299e-02 1.18258688e-02 9.96186674e-01 -6.45959755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50463044 meters Centerline goodness : 0.084436 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.76, Z:-0.65 [[ 9.96226543e-01 -5.88213226e-04 -8.67889968e-02 -7.50597844e+00] [-4.03414604e-04 9.99934848e-01 -1.14077507e-02 -7.59831721e-01] [ 8.67900525e-02 1.13997160e-02 9.96161399e-01 -6.46339856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56463044 meters Centerline goodness : 0.083910 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.76, Z:-0.65 [[ 9.96184425e-01 -4.35642560e-04 -8.72720034e-02 -7.50434400e+00] [-5.11231952e-04 9.99941255e-01 -1.08270492e-02 -7.63177628e-01] [ 8.72715933e-02 1.08303540e-02 9.96125681e-01 -6.46858935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62463043999999 meters Centerline goodness : 0.113133 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.77, Z:-0.65 [[ 9.96232922e-01 -4.17152694e-03 -8.66173415e-02 -7.50593493e+00] [ 2.99338601e-03 9.99901298e-01 -1.37271070e-02 -7.67815091e-01] [ 8.66660552e-02 1.34161168e-02 9.96147079e-01 -6.46788776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68463043999999 meters Centerline goodness : 0.084793 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.78, Z:-0.65 [[ 9.96303400e-01 2.37751073e-03 -8.58713091e-02 -7.52333561e+00] [-3.61455434e-03 9.99891885e-01 -1.42531785e-02 -7.78767203e-01] [ 8.58281380e-02 1.45108767e-02 9.96204279e-01 -6.50065361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74463044 meters Centerline goodness : 0.277237 with order 2 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.78, Z:-0.65 [[ 9.96230732e-01 1.79514667e-05 -8.67428806e-02 -7.51939324e+00] [-1.40384729e-03 9.99872346e-01 -1.59160801e-02 -7.84720656e-01] [ 8.67315218e-02 1.59778619e-02 9.96103585e-01 -6.51951592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80463044 meters Centerline goodness : 0.120015 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.79, Z:-0.65 [[ 9.96242287e-01 1.53947888e-04 -8.66099410e-02 -7.51952399e+00] [-1.49923555e-03 9.99879241e-01 -1.54678844e-02 -7.87551733e-01] [ 8.65971008e-02 1.55396092e-02 9.96122213e-01 -6.52224839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86463044 meters Centerline goodness : 0.083262 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.79, Z:-0.65 [[ 9.96221936e-01 6.49115473e-04 -8.68414190e-02 -7.51838422e+00] [-1.95072572e-03 9.99887021e-01 -1.49043352e-02 -7.88889116e-01] [ 8.68219331e-02 1.50174294e-02 9.96110651e-01 -6.52911636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92463044 meters Centerline goodness : 0.119185 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:-0.79, Z:-0.66 [[ 0.99610788 0.00760782 -0.08781354 -7.53697693] [-0.00910813 0.99981911 -0.01669713 -0.79279223] [ 0.08767063 0.01743196 0.99599698 -0.65657765] [ 0. 0. 0. 1. ]] SLAMing on 100.98463043999999 meters Centerline goodness : 0.082959 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:-0.79, Z:-0.66 [[ 0.99615015 0.00877256 -0.0872234 -7.53789293] [-0.01020599 0.99981988 -0.01600165 -0.78865192] [ 0.08706731 0.01683024 0.99606025 -0.65711259] [ 0. 0. 0. 1. ]] SLAMing on 101.04463043999999 meters Centerline goodness : 0.083652 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.78, Z:-0.66 [[ 9.96252325e-01 1.69840087e-03 -8.64778612e-02 -7.55374323e+00] [-2.99142582e-03 9.99885633e-01 -1.48246994e-02 -7.80545987e-01] [ 8.64427927e-02 1.50278334e-02 9.96143467e-01 -6.61871498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10463044 meters Centerline goodness : 0.102286 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.78, Z:-0.66 [[ 9.96340259e-01 -4.72862322e-03 -8.53447655e-02 -7.57834732e+00] [ 3.71226101e-03 9.99920340e-01 -1.20636741e-02 -7.79068501e-01] [ 8.53950116e-02 1.17027021e-02 9.96278444e-01 -6.63162683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16463044 meters Centerline goodness : 0.084291 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.78, Z:-0.66 [[ 9.96383708e-01 -4.46410994e-03 -8.48503230e-02 -7.58012317e+00] [ 3.47982360e-03 9.99924974e-01 -1.17446279e-02 -7.79411775e-01] [ 8.48963864e-02 1.14068917e-02 9.96324489e-01 -6.62403222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22463044 meters Centerline goodness : 0.084200 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.78, Z:-0.66 [[ 9.96301867e-01 -4.82141063e-03 -8.57866210e-02 -7.57722800e+00] [ 3.83372174e-03 9.99924503e-01 -1.16743437e-02 -7.82595220e-01] [ 8.58364312e-02 1.13022884e-02 9.96245133e-01 -6.63137840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28463044 meters Centerline goodness : 0.084313 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.79, Z:-0.66 [[ 9.96319406e-01 -8.38043172e-03 -8.53077330e-02 -7.57850600e+00] [ 7.17320125e-03 9.99869889e-01 -1.44481829e-02 -7.86614208e-01] [ 8.54177156e-02 1.37830754e-02 9.96249889e-01 -6.62914605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34463043999999 meters Centerline goodness : 0.083199 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.79, Z:-0.66 [[ 0.99631469 -0.0119059 -0.08494285 -7.57879588] [ 0.01052018 0.99980449 -0.01674257 -0.79484991] [ 0.08512558 0.01578725 0.99624515 -0.66329404] [ 0. 0. 0. 1. ]] SLAMing on 101.40463043999999 meters Centerline goodness : 0.109778 with order 2 Centerline is valid? [False, False] Translation: X:-7.59, Y:-0.80, Z:-0.67 [[ 9.96238170e-01 -4.77283055e-03 -8.65258848e-02 -7.59491839e+00] [ 3.26899775e-03 9.99841283e-01 -1.75135185e-02 -8.04577304e-01] [ 8.65957407e-02 1.71647827e-02 9.96095652e-01 -6.67380291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46463044 meters Centerline goodness : 0.100902 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:-0.81, Z:-0.67 [[ 9.96211967e-01 -4.44423608e-03 -8.68444911e-02 -7.59410344e+00] [ 2.99270082e-03 9.99853765e-01 -1.68372430e-02 -8.07940725e-01] [ 8.69066201e-02 1.65135634e-02 9.96079586e-01 -6.67447526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52463044 meters Centerline goodness : 0.101048 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.82, Z:-0.67 [[ 9.96391316e-01 -6.23743976e-03 -8.46489156e-02 -7.60125666e+00] [ 4.76636952e-03 9.99834284e-01 -1.75694740e-02 -8.16863395e-01] [ 8.47444765e-02 1.71026033e-02 9.96255928e-01 -6.65263829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58463044 meters Centerline goodness : 0.083472 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.83, Z:-0.66 [[ 9.96621269e-01 -1.05119672e-03 -8.21275865e-02 -7.58242415e+00] [-6.94732460e-04 9.99774435e-01 -2.12272736e-02 -8.25893234e-01] [ 8.21313754e-02 2.12126091e-02 9.96395736e-01 -6.64173753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64463044 meters Centerline goodness : 0.100598 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.83, Z:-0.67 [[ 9.96345254e-01 5.23030736e-04 -8.54158093e-02 -7.62337869e+00] [-2.13302950e-03 9.99821763e-01 -1.87587792e-02 -8.30365835e-01] [ 8.53907736e-02 1.88724150e-02 9.96168785e-01 -6.68766120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70463044 meters Centerline goodness : 0.083958 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.83, Z:-0.67 [[ 9.96289893e-01 4.57324558e-03 -8.59391297e-02 -7.62140008e+00] [-5.90952252e-03 9.99865467e-01 -1.53011467e-02 -8.28627161e-01] [ 8.58575922e-02 1.57522370e-02 9.96182885e-01 -6.69617778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76463043999999 meters Centerline goodness : 0.097773 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.83, Z:-0.67 [[ 9.96298749e-01 4.70420332e-03 -8.58293233e-02 -7.62203995e+00] [-6.05001460e-03 9.99862697e-01 -1.54267155e-02 -8.27443845e-01] [ 8.57449683e-02 1.58888861e-02 9.96190415e-01 -6.69307905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82463043999999 meters Centerline goodness : 0.100749 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.83, Z:-0.67 [[ 9.96277188e-01 4.46340603e-03 -8.60920614e-02 -7.62098439e+00] [-5.81961719e-03 9.99862800e-01 -1.55084937e-02 -8.28181018e-01] [ 8.60110289e-02 1.59517814e-02 9.96166474e-01 -6.69871414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88463044 meters Centerline goodness : 0.084913 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.83, Z:-0.67 [[ 9.96298170e-01 2.59903437e-03 -8.59255616e-02 -7.62072227e+00] [-4.03989509e-03 9.99854064e-01 -1.65990769e-02 -8.33354533e-01] [ 8.58698804e-02 1.68847602e-02 9.96163274e-01 -6.70540032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94463044 meters Centerline goodness : 0.116271 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.84, Z:-0.67 [[ 9.96380478e-01 1.13364131e-03 -8.49979845e-02 -7.62353718e+00] [-2.58455222e-03 9.99852797e-01 -1.69618485e-02 -8.41053727e-01] [ 8.49662439e-02 1.71201364e-02 9.96236738e-01 -6.69709532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00463044 meters Centerline goodness : 0.114229 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.85, Z:-0.67 [[ 9.96366184e-01 -2.39747927e-03 -8.51391811e-02 -7.62312107e+00] [ 7.44113501e-04 9.99810632e-01 -1.94459908e-02 -8.46955621e-01] [ 8.51696798e-02 1.93119745e-02 9.96179288e-01 -6.69771033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06463044 meters Centerline goodness : 0.106790 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.85, Z:-0.67 [[ 9.96396369e-01 -2.17089519e-03 -8.47912873e-02 -7.62409843e+00] [ 5.90654019e-04 9.99825760e-01 -1.86574760e-02 -8.53465900e-01] [ 8.48170167e-02 1.85401591e-02 9.96224039e-01 -6.69560735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12463043999999 meters Centerline goodness : 0.104333 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.86, Z:-0.67 [[ 9.96481243e-01 6.73062766e-03 -8.35453874e-02 -7.60549445e+00] [-8.42890879e-03 9.99764617e-01 -1.99916018e-02 -8.55164497e-01] [ 8.33911662e-02 2.06254527e-02 9.96303420e-01 -6.67038445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18463043999999 meters Centerline goodness : 0.097328 with order 2 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.85, Z:-0.67 [[ 9.96358128e-01 7.58340918e-03 -8.49292247e-02 -7.60101069e+00] [-9.29062898e-03 9.99762286e-01 -1.97245083e-02 -8.53750571e-01] [ 8.47594568e-02 2.04417201e-02 9.96191734e-01 -6.68130237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24463044 meters Centerline goodness : 0.147720 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.85, Z:-0.67 [[ 9.96402047e-01 3.84896994e-03 -8.46649069e-02 -7.60106231e+00] [-5.81262963e-03 9.99719508e-01 -2.29590487e-02 -8.54820404e-01] [ 8.45527904e-02 2.33685688e-02 9.96144937e-01 -6.69072525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30463044 meters Centerline goodness : 0.157910 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.86, Z:-0.67 [[ 9.96378415e-01 3.50846444e-03 -8.49573116e-02 -7.60010215e+00] [-5.46449863e-03 9.99725063e-01 -2.28021417e-02 -8.57158470e-01] [ 8.48539532e-02 2.31838109e-02 9.96123646e-01 -6.69394449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36463044 meters Centerline goodness : 0.169866 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.86, Z:-0.67 [[ 9.96303302e-01 -6.74859967e-03 -8.56398647e-02 -7.62038314e+00] [ 4.87004520e-03 9.99743339e-01 -2.21255073e-02 -8.60192496e-01] [ 8.57672005e-02 2.16266460e-02 9.96080456e-01 -6.71828311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42463044 meters Centerline goodness : 0.158232 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.86, Z:-0.67 [[ 9.96294291e-01 -6.97899905e-03 -8.57261830e-02 -7.62050745e+00] [ 5.12257233e-03 9.99748001e-01 -2.18562254e-02 -8.63969420e-01] [ 8.58571146e-02 2.13360940e-02 9.96078976e-01 -6.71435101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48463043999999 meters Centerline goodness : 0.086163 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.87, Z:-0.67 [[ 9.96210123e-01 -8.83298674e-03 -8.65295805e-02 -7.61624402e+00] [ 6.88881269e-03 9.99717651e-01 -2.27412152e-02 -8.71364288e-01] [ 8.67060218e-02 2.20589427e-02 9.95989693e-01 -6.73782932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54463043999999 meters Centerline goodness : 0.158972 with order 3 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.88, Z:-0.68 [[ 9.95995809e-01 -1.84926736e-04 -8.93997387e-02 -7.62833424e+00] [-1.98634640e-03 9.99705220e-01 -2.41976648e-02 -8.80084891e-01] [ 8.93778602e-02 2.42783516e-02 9.95701843e-01 -6.76525567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60463044 meters Centerline goodness : 0.175058 with order 3 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.88, Z:-0.68 [[ 9.95994355e-01 2.11454158e-04 -8.94158855e-02 -7.62812716e+00] [-2.33668006e-03 9.99717241e-01 -2.36638687e-02 -8.81679294e-01] [ 8.93855985e-02 2.37780160e-02 9.95713222e-01 -6.76795381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66463044 meters Centerline goodness : 0.155234 with order 3 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.88, Z:-0.68 [[ 9.96307107e-01 -2.85978286e-03 -8.58135785e-02 -7.60569361e+00] [ 1.11306831e-03 9.99791366e-01 -2.03957040e-02 -8.83589519e-01] [ 8.58540022e-02 2.02248684e-02 9.96102427e-01 -6.75432422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72463044 meters Centerline goodness : 0.156105 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.89, Z:-0.68 [[ 9.96206547e-01 -1.23847455e-03 -8.70113850e-02 -7.60160791e+00] [-3.88154022e-04 9.99825531e-01 -1.86750280e-02 -8.87162636e-01] [ 8.70193328e-02 1.86379589e-02 9.96032260e-01 -6.76779544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78463044 meters Centerline goodness : 0.113882 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.89, Z:-0.68 [[ 9.96186218e-01 -1.29689785e-03 -8.72429766e-02 -7.60152841e+00] [-3.18891377e-04 9.99828734e-01 -1.85040790e-02 -8.89370825e-01] [ 8.72520327e-02 1.84613295e-02 9.96015192e-01 -6.76205674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84463043999999 meters Centerline goodness : 0.111630 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.89, Z:-0.68 [[ 9.96114929e-01 -2.02955977e-03 -8.80393631e-02 -7.59958355e+00] [ 3.81036355e-04 9.99824363e-01 -1.87376106e-02 -8.94208559e-01] [ 8.80619293e-02 1.86312675e-02 9.95940747e-01 -6.76248301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90463043999999 meters Centerline goodness : 0.090189 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.91, Z:-0.68 [[ 9.96197446e-01 -3.71611964e-03 -8.70450368e-02 -7.60300134e+00] [ 2.17865241e-03 9.99840061e-01 -1.77512398e-02 -9.06162368e-01] [ 8.70970806e-02 1.74940989e-02 9.96046211e-01 -6.77065469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96463044 meters Centerline goodness : 0.153466 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.91, Z:-0.68 [[ 9.96216519e-01 -7.51712765e-03 -8.65802489e-02 -7.60444857e+00] [ 5.79723847e-03 9.99781187e-01 -2.00990191e-02 -9.11559197e-01] [ 8.67123909e-02 1.95210485e-02 9.96042113e-01 -6.77535071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02463044 meters Centerline goodness : 0.108377 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.92, Z:-0.68 [[ 0.99617727 -0.01111539 -0.08664464 -7.6041356 ] [ 0.00919231 0.99970317 -0.02256259 -0.91574528] [ 0.08686972 0.02167987 0.99598375 -0.67840666] [ 0. 0. 0. 1. ]] SLAMing on 103.08463044 meters Centerline goodness : 0.165118 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.92, Z:-0.68 [[ 0.99612928 -0.01094309 -0.08721648 -7.60291302] [ 0.00907791 0.99972215 -0.02175363 -0.91834163] [ 0.0874303 0.02087768 0.99595184 -0.67897014] [ 0. 0. 0. 1. ]] SLAMing on 103.14463044 meters Centerline goodness : 0.177289 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.92, Z:-0.68 [[ 9.96287626e-01 -3.20790309e-03 -8.60271834e-02 -7.62232181e+00] [ 1.20577390e-03 9.99727439e-01 -2.33150854e-02 -9.24118928e-01] [ 8.60785283e-02 2.31248018e-02 9.96019945e-01 -6.80777412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20463044 meters Centerline goodness : 0.183480 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.92, Z:-0.68 [[ 0.99642542 -0.0104404 -0.08382948 -7.60359601] [ 0.0086075 0.99971657 -0.02219642 -0.92237752] [ 0.08403746 0.02139552 0.99623287 -0.67777705] [ 0. 0. 0. 1. ]] SLAMing on 103.26463043999999 meters Centerline goodness : 0.175641 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.92, Z:-0.68 [[ 0.99637723 -0.01095614 -0.08433498 -7.60178849] [ 0.00911364 0.99971198 -0.02220145 -0.92438828] [ 0.08455393 0.02135242 0.9961901 -0.67850498] [ 0. 0. 0. 1. ]] SLAMing on 103.32463043999999 meters Centerline goodness : 0.206701 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.93, Z:-0.68 [[ 0.99632036 -0.01114851 -0.08497916 -7.59992263] [ 0.0093063 0.99971369 -0.02204372 -0.92602066] [ 0.08520059 0.02117177 0.99613885 -0.6790126 ] [ 0. 0. 0. 1. ]] SLAMing on 103.38463044 meters Centerline goodness : 0.094965 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.93, Z:-0.68 [[ 0.99633146 -0.01235454 -0.08468168 -7.60042587] [ 0.0104875 0.99969279 -0.02245726 -0.93054288] [ 0.08493312 0.02148677 0.99615495 -0.67904483] [ 0. 0. 0. 1. ]] SLAMing on 103.44463044 meters Centerline goodness : 0.105308 with order 3 Centerline is valid? [False, False] Translation: X:-7.56, Y:-0.93, Z:-0.68 [[ 0.99640058 -0.01279994 -0.08379765 -7.55638638] [ 0.01082684 0.99965433 -0.0239583 -0.93117504] [ 0.08407535 0.0229648 0.99619474 -0.67548463] [ 0. 0. 0. 1. ]] SLAMing on 103.50463044 meters SLAMing on 103.56463044 meters Centerline goodness : 0.115231 with order 3 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.93, Z:-0.68 [[ 0.99615546 -0.01474333 -0.08635359 -7.54959964] [ 0.01269357 0.99962563 -0.02423801 -0.93016223] [ 0.08667861 0.02304869 0.99596967 -0.67607446] [ 0. 0. 0. 1. ]] SLAMing on 103.62463043999999 meters Centerline goodness : 0.120330 with order 3 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.93, Z:-0.67 [[ 0.99621791 -0.01265823 -0.085963 -7.50369267] [ 0.01067471 0.99966697 -0.02349472 -0.93320508] [ 0.08623178 0.02248823 0.99602126 -0.67344705] [ 0. 0. 0. 1. ]] SLAMing on 103.68463043999999 meters Centerline goodness : 0.146393 with order 3 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.94, Z:-0.67 [[ 9.96257287e-01 -3.57573936e-03 -8.63633749e-02 -7.48410469e+00] [ 1.42052866e-03 9.99686349e-01 -2.50037217e-02 -9.35944400e-01] [ 8.64256937e-02 2.47874583e-02 9.95949889e-01 -6.70115687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74463044 meters Centerline goodness : 0.180359 with order 3 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.93, Z:-0.67 [[ 9.96328067e-01 2.57087508e-03 -8.55790433e-02 -7.48854540e+00] [-4.32763695e-03 9.99783576e-01 -2.03487608e-02 -9.29187970e-01] [ 8.55082079e-02 2.06443965e-02 9.96123564e-01 -6.67071445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80463044 meters Centerline goodness : 0.088557 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.92, Z:-0.67 [[ 9.96288641e-01 5.88050428e-03 -8.58741152e-02 -7.48753206e+00] [-7.46489813e-03 9.99807576e-01 -1.81407457e-02 -9.23283830e-01] [ 8.57509142e-02 1.87144604e-02 9.96140828e-01 -6.67088632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86463044 meters Centerline goodness : 0.139533 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.92, Z:-0.67 [[ 9.96290025e-01 5.84450277e-03 -8.58605099e-02 -7.48741254e+00] [-7.46845478e-03 9.99799021e-01 -1.86048144e-02 -9.20474082e-01] [ 8.57345178e-02 1.91770363e-02 9.96133442e-01 -6.67205721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92463044 meters Centerline goodness : 0.109131 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.91, Z:-0.67 [[ 0.99633909 0.00768692 -0.08514295 -7.48966349] [-0.00921949 0.99980222 -0.01762139 -0.91382625] [ 0.08499065 0.01834186 0.99621291 -0.66658455] [ 0. 0. 0. 1. ]] SLAMing on 103.98463043999999 meters Centerline goodness : 0.205240 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.91, Z:-0.67 [[ 0.99631267 0.00752381 -0.08546607 -7.48847692] [-0.00912039 0.99979084 -0.01830582 -0.9075236 ] [ 0.08531047 0.0190178 0.9961729 -0.6669245 ] [ 0. 0. 0. 1. ]] SLAMing on 104.04463043999999 meters Centerline goodness : 0.191022 with order 3 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.90, Z:-0.67 [[ 9.96264154e-01 7.18634683e-03 -8.60586583e-02 -7.48683826e+00] [-8.85152060e-03 9.99780617e-01 -1.89833591e-02 -9.04374352e-01] [ 8.59033575e-02 1.96741902e-02 9.96109201e-01 -6.67142773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10463044 meters Centerline goodness : 0.110999 with order 1 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.90, Z:-0.66 [[ 9.96625343e-01 2.95166031e-03 -8.20317871e-02 -7.46998240e+00] [-4.25690683e-03 9.99867039e-01 -1.57411343e-02 -8.98764876e-01] [ 8.19744176e-02 1.60372150e-02 9.96505395e-01 -6.64264760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16463044 meters Centerline goodness : 0.180746 with order 2 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.90, Z:-0.66 [[ 9.96619568e-01 2.70828823e-03 -8.21103026e-02 -7.46981292e+00] [-4.03577456e-03 9.99863760e-01 -1.60054536e-02 -8.98567296e-01] [ 8.20557685e-02 1.62827270e-02 9.96494718e-01 -6.64184829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22463044 meters Centerline goodness : 0.173365 with order 3 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.90, Z:-0.66 [[ 9.96591917e-01 2.84803421e-03 -8.24405205e-02 -7.46856269e+00] [-4.17101000e-03 9.99865207e-01 -1.58798673e-02 -8.98556885e-01] [ 8.23841817e-02 1.61696077e-02 9.96469463e-01 -6.64733805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28463044 meters Centerline goodness : 0.182626 with order 2 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.90, Z:-0.66 [[ 9.96519233e-01 -1.56791224e-03 -8.33484240e-02 -7.44698562e+00] [ 5.07118967e-04 9.99918627e-01 -1.27468618e-02 -8.98072534e-01] [ 8.33616277e-02 1.26602254e-02 9.96438938e-01 -6.62528366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34463043999999 meters Centerline goodness : 0.167088 with order 3 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.90, Z:-0.66 [[ 9.96486582e-01 -1.43000551e-03 -8.37403559e-02 -7.44601578e+00] [ 3.87713063e-04 9.99922275e-01 -1.24616558e-02 -8.99895760e-01] [ 8.37516674e-02 1.23854056e-02 9.96409685e-01 -6.62496768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40463043999999 meters Centerline goodness : 0.196382 with order 3 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.90, Z:-0.66 [[ 9.96426335e-01 -1.01184687e-03 -8.44602629e-02 -7.44397618e+00] [-1.30525001e-05 9.99926389e-01 -1.21332590e-02 -9.00531956e-01] [ 8.44663227e-02 1.20910012e-02 9.96352974e-01 -6.62810728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46463044 meters Centerline goodness : 0.133423 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.90, Z:-0.66 [[ 9.96357451e-01 2.59952782e-03 -8.52353982e-02 -7.44185007e+00] [-3.37855175e-03 9.99953821e-01 -8.99670142e-03 -9.00349712e-01] [ 8.52080749e-02 9.25190270e-03 9.96320223e-01 -6.62992737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52463044 meters Centerline goodness : 0.166504 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.90, Z:-0.66 [[ 9.96363689e-01 2.79914894e-03 -8.51561182e-02 -7.44226127e+00] [-3.56315199e-03 9.99954745e-01 -8.82112771e-03 -9.00704880e-01] [ 8.51275728e-02 9.09247553e-03 9.96328572e-01 -6.62741724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58463044 meters Centerline goodness : 0.136805 with order 3 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96494487e-01 -4.62111664e-03 -8.35307337e-02 -7.42266307e+00] [ 3.96960497e-03 9.99960407e-01 -7.96406525e-03 -9.00379677e-01] [ 8.35642294e-02 7.60456309e-03 9.96473377e-01 -6.60132740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64463044 meters Centerline goodness : 0.156617 with order 3 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96494861e-01 -4.50971801e-03 -8.35323614e-02 -7.42309789e+00] [ 3.88682430e-03 9.99963428e-01 -7.61803722e-03 -9.01695540e-01] [ 8.35636617e-02 7.26665933e-03 9.96475946e-01 -6.59772813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70463044 meters Centerline goodness : 0.093623 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96486045e-01 -4.44864801e-03 -8.36407246e-02 -7.42345501e+00] [ 3.82757624e-03 9.99963913e-01 -7.58435753e-03 -9.01744373e-01] [ 8.36714464e-02 7.23756519e-03 9.96467113e-01 -6.58935867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76463043999999 meters Centerline goodness : 0.088526 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.91, Z:-0.66 [[ 9.96585336e-01 4.04874078e-03 -8.24698461e-02 -7.43971549e+00] [-4.83660658e-03 9.99944536e-01 -9.35584349e-03 -9.05319535e-01] [ 8.24273926e-02 9.72277063e-03 9.96549644e-01 -6.61292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82463043999999 meters Centerline goodness : 0.109020 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96609496e-01 -1.77564058e-04 -8.22768537e-02 -7.41841612e+00] [-3.43146102e-04 9.99980004e-01 -6.31457266e-03 -9.01252577e-01] [ 8.22763297e-02 6.32139606e-03 9.96589507e-01 -6.59305023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88463044 meters Centerline goodness : 0.110254 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96648735e-01 -4.12951050e-05 -8.18003494e-02 -7.42043422e+00] [-4.72148943e-04 9.99980311e-01 -6.25744196e-03 -9.00857895e-01] [ 8.17989972e-02 6.27509356e-03 9.96629092e-01 -6.58222004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94463044 meters Centerline goodness : 0.108144 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.90, Z:-0.66 [[ 9.96693102e-01 -9.46246664e-06 -8.12579888e-02 -7.42233824e+00] [-4.73298191e-04 9.99982354e-01 -5.92182194e-03 -9.02985065e-01] [ 8.12566110e-02 5.94069834e-03 9.96675510e-01 -6.57432860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00463044 meters Centerline goodness : 0.183145 with order 3 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.91, Z:-0.66 [[ 9.96571701e-01 -1.31720640e-03 -8.27230883e-02 -7.41575299e+00] [ 7.79641138e-04 9.99978373e-01 -6.53033666e-03 -9.08454728e-01] [ 8.27299010e-02 6.44345439e-03 9.96551175e-01 -6.60599824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06463044 meters Centerline goodness : 0.109338 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.92, Z:-0.66 [[ 9.96361317e-01 6.69577003e-03 -8.49664250e-02 -7.42638588e+00] [-7.43805289e-03 9.99936865e-01 -8.42263130e-03 -9.19361021e-01] [ 8.49046647e-02 9.02396878e-03 9.96348215e-01 -6.63205947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12463043999999 meters Centerline goodness : 0.088984 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.92, Z:-0.66 [[ 9.96458690e-01 -7.38003371e-04 -8.40805191e-02 -7.40604431e+00] [ 1.26993918e-04 9.99973550e-01 -7.27207283e-03 -9.21794892e-01] [ 8.40836619e-02 7.23564245e-03 9.96432428e-01 -6.60215749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18463043999999 meters Centerline goodness : 0.086322 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.93, Z:-0.66 [[ 9.96533438e-01 -8.49831106e-03 -8.27579977e-02 -7.38524478e+00] [ 7.99438335e-03 9.99947444e-01 -6.41864370e-03 -9.25245642e-01] [ 8.28081959e-02 5.73479391e-03 9.96549003e-01 -6.58151426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24463044 meters Centerline goodness : 0.108287 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:-0.93, Z:-0.66 [[ 9.96509412e-01 -8.72596180e-03 -8.30231818e-02 -7.38488941e+00] [ 8.26331500e-03 9.99948367e-01 -5.91449354e-03 -9.28099082e-01] [ 8.30705047e-02 5.20780178e-03 9.96530065e-01 -6.58498947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30463044 meters Centerline goodness : 0.110495 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.94, Z:-0.66 [[ 9.96578669e-01 -1.22184431e-02 -8.17414582e-02 -7.39020975e+00] [ 1.16623901e-02 9.99905515e-01 -7.27659446e-03 -9.36382060e-01] [ 8.18226436e-02 6.29839806e-03 9.96627004e-01 -6.57280056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36463044 meters Centerline goodness : 0.110529 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.94, Z:-0.66 [[ 0.99661312 -0.01518004 -0.08081991 -7.39447064] [ 0.01453029 0.99985726 -0.00862167 -0.94300476] [ 0.08093925 0.00741813 0.99669143 -0.65604917] [ 0. 0. 0. 1. ]] SLAMing on 105.42463044 meters Centerline goodness : 0.096577 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.95, Z:-0.66 [[ 9.96673509e-01 -1.54742886e-02 -8.00153920e-02 -7.39674795e+00] [ 1.49046860e-02 9.99859185e-01 -7.71106553e-03 -9.47163576e-01] [ 8.01234479e-02 6.49281045e-03 9.96763802e-01 -6.56570657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48463043999999 meters Centerline goodness : 0.097055 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.95, Z:-0.66 [[ 9.96645728e-01 -6.48342357e-03 -8.15797682e-02 -7.40801352e+00] [ 5.69772103e-03 9.99935154e-01 -9.86021216e-03 -9.52858759e-01] [ 8.16384060e-02 9.36231956e-03 9.96618040e-01 -6.59038620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54463043999999 meters Centerline goodness : 0.142617 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.96, Z:-0.66 [[ 9.96563891e-01 2.63599638e-03 -8.27856439e-02 -7.38767256e+00] [-3.53389768e-03 9.99936493e-01 -1.07014430e-02 -9.58533040e-01] [ 8.27521775e-02 1.09572277e-02 9.96509918e-01 -6.56113881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60463044 meters Centerline goodness : 0.183857 with order 3 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.95, Z:-0.66 [[ 9.96484216e-01 4.66145602e-03 -8.36509273e-02 -7.38557831e+00] [-5.46583698e-03 9.99940979e-01 -9.38948796e-03 -9.54759441e-01] [ 8.36022215e-02 9.81369888e-03 9.96450882e-01 -6.56020540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66463044 meters Centerline goodness : 0.163582 with order 3 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.95, Z:-0.66 [[ 9.96569794e-01 5.73592325e-03 -8.25575213e-02 -7.38814505e+00] [-6.48897847e-03 9.99939729e-01 -8.85615736e-03 -9.50080633e-01] [ 8.25017473e-02 9.36149289e-03 9.96546950e-01 -6.55956292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72463044 meters Centerline goodness : 0.108603 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.95, Z:-0.65 [[ 9.96619660e-01 2.08302905e-03 -8.21274315e-02 -7.36718700e+00] [-2.54241698e-03 9.99981701e-01 -5.48941821e-03 -9.45916057e-01] [ 8.21144940e-02 5.67966428e-03 9.96606718e-01 -6.53908355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78463044 meters Centerline goodness : 0.107418 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.94, Z:-0.65 [[ 9.96625940e-01 1.93580756e-03 -8.20547943e-02 -7.36742453e+00] [-2.43438293e-03 9.99979177e-01 -5.97651763e-03 -9.43233173e-01] [ 8.20415163e-02 6.15610529e-03 9.96609900e-01 -6.53819344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84463043999999 meters Centerline goodness : 0.153457 with order 3 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.94, Z:-0.65 [[ 9.96589090e-01 1.48111426e-03 -8.25105622e-02 -7.36668570e+00] [-2.00780385e-03 9.99978135e-01 -6.30069077e-03 -9.43157141e-01] [ 8.24994260e-02 6.44486470e-03 9.96570273e-01 -6.53377052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90463043999999 meters Centerline goodness : 0.168180 with order 3 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.94, Z:-0.65 [[ 9.96630618e-01 1.83296553e-03 -8.20003099e-02 -7.36818858e+00] [-2.32617117e-03 9.99979774e-01 -5.91955024e-03 -9.42970251e-01] [ 8.19878010e-02 6.09035177e-03 9.96614724e-01 -6.53062059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96463044 meters Centerline goodness : 0.166413 with order 3 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.94, Z:-0.65 [[ 9.96705194e-01 1.89513060e-03 -8.10873860e-02 -7.37034235e+00] [-2.41385206e-03 9.99977244e-01 -6.29951755e-03 -9.39642115e-01] [ 8.10736024e-02 6.47449481e-03 9.96687088e-01 -6.52953850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02463044 meters Centerline goodness : 0.107732 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.94, Z:-0.65 [[ 9.96788314e-01 5.71056143e-03 -7.98776992e-02 -7.32701631e+00] [-6.17684005e-03 9.99965290e-01 -5.59153274e-03 -9.35009673e-01] [ 7.98429958e-02 6.06696626e-03 9.96788989e-01 -6.49863795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08463044 meters Centerline goodness : 0.167747 with order 3 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.94, Z:-0.65 [[ 9.96744342e-01 5.42591201e-03 -8.04442484e-02 -7.32501580e+00] [-5.90593190e-03 9.99966141e-01 -5.73037745e-03 -9.36328598e-01] [ 8.04104321e-02 6.18681955e-03 9.96742638e-01 -6.50578591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14463044 meters Centerline goodness : 0.107069 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.94, Z:-0.65 [[ 9.96738146e-01 5.43312785e-03 -8.05204962e-02 -7.32486194e+00] [-5.88162540e-03 9.99968478e-01 -5.33384461e-03 -9.39658019e-01] [ 8.04889786e-02 5.79003778e-03 9.96738682e-01 -6.50541576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20463044 meters Centerline goodness : 0.107213 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.95, Z:-0.65 [[ 9.96707225e-01 3.65644671e-03 -8.10020924e-02 -7.32194243e+00] [-4.16796363e-03 9.99972423e-01 -6.14667561e-03 -9.48221223e-01] [ 8.09773836e-02 6.46404977e-03 9.96694978e-01 -6.52209571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26463043999999 meters Centerline goodness : 0.164393 with order 3 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.95, Z:-0.65 [[ 9.96652877e-01 3.74993885e-03 -8.16638273e-02 -7.31956529e+00] [-4.21517574e-03 9.99975851e-01 -5.52531953e-03 -9.54945294e-01] [ 8.16411356e-02 5.85105299e-03 9.96644616e-01 -6.53048979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32463043999999 meters Centerline goodness : 0.108436 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.97, Z:-0.65 [[ 9.96634699e-01 4.24692067e-03 -8.18611062e-02 -7.31949938e+00] [-4.60550289e-03 9.99980608e-01 -4.19204776e-03 -9.66671418e-01] [ 8.18417155e-02 4.55495181e-03 9.96634931e-01 -6.52539417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38463044 meters Centerline goodness : 0.263729 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.97, Z:-0.65 [[ 9.96792915e-01 6.19053770e-03 -7.97844708e-02 -7.27696425e+00] [-6.59414477e-03 9.99966756e-01 -4.79623267e-03 -9.73866645e-01] [ 7.97521272e-02 5.30696110e-03 9.96800599e-01 -6.49617476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44463044 meters Centerline goodness : 0.103292 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.98, Z:-0.65 [[ 9.96784580e-01 6.84873780e-03 -7.98348084e-02 -7.27627438e+00] [-7.15439235e-03 9.99968130e-01 -3.54317175e-03 -9.80586717e-01] [ 7.98079978e-02 4.10294851e-03 9.96801810e-01 -6.50241729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50463044 meters Centerline goodness : 0.260324 with order 2 Centerline is valid? [False, False] Translation: X:-7.27, Y:-0.99, Z:-0.65 [[ 9.96759813e-01 6.15992645e-03 -8.01993156e-02 -7.27363365e+00] [-6.45030706e-03 9.99973544e-01 -3.36216550e-03 -9.90656589e-01] [ 8.01764831e-02 3.86858166e-03 9.96773177e-01 -6.51988267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56463044 meters Centerline goodness : 0.164114 with order 3 Centerline is valid? [False, False] Translation: X:-7.27, Y:-0.99, Z:-0.65 [[ 9.96705019e-01 6.43639567e-03 -8.08559122e-02 -7.27124895e+00] [-6.67542288e-03 9.99974111e-01 -2.68624079e-03 -9.94686821e-01] [ 8.08365292e-02 3.21713708e-03 9.96722181e-01 -6.52907333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62463043999999 meters Centerline goodness : 0.165850 with order 3 Centerline is valid? [False, False] Translation: X:-7.26, Y:-1.00, Z:-0.65 [[ 9.96979626e-01 6.27442151e-04 -7.76610059e-02 -7.25501306e+00] [-6.47805011e-04 9.99999762e-01 -2.37009499e-04 -9.96565703e-01] [ 7.76608387e-02 2.86602831e-04 9.96979795e-01 -6.49584618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68463043999999 meters Centerline goodness : 0.174645 with order 3 Centerline is valid? [False, False] Translation: X:-7.26, Y:-1.00, Z:-0.65 [[ 9.96998800e-01 5.60643060e-04 -7.74149699e-02 -7.25574659e+00] [-5.49995204e-04 9.99999836e-01 1.58863452e-04 -9.99860471e-01] [ 7.74150463e-02 -1.15808809e-04 9.96998945e-01 -6.49334498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74463044 meters Centerline goodness : 0.166110 with order 3 Centerline is valid? [False, False] Translation: X:-7.25, Y:-1.00, Z:-0.65 [[ 9.96927701e-01 1.92086541e-04 -7.83270197e-02 -7.25281088e+00] [-1.78993830e-04 9.99999969e-01 1.74175246e-04 -1.00181899e+00] [ 7.83270508e-02 -1.59620074e-04 9.96927704e-01 -6.50218563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80463044 meters Centerline goodness : 0.161252 with order 3 Centerline is valid? [False, False] Translation: X:-7.23, Y:-1.00, Z:-0.65 [[ 9.97018287e-01 -7.11319236e-03 -7.68370876e-02 -7.23484818e+00] [ 7.23792036e-03 9.99972901e-01 1.34491513e-03 -1.00109046e+00] [ 7.68254388e-02 -1.89704570e-03 9.97042754e-01 -6.46661280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86463044 meters Centerline goodness : 0.140813 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-1.01, Z:-0.64 [[ 9.97246234e-01 -9.71028731e-04 -7.41552795e-02 -7.21662060e+00] [ 8.33934331e-04 9.99997886e-01 -1.87968824e-03 -1.00565672e+00] [ 7.41569479e-02 1.81267138e-03 9.97244935e-01 -6.44890957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92463044 meters Centerline goodness : 0.128182 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-1.01, Z:-0.64 [[ 9.97292812e-01 -2.77030008e-03 -7.34804291e-02 -7.21802228e+00] [ 2.59136541e-03 9.99993441e-01 -2.53035831e-03 -1.01367093e+00] [ 7.34869570e-02 2.33309351e-03 9.97293449e-01 -6.44914593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98463043999999 meters Centerline goodness : 0.104855 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-1.02, Z:-0.65 [[ 9.97221533e-01 -2.99816372e-03 -7.44326938e-02 -7.21540646e+00] [ 2.84650344e-03 9.99993651e-01 -2.14354947e-03 -1.01777308e+00] [ 7.44386480e-02 1.92572077e-03 9.97223736e-01 -6.45292374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04463043999999 meters Centerline goodness : 0.105752 with order 1 Centerline is valid? [False, False] Translation: X:-7.19, Y:-1.02, Z:-0.64 [[ 9.97204518e-01 3.91215713e-03 -7.46179838e-02 -7.19362396e+00] [-4.26823367e-03 9.99980250e-01 -4.61312434e-03 -1.02395887e+00] [ 7.45984628e-02 4.91871543e-03 9.97201522e-01 -6.44693654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10463044 meters Centerline goodness : 0.106235 with order 1 Centerline is valid? [False, False] Translation: X:-7.19, Y:-1.02, Z:-0.65 [[ 9.97194976e-01 4.09936748e-03 -7.47353663e-02 -7.19300309e+00] [-4.43248973e-03 9.99980966e-01 -4.29203806e-03 -1.02499394e+00] [ 7.47163491e-02 4.61126254e-03 9.97194165e-01 -6.45048160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16463044 meters Centerline goodness : 0.101122 with order 1 Centerline is valid? [False, False] Translation: X:-7.17, Y:-1.03, Z:-0.64 [[ 9.97217136e-01 -3.02960240e-03 -7.44902999e-02 -7.17365762e+00] [ 2.76492625e-03 9.99989494e-01 -3.65602949e-03 -1.02542069e+00] [ 7.45005936e-02 3.43989507e-03 9.97215036e-01 -6.42660162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22463044 meters Centerline goodness : 0.102752 with order 1 Centerline is valid? [False, False] Translation: X:-7.17, Y:-1.03, Z:-0.64 [[ 9.97237315e-01 -2.87944194e-03 -7.42256504e-02 -7.17446136e+00] [ 2.65520040e-03 9.99991609e-01 -3.11958010e-03 -1.02797370e+00] [ 7.42340102e-02 2.91387770e-03 9.97236592e-01 -6.42535436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28463044 meters Centerline goodness : 0.162672 with order 3 Centerline is valid? [False, False] Translation: X:-7.17, Y:-1.03, Z:-0.64 [[ 9.97232733e-01 -2.93671982e-03 -7.42849365e-02 -7.17409302e+00] [ 2.72602599e-03 9.99991970e-01 -2.93752540e-03 -1.02924196e+00] [ 7.42929667e-02 2.72689381e-03 9.97232731e-01 -6.42810296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34463043999999 meters Centerline goodness : 0.189449 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:-1.03, Z:-0.64 [[ 9.97176330e-01 4.11201002e-03 -7.49830498e-02 -7.15062837e+00] [-4.53185315e-03 9.99974989e-01 -5.42988744e-03 -1.03103906e+00] [ 7.49588467e-02 5.75436740e-03 9.97170025e-01 -6.43504400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40463043999999 meters Centerline goodness : 0.289912 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:-1.03, Z:-0.64 [[ 9.97143824e-01 4.03172572e-03 -7.54184227e-02 -7.14861543e+00] [-4.46518183e-03 9.99974465e-01 -5.57961434e-03 -1.03015624e+00] [ 7.53940014e-02 5.90043496e-03 9.97136365e-01 -6.44700968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46463044 meters Centerline goodness : 0.160818 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:-1.03, Z:-0.65 [[ 9.97044951e-01 3.49947335e-03 -7.67405992e-02 -7.14439532e+00] [-3.99329248e-03 9.99972292e-01 -6.28240754e-03 -1.02787724e+00] [ 7.67164878e-02 6.57029038e-03 9.97031299e-01 -6.46089424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52463044 meters Centerline goodness : 0.186716 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:-1.03, Z:-0.65 [[ 9.97069876e-01 3.44068001e-03 -7.64187361e-02 -7.14476049e+00] [-3.95188865e-03 9.99970809e-01 -6.53935896e-03 -1.02606091e+00] [ 7.63940056e-02 6.82219616e-03 9.97054368e-01 -6.46539788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58463044 meters Centerline goodness : 0.103346 with order 1 Centerline is valid? [False, False] Translation: X:-7.15, Y:-1.02, Z:-0.65 [[ 9.97164343e-01 3.49011713e-03 -7.51737448e-02 -7.14788356e+00] [-4.02814745e-03 9.99967339e-01 -7.00672645e-03 -1.02262720e+00] [ 7.51468353e-02 7.28966870e-03 9.97145834e-01 -6.46192727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64463044 meters Centerline goodness : 0.103229 with order 1 Centerline is valid? [False, False] Translation: X:-7.15, Y:-1.01, Z:-0.65 [[ 9.97138336e-01 5.68924923e-03 -7.53841557e-02 -7.14781494e+00] [-6.15039983e-03 9.99963760e-01 -5.88660039e-03 -1.01479928e+00] [ 7.53479335e-02 6.33339762e-03 9.97137191e-01 -6.45786566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70463044 meters Centerline goodness : 0.103163 with order 1 Centerline is valid? [False, False] Translation: X:-7.17, Y:-1.00, Z:-0.65 [[ 9.97108600e-01 1.13344746e-04 -7.59896514e-02 -7.16608097e+00] [-2.91836149e-04 9.99997225e-01 -2.33779074e-03 -1.00364522e+00] [ 7.59891755e-02 2.35320777e-03 9.97105866e-01 -6.48490554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76463043999999 meters Centerline goodness : 0.195910 with order 1 Centerline is valid? [False, False] Translation: X:-7.14, Y:-0.99, Z:-0.65 [[ 9.97114606e-01 1.05499473e-02 -7.51742083e-02 -7.14367449e+00] [-1.08103704e-02 9.99936890e-01 -3.05818626e-03 -9.94730788e-01] [ 7.51372004e-02 3.86202322e-03 9.97165726e-01 -6.48039356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82463043999999 meters Centerline goodness : 0.105724 with order 1 Centerline is valid? [False, False] Translation: X:-7.14, Y:-0.99, Z:-0.65 [[ 9.97128812e-01 1.04121888e-02 -7.50047936e-02 -7.14360194e+00] [-1.07138791e-02 9.99936048e-01 -3.62102958e-03 -9.89790393e-01] [ 7.49622941e-02 4.41422521e-03 9.97176599e-01 -6.48534645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88463044 meters Centerline goodness : 0.105772 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.98, Z:-0.65 [[ 9.97350222e-01 3.26960177e-03 -7.26762967e-02 -7.12498964e+00] [-3.51610952e-03 9.99988491e-01 -3.26417942e-03 -9.83737054e-01] [ 7.26647877e-02 3.51106789e-03 9.97350240e-01 -6.46227117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94463044 meters Centerline goodness : 0.181426 with order 2 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.98, Z:-0.65 [[ 9.97401953e-01 3.31334933e-03 -7.19608681e-02 -7.12645338e+00] [-3.54174956e-03 9.99989087e-01 -3.04658303e-03 -9.84020324e-01] [ 7.19499884e-02 3.29353524e-03 9.97402803e-01 -6.46566806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00463044 meters Centerline goodness : 0.091169 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.99, Z:-0.65 [[ 9.97402632e-01 3.28717414e-03 -7.19526503e-02 -7.12616055e+00] [-3.49426398e-03 9.99990107e-01 -2.75245560e-03 -9.86301748e-01] [ 7.19428906e-02 2.99672802e-03 9.97404251e-01 -6.46951525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06463044 meters Centerline goodness : 0.110252 with order 1 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.99, Z:-0.64 [[ 9.97473158e-01 -3.52402936e-03 -7.09568948e-02 -7.10652363e+00] [ 3.40012993e-03 9.99992477e-01 -1.86683066e-03 -9.86596658e-01] [ 7.09629397e-02 1.62085081e-03 9.97477636e-01 -6.44916177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12463043999999 meters Centerline goodness : 0.111187 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.99, Z:-0.64 [[ 9.97394471e-01 6.75550774e-03 -7.18236154e-02 -7.08386188e+00] [-6.91566980e-03 9.99974123e-01 -1.98149174e-03 -9.90792215e-01] [ 7.18083709e-02 2.47303731e-03 9.97415381e-01 -6.44316956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18463043999999 meters Centerline goodness : 0.166320 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.99, Z:-0.65 [[ 9.97342215e-01 7.14397139e-03 -7.25084110e-02 -7.08081891e+00] [-7.30232421e-03 9.99971496e-01 -1.91906630e-03 -9.90018603e-01] [ 7.24926345e-02 2.44344576e-03 9.97365955e-01 -6.46105664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24463044 meters Centerline goodness : 0.259278 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.99, Z:-0.65 [[ 9.97326133e-01 7.43092477e-03 -7.27005144e-02 -7.07994985e+00] [-7.59182605e-03 9.99969305e-01 -1.93712313e-03 -9.89071846e-01] [ 7.26838883e-02 2.48387318e-03 9.97351935e-01 -6.46610940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30463044 meters Centerline goodness : 0.172530 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.99, Z:-0.65 [[ 9.97330077e-01 7.48810312e-03 -7.26405244e-02 -7.07934254e+00] [-7.65183555e-03 9.99968772e-01 -1.97598314e-03 -9.89180852e-01] [ 7.26234596e-02 2.52654077e-03 9.97356230e-01 -6.47506213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36463044 meters Centerline goodness : 0.164773 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.99, Z:-0.65 [[ 9.97381820e-01 7.65541400e-03 -7.19089637e-02 -7.08059632e+00] [-7.82642442e-03 9.99967175e-01 -2.09668888e-03 -9.87633960e-01] [ 7.18905523e-02 2.65398944e-03 9.97408996e-01 -6.48122429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42463044 meters Centerline goodness : 0.173665 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.98, Z:-0.65 [[ 9.97347565e-01 1.14638974e-02 -7.18777709e-02 -7.08042867e+00] [-1.14237137e-02 9.99934277e-01 9.70132532e-04 -9.84107225e-01] [ 7.18841683e-02 -1.46448243e-04 9.97412976e-01 -6.48378901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48463043999999 meters Centerline goodness : 0.193622 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.98, Z:-0.65 [[ 9.97292414e-01 1.50928097e-02 -7.19725514e-02 -7.07876477e+00] [-1.48623417e-02 9.99882567e-01 3.73665605e-03 -9.79108267e-01] [ 7.20204961e-02 -2.65685808e-03 9.97399614e-01 -6.49960274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54463043999999 meters Centerline goodness : 0.105657 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.97, Z:-0.65 [[ 9.97245511e-01 1.44824110e-02 -7.27437372e-02 -7.07624579e+00] [-1.43473501e-02 9.99894242e-01 2.37888428e-03 -9.71657342e-01] [ 7.27704959e-02 -1.32865180e-03 9.97347828e-01 -6.50856941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60463044 meters Centerline goodness : 0.188821 with order 3 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.96, Z:-0.65 [[ 9.97236891e-01 5.49861711e-03 -7.40833931e-02 -7.09350202e+00] [-5.23358148e-03 9.99979194e-01 3.77118510e-03 -9.64523858e-01] [ 7.41025880e-02 -3.37304343e-03 9.97244919e-01 -6.53813330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66463044 meters Centerline goodness : 0.101656 with order 1 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.96, Z:-0.65 [[ 9.97166354e-01 -2.15695764e-03 -7.51971427e-02 -7.07198885e+00] [ 2.42057845e-03 9.99991240e-01 3.41476602e-03 -9.57227649e-01] [ 7.51891185e-02 -3.58711036e-03 9.97162840e-01 -6.51968795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72463044 meters Centerline goodness : 0.105162 with order 1 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.95, Z:-0.65 [[ 9.97470034e-01 6.69670311e-04 -7.10850447e-02 -7.05174950e+00] [-8.04418470e-04 9.99997934e-01 -1.86698047e-03 -9.53116466e-01] [ 7.10836475e-02 1.91943920e-03 9.97468511e-01 -6.51947394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78463044 meters Centerline goodness : 0.168319 with order 3 Centerline is valid? [False, False] Translation: X:-7.05, Y:-0.95, Z:-0.65 [[ 9.97482856e-01 5.53485728e-04 -7.09058918e-02 -7.05179643e+00] [-7.15831327e-04 9.99997180e-01 -2.26420266e-03 -9.50307921e-01] [ 7.09044387e-02 2.30926000e-03 9.97480440e-01 -6.52545248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84463043999999 meters Centerline goodness : 0.104253 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.94, Z:-0.65 [[ 9.97583032e-01 8.06741332e-03 -6.90145699e-02 -7.03013051e+00] [-8.44810664e-03 9.99950658e-01 -5.22603540e-03 -9.44735609e-01] [ 6.89690040e-02 5.79644669e-03 9.97601964e-01 -6.53195228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90463043999999 meters Centerline goodness : 0.112919 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.94, Z:-0.65 [[ 9.97594883e-01 7.99741329e-03 -6.88512262e-02 -7.03040362e+00] [-8.42307006e-03 9.99947154e-01 -5.89417132e-03 -9.40128594e-01] [ 6.88004496e-02 6.45993385e-03 9.97609527e-01 -6.53356524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96463044 meters Centerline goodness : 0.105045 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.93, Z:-0.65 [[ 9.97539068e-01 1.15392959e-02 -6.91567179e-02 -7.02963626e+00] [-1.17925963e-02 9.99925165e-01 -3.25555085e-03 -9.34728592e-01] [ 6.91139758e-02 4.06307642e-03 9.97600496e-01 -6.53325099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02463044 meters Centerline goodness : 0.103885 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.92, Z:-0.65 [[ 9.97517369e-01 1.48729044e-02 -6.88323642e-02 -7.02943335e+00] [-1.50112261e-02 9.99886211e-01 -1.49271014e-03 -9.21489309e-01] [ 6.88023309e-02 2.52226248e-03 9.97627123e-01 -6.54255927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08463044 meters Centerline goodness : 0.128128 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.91, Z:-0.65 [[ 9.97472151e-01 1.81140075e-02 -6.87109275e-02 -7.02969266e+00] [-1.81482795e-02 9.99835299e-01 1.25463660e-04 -9.13190950e-01] [ 6.87018834e-02 1.12183861e-03 9.97636604e-01 -6.53495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14463044 meters Centerline goodness : 0.110624 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.90, Z:-0.65 [[ 9.97452453e-01 1.72433899e-02 -6.92189974e-02 -7.02736649e+00] [-1.73912704e-02 9.99847583e-01 -1.53431234e-03 -9.02689617e-01] [ 6.91819905e-02 2.73420990e-03 9.97600309e-01 -6.54723561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20463044 meters Centerline goodness : 0.107167 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.89, Z:-0.66 [[ 9.97770939e-01 4.99885389e-03 -6.65444638e-02 -7.02087089e+00] [-5.00810643e-03 9.99987459e-01 2.77730796e-05 -8.93575413e-01] [ 6.65437681e-02 3.05550586e-04 9.97783460e-01 -6.56994199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26463043999999 meters Centerline goodness : 0.153599 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.89, Z:-0.65 [[ 9.97567063e-01 -1.81449987e-04 -6.97131355e-02 -7.00501394e+00] [ 1.73389145e-04 9.99999978e-01 -1.21679833e-04 -8.85366661e-01] [ 6.97131560e-02 1.09296292e-04 9.97567072e-01 -6.54097949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32463043999999 meters Centerline goodness : 0.205309 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.88, Z:-0.66 [[ 9.97541020e-01 1.35954833e-04 -7.00849085e-02 -7.00302325e+00] [-1.77599811e-04 9.99999811e-01 -5.87976643e-04 -8.75946293e-01] [ 7.00848154e-02 5.98977886e-04 9.97540856e-01 -6.55486624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38463044 meters Centerline goodness : 0.205162 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.87, Z:-0.66 [[ 9.97568113e-01 8.14566167e-04 -6.96935901e-02 -7.00381161e+00] [-8.59538584e-04 9.99999441e-01 -6.15301499e-04 -8.67984423e-01] [ 6.96930499e-02 6.73709485e-04 9.97568256e-01 -6.55666082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44463044 meters Centerline goodness : 0.209608 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.86, Z:-0.66 [[ 9.97554718e-01 7.01603652e-04 -6.98862760e-02 -7.00286131e+00] [-8.05743097e-04 9.99998607e-01 -1.46194875e-03 -8.58623073e-01] [ 6.98851529e-02 1.51468426e-03 9.97553894e-01 -6.56272514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50463044 meters Centerline goodness : 0.198781 with order 3 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.85, Z:-0.66 [[ 9.97573133e-01 5.14695005e-04 -6.96245557e-02 -7.00340495e+00] [-6.61619833e-04 9.99997603e-01 -2.08720037e-03 -8.54456906e-01] [ 6.96233145e-02 2.12820000e-03 9.97571083e-01 -6.56442382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56463044 meters Centerline goodness : 0.187073 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.85, Z:-0.66 [[ 9.97597566e-01 3.69976771e-04 -6.92745223e-02 -7.00416273e+00] [-5.45293332e-04 9.99996697e-01 -2.51185785e-03 -8.51938043e-01] [ 6.92733642e-02 2.54359821e-03 9.97594472e-01 -6.56580321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62463043999999 meters Centerline goodness : 0.186916 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.84, Z:-0.66 [[ 9.97654475e-01 5.75959356e-04 -6.84486450e-02 -7.00544176e+00] [-8.11408666e-04 9.99993850e-01 -3.41204231e-03 -8.40597860e-01] [ 6.84462588e-02 3.45957910e-03 9.97648806e-01 -6.57413012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68463043999999 meters Centerline goodness : 0.447486 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.83, Z:-0.66 [[ 9.97606797e-01 3.41264506e-03 -6.90581855e-02 -7.00242504e+00] [-3.53582589e-03 9.99992369e-01 -1.66156877e-03 -8.32707775e-01] [ 6.90519882e-02 1.90177002e-03 9.97611250e-01 -6.59054461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74463044 meters Centerline goodness : 0.282262 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.82, Z:-0.66 [[ 9.97561726e-01 6.59837696e-03 -6.94770767e-02 -7.00064512e+00] [-6.59126249e-03 9.99978222e-01 3.31650060e-04 -8.24208736e-01] [ 6.94777520e-02 1.27100242e-04 9.97583493e-01 -6.59874182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80463044 meters Centerline goodness : 0.453263 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.81, Z:-0.66 [[ 9.97446840e-01 7.72482804e-03 -7.09938652e-02 -6.99622776e+00] [-7.76214811e-03 9.99969843e-01 -2.49810631e-04 -8.10031611e-01] [ 7.09897945e-02 8.00237721e-04 9.97476721e-01 -6.61065031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86463044 meters Centerline goodness : 0.094995 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.80, Z:-0.66 [[ 9.97484665e-01 7.39127847e-03 -7.04961796e-02 -6.99737879e+00] [-7.49744565e-03 9.99971123e-01 -1.24151454e-03 -8.04038228e-01] [ 7.04849675e-02 1.76693299e-03 9.97511277e-01 -6.61290371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92463044 meters Centerline goodness : 0.105879 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.80, Z:-0.66 [[ 9.97525166e-01 6.83871474e-03 -6.99769597e-02 -6.99821014e+00] [-7.02032393e-03 9.99972597e-01 -2.34966562e-03 -7.98411660e-01] [ 6.99589734e-02 2.83511151e-03 9.97545841e-01 -6.62066202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98463043999999 meters Centerline goodness : 0.109555 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.79, Z:-0.66 [[ 9.97492152e-01 8.38865942e-03 -7.02782821e-02 -6.99707712e+00] [-8.54953802e-03 9.99961475e-01 -1.98867750e-03 -7.87210630e-01] [ 7.02588923e-02 2.58453704e-03 9.97525442e-01 -6.62525678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04463043999999 meters Centerline goodness : 0.463601 with order 3 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.77, Z:-0.66 [[ 9.97413101e-01 9.92961691e-03 -7.11934622e-02 -6.99469746e+00] [-1.00968013e-02 9.99947048e-01 -1.98881740e-03 -7.74618652e-01] [ 7.11699441e-02 2.70249877e-03 9.97460543e-01 -6.62489083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10463044 meters Centerline goodness : 0.452281 with order 3 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.77, Z:-0.66 [[ 9.97408392e-01 9.52501821e-03 -7.13146134e-02 -6.99347917e+00] [-9.75147644e-03 9.99948454e-01 -2.82799249e-03 -7.68449863e-01] [ 7.12840008e-02 3.51608622e-03 9.97449863e-01 -6.64054625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16463044 meters Centerline goodness : 0.214187 with order 3 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.77, Z:-0.67 [[ 9.97433854e-01 9.58082051e-03 -7.09500930e-02 -6.99324161e+00] [-9.79113878e-03 9.99948641e-01 -2.61711897e-03 -7.66881482e-01] [ 7.09213749e-02 3.30508526e-03 9.97476433e-01 -6.65899260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22463044 meters Centerline goodness : 0.440808 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.76, Z:-0.67 [[ 9.97550983e-01 -7.73309290e-04 -6.99388230e-02 -7.01558143e+00] [ 4.98476130e-04 9.99992086e-01 -3.94698975e-03 -7.59976022e-01] [ 6.99413218e-02 3.90246067e-03 9.97543474e-01 -6.67264968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28463044 meters Centerline goodness : 0.110897 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.76, Z:-0.67 [[ 9.97523983e-01 -9.90795215e-04 -7.03201423e-02 -7.01424378e+00] [ 6.62699686e-04 9.99988787e-01 -4.68891650e-03 -7.55694364e-01] [ 7.03239996e-02 4.63070552e-03 9.97513454e-01 -6.67876642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34463043999999 meters Centerline goodness : 0.112772 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.75, Z:-0.67 [[ 9.97455967e-01 1.84683798e-03 -7.12613647e-02 -7.01037639e+00] [-2.07898360e-03 9.99992771e-01 -3.18363220e-03 -7.46042263e-01] [ 7.12549699e-02 3.32368415e-03 9.97452597e-01 -6.69678472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40463043999999 meters Centerline goodness : 0.115874 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.74, Z:-0.67 [[ 9.97520278e-01 1.81993638e-03 -7.03561211e-02 -7.01321060e+00] [-2.09200432e-03 9.99990616e-01 -3.79352115e-03 -7.41312772e-01] [ 7.03485569e-02 3.93129958e-03 9.97514724e-01 -6.68872916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46463044 meters Centerline goodness : 0.098377 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.73, Z:-0.67 [[ 9.97672623e-01 2.76826730e-03 -6.81298304e-02 -7.01976088e+00] [-3.03653701e-03 9.99988038e-01 -3.83437995e-03 -7.32689776e-01] [ 6.81184009e-02 4.03233466e-03 9.97669095e-01 -6.67344667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52463044 meters Centerline goodness : 0.150697 with order 3 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.72, Z:-0.67 [[ 9.97685614e-01 4.17673678e-03 -6.78673031e-02 -7.02011078e+00] [-4.43366345e-03 9.99983563e-01 -3.63553737e-03 -7.22858932e-01] [ 6.78510029e-02 3.92802412e-03 9.97687733e-01 -6.67750376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58463044 meters Centerline goodness : 0.145368 with order 3 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.71, Z:-0.67 [[ 9.97619871e-01 6.95870786e-03 -6.86015294e-02 -7.01764928e+00] [-7.13702602e-03 9.99971759e-01 -2.35457784e-03 -7.10066284e-01] [ 6.85832072e-02 2.83858454e-03 9.97641361e-01 -6.68540161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64463044 meters Centerline goodness : 0.095807 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.70, Z:-0.67 [[ 9.97616917e-01 6.37439728e-03 -6.87011944e-02 -7.01709185e+00] [-6.62919202e-03 9.99971966e-01 -3.48138807e-03 -7.04530722e-01] [ 6.86770767e-02 3.92852504e-03 9.97631207e-01 -6.69083870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70463044 meters Centerline goodness : 0.100393 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.70, Z:-0.67 [[ 9.97623463e-01 5.84837412e-03 -6.86529099e-02 -7.01712489e+00] [-6.14833320e-03 9.99972451e-01 -4.15872342e-03 -7.02107724e-01] [ 6.86266968e-02 4.57094103e-03 9.97631938e-01 -6.69355645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76463043999999 meters Centerline goodness : 0.102596 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.70, Z:-0.67 [[ 9.97675572e-01 -3.59472839e-03 -6.80480030e-02 -7.03980210e+00] [ 3.28846269e-03 9.99983957e-01 -4.61221211e-03 -6.95198614e-01] [ 6.80634909e-02 4.37771804e-03 9.97671387e-01 -6.70185492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82463043999999 meters Centerline goodness : 0.107618 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.69, Z:-0.67 [[ 9.97647871e-01 -3.72087129e-03 -6.84461919e-02 -7.03828306e+00] [ 3.37866189e-03 9.99981212e-01 -5.11477014e-03 -6.92150782e-01] [ 6.84639373e-02 4.87148300e-03 9.97641698e-01 -6.70976016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88463044 meters Centerline goodness : 0.099589 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.69, Z:-0.67 [[ 9.97527067e-01 -2.14276709e-03 -7.02506910e-02 -7.03196191e+00] [ 1.84848407e-03 9.99989244e-01 -4.25378243e-03 -6.86759019e-01] [ 7.02590503e-02 4.11340583e-03 9.97520298e-01 -6.73121339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94463044 meters Centerline goodness : 0.107171 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.67, Z:-0.68 [[ 9.97373272e-01 -3.29284026e-04 -7.24323717e-02 -7.07687132e+00] [ 1.05013018e-04 9.99995189e-01 -3.10006781e-03 -6.74392141e-01] [ 7.24330441e-02 3.08431844e-03 9.97368508e-01 -6.75232736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00463044 meters Centerline goodness : 0.134521 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.67, Z:-0.68 [[ 9.97373760e-01 -7.30410475e-04 -7.24227098e-02 -7.07711847e+00] [ 4.27947577e-04 9.99991123e-01 -4.19178332e-03 -6.65711279e-01] [ 7.24251286e-02 4.14978157e-03 9.97365219e-01 -6.75079809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06463044 meters Centerline goodness : 0.130339 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.66, Z:-0.68 [[ 9.97334115e-01 -1.53934322e-03 -7.29540451e-02 -7.07548773e+00] [ 1.15852632e-03 9.99985485e-01 -5.26198450e-03 -6.57393432e-01] [ 7.29610861e-02 5.16343748e-03 9.97321422e-01 -6.75537645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12463043999999 meters Centerline goodness : 0.447232 with order 3 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.65, Z:-0.68 [[ 9.97338019e-01 -4.73581265e-03 -7.27629512e-02 -7.12392281e+00] [ 4.22308117e-03 9.99965171e-01 -7.19883242e-03 -6.54613320e-01] [ 7.27945092e-02 6.87238542e-03 9.97323282e-01 -6.77034465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18463043999999 meters Centerline goodness : 0.451351 with order 3 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.65, Z:-0.67 [[ 0.99759204 -0.00982892 -0.068655 -7.0880043 ] [ 0.00909834 0.9998987 -0.01094597 -0.64905121] [ 0.06875563 0.01029497 0.99758041 -0.67380754] [ 0. 0. 0. 1. ]] SLAMing on 111.24463044 meters Centerline goodness : 0.331039 with order 2 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.65, Z:-0.68 [[ 9.97665340e-01 -2.13711069e-03 -6.82590850e-02 -7.10657463e+00] [ 1.29868051e-03 9.99923200e-01 -1.23250704e-02 -6.48823778e-01] [ 6.82801827e-02 1.22076488e-02 9.97591495e-01 -6.76869792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30463044 meters Centerline goodness : 0.091307 with order 1 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.64, Z:-0.68 [[ 9.97642078e-01 -2.49126493e-03 -6.85862751e-02 -7.10600618e+00] [ 1.56986828e-03 9.99907844e-01 -1.34847488e-02 -6.43569100e-01] [ 6.86135486e-02 1.33452814e-02 9.97554051e-01 -6.76570332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36463044 meters Centerline goodness : 0.097861 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.64, Z:-0.68 [[ 9.97560433e-01 5.71469879e-03 -6.95738773e-02 -7.12594536e+00] [-6.76293584e-03 9.99867005e-01 -1.48403178e-02 -6.40142199e-01] [ 6.94798164e-02 1.52746375e-02 9.97466411e-01 -6.77317317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42463044 meters Centerline goodness : 0.444194 with order 2 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.64, Z:-0.68 [[ 9.97542347e-01 5.25687651e-03 -6.98686774e-02 -7.12488892e+00] [-6.36027342e-03 9.99858405e-01 -1.55793691e-02 -6.36683152e-01] [ 6.97768856e-02 1.59854643e-02 9.97434535e-01 -6.77717351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48463043999999 meters Centerline goodness : 0.453658 with order 2 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.63, Z:-0.67 [[ 9.97566499e-01 -3.46447552e-03 -6.96353144e-02 -7.10553003e+00] [ 2.40976576e-03 9.99881197e-01 -1.52244928e-02 -6.30733389e-01] [ 6.96797864e-02 1.50196391e-02 9.97456334e-01 -6.74736695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54463043999999 meters Centerline goodness : 0.450843 with order 1 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.63, Z:-0.67 [[ 9.97577796e-01 -6.02088591e-03 -6.92985495e-02 -7.10748941e+00] [ 4.81682597e-03 9.99834753e-01 -1.75289720e-02 -6.32097337e-01] [ 6.93926381e-02 1.71527143e-02 9.97441951e-01 -6.73548188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60463044 meters SLAMing on 111.66463044 meters Centerline goodness : 0.105353 with order 1 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.63, Z:-0.67 [[ 9.97541104e-01 -6.94112777e-03 -6.97392757e-02 -7.10571182e+00] [ 5.65178913e-03 9.99809757e-01 -1.86683227e-02 -6.28246439e-01] [ 6.98555875e-02 1.82282676e-02 9.97390559e-01 -6.74492912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72463044 meters SLAMing on 111.78463044 meters Centerline goodness : 0.105777 with order 1 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.63, Z:-0.68 [[ 9.97344632e-01 -6.34602172e-03 -7.25493838e-02 -7.09861918e+00] [ 4.97517308e-03 9.99805954e-01 -1.90605084e-02 -6.28515133e-01] [ 7.26562643e-02 1.86489499e-02 9.97182673e-01 -6.75305747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84463043999999 meters Centerline goodness : 0.153302 with order 3 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.63, Z:-0.67 [[ 9.97412123e-01 -6.51669890e-03 -7.16002089e-02 -7.10187055e+00] [ 5.13220541e-03 9.99796618e-01 -1.95034294e-02 -6.27406970e-01] [ 7.17127447e-02 1.90854900e-02 9.97242712e-01 -6.73841604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90463043999999 meters Centerline goodness : 0.104968 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.62, Z:-0.67 [[ 9.97550786e-01 3.21217342e-03 -6.98721085e-02 -7.08318511e+00] [-4.58427347e-03 9.99799623e-01 -1.94858272e-02 -6.24717282e-01] [ 6.97955159e-02 1.97584151e-02 9.97365626e-01 -6.71226388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96463044 meters Centerline goodness : 0.104107 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.62, Z:-0.67 [[ 9.97421891e-01 4.88061549e-03 -7.15943537e-02 -7.07679366e+00] [-6.23054596e-03 9.99806771e-01 -1.86440753e-02 -6.17596855e-01] [ 7.14895250e-02 1.90420808e-02 9.97259569e-01 -6.73526690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02463044 meters Centerline goodness : 0.103709 with order 1 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.61, Z:-0.68 [[ 9.97340778e-01 7.05632453e-03 -7.25367546e-02 -7.07289107e+00] [-8.32083101e-03 9.99818386e-01 -1.71452539e-02 -6.11378377e-01] [ 7.24025984e-02 1.77032269e-02 9.97218361e-01 -6.75078857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08463044 meters Centerline goodness : 0.105282 with order 1 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.60, Z:-0.67 [[ 9.97326086e-01 -3.78152346e-04 -7.30789695e-02 -7.05517640e+00] [-8.21510826e-04 9.99865416e-01 -1.63852287e-02 -6.01767461e-01] [ 7.30753303e-02 1.64014512e-02 9.97191551e-01 -6.70921748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14463044 meters Centerline goodness : 0.103325 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.60, Z:-0.67 [[ 9.97096032e-01 -7.02691286e-04 -7.61512247e-02 -7.01633647e+00] [-6.91149460e-04 9.99832747e-01 -1.82756896e-02 -5.95176774e-01] [ 7.61513303e-02 1.82752494e-02 9.96928779e-01 -6.65560101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20463044 meters Centerline goodness : 0.159104 with order 3 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.59, Z:-0.67 [[ 9.97107890e-01 -6.49947579e-04 -7.59962717e-02 -7.01651358e+00] [-8.02722488e-04 9.99817582e-01 -1.90829091e-02 -5.90499684e-01] [ 7.59948115e-02 1.90887231e-02 9.96925478e-01 -6.65509676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26463043999999 meters Centerline goodness : 0.103993 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.58, Z:-0.66 [[ 9.97109772e-01 2.32709622e-03 -7.59387080e-02 -7.01833190e+00] [-3.66465549e-03 9.99840513e-01 -1.74790797e-02 -5.83885278e-01] [ 7.58859213e-02 1.77068503e-02 9.96959274e-01 -6.63457488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32463043999999 meters Centerline goodness : 0.106788 with order 1 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.57, Z:-0.66 [[ 0.99700463 0.01295908 -0.07624842 -6.99373771] [-0.01438987 0.99972998 -0.0182455 -0.57304691] [ 0.07599138 0.01928805 0.9969219 -0.66280217] [ 0. 0. 0. 1. ]] SLAMing on 112.38463044 meters Centerline goodness : 0.258256 with order 3 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.56, Z:-0.67 [[ 0.99729513 0.0073269 -0.07313515 -7.01240223] [-0.00859912 0.99981688 -0.01709568 -0.55905726] [ 0.0729965 0.01767833 0.99717551 -0.66548494] [ 0. 0. 0. 1. ]] SLAMing on 112.44463044 meters Centerline goodness : 0.118057 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.55, Z:-0.66 [[ 9.97261033e-01 6.78603272e-03 -7.36503974e-02 -7.01176043e+00] [-8.18769717e-03 9.99790751e-01 -1.87461119e-02 -5.52947713e-01] [ 7.35077744e-02 1.92977941e-02 9.97107919e-01 -6.64575935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50463044 meters Centerline goodness : 0.259064 with order 3 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.55, Z:-0.66 [[ 9.97293028e-01 6.45356216e-03 -7.32459460e-02 -7.01326011e+00] [-7.92174746e-03 9.99773135e-01 -1.97718168e-02 -5.49384541e-01] [ 7.31017304e-02 2.02985310e-02 9.97117900e-01 -6.63711093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56463044 meters Centerline goodness : 0.104802 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.55, Z:-0.66 [[ 9.97328708e-01 6.74928171e-03 -7.27316657e-02 -7.01502145e+00] [-8.23391646e-03 9.99763424e-01 -2.01320328e-02 -5.46118488e-01] [ 7.25785823e-02 2.06771207e-02 9.97148337e-01 -6.62861065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62463043999999 meters Centerline goodness : 0.110272 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.54, Z:-0.66 [[ 9.97328604e-01 6.62128565e-03 -7.27448574e-02 -7.01487290e+00] [-8.16936356e-03 9.99746014e-01 -2.10040417e-02 -5.42879882e-01] [ 7.25873075e-02 2.15422108e-02 9.97129388e-01 -6.62839361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68463043999999 meters Centerline goodness : 0.238300 with order 3 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.54, Z:-0.66 [[ 0.99731167 0.00705828 -0.07293574 -7.01446584] [-0.00861636 0.99974088 -0.02106983 -0.54049765] [ 0.07276812 0.02164163 0.99711406 -0.66277134] [ 0. 0. 0. 1. ]] SLAMing on 112.74463044 meters Centerline goodness : 0.121951 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.54, Z:-0.66 [[ 9.97257160e-01 6.96444283e-03 -7.36861766e-02 -7.01226747e+00] [-8.61099517e-03 9.99719753e-01 -2.20514295e-02 -5.36334535e-01] [ 7.35119504e-02 2.26254572e-02 9.97037653e-01 -6.63179831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80463044 meters Centerline goodness : 0.107800 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-0.53, Z:-0.67 [[ 9.97187179e-01 2.66984464e-04 -7.49510388e-02 -7.02845747e+00] [-1.78673188e-03 9.99794156e-01 -2.02102151e-02 -5.30204813e-01] [ 7.49302148e-02 2.02872848e-02 9.96982392e-01 -6.66392611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86463044 meters Centerline goodness : 0.166590 with order 3 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.53, Z:-0.67 [[ 9.97176527e-01 -6.18040526e-04 -7.50905525e-02 -7.07496513e+00] [-1.00917014e-03 9.99765533e-01 -2.16301030e-02 -5.33818120e-01] [ 7.50863145e-02 2.16448102e-02 9.96942098e-01 -6.68815482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92463044 meters Centerline goodness : 0.192697 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.54, Z:-0.67 [[ 9.97194606e-01 -3.55355185e-03 -7.47682440e-02 -7.07627899e+00] [ 1.72202595e-03 9.99697212e-01 -2.45462618e-02 -5.35332413e-01] [ 7.48328314e-02 2.43486470e-02 9.96898787e-01 -6.68161122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98463043999999 meters Centerline goodness : 0.287302 with order 3 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.53, Z:-0.67 [[ 9.97122154e-01 -3.27690524e-03 -7.57408270e-02 -7.07342190e+00] [ 1.41024870e-03 9.99694268e-01 -2.46856714e-02 -5.33566643e-01] [ 7.57985632e-02 2.45078164e-02 9.96821922e-01 -6.68757029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04463043999999 meters Centerline goodness : 0.114705 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.53, Z:-0.67 [[ 9.96920921e-01 -2.14711183e-03 -7.83840979e-02 -7.11613639e+00] [ 1.77180893e-04 9.99684174e-01 -2.51300765e-02 -5.32401154e-01] [ 7.84132992e-02 2.50388109e-02 9.96606448e-01 -6.71828576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10463044 meters Centerline goodness : 0.275216 with order 3 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.53, Z:-0.67 [[ 9.96966872e-01 -2.13758740e-03 -7.77977248e-02 -7.11824327e+00] [ 1.42772832e-04 9.99671293e-01 -2.56375746e-02 -5.30306729e-01] [ 7.78269547e-02 2.55487052e-02 9.96639468e-01 -6.70759269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16463044 meters Centerline goodness : 0.111985 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.53, Z:-0.67 [[ 9.96950838e-01 -2.16999914e-03 -7.80020318e-02 -7.11778681e+00] [ 1.61097172e-04 9.99668361e-01 -2.57515538e-02 -5.30540446e-01] [ 7.80320441e-02 2.56604673e-02 9.96620560e-01 -6.70765083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22463044 meters Centerline goodness : 0.119608 with order 1 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.53, Z:-0.67 [[ 9.96686744e-01 -1.86868584e-03 -8.13144701e-02 -7.15927302e+00] [-2.86310054e-04 9.99649242e-01 -2.64822709e-02 -5.32370496e-01] [ 8.13354354e-02 2.64178095e-02 9.96336613e-01 -6.74251568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28463044 meters Centerline goodness : 0.268439 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.53, Z:-0.67 [[ 9.96726892e-01 -1.82833621e-03 -8.08217784e-02 -7.16128116e+00] [-3.38375721e-04 9.99641115e-01 -2.67866937e-02 -5.31059970e-01] [ 8.08417478e-02 2.67263661e-02 9.96368563e-01 -6.73187019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34463043999999 meters Centerline goodness : 0.093301 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.53, Z:-0.68 [[ 9.96697920e-01 6.16884985e-03 -8.09641936e-02 -7.18105532e+00] [-8.48699763e-03 9.99562909e-01 -2.83189307e-02 -5.34927312e-01] [ 8.07541097e-02 2.89125622e-02 9.96314628e-01 -6.75430826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40463043999999 meters Centerline goodness : 0.100289 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.53, Z:-0.68 [[ 0.99630038 0.00960253 -0.08540103 -7.2156181 ] [-0.01201739 0.99954105 -0.02780765 -0.52607046] [ 0.08509481 0.02873107 0.99595853 -0.6809305 ] [ 0. 0. 0. 1. ]] SLAMing on 113.46463044 meters SLAMing on 113.52463044 meters Centerline goodness : 0.123512 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:-0.51, Z:-0.68 [[ 0.99623476 0.01722963 -0.08496734 -7.26345469] [-0.0194685 0.99948288 -0.02559188 -0.51229456] [ 0.08448246 0.0271497 0.99605502 -0.68181382] [ 0. 0. 0. 1. ]] SLAMing on 113.58463044 meters Centerline goodness : 0.159427 with order 3 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.51, Z:-0.68 [[ 0.99631437 0.00886174 -0.0853179 -7.28261532] [-0.01106861 0.99961537 -0.02542826 -0.50790034] [ 0.08505975 0.02627889 0.99602925 -0.68459527] [ 0. 0. 0. 1. ]] SLAMing on 113.64463044 meters Centerline goodness : 0.128898 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.51, Z:-0.69 [[ 9.96105511e-01 -1.40613048e-03 -8.81580016e-02 -7.30166233e+00] [-9.22730775e-04 9.99651810e-01 -2.63705851e-02 -5.07195114e-01] [ 8.81643864e-02 2.63492313e-02 9.95757380e-01 -6.86556750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70463044 meters Centerline goodness : 0.121624 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.51, Z:-0.69 [[ 0.99622162 -0.00982715 -0.08628965 -7.32573206] [ 0.00759977 0.99963036 -0.02610351 -0.50671192] [ 0.08651427 0.0253491 0.99592806 -0.68795639] [ 0. 0. 0. 1. ]] SLAMing on 113.76463043999999 meters Centerline goodness : 0.268696 with order 3 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.51, Z:-0.69 [[ 0.99628724 -0.00974815 -0.08553777 -7.32774425] [ 0.00760022 0.99964846 -0.02540071 -0.51019244] [ 0.08575531 0.0246563 0.99601109 -0.68764989] [ 0. 0. 0. 1. ]] SLAMing on 113.82463043999999 meters Centerline goodness : 0.125149 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.52, Z:-0.69 [[ 0.99617681 -0.01298568 -0.08638943 -7.32408012] [ 0.01063135 0.99956094 -0.02765703 -0.5165028 ] [ 0.08671064 0.02663286 0.99587748 -0.68917774] [ 0. 0. 0. 1. ]] SLAMing on 113.88463044 meters Centerline goodness : 0.130069 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.53, Z:-0.69 [[ 9.96265169e-01 -5.56648534e-03 -8.61668593e-02 -7.34007967e+00] [ 3.11330296e-03 9.99586706e-01 -2.85783823e-02 -5.26943565e-01] [ 8.62903283e-02 2.82033833e-02 9.95870749e-01 -6.92719127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94463044 meters Centerline goodness : 0.142189 with order 3 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.53, Z:-0.69 [[ 9.96263288e-01 -5.40393231e-03 -8.61989434e-02 -7.34043672e+00] [ 2.95738853e-03 9.99589845e-01 -2.84850154e-02 -5.28145664e-01] [ 8.63175196e-02 2.81236514e-02 9.95870647e-01 -6.92184961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00463044 meters Centerline goodness : 0.094882 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.53, Z:-0.69 [[ 9.96283312e-01 -4.39640652e-03 -8.60246117e-02 -7.34079005e+00] [ 1.98385014e-03 9.99602857e-01 -2.81103708e-02 -5.26548579e-01] [ 8.61140322e-02 2.78352333e-02 9.95896367e-01 -6.92285240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06463044 meters Centerline goodness : 0.214233 with order 3 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.53, Z:-0.69 [[ 9.96337569e-01 5.19072013e-03 -8.53493098e-02 -7.36273829e+00] [-7.63623994e-03 9.99568844e-01 -2.83516132e-02 -5.28612198e-01] [ 8.51653456e-02 2.88995252e-02 9.95947630e-01 -6.94004119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12463043999999 meters Centerline goodness : 0.122796 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.53, Z:-0.70 [[ 0.99621955 0.00741327 -0.08655432 -7.4090427 ] [-0.00998788 0.99951928 -0.02935049 -0.52504405] [ 0.08629512 0.03010402 0.99581469 -0.69572805] [ 0. 0. 0. 1. ]] SLAMing on 114.18463043999999 meters SLAMing on 114.24463044 meters SLAMing on 114.30463044 meters Centerline goodness : 0.091772 with order 1 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.53, Z:-0.70 [[ 0.99602235 0.02193759 -0.08636102 -7.47133551] [-0.02468653 0.99921781 -0.03089248 -0.53310797] [ 0.08561576 0.03290155 0.99578483 -0.7010634 ] [ 0. 0. 0. 1. ]] SLAMing on 114.36463044 meters SLAMing on 114.42463044 meters SLAMing on 114.48463043999999 meters SLAMing on 114.54463043999999 meters Centerline goodness : 0.093061 with order 1 Centerline is valid? [False, False] Translation: X:-7.68, Y:-0.57, Z:-0.72 [[ 9.96393275e-01 6.90239236e-03 -8.45742155e-02 -7.68298738e+00] [-9.86990919e-03 9.99348341e-01 -3.47200004e-02 -5.66027251e-01] [ 8.42794508e-02 3.54295147e-02 9.95812093e-01 -7.19956209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60463044 meters Centerline goodness : 0.171347 with order 2 Centerline is valid? [False, False] Translation: X:-7.68, Y:-0.56, Z:-0.72 [[ 9.96363194e-01 6.92639426e-03 -8.49259146e-02 -7.68235078e+00] [-9.94830890e-03 9.99330365e-01 -3.52115458e-02 -5.61884210e-01] [ 8.46251561e-02 3.59283574e-02 9.95764900e-01 -7.19675514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66463044 meters Centerline goodness : 0.182989 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.56, Z:-0.72 [[ 9.96574621e-01 6.38528197e-04 -8.26959331e-02 -7.70869341e+00] [-3.43347423e-03 9.99427442e-01 -3.36600674e-02 -5.59090821e-01] [ 8.26270920e-02 3.38287032e-02 9.96006216e-01 -7.19310902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72463044 meters Centerline goodness : 0.158807 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.56, Z:-0.72 [[ 9.96566767e-01 -3.13004983e-03 -8.27337986e-02 -7.70937031e+00] [ 8.89068675e-05 9.99324990e-01 -3.67363210e-02 -5.61914992e-01] [ 8.27929390e-02 3.66028410e-02 9.95894352e-01 -7.18415073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78463044 meters Centerline goodness : 0.089760 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.57, Z:-0.72 [[ 9.96514757e-01 -6.81535728e-03 -8.31377771e-02 -7.70824347e+00] [ 3.53282992e-03 9.99210699e-01 -3.95663785e-02 -5.66202812e-01] [ 8.33418153e-02 3.91347685e-02 9.95752284e-01 -7.18537910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84463043999999 meters Centerline goodness : 0.224324 with order 2 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.57, Z:-0.72 [[ 9.96405901e-01 -5.01010480e-03 -8.45587326e-02 -7.75453477e+00] [ 1.70209590e-03 9.99231986e-01 -3.91476843e-02 -5.70486489e-01] [ 8.46899243e-02 3.88630566e-02 9.95649175e-01 -7.20948017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90463043999999 meters Centerline goodness : 0.172688 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.57, Z:-0.72 [[ 9.96397270e-01 -4.88781989e-03 -8.46675205e-02 -7.75447676e+00] [ 1.55795279e-03 9.99224264e-01 -3.93502528e-02 -5.69076898e-01] [ 8.47941778e-02 3.90765764e-02 9.95631944e-01 -7.20761622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96463044 meters Centerline goodness : 0.164720 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.57, Z:-0.72 [[ 9.96232706e-01 5.44026736e-03 -8.65494036e-02 -7.77448755e+00] [-8.87488380e-03 9.99186125e-01 -3.93487384e-02 -5.69505472e-01] [ 8.62648955e-02 3.99686160e-02 9.95470179e-01 -7.22062258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02463044 meters Centerline goodness : 0.093153 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.57, Z:-0.72 [[ 9.96222830e-01 5.60104926e-03 -8.66527678e-02 -7.77422445e+00] [-9.04340816e-03 9.99183206e-01 -3.93844929e-02 -5.68637092e-01] [ 8.63613959e-02 4.00193673e-02 9.95459773e-01 -7.22127939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08463044 meters Centerline goodness : 0.200435 with order 3 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.56, Z:-0.72 [[ 9.96274770e-01 -2.06522413e-03 -8.62108942e-02 -7.79577278e+00] [-1.32589758e-03 9.99228173e-01 -3.92594053e-02 -5.64711384e-01] [ 8.62254337e-02 3.92274618e-02 9.95503079e-01 -7.23178293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14463044 meters Centerline goodness : 0.124395 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.56, Z:-0.72 [[ 9.96242577e-01 -2.12004172e-03 -8.65807893e-02 -7.79462411e+00] [-1.29473175e-03 9.99224054e-01 -3.93651249e-02 -5.64792712e-01] [ 8.65970630e-02 3.93293124e-02 9.95466802e-01 -7.23455573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20463043999999 meters Centerline goodness : 0.272867 with order 3 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.57, Z:-0.72 [[ 9.96390791e-01 -7.35872863e-04 -8.48813835e-02 -7.80019593e+00] [-2.48830539e-03 9.99279483e-01 -3.78724650e-02 -5.67911473e-01] [ 8.48480943e-02 3.79469862e-02 9.95671044e-01 -7.21852553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26463043999999 meters Centerline goodness : 0.107455 with order 1 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.57, Z:-0.72 [[ 9.96403730e-01 -6.53296262e-04 -8.47300435e-02 -7.80081621e+00] [-2.55394411e-03 9.99284384e-01 -3.77385406e-02 -5.68417392e-01] [ 8.46940638e-02 3.78192184e-02 9.95689019e-01 -7.21566739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32463043999999 meters Centerline goodness : 0.106400 with order 1 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.57, Z:-0.72 [[ 9.96335858e-01 -4.93908997e-04 -8.55255216e-02 -7.79837302e+00] [-2.73456500e-03 9.99288097e-01 -3.76273945e-02 -5.68792745e-01] [ 8.54832202e-02 3.77233975e-02 9.95625213e-01 -7.22276109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38463044 meters Centerline goodness : 0.225077 with order 3 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.57, Z:-0.72 [[ 9.96238563e-01 -1.12154711e-04 -8.66528276e-02 -7.79503126e+00] [-3.12699020e-03 9.99301306e-01 -3.72440769e-02 -5.70045742e-01] [ 8.65964609e-02 3.73749482e-02 9.95542147e-01 -7.23116986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44463044 meters Centerline goodness : 0.249471 with order 3 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.57, Z:-0.72 [[ 9.96427981e-01 -7.65446167e-03 -8.40992766e-02 -7.81904472e+00] [ 4.57706398e-03 9.99314946e-01 -3.67244934e-02 -5.69821722e-01] [ 8.43227703e-02 3.62083851e-02 9.95780409e-01 -7.24263648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50463044 meters Centerline goodness : 0.253292 with order 3 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.57, Z:-0.72 [[ 9.96433044e-01 -7.72374093e-03 -8.40329202e-02 -7.81919123e+00] [ 4.64915309e-03 9.99314696e-01 -3.67222517e-02 -5.70355282e-01] [ 8.42589653e-02 3.62005831e-02 9.95786094e-01 -7.24232739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56463044 meters Centerline goodness : 0.103938 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.57, Z:-0.73 [[ 9.96344260e-01 1.07244229e-03 -8.54222780e-02 -7.83736010e+00] [-4.29413891e-03 9.99285894e-01 -3.75401391e-02 -5.73464269e-01] [ 8.53210178e-02 3.77697173e-02 9.95637370e-01 -7.26647760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62463043999999 meters Centerline goodness : 0.271608 with order 3 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.57, Z:-0.73 [[ 9.96333098e-01 1.08268751e-03 -8.55522422e-02 -7.83720974e+00] [-4.32484008e-03 9.99278969e-01 -3.77205129e-02 -5.72171234e-01] [ 8.54497169e-02 3.79521952e-02 9.95619394e-01 -7.26435056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68463043999999 meters Centerline goodness : 0.102864 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.56, Z:-0.73 [[ 9.96579893e-01 -3.07086260e-03 -8.25777592e-02 -7.85952179e+00] [ 9.56378837e-05 9.99351453e-01 -3.60092141e-02 -5.63808702e-01] [ 8.26347830e-02 3.58781611e-02 9.95933858e-01 -7.26430130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74463044 meters Centerline goodness : 0.106422 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.56, Z:-0.73 [[ 9.96571525e-01 -3.23648396e-03 -8.26723705e-02 -7.85990465e+00] [ 2.04993895e-04 9.99328108e-01 -3.66509185e-02 -5.60159950e-01] [ 8.27354438e-02 3.65083144e-02 9.95902600e-01 -7.25680197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80463044 meters Centerline goodness : 0.105479 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.56, Z:-0.73 [[ 9.96564326e-01 -3.41470194e-03 -8.27519431e-02 -7.85928999e+00] [ 3.47796003e-04 9.99313443e-01 -3.70475466e-02 -5.58354472e-01] [ 8.28216355e-02 3.68914825e-02 9.95881316e-01 -7.26148315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86463044 meters Centerline goodness : 0.240715 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.56, Z:-0.73 [[ 9.96535733e-01 -3.68818287e-03 -8.30838694e-02 -7.90799366e+00] [ 4.97594541e-04 9.99262707e-01 -3.83900374e-02 -5.59826539e-01] [ 8.31642017e-02 3.82157020e-02 9.95802830e-01 -7.26592265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92463044 meters Centerline goodness : 0.161195 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.56, Z:-0.73 [[ 9.96482305e-01 -3.88995289e-03 -8.37131057e-02 -7.90674366e+00] [ 6.61443638e-04 9.99256084e-01 -3.85595802e-02 -5.59792006e-01] [ 8.38008251e-02 3.83685679e-02 9.95743579e-01 -7.26193913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98463043999999 meters Centerline goodness : 0.102407 with order 1 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.56, Z:-0.73 [[ 9.96447241e-01 -4.04459117e-03 -8.41221552e-02 -7.90500241e+00] [ 7.71453154e-04 9.99242596e-01 -3.89055107e-02 -5.58383051e-01] [ 8.42157976e-02 3.87023925e-02 9.95695648e-01 -7.27031338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04463043999999 meters Centerline goodness : 0.222701 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.55, Z:-0.73 [[ 9.96697086e-01 -9.67692812e-03 -8.06304889e-02 -7.92489770e+00] [ 6.59222209e-03 9.99239317e-01 -3.84360623e-02 -5.53839473e-01] [ 8.09410976e-02 3.77775772e-02 9.96002708e-01 -7.28584159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10463044 meters Centerline goodness : 0.270419 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.55, Z:-0.73 [[ 9.96691744e-01 -9.57510127e-03 -8.07086460e-02 -7.92530562e+00] [ 6.49273912e-03 9.99242603e-01 -3.83675081e-02 -5.53894066e-01] [ 8.10148903e-02 3.77165584e-02 9.95999020e-01 -7.27850334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16463044 meters Centerline goodness : 0.246166 with order 3 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.56, Z:-0.73 [[ 9.96528354e-01 -9.78086944e-03 -8.26775359e-02 -7.97024759e+00] [ 6.52665057e-03 9.99196697e-01 -3.95393992e-02 -5.60140150e-01] [ 8.29978504e-02 3.88625250e-02 9.95791675e-01 -7.30414536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22463044 meters Centerline goodness : 0.108559 with order 1 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.56, Z:-0.73 [[ 9.96551070e-01 -9.44785387e-03 -8.24421223e-02 -7.97099845e+00] [ 6.25867287e-03 9.99225184e-01 -3.88569131e-02 -5.63154896e-01] [ 8.27453593e-02 3.82069200e-02 9.95838058e-01 -7.30151704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28463044 meters Centerline goodness : 0.244334 with order 3 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.57, Z:-0.73 [[ 9.96554960e-01 -9.19747251e-03 -8.24234133e-02 -7.97144529e+00] [ 6.06334493e-03 9.99251921e-01 -3.81946766e-02 -5.66597337e-01] [ 8.27130486e-02 3.75633329e-02 9.95865226e-01 -7.29596871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34463043999999 meters Centerline goodness : 0.105681 with order 1 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.57, Z:-0.73 [[ 9.96496647e-01 4.28447089e-05 -8.36327122e-02 -7.99133624e+00] [-3.27534143e-03 9.99252682e-01 -3.85142844e-02 -5.73527097e-01] [ 8.35685618e-02 3.86532810e-02 9.95752087e-01 -7.31449414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40463043999999 meters SLAMing on 116.46463044 meters Centerline goodness : 0.243356 with order 3 Centerline is valid? [False, False] Translation: X:-8.01, Y:-0.57, Z:-0.73 [[ 0.99629302 0.01108284 -0.08530767 -8.00943792] [-0.0144084 0.999156 -0.03846671 -0.57317076] [ 0.08480935 0.03955327 0.99561183 -0.73439561] [ 0. 0. 0. 1. ]] SLAMing on 116.52463044 meters Centerline goodness : 0.236017 with order 3 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.57, Z:-0.74 [[ 9.96341049e-01 4.30452434e-03 -8.53579825e-02 -8.02937702e+00] [-7.47219263e-03 9.99293768e-01 -3.68257051e-02 -5.70829103e-01] [ 8.51391828e-02 3.73287729e-02 9.95669565e-01 -7.35820745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58463044 meters Centerline goodness : 0.248640 with order 3 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.57, Z:-0.74 [[ 9.96341496e-01 -4.58294113e-03 -8.53382708e-02 -8.05104773e+00] [ 1.41852411e-03 9.99310379e-01 -3.71046445e-02 -5.70212318e-01] [ 8.54494681e-02 3.68478426e-02 9.95660899e-01 -7.37302584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64463044 meters Centerline goodness : 0.103286 with order 1 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.57, Z:-0.74 [[ 9.96329018e-01 -4.89315570e-03 -8.54666352e-02 -8.05056033e+00] [ 1.72440628e-03 9.99309684e-01 -3.71104099e-02 -5.71703304e-01] [ 8.55892232e-02 3.68267990e-02 9.95649673e-01 -7.37434885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70463043999999 meters Centerline goodness : 0.100581 with order 1 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.57, Z:-0.74 [[ 9.96381241e-01 -5.03632705e-03 -8.48472684e-02 -8.05285584e+00] [ 1.91182338e-03 9.99318385e-01 -3.68661163e-02 -5.74226429e-01] [ 8.49751050e-02 3.65704937e-02 9.95711721e-01 -7.36267023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76463043999999 meters Centerline goodness : 0.106240 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.58, Z:-0.74 [[ 9.96870156e-01 -6.62093699e-03 -7.87785241e-02 -8.09188892e+00] [ 3.57187653e-03 9.99241298e-01 -3.87823534e-02 -5.83891460e-01] [ 7.89755302e-02 3.83795835e-02 9.96137477e-01 -7.41143640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82463043999999 meters Centerline goodness : 0.242558 with order 3 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.59, Z:-0.74 [[ 9.96878808e-01 -7.90884952e-03 -7.85499298e-02 -8.09232805e+00] [ 4.88538198e-03 9.99242457e-01 -3.86088755e-02 -5.94492828e-01] [ 7.87957767e-02 3.81046234e-02 9.96162268e-01 -7.41106876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88463044 meters Centerline goodness : 0.247959 with order 3 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.60, Z:-0.74 [[ 9.96920758e-01 -2.25321869e-03 -7.83832006e-02 -8.11388564e+00] [-1.01516142e-03 9.99132470e-01 -4.16326384e-02 -6.02692784e-01] [ 7.84090083e-02 4.15840130e-02 9.96053612e-01 -7.42342617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94463044 meters Centerline goodness : 0.222422 with order 3 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.60, Z:-0.74 [[ 9.96928710e-01 -1.78221418e-03 -7.82941361e-02 -8.11502971e+00] [-1.44500890e-03 9.99152214e-01 -4.11432358e-02 -6.04048574e-01] [ 7.83010854e-02 4.11300087e-02 9.96080952e-01 -7.41190477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00463044 meters Centerline goodness : 0.105521 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.60, Z:-0.74 [[ 9.96967519e-01 -1.21664793e-03 -7.78092930e-02 -8.11568420e+00] [-1.96938035e-03 9.99163072e-01 -4.08567897e-02 -6.04286943e-01] [ 7.77938805e-02 4.08861284e-02 9.96130733e-01 -7.41865822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06463044 meters Centerline goodness : 0.101848 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.60, Z:-0.74 [[ 9.96933179e-01 -1.10369620e-03 -7.82497229e-02 -8.11461703e+00] [-2.10716713e-03 9.99159422e-01 -4.09391007e-02 -6.03965512e-01] [ 7.82291322e-02 4.09784330e-02 9.96092853e-01 -7.42030043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12463043999999 meters Centerline goodness : 0.094715 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.60, Z:-0.74 [[ 9.96916457e-01 2.99421633e-03 -7.84130888e-02 -8.11392700e+00] [-5.94125814e-03 9.99283564e-01 -3.73772656e-02 -6.02918737e-01] [ 7.82449952e-02 3.77278836e-02 9.96220020e-01 -7.42405928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18463043999999 meters Centerline goodness : 0.098119 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.60, Z:-0.74 [[ 9.96907002e-01 3.00167410e-03 -7.85329167e-02 -8.11355343e+00] [-5.96558436e-03 9.99277557e-01 -3.75336533e-02 -6.01902567e-01] [ 7.83635174e-02 3.78860565e-02 9.96204701e-01 -7.42572555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24463044 meters Centerline goodness : 0.263114 with order 3 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.60, Z:-0.74 [[ 9.96889863e-01 3.17560997e-03 -7.87433598e-02 -8.11285056e+00] [-6.15190068e-03 9.99274549e-01 -3.75836287e-02 -6.00337639e-01] [ 7.85668844e-02 3.79511598e-02 9.96186205e-01 -7.42857025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30463044 meters Centerline goodness : 0.099404 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.60, Z:-0.74 [[ 9.96923563e-01 1.90239184e-03 -7.83568143e-02 -8.16241086e+00] [-5.00221738e-03 9.99211663e-01 -3.93831256e-02 -6.03341317e-01] [ 7.82201206e-02 3.96539237e-02 9.96147167e-01 -7.43788022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36463044 meters Centerline goodness : 0.100855 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.61, Z:-0.74 [[ 9.96887672e-01 1.95455705e-03 -7.88108443e-02 -8.16118932e+00] [-5.04583457e-03 9.99224753e-01 -3.90439732e-02 -6.05452182e-01] [ 7.86734328e-02 3.93201220e-02 9.96124701e-01 -7.43902450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42463044 meters Centerline goodness : 0.259733 with order 3 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.60, Z:-0.75 [[ 9.96986487e-01 -5.94589592e-03 -7.73472063e-02 -8.18383426e+00] [ 2.96974934e-03 9.99252799e-01 -3.85360160e-02 -6.04220451e-01] [ 7.75185435e-02 3.81901854e-02 9.96259196e-01 -7.45896741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48463043999999 meters Centerline goodness : 0.246134 with order 3 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.60, Z:-0.74 [[ 0.99702658 -0.01187154 -0.07613841 -8.16344368] [ 0.00918475 0.99932598 -0.03554183 -0.60200866] [ 0.07650902 0.03473684 0.99646361 -0.74407587] [ 0. 0. 0. 1. ]] SLAMing on 117.54463043999999 meters Centerline goodness : 0.098228 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.61, Z:-0.75 [[ 0.996806 -0.01142522 -0.07903962 -8.20618722] [ 0.00858685 0.9993092 -0.03615786 -0.60620647] [ 0.07939813 0.03536367 0.99621551 -0.74733125] [ 0. 0. 0. 1. ]] SLAMing on 117.60463044 meters Centerline goodness : 0.270762 with order 3 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.60, Z:-0.75 [[ 9.96757839e-01 -9.48213621e-03 -7.98993048e-02 -8.20254200e+00] [ 6.70758094e-03 9.99367504e-01 -3.49227683e-02 -6.01941030e-01] [ 8.01799113e-02 3.42736121e-02 9.96190996e-01 -7.49016221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66463044 meters Centerline goodness : 0.100807 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.60, Z:-0.75 [[ 9.96774913e-01 -5.56322858e-03 -8.00551259e-02 -8.20202322e+00] [ 3.04042115e-03 9.99495944e-01 -3.16008356e-02 -5.99587287e-01] [ 8.01905763e-02 3.12555189e-02 9.96289398e-01 -7.49243066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72463044 meters Centerline goodness : 0.106962 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.60, Z:-0.75 [[ 9.96822918e-01 -5.90560634e-03 -7.94304292e-02 -8.20434974e+00] [ 3.35901114e-03 9.99477212e-01 -3.21561863e-02 -5.97636252e-01] [ 7.95788057e-02 3.17872158e-02 9.96321628e-01 -7.48209549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78463044 meters Centerline goodness : 0.239649 with order 3 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.60, Z:-0.75 [[ 9.96801215e-01 -5.83989689e-03 -7.97071753e-02 -8.20466770e+00] [ 3.28246432e-03 9.99476740e-01 -3.21787427e-02 -5.96306685e-01] [ 7.98533882e-02 3.18141739e-02 9.96298798e-01 -7.46982333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84463043999999 meters Centerline goodness : 0.097892 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.60, Z:-0.75 [[ 9.96834554e-01 -5.89031891e-03 -7.92854131e-02 -8.20625211e+00] [ 3.33102247e-03 9.99470301e-01 -3.23731745e-02 -5.95052379e-01] [ 7.94341040e-02 3.20065975e-02 9.96326152e-01 -7.46224024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90463043999999 meters Centerline goodness : 0.249492 with order 3 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.60, Z:-0.74 [[ 9.96892098e-01 -5.74714460e-03 -7.85691742e-02 -8.20898885e+00] [ 3.22803197e-03 9.99477783e-01 -3.21518433e-02 -5.95773250e-01] [ 7.87129253e-02 3.17982947e-02 9.96390056e-01 -7.44980240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96463044 meters Centerline goodness : 0.104676 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.60, Z:-0.75 [[ 9.96823360e-01 -5.83134020e-03 -7.94303739e-02 -8.20610898e+00] [ 3.31718113e-03 9.99490413e-01 -3.17476156e-02 -5.99958262e-01] [ 7.95750283e-02 3.13832799e-02 9.96334735e-01 -7.45964076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02463044 meters Centerline goodness : 0.105621 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.61, Z:-0.75 [[ 9.96744038e-01 -9.47284672e-03 -8.00723966e-02 -8.20387029e+00] [ 6.73265211e-03 9.99384694e-01 -3.44224388e-02 -6.05552932e-01] [ 8.03492061e-02 3.37712611e-02 9.96194513e-01 -7.46738032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08463044 meters Centerline goodness : 0.110617 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.62, Z:-0.75 [[ 0.99678985 -0.01107652 -0.07929252 -8.20700064] [ 0.00836666 0.99937221 -0.03442639 -0.61738757] [ 0.07962407 0.03365247 0.99625675 -0.74518364] [ 0. 0. 0. 1. ]] SLAMing on 118.14463044 meters Centerline goodness : 0.276416 with order 3 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.62, Z:-0.75 [[ 9.96740652e-01 -1.07522886e-02 -7.99528628e-02 -8.20502045e+00] [ 8.08252061e-03 9.99401307e-01 -3.36407523e-02 -6.21829558e-01] [ 8.02667107e-02 3.28848847e-02 9.96230816e-01 -7.45644661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20463043999999 meters Centerline goodness : 0.260317 with order 3 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.63, Z:-0.75 [[ 9.96731911e-01 -6.71473862e-03 -8.05009968e-02 -8.20283254e+00] [ 4.33306899e-03 9.99548756e-01 -2.97238617e-02 -6.25888097e-01] [ 8.06642592e-02 2.92779051e-02 9.96311237e-01 -7.46667636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26463043999999 meters Centerline goodness : 0.105594 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.63, Z:-0.75 [[ 9.96840597e-01 -5.90239031e-03 -7.92084946e-02 -8.20637667e+00] [ 3.60385524e-03 9.99569122e-01 -2.91304349e-02 -6.27220975e-01] [ 7.93463046e-02 2.87529442e-02 9.96432352e-01 -7.46214748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32463043999999 meters Centerline goodness : 0.093279 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.63, Z:-0.75 [[ 9.96843121e-01 -5.99394692e-03 -7.91698466e-02 -8.20717840e+00] [ 3.66350762e-03 9.99556635e-01 -2.95484600e-02 -6.25526613e-01] [ 7.93118574e-02 2.91651398e-02 9.96423115e-01 -7.45493508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38463044 meters Centerline goodness : 0.248515 with order 3 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.62, Z:-0.75 [[ 9.96853154e-01 -2.35372992e-03 -7.92354086e-02 -8.20690691e+00] [ 2.71926335e-04 9.99654737e-01 -2.62741958e-02 -6.24714222e-01] [ 7.92698939e-02 2.61699688e-02 9.96509617e-01 -7.45641400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44463044 meters SLAMing on 118.50463044 meters Centerline goodness : 0.102330 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.62, Z:-0.75 [[ 9.96929903e-01 -1.92771632e-03 -7.82754847e-02 -8.25352904e+00] [-2.38361823e-04 9.99617534e-01 -2.76537293e-02 -6.21854286e-01] [ 7.82988555e-02 2.75874876e-02 9.96548152e-01 -7.47123476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56463044 meters Centerline goodness : 0.094030 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.62, Z:-0.75 [[ 9.96879093e-01 -1.50631843e-03 -7.89291158e-02 -8.30033378e+00] [-7.46060463e-04 9.99593529e-01 -2.84994733e-02 -6.16506616e-01] [ 7.89399627e-02 2.84694150e-02 9.96472767e-01 -7.48596302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62463043999999 meters Centerline goodness : 0.094139 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.61, Z:-0.75 [[ 9.96864441e-01 -4.42492940e-04 -7.91270547e-02 -8.29993657e+00] [-1.81373524e-03 9.99593860e-01 -2.84398478e-02 -6.06933309e-01] [ 7.91075025e-02 2.84941885e-02 9.96458772e-01 -7.48463039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68463043999999 meters Centerline goodness : 0.093998 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.60, Z:-0.75 [[ 9.96744973e-01 1.00363946e-03 -8.06129738e-02 -8.29599165e+00] [-3.27777756e-03 9.99600215e-01 -2.80831977e-02 -5.97990184e-01] [ 8.05525606e-02 2.82560175e-02 9.96349779e-01 -7.48902259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74463044 meters Centerline goodness : 0.094073 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.59, Z:-0.75 [[ 9.96738374e-01 1.91358693e-04 -8.07005342e-02 -8.29748945e+00] [-2.57307752e-03 9.99564118e-01 -2.94100882e-02 -5.91984886e-01] [ 8.06597304e-02 2.95218122e-02 9.96304407e-01 -7.46867261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80463044 meters Centerline goodness : 0.092738 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.59, Z:-0.75 [[ 9.96725461e-01 4.97250423e-05 -8.08600838e-02 -8.29734591e+00] [-2.45516396e-03 9.99557356e-01 -2.96490096e-02 -5.90188804e-01] [ 8.08228173e-02 2.97504475e-02 9.96284389e-01 -7.46543307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86463044 meters Centerline goodness : 0.092791 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.59, Z:-0.75 [[ 9.96733593e-01 -1.67038522e-04 -8.07596195e-02 -8.29784941e+00] [-2.27652530e-03 9.99542364e-01 -3.01642248e-02 -5.87326836e-01] [ 8.07276995e-02 3.02495475e-02 9.96277072e-01 -7.46184015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92463044 meters Centerline goodness : 0.095781 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.58, Z:-0.75 [[ 9.96970808e-01 -6.94483368e-03 -7.74659721e-02 -8.32015950e+00] [ 4.61491514e-03 9.99532762e-01 -3.02152422e-02 -5.80052295e-01] [ 7.76396168e-02 2.97662156e-02 9.96537035e-01 -7.47956877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98463043999999 meters Centerline goodness : 0.094308 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.58, Z:-0.75 [[ 9.96952170e-01 -6.82535701e-03 -7.77160507e-02 -8.31947846e+00] [ 4.49170855e-03 9.99534895e-01 -3.01631889e-02 -5.79480622e-01] [ 7.78857791e-02 2.97221788e-02 9.96519141e-01 -7.48067398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04463043999999 meters Centerline goodness : 0.095373 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.58, Z:-0.75 [[ 9.96960929e-01 -7.02481777e-03 -7.75858137e-02 -8.32019649e+00] [ 4.68433202e-03 9.99529651e-01 -3.03073145e-02 -5.79918997e-01] [ 7.77622247e-02 2.98517707e-02 9.96524916e-01 -7.47509968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10463044 meters Centerline goodness : 0.094993 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.58, Z:-0.75 [[ 9.96980670e-01 -6.98178620e-03 -7.73356196e-02 -8.32118174e+00] [ 4.65800271e-03 9.99533392e-01 -3.01877685e-02 -5.80466677e-01] [ 7.75102987e-02 2.97363921e-02 9.96547992e-01 -7.47040049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16463044 meters Centerline goodness : 0.093209 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:-0.58, Z:-0.75 [[ 9.96875680e-01 -6.13689093e-03 -7.87478115e-02 -8.36731646e+00] [ 3.75179996e-03 9.99530772e-01 -3.03999965e-02 -5.84547743e-01] [ 7.88974223e-02 3.00095711e-02 9.96430942e-01 -7.48914381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22463044 meters Centerline goodness : 0.275814 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.59, Z:-0.75 [[ 9.96780045e-01 -6.13294733e-03 -7.99495448e-02 -8.36407914e+00] [ 3.71193089e-03 9.99531063e-01 -3.03953290e-02 -5.85254602e-01] [ 8.00984664e-02 3.00006903e-02 9.96335382e-01 -7.49472280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28463044 meters Centerline goodness : 0.102877 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.59, Z:-0.75 [[ 9.96757549e-01 -5.66037058e-03 -8.02642380e-02 -8.36365888e+00] [ 3.28587706e-03 9.99553910e-01 -2.96847368e-02 -5.87269404e-01] [ 8.03964596e-02 2.93247471e-02 9.96331505e-01 -7.49083465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34463043999999 meters Centerline goodness : 0.095003 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.59, Z:-0.75 [[ 9.96765027e-01 -5.64627804e-03 -8.01723160e-02 -8.36422070e+00] [ 3.31349201e-03 9.99568084e-01 -2.92004334e-02 -5.90792702e-01] [ 8.03025620e-02 2.88403205e-02 9.96353218e-01 -7.48588094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40463043999999 meters Centerline goodness : 0.094252 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.60, Z:-0.75 [[ 9.96847196e-01 -1.07011491e-03 -7.93380240e-02 -8.38428308e+00] [-1.51370447e-03 9.99470591e-01 -3.24999327e-02 -6.02726585e-01] [ 7.93308004e-02 3.25175611e-02 9.96317837e-01 -7.50650744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46463044 meters Centerline goodness : 0.091683 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.61, Z:-0.75 [[ 9.96820999e-01 -8.43571673e-04 -7.96692211e-02 -8.38303742e+00] [-1.71271131e-03 9.99486004e-01 -3.20124214e-02 -6.05088968e-01] [ 7.96552762e-02 3.20471043e-02 9.96307192e-01 -7.51220979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52463044 meters Centerline goodness : 0.094420 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.61, Z:-0.75 [[ 9.96765073e-01 -5.70240088e-04 -8.03682968e-02 -8.38102938e+00] [-1.99572898e-03 9.99490869e-01 -3.18436847e-02 -6.05188158e-01] [ 8.03455373e-02 3.19010661e-02 9.96256451e-01 -7.51705640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58463044 meters Centerline goodness : 0.093095 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.60, Z:-0.75 [[ 9.96762270e-01 -1.79809208e-04 -8.04048753e-02 -8.38135786e+00] [-2.39049788e-03 9.99489175e-01 -3.18696527e-02 -6.03462422e-01] [ 8.03695330e-02 3.19586750e-02 9.96252669e-01 -7.51343154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64463044 meters Centerline goodness : 0.092769 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.61, Z:-0.75 [[ 9.96891221e-01 1.34229920e-03 -7.87787554e-02 -8.38754313e+00] [-3.73609353e-03 9.99535479e-01 -3.02467735e-02 -6.05826016e-01] [ 7.87015608e-02 3.04470677e-02 9.96433159e-01 -7.48831932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70463043999999 meters Centerline goodness : 0.091573 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.61, Z:-0.75 [[ 9.96870397e-01 -2.50753349e-03 -7.90134372e-02 -8.38750578e+00] [-1.45241668e-04 9.99437026e-01 -3.35501027e-02 -6.08250128e-01] [ 7.90530827e-02 3.34565802e-02 9.96308821e-01 -7.48292048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76463043999999 meters Centerline goodness : 0.089784 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:-0.61, Z:-0.75 [[ 0.99689725 -0.01104258 -0.07793545 -8.36800067] [ 0.00854822 0.99944274 -0.03226676 -0.60830744] [ 0.07824833 0.03150044 0.99643611 -0.74608924] [ 0. 0. 0. 1. ]] SLAMing on 119.82463043999999 meters Centerline goodness : 0.091769 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.62, Z:-0.75 [[ 9.96805993e-01 -3.80624563e-03 -7.97704497e-02 -8.38475850e+00] [ 1.14140156e-03 9.99440563e-01 -3.34254146e-02 -6.21719798e-01] [ 7.98530485e-02 3.32276035e-02 9.96252687e-01 -7.49049634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88463044 meters Centerline goodness : 0.090780 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.63, Z:-0.75 [[ 9.96813770e-01 -3.66474995e-03 -7.96798404e-02 -8.38541760e+00] [ 1.04648251e-03 9.99458864e-01 -3.28768058e-02 -6.25816083e-01] [ 7.97572080e-02 3.26886692e-02 9.96278193e-01 -7.48538291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94463044 meters Centerline goodness : 0.095399 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.63, Z:-0.75 [[ 9.96914369e-01 -1.97887400e-03 -7.84718055e-02 -8.38994133e+00] [-4.58470020e-04 9.99518350e-01 -3.10299503e-02 -6.29366483e-01] [ 7.84954139e-02 3.09701803e-02 9.96433298e-01 -7.46897692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00463044 meters Centerline goodness : 0.243601 with order 3 Centerline is valid? [False, False] Translation: X:-8.41, Y:-0.63, Z:-0.75 [[ 9.96965306e-01 7.97810728e-03 -7.74372607e-02 -8.41166967e+00] [-1.03983329e-02 9.99468351e-01 -3.09012919e-02 -6.32964157e-01] [ 7.71495575e-02 3.16127343e-02 9.96518229e-01 -7.49103662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06463044 meters Centerline goodness : 0.093974 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:-0.63, Z:-0.75 [[ 9.96903425e-01 7.98428252e-03 -7.82292322e-02 -8.40956991e+00] [-1.04732780e-02 9.99450194e-01 -3.14582409e-02 -6.30145235e-01] [ 7.79350498e-02 3.21801446e-02 9.96438943e-01 -7.49610231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12463043999999 meters SLAMing on 120.18463043999999 meters SLAMing on 120.24463044 meters Centerline goodness : 0.091857 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:-0.64, Z:-0.75 [[ 9.96809662e-01 4.28749685e-03 -7.97001588e-02 -8.47483839e+00] [-6.80207193e-03 9.99486709e-01 -3.13057708e-02 -6.35365807e-01] [ 7.95250260e-02 3.17480210e-02 9.96327172e-01 -7.52595110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30463044 meters Centerline goodness : 0.094742 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.64, Z:-0.75 [[ 9.96797053e-01 -2.07782890e-03 -7.99457113e-02 -8.49702675e+00] [-2.13157532e-04 9.99589838e-01 -2.86375768e-02 -6.36715287e-01] [ 7.99724246e-02 2.85628932e-02 9.96387762e-01 -7.53957714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36463044 meters Centerline goodness : 0.093152 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.64, Z:-0.75 [[ 9.96773718e-01 -2.07743718e-03 -8.02361525e-02 -8.49582672e+00] [-2.22870022e-04 9.99589491e-01 -2.86496209e-02 -6.36988914e-01] [ 8.02627326e-02 2.85750714e-02 9.96364070e-01 -7.54596808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42463044 meters Centerline goodness : 0.247300 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.64, Z:-0.76 [[ 9.96744775e-01 -1.79828094e-03 -8.06016051e-02 -8.49464049e+00] [-5.18137464e-04 9.99587678e-01 -2.87089851e-02 -6.35360570e-01] [ 8.06199981e-02 2.86572936e-02 9.96332864e-01 -7.55101030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48463043999999 meters Centerline goodness : 0.094351 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.64, Z:-0.76 [[ 9.97216080e-01 2.28666789e-03 -7.45309328e-02 -8.53495068e+00] [-4.35067480e-03 9.99611160e-01 -2.75427134e-02 -6.37231627e-01] [ 7.44389712e-02 2.77902966e-02 9.96838271e-01 -7.59131878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54463043999999 meters Centerline goodness : 0.219154 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.64, Z:-0.76 [[ 9.97221941e-01 2.21689829e-03 -7.44545921e-02 -8.53542513e+00] [-4.29716470e-03 9.99604505e-01 -2.77915080e-02 -6.35873790e-01] [ 7.43635348e-02 2.80342452e-02 9.96837071e-01 -7.58773258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60463044 meters Centerline goodness : 0.092365 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.63, Z:-0.76 [[ 9.97192683e-01 2.34126123e-03 -7.48416397e-02 -8.53438576e+00] [-4.45835129e-03 9.99594245e-01 -2.81330559e-02 -6.32735484e-01] [ 7.47454055e-02 2.83877478e-02 9.96798505e-01 -7.59031429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66463044 meters Centerline goodness : 0.093024 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.63, Z:-0.76 [[ 9.97206816e-01 5.79659109e-03 -7.44645270e-02 -8.53538002e+00] [-7.72907169e-03 9.99640083e-01 -2.56897915e-02 -6.26706536e-01] [ 7.42888127e-02 2.61935769e-02 9.96892707e-01 -7.58941591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72463044 meters Centerline goodness : 0.090251 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.62, Z:-0.76 [[ 9.97218041e-01 5.63455512e-03 -7.43265172e-02 -8.53578713e+00] [-7.60728344e-03 9.99625543e-01 -2.62850345e-02 -6.23207463e-01] [ 7.41505807e-02 2.67773335e-02 9.96887489e-01 -7.58964400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78463044 meters Centerline goodness : 0.090122 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.62, Z:-0.76 [[ 9.97183134e-01 5.04752195e-03 -7.48352894e-02 -8.53509285e+00] [-7.06357894e-03 9.99618541e-01 -2.66997732e-02 -6.22807473e-01] [ 7.46719751e-02 2.71531685e-02 9.96838403e-01 -7.58227517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84463043999999 meters Centerline goodness : 0.092746 with order 1 Centerline is valid? [False, False] Translation: X:-8.55, Y:-0.62, Z:-0.76 [[ 9.97069764e-01 -3.97761446e-03 -7.63941391e-02 -8.55420146e+00] [ 1.96909640e-03 9.99650869e-01 -2.63488704e-02 -6.23341531e-01] [ 7.64722732e-02 2.61212345e-02 9.96729488e-01 -7.60444646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90463043999999 meters Centerline goodness : 0.095551 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-0.63, Z:-0.76 [[ 9.97116379e-01 -5.86796945e-03 -7.56603816e-02 -8.55684945e+00] [ 3.79997258e-03 9.99616019e-01 -2.74476724e-02 -6.28270568e-01] [ 7.57923916e-02 2.70810163e-02 9.96755804e-01 -7.59407577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96463044 meters Centerline goodness : 0.090070 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-0.63, Z:-0.76 [[ 9.97115870e-01 -5.91949773e-03 -7.56630750e-02 -8.55716210e+00] [ 3.85967273e-03 9.99618715e-01 -2.73409425e-02 -6.29360264e-01] [ 7.57960705e-02 2.69700529e-02 9.96758532e-01 -7.58947791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02463044 meters Centerline goodness : 0.089018 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:-0.63, Z:-0.76 [[ 9.97086276e-01 -5.79234699e-03 -7.60618599e-02 -8.55653686e+00] [ 3.75665903e-03 9.99631624e-01 -2.68794382e-02 -6.31811898e-01] [ 7.61895355e-02 2.65153805e-02 9.96740733e-01 -7.58479965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08463044 meters Centerline goodness : 0.099978 with order 1 Centerline is valid? [False, False] Translation: X:-8.60, Y:-0.64, Z:-0.76 [[ 9.96863541e-01 -6.23145098e-03 -7.88939121e-02 -8.59865279e+00] [ 4.07412136e-03 9.99614156e-01 -2.74761830e-02 -6.39879756e-01] [ 7.90346879e-02 2.70685817e-02 9.96504295e-01 -7.61913127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14463044 meters Centerline goodness : 0.219049 with order 3 Centerline is valid? [False, False] Translation: X:-8.60, Y:-0.65, Z:-0.76 [[ 9.96880236e-01 -9.74331868e-03 -7.83253657e-02 -8.60173956e+00] [ 7.44302670e-03 9.99533908e-01 -2.96068989e-02 -6.49288432e-01] [ 7.85773283e-02 2.89315545e-02 9.96488118e-01 -7.59817194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20463043999999 meters Centerline goodness : 0.090528 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:-0.66, Z:-0.76 [[ 0.9969283 -0.01163146 -0.07745117 -8.60552135] [ 0.00928854 0.99949032 -0.03054203 -0.65633913] [ 0.07776694 0.02972881 0.99652822 -0.75799541] [ 0. 0. 0. 1. ]] SLAMing on 121.26463043999999 meters Centerline goodness : 0.088347 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:-0.66, Z:-0.76 [[ 0.99695026 -0.0114444 -0.07719587 -8.60593186] [ 0.00916647 0.9995139 -0.02979843 -0.66102827] [ 0.07749937 0.02899994 0.99657054 -0.75814211] [ 0. 0. 0. 1. ]] SLAMing on 121.32463043999999 meters Centerline goodness : 0.205625 with order 3 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.67, Z:-0.76 [[ 9.97082488e-01 -3.01377245e-03 -7.62720712e-02 -8.62430787e+00] [ 7.63064137e-04 9.99563872e-01 -2.95208998e-02 -6.74122218e-01] [ 7.63277761e-02 2.93765718e-02 9.96649932e-01 -7.61211120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38463044 meters Centerline goodness : 0.089994 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.68, Z:-0.76 [[ 9.97035216e-01 -3.35443665e-03 -7.68734446e-02 -8.62217644e+00] [ 1.09785440e-03 9.99567771e-01 -2.93779898e-02 -6.81843676e-01] [ 7.69387642e-02 2.92064945e-02 9.96607951e-01 -7.62171888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44463044 meters Centerline goodness : 0.088499 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.69, Z:-0.76 [[ 9.97063425e-01 -2.93659713e-03 -7.65238723e-02 -8.62303038e+00] [ 7.58726958e-04 9.99594258e-01 -2.84735555e-02 -6.86313088e-01] [ 7.65764388e-02 2.83318801e-02 9.96661103e-01 -7.62104347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50463044 meters Centerline goodness : 0.094120 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.69, Z:-0.76 [[ 9.97106967e-01 -3.87646291e-03 -7.59122471e-02 -8.62418058e+00] [ 1.70005112e-03 9.99586229e-01 -2.87137610e-02 -6.94095679e-01] [ 7.59921446e-02 2.85016365e-02 9.96700984e-01 -7.62516958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56463044 meters Centerline goodness : 0.099355 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.70, Z:-0.76 [[ 9.97057632e-01 -3.56738764e-03 -7.65725321e-02 -8.62213116e+00] [ 1.45792417e-03 9.99618348e-01 -2.75868077e-02 -7.03596288e-01] [ 7.66417209e-02 2.73940002e-02 9.96682304e-01 -7.63182798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62463043999999 meters Centerline goodness : 0.093921 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97033977e-01 -3.22835945e-03 -7.68949043e-02 -8.62071563e+00] [ 1.15583380e-03 9.99635252e-01 -2.69819745e-02 -7.06557189e-01] [ 7.69539646e-02 2.68130676e-02 9.96674042e-01 -7.64031161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68463043999999 meters Centerline goodness : 0.222630 with order 2 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97039809e-01 -2.71136569e-03 -7.68392270e-02 -8.62083775e+00] [ 6.70257420e-04 9.99646552e-01 -2.65767124e-02 -7.08280759e-01] [ 7.68841276e-02 2.64465382e-02 9.96689225e-01 -7.64246929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74463044 meters Centerline goodness : 0.096731 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97024895e-01 1.54782756e-03 -7.70646634e-02 -8.62043580e+00] [-3.30393324e-03 9.99737653e-01 -2.26651506e-02 -7.08257948e-01] [ 7.70093640e-02 2.28523359e-02 9.96768443e-01 -7.64100458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80463044 meters Centerline goodness : 0.092853 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97021574e-01 1.41183603e-03 -7.71102246e-02 -8.62032938e+00] [-3.18853119e-03 9.99732155e-01 -2.29227255e-02 -7.07547497e-01] [ 7.70572079e-02 2.31003202e-02 9.96759029e-01 -7.64160223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86463044 meters Centerline goodness : 0.278510 with order 2 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97058720e-01 1.23709584e-03 -7.66314512e-02 -8.62155331e+00] [-2.99855251e-03 9.99733830e-01 -2.28752859e-02 -7.08744884e-01] [ 7.65827553e-02 2.30377867e-02 9.96797042e-01 -7.64038390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92463044 meters Centerline goodness : 0.099473 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.71, Z:-0.76 [[ 9.97097190e-01 1.02736435e-03 -7.61323718e-02 -8.62310327e+00] [-2.76165089e-03 9.99739004e-01 -2.26781078e-02 -7.10891388e-01] [ 7.60892029e-02 2.28225286e-02 9.96839789e-01 -7.63461838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98463043999999 meters Centerline goodness : 0.280465 with order 3 Centerline is valid? [False, False] Translation: X:-8.63, Y:-0.71, Z:-0.76 [[ 9.97170411e-01 -7.53349189e-04 -7.51704945e-02 -8.62797010e+00] [-1.05377055e-03 9.99711458e-01 -2.39977219e-02 -7.13380691e-01] [ 7.51668833e-02 2.40090307e-02 9.96881892e-01 -7.60762222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04463043999999 meters Centerline goodness : 0.097558 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:-0.72, Z:-0.76 [[ 9.97167141e-01 -6.42129712e-04 -7.52148985e-02 -8.62761105e+00] [-1.11592012e-03 9.99727211e-01 -2.33293331e-02 -7.17528650e-01] [ 7.52093612e-02 2.33471782e-02 9.96894408e-01 -7.61008636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10463044 meters Centerline goodness : 0.092220 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:-0.72, Z:-0.76 [[ 9.97190506e-01 -4.96244784e-04 -7.49056004e-02 -8.62799684e+00] [-1.20115701e-03 9.99743554e-01 -2.26137949e-02 -7.21965033e-01] [ 7.48976131e-02 2.26402350e-02 9.96934184e-01 -7.61337420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16463044 meters Centerline goodness : 0.275538 with order 3 Centerline is valid? [False, False] Translation: X:-8.61, Y:-0.73, Z:-0.76 [[ 9.97274967e-01 -9.01610072e-03 -7.32212426e-02 -8.60753161e+00] [ 7.44276055e-03 9.99736128e-01 -2.17319836e-02 -7.25614488e-01] [ 7.33978594e-02 2.11277950e-02 9.97078919e-01 -7.59852741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22463044 meters Centerline goodness : 0.103884 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.74, Z:-0.76 [[ 9.97349981e-01 -1.58820327e-03 -7.27357699e-02 -8.62450535e+00] [-4.79302569e-05 9.99747136e-01 -2.24869402e-02 -7.36484418e-01] [ 7.27530915e-02 2.24308357e-02 9.97097711e-01 -7.63703325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28463044 meters Centerline goodness : 0.275060 with order 2 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.74, Z:-0.76 [[ 9.97343717e-01 -3.57065772e-04 -7.28380533e-02 -8.62388231e+00] [-1.22261498e-03 9.99765040e-01 -2.16418366e-02 -7.36586376e-01] [ 7.28286668e-02 2.16734026e-02 9.97108945e-01 -7.64260078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34463043999999 meters Centerline goodness : 0.321634 with order 2 Centerline is valid? [False, False] Translation: X:-8.62, Y:-0.73, Z:-0.76 [[ 9.97360093e-01 6.69178483e-04 -7.26112739e-02 -8.62443937e+00] [-2.22517830e-03 9.99769578e-01 -2.13504000e-02 -7.31641991e-01] [ 7.25802555e-02 2.14556100e-02 9.97131768e-01 -7.64392530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40463043999999 meters Centerline goodness : 0.095010 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:-0.73, Z:-0.76 [[ 9.97375261e-01 2.59206937e-03 -7.23593153e-02 -8.62523108e+00] [-4.06863098e-03 9.99786344e-01 -2.02660338e-02 -7.26021264e-01] [ 7.22913244e-02 2.05072441e-02 9.97172712e-01 -7.64233810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46463044 meters Centerline goodness : 0.263636 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.72, Z:-0.77 [[ 9.97354324e-01 -3.92672497e-03 -7.25874155e-02 -8.64266669e+00] [ 2.54028232e-03 9.99812766e-01 -1.91827768e-02 -7.17225352e-01] [ 7.26491502e-02 1.89476329e-02 9.97177561e-01 -7.67665924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52463044 meters Centerline goodness : 0.094360 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.72, Z:-0.77 [[ 9.97149859e-01 -3.81943018e-03 -7.53496507e-02 -8.68604069e+00] [ 2.35652405e-03 9.99807192e-01 -1.94942661e-02 -7.18310398e-01] [ 7.54095796e-02 1.92611414e-02 9.96966601e-01 -7.70146409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58463044 meters Centerline goodness : 0.093540 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.71, Z:-0.77 [[ 9.97234826e-01 -1.47280248e-03 -7.43002914e-02 -8.69062548e+00] [ 1.57303455e-04 9.99843190e-01 -1.77079124e-02 -7.13235613e-01] [ 7.43147207e-02 1.76472592e-02 9.97078681e-01 -7.67968536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64463044 meters Centerline goodness : 0.227305 with order 2 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.71, Z:-0.77 [[ 9.97184195e-01 -1.91631418e-03 -7.49667149e-02 -8.68841385e+00] [ 5.04655315e-04 9.99822292e-01 -1.88448878e-02 -7.08395074e-01] [ 7.49895054e-02 1.87539919e-02 9.97007955e-01 -7.68951185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70463043999999 meters Centerline goodness : 0.101109 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.70, Z:-0.77 [[ 9.97136386e-01 -1.83014792e-03 -7.56021048e-02 -8.68697933e+00] [ 3.69374422e-04 9.99813064e-01 -1.93313285e-02 -7.02724809e-01] [ 7.56233513e-02 1.92480455e-02 9.96950662e-01 -7.69057776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76463043999999 meters Centerline goodness : 0.176472 with order 3 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.70, Z:-0.77 [[ 9.97300957e-01 -6.59738932e-03 -7.31250713e-02 -8.66896846e+00] [ 5.45973117e-03 9.99861107e-01 -1.57466906e-02 -6.95008869e-01] [ 7.32188018e-02 1.53049463e-02 9.97198459e-01 -7.65666299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82463043999999 meters Centerline goodness : 0.279498 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.69, Z:-0.77 [[ 9.97289236e-01 -6.96050294e-03 -7.32511479e-02 -8.66903710e+00] [ 5.80040555e-03 9.99854557e-01 -1.60380908e-02 -6.94690942e-01] [ 7.33521272e-02 1.55697289e-02 9.97184561e-01 -7.65126752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88463044 meters Centerline goodness : 0.092684 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.70, Z:-0.76 [[ 9.97301979e-01 -6.96833822e-03 -7.30767098e-02 -8.66952806e+00] [ 5.82469926e-03 9.99857395e-01 -1.58512937e-02 -6.95138571e-01] [ 7.31767459e-02 1.53828767e-02 9.97200346e-01 -7.64917246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94463044 meters Centerline goodness : 0.268670 with order 2 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.70, Z:-0.76 [[ 9.97342531e-01 -7.29570289e-03 -7.24889524e-02 -8.67124434e+00] [ 6.15779245e-03 9.99854485e-01 -1.59088097e-02 -6.96106126e-01] [ 7.25944702e-02 1.54201606e-02 9.97242328e-01 -7.64432453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00463044 meters Centerline goodness : 0.279490 with order 2 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.70, Z:-0.76 [[ 9.97328791e-01 -7.62326566e-03 -7.26441268e-02 -8.67097926e+00] [ 6.49356790e-03 9.99854487e-01 -1.57746291e-02 -6.98528392e-01] [ 7.27538103e-02 1.52607722e-02 9.97233168e-01 -7.64159407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06463044 meters Centerline goodness : 0.099503 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.71, Z:-0.77 [[ 9.97003555e-01 -9.24647358e-03 -7.68011277e-02 -8.70789100e+00] [ 8.00947962e-03 9.99833448e-01 -1.63988986e-02 -7.10040618e-01] [ 7.69399684e-02 1.57346232e-02 9.96911562e-01 -7.68803914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12463043999999 meters Centerline goodness : 0.249320 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:-0.72, Z:-0.77 [[ 9.97135683e-01 -4.83927615e-03 -7.54785445e-02 -8.72706406e+00] [ 3.35591269e-03 9.99798977e-01 -1.97672472e-02 -7.19197993e-01] [ 7.55590307e-02 1.94573282e-02 9.96951476e-01 -7.71560272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18463043999999 meters Centerline goodness : 0.096903 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.72, Z:-0.77 [[ 0.99720635 -0.01374623 -0.07342023 -8.70779292] [ 0.01239879 0.99974682 -0.01877684 -0.72244249] [ 0.07365976 0.01781407 0.99712431 -0.76970223] [ 0. 0. 0. 1. ]] SLAMing on 123.24463044 meters Centerline goodness : 0.100610 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:-0.73, Z:-0.77 [[ 9.97335201e-01 -8.48647644e-03 -7.24601707e-02 -8.72730392e+00] [ 6.99287455e-03 9.99758335e-01 -2.08415961e-02 -7.34601845e-01] [ 7.26195312e-02 2.02793526e-02 9.97153525e-01 -7.72035601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30463044 meters Centerline goodness : 0.110576 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-0.75, Z:-0.78 [[ 9.97397146e-01 -2.31703394e-03 -7.20663882e-02 -8.74304410e+00] [ 7.00273023e-04 9.99747688e-01 -2.24515068e-02 -7.47574358e-01] [ 7.21002259e-02 2.23426027e-02 9.97147113e-01 -7.76177619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36463044 meters Centerline goodness : 0.274320 with order 2 Centerline is valid? [False, False] Translation: X:-8.74, Y:-0.76, Z:-0.78 [[ 9.97420449e-01 -3.10403292e-03 -7.17134021e-02 -8.74364758e+00] [ 1.50078014e-03 9.99747974e-01 -2.23994648e-02 -7.56766759e-01] [ 7.17648572e-02 2.22340582e-02 9.97173732e-01 -7.76487688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42463044 meters Centerline goodness : 0.264849 with order 3 Centerline is valid? [False, False] Translation: X:-8.74, Y:-0.76, Z:-0.78 [[ 9.97424099e-01 -2.76568205e-03 -7.16764820e-02 -8.74412647e+00] [ 1.21729563e-03 9.99765149e-01 -2.16371184e-02 -7.61074757e-01] [ 7.17194901e-02 2.14941319e-02 9.97193220e-01 -7.76004156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48463043999999 meters Centerline goodness : 0.103387 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-0.77, Z:-0.78 [[ 9.97440758e-01 -2.33081872e-03 -7.14597839e-02 -8.74483373e+00] [ 8.52032479e-04 9.99785007e-01 -2.07174667e-02 -7.65872754e-01] [ 7.14927092e-02 2.06035596e-02 9.97228302e-01 -7.75667013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54463043999999 meters Centerline goodness : 0.283050 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-0.78, Z:-0.78 [[ 9.97660605e-01 1.89311010e-03 -6.83354411e-02 -8.76618114e+00] [-3.45574863e-03 9.99735071e-01 -2.27562109e-02 -7.81253973e-01] [ 6.82742570e-02 2.29391253e-02 9.97402839e-01 -7.77785066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60463044 meters Centerline goodness : 0.248052 with order 3 Centerline is valid? [False, False] Translation: X:-8.75, Y:-0.79, Z:-0.78 [[ 9.97753659e-01 -5.59003926e-03 -6.67561780e-02 -8.74710227e+00] [ 4.20372218e-03 9.99772957e-01 -2.08893160e-02 -7.85256347e-01] [ 6.68577935e-02 2.05617670e-02 9.97550625e-01 -7.75531697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66463044 meters Centerline goodness : 0.282806 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-0.80, Z:-0.78 [[ 9.97899821e-01 2.18902166e-03 -6.47391384e-02 -8.76692814e+00] [-3.55574260e-03 9.99773079e-01 -2.10035230e-02 -7.95371049e-01] [ 6.46784705e-02 2.11896075e-02 9.97681159e-01 -7.78409720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72463044 meters Centerline goodness : 0.283389 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:-0.80, Z:-0.78 [[ 9.97882791e-01 2.56786161e-03 -6.49872378e-02 -8.76630581e+00] [-3.91131328e-03 9.99781098e-01 -2.05537696e-02 -7.97367337e-01] [ 6.49202328e-02 2.07644385e-02 9.97674397e-01 -7.78497464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78463044 meters Centerline goodness : 0.092913 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.80, Z:-0.78 [[ 9.97682735e-01 5.62071388e-03 -6.78053731e-02 -8.80790986e+00] [-6.91686234e-03 9.99797526e-01 -1.88961175e-02 -8.01452652e-01] [ 6.76854346e-02 1.93213306e-02 9.97519608e-01 -7.81738957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84463043999999 meters Centerline goodness : 0.092738 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.80, Z:-0.78 [[ 9.97649777e-01 5.94462055e-03 -6.82611379e-02 -8.80626295e+00] [-7.26308414e-03 9.99791520e-01 -1.90830845e-02 -7.99651758e-01] [ 6.81334651e-02 1.95340214e-02 9.97484964e-01 -7.82647718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90463043999999 meters Centerline goodness : 0.093246 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.80, Z:-0.78 [[ 0.9975978 0.00978809 -0.06857713 -8.8052872 ] [-0.01090528 0.99981355 -0.01593561 -0.79680191] [ 0.06840837 0.01664518 0.99751854 -0.78296911] [ 0. 0. 0. 1. ]] SLAMing on 123.96463044 meters Centerline goodness : 0.094230 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:-0.79, Z:-0.78 [[ 9.97624924e-01 3.31748633e-03 -6.88004697e-02 -8.78925816e+00] [-4.33720817e-03 9.99882875e-01 -1.46773592e-02 -7.87627483e-01] [ 6.87437195e-02 1.49409013e-02 9.97522466e-01 -7.79471910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02463044 meters Centerline goodness : 0.108282 with order 3 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.78, Z:-0.78 [[ 9.97679645e-01 -1.85341136e-03 -6.80579986e-02 -8.81195842e+00] [ 1.03991691e-03 9.99927619e-01 -1.19864424e-02 -7.82846633e-01] [ 6.80752883e-02 1.18878550e-02 9.97609359e-01 -7.81361395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08463044 meters Centerline goodness : 0.097252 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.78, Z:-0.78 [[ 9.97666897e-01 -1.91090826e-03 -6.82430250e-02 -8.81150956e+00] [ 1.05570897e-03 9.99920493e-01 -1.25655397e-02 -7.78334066e-01] [ 6.82616108e-02 1.24641782e-02 9.97589593e-01 -7.81539218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14463044 meters Centerline goodness : 0.093860 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.78, Z:-0.78 [[ 9.97638379e-01 -2.08210351e-03 -6.86537002e-02 -8.81061772e+00] [ 1.19345904e-03 9.99915014e-01 -1.29823449e-02 -7.76018974e-01] [ 6.86748961e-02 1.28697502e-02 9.97556078e-01 -7.81491979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20463043999999 meters Centerline goodness : 0.091996 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.77, Z:-0.78 [[ 9.97611261e-01 -2.35239223e-03 -6.90379435e-02 -8.81014049e+00] [ 1.43360196e-03 9.99909790e-01 -1.33550119e-02 -7.73779376e-01] [ 6.90631319e-02 1.32241374e-02 9.97524639e-01 -7.80930621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26463043999999 meters Centerline goodness : 0.092439 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-0.78, Z:-0.78 [[ 9.97931164e-01 -4.40379853e-03 -6.41404599e-02 -8.85282793e+00] [ 3.49808565e-03 9.99892683e-01 -1.42262349e-02 -7.76751389e-01] [ 6.41962260e-02 1.39724343e-02 9.97839474e-01 -7.84921820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32463043999999 meters Centerline goodness : 0.091551 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:-0.78, Z:-0.78 [[ 9.97978899e-01 -5.46226079e-03 -6.33109878e-02 -8.85498973e+00] [ 4.52907584e-03 9.99879121e-01 -1.48738540e-02 -7.76877730e-01] [ 6.33845797e-02 1.45570522e-02 9.97883003e-01 -7.84491951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38463044 meters Centerline goodness : 0.095380 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-0.78, Z:-0.79 [[ 0.99795165 -0.01432301 -0.06234862 -8.87751938] [ 0.01347533 0.99981126 -0.0139952 -0.77644849] [ 0.0625373 0.01312637 0.9979563 -0.78639382] [ 0. 0. 0. 1. ]] SLAMing on 124.44463044 meters Centerline goodness : 0.094802 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-0.78, Z:-0.79 [[ 0.99796108 -0.01530486 -0.06196331 -8.87863982] [ 0.01444237 0.99979282 -0.01434335 -0.7787935 ] [ 0.06216999 0.01341921 0.99797536 -0.78585733] [ 0. 0. 0. 1. ]] SLAMing on 124.50463044 meters Centerline goodness : 0.104843 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-0.79, Z:-0.79 [[ 0.99788131 -0.01835374 -0.06241812 -8.87628658] [ 0.01737258 0.99971742 -0.01622573 -0.78543716] [ 0.06269829 0.01510698 0.99791818 -0.78692715] [ 0. 0. 0. 1. ]] SLAMing on 124.56463044 meters Centerline goodness : 0.264332 with order 2 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.80, Z:-0.79 [[ 0.99806654 -0.01357614 -0.06065374 -8.88918593] [ 0.01251039 0.99976122 -0.0179164 -0.79631475] [ 0.06088249 0.01712295 0.99799806 -0.7915884 ] [ 0. 0. 0. 1. ]] SLAMing on 124.62463043999999 meters Centerline goodness : 0.264999 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.80, Z:-0.79 [[ 0.99796875 -0.0151581 -0.06187569 -8.88588537] [ 0.01402816 0.99972756 -0.01865509 -0.8037843 ] [ 0.06214161 0.0177492 0.99790951 -0.79194201] [ 0. 0. 0. 1. ]] SLAMing on 124.68463043999999 meters Centerline goodness : 0.282897 with order 2 Centerline is valid? [False, False] Translation: X:-8.91, Y:-0.81, Z:-0.79 [[ 9.97927114e-01 -9.91923519e-03 -6.35852508e-02 -8.90693219e+00] [ 8.57258937e-03 9.99733886e-01 -2.14165417e-02 -8.11658108e-01] [ 6.37807656e-02 2.08270574e-02 9.97746585e-01 -7.93008534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74463044 meters Centerline goodness : 0.091768 with order 1 Centerline is valid? [False, False] Translation: X:-8.92, Y:-0.82, Z:-0.80 [[ 9.98086412e-01 -5.33592537e-03 -6.16039149e-02 -8.92397572e+00] [ 3.87681601e-03 9.99709684e-01 -2.37806135e-02 -8.22924452e-01] [ 6.17129219e-02 2.34962802e-02 9.97817338e-01 -7.96758716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80463044 meters Centerline goodness : 0.274008 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.83, Z:-0.80 [[ 9.98158104e-01 -1.59171620e-05 -6.06662900e-02 -8.94516937e+00] [-1.58229346e-03 9.99652944e-01 -2.62961634e-02 -8.30672989e-01] [ 6.06456540e-02 2.63437205e-02 9.97811662e-01 -7.98822067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86463044 meters Centerline goodness : 0.103502 with order 1 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.84, Z:-0.80 [[ 9.98221347e-01 -1.49516516e-03 -5.95978684e-02 -8.94889979e+00] [-9.21625814e-05 9.99645559e-01 -2.66223258e-02 -8.39831452e-01] [ 5.96165492e-02 2.65804667e-02 9.97867399e-01 -7.97432706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92463044 meters Centerline goodness : 0.268900 with order 2 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.84, Z:-0.80 [[ 9.98225311e-01 -1.34689350e-03 -5.95349833e-02 -8.94942569e+00] [-2.13820458e-04 9.99656674e-01 -2.62009324e-02 -8.43175569e-01] [ 5.95498332e-02 2.61671637e-02 9.97882306e-01 -7.96932078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98463043999999 meters Centerline goodness : 0.283915 with order 1 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.85, Z:-0.80 [[ 9.98434890e-01 6.77231940e-04 -5.59223806e-02 -8.98522351e+00] [-2.15240024e-03 9.99651177e-01 -2.63228385e-02 -8.46910262e-01] [ 5.58850469e-02 2.64020077e-02 9.98088070e-01 -8.02507546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04463043999999 meters Centerline goodness : 0.281503 with order 1 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.85, Z:-0.80 [[ 9.98431694e-01 7.27887814e-04 -5.59787770e-02 -8.98510397e+00] [-2.20607035e-03 9.99650374e-01 -2.63488649e-02 -8.47262484e-01] [ 5.59400264e-02 2.64310349e-02 9.98084222e-01 -8.02480637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10463044 meters Centerline goodness : 0.089318 with order 1 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.85, Z:-0.80 [[ 9.98443800e-01 6.55064973e-04 -5.57633335e-02 -8.98620116e+00] [-2.12686146e-03 9.99650822e-01 -2.63383716e-02 -8.48556578e-01] [ 5.57266089e-02 2.64159847e-02 9.98096559e-01 -8.01674490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16463044 meters Centerline goodness : 0.237546 with order 2 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.85, Z:-0.80 [[ 9.98458900e-01 -1.49482388e-03 -5.54760336e-02 -8.98685615e+00] [-4.58110669e-05 9.99614629e-01 -2.77595240e-02 -8.54266868e-01] [ 5.54961503e-02 2.77192852e-02 9.98074055e-01 -8.01835045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22463044 meters Centerline goodness : 0.093106 with order 1 Centerline is valid? [False, False] Translation: X:-9.03, Y:-0.86, Z:-0.80 [[ 9.98361055e-01 -3.35843474e-03 -5.71307761e-02 -9.03185022e+00] [ 1.67875010e-03 9.99565631e-01 -2.94233220e-02 -8.59086845e-01] [ 5.72047765e-02 2.92791905e-02 9.97933035e-01 -8.03426648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28463044 meters Centerline goodness : 0.090635 with order 1 Centerline is valid? [False, False] Translation: X:-9.03, Y:-0.86, Z:-0.80 [[ 9.98355265e-01 -2.83246795e-03 -5.72603035e-02 -9.03125371e+00] [ 1.19887411e-03 9.99591832e-01 -2.85435014e-02 -8.63272347e-01] [ 5.73177802e-02 2.84279070e-02 9.97951164e-01 -8.03676289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34463043999999 meters Centerline goodness : 0.095791 with order 1 Centerline is valid? [False, False] Translation: X:-9.07, Y:-0.87, Z:-0.81 [[ 9.98235120e-01 -3.06338803e-03 -5.93064953e-02 -9.07495459e+00] [ 1.35895415e-03 9.99585467e-01 -2.87584419e-02 -8.69148430e-01] [ 5.93700091e-02 2.86270919e-02 9.97825482e-01 -8.06763621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40463043999999 meters Centerline goodness : 0.095916 with order 1 Centerline is valid? [False, False] Translation: X:-9.07, Y:-0.87, Z:-0.81 [[ 9.98227184e-01 -2.68543512e-03 -5.94581997e-02 -9.07458343e+00] [ 1.02550672e-03 9.99609341e-01 -2.79305018e-02 -8.74315795e-01] [ 5.95099774e-02 2.78200114e-02 9.97839972e-01 -8.06891970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46463044 meters Centerline goodness : 0.092750 with order 1 Centerline is valid? [False, False] Translation: X:-9.07, Y:-0.88, Z:-0.81 [[ 9.98229724e-01 -2.20010366e-03 -5.94354997e-02 -9.07453564e+00] [ 5.62660187e-04 9.99620196e-01 -2.75526232e-02 -8.75353477e-01] [ 5.94735445e-02 2.74704055e-02 9.97851830e-01 -8.07038532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52463044 meters Centerline goodness : 0.272969 with order 3 Centerline is valid? [False, False] Translation: X:-9.09, Y:-0.88, Z:-0.81 [[ 0.99805104 0.00978579 -0.06163089 -9.09217698] [-0.01138646 0.99960551 -0.0256744 -0.87663698] [ 0.06135533 0.02632612 0.99776874 -0.80954996] [ 0. 0. 0. 1. ]] SLAMing on 125.58463044 meters Centerline goodness : 0.099433 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.87, Z:-0.81 [[ 9.98047935e-01 4.10727456e-03 -6.23173298e-02 -9.10691594e+00] [-5.62215729e-03 9.99692457e-01 -2.41533307e-02 -8.68506272e-01] [ 6.21989602e-02 2.44565396e-02 9.97764084e-01 -8.12630026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64463044 meters Centerline goodness : 0.092577 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.87, Z:-0.81 [[ 9.98097282e-01 4.24966189e-03 -6.15122378e-02 -9.10895968e+00] [-5.75304527e-03 9.99688547e-01 -2.42839568e-02 -8.66498932e-01] [ 6.13898811e-02 2.45916340e-02 9.97810871e-01 -8.12431620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70463043999999 meters Centerline goodness : 0.104136 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.87, Z:-0.81 [[ 9.98090204e-01 3.84667890e-03 -6.16534432e-02 -9.10859320e+00] [-5.35672100e-03 9.99689244e-01 -2.43458784e-02 -8.68025139e-01] [ 6.15406332e-02 2.46296431e-02 9.97800647e-01 -8.12435584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76463043999999 meters Centerline goodness : 0.107102 with order 1 Centerline is valid? [False, False] Translation: X:-9.09, Y:-0.87, Z:-0.81 [[ 9.98069232e-01 -4.88564954e-03 -6.19188066e-02 -9.08784010e+00] [ 3.41423147e-03 9.99709784e-01 -2.38472338e-02 -8.66237706e-01] [ 6.20173460e-02 2.35897852e-02 9.97796257e-01 -8.10434185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82463043999999 meters Centerline goodness : 0.096634 with order 1 Centerline is valid? [False, False] Translation: X:-9.09, Y:-0.87, Z:-0.81 [[ 9.98142411e-01 -5.20318976e-03 -6.07013474e-02 -9.09094148e+00] [ 3.79162817e-03 9.99720249e-01 -2.33462573e-02 -8.71100259e-01] [ 6.08058411e-02 2.30727326e-02 9.97882908e-01 -8.10013344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88463044 meters Centerline goodness : 0.273583 with order 3 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.88, Z:-0.81 [[ 9.98252976e-01 -1.20657003e-04 -5.90845255e-02 -9.11142876e+00] [-1.38535364e-03 9.99675201e-01 -2.54474619e-02 -8.82569538e-01] [ 5.90684053e-02 2.54848576e-02 9.97928577e-01 -8.12574520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94463044 meters Centerline goodness : 0.100350 with order 1 Centerline is valid? [False, False] Translation: X:-9.13, Y:-0.88, Z:-0.81 [[ 9.98058980e-01 -7.44599152e-03 -6.18290331e-02 -9.12938529e+00] [ 5.99253018e-03 9.99702103e-01 -2.36599982e-02 -8.82816719e-01] [ 6.19867865e-02 2.32435614e-02 9.97806281e-01 -8.14890623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00463044 meters Centerline goodness : 0.282206 with order 1 Centerline is valid? [False, False] Translation: X:-9.13, Y:-0.88, Z:-0.82 [[ 9.98070196e-01 -7.26812081e-03 -6.16689457e-02 -9.12955473e+00] [ 5.83246679e-03 9.99708509e-01 -2.34281765e-02 -8.84217982e-01] [ 6.18212486e-02 2.30232826e-02 9.97821658e-01 -8.15213752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06463044 meters Centerline goodness : 0.286556 with order 1 Centerline is valid? [False, False] Translation: X:-9.15, Y:-0.89, Z:-0.82 [[ 9.98125899e-01 1.64731849e-03 -6.11716898e-02 -9.14987803e+00] [-3.07837987e-03 9.99723608e-01 -2.33073093e-02 -8.91487201e-01] [ 6.11163879e-02 2.34519388e-02 9.97855097e-01 -8.17696372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12463043999999 meters Centerline goodness : 0.272626 with order 3 Centerline is valid? [False, False] Translation: X:-9.15, Y:-0.89, Z:-0.82 [[ 9.98098795e-01 1.70854443e-03 -6.16106816e-02 -9.14854266e+00] [-3.14643435e-03 9.99724757e-01 -2.32488610e-02 -8.92579089e-01] [ 6.15540020e-02 2.33985141e-02 9.97829452e-01 -8.18153620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18463043999999 meters Centerline goodness : 0.279247 with order 2 Centerline is valid? [False, False] Translation: X:-9.15, Y:-0.89, Z:-0.82 [[ 9.98088108e-01 2.26134417e-03 -6.17658010e-02 -9.14815526e+00] [-3.66908257e-03 9.99735869e-01 -2.26876488e-02 -8.94231121e-01] [ 6.16981822e-02 2.28708963e-02 9.97832780e-01 -8.18275220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24463044 meters Centerline goodness : 0.100898 with order 1 Centerline is valid? [False, False] Translation: X:-9.15, Y:-0.90, Z:-0.82 [[ 9.98050373e-01 2.47938651e-03 -6.23642928e-02 -9.14636081e+00] [-3.87909004e-03 9.99743063e-01 -2.23329365e-02 -8.95924538e-01] [ 6.22928971e-02 2.25313123e-02 9.97803555e-01 -8.18851992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30463044 meters Centerline goodness : 0.089730 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.90, Z:-0.82 [[ 9.97990507e-01 -5.45343771e-03 -6.31285055e-02 -9.16614790e+00] [ 4.13664763e-03 9.99771530e-01 -2.09708228e-02 -8.96233125e-01] [ 6.32284456e-02 2.06675417e-02 9.97785055e-01 -8.20615895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36463044 meters Centerline goodness : 0.089471 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.90, Z:-0.82 [[ 9.98072378e-01 -7.59768009e-03 -6.15938631e-02 -9.17173241e+00] [ 6.23913089e-03 9.99733660e-01 -2.22189719e-02 -9.03045886e-01] [ 6.17462708e-02 2.17918500e-02 9.97853954e-01 -8.18398641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42463044 meters Centerline goodness : 0.089758 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.91, Z:-0.82 [[ 9.98084745e-01 -7.47622758e-03 -6.14080409e-02 -9.17236853e+00] [ 6.16193080e-03 9.99748475e-01 -2.15642443e-02 -9.06771194e-01] [ 6.15538145e-02 2.11445512e-02 9.97879770e-01 -8.18066698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48463043999999 meters Centerline goodness : 0.102734 with order 1 Centerline is valid? [False, False] Translation: X:-9.19, Y:-0.92, Z:-0.82 [[ 9.98202208e-01 -8.46234614e-04 -5.99302543e-02 -9.19193054e+00] [-4.77894010e-04 9.99756165e-01 -2.20767148e-02 -9.16370496e-01] [ 5.99343233e-02 2.20656657e-02 9.97958408e-01 -8.19866473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54463043999999 meters Centerline goodness : 0.282425 with order 2 Centerline is valid? [False, False] Translation: X:-9.19, Y:-0.92, Z:-0.82 [[ 9.98184352e-01 -8.07270183e-04 -6.02274664e-02 -9.19115139e+00] [-5.16731399e-04 9.99758617e-01 -2.19645387e-02 -9.17159912e-01] [ 6.02306599e-02 2.19557803e-02 9.97942990e-01 -8.19987104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60463044 meters SLAMing on 126.66463044 meters Centerline goodness : 0.479489 with order 3 Centerline is valid? [False, False] Translation: X:-9.21, Y:-0.93, Z:-0.82 [[ 9.98347000e-01 5.28571338e-03 -5.72304815e-02 -9.21064022e+00] [-6.58296857e-03 9.99725114e-01 -2.25024581e-02 -9.28813434e-01] [ 5.70958081e-02 2.28420080e-02 9.98107365e-01 -8.23036927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72463044 meters Centerline goodness : 0.088849 with order 1 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.93, Z:-0.83 [[ 9.98269970e-01 -2.71862886e-03 -5.87339494e-02 -9.22891005e+00] [ 1.47850879e-03 9.99775277e-01 -2.11473434e-02 -9.28432138e-01] [ 5.87782422e-02 2.10239192e-02 9.98049655e-01 -8.25328812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78463044 meters Centerline goodness : 0.090543 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.94, Z:-0.83 [[ 9.98025913e-01 -3.77183983e-03 -6.26901173e-02 -9.26789973e+00] [ 2.42764624e-03 9.99765810e-01 -2.15042292e-02 -9.39743690e-01] [ 6.27565464e-02 2.13095885e-02 9.97801342e-01 -8.29203400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84463043999999 meters Centerline goodness : 0.102318 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.94, Z:-0.83 [[ 9.98050090e-01 -3.41479627e-03 -6.23246042e-02 -9.26855762e+00] [ 2.11537079e-03 9.99779262e-01 -2.09034057e-02 -9.42272703e-01] [ 6.23822277e-02 2.07308063e-02 9.97837006e-01 -8.29423649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90463043999999 meters Centerline goodness : 0.100236 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.94, Z:-0.83 [[ 9.98027979e-01 -3.00874729e-03 -6.26984898e-02 -9.26701088e+00] [ 1.71204492e-03 9.99783748e-01 -2.07250272e-02 -9.42010629e-01] [ 6.27472874e-02 2.05768144e-02 9.97817304e-01 -8.30376370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96463044 meters Centerline goodness : 0.089261 with order 1 Centerline is valid? [False, False] Translation: X:-9.26, Y:-0.94, Z:-0.83 [[ 9.97915108e-01 -2.40568022e-04 -6.45397466e-02 -9.26054963e+00] [-9.69485715e-04 9.99824352e-01 -1.87169965e-02 -9.38580889e-01] [ 6.45329130e-02 1.87405439e-02 9.97739593e-01 -8.32874231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02463044 meters Centerline goodness : 0.096566 with order 1 Centerline is valid? [False, False] Translation: X:-9.26, Y:-0.94, Z:-0.83 [[ 9.97901440e-01 -2.42613150e-04 -6.47507384e-02 -9.25965477e+00] [-9.87860887e-04 9.99819555e-01 -1.89705508e-02 -9.37045179e-01] [ 6.47436570e-02 1.89947047e-02 9.97721133e-01 -8.33477682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08463044 meters Centerline goodness : 0.095389 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.93, Z:-0.83 [[ 9.98091266e-01 -6.76033671e-03 -6.13850380e-02 -9.24406518e+00] [ 5.74203488e-03 9.99843220e-01 -1.67500420e-02 -9.33882821e-01] [ 6.14886500e-02 1.63655956e-02 9.97973603e-01 -8.29296237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14463044 meters Centerline goodness : 0.190006 with order 3 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.94, Z:-0.83 [[ 9.98205688e-01 -2.24111767e-03 -5.98362998e-02 -9.26553133e+00] [ 1.06476387e-03 9.99805681e-01 -1.96841855e-02 -9.39921403e-01] [ 5.98687870e-02 1.95851544e-02 9.98014103e-01 -8.30801831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20463043999999 meters Centerline goodness : 0.173058 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.94, Z:-0.83 [[ 9.98219460e-01 -2.57657958e-03 -5.95925325e-02 -9.26621903e+00] [ 1.41122807e-03 9.99807118e-01 -1.95891537e-02 -9.42323267e-01] [ 5.96315112e-02 1.94701757e-02 9.98030558e-01 -8.30623534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26463043999999 meters Centerline goodness : 0.089265 with order 1 Centerline is valid? [False, False] Translation: X:-9.26, Y:-0.95, Z:-0.83 [[ 9.98186593e-01 -4.12462010e-03 -6.00542516e-02 -9.26443724e+00] [ 2.92432391e-03 9.99794480e-01 -2.00610524e-02 -9.50074304e-01] [ 6.01246534e-02 1.98490554e-02 9.97993508e-01 -8.31330441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32463043999999 meters SLAMing on 127.38463044 meters Centerline goodness : 0.130868 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.97, Z:-0.83 [[ 9.98073082e-01 -6.13701783e-03 -6.17451231e-02 -9.30893389e+00] [ 4.91810884e-03 9.99790404e-01 -1.98736260e-02 -9.68337590e-01] [ 6.18541463e-02 1.95316619e-02 9.97894072e-01 -8.33168787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44463044 meters Centerline goodness : 0.187017 with order 1 Centerline is valid? [False, False] Translation: X:-9.29, Y:-0.97, Z:-0.83 [[ 0.99808938 -0.01319348 -0.06036167 -9.28985578] [ 0.01211134 0.99975994 -0.01825857 -0.96712083] [ 0.06058807 0.01749263 0.99800957 -0.8313261 ] [ 0. 0. 0. 1. ]] SLAMing on 127.50463044 meters Centerline goodness : 0.462743 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.98, Z:-0.83 [[ 9.97970317e-01 -6.66902832e-03 -6.33306404e-02 -9.30540608e+00] [ 5.44518465e-03 9.99795465e-01 -1.94776431e-02 -9.82019235e-01] [ 6.34475841e-02 1.90932627e-02 9.97802511e-01 -8.34112683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56463044 meters Centerline goodness : 0.462079 with order 2 Centerline is valid? [False, False] Translation: X:-9.30, Y:-0.99, Z:-0.83 [[ 9.97930713e-01 -1.01705291e-02 -6.34889868e-02 -9.30467256e+00] [ 8.79175631e-03 9.99720227e-01 -2.19584546e-02 -9.88794816e-01] [ 6.36945534e-02 2.13548366e-02 9.97740936e-01 -8.34468952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62463043999999 meters Centerline goodness : 0.271604 with order 3 Centerline is valid? [False, False] Translation: X:-9.31, Y:-1.00, Z:-0.83 [[ 0.99797185 -0.01221976 -0.06247292 -9.3083371 ] [ 0.0108148 0.99968205 -0.02277808 -0.99856079] [ 0.0627314 0.02205625 0.9977867 -0.83290657] [ 0. 0. 0. 1. ]] SLAMing on 127.68463043999999 meters Centerline goodness : 0.460401 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-1.01, Z:-0.83 [[ 0.99794083 -0.011955 -0.06301733 -9.30730267] [ 0.0105996 0.99970618 -0.0217991 -1.00772912] [ 0.06325942 0.02108625 0.99777433 -0.83261741] [ 0. 0. 0. 1. ]] SLAMing on 127.74463044 meters Centerline goodness : 0.249345 with order 3 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98019554e-01 -3.65506735e-03 -6.27981686e-02 -9.32665946e+00] [ 2.28493594e-03 9.99758081e-01 -2.18759942e-02 -1.01480859e+00] [ 6.28629348e-02 2.16891802e-02 9.97786466e-01 -8.35550886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80463044 meters Centerline goodness : 0.189015 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.84 [[ 9.98046560e-01 -3.14859148e-03 -6.23951208e-02 -9.32792968e+00] [ 1.82143135e-03 9.99771135e-01 -2.13157306e-02 -1.01707130e+00] [ 6.24479552e-02 2.11604432e-02 9.97823877e-01 -8.35144346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86463044 meters Centerline goodness : 0.286074 with order 2 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.84 [[ 9.98010685e-01 -2.85909618e-03 -6.29801352e-02 -9.32650562e+00] [ 1.55080487e-03 9.99782200e-01 -2.08121758e-02 -1.01936998e+00] [ 6.30259222e-02 2.06731039e-02 9.97797753e-01 -8.35251267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92463044 meters Centerline goodness : 0.155340 with order 1 Centerline is valid? [False, False] Translation: X:-9.32, Y:-1.02, Z:-0.84 [[ 9.97973304e-01 -2.79249361e-03 -6.35726795e-02 -9.32445778e+00] [ 1.49840147e-03 9.99790884e-01 -2.03946883e-02 -1.02252292e+00] [ 6.36163375e-02 2.02580971e-02 9.97768796e-01 -8.36061680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98463043999999 meters Centerline goodness : 0.093987 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.03, Z:-0.84 [[ 9.98004525e-01 -2.38075585e-03 -6.30975438e-02 -9.32602228e+00] [ 1.14956898e-03 9.99808385e-01 -1.95415628e-02 -1.02642376e+00] [ 6.31319770e-02 1.94300331e-02 9.97816029e-01 -8.35490169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04463044 meters Centerline goodness : 0.093784 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.03, Z:-0.84 [[ 9.98030323e-01 -2.12142970e-03 -6.26974832e-02 -9.32716482e+00] [ 9.09351397e-04 9.99812273e-01 -1.93543843e-02 -1.02625913e+00] [ 6.27267722e-02 1.92592484e-02 9.97844894e-01 -8.35153356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10463044 meters Centerline goodness : 0.092357 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.83 [[ 9.98063127e-01 -1.72816067e-03 -6.21852775e-02 -9.32862936e+00] [ 5.16216406e-04 9.99809723e-01 -1.95000381e-02 -1.02366900e+00] [ 6.22071442e-02 1.94301680e-02 9.97874110e-01 -8.34862238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16463044 meters Centerline goodness : 0.090577 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.83 [[ 9.98069579e-01 1.89166150e-03 -6.20768626e-02 -9.32982735e+00] [-2.91092738e-03 9.99862369e-01 -1.63330889e-02 -1.02213001e+00] [ 6.20374222e-02 1.64822604e-02 9.97937720e-01 -8.33688120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22463044 meters Centerline goodness : 0.092050 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.83 [[ 9.98077616e-01 1.76799039e-03 -6.19511555e-02 -9.32992377e+00] [-2.80176134e-03 9.99858219e-01 -1.66039769e-02 -1.02097529e+00] [ 6.19130163e-02 1.67456301e-02 9.97941062e-01 -8.33971449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28463044 meters Centerline goodness : 0.091450 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.83 [[ 9.98053381e-01 1.54646416e-03 -6.23462611e-02 -9.32852583e+00] [-2.60975117e-03 9.99852479e-01 -1.69767190e-02 -1.01979909e+00] [ 6.23108099e-02 1.71063800e-02 9.97910184e-01 -8.34615217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34463044 meters Centerline goodness : 0.093713 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.02, Z:-0.83 [[ 9.98043179e-01 1.90152387e-03 -6.24995728e-02 -9.32804898e+00] [-2.97115274e-03 9.99850638e-01 -1.70256982e-02 -1.01704186e+00] [ 6.24578629e-02 1.71780778e-02 9.97899759e-01 -8.34802334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40463044 meters Centerline goodness : 0.097351 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98036548e-01 1.92193531e-03 -6.26047454e-02 -9.32729283e+00] [-3.01290376e-03 9.99845171e-01 -1.73365506e-02 -1.01458681e+00] [ 6.25617326e-02 1.74911332e-02 9.97887814e-01 -8.35531452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46463044 meters Centerline goodness : 0.092006 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98032519e-01 1.83432664e-03 -6.26715681e-02 -9.32706907e+00] [-2.95264394e-03 9.99837988e-01 -1.77561412e-02 -1.01134351e+00] [ 6.26288439e-02 1.79062531e-02 9.97876242e-01 -8.35676758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52463043999998 meters Centerline goodness : 0.093189 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98020047e-01 1.48099648e-03 -6.28791881e-02 -9.32613735e+00] [-2.63181915e-03 9.99830479e-01 -1.82232450e-02 -1.00979328e+00] [ 6.28415402e-02 1.83526505e-02 9.97854759e-01 -8.36256045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58463043999998 meters Centerline goodness : 0.098036 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98015977e-01 1.28912292e-03 -6.29479727e-02 -9.32597129e+00] [-2.45255757e-03 9.99827537e-01 -1.84087112e-02 -1.00944638e+00] [ 6.29133854e-02 1.85265714e-02 9.97847018e-01 -8.36243756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64463044 meters Centerline goodness : 0.088829 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98009772e-01 8.41967822e-04 -6.30538384e-02 -9.32620523e+00] [-2.02019205e-03 9.99824506e-01 -1.86245814e-02 -1.00963594e+00] [ 6.30270915e-02 1.87148951e-02 9.97836328e-01 -8.35545646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70463044 meters Centerline goodness : 0.146499 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98002754e-01 4.58983358e-04 -6.31687654e-02 -9.32587377e+00] [-1.64217001e-03 9.99824166e-01 -1.86799209e-02 -1.01020651e+00] [ 6.31490844e-02 1.87463464e-02 9.97828025e-01 -8.35539426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76463044 meters Centerline goodness : 0.472859 with order 3 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.84 [[ 9.98018860e-01 4.25175278e-04 -6.29140261e-02 -9.32630594e+00] [-1.61346728e-03 9.99821248e-01 -1.88379535e-02 -1.00895500e+00] [ 6.28947706e-02 1.89021426e-02 9.97841148e-01 -8.35720050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82463044 meters Centerline goodness : 0.130279 with order 3 Centerline is valid? [False, False] Translation: X:-9.33, Y:-1.01, Z:-0.83 [[ 9.98092212e-01 1.91431173e-03 -6.17111921e-02 -9.33142837e+00] [-3.00113762e-03 9.99841946e-01 -1.75236110e-02 -1.00869161e+00] [ 6.16678928e-02 1.76753834e-02 9.97940205e-01 -8.33268755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88463044 meters Centerline goodness : 0.104966 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-1.00, Z:-0.83 [[ 9.98199124e-01 -2.01036752e-03 -5.99538707e-02 -9.31089042e+00] [ 1.14743468e-03 9.99895307e-01 -1.44242357e-02 -1.00280012e+00] [ 5.99765919e-02 1.43294663e-02 9.98096927e-01 -8.31372756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94463044 meters Centerline goodness : 0.100874 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-1.00, Z:-0.83 [[ 9.98044105e-01 -1.57161451e-03 -6.24939516e-02 -9.35321601e+00] [ 6.68907643e-04 9.99895182e-01 -1.44630068e-02 -9.97289393e-01] [ 6.25101313e-02 1.43929160e-02 9.97940543e-01 -8.34826418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00463044 meters Centerline goodness : 0.186347 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.99, Z:-0.83 [[ 9.98047957e-01 -3.15931349e-04 -6.24513915e-02 -9.35330912e+00] [-5.48971867e-04 9.99904188e-01 -1.38315786e-02 -9.90801250e-01] [ 6.24497777e-02 1.38388628e-02 9.97952159e-01 -8.34845764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06463044 meters Centerline goodness : 0.105508 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.99, Z:-0.84 [[ 9.98012848e-01 -9.24529397e-04 -6.30039648e-02 -9.35154891e+00] [-1.71488829e-05 9.99888330e-01 -1.49441541e-02 -9.86355856e-01] [ 6.30107455e-02 1.49155383e-02 9.97901384e-01 -8.35557967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12463044 meters Centerline goodness : 0.250812 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.99, Z:-0.84 [[ 9.98006315e-01 -1.07813695e-03 -6.31049379e-02 -9.35085757e+00] [ 1.21384292e-04 9.99885025e-01 -1.51631668e-02 -9.85206012e-01] [ 6.31140304e-02 1.51252762e-02 9.97891700e-01 -8.36199196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18463044 meters Centerline goodness : 0.101265 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.98, Z:-0.83 [[ 9.98119984e-01 -8.39719480e-03 -6.07123065e-02 -9.33317889e+00] [ 7.55521798e-03 9.99872263e-01 -1.40845930e-02 -9.78964753e-01] [ 6.08228224e-02 1.35994190e-02 9.98055930e-01 -8.33313276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24463044 meters Centerline goodness : 0.102514 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.98, Z:-0.84 [[ 9.98196598e-01 -2.42114749e-04 -6.00291070e-02 -9.35406610e+00] [-6.46520483e-04 9.99890508e-01 -1.47835414e-02 -9.78882292e-01] [ 6.00261136e-02 1.47956907e-02 9.98087147e-01 -8.35279727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30463043999998 meters Centerline goodness : 0.162640 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.98, Z:-0.84 [[ 9.98160943e-01 9.01998778e-06 -6.06195602e-02 -9.35187530e+00] [-9.22756585e-04 9.99886387e-01 -1.50453190e-02 -9.75250829e-01] [ 6.06125373e-02 1.50735869e-02 9.98047548e-01 -8.36366761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36463043999998 meters Centerline goodness : 0.087037 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.97, Z:-0.84 [[ 9.98186618e-01 -1.28685675e-04 -6.01951682e-02 -9.35302474e+00] [-8.21970329e-04 9.99875342e-01 -1.57678672e-02 -9.70666024e-01] [ 6.01896934e-02 1.57887527e-02 9.98062080e-01 -8.36223436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42463044 meters Centerline goodness : 0.088878 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.97, Z:-0.84 [[ 9.98175899e-01 -1.93472262e-04 -6.03724803e-02 -9.35222738e+00] [-7.93007982e-04 9.99866579e-01 -1.63155116e-02 -9.66976321e-01] [ 6.03675819e-02 1.63336264e-02 9.98042568e-01 -8.36808326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48463044 meters SLAMing on 129.54463044 meters Centerline goodness : 0.088615 with order 1 Centerline is valid? [False, False] Translation: X:-9.39, Y:-0.97, Z:-0.84 [[ 9.97986434e-01 -4.32526282e-04 -6.34262608e-02 -9.39208963e+00] [-5.63585271e-04 9.99876804e-01 -1.56863015e-02 -9.67233915e-01] [ 6.34252316e-02 1.56904622e-02 9.97863242e-01 -8.40706061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60463044 meters Centerline goodness : 0.087346 with order 1 Centerline is valid? [False, False] Translation: X:-9.39, Y:-0.97, Z:-0.84 [[ 9.98028427e-01 -1.29355265e-03 -6.27501902e-02 -9.39427368e+00] [ 2.86229603e-04 9.99871001e-01 -1.60592422e-02 -9.70401233e-01] [ 6.27628689e-02 1.60096193e-02 9.97900052e-01 -8.39862645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66463044 meters SLAMing on 129.72463044 meters Centerline goodness : 0.089262 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.97, Z:-0.84 [[ 9.97948336e-01 2.25043041e-04 -6.40239592e-02 -9.44216519e+00] [-1.17808579e-03 9.99889063e-01 -1.48483581e-02 -9.70120971e-01] [ 6.40135151e-02 1.48933200e-02 9.97837892e-01 -8.41942283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78463044 meters Centerline goodness : 0.249141 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.97, Z:-0.84 [[ 9.97890052e-01 4.59782433e-04 -6.49248289e-02 -9.43964989e+00] [-1.43176356e-03 9.99887589e-01 -1.49251354e-02 -9.68368184e-01] [ 6.49106683e-02 1.49866011e-02 9.97778536e-01 -8.42570379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84463044 meters Centerline goodness : 0.098691 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.97, Z:-0.84 [[ 9.97957814e-01 -1.13231088e-03 -6.38664218e-02 -9.44304342e+00] [ 9.99764319e-05 9.99869335e-01 -1.61648427e-02 -9.70058453e-01] [ 6.38763803e-02 1.61254459e-02 9.97827529e-01 -8.41642935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90463044 meters Centerline goodness : 0.100913 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.97, Z:-0.84 [[ 9.98027544e-01 -7.16631155e-04 -6.27734614e-02 -9.44624598e+00] [-2.43068223e-04 9.99883235e-01 -1.52793272e-02 -9.73017549e-01] [ 6.27770813e-02 1.52644477e-02 9.97910835e-01 -8.40715576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96463044 meters Centerline goodness : 0.101172 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.98, Z:-0.84 [[ 9.98049019e-01 -7.70347013e-04 -6.24304559e-02 -9.44683660e+00] [-1.72912532e-04 9.99885941e-01 -1.51021535e-02 -9.75000622e-01] [ 6.24349691e-02 1.50834845e-02 9.97935050e-01 -8.40879935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02463043999998 meters Centerline goodness : 0.205378 with order 3 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.98, Z:-0.84 [[ 9.97988137e-01 -7.21079553e-04 -6.33968271e-02 -9.44379042e+00] [-2.31746684e-04 9.99887153e-01 -1.50209193e-02 -9.76037396e-01] [ 6.34005042e-02 1.50053912e-02 9.97875350e-01 -8.42015801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08463043999998 meters Centerline goodness : 0.166347 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.98, Z:-0.84 [[ 9.97985146e-01 -4.11674321e-04 -6.34466636e-02 -9.44335946e+00] [-5.30703008e-04 9.99889807e-01 -1.48354953e-02 -9.75729365e-01] [ 6.34457796e-02 1.48392752e-02 9.97874957e-01 -8.42442402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14463044 meters Centerline goodness : 0.234881 with order 3 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.97, Z:-0.84 [[ 9.98076206e-01 5.97336600e-05 -6.19990552e-02 -9.44718455e+00] [-9.75816004e-04 9.99890802e-01 -1.47455731e-02 -9.74247927e-01] [ 6.19914042e-02 1.47777053e-02 9.97967277e-01 -8.41880854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20463044 meters Centerline goodness : 0.089041 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.97, Z:-0.84 [[ 9.98094357e-01 1.70875602e-04 -6.17059643e-02 -9.44756734e+00] [-1.09131530e-03 9.99888644e-01 -1.48831492e-02 -9.72580115e-01] [ 6.16965498e-02 1.49221279e-02 9.97983400e-01 -8.42331503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26463044 meters Centerline goodness : 0.255763 with order 3 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.97, Z:-0.84 [[ 9.98050133e-01 -8.30674583e-05 -6.24173487e-02 -9.44527404e+00] [-8.57075737e-04 9.99886596e-01 -1.50352844e-02 -9.73030682e-01] [ 6.24115193e-02 1.50594640e-02 9.97936879e-01 -8.43262296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32463044 meters Centerline goodness : 0.192388 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.97, Z:-0.84 [[ 9.97981177e-01 -3.43067575e-04 -6.35094717e-02 -9.44231816e+00] [-6.06116007e-04 9.99888422e-01 -1.49256739e-02 -9.74604597e-01] [ 6.35075060e-02 1.49340357e-02 9.97869616e-01 -8.43804280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38463044 meters Centerline goodness : 0.089046 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.98, Z:-0.84 [[ 9.98021910e-01 -3.88039460e-03 -6.27471942e-02 -9.44410687e+00] [ 2.77812163e-03 9.99840462e-01 -1.76446022e-02 -9.78033917e-01] [ 6.28056517e-02 1.74353802e-02 9.97873468e-01 -8.43685657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44463044 meters Centerline goodness : 0.465472 with order 2 Centerline is valid? [False, False] Translation: X:-9.44, Y:-0.98, Z:-0.84 [[ 9.98007890e-01 -4.19229151e-03 -6.29497919e-02 -9.44355789e+00] [ 3.08892528e-03 9.99840076e-01 -1.76148201e-02 -9.79883994e-01] [ 6.30135711e-02 1.73852822e-02 9.97861234e-01 -8.43691735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50463044 meters Centerline goodness : 0.280939 with order 3 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98119460e-01 1.93710570e-03 -6.12681851e-02 -9.45844705e+00] [-3.05352318e-03 9.99830913e-01 -1.81334366e-02 -9.86608292e-01] [ 6.12226991e-02 1.82864198e-02 9.97956606e-01 -8.47815550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56463044 meters Centerline goodness : 0.173256 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98132591e-01 2.00447382e-03 -6.10517218e-02 -9.45915433e+00] [-3.10063826e-03 9.99835596e-01 -1.78652426e-02 -9.88027087e-01] [ 6.10058742e-02 1.80211802e-02 9.97974709e-01 -8.47476970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62463044 meters Centerline goodness : 0.237640 with order 3 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98121224e-01 1.90936376e-03 -6.12403177e-02 -9.45901749e+00] [-3.00687204e-03 9.99836437e-01 -1.78341880e-02 -9.89308055e-01] [ 6.11962491e-02 1.79848234e-02 9.97963709e-01 -8.47082279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68463044 meters Centerline goodness : 0.279803 with order 2 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98103740e-01 2.40470657e-03 -6.15072560e-02 -9.45815216e+00] [-3.48771822e-03 9.99840665e-01 -1.75065716e-02 -9.89146836e-01] [ 6.14553576e-02 1.76878945e-02 9.97953094e-01 -8.47447035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74463044 meters Centerline goodness : 0.089187 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98142155e-01 2.75155883e-03 -6.08659791e-02 -9.45995556e+00] [-3.81649492e-03 9.99841549e-01 -1.73870795e-02 -9.88361180e-01] [ 6.08084933e-02 1.75870717e-02 9.97994500e-01 -8.47098416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80463043999998 meters Centerline goodness : 0.177370 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.99, Z:-0.85 [[ 9.98215371e-01 3.50913176e-03 -5.96134085e-02 -9.46394615e+00] [-4.53580035e-03 9.99843572e-01 -1.70955298e-02 -9.86815947e-01] [ 5.95440928e-02 1.73354151e-02 9.98075140e-01 -8.45773395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86463043999998 meters Centerline goodness : 0.088213 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.98, Z:-0.85 [[ 9.98222547e-01 3.44897250e-03 -5.94966483e-02 -9.46409943e+00] [-4.50437439e-03 9.99834718e-01 -1.76138600e-02 -9.83765106e-01] [ 5.94260648e-02 1.78505474e-02 9.98073094e-01 -8.46000535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92463044 meters Centerline goodness : 0.088178 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.98, Z:-0.85 [[ 9.98202968e-01 7.40631290e-03 -5.94641199e-02 -9.46392668e+00] [-8.28447138e-03 9.99860042e-01 -1.45349429e-02 -9.78591593e-01] [ 5.93481471e-02 1.50014520e-02 9.98124618e-01 -8.46304824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98463044 meters Centerline goodness : 0.149200 with order 3 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.97, Z:-0.85 [[ 9.98190805e-01 7.30920762e-03 -5.96799129e-02 -9.46296280e+00] [-8.23755444e-03 9.99848644e-01 -1.53242479e-02 -9.71682956e-01] [ 5.95588719e-02 1.57881399e-02 9.98099933e-01 -8.46867438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04463044 meters Centerline goodness : 0.088175 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.96, Z:-0.85 [[ 9.97958801e-01 2.23738454e-03 -6.38218206e-02 -9.48302258e+00] [-3.05175339e-03 9.99915134e-01 -1.26654095e-02 -9.63356977e-01] [ 6.37880668e-02 1.28343253e-02 9.97880936e-01 -8.48216023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10463044 meters Centerline goodness : 0.151913 with order 3 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.96, Z:-0.85 [[ 9.97947882e-01 1.91773902e-03 -6.40027113e-02 -9.48235288e+00] [-2.77993394e-03 9.99906554e-01 -1.33848919e-02 -9.59232974e-01] [ 6.39710617e-02 1.35353478e-02 9.97859959e-01 -8.48579420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16463044 meters Centerline goodness : 0.088642 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.96, Z:-0.85 [[ 9.97995469e-01 1.56446007e-03 -6.32660714e-02 -9.48466870e+00] [-2.44721037e-03 9.99900703e-01 -1.38778988e-02 -9.56787025e-01] [ 6.32380779e-02 1.40049055e-02 9.97900199e-01 -8.47763487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22463044 meters Centerline goodness : 0.088308 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.96, Z:-0.85 [[ 9.98048719e-01 1.34273242e-03 -6.24255647e-02 -9.48664099e+00] [-2.20174441e-03 9.99903811e-01 -1.36938277e-02 -9.57460348e-01] [ 6.24011729e-02 1.38045523e-02 9.97955674e-01 -8.47546030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28463044 meters Centerline goodness : 0.091646 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.96, Z:-0.85 [[ 9.98013465e-01 7.57393456e-04 -6.29964303e-02 -9.48529350e+00] [-1.63080915e-03 9.99903249e-01 -1.38142639e-02 -9.60310541e-01] [ 6.29798725e-02 1.38895565e-02 9.97918141e-01 -8.47504326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34463044 meters Centerline goodness : 0.471899 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.97, Z:-0.85 [[ 9.98008958e-01 -2.96373777e-03 -6.30026599e-02 -9.48440104e+00] [ 1.92939369e-03 9.99862466e-01 -1.64719708e-02 -9.67046300e-01] [ 6.30428135e-02 1.63176175e-02 9.97877417e-01 -8.48478084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40463044 meters Centerline goodness : 0.357049 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.98, Z:-0.85 [[ 9.98052555e-01 -4.40928627e-03 -6.22226356e-02 -9.48610338e+00] [ 3.38226020e-03 9.99856467e-01 -1.66013533e-02 -9.77754548e-01] [ 6.22869048e-02 1.63585699e-02 9.97924215e-01 -8.48478961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46463044 meters Centerline goodness : 0.093360 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.98, Z:-0.85 [[ 9.98037822e-01 -4.00350979e-03 -6.24858156e-02 -9.48545563e+00] [ 3.03084942e-03 9.99872889e-01 -1.56531292e-02 -9.82861909e-01] [ 6.25405404e-02 1.54330299e-02 9.97923094e-01 -8.48457063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52463043999998 meters Centerline goodness : 0.088228 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.99, Z:-0.85 [[ 9.98092104e-01 2.25500129e-03 -6.17014280e-02 -9.50132909e+00] [-3.30563905e-03 9.99851196e-01 -1.69309939e-02 -9.93690691e-01] [ 6.16540672e-02 1.71026540e-02 9.97951038e-01 -8.52637676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58463043999998 meters Centerline goodness : 0.455542 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.00, Z:-0.85 [[ 9.98149653e-01 1.16208236e-03 -6.07940755e-02 -9.50353190e+00] [-2.20780673e-03 9.99850718e-01 -1.71367462e-02 -1.00212393e+00] [ 6.07650857e-02 1.72392588e-02 9.98003213e-01 -8.52622008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64463044 meters Centerline goodness : 0.088454 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.01, Z:-0.85 [[ 9.98153096e-01 1.24103733e-03 -6.07359530e-02 -9.50360796e+00] [-2.24588456e-03 9.99861689e-01 -1.64790524e-02 -1.00682859e+00] [ 6.07071014e-02 1.65850231e-02 9.98017828e-01 -8.52685759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70463044 meters Centerline goodness : 0.092564 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-1.01, Z:-0.85 [[ 9.98162655e-01 -8.28968272e-03 -6.00216184e-02 -9.48240584e+00] [ 7.31945000e-03 9.99839267e-01 -1.63665805e-02 -1.01149711e+00] [ 6.01476447e-02 1.58971843e-02 9.98062894e-01 -8.52042016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76463044 meters Centerline goodness : 0.089836 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.02, Z:-0.85 [[ 9.98310105e-01 -1.54280305e-03 -5.80909099e-02 -9.50126710e+00] [ 5.97999501e-04 9.99867324e-01 -1.62780960e-02 -1.02225627e+00] [ 5.81083165e-02 1.62158494e-02 9.98178576e-01 -8.54552170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82463044 meters Centerline goodness : 0.089521 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.03, Z:-0.86 [[ 9.98247370e-01 -4.11815428e-03 -5.90358255e-02 -9.49762694e+00] [ 3.05507963e-03 9.99831763e-01 -1.80862423e-02 -1.02859613e+00] [ 5.91003754e-02 1.78741847e-02 9.98092009e-01 -8.56095269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88463044 meters Centerline goodness : 0.189012 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.03, Z:-0.86 [[ 9.98257153e-01 -3.74879883e-03 -5.88948394e-02 -9.49776172e+00] [ 2.72185089e-03 9.99843027e-01 -1.75075314e-02 -1.03052808e+00] [ 5.89512267e-02 1.73167155e-02 9.98110657e-01 -8.56355410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94463044 meters Centerline goodness : 0.195540 with order 3 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.03, Z:-0.86 [[ 9.98261344e-01 -3.46290463e-03 -5.88412812e-02 -9.49783367e+00] [ 2.44965188e-03 9.99847628e-01 -1.72835156e-02 -1.03090207e+00] [ 5.88921666e-02 1.71093249e-02 9.98117720e-01 -8.56404153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00463044 meters Centerline goodness : 0.098745 with order 1 Centerline is valid? [False, False] Translation: X:-9.52, Y:-1.03, Z:-0.86 [[ 9.98194303e-01 5.20854332e-03 -5.98414969e-02 -9.51817889e+00] [-6.28886797e-03 9.99820380e-01 -1.78789714e-02 -1.03241405e+00] [ 5.97376247e-02 1.82230227e-02 9.98047763e-01 -8.58457561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06463044 meters Centerline goodness : 0.088576 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.02, Z:-0.86 [[ 9.98081213e-01 2.19330870e-03 -6.18795732e-02 -9.49985588e+00] [-3.08230596e-03 9.99893359e-01 -1.42747732e-02 -1.02439046e+00] [ 6.18416654e-02 1.44381147e-02 9.97981538e-01 -8.56024572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12463044 meters Centerline goodness : 0.164664 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.02, Z:-0.85 [[ 9.98130085e-01 4.40281898e-03 -6.09667881e-02 -9.50426567e+00] [-5.20519023e-03 9.99901841e-01 -1.30082326e-02 -1.01807319e+00] [ 6.09035308e-02 1.33012520e-02 9.98055027e-01 -8.53693525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18463044 meters Centerline goodness : 0.181474 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.01, Z:-0.85 [[ 9.98121184e-01 8.13283536e-03 -6.07285703e-02 -9.50492960e+00] [-8.79097994e-03 9.99905406e-01 -1.05781720e-02 -1.00840504e+00] [ 6.06367952e-02 1.10921612e-02 9.98098263e-01 -8.53599625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24463044 meters Centerline goodness : 0.095379 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-1.00, Z:-0.86 [[ 9.98098539e-01 1.08773123e-02 -6.06711708e-02 -9.50352808e+00] [-1.14422546e-02 9.99894284e-01 -8.97189250e-03 -1.00057595e+00] [ 6.05671668e-02 9.64904778e-03 9.98117485e-01 -8.55225366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30463043999998 meters Centerline goodness : 0.095893 with order 1 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.99, Z:-0.86 [[ 9.98011335e-01 5.97674103e-03 -6.27507318e-02 -9.52249754e+00] [-6.39726842e-03 9.99958394e-01 -6.50277737e-03 -9.85350483e-01] [ 6.27092556e-02 6.89127880e-03 9.98008046e-01 -8.57721625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36463043999998 meters SLAMing on 132.42463044 meters Centerline goodness : 0.235632 with order 3 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.97, Z:-0.86 [[ 9.97967188e-01 7.77719969e-03 -6.32535086e-02 -9.52142821e+00] [-8.19993433e-03 9.99945730e-01 -6.42632793e-03 -9.71389923e-01] [ 6.32000970e-02 6.93193903e-03 9.97976801e-01 -8.57749545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48463044 meters Centerline goodness : 0.451364 with order 1 Centerline is valid? [False, False] Translation: X:-9.54, Y:-0.96, Z:-0.86 [[ 9.98200101e-01 3.18812282e-03 -5.98865147e-02 -9.54076051e+00] [-3.47459547e-03 9.99983012e-01 -4.68006687e-03 -9.57135309e-01] [ 5.98705768e-02 4.87972463e-03 9.98194221e-01 -8.61057069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54463044 meters Centerline goodness : 0.432575 with order 1 Centerline is valid? [False, False] Translation: X:-9.53, Y:-0.94, Z:-0.86 [[ 9.98096777e-01 4.40979834e-03 -6.15091584e-02 -9.53490206e+00] [-4.71435209e-03 9.99977333e-01 -4.80710939e-03 -9.44400245e-01] [ 6.14865658e-02 5.08793622e-03 9.98094943e-01 -8.63561810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60463044 meters Centerline goodness : 0.462057 with order 2 Centerline is valid? [False, False] Translation: X:-9.53, Y:-0.94, Z:-0.86 [[ 9.98082978e-01 3.88177710e-03 -6.17681162e-02 -9.53465610e+00] [-4.25403179e-03 9.99973568e-01 -5.89628184e-03 -9.36680365e-01] [ 6.17435955e-02 6.14774207e-03 9.98073110e-01 -8.63209586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66463044 meters Centerline goodness : 0.567955 with order 3 Centerline is valid? [False, False] Translation: X:-9.53, Y:-0.93, Z:-0.86 [[ 9.98067305e-01 3.59570124e-03 -6.20381040e-02 -9.53430227e+00] [-4.01381683e-03 9.99970056e-01 -6.61634933e-03 -9.32138467e-01] [ 6.20124560e-02 6.85257153e-03 9.98051851e-01 -8.62879461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72463044 meters Centerline goodness : 0.459053 with order 1 Centerline is valid? [False, False] Translation: X:-9.54, Y:-0.93, Z:-0.86 [[ 9.98092927e-01 3.39063791e-03 -6.16361340e-02 -9.53591947e+00] [-3.83426494e-03 9.99967581e-01 -7.08066362e-03 -9.28998271e-01] [ 6.16101279e-02 7.30348954e-03 9.98073570e-01 -8.61986957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78463044 meters Centerline goodness : 0.209911 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.92, Z:-0.86 [[ 9.98285183e-01 -5.14747431e-03 -5.83112145e-02 -9.55941674e+00] [ 4.72989741e-03 9.99962191e-01 -7.29693590e-03 -9.22879117e-01] [ 5.83465705e-02 7.00861692e-03 9.98271785e-01 -8.64108592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84463044 meters Centerline goodness : 0.088324 with order 1 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.92, Z:-0.86 [[ 9.98273873e-01 -5.23295803e-03 -5.84969348e-02 -9.55897033e+00] [ 4.81553059e-03 9.99961945e-01 -7.27457807e-03 -9.23275771e-01] [ 5.85327762e-02 6.98032745e-03 9.98261083e-01 -8.64082688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90463044 meters Centerline goodness : 0.386183 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.92, Z:-0.86 [[ 9.98315638e-01 -5.41679839e-03 -5.77628420e-02 -9.56099781e+00] [ 5.00174669e-03 9.99960644e-01 -7.32760465e-03 -9.24416535e-01] [ 5.78002608e-02 7.02634720e-03 9.98303441e-01 -8.63584195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96463044 meters Centerline goodness : 0.370342 with order 3 Centerline is valid? [False, False] Translation: X:-9.58, Y:-0.93, Z:-0.87 [[ 9.98348950e-01 3.04411589e-03 -5.73594578e-02 -9.58126294e+00] [-3.50979943e-03 9.99961682e-01 -8.01969451e-03 -9.28177976e-01] [ 5.73328470e-02 8.20777379e-03 9.98321380e-01 -8.66432600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02463043999998 meters Centerline goodness : 0.454510 with order 2 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.93, Z:-0.87 [[ 9.98241364e-01 4.83282970e-03 -5.90831898e-02 -9.57420805e+00] [-5.24728839e-03 9.99962691e-01 -6.86169679e-03 -9.25312005e-01] [ 5.90478240e-02 7.15965610e-03 9.98229480e-01 -8.69837190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08463043999998 meters Centerline goodness : 0.460505 with order 3 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.92, Z:-0.87 [[ 9.98261016e-01 3.88248126e-04 -5.89473784e-02 -9.59464511e+00] [-6.07687805e-04 9.99992953e-01 -3.70475603e-03 -9.18746197e-01] [ 5.89455247e-02 3.73413513e-03 9.98254217e-01 -8.72367482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14463044 meters SLAMing on 133.20463044 meters Centerline goodness : 0.092198 with order 1 Centerline is valid? [False, False] Translation: X:-9.61, Y:-0.92, Z:-0.88 [[ 9.98264977e-01 6.96125188e-03 -5.84685998e-02 -9.61155946e+00] [-7.29608561e-03 9.99958174e-01 -5.51519988e-03 -9.22975158e-01] [ 5.84277616e-02 5.93222279e-03 9.98274013e-01 -8.75514999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26463044 meters Centerline goodness : 0.457244 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:-0.92, Z:-0.88 [[ 9.98260128e-01 6.51015562e-03 -5.86032041e-02 -9.61080390e+00] [-6.87777465e-03 9.99957904e-01 -6.07350119e-03 -9.20985204e-01] [ 5.85611977e-02 6.46599370e-03 9.98262880e-01 -8.76050239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32463044 meters Centerline goodness : 0.460415 with order 2 Centerline is valid? [False, False] Translation: X:-9.63, Y:-0.92, Z:-0.88 [[ 9.98312289e-01 -1.30651254e-03 -5.80591723e-02 -9.63046050e+00] [ 1.03647975e-03 9.99988508e-01 -4.68086328e-03 -9.17604529e-01] [ 5.80646207e-02 4.61278618e-03 9.98302170e-01 -8.78939357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38463044 meters Centerline goodness : 0.457933 with order 3 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.92, Z:-0.88 [[ 9.98226640e-01 2.94365612e-03 -5.94551126e-02 -9.64998420e+00] [-3.45698246e-03 9.99957619e-01 -8.53283424e-03 -9.21763286e-01] [ 5.94274751e-02 8.72323773e-03 9.98194510e-01 -8.80924296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44463044 meters Centerline goodness : 0.461931 with order 2 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.92, Z:-0.88 [[ 9.98206649e-01 2.75393913e-03 -5.97988357e-02 -9.64957668e+00] [-3.26429953e-03 9.99959066e-01 -8.43861059e-03 -9.23184812e-01] [ 5.97731485e-02 8.61867851e-03 9.98174779e-01 -8.80350322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50463044 meters Centerline goodness : 0.108003 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:-0.93, Z:-0.88 [[ 9.98308045e-01 9.46040237e-04 -5.81390742e-02 -9.65545239e+00] [-1.51575571e-03 9.99951262e-01 -9.75586562e-03 -9.25308824e-01] [ 5.81270111e-02 9.82748377e-03 9.98260823e-01 -8.78254741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56463044 meters Centerline goodness : 0.103631 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:-0.93, Z:-0.88 [[ 9.98313180e-01 8.06159537e-04 -5.80529428e-02 -9.65538653e+00] [-1.36411483e-03 9.99953255e-01 -9.57215830e-03 -9.27829108e-01] [ 5.80425124e-02 9.63520267e-03 9.98267614e-01 -8.78548582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62463044 meters Centerline goodness : 0.105403 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.93, Z:-0.88 [[ 9.98299870e-01 8.39457884e-04 -5.82809091e-02 -9.65472382e+00] [-1.37439624e-03 9.99957293e-01 -9.13914292e-03 -9.31191460e-01] [ 5.82707482e-02 9.20370625e-03 9.98258389e-01 -8.78664374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68463044 meters Centerline goodness : 0.093382 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.94, Z:-0.88 [[ 9.98294284e-01 1.05309798e-03 -5.83730537e-02 -9.65395497e+00] [-1.54639510e-03 9.99963471e-01 -8.40623958e-03 -9.37938442e-01] [ 5.83620689e-02 8.48216873e-03 9.98259446e-01 -8.79280124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74463044 meters Centerline goodness : 0.100006 with order 1 Centerline is valid? [False, False] Translation: X:-9.69, Y:-0.94, Z:-0.88 [[ 9.98014123e-01 1.02000383e-03 -6.29822910e-02 -9.69182324e+00] [-1.55519043e-03 9.99963097e-01 -8.44897543e-03 -9.44911526e-01] [ 6.29713489e-02 8.53014626e-03 9.97978880e-01 -8.83376037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80463043999998 meters Centerline goodness : 0.094962 with order 1 Centerline is valid? [False, False] Translation: X:-9.69, Y:-0.95, Z:-0.88 [[ 9.97986294e-01 1.61194886e-03 -6.34094558e-02 -9.69071162e+00] [-2.11678140e-03 9.99966593e-01 -7.89509726e-03 -9.46370277e-01] [ 6.33946110e-02 8.01342281e-03 9.97956366e-01 -8.83576641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86463043999998 meters Centerline goodness : 0.094966 with order 1 Centerline is valid? [False, False] Translation: X:-9.71, Y:-0.95, Z:-0.89 [[ 9.97891665e-01 1.12845383e-02 -6.39131039e-02 -9.71173847e+00] [-1.18119106e-02 9.99899191e-01 -7.87954997e-03 -9.48128392e-01] [ 6.38177438e-02 8.61787311e-03 9.97924360e-01 -8.85487003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92463044 meters Centerline goodness : 0.231041 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97850571e-01 4.54743969e-03 -6.53724593e-02 -9.72757372e+00] [-4.94680323e-03 9.99970072e-01 -5.94848100e-03 -9.42605337e-01] [ 6.53434524e-02 6.25907985e-03 9.97843203e-01 -8.89402235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98463044 meters Centerline goodness : 0.318513 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97892050e-01 4.57231549e-03 -6.47344622e-02 -9.72964930e+00] [-4.97640173e-03 9.99969120e-01 -6.08234640e-03 -9.41433599e-01] [ 6.47046528e-02 6.39166981e-03 9.97883988e-01 -8.88655125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04463044 meters SLAMing on 134.10463044 meters Centerline goodness : 0.238244 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97989704e-01 1.96664595e-03 -6.33457383e-02 -9.73428306e+00] [-2.48213549e-03 9.99964437e-01 -8.06004741e-03 -9.44105800e-01] [ 6.33276343e-02 8.20107704e-03 9.97959094e-01 -8.87027256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16463044 meters Centerline goodness : 0.093598 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97969699e-01 1.84241503e-03 -6.36638516e-02 -9.73322551e+00] [-2.37388427e-03 9.99962957e-01 -8.27342015e-03 -9.43509174e-01] [ 6.36462502e-02 8.40775323e-03 9.97937104e-01 -8.87406680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22463044 meters Centerline goodness : 0.197757 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97947885e-01 2.93117816e-03 -6.39642674e-02 -9.73235117e+00] [-3.44206129e-03 9.99963042e-01 -7.87827288e-03 -9.39461456e-01] [ 6.39388107e-02 8.08227468e-03 9.97921092e-01 -8.87743511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28463044 meters Centerline goodness : 0.087835 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97965719e-01 2.81698167e-03 -6.36905701e-02 -9.73359808e+00] [-3.33908005e-03 9.99961681e-01 -8.09246469e-03 -9.38699635e-01] [ 6.36653332e-02 8.28867026e-03 9.97936883e-01 -8.87012999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34463044 meters Centerline goodness : 0.094186 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97961379e-01 2.80671645e-03 -6.37589919e-02 -9.73344684e+00] [-3.32617863e-03 9.99962126e-01 -8.04259351e-03 -9.39055361e-01] [ 6.37340038e-02 8.23827150e-03 9.97932917e-01 -8.86968575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40463044 meters Centerline goodness : 0.087556 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97954367e-01 2.68724417e-03 -6.38737869e-02 -9.73276025e+00] [-3.20722300e-03 9.99962539e-01 -8.03958435e-03 -9.39857869e-01] [ 6.38497897e-02 8.22799579e-03 9.97925601e-01 -8.87406512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46463044 meters Centerline goodness : 0.374034 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.94, Z:-0.89 [[ 9.97963276e-01 7.15356200e-04 -6.37870450e-02 -9.73449392e+00] [-1.33352772e-03 9.99952557e-01 -9.64912914e-03 -9.42365361e-01] [ 6.37771162e-02 9.71453832e-03 9.97916884e-01 -8.85915455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52463043999998 meters Centerline goodness : 0.228744 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.95, Z:-0.89 [[ 9.97959532e-01 1.08342899e-03 -6.38404183e-02 -9.73438223e+00] [-1.64486493e-03 9.99960431e-01 -8.74246339e-03 -9.46793092e-01] [ 6.38284204e-02 8.82963354e-03 9.97921826e-01 -8.85719107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58463043999998 meters Centerline goodness : 0.102733 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.95, Z:-0.88 [[ 9.98020292e-01 -1.59141329e-03 -6.28726024e-02 -9.73767506e+00] [ 9.10887694e-04 9.99940711e-01 -1.08510624e-02 -9.51074359e-01] [ 6.28861432e-02 1.07723106e-02 9.97962570e-01 -8.84678977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64463044 meters Centerline goodness : 0.447383 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.95, Z:-0.88 [[ 9.97995116e-01 -1.50333649e-03 -6.32731241e-02 -9.73642992e+00] [ 8.46255529e-04 9.99945453e-01 -1.04103537e-02 -9.54255816e-01] [ 6.32853230e-02 1.03359369e-02 9.97941950e-01 -8.84979250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70463044 meters Centerline goodness : 0.488917 with order 2 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.96, Z:-0.89 [[ 9.97938643e-01 -1.38828268e-03 -6.41602475e-02 -9.73369853e+00] [ 7.56954998e-04 9.99951072e-01 -9.86311827e-03 -9.58456115e-01] [ 6.41708010e-02 9.79422044e-03 9.97890867e-01 -8.85715474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76463044 meters Centerline goodness : 0.097157 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.96, Z:-0.89 [[ 9.97942292e-01 -1.27374293e-03 -6.41058482e-02 -9.73395648e+00] [ 6.64765190e-04 9.99954463e-01 -9.51999929e-03 -9.60620620e-01] [ 6.41150550e-02 9.45779457e-03 9.97897695e-01 -8.85492074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82463044 meters Centerline goodness : 0.459618 with order 1 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.97, Z:-0.89 [[ 9.97880321e-01 4.98028779e-03 -6.48849910e-02 -9.75598210e+00] [-5.76394414e-03 9.99912627e-01 -1.18960298e-02 -9.65645151e-01] [ 6.48200762e-02 1.22448075e-02 9.97821839e-01 -8.85722582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88463044 meters Centerline goodness : 0.510573 with order 2 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.97, Z:-0.89 [[ 9.97882855e-01 5.26521829e-03 -6.48234895e-02 -9.75591262e+00] [-6.03503166e-03 9.99913511e-01 -1.16854511e-02 -9.65332886e-01] [ 6.47563565e-02 1.20519231e-02 9.97828325e-01 -8.85951254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94463044 meters Centerline goodness : 0.494833 with order 2 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.97, Z:-0.89 [[ 9.97876451e-01 5.05666060e-03 -6.49385724e-02 -9.75559767e+00] [-5.84328141e-03 9.99911772e-01 -1.19290958e-02 -9.65093048e-01] [ 6.48725216e-02 1.22832181e-02 9.97817959e-01 -8.85980195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00463044 meters Centerline goodness : 0.156319 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:-0.97, Z:-0.89 [[ 9.97844498e-01 4.71592607e-03 -6.54531771e-02 -9.75480953e+00] [-5.49492299e-03 9.99916142e-01 -1.17266740e-02 -9.67904904e-01] [ 6.53923862e-02 1.20610573e-02 9.97786734e-01 -8.85338578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06463044 meters Centerline goodness : 0.224235 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.97, Z:-0.88 [[ 9.97906792e-01 2.92233029e-03 -6.46025828e-02 -9.75735980e+00] [-3.74329611e-03 9.99913729e-01 -1.25905560e-02 -9.74138040e-01] [ 6.45602157e-02 1.28060279e-02 9.97831641e-01 -8.84667060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12463044 meters Centerline goodness : 0.377010 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.98, Z:-0.88 [[ 9.97924525e-01 -9.40600573e-04 -6.43875555e-02 -9.75845623e+00] [-5.91431976e-05 9.99879504e-01 -1.55233053e-02 -9.79433776e-01] [ 6.43943983e-02 1.54948952e-02 9.97804224e-01 -8.83750182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18463044 meters Centerline goodness : 0.271232 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.99, Z:-0.88 [[ 9.97884515e-01 -5.42419165e-04 -6.50092397e-02 -9.75661752e+00] [-4.00784439e-04 9.99894864e-01 -1.44948430e-02 -9.85816625e-01] [ 6.50102671e-02 1.44902341e-02 9.97779384e-01 -8.84124718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24463044 meters Centerline goodness : 0.088919 with order 1 Centerline is valid? [False, False] Translation: X:-9.78, Y:-0.99, Z:-0.89 [[ 9.97814102e-01 7.57878052e-03 -6.56473961e-02 -9.77623865e+00] [-8.60851476e-03 9.99844090e-01 -1.54171919e-02 -9.90414693e-01] [ 6.55203175e-02 1.59486181e-02 9.97723774e-01 -8.86888477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30463043999998 meters SLAMing on 135.36463043999998 meters Centerline goodness : 0.455696 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.99, Z:-0.89 [[ 0.99750948 0.02071429 -0.06742219 -9.79534182] [-0.02165259 0.9996782 -0.01321582 -0.98861355] [ 0.06712674 0.01464277 0.997637 -0.88766815] [ 0. 0. 0. 1. ]] SLAMing on 135.42463044 meters Centerline goodness : 0.095808 with order 1 Centerline is valid? [False, False] Translation: X:-9.78, Y:-0.98, Z:-0.88 [[ 0.99751372 0.0139202 -0.06908412 -9.77817285] [-0.01486213 0.99980322 -0.01313927 -0.98072426] [ 0.06888762 0.01413334 0.99752431 -0.88443749] [ 0. 0. 0. 1. ]] SLAMing on 135.48463044 meters Centerline goodness : 0.298524 with order 3 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97780859e-01 7.76393976e-03 -6.61292579e-02 -9.80381397e+00] [-8.48218451e-03 9.99907976e-01 -1.05873872e-02 -9.78577487e-01] [ 6.60409725e-02 1.11248129e-02 9.97754894e-01 -8.85282531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54463044 meters Centerline goodness : 0.087556 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97794088e-01 3.62391603e-03 -6.62859302e-02 -9.80286710e+00] [-4.58832962e-03 9.99885746e-01 -1.44028482e-02 -9.79079857e-01] [ 6.62261621e-02 1.46752185e-02 9.97696714e-01 -8.86001819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60463044 meters Centerline goodness : 0.095502 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97764105e-01 3.66290714e-03 -6.67336099e-02 -9.80170655e+00] [-4.62107551e-03 9.99888363e-01 -1.42094073e-02 -9.80289823e-01] [ 6.66741123e-02 1.44860176e-02 9.97669644e-01 -8.86116619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66463044 meters Centerline goodness : 0.087935 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97752164e-01 3.83685901e-03 -6.69021570e-02 -9.80144933e+00] [-4.78582683e-03 9.99890123e-01 -1.40299160e-02 -9.80665912e-01] [ 6.68409751e-02 1.43185612e-02 9.97660896e-01 -8.85892859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72463044 meters Centerline goodness : 0.095647 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97753026e-01 3.73883310e-03 -6.68948425e-02 -9.80092667e+00] [-4.70155207e-03 9.99887554e-01 -1.42398889e-02 -9.80162833e-01] [ 6.68340798e-02 1.45224018e-02 9.97658411e-01 -8.86597997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78463044 meters Centerline goodness : 0.094146 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97789257e-01 4.31465666e-03 -6.63172868e-02 -9.80269006e+00] [-5.25502227e-03 9.99888019e-01 -1.40119011e-02 -9.78588589e-01] [ 6.62494040e-02 1.43294232e-02 9.97700198e-01 -8.86149392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84463044 meters Centerline goodness : 0.087470 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97761521e-01 4.20282808e-03 -6.67404244e-02 -9.80163554e+00] [-5.16634078e-03 9.99884822e-01 -1.42706917e-02 -9.77339134e-01] [ 6.66727600e-02 1.45835508e-02 9.97668313e-01 -8.86243798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90463044 meters Centerline goodness : 0.089020 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97743643e-01 4.39578496e-03 -6.69947707e-02 -9.79998982e+00] [-5.35178018e-03 9.99886311e-01 -1.40969128e-02 -9.76926460e-01] [ 6.69251872e-02 1.44236465e-02 9.97653736e-01 -8.87582246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96463044 meters Centerline goodness : 0.095533 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97784626e-01 4.00537115e-04 -6.65257859e-02 -9.80098662e+00] [-1.56779686e-03 9.99845727e-01 -1.74946942e-02 -9.79008459e-01] [ 6.65085155e-02 1.75602358e-02 9.97631322e-01 -8.87626585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02463043999998 meters Centerline goodness : 0.460971 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.98, Z:-0.89 [[ 9.97804933e-01 -5.88162208e-04 -6.62191098e-02 -9.80211561e+00] [-5.92249136e-04 9.99841307e-01 -1.78047996e-02 -9.84426130e-01] [ 6.62190733e-02 1.78049351e-02 9.97646239e-01 -8.87073097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08463043999998 meters Centerline goodness : 0.389031 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.99, Z:-0.89 [[ 9.97788096e-01 -3.87407630e-03 -6.63619377e-02 -9.80098255e+00] [ 2.56370577e-03 9.99800285e-01 -1.98196065e-02 -9.92223943e-01] [ 6.64254669e-02 1.96056350e-02 9.97598755e-01 -8.87698444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14463044 meters Centerline goodness : 0.429486 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-1.00, Z:-0.89 [[ 9.97734159e-01 -4.39842458e-03 -6.71356989e-02 -9.79860468e+00] [ 3.08006995e-03 9.99800639e-01 -1.97280542e-02 -9.98521905e-01] [ 6.72090870e-02 1.94765709e-02 9.97548797e-01 -8.88267934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20463044 meters Centerline goodness : 0.093447 with order 1 Centerline is valid? [False, False] Translation: X:-9.80, Y:-1.00, Z:-0.89 [[ 9.97709115e-01 -4.32008057e-03 -6.75119180e-02 -9.79740171e+00] [ 3.04056076e-03 9.99814027e-01 -1.90437778e-02 -1.00420715e+00] [ 6.75816333e-02 1.87948766e-02 9.97536704e-01 -8.88568384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26463044 meters Centerline goodness : 0.099613 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.02, Z:-0.89 [[ 9.97950976e-01 3.28904799e-05 -6.39831918e-02 -9.81845197e+00] [-1.34828361e-03 9.99788629e-01 -2.05153475e-02 -1.01581268e+00] [ 6.39689929e-02 2.05595785e-02 9.97740082e-01 -8.90111413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32463044 meters Centerline goodness : 0.456505 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.02, Z:-0.89 [[ 9.98000645e-01 4.34061788e-04 -6.32022436e-02 -9.82137678e+00] [-1.68115937e-03 9.99804916e-01 -1.96800139e-02 -1.01987736e+00] [ 6.31813715e-02 1.97469196e-02 9.97806681e-01 -8.88609628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38463044 meters Centerline goodness : 0.267120 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.98027353e-01 3.91221516e-04 -6.27793734e-02 -9.82214324e+00] [-1.61284025e-03 9.99810319e-01 -1.94094224e-02 -1.02580602e+00] [ 6.27598720e-02 1.94723876e-02 9.97838677e-01 -8.88932002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44463044 meters Centerline goodness : 0.088072 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.98011916e-01 7.23964407e-04 -6.30213582e-02 -9.82163805e+00] [-1.92568994e-03 9.99817441e-01 -1.90098929e-02 -1.02722651e+00] [ 6.29960906e-02 1.90934592e-02 9.97831114e-01 -8.88872430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50463044 meters Centerline goodness : 0.086358 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.98008363e-01 1.06466164e-03 -6.30727647e-02 -9.82169993e+00] [-2.25574705e-03 9.99820417e-01 -1.88161085e-02 -1.02729654e+00] [ 6.30414051e-02 1.89209099e-02 9.97831539e-01 -8.88659306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56463044 meters Centerline goodness : 0.104610 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.97994649e-01 1.96527369e-03 -6.32678292e-02 -9.82055483e+00] [-3.13644438e-03 9.99825467e-01 -1.84173228e-02 -1.02576568e+00] [ 6.32205918e-02 1.85788256e-02 9.97826630e-01 -8.89688827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62463044 meters Centerline goodness : 0.105427 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.98010753e-01 2.29867205e-03 -6.30020127e-02 -9.82111615e+00] [-3.45027541e-03 9.99828847e-01 -1.81761389e-02 -1.02554430e+00] [ 6.29494487e-02 1.83573564e-02 9.97847871e-01 -8.89785640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68463044 meters Centerline goodness : 0.099257 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.03, Z:-0.89 [[ 9.98010755e-01 2.42600398e-03 -6.29972028e-02 -9.82161321e+00] [-3.57577528e-03 9.99828975e-01 -1.81448233e-02 -1.02544099e+00] [ 6.29424093e-02 1.83339926e-02 9.97848745e-01 -8.89111490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74463044 meters Centerline goodness : 0.107238 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.02, Z:-0.89 [[ 9.98017785e-01 2.47060828e-03 -6.28840023e-02 -9.82150111e+00] [-3.62851646e-03 9.99825849e-01 -1.83058631e-02 -1.02424888e+00] [ 6.28278244e-02 1.84977526e-02 9.97852944e-01 -8.89638125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80463043999998 meters Centerline goodness : 0.164713 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:-1.02, Z:-0.89 [[ 9.98064941e-01 4.92251347e-03 -6.19850152e-02 -9.82523261e+00] [-5.97201021e-03 9.99841747e-01 -1.67575913e-02 -1.01831318e+00] [ 6.18927163e-02 1.70953395e-02 9.97936391e-01 -8.87980480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86463043999998 meters Centerline goodness : 0.099577 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-1.01, Z:-0.89 [[ 9.97971326e-01 7.36111462e-03 -6.32380195e-02 -9.82059605e+00] [-8.34573754e-03 9.99847810e-01 -1.53200943e-02 -1.01166202e+00] [ 6.31156224e-02 1.58167827e-02 9.97880878e-01 -8.89830405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92463044 meters Centerline goodness : 0.085025 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:-1.00, Z:-0.89 [[ 9.97848572e-01 9.35632475e-03 -6.48897962e-02 -9.81426438e+00] [-1.03041049e-02 9.99844845e-01 -1.42867339e-02 -1.00471464e+00] [ 6.47460569e-02 1.49246283e-02 9.97790160e-01 -8.92518169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98463044 meters Centerline goodness : 0.096980 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:-1.00, Z:-0.89 [[ 9.97819987e-01 9.37649836e-03 -6.53249898e-02 -9.81420197e+00] [-1.03802815e-02 9.99832957e-01 -1.50435581e-02 -9.95744358e-01] [ 6.51730218e-02 1.56888548e-02 9.97750639e-01 -8.91301875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04463044 meters Centerline goodness : 0.085820 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:-0.99, Z:-0.89 [[ 9.97845187e-01 1.24964172e-03 -6.56004619e-02 -9.83425984e+00] [-2.18348286e-03 9.99897280e-01 -1.41655177e-02 -9.88978169e-01] [ 6.55760215e-02 1.42782312e-02 9.97745417e-01 -8.93382059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10463044 meters Centerline goodness : 0.152241 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:-0.99, Z:-0.89 [[ 9.97830827e-01 6.72426918e-04 -6.58269526e-02 -9.83396653e+00] [-1.65040325e-03 9.99889060e-01 -1.48035248e-02 -9.87481996e-01] [ 6.58096954e-02 1.48800544e-02 9.97721238e-01 -8.93018817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16463044 meters Centerline goodness : 0.096329 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-0.99, Z:-0.89 [[ 9.97978885e-01 -7.01695054e-03 -6.31577955e-02 -9.81742846e+00] [ 6.18566104e-03 9.99891778e-01 -1.33480284e-02 -9.85090658e-01] [ 6.32446229e-02 1.29303778e-02 9.97914286e-01 -8.89032772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22463044 meters Centerline goodness : 0.099589 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:-0.99, Z:-0.89 [[ 9.98023534e-01 -7.48979816e-03 -6.23933334e-02 -9.81992914e+00] [ 6.68297099e-03 9.99891465e-01 -1.31299753e-02 -9.88804554e-01] [ 6.24849024e-02 1.26870516e-02 9.97965268e-01 -8.87901523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28463044 meters Centerline goodness : 0.222296 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:-0.99, Z:-0.89 [[ 9.98040923e-01 -1.04391245e-02 -6.16874437e-02 -9.82313365e+00] [ 9.50372967e-03 9.99835668e-01 -1.54374665e-02 -9.92770317e-01] [ 6.18384601e-02 1.48209625e-02 9.97976124e-01 -8.86197309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34463044 meters Centerline goodness : 0.251192 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:-0.99, Z:-0.89 [[ 9.98099325e-01 -9.83092474e-03 -6.08365867e-02 -9.82592008e+00] [ 8.96349556e-03 9.99854477e-01 -1.45148716e-02 -9.94648694e-01] [ 6.09704282e-02 1.39419751e-02 9.98042198e-01 -8.85117264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40463044 meters Centerline goodness : 0.086403 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.00, Z:-0.89 [[ 9.98282657e-01 -4.51592526e-03 -5.84066982e-02 -9.84204989e+00] [ 3.62508695e-03 9.99875621e-01 -1.53493035e-02 -1.00161586e+00] [ 5.84687499e-02 1.51112141e-02 9.98174863e-01 -8.87953702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46463044 meters Centerline goodness : 0.093155 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.00, Z:-0.89 [[ 9.98268110e-01 -4.89437113e-03 -5.86244433e-02 -9.84142706e+00] [ 3.99059760e-03 9.99871540e-01 -1.55234920e-02 -1.00215504e+00] [ 5.86928902e-02 1.52626605e-02 9.98159404e-01 -8.88007690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52463043999998 meters Centerline goodness : 0.440504 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.00, Z:-0.89 [[ 9.98237567e-01 -5.40136049e-03 -5.90981000e-02 -9.83998568e+00] [ 4.46294406e-03 9.99862040e-01 -1.59994467e-02 -1.00150838e+00] [ 5.91763656e-02 1.57074973e-02 9.98123956e-01 -8.88395958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58463043999998 meters Centerline goodness : 0.256638 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.00, Z:-0.89 [[ 9.98200722e-01 -5.67368412e-03 -5.96919397e-02 -9.83806442e+00] [ 4.69218198e-03 9.99851696e-01 -1.65701309e-02 -9.97938382e-01] [ 5.97771009e-02 1.62602312e-02 9.98079307e-01 -8.89097338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64463044 meters Centerline goodness : 0.452358 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:-1.00, Z:-0.89 [[ 9.98163540e-01 1.70922312e-03 -6.05526707e-02 -9.85516315e+00] [-2.79960179e-03 9.99835382e-01 -1.79268506e-02 -9.99488725e-01] [ 6.05120616e-02 1.80634521e-02 9.98004009e-01 -8.92215129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70463044 meters Centerline goodness : 0.405690 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:-1.00, Z:-0.89 [[ 9.98075731e-01 -1.10139449e-03 -6.19969571e-02 -9.85022159e+00] [-1.68676610e-04 9.99790309e-01 -2.04770626e-02 -9.97504480e-01] [ 6.20065102e-02 2.04481166e-02 9.97866257e-01 -8.93609889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76463044 meters SLAMing on 137.82463044 meters Centerline goodness : 0.454112 with order 1 Centerline is valid? [False, False] Translation: X:-9.87, Y:-1.00, Z:-0.89 [[ 0.99803061 -0.01276269 -0.06141679 -9.87485801] [ 0.01146178 0.99970341 -0.02148763 -1.00305661] [ 0.06167282 0.02074136 0.99788088 -0.89416936] [ 0. 0. 0. 1. ]] SLAMing on 137.88463044 meters Centerline goodness : 0.330981 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:-1.01, Z:-0.90 [[ 9.98005616e-01 -4.64560971e-03 -6.29540249e-02 -9.89333244e+00] [ 3.24907942e-03 9.99746767e-01 -2.22675800e-02 -1.00686273e+00] [ 6.30415293e-02 2.20186273e-02 9.97767982e-01 -8.96468787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94463044 meters Centerline goodness : 0.461294 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-1.01, Z:-0.90 [[ 9.98018818e-01 3.71007945e-03 -6.28066441e-02 -9.91352391e+00] [-5.15824231e-03 9.99724200e-01 -2.29110583e-02 -1.00911906e+00] [ 6.27043202e-02 2.31896392e-02 9.97762702e-01 -8.98342520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00463044 meters Centerline goodness : 0.098274 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:-1.01, Z:-0.90 [[ 9.98043053e-01 -4.24564462e-03 -6.23862078e-02 -9.89343675e+00] [ 2.85214670e-03 9.99744824e-01 -2.24087357e-02 -1.00512943e+00] [ 6.24654278e-02 2.21869484e-02 9.97800486e-01 -8.96160313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06463044 meters Centerline goodness : 0.214419 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:-1.01, Z:-0.90 [[ 9.98274337e-01 -6.10576247e-03 -5.84043475e-02 -9.93180817e+00] [ 4.87868516e-03 9.99764842e-01 -2.11295994e-02 -1.00763254e+00] [ 5.85196255e-02 2.08082004e-02 9.98069372e-01 -9.00413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12463044 meters Centerline goodness : 0.351096 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-1.01, Z:-0.90 [[ 9.98334296e-01 -1.04016127e-02 -5.67489222e-02 -9.93599352e+00] [ 9.03009171e-03 9.99662190e-01 -2.43713639e-02 -1.01181710e+00] [ 5.69832533e-02 2.38183205e-02 9.98090976e-01 -8.99812630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18463044 meters Centerline goodness : 0.269257 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.02, Z:-0.90 [[ 9.98233169e-01 -1.12709170e-02 -5.83395732e-02 -9.98208542e+00] [ 9.86084711e-03 9.99653599e-01 -2.44017571e-02 -1.01535940e+00] [ 5.85943945e-02 2.37833657e-02 9.97998521e-01 -9.01512153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24463044 meters Centerline goodness : 0.168178 with order 3 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.02, Z:-0.90 [[ 9.98232441e-01 -1.10320252e-02 -5.83976671e-02 -9.98161320e+00] [ 9.64741415e-03 9.99666868e-01 -2.39391113e-02 -1.01643880e+00] [ 5.86423098e-02 2.33334111e-02 9.98006328e-01 -9.02059038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30463043999998 meters Centerline goodness : 0.460746 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.02, Z:-0.90 [[ 9.98231863e-01 -1.13057649e-02 -5.83551869e-02 -9.98223457e+00] [ 9.89884867e-03 9.99654667e-01 -2.43425573e-02 -1.01517551e+00] [ 5.86102461e-02 2.37218671e-02 9.97999054e-01 -9.01359874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36463043999998 meters Centerline goodness : 0.096550 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 9.98244864e-01 -1.12278110e-02 -5.81474719e-02 -9.98312475e+00] [ 9.83153376e-03 9.99657742e-01 -2.42433608e-02 -1.01499375e+00] [ 5.83997703e-02 2.36291316e-02 9.98013593e-01 -9.00923489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42463044 meters Centerline goodness : 0.102475 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.02, Z:-0.90 [[ 0.99822169 -0.01147118 -0.05849673 -9.98151906] [ 0.01005834 0.99965192 -0.0243901 -1.01508742] [ 0.05875615 0.02375835 0.99798961 -0.90204547] [ 0. 0. 0. 1. ]] SLAMing on 138.48463044 meters Centerline goodness : 0.140041 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 0.99815375 -0.01192172 -0.05955647 -9.97795675] [ 0.01045822 0.99963711 -0.02482485 -1.01430729] [ 0.05983081 0.02415616 0.99791621 -0.90357021] [ 0. 0. 0. 1. ]] SLAMing on 138.54463044 meters Centerline goodness : 0.096953 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 9.98169320e-01 -8.34547937e-03 -5.99029381e-02 -9.97749128e+00] [ 7.02584479e-03 9.99728718e-01 -2.22064681e-02 -1.00842067e+00] [ 6.00720111e-02 2.17449464e-02 9.97957169e-01 -9.03091382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60463044 meters Centerline goodness : 0.460709 with order 3 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.00, Z:-0.90 [[ 9.98241639e-01 -6.18435619e-03 -5.89523891e-02 -9.98123528e+00] [ 4.97035976e-03 9.99773019e-01 -2.07172670e-02 -1.00244986e+00] [ 5.90671310e-02 2.03878240e-02 9.98045796e-01 -9.01493351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66463044 meters Centerline goodness : 0.306394 with order 2 Centerline is valid? [False, False] Translation: X:-9.99, Y:-1.00, Z:-0.90 [[ 9.98316605e-01 -6.40843380e-03 -5.76445051e-02 -9.98528692e+00] [ 5.20495562e-03 9.99765852e-01 -2.10035571e-02 -1.00052378e+00] [ 5.77656076e-02 2.06681627e-02 9.98116206e-01 -9.00312164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72463044 meters Centerline goodness : 0.422292 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:-1.00, Z:-0.90 [[ 0.99819491 -0.01955343 -0.05678541 -9.96524722] [ 0.01823831 0.99955543 -0.02358611 -1.00048503] [ 0.05722135 0.02250786 0.99810777 -0.89928905] [ 0. 0. 0. 1. ]] SLAMing on 138.78463044 meters Centerline goodness : 0.103267 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 0.99818369 -0.01377923 -0.05864688 -9.98136531] [ 0.01229595 0.99959721 -0.02557797 -1.00945334] [ 0.0589757 0.02481039 0.99795106 -0.90233724] [ 0. 0. 0. 1. ]] SLAMing on 138.84463044 meters Centerline goodness : 0.096950 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 0.99817774 -0.01400935 -0.05869365 -9.98154689] [ 0.01254528 0.99960273 -0.02523897 -1.01223108] [ 0.05902392 0.02445665 0.99795694 -0.90220682] [ 0. 0. 0. 1. ]] SLAMing on 138.90463044 meters Centerline goodness : 0.460862 with order 2 Centerline is valid? [False, False] Translation: X:-9.98, Y:-1.01, Z:-0.90 [[ 0.99817919 -0.01401152 -0.05866835 -9.98109362] [ 0.01255181 0.99960424 -0.02517569 -1.01262877] [ 0.05899788 0.02439345 0.99796002 -0.90284565] [ 0. 0. 0. 1. ]] SLAMing on 138.96463044 meters Centerline goodness : 0.460330 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:-1.02, Z:-0.90 [[ 9.98277777e-01 -6.64811640e-03 -5.82862201e-02 -9.96402279e+00] [ 5.12539231e-03 9.99642647e-01 -2.62356255e-02 -1.01833226e+00] [ 5.84398089e-02 2.58917022e-02 9.97955113e-01 -9.00881719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02463043999998 meters Centerline goodness : 0.102028 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:-1.02, Z:-0.90 [[ 9.98262353e-01 -6.69097818e-03 -5.85448924e-02 -9.96305510e+00] [ 5.17599307e-03 9.99648782e-01 -2.59908097e-02 -1.01946581e+00] [ 5.86982343e-02 2.56426189e-02 9.97946378e-01 -9.01438073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08463043999998 meters Centerline goodness : 0.461639 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:-1.02, Z:-0.91 [[ 9.98039972e-01 -8.78955858e-03 -6.19593172e-02 -1.00041054e+01] [ 7.13405687e-03 9.99612943e-01 -2.68899445e-02 -1.02232107e+00] [ 6.21716861e-02 2.63952182e-02 9.97716379e-01 -9.05412276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14463044 meters Centerline goodness : 0.457696 with order 2 Centerline is valid? [False, False] Translation: X:-10.00, Y:-1.02, Z:-0.91 [[ 9.98018173e-01 -8.79192393e-03 -6.23091350e-02 -1.00027779e+01] [ 7.15267980e-03 9.99623683e-01 -2.64826491e-02 -1.02445240e+00] [ 6.25185205e-02 2.59844878e-02 9.97705488e-01 -9.06157063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20463044 meters Centerline goodness : 0.223965 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:-1.03, Z:-0.91 [[ 9.98006176e-01 -5.83004679e-04 -6.31136493e-02 -1.00230213e+01] [-1.14860886e-03 9.99623981e-01 -2.73966758e-02 -1.02647316e+00] [ 6.31058898e-02 2.74145446e-02 9.97630237e-01 -9.08281182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26463044 meters Centerline goodness : 0.098155 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:-1.03, Z:-0.91 [[ 9.97991921e-01 -6.11953257e-04 -6.33383844e-02 -1.00223195e+01] [-1.12364688e-03 9.99624938e-01 -2.73627794e-02 -1.02656165e+00] [ 6.33313733e-02 2.73790027e-02 9.97616924e-01 -9.08546778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32463044 meters Centerline goodness : 0.456614 with order 2 Centerline is valid? [False, False] Translation: X:-10.04, Y:-1.02, Z:-0.91 [[ 9.97921457e-01 -8.97715575e-03 -6.38136089e-02 -1.00412291e+01] [ 7.31661252e-03 9.99629735e-01 -2.62080022e-02 -1.02458417e+00] [ 6.40252543e-02 2.56866283e-02 9.97617644e-01 -9.10886696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38463044 meters Centerline goodness : 0.454804 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:-1.03, Z:-0.91 [[ 0.99780824 -0.0194982 -0.06323393 -10.06417637] [ 0.01782382 0.99947824 -0.02693606 -1.02588185] [ 0.06372614 0.02574995 0.99763516 -0.91146759] [ 0. 0. 0. 1. ]] SLAMing on 139.44463044 meters Centerline goodness : 0.457503 with order 2 Centerline is valid? [False, False] Translation: X:-10.07, Y:-1.03, Z:-0.91 [[ 0.99783253 -0.01919273 -0.0629435 -10.06526777] [ 0.01758606 0.99950774 -0.02598105 -1.02985208] [ 0.06341117 0.02481781 0.99767886 -0.91136725] [ 0. 0. 0. 1. ]] SLAMing on 139.50463044 meters Centerline goodness : 0.462626 with order 2 Centerline is valid? [False, False] Translation: X:-10.08, Y:-1.04, Z:-0.91 [[ 9.97984124e-01 -1.15929702e-02 -6.23962499e-02 -1.00839183e+01] [ 9.94442043e-03 9.99594916e-01 -2.66666725e-02 -1.04029104e+00] [ 6.26801201e-02 2.59924212e-02 9.97695142e-01 -9.14521993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56463044 meters Centerline goodness : 0.136191 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-1.04, Z:-0.91 [[ 9.97970746e-01 -1.12729502e-02 -6.26682655e-02 -1.00832685e+01] [ 9.65538418e-03 9.99613887e-01 -2.60547606e-02 -1.04259468e+00] [ 6.29377825e-02 2.53968027e-02 9.97694261e-01 -9.14610015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62463044 meters Centerline goodness : 0.091482 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-1.05, Z:-0.91 [[ 9.97989852e-01 -1.10390314e-02 -6.24050957e-02 -1.00841351e+01] [ 9.45143706e-03 9.99625576e-01 -2.56783492e-02 -1.04501320e+00] [ 6.26651938e-02 2.50369140e-02 9.97720515e-01 -9.14354976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68463044 meters Centerline goodness : 0.418003 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-1.05, Z:-0.91 [[ 9.98054767e-01 -7.56756874e-03 -6.18822614e-02 -1.00860845e+01] [ 6.19686875e-03 9.99731848e-01 -2.23121303e-02 -1.04603011e+00] [ 6.20345161e-02 2.18852518e-02 9.97834032e-01 -9.13690997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74463043999998 meters Centerline goodness : 0.464238 with order 1 Centerline is valid? [False, False] Translation: X:-10.11, Y:-1.05, Z:-0.92 [[ 9.98083078e-01 1.29338667e-03 -6.18748497e-02 -1.01078995e+01] [-2.70150703e-03 9.99739141e-01 -2.26793144e-02 -1.04677502e+00] [ 6.18293760e-02 2.28029952e-02 9.97826213e-01 -9.15232611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80463043999998 meters Centerline goodness : 0.417431 with order 1 Centerline is valid? [False, False] Translation: X:-10.10, Y:-1.04, Z:-0.92 [[ 9.97977645e-01 3.39814677e-03 -6.34749783e-02 -1.01021207e+01] [-4.74910421e-03 9.99765149e-01 -2.11445701e-02 -1.04245905e+00] [ 6.33882188e-02 2.14032575e-02 9.97759407e-01 -9.17218442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86463043999998 meters Centerline goodness : 0.234243 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.04, Z:-0.92 [[ 9.97868192e-01 3.28191847e-03 -6.51789945e-02 -1.01475185e+01] [-4.65651447e-03 9.99769705e-01 -2.09488505e-02 -1.03882122e+00] [ 6.50952317e-02 2.12076985e-02 9.97653670e-01 -9.18890074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92463044 meters Centerline goodness : 0.277354 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.04, Z:-0.92 [[ 9.97875416e-01 3.08522269e-03 -6.50779219e-02 -1.01476078e+01] [-4.46718392e-03 9.99767376e-01 -2.11006740e-02 -1.03813412e+00] [ 6.49976830e-02 2.13465589e-02 9.97657068e-01 -9.19009275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98463044 meters Centerline goodness : 0.279805 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.04, Z:-0.92 [[ 9.97864350e-01 2.90689452e-03 -6.52555663e-02 -1.01467648e+01] [-4.30182561e-03 9.99765021e-01 -2.12461103e-02 -1.03725779e+00] [ 6.51784724e-02 2.14814541e-02 9.97642378e-01 -9.19523619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04463044 meters Centerline goodness : 0.132750 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-1.04, Z:-0.92 [[ 9.97848237e-01 2.90904483e-03 -6.55013990e-02 -1.01459594e+01] [-4.30811343e-03 9.99765373e-01 -2.12282657e-02 -1.03674015e+00] [ 6.54242766e-02 2.14647750e-02 9.97626647e-01 -9.19804776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10463044 meters Centerline goodness : 0.159806 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-1.03, Z:-0.92 [[ 9.97764880e-01 -5.72365700e-03 -6.65769017e-02 -1.01642366e+01] [ 4.37001770e-03 9.99781125e-01 -2.04598594e-02 -1.03116525e+00] [ 6.66794348e-02 2.01231869e-02 9.97571506e-01 -9.21986866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16463044 meters Centerline goodness : 0.128261 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:-1.03, Z:-0.92 [[ 9.97771855e-01 -5.84195745e-03 -6.64619967e-02 -1.01649333e+01] [ 4.47516590e-03 9.99775813e-01 -2.06953334e-02 -1.02992241e+00] [ 6.65679980e-02 2.03517927e-02 9.97574311e-01 -9.21391232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22463044 meters Centerline goodness : 0.092502 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.02, Z:-0.92 [[ 9.97889593e-01 -4.35115174e-03 -6.47875592e-02 -1.01704779e+01] [ 3.05567793e-03 9.99793679e-01 -2.00813986e-02 -1.02299973e+00] [ 6.48615693e-02 1.98410488e-02 9.97697003e-01 -9.19413221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28463044 meters Centerline goodness : 0.475866 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.02, Z:-0.92 [[ 9.97927275e-01 -7.08222619e-04 -6.43478961e-02 -1.01714185e+01] [-4.02343773e-04 9.99851227e-01 -1.72441858e-02 -1.01806740e+00] [ 6.43505356e-02 1.72343334e-02 9.97778526e-01 -9.19394638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34463044 meters Centerline goodness : 0.477070 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.01, Z:-0.92 [[ 9.97970394e-01 2.76150455e-03 -6.36197098e-02 -1.01732595e+01] [-3.72964809e-03 9.99878973e-01 -1.51039362e-02 -1.00774142e+00] [ 6.35703005e-02 1.53105603e-02 9.97859912e-01 -9.18846761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40463044 meters Centerline goodness : 0.096062 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.99, Z:-0.92 [[ 9.97786154e-01 -1.25941485e-03 -6.64921396e-02 -1.01909718e+01] [ 4.71462309e-04 9.99929501e-01 -1.18646731e-02 -9.93255434e-01] [ 6.65023945e-02 1.18070580e-02 9.97716405e-01 -9.21107862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46463044 meters Centerline goodness : 0.100960 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.99, Z:-0.92 [[ 9.97727147e-01 1.91844355e-04 -6.73832636e-02 -1.01868038e+01] [-9.16442567e-04 9.99942091e-01 -1.07226386e-02 -9.88446933e-01] [ 6.73773044e-02 1.07600205e-02 9.97669545e-01 -9.23181017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52463043999998 meters Centerline goodness : 0.238192 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.99, Z:-0.92 [[ 9.97735833e-01 -1.29087154e-04 -6.72546730e-02 -1.01872387e+01] [-6.20246939e-04 9.99937970e-01 -1.11207402e-02 -9.86660722e-01] [ 6.72519368e-02 1.11372755e-02 9.97673864e-01 -9.22989936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58463043999998 meters Centerline goodness : 0.099799 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.98, Z:-0.93 [[ 9.97739987e-01 -7.51093279e-03 -6.67720264e-02 -1.02060791e+01] [ 6.85548398e-03 9.99926098e-01 -1.00399413e-02 -9.76515810e-01] [ 6.68425012e-02 9.55949631e-03 9.97717744e-01 -9.26333668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64463044 meters Centerline goodness : 0.100308 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.97, Z:-0.93 [[ 9.97734114e-01 -7.64088658e-03 -6.68450085e-02 -1.02055266e+01] [ 6.96252578e-03 9.99921935e-01 -1.03753537e-02 -9.74434319e-01] [ 6.69190671e-02 9.88643419e-03 9.97709425e-01 -9.26787483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70463044 meters Centerline goodness : 0.100880 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.97, Z:-0.93 [[ 9.97715568e-01 -7.77688775e-03 -6.71056261e-02 -1.02047997e+01] [ 7.08123346e-03 9.99918764e-01 -1.05982041e-02 -9.73388566e-01] [ 6.71825957e-02 1.00988027e-02 9.97689588e-01 -9.26898681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76463044 meters Centerline goodness : 0.096819 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.97, Z:-0.93 [[ 9.97724128e-01 -7.84203025e-03 -6.69706447e-02 -1.02050407e+01] [ 7.14593898e-03 9.99917996e-01 -1.06272149e-02 -9.73715897e-01] [ 6.70484917e-02 1.01244606e-02 9.97698349e-01 -9.27028472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82463044 meters Centerline goodness : 0.105331 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.97, Z:-0.93 [[ 9.97763053e-01 -4.67327800e-03 -6.66862059e-02 -1.02055378e+01] [ 4.17412993e-03 9.99962237e-01 -7.62239954e-03 -9.73357722e-01] [ 6.67193093e-02 7.32699175e-03 9.97744882e-01 -9.27351914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88463044 meters Centerline goodness : 0.240039 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.97, Z:-0.93 [[ 9.97798962e-01 -2.45379985e-03 -6.62662065e-02 -1.02083873e+01] [ 2.06692664e-03 9.99980423e-01 -5.90609581e-03 -9.70353818e-01] [ 6.62794015e-02 5.75612888e-03 9.97784500e-01 -9.25455840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94463044 meters Centerline goodness : 0.098160 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.97, Z:-0.92 [[ 9.97822254e-01 -4.06421438e-04 -6.59589634e-02 -1.02100315e+01] [ 1.25411495e-04 9.99990899e-01 -4.26445996e-03 -9.67315762e-01] [ 6.59600963e-02 4.24690104e-03 9.97813224e-01 -9.24688872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00463044 meters Centerline goodness : 0.098128 with order 1 Centerline is valid? [False, False] Translation: X:-10.26, Y:-0.96, Z:-0.93 [[ 9.97815020e-01 4.68104797e-04 -6.60678883e-02 -1.02571111e+01] [-7.42343487e-04 9.99991211e-01 -4.12637373e-03 -9.62139659e-01] [ 6.60653761e-02 4.16640276e-03 9.97806598e-01 -9.27031077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06463044 meters Centerline goodness : 0.098366 with order 1 Centerline is valid? [False, False] Translation: X:-10.26, Y:-0.96, Z:-0.93 [[ 9.97820572e-01 2.35741053e-04 -6.59852318e-02 -1.02576989e+01] [-5.48392158e-04 9.99988710e-01 -4.72012566e-03 -9.58887886e-01] [ 6.59833741e-02 4.74602427e-03 9.97809436e-01 -9.26413951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12463044 meters Centerline goodness : 0.092339 with order 1 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.95, Z:-0.93 [[ 9.97757349e-01 9.01249686e-04 -6.69287723e-02 -1.03041011e+01] [-1.24805733e-03 9.99986011e-01 -5.14011058e-03 -9.49341976e-01] [ 6.69232035e-02 5.21211405e-03 9.97744516e-01 -9.28208323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18463044 meters Centerline goodness : 0.099054 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.95, Z:-0.93 [[ 9.97793160e-01 3.81062251e-04 -6.63977707e-02 -1.03055817e+01] [-7.68422012e-04 9.99982835e-01 -5.80848593e-03 -9.47140195e-01] [ 6.63944176e-02 5.84668904e-03 9.97776326e-01 -9.27828389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24463043999998 meters Centerline goodness : 0.255466 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.94, Z:-0.93 [[ 9.97824390e-01 1.93272042e-03 -6.58995482e-02 -1.03078262e+01] [-2.22997813e-03 9.99987668e-01 -4.43751126e-03 -9.42975855e-01] [ 6.58901590e-02 4.57481152e-03 9.97816395e-01 -9.26766320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30463043999998 meters Centerline goodness : 0.108247 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.93, Z:-0.93 [[ 9.97761562e-01 -5.98991735e-03 -6.66031945e-02 -1.03259113e+01] [ 5.76008435e-03 9.99976777e-01 -3.64228009e-03 -9.34674933e-01] [ 6.66234647e-02 3.25048706e-03 9.97772894e-01 -9.29801929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36463043999998 meters Centerline goodness : 0.119606 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.93, Z:-0.93 [[ 9.97673646e-01 -4.82478425e-03 -6.80001273e-02 -1.03196592e+01] [ 4.65449038e-03 9.99985623e-01 -2.66253186e-03 -9.31371874e-01] [ 6.80119958e-02 2.33983193e-03 9.97681760e-01 -9.32953858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42463044 meters Centerline goodness : 0.124909 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.93, Z:-0.93 [[ 9.97668333e-01 -4.97958899e-03 -6.80668811e-02 -1.03196832e+01] [ 4.78868815e-03 9.99984131e-01 -2.96748492e-03 -9.29569061e-01] [ 6.80805778e-02 2.63461466e-03 9.97676347e-01 -9.32714262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48463044 meters Centerline goodness : 0.103198 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.92, Z:-0.93 [[ 9.97534478e-01 -4.61738534e-03 -7.00260324e-02 -1.03656658e+01] [ 4.41588611e-03 9.99985653e-01 -3.03202170e-03 -9.24331593e-01] [ 7.00390277e-02 2.71531920e-03 9.97540556e-01 -9.34691299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54463044 meters Centerline goodness : 0.113603 with order 2 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.92, Z:-0.94 [[ 9.97496815e-01 -4.67362990e-03 -7.05567981e-02 -1.03634568e+01] [ 4.46889132e-03 9.99985335e-01 -3.05932972e-03 -9.24370065e-01] [ 7.05700615e-02 2.73636099e-03 9.97503072e-01 -9.35931121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60463044 meters Centerline goodness : 0.130042 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.92, Z:-0.94 [[ 9.97458193e-01 -4.68561556e-03 -7.10999221e-02 -1.03622198e+01] [ 4.47449857e-03 9.99985096e-01 -3.12828009e-03 -9.24146248e-01] [ 7.11135204e-02 2.80219210e-03 9.97464293e-01 -9.35823736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66463044 meters Centerline goodness : 0.119302 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.93, Z:-0.94 [[ 9.97452797e-01 -8.94569050e-04 -7.13240345e-02 -1.03616823e+01] [ 9.41637413e-04 9.99999361e-01 6.26302108e-04 -9.25040778e-01] [ 7.13234286e-02 -6.91868169e-04 9.97453001e-01 -9.35968772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72463044 meters Centerline goodness : 0.117311 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.93, Z:-0.94 [[ 9.97471296e-01 -1.36084263e-03 -7.10574537e-02 -1.03627795e+01] [ 1.37710996e-03 9.99999036e-01 1.79943678e-04 -9.25339643e-01] [ 7.10571403e-02 -2.77342581e-04 9.97472208e-01 -9.35400762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78463044 meters Centerline goodness : 0.107368 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.92, Z:-0.93 [[ 9.97569237e-01 3.75865489e-04 -6.96812417e-02 -1.03684545e+01] [-2.58847039e-04 9.99998541e-01 1.68836108e-03 -9.24711386e-01] [ 6.96817746e-02 -1.66622030e-03 9.97567879e-01 -9.32932216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84463044 meters Centerline goodness : 0.281863 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.92, Z:-0.93 [[ 9.97604522e-01 4.84927147e-04 -6.91735718e-02 -1.03697408e+01] [-3.79695007e-04 9.99998751e-01 1.53441673e-03 -9.22684009e-01] [ 6.91742295e-02 -1.50447620e-03 9.97603460e-01 -9.32718205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90463044 meters Centerline goodness : 0.194235 with order 3 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.92, Z:-0.93 [[ 9.97660129e-01 2.12778479e-03 -6.83354973e-02 -1.03735778e+01] [-1.96004181e-03 9.99994900e-01 2.52165249e-03 -9.17803232e-01] [ 6.83405143e-02 -2.38181171e-03 9.97659211e-01 -9.30712774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96463044 meters SLAMing on 142.02463043999998 meters Centerline goodness : 0.124528 with order 1 Centerline is valid? [False, False] Translation: X:-10.39, Y:-0.91, Z:-0.93 [[ 9.97867577e-01 -1.47313180e-03 -6.52543408e-02 -1.03907312e+01] [ 1.78233149e-03 9.99987458e-01 4.68041632e-03 -9.06925930e-01] [ 6.52466275e-02 -4.78674056e-03 9.97857688e-01 -9.33611962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08463043999998 meters Centerline goodness : 0.128634 with order 1 Centerline is valid? [False, False] Translation: X:-10.39, Y:-0.91, Z:-0.93 [[ 9.97844054e-01 -1.60896897e-03 -6.56098746e-02 -1.03893797e+01] [ 1.90117695e-03 9.99988550e-01 4.39152762e-03 -9.05542101e-01] [ 6.56020575e-02 -4.50679570e-03 9.97835687e-01 -9.34313695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14463044 meters Centerline goodness : 0.110014 with order 1 Centerline is valid? [False, False] Translation: X:-10.39, Y:-0.91, Z:-0.93 [[ 9.97803414e-01 -1.47041008e-03 -6.62282741e-02 -1.03877699e+01] [ 1.78141667e-03 9.99987662e-01 4.63716892e-03 -9.06279040e-01] [ 6.62206384e-02 -4.74496313e-03 9.97793722e-01 -9.34531448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20463044 meters Centerline goodness : 0.110961 with order 1 Centerline is valid? [False, False] Translation: X:-10.39, Y:-0.91, Z:-0.93 [[ 9.97790385e-01 -1.54626194e-03 -6.64225606e-02 -1.03876398e+01] [ 1.85034546e-03 9.99988088e-01 4.51673924e-03 -9.06308786e-01] [ 6.64147853e-02 -4.62966367e-03 9.97781360e-01 -9.34097623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26463044 meters Centerline goodness : 0.108109 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:-0.90, Z:-0.94 [[ 9.97622161e-01 6.46157622e-04 -6.89173841e-02 -1.04316855e+01] [-2.73689848e-04 9.99985307e-01 5.41386002e-03 -9.01662735e-01] [ 6.89198697e-02 -5.38212475e-03 9.97607681e-01 -9.36129557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32463044 meters Centerline goodness : 0.118785 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.90, Z:-0.93 [[ 9.97591952e-01 1.08288980e-02 -6.85057155e-02 -1.04096280e+01] [-1.04434111e-02 9.99927568e-01 5.98272402e-03 -8.98597107e-01] [ 6.85655399e-02 -5.25288398e-03 9.97632785e-01 -9.34375570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38463044 meters Centerline goodness : 0.246566 with order 3 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.89, Z:-0.93 [[ 9.97557892e-01 1.45089390e-02 -6.83208746e-02 -1.04106217e+01] [-1.39419650e-02 9.99864361e-01 8.76823942e-03 -8.93513071e-01] [ 6.84388255e-02 -7.79429920e-03 9.97624867e-01 -9.33501769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44463044 meters Centerline goodness : 0.150358 with order 3 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.89, Z:-0.93 [[ 9.97550207e-01 1.44595798e-02 -6.84434462e-02 -1.04101438e+01] [-1.39378508e-02 9.99870102e-01 8.09420925e-03 -8.87419553e-01] [ 6.85515944e-02 -7.12042557e-03 9.97622162e-01 -9.33603917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50463044 meters Centerline goodness : 0.087793 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.88, Z:-0.93 [[ 9.97518579e-01 1.37621071e-02 -6.90455520e-02 -1.04084614e+01] [-1.33078020e-02 9.99886696e-01 7.03547141e-03 -8.83637960e-01] [ 6.91345518e-02 -6.09916891e-03 9.97588700e-01 -9.33904162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56463044 meters Centerline goodness : 0.130860 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:-0.87, Z:-0.94 [[ 9.97720032e-01 8.36510266e-03 -6.69683643e-02 -1.04312329e+01] [-7.78240373e-03 9.99929598e-01 8.95726875e-03 -8.74858302e-01] [ 6.70385781e-02 -8.41567162e-03 9.97714892e-01 -9.35110498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62463044 meters Centerline goodness : 0.109264 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.87, Z:-0.93 [[ 9.97771118e-01 1.05706204e-02 -6.58867067e-02 -1.04352777e+01] [-9.94228515e-03 9.99901988e-01 9.85721463e-03 -8.66009650e-01] [ 6.59844459e-02 -9.18017963e-03 9.97778421e-01 -9.33108586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68463044 meters Centerline goodness : 0.112540 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.86, Z:-0.93 [[ 9.97768680e-01 1.27825739e-02 -6.55306640e-02 -1.04369360e+01] [-1.21032457e-02 9.99868932e-01 1.07531202e-02 -8.57308992e-01] [ 6.56595276e-02 -9.93599283e-03 9.97792615e-01 -9.32354706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74463043999998 meters Centerline goodness : 0.120547 with order 3 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.85, Z:-0.93 [[ 0.9977596 0.01597104 -0.06496689 -10.4390177 ] [ -0.01520241 0.99980868 0.01230832 -0.8472304 ] [ 0.06515104 -0.01129309 0.99781151 -0.93187601] [ 0. 0. 0. 1. ]] SLAMing on 142.80463043999998 meters Centerline goodness : 0.088083 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.83, Z:-0.93 [[ 0.99770748 0.02060513 -0.06446101 -10.44016141] [ -0.01980554 0.99971909 0.01301884 -0.82854572] [ 0.06471116 -0.01171231 0.9978353 -0.93360255] [ 0. 0. 0. 1. ]] SLAMing on 142.86463043999998 meters Centerline goodness : 0.212311 with order 3 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.82, Z:-0.93 [[ 0.99757382 0.02395323 -0.06536595 -10.43754284] [ -0.02304182 0.99962699 0.01466161 -0.81799563] [ 0.06569276 -0.01311988 0.99775364 -0.93479347] [ 0. 0. 0. 1. ]] SLAMing on 142.92463044 meters Centerline goodness : 0.088407 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.80, Z:-0.94 [[ 0.99744839 0.02737682 -0.06593342 -10.43647188] [ -0.02640591 0.99953031 0.01555254 -0.8016765 ] [ 0.06632823 -0.01377182 0.99770281 -0.93547582] [ 0. 0. 0. 1. ]] SLAMing on 142.98463044 meters Centerline goodness : 0.128779 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:-0.79, Z:-0.94 [[ 0.99726942 0.03005193 -0.06745798 -10.43191139] [ -0.02898152 0.99943891 0.01679099 -0.79095104] [ 0.06792473 -0.0147901 0.99758082 -0.936616 ] [ 0. 0. 0. 1. ]] SLAMing on 143.04463044 meters Centerline goodness : 0.093841 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.77, Z:-0.94 [[ 0.99738471 0.020463 -0.06931822 -10.43815361] [ -0.01925375 0.99965135 0.01806839 -0.76830357] [ 0.06966379 -0.0166865 0.99743096 -0.93847224] [ 0. 0. 0. 1. ]] SLAMing on 143.10463044 meters Centerline goodness : 0.240450 with order 3 Centerline is valid? [False, False] Translation: X:-10.42, Y:-0.76, Z:-0.94 [[ 9.97469872e-01 1.13606368e-02 -7.01768562e-02 -1.04177447e+01] [-1.01838585e-02 9.99801854e-01 1.71038394e-02 -7.59842981e-01] [ 7.03572615e-02 -1.63458933e-02 9.97387922e-01 -9.36927589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16463044 meters Centerline goodness : 0.216635 with order 3 Centerline is valid? [False, False] Translation: X:-10.40, Y:-0.76, Z:-0.94 [[ 9.97562751e-01 1.75314342e-03 -6.97530184e-02 -1.03974205e+01] [-5.34060103e-04 9.99846861e-01 1.74919524e-02 -7.55053721e-01] [ 6.97730025e-02 -1.74120678e-02 9.97410922e-01 -9.35116536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22463044 meters Centerline goodness : 0.220557 with order 3 Centerline is valid? [False, False] Translation: X:-10.39, Y:-0.75, Z:-0.94 [[ 9.97488984e-01 -6.72601157e-04 -7.08186061e-02 -1.03932372e+01] [ 1.75585857e-03 9.99882398e-01 1.52350856e-02 -7.52761697e-01] [ 7.08000306e-02 -1.53211775e-02 9.97372858e-01 -9.36555554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28463044 meters Centerline goodness : 0.227833 with order 3 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.75, Z:-0.93 [[ 9.97534555e-01 6.90574133e-03 -6.98363902e-02 -1.03737519e+01] [-5.94693681e-03 9.99885317e-01 1.39279020e-02 -7.53490320e-01] [ 6.99245636e-02 -1.34782509e-02 9.97461223e-01 -9.33874096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34463044 meters Centerline goodness : 0.233593 with order 3 Centerline is valid? [False, False] Translation: X:-10.38, Y:-0.75, Z:-0.93 [[ 9.97566095e-01 1.03461398e-02 -6.89553733e-02 -1.03768621e+01] [-9.24399717e-03 9.99824684e-01 1.62833981e-02 -7.48505725e-01] [ 6.91117547e-02 -1.56063426e-02 9.97486846e-01 -9.32373906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40463044 meters Centerline goodness : 0.093488 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.74, Z:-0.93 [[ 0.99748462 0.02033635 -0.06790341 -10.35531778] [ -0.01926884 0.99968082 0.01633928 -0.74460188] [ 0.06821402 -0.01498976 0.9975581 -0.93119542] [ 0. 0. 0. 1. ]] SLAMing on 143.46463044 meters Centerline goodness : 0.094857 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.74, Z:-0.93 [[ 0.99752486 0.02079441 -0.0671696 -10.35751922] [ -0.01974542 0.99967308 0.01624346 -0.74342777] [ 0.06748542 -0.01487696 0.99760934 -0.93125032] [ 0. 0. 0. 1. ]] SLAMing on 143.52463043999998 meters Centerline goodness : 0.241808 with order 3 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.74, Z:-0.93 [[ 0.99768806 0.01187217 -0.06691482 -10.33753668] [ -0.01080322 0.99980855 0.01631399 -0.74197192] [ 0.0670957 -0.01555337 0.99762531 -0.92942107] [ 0. 0. 0. 1. ]] SLAMing on 143.58463043999998 meters Centerline goodness : 0.172705 with order 3 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.75, Z:-0.93 [[ 0.99761993 0.0122244 -0.06786051 -10.33434676] [ -0.01109318 0.99979358 0.01702163 -0.74619087] [ 0.06805458 -0.01622833 0.99754961 -0.93041769] [ 0. 0. 0. 1. ]] SLAMing on 143.64463044 meters Centerline goodness : 0.128768 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.75, Z:-0.93 [[ 9.97683003e-01 3.54688407e-03 -6.79414860e-02 -1.03128062e+01] [-2.37470804e-03 9.99847078e-01 1.73257298e-02 -7.46079438e-01] [ 6.79925486e-02 -1.71242450e-02 9.97538858e-01 -9.29054396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70463044 meters Centerline goodness : 0.235764 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.75, Z:-0.93 [[ 9.97655479e-01 6.78780650e-04 -6.84330688e-02 -1.03114672e+01] [ 3.64709706e-04 9.99883879e-01 1.52346882e-02 -7.51802764e-01] [ 6.84354633e-02 -1.52239284e-02 9.97539382e-01 -9.29095119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76463044 meters SLAMing on 143.82463044 meters Centerline goodness : 0.090686 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.77, Z:-0.93 [[ 9.97728639e-01 4.96668492e-03 -6.71780882e-02 -1.03225781e+01] [-4.13100248e-03 9.99912423e-01 1.25730055e-02 -7.71979458e-01] [ 6.72346511e-02 -1.22669348e-02 9.97661778e-01 -9.32475195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88463044 meters Centerline goodness : 0.195844 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.77, Z:-0.93 [[ 9.97757364e-01 5.56944457e-03 -6.67024989e-02 -1.03235716e+01] [-4.70097106e-03 9.99902221e-01 1.31699938e-02 -7.73915468e-01] [ 6.67693264e-02 -1.28268918e-02 9.97685987e-01 -9.32321049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94463044 meters Centerline goodness : 0.090130 with order 1 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.78, Z:-0.93 [[ 0.9976365 0.01224178 -0.06761333 -10.30470482] [ -0.01147812 0.99986601 0.01167143 -0.78063135] [ 0.06774715 -0.01086777 0.99764333 -0.92942764] [ 0. 0. 0. 1. ]] SLAMing on 144.00463044 meters Centerline goodness : 0.105096 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.78, Z:-0.93 [[ 0.9976583 0.01254773 -0.06723448 -10.30584039] [ -0.01177354 0.99985989 0.01189863 -0.78230915] [ 0.06737436 -0.01107918 0.99766625 -0.9290321 ] [ 0. 0. 0. 1. ]] SLAMing on 144.06463044 meters Centerline goodness : 0.099776 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.78, Z:-0.93 [[ 0.99767932 0.01264683 -0.06690319 -10.30681691] [ -0.01187278 0.99985805 0.01195472 -0.78348333] [ 0.06704489 -0.01113265 0.99768785 -0.92862646] [ 0. 0. 0. 1. ]] SLAMing on 144.12463044 meters Centerline goodness : 0.095765 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.78, Z:-0.93 [[ 9.97705660e-01 5.52037521e-03 -6.74754933e-02 -1.03253504e+01] [-4.66493534e-03 9.99906826e-01 1.28287830e-02 -7.80530681e-01] [ 6.75400260e-02 -1.24845806e-02 9.97638452e-01 -9.31173462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18463044 meters Centerline goodness : 0.101530 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.78, Z:-0.93 [[ 9.97552522e-01 6.22020293e-03 -6.96439090e-02 -1.03694243e+01] [-5.37356933e-03 9.99909453e-01 1.23373613e-02 -7.82511289e-01] [ 6.97143438e-02 -1.19329295e-02 9.97495622e-01 -9.33524867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24463043999998 meters Centerline goodness : 0.102255 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.79, Z:-0.93 [[ 9.97556591e-01 2.77455675e-03 -6.98079493e-02 -1.03694125e+01] [-2.12416452e-03 9.99953663e-01 9.38938723e-03 -7.85630620e-01] [ 6.98307660e-02 -9.21816155e-03 9.97516260e-01 -9.33078235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30463043999998 meters Centerline goodness : 0.233949 with order 3 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.79, Z:-0.94 [[ 9.97636248e-01 2.17112953e-03 -6.86818896e-02 -1.04148027e+01] [-1.51926005e-03 9.99953320e-01 9.54195190e-03 -7.94066336e-01] [ 6.86994004e-02 -9.41505145e-03 9.97592978e-01 -9.36147379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36463043999998 meters Centerline goodness : 0.105495 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.80, Z:-0.94 [[ 9.97660915e-01 -1.30710661e-03 -6.83446421e-02 -1.04149604e+01] [ 1.76083652e-03 9.99976808e-01 6.57903042e-03 -7.97366355e-01] [ 6.83344575e-02 -6.68398526e-03 9.97640079e-01 -9.36746700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42463044 meters Centerline goodness : 0.099842 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:-0.80, Z:-0.94 [[ 9.97588298e-01 -9.55962881e-04 -6.94022661e-02 -1.04117950e+01] [ 1.40612358e-03 9.99978289e-01 6.43769034e-03 -7.96994067e-01] [ 6.93946051e-02 -6.51975271e-03 9.97567983e-01 -9.37510599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48463044 meters Centerline goodness : 0.257338 with order 3 Centerline is valid? [False, False] Translation: X:-10.46, Y:-0.80, Z:-0.94 [[ 9.97452639e-01 2.94253631e-03 -7.12711352e-02 -1.04554795e+01] [-2.36990089e-03 9.99964242e-01 8.11783329e-03 -7.95868871e-01] [ 7.12924737e-02 -7.92824871e-03 9.97423945e-01 -9.40438912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54463044 meters Centerline goodness : 0.235452 with order 3 Centerline is valid? [False, False] Translation: X:-10.44, Y:-0.79, Z:-0.94 [[ 9.97463130e-01 1.12298674e-02 -7.02936288e-02 -1.04352989e+01] [-1.07867499e-02 9.99919507e-01 6.68023817e-03 -7.94427989e-01] [ 7.03629889e-02 -5.90505149e-03 9.97503975e-01 -9.38624145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60463044 meters Centerline goodness : 0.250460 with order 3 Centerline is valid? [False, False] Translation: X:-10.43, Y:-0.79, Z:-0.94 [[ 9.97442809e-01 1.13261002e-02 -7.05660126e-02 -1.04344301e+01] [-1.08912388e-02 9.99919274e-01 6.54419855e-03 -7.93278941e-01] [ 7.06344363e-02 -5.75891249e-03 9.97485645e-01 -9.38944164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66463044 meters Centerline goodness : 0.097896 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:-0.79, Z:-0.94 [[ 9.97499506e-01 3.88696703e-03 -7.05664674e-02 -1.04549103e+01] [-3.36417186e-03 9.99966021e-01 7.52588603e-03 -7.89994452e-01] [ 7.05933225e-02 -7.26966988e-03 9.97478689e-01 -9.40845485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72463044 meters Centerline goodness : 0.098157 with order 1 Centerline is valid? [False, False] Translation: X:-10.50, Y:-0.79, Z:-0.94 [[ 9.97515521e-01 4.81959470e-03 -7.02819873e-02 -1.05025668e+01] [-4.27640591e-03 9.99959831e-01 7.87712257e-03 -7.94113621e-01] [ 7.03171286e-02 -7.55699772e-03 9.97496062e-01 -9.42249355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78463044 meters Centerline goodness : 0.240415 with order 3 Centerline is valid? [False, False] Translation: X:-10.50, Y:-0.80, Z:-0.94 [[ 9.97521775e-01 4.98927897e-03 -7.01813062e-02 -1.05028161e+01] [-4.40575023e-03 9.99954449e-01 8.46692584e-03 -7.98192158e-01] [ 7.02203532e-02 -8.13674159e-03 9.97498319e-01 -9.41957489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84463044 meters Centerline goodness : 0.101096 with order 1 Centerline is valid? [False, False] Translation: X:-10.50, Y:-0.80, Z:-0.94 [[ 9.97558519e-01 5.05843524e-03 -6.96520908e-02 -1.05042549e+01] [-4.45067815e-03 9.99950685e-01 8.87803748e-03 -8.01321480e-01] [ 6.96935649e-02 -8.54636288e-03 9.97531837e-01 -9.41496152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90463044 meters Centerline goodness : 0.102200 with order 1 Centerline is valid? [False, False] Translation: X:-10.51, Y:-0.80, Z:-0.94 [[ 9.97582675e-01 5.11310116e-03 -6.93012421e-02 -1.05051624e+01] [-4.48708093e-03 9.99947741e-01 9.18597903e-03 -8.03535285e-01] [ 6.93445893e-02 -8.85281325e-03 9.97553485e-01 -9.41296182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96463044 meters Centerline goodness : 0.109940 with order 1 Centerline is valid? [False, False] Translation: X:-10.51, Y:-0.81, Z:-0.94 [[ 9.97612135e-01 5.31152147e-03 -6.88608450e-02 -1.05066071e+01] [-4.64082770e-03 9.99940263e-01 9.89616295e-03 -8.07992424e-01] [ 6.89092951e-02 -9.55296093e-03 9.97577190e-01 -9.40656056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02463043999998 meters Centerline goodness : 0.098773 with order 1 Centerline is valid? [False, False] Translation: X:-10.55, Y:-0.82, Z:-0.94 [[ 9.97435360e-01 4.93045166e-03 -7.14030389e-02 -1.05491826e+01] [-4.25080835e-03 9.99944236e-01 9.66723793e-03 -8.16672691e-01] [ 7.14467211e-02 -9.33892431e-03 9.97400697e-01 -9.43632999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08463043999998 meters Centerline goodness : 0.101871 with order 1 Centerline is valid? [False, False] Translation: X:-10.53, Y:-0.82, Z:-0.94 [[ 9.97462602e-01 -5.60399023e-03 -7.09714877e-02 -1.05269415e+01] [ 6.27018989e-03 9.99938318e-01 9.16755971e-03 -8.23711223e-01] [ 7.09157351e-02 -9.58930267e-03 9.97436215e-01 -9.42387186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14463044 meters Centerline goodness : 0.264349 with order 3 Centerline is valid? [False, False] Translation: X:-10.53, Y:-0.83, Z:-0.94 [[ 9.97442869e-01 -5.23170712e-03 -7.12765837e-02 -1.05255801e+01] [ 5.96821570e-03 9.99930940e-01 1.01240595e-02 -8.30014312e-01] [ 7.12186952e-02 -1.05235650e-02 9.97405210e-01 -9.42905926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20463044 meters Centerline goodness : 0.100135 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.84, Z:-0.95 [[ 9.97352486e-01 2.77224684e-03 -7.26659084e-02 -1.05428540e+01] [-2.09688817e-03 9.99953915e-01 9.36866355e-03 -8.40362050e-01] [ 7.26885318e-02 -9.19148759e-03 9.97312335e-01 -9.45945797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26463044 meters Centerline goodness : 0.099731 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.85, Z:-0.95 [[ 9.97297982e-01 2.29132632e-03 -7.34267287e-02 -1.05405515e+01] [-1.59497654e-03 9.99953213e-01 9.54083402e-03 -8.49407251e-01] [ 7.34451544e-02 -9.39794061e-03 9.97254976e-01 -9.46208745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32463044 meters Centerline goodness : 0.112862 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.86, Z:-0.95 [[ 9.97276224e-01 -4.93359818e-04 -7.37556129e-02 -1.05389570e+01] [ 1.06732983e-03 9.99969454e-01 7.74284003e-03 -8.58047938e-01] [ 7.37495399e-02 -7.80047183e-03 9.97246288e-01 -9.46794278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38463044 meters Centerline goodness : 0.096134 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.86, Z:-0.95 [[ 9.97288161e-01 -3.52060548e-04 -7.35948338e-02 -1.05393148e+01] [ 9.58931180e-04 9.99965830e-01 8.21093226e-03 -8.61563274e-01] [ 7.35894283e-02 -8.25923791e-03 9.97254421e-01 -9.46720418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44463044 meters Centerline goodness : 0.293920 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:-0.87, Z:-0.95 [[ 9.97322521e-01 8.28660012e-03 -7.26575663e-02 -1.05608185e+01] [-7.73045171e-03 9.99938658e-01 7.93225318e-03 -8.68677552e-01] [ 7.27188407e-02 -7.34933893e-03 9.97325402e-01 -9.48735696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50463044 meters Centerline goodness : 0.236274 with order 3 Centerline is valid? [False, False] Translation: X:-10.52, Y:-0.87, Z:-0.95 [[ 9.97229185e-01 9.17445864e-03 -7.38226323e-02 -1.05157053e+01] [-8.55823348e-03 9.99925883e-01 8.65938306e-03 -8.66735168e-01] [ 7.38966059e-02 -8.00359819e-03 9.97233791e-01 -9.45149843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56463044 meters Centerline goodness : 0.460203 with order 3 Centerline is valid? [False, False] Translation: X:-10.56, Y:-0.87, Z:-0.95 [[ 9.96987774e-01 8.70575228e-03 -7.70687281e-02 -1.05587865e+01] [-8.10396878e-03 9.99934212e-01 8.11771223e-03 -8.69754843e-01] [ 7.71343287e-02 -7.46869728e-03 9.96992735e-01 -9.47593803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62463044 meters Centerline goodness : 0.361300 with order 1 Centerline is valid? [False, False] Translation: X:-10.54, Y:-0.87, Z:-0.95 [[ 9.97236732e-01 1.62466616e-04 -7.42891296e-02 -1.05412174e+01] [ 5.06477778e-04 9.99959500e-01 8.98567912e-03 -8.69112949e-01] [ 7.42875807e-02 -8.99847507e-03 9.97196261e-01 -9.45217685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68463044 meters Centerline goodness : 0.421080 with order 3 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.88, Z:-0.95 [[ 9.97117850e-01 -1.05430298e-03 -7.58609345e-02 -1.05863753e+01] [ 1.68068316e-03 9.99965020e-01 8.19358579e-03 -8.75242394e-01] [ 7.58496423e-02 -8.29746885e-03 9.97084743e-01 -9.47560543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74463043999998 meters Centerline goodness : 0.167954 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.88, Z:-0.95 [[ 9.97118357e-01 -9.75034735e-04 -7.58553387e-02 -1.05862789e+01] [ 1.62366992e-03 9.99962643e-01 8.48974878e-03 -8.77078314e-01] [ 7.58442272e-02 -8.58844838e-03 9.97082691e-01 -9.47608918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80463043999998 meters Centerline goodness : 0.313475 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.88, Z:-0.95 [[ 9.97146232e-01 -7.21245897e-04 -7.54908749e-02 -1.05871633e+01] [ 1.41017941e-03 9.99957844e-01 9.07314413e-03 -8.81121520e-01] [ 7.54811485e-02 -9.15370716e-03 9.97105213e-01 -9.47300239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86463043999998 meters Centerline goodness : 0.459898 with order 3 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.88, Z:-0.95 [[ 9.97130074e-01 -1.98937144e-04 -7.57071765e-02 -1.05864182e+01] [ 9.20793806e-04 9.99954449e-01 9.50006520e-03 -8.82547863e-01] [ 7.57018381e-02 -9.54251141e-03 9.97084837e-01 -9.47566395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92463044 meters Centerline goodness : 0.089358 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-0.88, Z:-0.95 [[ 9.97104148e-01 2.10737837e-04 -7.60478339e-02 -1.05855140e+01] [ 5.34605773e-04 9.99952027e-01 9.78049371e-03 -8.82759159e-01] [ 7.60462467e-02 -9.79282646e-03 9.97056201e-01 -9.47709802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98463044 meters Centerline goodness : 0.327677 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:-0.88, Z:-0.95 [[ 9.97073577e-01 4.04537926e-04 -7.64468321e-02 -1.05841415e+01] [ 3.61664836e-04 9.99949848e-01 1.00085781e-02 -8.83835931e-01] [ 7.64470469e-02 -1.00069369e-02 9.97023425e-01 -9.48221462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04463044 meters Centerline goodness : 0.094147 with order 1 Centerline is valid? [False, False] Translation: X:-10.60, Y:-0.89, Z:-0.95 [[ 9.96977322e-01 8.24458377e-03 -7.72544208e-02 -1.06027218e+01] [-7.59738158e-03 9.99933573e-01 8.66771066e-03 -8.89918436e-01] [ 7.73207507e-02 -8.05457965e-03 9.96973733e-01 -9.51277411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10463044 meters Centerline goodness : 0.097715 with order 1 Centerline is valid? [False, False] Translation: X:-10.60, Y:-0.89, Z:-0.95 [[ 9.96970553e-01 8.33375389e-03 -7.73321758e-02 -1.06027206e+01] [-7.70744121e-03 9.99935067e-01 8.39392943e-03 -8.87702282e-01] [ 7.73971072e-02 -7.77246726e-03 9.96970048e-01 -9.51159516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16463044 meters Centerline goodness : 0.376311 with order 1 Centerline is valid? [False, False] Translation: X:-10.60, Y:-0.88, Z:-0.95 [[ 9.96946000e-01 1.22379506e-02 -7.71291467e-02 -1.06027500e+01] [-1.13949608e-02 9.99870542e-01 1.13602409e-02 -8.83128516e-01] [ 7.72581878e-02 -1.04466631e-02 9.96956388e-01 -9.51659105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22463044 meters Centerline goodness : 0.090161 with order 1 Centerline is valid? [False, False] Translation: X:-10.62, Y:-0.88, Z:-0.96 [[ 9.97123296e-01 5.41588806e-03 -7.56029210e-02 -1.06204768e+01] [-4.49146611e-03 9.99913129e-01 1.23920092e-02 -8.76431898e-01] [ 7.56634670e-02 -1.20167931e-02 9.97060999e-01 -9.55698118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28463044 meters Centerline goodness : 0.460443 with order 3 Centerline is valid? [False, False] Translation: X:-10.62, Y:-0.88, Z:-0.95 [[ 9.97144947e-01 4.88497411e-03 -7.53531116e-02 -1.06218763e+01] [-4.00639597e-03 9.99922278e-01 1.18062403e-02 -8.75023887e-01] [ 7.54049282e-02 -1.14706384e-02 9.97087018e-01 -9.54676094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34463044 meters SLAMing on 146.40463044 meters Centerline goodness : 0.378575 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.87, Z:-0.96 [[ 9.97234135e-01 -1.67612849e-03 -7.43052487e-02 -1.06918593e+01] [ 2.59768015e-03 9.99920888e-01 1.23073329e-02 -8.71330162e-01] [ 7.42787416e-02 -1.24663137e-02 9.97159596e-01 -9.59350402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46463044 meters Centerline goodness : 0.459828 with order 2 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.87, Z:-0.96 [[ 9.97160056e-01 -2.18546555e-03 -7.52797846e-02 -1.06897025e+01] [ 3.07926940e-03 9.99926118e-01 1.17590714e-02 -8.70253949e-01] [ 7.52485238e-02 -1.19574831e-02 9.97093114e-01 -9.59188612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52463043999998 meters Centerline goodness : 0.426671 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.87, Z:-0.96 [[ 9.97131784e-01 -2.27331694e-03 -7.56507579e-02 -1.06878653e+01] [ 3.17850113e-03 9.99924769e-01 1.18470536e-02 -8.71003931e-01] [ 7.56181346e-02 -1.20535297e-02 9.97063995e-01 -9.60329906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58463043999998 meters Centerline goodness : 0.162973 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.87, Z:-0.96 [[ 9.97111054e-01 -2.40899666e-03 -7.59193236e-02 -1.06870173e+01] [ 3.32561066e-03 9.99923073e-01 1.19494190e-02 -8.72265719e-01] [ 7.58846972e-02 -1.21673759e-02 9.97042360e-01 -9.60503849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64463044 meters Centerline goodness : 0.462222 with order 3 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.88, Z:-0.96 [[ 9.97198729e-01 -4.39300641e-03 -7.46685775e-02 -1.06919407e+01] [ 5.18555677e-03 9.99932226e-01 1.04236879e-02 -8.75031490e-01] [ 7.46177256e-02 -1.07816864e-02 9.97153925e-01 -9.58422649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70463044 meters Centerline goodness : 0.449140 with order 1 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.88, Z:-0.96 [[ 9.96974276e-01 2.70912666e-03 -7.76849621e-02 -1.07081193e+01] [-2.03805744e-03 9.99959935e-01 8.71632370e-03 -8.81332932e-01] [ 7.77054633e-02 -8.53162410e-03 9.96939854e-01 -9.61809593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76463044 meters Centerline goodness : 0.232740 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.88, Z:-0.96 [[ 9.96897432e-01 2.84347429e-03 -7.86601860e-02 -1.07046862e+01] [-2.15795069e-03 9.99958963e-01 8.79863290e-03 -8.81315413e-01] [ 7.86819767e-02 -8.60158974e-03 9.96862658e-01 -9.63193887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82463044 meters Centerline goodness : 0.356045 with order 1 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.88, Z:-0.96 [[ 9.96927244e-01 5.52803446e-06 -7.83330754e-02 -1.07064124e+01] [ 4.80040020e-04 9.99980789e-01 6.17992973e-03 -8.82948752e-01] [ 7.83316047e-02 -6.19854333e-03 9.96908089e-01 -9.62293073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88463044 meters Centerline goodness : 0.094027 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.89, Z:-0.97 [[ 9.96940862e-01 8.00123468e-03 -7.77489463e-02 -1.07262656e+01] [-7.60169969e-03 9.99956345e-01 5.43339004e-03 -8.89497920e-01] [ 7.77890260e-02 -4.82574441e-03 9.96958163e-01 -9.65007733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94463044 meters Centerline goodness : 0.447197 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.89, Z:-0.96 [[ 9.97028013e-01 8.46619235e-03 -7.65732634e-02 -1.07290664e+01] [-8.05016522e-03 9.99951122e-01 5.74010149e-03 -8.89805611e-01] [ 7.66181175e-02 -5.10661456e-03 9.97047434e-01 -9.64772224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00463044 meters Centerline goodness : 0.458937 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.89, Z:-0.96 [[ 9.97087345e-01 9.39520031e-03 -7.56872233e-02 -1.07319625e+01] [-8.95025907e-03 9.99940627e-01 6.21574440e-03 -8.88513963e-01] [ 7.57411277e-02 -5.52021983e-03 9.97112235e-01 -9.63776235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06463044 meters Centerline goodness : 0.091771 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.89, Z:-0.96 [[ 9.97102219e-01 9.89051727e-03 -7.54277303e-02 -1.07328963e+01] [-9.45468814e-03 9.99936496e-01 6.13300508e-03 -8.86220613e-01] [ 7.54835989e-02 -5.40208730e-03 9.97132410e-01 -9.63470978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12463044 meters Centerline goodness : 0.099714 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.88, Z:-0.96 [[ 9.97077322e-01 1.37595171e-02 -7.51497756e-02 -1.07331789e+01] [-1.31187224e-02 9.99873316e-01 9.01391186e-03 -8.81545272e-01] [ 7.52642824e-02 -8.00169806e-03 9.97131516e-01 -9.64001222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18463044 meters Centerline goodness : 0.409338 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.88, Z:-0.96 [[ 9.97116650e-01 1.35459718e-02 -7.46652084e-02 -1.07348669e+01] [-1.29729628e-02 9.99882600e-01 8.15405611e-03 -8.76499835e-01] [ 7.47668973e-02 -7.16191614e-03 9.97175320e-01 -9.63485389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24463043999998 meters Centerline goodness : 0.443330 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.87, Z:-0.96 [[ 9.97113474e-01 1.33530449e-02 -7.47423360e-02 -1.07345113e+01] [-1.28129570e-02 9.99888256e-01 7.70086686e-03 -8.73722964e-01] [ 7.48368140e-02 -6.72096777e-03 9.97173144e-01 -9.63747909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30463043999998 meters Centerline goodness : 0.321800 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.87, Z:-0.97 [[ 9.97038978e-01 5.34169992e-03 -7.67120816e-02 -1.07525520e+01] [-4.71603957e-03 9.99954144e-01 8.33479805e-03 -8.67502977e-01] [ 7.67530858e-02 -7.94834132e-03 9.97018449e-01 -9.67207807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36463043999998 meters Centerline goodness : 0.350688 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96999703e-01 4.96298826e-03 -7.72461071e-02 -1.07507619e+01] [-4.38354617e-03 9.99960985e-01 7.66900005e-03 -8.64873782e-01] [ 7.72811544e-02 -7.30737890e-03 9.96982560e-01 -9.67900963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42463044 meters Centerline goodness : 0.307989 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96950339e-01 4.75681099e-03 -7.78934849e-02 -1.07487068e+01] [-4.19483976e-03 9.99963994e-01 7.37664768e-03 -8.63579080e-01] [ 7.79257696e-02 -7.02740071e-03 9.96934396e-01 -9.68541550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48463044 meters Centerline goodness : 0.244901 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96915620e-01 4.39172564e-03 -7.83578915e-02 -1.07469639e+01] [-3.87182801e-03 9.99969482e-01 6.78560615e-03 -8.61003885e-01] [ 7.83853007e-02 -6.46128848e-03 9.96902200e-01 -9.69374049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54463044 meters Centerline goodness : 0.211807 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96904100e-01 4.13811064e-03 -7.85181022e-02 -1.07463365e+01] [-3.66594065e-03 9.99974328e-01 6.15670936e-03 -8.58013442e-01] [ 7.85415636e-02 -5.84980609e-03 9.96893677e-01 -9.69728192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60463044 meters Centerline goodness : 0.096547 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96901375e-01 4.01346760e-03 -7.85591549e-02 -1.07462537e+01] [-3.57361103e-03 9.99977147e-01 5.73883638e-03 -8.55420962e-01] [ 7.85803923e-02 -5.44031401e-03 9.96892936e-01 -9.69808002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66463044 meters Centerline goodness : 0.159719 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.85, Z:-0.97 [[ 9.96868492e-01 3.86752707e-03 -7.89826018e-02 -1.07450251e+01] [-3.45063530e-03 9.99979390e-01 5.41407532e-03 -8.53987120e-01] [ 7.90019131e-02 -5.12458094e-03 9.96861292e-01 -9.70067782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72463044 meters Centerline goodness : 0.248694 with order 3 Centerline is valid? [False, False] Translation: X:-10.74, Y:-0.85, Z:-0.97 [[ 9.96837162e-01 3.68518588e-03 -7.93857109e-02 -1.07440618e+01] [-3.27614348e-03 9.99980682e-01 5.28222415e-03 -8.54179673e-01] [ 7.94036433e-02 -5.00543835e-03 9.96829979e-01 -9.69959159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78463044 meters Centerline goodness : 0.096649 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.86, Z:-0.97 [[ 9.96871955e-01 3.55008133e-03 -7.89537970e-02 -1.07452782e+01] [-3.13290056e-03 9.99980474e-01 5.40710296e-03 -8.55587364e-01] [ 7.89714510e-02 -5.14283490e-03 9.96863612e-01 -9.69586476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84463044 meters Centerline goodness : 0.096474 with order 1 Centerline is valid? [False, False] Translation: X:-10.79, Y:-0.86, Z:-0.97 [[ 9.97225980e-01 2.51698815e-03 -7.43909197e-02 -1.07878375e+01] [-2.20969109e-03 9.99988684e-01 4.21285698e-03 -8.58154467e-01] [ 7.44006817e-02 -4.03678947e-03 9.97220258e-01 -9.73517588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90463044 meters Centerline goodness : 0.097226 with order 1 Centerline is valid? [False, False] Translation: X:-10.79, Y:-0.86, Z:-0.97 [[ 9.97206435e-01 2.63339114e-03 -7.46484571e-02 -1.07873694e+01] [-2.34211283e-03 9.99989300e-01 3.98927182e-03 -8.55829992e-01] [ 7.46581637e-02 -3.80329241e-03 9.97201932e-01 -9.73359502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96463044 meters Centerline goodness : 0.168336 with order 3 Centerline is valid? [False, False] Translation: X:-10.79, Y:-0.85, Z:-0.97 [[ 9.97198061e-01 2.78044892e-03 -7.47549043e-02 -1.07869410e+01] [-2.53029044e-03 9.99990879e-01 3.44088243e-03 -8.51134093e-01] [ 7.47637896e-02 -3.24208966e-03 9.97196001e-01 -9.73704186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02463043999998 meters Centerline goodness : 0.108705 with order 1 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.85, Z:-0.98 [[ 9.97118066e-01 3.17984317e-03 -7.57987537e-02 -1.08327243e+01] [-2.96067570e-03 9.99991106e-01 3.00363331e-03 -8.51190670e-01] [ 7.58076306e-02 -2.77056151e-03 9.97118612e-01 -9.75792002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08463043999998 meters Centerline goodness : 0.268268 with order 3 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.85, Z:-0.97 [[ 9.97133697e-01 2.36546097e-03 -7.56227177e-02 -1.08337295e+01] [-2.20136897e-03 9.99995039e-01 2.25315970e-03 -8.49689547e-01] [ 7.56276723e-02 -2.08022796e-03 9.97133957e-01 -9.74945599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14463044 meters Centerline goodness : 0.228174 with order 3 Centerline is valid? [False, False] Translation: X:-10.84, Y:-0.85, Z:-0.97 [[ 9.97160303e-01 2.14337845e-03 -7.52777257e-02 -1.08350189e+01] [-1.99146287e-03 9.99995827e-01 2.09307322e-03 -8.48859702e-01] [ 7.52818978e-02 -1.93721673e-03 9.97160410e-01 -9.74212251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20463044 meters Centerline goodness : 0.090303 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:-0.85, Z:-0.97 [[ 9.97224927e-01 1.91157405e-03 -7.44230536e-02 -1.08376507e+01] [-1.76733733e-03 9.99996430e-01 2.00387345e-03 -8.48572522e-01] [ 7.44266185e-02 -1.86678192e-03 9.97224746e-01 -9.73325423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26463044 meters Centerline goodness : 0.103136 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:-0.85, Z:-0.97 [[ 9.97148323e-01 1.51273865e-03 -7.54515313e-02 -1.08351756e+01] [-1.37805020e-03 9.99997363e-01 1.83712922e-03 -8.49506740e-01] [ 7.54541114e-02 -1.72791433e-03 9.97147778e-01 -9.73233748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32463044 meters Centerline goodness : 0.090179 with order 1 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.85, Z:-0.97 [[ 9.97097326e-01 1.35903311e-03 -7.61253981e-02 -1.08343704e+01] [-1.20654223e-03 9.99997173e-01 2.04910896e-03 -8.51841180e-01] [ 7.61279677e-02 -1.95131255e-03 9.97096146e-01 -9.72122989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38463044 meters Centerline goodness : 0.093211 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:-0.85, Z:-0.97 [[ 9.97152784e-01 1.33313448e-03 -7.53959367e-02 -1.08367107e+01] [-1.16594677e-03 9.99996763e-01 2.26143613e-03 -8.53269497e-01] [ 7.53987074e-02 -2.16708969e-03 9.97151111e-01 -9.71166900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44463044 meters Centerline goodness : 0.097443 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:-0.85, Z:-0.97 [[ 9.97159347e-01 1.09097509e-03 -7.53129849e-02 -1.08364466e+01] [-9.37660104e-04 9.99997416e-01 2.07103377e-03 -8.53897655e-01] [ 7.53150497e-02 -1.99453270e-03 9.97157793e-01 -9.71730398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50463044 meters Centerline goodness : 0.094498 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.86, Z:-0.98 [[ 9.96812330e-01 1.89804186e-03 -7.97594895e-02 -1.08752940e+01] [-1.71751463e-03 9.99995806e-01 2.33193749e-03 -8.56705629e-01] [ 7.97635811e-02 -2.18751595e-03 9.96811409e-01 -9.75382541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56463044 meters Centerline goodness : 0.094042 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.86, Z:-0.97 [[ 9.96807578e-01 1.68713051e-03 -7.98235906e-02 -1.08756477e+01] [-1.51059233e-03 9.99996278e-01 2.27193923e-03 -8.57789205e-01] [ 7.98271266e-02 -2.14410534e-03 9.96806417e-01 -9.74666516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62463044 meters Centerline goodness : 0.099667 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.86, Z:-0.97 [[ 9.96911847e-01 2.41533632e-04 -7.85284086e-02 -1.08803995e+01] [-1.18298216e-04 9.99998754e-01 1.57395827e-03 -8.62804924e-01] [ 7.85286909e-02 -1.55980788e-03 9.96910634e-01 -9.72842689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68463044 meters Centerline goodness : 0.099101 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.87, Z:-0.97 [[ 9.96921992e-01 -3.21099042e-03 -7.83340964e-02 -1.08805370e+01] [ 3.12528825e-03 9.99994376e-01 -1.21663205e-03 -8.66086507e-01] [ 7.83375625e-02 9.68070612e-04 9.96926421e-01 -9.73078876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74463043999998 meters Centerline goodness : 0.092700 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.87, Z:-0.97 [[ 9.96880687e-01 -6.96603674e-03 -7.86153292e-02 -1.08803301e+01] [ 6.65259334e-03 9.99968847e-01 -4.24825421e-03 -8.69763295e-01] [ 7.86424736e-02 3.71200676e-03 9.96895974e-01 -9.72424200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80463043999998 meters Centerline goodness : 0.098968 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:-0.88, Z:-0.98 [[ 9.96493837e-01 -1.54450718e-02 -8.22282337e-02 -1.08963580e+01] [ 1.52561675e-02 9.99879339e-01 -2.92516614e-03 -8.76670306e-01] [ 8.22634914e-02 1.66042233e-03 9.96609232e-01 -9.75703794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86463043999998 meters Centerline goodness : 0.098996 with order 1 Centerline is valid? [False, False] Translation: X:-10.89, Y:-0.88, Z:-0.98 [[ 9.96382237e-01 -1.92202880e-02 -8.27829639e-02 -1.08944031e+01] [ 1.87764690e-02 9.99804875e-01 -6.13649814e-03 -8.79593670e-01] [ 8.28847561e-02 4.55992599e-03 9.96548706e-01 -9.76091618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92463044 meters Centerline goodness : 0.263807 with order 3 Centerline is valid? [False, False] Translation: X:-10.92, Y:-0.89, Z:-0.98 [[ 9.96672424e-01 -1.15653839e-02 -8.06865663e-02 -1.09151443e+01] [ 1.11007425e-02 9.99919134e-01 -6.20480771e-03 -8.87031887e-01] [ 8.07518024e-02 5.28847994e-03 9.96720211e-01 -9.77362873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98463044 meters Centerline goodness : 0.251840 with order 3 Centerline is valid? [False, False] Translation: X:-10.91, Y:-0.89, Z:-0.98 [[ 9.96681072e-01 -1.17264269e-02 -8.05563819e-02 -1.09149222e+01] [ 1.12277235e-02 9.99914914e-01 -6.64093437e-03 -8.86562195e-01] [ 8.06274021e-02 5.71442881e-03 9.96727930e-01 -9.77977593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04463044 meters Centerline goodness : 0.257887 with order 3 Centerline is valid? [False, False] Translation: X:-10.91, Y:-0.89, Z:-0.98 [[ 9.96645389e-01 -1.17840210e-02 -8.09882985e-02 -1.09134840e+01] [ 1.12688883e-02 9.99913282e-01 -6.81473207e-03 -8.86288626e-01] [ 8.10615803e-02 5.87922321e-03 9.96691755e-01 -9.78372976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10463044 meters Centerline goodness : 0.096085 with order 1 Centerline is valid? [False, False] Translation: X:-10.94, Y:-0.89, Z:-0.98 [[ 9.96967679e-01 -6.25450608e-03 -7.75649994e-02 -1.09370434e+01] [ 5.53792796e-03 9.99940012e-01 -9.45008327e-03 -8.90582383e-01] [ 7.76194520e-02 8.99187820e-03 9.96942509e-01 -9.79481729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16463044 meters Centerline goodness : 0.097002 with order 1 Centerline is valid? [False, False] Translation: X:-10.94, Y:-0.89, Z:-0.98 [[ 9.96997541e-01 -6.72485505e-03 -7.71406510e-02 -1.09390894e+01] [ 5.94412244e-03 9.99928811e-01 -1.03460477e-02 -8.88502406e-01] [ 7.72047351e-02 9.85645065e-03 9.96966539e-01 -9.78043417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22463044 meters Centerline goodness : 0.098004 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.88, Z:-0.98 [[ 9.96914333e-01 -4.12147204e-03 -7.83889409e-02 -1.09340763e+01] [ 3.44807088e-03 9.99956001e-01 -8.72392735e-03 -8.83280255e-01] [ 7.84214473e-02 8.42671760e-03 9.96884681e-01 -9.80126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28463044 meters Centerline goodness : 0.243735 with order 3 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.88, Z:-0.98 [[ 9.96884069e-01 -4.24728129e-03 -7.87661995e-02 -1.09332751e+01] [ 3.52402890e-03 9.99950367e-01 -9.31900013e-03 -8.81509595e-01] [ 7.88018706e-02 9.01238840e-03 9.96849558e-01 -9.79899945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34463044 meters Centerline goodness : 0.100084 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.88, Z:-0.98 [[ 9.96853962e-01 -3.99152344e-03 -7.91596205e-02 -1.09322013e+01] [ 3.30207454e-03 9.99955487e-01 -8.83859311e-03 -8.83876719e-01] [ 7.91913763e-02 8.54939560e-03 9.96822769e-01 -9.79959080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40463044 meters Centerline goodness : 0.096132 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.89, Z:-0.98 [[ 9.96940545e-01 1.20139363e-03 -7.81543746e-02 -1.09528172e+01] [-2.10974353e-03 9.99931175e-01 -1.15409781e-02 -8.92295474e-01] [ 7.81351304e-02 1.16705547e-02 9.96874465e-01 -9.82180209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46463044 meters Centerline goodness : 0.255231 with order 3 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.90, Z:-0.98 [[ 9.97069762e-01 5.79341572e-03 -7.62779514e-02 -1.09736834e+01] [-6.95148725e-03 9.99864444e-01 -1.49255103e-02 -9.02907485e-01] [ 7.61811417e-02 1.54120203e-02 9.96974876e-01 -9.84989065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52463043999998 meters Centerline goodness : 0.102742 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.91, Z:-0.99 [[ 9.97043583e-01 6.26970288e-03 -7.65818771e-02 -1.09724707e+01] [-7.36197143e-03 9.99875050e-01 -1.39887782e-02 -9.08150290e-01] [ 7.64846027e-02 1.45112152e-02 9.96965160e-01 -9.85609831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58463043999998 meters Centerline goodness : 0.242044 with order 3 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.91, Z:-0.98 [[ 9.97054602e-01 -1.56503332e-03 -7.66790135e-02 -1.09516795e+01] [ 5.78176959e-04 9.99916747e-01 -1.28904766e-02 -9.08635556e-01] [ 7.66928037e-02 1.28081749e-02 9.96972499e-01 -9.83794270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64463044 meters Centerline goodness : 0.092742 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.93, Z:-0.99 [[ 9.97206475e-01 2.68003280e-03 -7.46462603e-02 -1.09714083e+01] [-3.86507939e-03 9.99868718e-01 -1.57355671e-02 -9.25036433e-01] [ 7.45942887e-02 1.59801231e-02 9.97085918e-01 -9.86475471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70463044 meters Centerline goodness : 0.246156 with order 3 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.93, Z:-0.99 [[ 9.97195867e-01 3.17804286e-03 -7.47683283e-02 -1.09708472e+01] [-4.29554746e-03 9.99881393e-01 -1.47901695e-02 -9.30170588e-01] [ 7.47124565e-02 1.50698668e-02 9.97091244e-01 -9.86815893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76463044 meters Centerline goodness : 0.456002 with order 2 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.93, Z:-0.99 [[ 9.97177458e-01 4.15659054e-03 -7.49655915e-02 -1.09693647e+01] [-5.19534934e-03 9.99893108e-01 -1.36667903e-02 -9.34123781e-01] [ 7.49007711e-02 1.40176876e-02 9.97092463e-01 -9.88032377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82463044 meters Centerline goodness : 0.457164 with order 2 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.94, Z:-0.99 [[ 9.97186891e-01 4.16333216e-03 -7.48396398e-02 -1.09699289e+01] [-5.18873657e-03 9.99895244e-01 -1.35121448e-02 -9.36222568e-01] [ 7.47755444e-02 1.38624569e-02 9.97104032e-01 -9.87739677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88463044 meters Centerline goodness : 0.458084 with order 3 Centerline is valid? [False, False] Translation: X:-11.01, Y:-0.94, Z:-0.99 [[ 9.96906517e-01 4.54051774e-03 -7.84651543e-02 -1.10102469e+01] [-5.61329050e-03 9.99893697e-01 -1.34568118e-02 -9.40905510e-01] [ 7.83957123e-02 1.38556311e-02 9.96826030e-01 -9.91355199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94463044 meters Centerline goodness : 0.461840 with order 2 Centerline is valid? [False, False] Translation: X:-11.01, Y:-0.94, Z:-0.99 [[ 9.96919369e-01 4.59891069e-03 -7.82982908e-02 -1.10106104e+01] [-5.66107684e-03 9.99894872e-01 -1.33490774e-02 -9.42099857e-01] [ 7.82286683e-02 1.37512064e-02 9.96840599e-01 -9.91291609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00463044 meters Centerline goodness : 0.174792 with order 1 Centerline is valid? [False, False] Translation: X:-11.02, Y:-0.94, Z:-0.99 [[ 9.97039046e-01 5.30843712e-03 -7.67135063e-02 -1.10157032e+01] [-6.28901637e-03 9.99901513e-01 -1.25464292e-02 -9.43693683e-01] [ 7.66393491e-02 1.29917323e-02 9.96974235e-01 -9.89550634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06463044 meters Centerline goodness : 0.272803 with order 3 Centerline is valid? [False, False] Translation: X:-11.02, Y:-0.95, Z:-0.99 [[ 9.97031855e-01 5.41265599e-03 -7.67996328e-02 -1.10152539e+01] [-6.38026053e-03 9.99903265e-01 -1.23593116e-02 -9.45311961e-01] [ 7.67253069e-02 1.28126290e-02 9.96969941e-01 -9.89775473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12463044 meters Centerline goodness : 0.089215 with order 1 Centerline is valid? [False, False] Translation: X:-11.01, Y:-0.95, Z:-0.99 [[ 9.96990489e-01 5.69675819e-03 -7.73143736e-02 -1.10133426e+01] [-6.64401956e-03 9.99905919e-01 -1.20003827e-02 -9.46730320e-01] [ 7.72387365e-02 1.24779457e-02 9.96934541e-01 -9.90595170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18463044 meters Centerline goodness : 0.420938 with order 3 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97275909e-01 5.45479699e-03 -7.35595440e-02 -1.10549331e+01] [-6.38680938e-03 9.99902211e-01 -1.24409086e-02 -9.53118772e-01] [ 7.34844881e-02 1.28768292e-02 9.97213226e-01 -9.95802475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24463043999998 meters Centerline goodness : 0.252323 with order 1 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97269027e-01 5.76006425e-03 -7.36295449e-02 -1.10545869e+01] [-6.67422033e-03 9.99903600e-01 -1.21756046e-02 -9.53568861e-01] [ 7.35523147e-02 1.26337732e-02 9.97211334e-01 -9.96047027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30463043999998 meters Centerline goodness : 0.217980 with order 3 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97226565e-01 6.23021391e-03 -7.41644316e-02 -1.10530084e+01] [-7.14761655e-03 9.99901114e-01 -1.21108630e-02 -9.51870937e-01] [ 7.40816446e-02 1.26073732e-02 9.97172485e-01 -9.96492709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36463043999998 meters Centerline goodness : 0.092352 with order 1 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97254084e-01 7.09906291e-03 -7.37149541e-02 -1.10540968e+01] [-7.99437621e-03 9.99897738e-01 -1.18576671e-02 -9.49625152e-01] [ 7.36232375e-02 1.24144120e-02 9.97208855e-01 -9.96588278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42463044 meters Centerline goodness : 0.461069 with order 2 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97199840e-01 7.25930355e-03 -7.44297145e-02 -1.10512586e+01] [-8.17277612e-03 9.99894888e-01 -1.19757349e-02 -9.48287732e-01] [ 7.43349556e-02 1.25504983e-02 9.97154351e-01 -9.98082364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48463044 meters Centerline goodness : 0.460302 with order 2 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.95, Z:-1.00 [[ 9.97172444e-01 7.08050361e-03 -7.48129867e-02 -1.10502170e+01] [-8.02785821e-03 9.99891264e-01 -1.23698482e-02 -9.47033367e-01] [ 7.47172671e-02 1.29354598e-02 9.97120857e-01 -9.98236995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54463044 meters Centerline goodness : 0.463854 with order 3 Centerline is valid? [False, False] Translation: X:-11.05, Y:-0.94, Z:-1.00 [[ 9.97236627e-01 7.31452492e-03 -7.39297471e-02 -1.10534087e+01] [-8.26049153e-03 9.99887778e-01 -1.24978195e-02 -9.44700791e-01] [ 7.38300350e-02 1.30739794e-02 9.97185137e-01 -9.96808483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60463044 meters Centerline goodness : 0.364574 with order 2 Centerline is valid? [False, False] Translation: X:-11.07, Y:-0.94, Z:-1.00 [[ 9.97254774e-01 9.21953984e-04 -7.40409769e-02 -1.10684351e+01] [-1.73836414e-03 9.99938396e-01 -1.09627774e-02 -9.37345053e-01] [ 7.40263085e-02 1.10613923e-02 9.97194941e-01 -1.00136062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66463044 meters Centerline goodness : 0.450584 with order 2 Centerline is valid? [False, False] Translation: X:-11.07, Y:-0.94, Z:-1.00 [[ 9.97220953e-01 4.75483533e-04 -7.44992981e-02 -1.10664118e+01] [-1.34298580e-03 9.99931876e-01 -1.15947728e-02 -9.35706148e-01] [ 7.44887098e-02 1.16626019e-02 9.97153657e-01 -1.00240754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72463044 meters Centerline goodness : 0.108182 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:-0.93, Z:-1.00 [[ 9.97238705e-01 -7.76863558e-03 -7.38553567e-02 -1.10872906e+01] [ 6.97627515e-03 9.99915377e-01 -1.09804706e-02 -9.33156954e-01] [ 7.39344102e-02 1.04349150e-02 9.97208512e-01 -1.00420597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78463044 meters Centerline goodness : 0.091906 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:-0.93, Z:-1.00 [[ 9.97258540e-01 -7.23497230e-03 -7.36414232e-02 -1.10874493e+01] [ 6.50488578e-03 9.99927339e-01 -1.01490936e-02 -9.34886820e-01] [ 7.37095007e-02 9.64224122e-03 9.97233141e-01 -1.00437405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84463044 meters Centerline goodness : 0.374743 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:-0.94, Z:-1.00 [[ 9.97251465e-01 -7.47366418e-03 -7.37133636e-02 -1.10866484e+01] [ 6.73745813e-03 9.99924964e-01 -1.02310267e-02 -9.36426306e-01] [ 7.37842956e-02 9.70626568e-03 9.97226988e-01 -1.00499949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90463044 meters Centerline goodness : 0.097083 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:-0.94, Z:-1.01 [[ 9.97239886e-01 -7.33012222e-03 -7.38842302e-02 -1.10861687e+01] [ 6.60498882e-03 9.99927643e-01 -1.00540201e-02 -9.37113970e-01] [ 7.39525813e-02 9.53826535e-03 9.97216144e-01 -1.00503865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96463044 meters Centerline goodness : 0.297415 with order 1 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.94, Z:-1.01 [[ 9.97257404e-01 1.43855457e-03 -7.39972984e-02 -1.11056423e+01] [-2.21384638e-03 9.99943506e-01 -1.03963444e-02 -9.42192323e-01] [ 7.39781623e-02 1.05316501e-02 9.97204250e-01 -1.00784404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02463043999998 meters Centerline goodness : 0.283435 with order 1 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.94, Z:-1.01 [[ 9.97285665e-01 1.49874180e-03 -7.36142407e-02 -1.11066606e+01] [-2.25717872e-03 9.99945219e-01 -1.02207436e-02 -9.43511299e-01] [ 7.35948898e-02 1.03591615e-02 9.97234416e-01 -1.00761965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08463043999998 meters Centerline goodness : 0.480373 with order 3 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.94, Z:-1.01 [[ 9.97309430e-01 1.75215185e-03 -7.32859502e-02 -1.11078919e+01] [-2.48531575e-03 9.99947765e-01 -9.91415816e-03 -9.44148929e-01] [ 7.32647510e-02 1.00696222e-02 9.97261690e-01 -1.00695133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14463044 meters Centerline goodness : 0.389192 with order 1 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.94, Z:-1.01 [[ 9.97307676e-01 1.70769237e-03 -7.33108715e-02 -1.11073990e+01] [-2.44343501e-03 9.99947538e-01 -9.94741560e-03 -9.44456102e-01] [ 7.32900383e-02 1.00997643e-02 9.97259527e-01 -1.00746273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20463044 meters Centerline goodness : 0.517853 with order 3 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.95, Z:-1.01 [[ 9.97287994e-01 1.43605527e-03 -7.35839267e-02 -1.11062597e+01] [-2.18795852e-03 9.99946208e-01 -1.01387187e-02 -9.45184533e-01] [ 7.35654088e-02 1.02722210e-02 9.97237490e-01 -1.00796511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26463044 meters Centerline goodness : 0.449451 with order 2 Centerline is valid? [False, False] Translation: X:-11.11, Y:-0.95, Z:-1.01 [[ 9.97277051e-01 1.50217649e-03 -7.37307716e-02 -1.11057560e+01] [-2.24654136e-03 9.99947337e-01 -1.00138212e-02 -9.45492904e-01] [ 7.37118462e-02 1.01521933e-02 9.97227906e-01 -1.00808430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32463044 meters Centerline goodness : 0.439002 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.95, Z:-1.01 [[ 9.97212802e-01 1.30811529e-03 -7.45983689e-02 -1.11026410e+01] [-2.07129206e-03 9.99946301e-01 -1.01540278e-02 -9.46142952e-01] [ 7.45810804e-02 1.02802416e-02 9.97161962e-01 -1.00929601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38463044 meters SLAMing on 151.44463044 meters Centerline goodness : 0.479257 with order 3 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.96, Z:-1.01 [[ 9.97108516e-01 1.54120856e-03 -7.59752063e-02 -1.11508457e+01] [-2.28051518e-03 9.99950884e-01 -9.64509715e-03 -9.55623430e-01] [ 7.59566096e-02 9.79047112e-03 9.97063057e-01 -1.01017027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50463044 meters Centerline goodness : 0.469906 with order 3 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.96, Z:-1.01 [[ 9.97128255e-01 1.57478482e-03 -7.57150116e-02 -1.11511987e+01] [-2.30247077e-03 9.99951990e-01 -9.52452406e-03 -9.56994749e-01] [ 7.56963774e-02 9.67150366e-03 9.97084009e-01 -1.01047275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56463044 meters Centerline goodness : 0.267866 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.95, Z:-1.01 [[ 9.97204595e-01 5.66104902e-03 -7.45046903e-02 -1.11535981e+01] [-6.14567714e-03 9.99961414e-01 -6.27701286e-03 -9.53862350e-01] [ 7.44662810e-02 6.71734784e-03 9.97200908e-01 -1.01096674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62463044 meters Centerline goodness : 0.106054 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.95, Z:-1.01 [[ 9.97192790e-01 9.56930040e-03 -7.42628363e-02 -1.11545164e+01] [-9.86652771e-03 9.99944712e-01 -3.63652900e-03 -9.46930576e-01] [ 7.42239314e-02 4.35903683e-03 9.97232073e-01 -1.01068666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68463044 meters Centerline goodness : 0.264063 with order 2 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.93, Z:-1.01 [[ 9.97091281e-01 1.59792803e-02 -7.45227476e-02 -1.11528911e+01] [-1.59879326e-02 9.99872069e-01 4.80495612e-04 -9.32099618e-01] [ 7.45208918e-02 7.12366680e-04 9.97219198e-01 -1.01200601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74463043999998 meters Centerline goodness : 0.290886 with order 2 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.92, Z:-1.01 [[ 9.97126401e-01 1.55359479e-02 -7.41456372e-02 -1.11540037e+01] [-1.56276892e-02 9.99877664e-01 -6.57276173e-04 -9.24117986e-01] [ 7.41263551e-02 1.81411240e-03 9.97247207e-01 -1.01193688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80463043999998 meters Centerline goodness : 0.121289 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:-0.91, Z:-1.01 [[ 9.97208528e-01 6.64164677e-03 -7.43709665e-02 -1.11736166e+01] [-6.72164856e-03 9.99977069e-01 -8.25467244e-04 -9.14100737e-01] [ 7.43637786e-02 1.32305847e-03 9.97230303e-01 -1.01457002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86463043999998 meters Centerline goodness : 0.262157 with order 2 Centerline is valid? [False, False] Translation: X:-11.15, Y:-0.91, Z:-1.01 [[ 9.97171282e-01 -2.63694882e-03 -7.51164537e-02 -1.11529901e+01] [ 2.56022875e-03 9.99996098e-01 -1.11762394e-03 -9.06148637e-01] [ 7.51191077e-02 9.22147193e-04 9.97174142e-01 -1.01203180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92463044 meters Centerline goodness : 0.095335 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:-0.91, Z:-1.02 [[ 9.96891162e-01 -3.83796479e-03 -7.86974005e-02 -1.11943629e+01] [ 3.68962745e-03 9.99991132e-01 -2.03022930e-03 -9.06215249e-01] [ 7.87044945e-02 1.73355355e-03 9.96896483e-01 -1.01503393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98463044 meters Centerline goodness : 0.285829 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:-0.90, Z:-1.02 [[ 9.96893728e-01 -4.10177857e-03 -7.86515704e-02 -1.11944856e+01] [ 3.90684752e-03 9.99988904e-01 -2.63213129e-03 -9.03102969e-01] [ 7.86614941e-02 2.31667548e-03 9.96898692e-01 -1.01504541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04463044 meters Centerline goodness : 0.283754 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:-0.90, Z:-1.02 [[ 9.96875417e-01 -4.56928932e-03 -7.88576177e-02 -1.11937591e+01] [ 4.30606611e-03 9.99984577e-01 -3.50768135e-03 -8.99703199e-01] [ 7.88724291e-02 3.15715519e-03 9.96879718e-01 -1.01547216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10463044 meters Centerline goodness : 0.215595 with order 3 Centerline is valid? [False, False] Translation: X:-11.21, Y:-0.90, Z:-1.02 [[ 9.96803573e-01 2.45488592e-03 -7.98536868e-02 -1.12112489e+01] [-2.90450180e-03 9.99980575e-01 -5.51483027e-03 -9.02261828e-01] [ 7.98385974e-02 5.72913769e-03 9.96791340e-01 -1.01812607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16463044 meters SLAMing on 152.22463044 meters Centerline goodness : 0.091829 with order 1 Centerline is valid? [False, False] Translation: X:-11.24, Y:-0.90, Z:-1.02 [[ 9.96916640e-01 -6.45360086e-03 -7.82020722e-02 -1.12361190e+01] [ 6.05881903e-03 9.99967682e-01 -5.28444803e-03 -9.02238860e-01] [ 7.82336486e-02 4.79434197e-03 9.96923523e-01 -1.01979948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28463044 meters SLAMing on 152.34463044 meters SLAMing on 152.40463044 meters SLAMing on 152.46463044 meters Centerline goodness : 0.228438 with order 3 Centerline is valid? [False, False] Translation: X:-11.44, Y:-0.94, Z:-1.04 [[ 9.97224760e-01 1.17355543e-02 -7.35190816e-02 -1.14358015e+01] [-1.24172170e-02 9.99883988e-01 -8.82170151e-03 -9.36584604e-01] [ 7.34070250e-02 9.71012156e-03 9.97254793e-01 -1.03808516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52463043999998 meters Centerline goodness : 0.097947 with order 1 Centerline is valid? [False, False] Translation: X:-11.43, Y:-0.94, Z:-1.04 [[ 9.97162503e-01 1.15445340e-02 -7.43886185e-02 -1.14330174e+01] [-1.22256178e-02 9.99887356e-01 -8.70689764e-03 -9.38404385e-01] [ 7.42797220e-02 9.59163866e-03 9.97191317e-01 -1.03893397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58463043999998 meters Centerline goodness : 0.254229 with order 3 Centerline is valid? [False, False] Translation: X:-11.41, Y:-0.94, Z:-1.04 [[ 9.97116144e-01 2.50789008e-03 -7.58492258e-02 -1.14094790e+01] [-3.14723057e-03 9.99960512e-01 -8.31074214e-03 -9.38651086e-01] [ 7.58253882e-02 8.52549016e-03 9.97084664e-01 -1.03781379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64463044 meters Centerline goodness : 0.094861 with order 1 Centerline is valid? [False, False] Translation: X:-11.43, Y:-0.94, Z:-1.04 [[ 9.96987520e-01 -5.71604313e-03 -7.73512185e-02 -1.14301529e+01] [ 5.15900410e-03 9.99959316e-01 -7.39933880e-03 -9.39578269e-01] [ 7.73903665e-02 6.97799319e-03 9.96976448e-01 -1.03926087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70463044 meters Centerline goodness : 0.376551 with order 1 Centerline is valid? [False, False] Translation: X:-11.43, Y:-0.94, Z:-1.04 [[ 9.97013834e-01 -5.67675582e-03 -7.70142109e-02 -1.14308692e+01] [ 5.14730054e-03 9.99961749e-01 -7.07153684e-03 -9.42063300e-01] [ 7.70514084e-02 6.65400477e-03 9.97004917e-01 -1.03917845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76463044 meters Centerline goodness : 0.103458 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.97009666e-01 2.49688799e-03 -7.72365967e-02 -1.14487721e+01] [-3.12321768e-03 9.99963206e-01 -7.98950400e-03 -9.47916391e-01] [ 7.72138060e-02 8.20683942e-03 9.96980780e-01 -1.04220612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82463044 meters Centerline goodness : 0.099718 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96956315e-01 2.58592787e-03 -7.79193076e-02 -1.14468861e+01] [-3.21995327e-03 9.99962716e-01 -8.01240808e-03 -9.47477128e-01] [ 7.78956830e-02 8.23891736e-03 9.96927471e-01 -1.04243218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88463044 meters Centerline goodness : 0.456399 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96951862e-01 2.42918873e-03 -7.79813065e-02 -1.14475804e+01] [-3.08097813e-03 9.99961312e-01 -8.23905327e-03 -9.47649925e-01] [ 7.79582754e-02 8.45419820e-03 9.96920776e-01 -1.04140647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94463044 meters Centerline goodness : 0.446883 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96920930e-01 2.52852926e-03 -7.83726148e-02 -1.14465266e+01] [-3.17536628e-03 9.99961911e-01 -8.12983158e-03 -9.47706769e-01] [ 7.83490732e-02 8.35366101e-03 9.96890987e-01 -1.04146080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00463044 meters Centerline goodness : 0.458996 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96932001e-01 2.47951317e-03 -7.82332293e-02 -1.14472347e+01] [-3.12234220e-03 9.99962356e-01 -8.09557561e-03 -9.48145093e-01] [ 7.82102111e-02 8.31500930e-03 9.96902214e-01 -1.04086208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06463044 meters Centerline goodness : 0.228175 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.97006307e-01 1.36517858e-03 -7.73082098e-02 -1.14523783e+01] [-2.07546734e-03 9.99956366e-01 -9.10815313e-03 -9.46689199e-01] [ 7.72924022e-02 9.24133679e-03 9.96965637e-01 -1.03747965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12463044 meters Centerline goodness : 0.235220 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.97000612e-01 1.25413980e-03 -7.73834988e-02 -1.14526729e+01] [-1.98270597e-03 9.99954426e-01 -9.33889561e-03 -9.45352934e-01] [ 7.73682598e-02 9.46431337e-03 9.96957662e-01 -1.03678495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18463044 meters Centerline goodness : 0.099032 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.94, Z:-1.04 [[ 9.96968103e-01 9.07488693e-04 -7.78060338e-02 -1.14518171e+01] [-1.66671548e-03 9.99951627e-01 -9.69355896e-03 -9.44140856e-01] [ 7.77934733e-02 9.79384961e-03 9.96921389e-01 -1.03648118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24463043999998 meters Centerline goodness : 0.099057 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.94, Z:-1.04 [[ 9.96953150e-01 6.25979434e-04 -7.80001631e-02 -1.14511672e+01] [-1.38949149e-03 9.99951651e-01 -9.73470713e-03 -9.44885033e-01] [ 7.79902982e-02 9.81342749e-03 9.96905818e-01 -1.03651359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30463043999998 meters Centerline goodness : 0.260228 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96859220e-01 -3.01973036e-03 -7.91364460e-02 -1.14476862e+01] [ 2.00761623e-03 9.99915215e-01 -1.28659250e-02 -9.46387339e-01] [ 7.91685881e-02 1.26666403e-02 9.96780764e-01 -1.03712996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36463043999998 meters Centerline goodness : 0.104733 with order 1 Centerline is valid? [False, False] Translation: X:-11.45, Y:-0.95, Z:-1.04 [[ 9.96833613e-01 -2.93637634e-03 -7.94614710e-02 -1.14469072e+01] [ 1.93398982e-03 9.99917624e-01 -1.26887707e-02 -9.47048424e-01] [ 7.94921843e-02 1.24949155e-02 9.96757177e-01 -1.03703657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42463044 meters Centerline goodness : 0.262365 with order 3 Centerline is valid? [False, False] Translation: X:-11.47, Y:-0.95, Z:-1.04 [[ 9.96850732e-01 4.82156242e-03 -7.91540899e-02 -1.14656638e+01] [-5.90753919e-03 9.99891536e-01 -1.34913473e-02 -9.54609036e-01] [ 7.90804552e-02 1.39164653e-02 9.96771094e-01 -1.03936534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48463044 meters Centerline goodness : 0.099696 with order 1 Centerline is valid? [False, False] Translation: X:-11.47, Y:-0.96, Z:-1.04 [[ 9.96889839e-01 4.81641675e-03 -7.86603542e-02 -1.14674705e+01] [-5.87127687e-03 9.99895842e-01 -1.31845475e-02 -9.57758952e-01] [ 7.85886588e-02 1.36053781e-02 9.96814284e-01 -1.03839135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54463044 meters Centerline goodness : 0.243703 with order 3 Centerline is valid? [False, False] Translation: X:-11.48, Y:-0.96, Z:-1.04 [[ 9.96821694e-01 -2.51765023e-03 -7.96251934e-02 -1.14846743e+01] [ 1.57768788e-03 9.99928357e-01 -1.18655455e-02 -9.56256937e-01] [ 7.96493621e-02 1.17022095e-02 9.96754251e-01 -1.04099196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60463044 meters Centerline goodness : 0.242346 with order 2 Centerline is valid? [False, False] Translation: X:-11.48, Y:-0.96, Z:-1.04 [[ 9.96686993e-01 -2.05130557e-03 -8.13070067e-02 -1.14803265e+01] [ 1.08510575e-03 9.99928297e-01 -1.19257582e-02 -9.55509494e-01] [ 8.13256401e-02 1.17980214e-02 9.96617754e-01 -1.04145115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66463044 meters Centerline goodness : 0.170057 with order 3 Centerline is valid? [False, False] Translation: X:-11.50, Y:-0.96, Z:-1.04 [[ 9.96705849e-01 6.82584170e-03 -8.08137329e-02 -1.15020186e+01] [-7.85068116e-03 9.99892662e-01 -1.23705559e-02 -9.59440887e-01] [ 8.07206191e-02 1.29642483e-02 9.96652452e-01 -1.04263503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72463044 meters Centerline goodness : 0.190849 with order 1 Centerline is valid? [False, False] Translation: X:-11.50, Y:-0.96, Z:-1.04 [[ 9.96733036e-01 7.11002115e-03 -8.04531109e-02 -1.15040321e+01] [-8.13986966e-03 9.99888991e-01 -1.24798794e-02 -9.57495959e-01] [ 8.03554477e-02 1.30939859e-02 9.96680264e-01 -1.04108243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78463044 meters Centerline goodness : 0.448125 with order 1 Centerline is valid? [False, False] Translation: X:-11.52, Y:-0.95, Z:-1.04 [[ 9.96770394e-01 -6.68066508e-04 -8.03015247e-02 -1.15229797e+01] [-2.70075861e-04 9.99931851e-01 -1.16713177e-02 -9.54703192e-01] [ 8.03038494e-02 1.16553114e-02 9.96702285e-01 -1.04408548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84463044 meters Centerline goodness : 0.168127 with order 3 Centerline is valid? [False, False] Translation: X:-11.53, Y:-0.96, Z:-1.04 [[ 9.96857955e-01 -3.04035277e-03 -7.91515846e-02 -1.15285863e+01] [ 1.99133312e-03 9.99909184e-01 -1.33288601e-02 -9.58376444e-01] [ 7.91849208e-02 1.31293630e-02 9.96773479e-01 -1.04085883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90463044 meters Centerline goodness : 0.092010 with order 1 Centerline is valid? [False, False] Translation: X:-11.53, Y:-0.96, Z:-1.04 [[ 9.96885133e-01 -3.33523689e-03 -7.87966252e-02 -1.15302052e+01] [ 2.31952030e-03 9.99913087e-01 -1.29783695e-02 -9.62063440e-01] [ 7.88330627e-02 1.27551732e-02 9.96806227e-01 -1.03961631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96463044 meters Centerline goodness : 0.171329 with order 3 Centerline is valid? [False, False] Translation: X:-11.57, Y:-0.97, Z:-1.04 [[ 9.96540075e-01 -4.24187624e-03 -8.30053355e-02 -1.15686282e+01] [ 3.11222735e-03 9.99900841e-01 -1.37340128e-02 -9.69359953e-01] [ 8.30553627e-02 1.34281627e-02 9.96454460e-01 -1.04357225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02463043999998 meters Centerline goodness : 0.212651 with order 3 Centerline is valid? [False, False] Translation: X:-11.56, Y:-0.98, Z:-1.04 [[ 9.96432881e-01 -4.94957327e-03 -8.42437801e-02 -1.15649257e+01] [ 3.80361329e-03 9.99898120e-01 -1.37579732e-02 -9.76650793e-01] [ 8.43032935e-02 1.33884661e-02 9.96350191e-01 -1.04433250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08463043999998 meters Centerline goodness : 0.281213 with order 1 Centerline is valid? [False, False] Translation: X:-11.59, Y:-0.99, Z:-1.05 [[ 9.96600999e-01 1.48832724e-03 -8.23664631e-02 -1.15858615e+01] [-2.74973447e-03 9.99880643e-01 -1.52032571e-02 -9.85090193e-01] [ 8.23340047e-02 1.53780671e-02 9.96486140e-01 -1.04627382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14463044 meters Centerline goodness : 0.474157 with order 3 Centerline is valid? [False, False] Translation: X:-11.58, Y:-0.99, Z:-1.05 [[ 9.96568032e-01 1.70848193e-03 -8.27601298e-02 -1.15848174e+01] [-2.93702791e-03 9.99887265e-01 -1.47251920e-02 -9.88270970e-01] [ 8.27256421e-02 1.49177244e-02 9.96460702e-01 -1.04631455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20463044 meters Centerline goodness : 0.274107 with order 1 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.00, Z:-1.05 [[ 9.96559954e-01 1.24259590e-03 -8.28656352e-02 -1.15844150e+01] [-2.43686529e-03 9.99894601e-01 -1.43125366e-02 -9.97837306e-01] [ 8.28391165e-02 1.44652332e-02 9.96457946e-01 -1.04638718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26463044 meters Centerline goodness : 0.447282 with order 2 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.01, Z:-1.05 [[ 9.96549274e-01 -1.97509790e-03 -8.29797764e-02 -1.15847234e+01] [ 5.99035539e-04 9.99861953e-01 -1.66047304e-02 -1.00595498e+00] [ 8.30011172e-02 1.64977242e-02 9.96412886e-01 -1.04561754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32463044 meters Centerline goodness : 0.096775 with order 1 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.01, Z:-1.05 [[ 9.96557821e-01 -1.56922916e-03 -8.28857458e-02 -1.15848357e+01] [ 2.59959562e-04 9.99875067e-01 -1.58045073e-02 -1.01128387e+00] [ 8.29001916e-02 1.57285585e-02 9.96433726e-01 -1.04566147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38463044 meters Centerline goodness : 0.220711 with order 2 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.01, Z:-1.05 [[ 9.96538087e-01 -1.44550182e-03 -8.31249187e-02 -1.15847088e+01] [ 1.58439601e-04 9.99880041e-01 -1.54879830e-02 -1.01421399e+00] [ 8.31373351e-02 1.54211947e-02 9.96418773e-01 -1.04509899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44463044 meters Centerline goodness : 0.101087 with order 1 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.02, Z:-1.05 [[ 9.96450658e-01 3.54494645e-04 -8.41781469e-02 -1.15817229e+01] [-1.52628582e-03 9.99902830e-01 -1.38564266e-02 -1.01721251e+00] [ 8.41650553e-02 1.39357253e-02 9.96354374e-01 -1.04570974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50463044 meters Centerline goodness : 0.457634 with order 2 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.02, Z:-1.05 [[ 9.96434317e-01 5.22400503e-04 -8.43704857e-02 -1.15816207e+01] [-1.68568895e-03 9.99904494e-01 -1.37172104e-02 -1.01827380e+00] [ 8.43552619e-02 1.38105216e-02 9.96340032e-01 -1.04522858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56463044 meters Centerline goodness : 0.456847 with order 2 Centerline is valid? [False, False] Translation: X:-11.58, Y:-1.02, Z:-1.04 [[ 9.96400173e-01 7.94040979e-04 -8.47706609e-02 -1.15812116e+01] [-1.90687079e-03 9.99913061e-01 -1.30473731e-02 -1.02204074e+00] [ 8.47529309e-02 1.31620515e-02 9.96315061e-01 -1.04447462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62463044 meters Centerline goodness : 0.460733 with order 1 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.02, Z:-1.04 [[ 9.96513532e-01 -8.37014301e-04 -8.34270958e-02 -1.15869340e+01] [-3.66593857e-04 9.99896093e-01 -1.44107026e-02 -1.02275253e+00] [ 8.34304892e-02 1.43910440e-02 9.96409680e-01 -1.04186275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68463044 meters Centerline goodness : 0.461970 with order 2 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.02, Z:-1.04 [[ 9.96535354e-01 -6.43547534e-04 -8.31677427e-02 -1.15883189e+01] [-5.37562419e-04 9.99899337e-01 -1.41783662e-02 -1.02323290e+00] [ 8.31684952e-02 1.41739510e-02 9.96434695e-01 -1.04086015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74463043999998 meters Centerline goodness : 0.091464 with order 1 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.02, Z:-1.04 [[ 9.96510287e-01 -3.75148426e-04 -8.34692036e-02 -1.15875650e+01] [-8.00123781e-04 9.99901024e-01 -1.40464126e-02 -1.02273639e+00] [ 8.34662116e-02 1.40641804e-02 9.96411356e-01 -1.04091965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80463043999998 meters Centerline goodness : 0.091095 with order 1 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.02, Z:-1.04 [[ 9.96485707e-01 -3.04608394e-04 -8.37624239e-02 -1.15868958e+01] [-8.81240660e-04 9.99899920e-01 -1.41199547e-02 -1.02189780e+00] [ 8.37583421e-02 1.41441479e-02 9.96385710e-01 -1.04088854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86463043999998 meters Centerline goodness : 0.186410 with order 3 Centerline is valid? [False, False] Translation: X:-11.59, Y:-1.02, Z:-1.04 [[ 9.96506041e-01 -3.11969699e-04 -8.35201406e-02 -1.15877301e+01] [-8.80367449e-04 9.99898235e-01 -1.42388342e-02 -1.02099712e+00] [ 8.35160833e-02 1.42626127e-02 9.96404357e-01 -1.04049468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92463044 meters Centerline goodness : 0.096470 with order 1 Centerline is valid? [False, False] Translation: X:-11.63, Y:-1.02, Z:-1.04 [[ 9.96371431e-01 -1.09125895e-03 -8.51045272e-02 -1.16326802e+01] [-1.71724800e-04 9.99889990e-01 -1.48316502e-02 -1.02489743e+00] [ 8.51113501e-02 1.47924471e-02 9.96261633e-01 -1.04348445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98463044 meters SLAMing on 155.04463044 meters Centerline goodness : 0.095660 with order 1 Centerline is valid? [False, False] Translation: X:-11.63, Y:-1.03, Z:-1.04 [[ 9.96328923e-01 -1.42022599e-03 -8.55959087e-02 -1.16319482e+01] [ 1.30113888e-04 9.99886345e-01 -1.50758181e-02 -1.02594497e+00] [ 8.56075913e-02 1.50093364e-02 9.96215870e-01 -1.04271985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10463044 meters Centerline goodness : 0.092882 with order 1 Centerline is valid? [False, False] Translation: X:-11.65, Y:-1.02, Z:-1.05 [[ 9.96367409e-01 -8.82378304e-03 -8.47002227e-02 -1.16519589e+01] [ 7.67598884e-03 9.99874380e-01 -1.38673718e-02 -1.02222738e+00] [ 8.48119453e-02 1.31668394e-02 9.96309976e-01 -1.04527187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16463044 meters SLAMing on 155.22463044 meters Centerline goodness : 0.460879 with order 3 Centerline is valid? [False, False] Translation: X:-11.70, Y:-1.02, Z:-1.05 [[ 9.96288454e-01 -6.37744939e-03 -8.58408100e-02 -1.16983713e+01] [ 5.27796029e-03 9.99901185e-01 -1.30293307e-02 -1.02145499e+00] [ 8.59154215e-02 1.25279073e-02 9.96223666e-01 -1.04719043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28463044 meters Centerline goodness : 0.093187 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:-1.02, Z:-1.05 [[ 9.96301588e-01 -6.33875780e-03 -8.56911117e-02 -1.16991952e+01] [ 5.23023893e-03 9.99899796e-01 -1.31545415e-02 -1.02023496e+00] [ 8.57659085e-02 1.26577056e-02 9.96234908e-01 -1.04663102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34463044 meters Centerline goodness : 0.209345 with order 3 Centerline is valid? [False, False] Translation: X:-11.70, Y:-1.02, Z:-1.05 [[ 9.96309873e-01 -6.73878818e-03 -8.55641569e-02 -1.16999553e+01] [ 5.55928405e-03 9.99886319e-01 -1.40158282e-02 -1.01672298e+00] [ 8.56488796e-02 1.34884326e-02 9.96234075e-01 -1.04619271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40463044 meters Centerline goodness : 0.457942 with order 2 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.02, Z:-1.05 [[ 9.96127251e-01 -4.95722810e-03 -8.77833979e-02 -1.17435624e+01] [ 3.86453910e-03 9.99912983e-01 -1.26131370e-02 -1.01747688e+00] [ 8.78382855e-02 1.22250471e-02 9.96059729e-01 -1.04978370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46463044 meters Centerline goodness : 0.461352 with order 3 Centerline is valid? [False, False] Translation: X:-11.75, Y:-1.01, Z:-1.05 [[ 9.96163762e-01 -5.11348613e-03 -8.73590904e-02 -1.17453921e+01] [ 3.98722602e-03 9.99906740e-01 -1.30619397e-02 -1.01462595e+00] [ 8.74177353e-02 1.26635106e-02 9.96091248e-01 -1.04874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52463043999998 meters Centerline goodness : 0.462668 with order 2 Centerline is valid? [False, False] Translation: X:-11.75, Y:-1.01, Z:-1.05 [[ 9.96171256e-01 -5.54587916e-03 -8.72471877e-02 -1.17462326e+01] [ 4.35796883e-03 9.99895278e-01 -1.38000448e-02 -1.01155407e+00] [ 8.73145844e-02 1.33669874e-02 9.96091104e-01 -1.04803655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58463043999998 meters Centerline goodness : 0.325874 with order 1 Centerline is valid? [False, False] Translation: X:-11.75, Y:-1.01, Z:-1.05 [[ 9.96132583e-01 -5.58192079e-03 -8.76853376e-02 -1.17452455e+01] [ 4.37162337e-03 9.99892597e-01 -1.39887104e-02 -1.00917088e+00] [ 8.77540038e-02 1.35512829e-02 9.96049998e-01 -1.04796118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64463044 meters Centerline goodness : 0.095731 with order 1 Centerline is valid? [False, False] Translation: X:-11.74, Y:-1.01, Z:-1.05 [[ 9.96108594e-01 -5.95082010e-03 -8.79332563e-02 -1.17446762e+01] [ 4.72279421e-03 9.99888491e-01 -1.41668884e-02 -1.00976067e+00] [ 8.80077555e-02 1.36964687e-02 9.96025623e-01 -1.04778760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70463044 meters SLAMing on 155.76463044 meters Centerline goodness : 0.090785 with order 1 Centerline is valid? [False, False] Translation: X:-11.76, Y:-1.02, Z:-1.05 [[ 9.96040826e-01 1.02511574e-03 -8.88910730e-02 -1.17622943e+01] [-2.41130408e-03 9.99877142e-01 -1.54882539e-02 -1.01602290e+00] [ 8.88642748e-02 1.56412766e-02 9.95920926e-01 -1.04981752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82463044 meters Centerline goodness : 0.087799 with order 1 Centerline is valid? [False, False] Translation: X:-11.79, Y:-1.02, Z:-1.05 [[ 9.96111759e-01 7.64197325e-03 -8.77665275e-02 -1.17856422e+01] [-9.22529907e-03 9.99801688e-01 -1.76487685e-02 -1.01890107e+00] [ 8.76142509e-02 1.83898183e-02 9.95984718e-01 -1.05142607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88463044 meters Centerline goodness : 0.456132 with order 3 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.02, Z:-1.05 [[ 9.96128209e-01 -6.62435426e-04 -8.79099066e-02 -1.18072551e+01] [-8.46162364e-04 9.99853044e-01 -1.71223510e-02 -1.01826349e+00] [ 8.79083301e-02 1.71304429e-02 9.95981262e-01 -1.05327448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94463044 meters Centerline goodness : 0.091584 with order 1 Centerline is valid? [False, False] Translation: X:-11.79, Y:-1.02, Z:-1.05 [[ 9.96175519e-01 -9.18062715e-03 -8.68910264e-02 -1.17877528e+01] [ 7.80487114e-03 9.99838962e-01 -1.61596337e-02 -1.01970807e+00] [ 8.70253892e-02 1.54196582e-02 9.96086751e-01 -1.05038040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00463044 meters Centerline goodness : 0.092219 with order 1 Centerline is valid? [False, False] Translation: X:-11.79, Y:-1.02, Z:-1.05 [[ 9.96201195e-01 -9.16838158e-03 -8.65974636e-02 -1.17886071e+01] [ 7.84484559e-03 9.99847354e-01 -1.56117450e-02 -1.02451123e+00] [ 8.67273793e-02 1.48730953e-02 9.96121053e-01 -1.05005984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06463044 meters Centerline goodness : 0.265214 with order 1 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.04, Z:-1.05 [[ 9.96442475e-01 -4.97425627e-03 -8.41287720e-02 -1.18079348e+01] [ 3.51330522e-03 9.99840607e-01 -1.75047944e-02 -1.04012954e+00] [ 8.42024358e-02 1.71469506e-02 9.96301125e-01 -1.05305472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12463044 meters Centerline goodness : 0.276609 with order 1 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.04, Z:-1.05 [[ 9.96450426e-01 -4.42402055e-03 -8.40653148e-02 -1.18082011e+01] [ 3.04655164e-03 9.99859110e-01 -1.65069218e-02 -1.04464155e+00] [ 8.41264978e-02 1.61922199e-02 9.96323514e-01 -1.05286789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18463044 meters Centerline goodness : 0.462644 with order 2 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.05, Z:-1.05 [[ 9.96460538e-01 -3.66681477e-03 -8.39818517e-02 -1.18084536e+01] [ 2.34973258e-03 9.99872784e-01 -1.57764146e-02 -1.04866645e+00] [ 8.40290170e-02 1.55232396e-02 9.96342388e-01 -1.05278125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24463043999998 meters Centerline goodness : 0.462588 with order 2 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.05, Z:-1.05 [[ 9.96440214e-01 -2.98438924e-03 -8.42495924e-02 -1.18074129e+01] [ 1.71880838e-03 9.99884657e-01 -1.50903428e-02 -1.05072511e+00] [ 8.42849102e-02 1.48918155e-02 9.96330411e-01 -1.05341893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30463043999998 meters Centerline goodness : 0.101346 with order 1 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.05, Z:-1.05 [[ 9.96439573e-01 -2.90436585e-03 -8.42599667e-02 -1.18068136e+01] [ 1.65232360e-03 9.99887248e-01 -1.49252107e-02 -1.05288788e+00] [ 8.42938144e-02 1.47328459e-02 9.96332021e-01 -1.05414922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36463043999998 meters Centerline goodness : 0.241278 with order 1 Centerline is valid? [False, False] Translation: X:-11.81, Y:-1.05, Z:-1.05 [[ 9.96442264e-01 -2.85126291e-03 -8.42299507e-02 -1.18067476e+01] [ 1.61777617e-03 9.99890509e-01 -1.47089030e-02 -1.05450003e+00] [ 8.42626673e-02 1.45203074e-02 9.96337776e-01 -1.05432603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42463044 meters Centerline goodness : 0.093185 with order 1 Centerline is valid? [False, False] Translation: X:-11.80, Y:-1.06, Z:-1.06 [[ 9.96343328e-01 -2.50496097e-03 -8.54031452e-02 -1.18025807e+01] [ 1.29314497e-03 9.99897745e-01 -1.42417291e-02 -1.05570830e+00] [ 8.54300873e-02 1.40792131e-02 9.96244687e-01 -1.05600777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48463044 meters Centerline goodness : 0.279618 with order 1 Centerline is valid? [False, False] Translation: X:-11.82, Y:-1.06, Z:-1.06 [[ 9.95993055e-01 3.31539417e-03 -8.93691347e-02 -1.18201411e+01] [-4.87590611e-03 9.99839340e-01 -1.72487639e-02 -1.05661016e+00] [ 8.92975902e-02 1.76154045e-02 9.95849204e-01 -1.05796347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54463044 meters Centerline goodness : 0.092857 with order 1 Centerline is valid? [False, False] Translation: X:-11.82, Y:-1.05, Z:-1.06 [[ 9.96039949e-01 5.74956352e-03 -8.87206998e-02 -1.18242562e+01] [-7.15302129e-03 9.99854142e-01 -1.55090082e-02 -1.05140741e+00] [ 8.86185891e-02 1.60822128e-02 9.95935795e-01 -1.05537479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60463044 meters Centerline goodness : 0.449579 with order 1 Centerline is valid? [False, False] Translation: X:-11.83, Y:-1.05, Z:-1.05 [[ 9.96100750e-01 5.44056122e-03 -8.80550793e-02 -1.18267582e+01] [-6.86950378e-03 9.99849464e-01 -1.59329326e-02 -1.04973979e+00] [ 8.79551398e-02 1.64757008e-02 9.95988175e-01 -1.05417089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66463044 meters SLAMing on 156.72463044 meters Centerline goodness : 0.462246 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:-1.05, Z:-1.05 [[ 9.96449206e-01 -6.02342355e-03 -8.39803428e-02 -1.18585595e+01] [ 4.58110184e-03 9.99838867e-01 -1.73566533e-02 -1.05322623e+00] [ 8.40713573e-02 1.69103009e-02 9.96316239e-01 -1.05254540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78463044 meters Centerline goodness : 0.488861 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:-1.06, Z:-1.05 [[ 9.96459082e-01 -6.04147163e-03 -8.38617825e-02 -1.18587693e+01] [ 4.65020730e-03 9.99848469e-01 -1.67753991e-02 -1.05705806e+00] [ 8.39504230e-02 1.63260241e-02 9.96336182e-01 -1.05244433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84463044 meters Centerline goodness : 0.389817 with order 2 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.07, Z:-1.06 [[ 9.96586002e-01 -8.80396095e-04 -8.25564370e-02 -1.18795769e+01] [-7.07509983e-04 9.99815356e-01 -1.92029615e-02 -1.06659361e+00] [ 8.25580996e-02 1.91958121e-02 9.96401365e-01 -1.05529637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90463044 meters Centerline goodness : 0.239216 with order 2 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.07, Z:-1.05 [[ 9.96571885e-01 -5.41610636e-04 -8.27295901e-02 -1.18799642e+01] [-9.88165949e-04 9.99829310e-01 -1.84492222e-02 -1.07196141e+00] [ 8.27254613e-02 1.84677267e-02 9.96401245e-01 -1.05437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96463044 meters Centerline goodness : 0.300759 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.07, Z:-1.06 [[ 9.96504022e-01 6.05411625e-05 -8.35447869e-02 -1.18772138e+01] [-1.55317655e-03 9.99840336e-01 -1.78014121e-02 -1.07396743e+00] [ 8.35303700e-02 1.78689386e-02 9.96345010e-01 -1.05547807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02463043999998 meters Centerline goodness : 0.096530 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.08, Z:-1.06 [[ 9.96535429e-01 8.36551695e-05 -8.31692915e-02 -1.18783564e+01] [-1.54814629e-03 9.99844890e-01 -1.75442210e-02 -1.07793844e+00] [ 8.31549234e-02 1.76121960e-02 9.96380986e-01 -1.05525376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08463043999998 meters Centerline goodness : 0.516722 with order 3 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.08, Z:-1.06 [[ 9.96517583e-01 -5.44997435e-03 -8.32045987e-02 -1.19015530e+01] [ 4.29540718e-03 9.99892082e-01 -1.40489521e-02 -1.08140296e+00] [ 8.32721859e-02 1.36426301e-02 9.96433451e-01 -1.05669721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14463044 meters Centerline goodness : 0.095458 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-1.09, Z:-1.05 [[ 9.96251684e-01 1.22256198e-03 -8.64932835e-02 -1.18805782e+01] [-2.51675742e-03 9.99886484e-01 -1.48554960e-02 -1.08746171e+00] [ 8.64653033e-02 1.50174955e-02 9.96141670e-01 -1.05372464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20463044 meters Centerline goodness : 0.162147 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.09, Z:-1.06 [[ 9.95964320e-01 1.06185471e-04 -8.97499948e-02 -1.19225137e+01] [-1.51343133e-03 9.99876984e-01 -1.56117134e-02 -1.09269991e+00] [ 8.97372964e-02 1.56845400e-02 9.95841962e-01 -1.05760490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26463044 meters Centerline goodness : 0.102075 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.09, Z:-1.06 [[ 9.95968995e-01 4.24326702e-04 -8.96971640e-02 -1.19231142e+01] [-1.79292173e-03 9.99883201e-01 -1.51779304e-02 -1.09381929e+00] [ 8.96802471e-02 1.52775681e-02 9.95853428e-01 -1.05700527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32463044 meters Centerline goodness : 0.101920 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95961077e-01 9.34334281e-05 -8.97859886e-02 -1.19237799e+01] [-1.47572644e-03 9.99881413e-01 -1.53291596e-02 -1.09572510e+00] [ 8.97739088e-02 1.53997458e-02 9.95843107e-01 -1.05591564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38463044 meters Centerline goodness : 0.233502 with order 3 Centerline is valid? [False, False] Translation: X:-11.94, Y:-1.09, Z:-1.06 [[ 9.95675260e-01 -7.26285792e-03 -9.26176439e-02 -1.19407370e+01] [ 6.01651427e-03 9.99887652e-01 -1.37289990e-02 -1.09398859e+00] [ 9.27069502e-02 1.31123893e-02 9.95607095e-01 -1.05958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44463044 meters Centerline goodness : 0.097669 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95916788e-01 2.67705188e-04 -9.02755783e-02 -1.19235197e+01] [-1.65234809e-03 9.99882140e-01 -1.52635695e-02 -1.09542368e+00] [ 9.02608522e-02 1.53504118e-02 9.95799851e-01 -1.05602473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50463044 meters Centerline goodness : 0.167778 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.09, Z:-1.05 [[ 9.95928291e-01 2.46848345e-04 -9.01486499e-02 -1.19249642e+01] [-1.63646626e-03 9.99880978e-01 -1.53411514e-02 -1.09456611e+00] [ 9.01341333e-02 1.54262119e-02 9.95810158e-01 -1.05465477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56463044 meters Centerline goodness : 0.096768 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.09, Z:-1.05 [[ 9.96004816e-01 1.68112960e-04 -8.92993718e-02 -1.19272945e+01] [-1.54876779e-03 9.99880338e-01 -1.53919037e-02 -1.09407523e+00] [ 8.92860985e-02 1.54687142e-02 9.95885893e-01 -1.05421281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62463044 meters Centerline goodness : 0.515937 with order 2 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.09, Z:-1.05 [[ 9.96031210e-01 -1.87486168e-04 -8.90044540e-02 -1.19288173e+01] [-1.20127145e-03 9.99878379e-01 -1.55494153e-02 -1.09477394e+00] [ 8.89965445e-02 1.55946215e-02 9.95909847e-01 -1.05315170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68463044 meters Centerline goodness : 0.536708 with order 2 Centerline is valid? [False, False] Translation: X:-11.91, Y:-1.09, Z:-1.05 [[ 9.96106282e-01 -6.87034701e-03 -8.78923973e-02 -1.19112384e+01] [ 5.75121078e-03 9.99899217e-01 -1.29799328e-02 -1.09257576e+00] [ 8.79727160e-02 1.24239049e-02 9.96045405e-01 -1.04942169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74463043999998 meters Centerline goodness : 0.102247 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.10, Z:-1.05 [[ 9.96061418e-01 -2.53802353e-03 -8.86296247e-02 -1.19306829e+01] [ 1.03847137e-03 9.99855607e-01 -1.69613241e-02 -1.10013342e+00] [ 8.86598754e-02 1.68024812e-02 9.95920229e-01 -1.05192770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80463043999998 meters Centerline goodness : 0.466466 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.10, Z:-1.05 [[ 9.95976888e-01 -1.94124020e-03 -8.95894485e-02 -1.19275066e+01] [ 4.79798709e-04 9.99866520e-01 -1.63313055e-02 -1.10101380e+00] [ 8.96091932e-02 1.62226179e-02 9.95844877e-01 -1.05309131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86463043999998 meters Centerline goodness : 0.155414 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.05 [[ 9.95899972e-01 -2.38980091e-03 -9.04297271e-02 -1.19243623e+01] [ 8.91755151e-04 9.99861769e-01 -1.66026337e-02 -1.10295150e+00] [ 9.04569039e-02 1.64539213e-02 9.95764439e-01 -1.05438086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92463044 meters Centerline goodness : 0.257492 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.05 [[ 9.95860173e-01 -2.22465127e-03 -9.08711506e-02 -1.19228405e+01] [ 7.35612953e-04 9.99864970e-01 -1.64164668e-02 -1.10346461e+00] [ 9.08954012e-02 1.62816595e-02 9.95727339e-01 -1.05497204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98463044 meters Centerline goodness : 0.255907 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95806776e-01 -2.27309687e-03 -9.14532528e-02 -1.19206490e+01] [ 7.75850271e-04 9.99865145e-01 -1.64039368e-02 -1.10451519e+00] [ 9.14782076e-02 1.62641974e-02 9.95674251e-01 -1.05592708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04463044 meters Centerline goodness : 0.106999 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95839376e-01 -2.05954076e-03 -9.11026595e-02 -1.19217372e+01] [ 5.83005447e-04 9.99868098e-01 -1.62310226e-02 -1.10460774e+00] [ 9.11240713e-02 1.61103781e-02 9.95709224e-01 -1.05568911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10463044 meters Centerline goodness : 0.223575 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95864257e-01 -1.90406511e-03 -9.08336725e-02 -1.19226325e+01] [ 4.30838453e-04 9.99868098e-01 -1.62358001e-02 -1.10371294e+00] [ 9.08526054e-02 1.61295183e-02 9.95733721e-01 -1.05538990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16463044 meters Centerline goodness : 0.146127 with order 3 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.10, Z:-1.06 [[ 9.95902773e-01 -1.69141049e-03 -9.04146277e-02 -1.19239810e+01] [ 2.31311466e-04 9.99869441e-01 -1.61569645e-02 -1.10333101e+00] [ 9.04301513e-02 1.60698518e-02 9.95773141e-01 -1.05504728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22463044 meters Centerline goodness : 0.201852 with order 3 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.10, Z:-1.05 [[ 9.95981638e-01 -1.34290254e-03 -8.95476086e-02 -1.19267962e+01] [-5.76056530e-05 9.99877758e-01 -1.56353986e-02 -1.10483308e+00] [ 8.95576590e-02 1.55777283e-02 9.95859809e-01 -1.05404306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28463044 meters Centerline goodness : 0.112167 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.11, Z:-1.05 [[ 9.95982280e-01 -5.18812317e-03 -8.94001146e-02 -1.19268198e+01] [ 3.52338137e-03 9.99817638e-01 -1.87690100e-02 -1.10780739e+00] [ 8.94811873e-02 1.83786107e-02 9.95818931e-01 -1.05428968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34463044 meters Centerline goodness : 0.106076 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.11, Z:-1.05 [[ 9.95994237e-01 -5.11059705e-03 -8.92712784e-02 -1.19272236e+01] [ 3.49485795e-03 9.99827417e-01 -1.82461448e-02 -1.11083187e+00] [ 8.93491204e-02 1.78610647e-02 9.95840207e-01 -1.05406746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40463044 meters Centerline goodness : 0.248383 with order 3 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.12, Z:-1.05 [[ 9.96072988e-01 -7.35789848e-03 -8.82296146e-02 -1.19317314e+01] [ 5.64600428e-03 9.99791241e-01 -1.96366051e-02 -1.11578977e+00] [ 8.83556801e-02 1.90613471e-02 9.95906591e-01 -1.05191955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46463044 meters Centerline goodness : 0.258766 with order 3 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.12, Z:-1.05 [[ 9.95986750e-01 -7.89093967e-03 -8.91522643e-02 -1.19292656e+01] [ 6.15656466e-03 9.99786737e-01 -1.97123428e-02 -1.11840826e+00] [ 8.92888004e-02 1.90843606e-02 9.95822925e-01 -1.05216336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52463043999998 meters Centerline goodness : 0.096948 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.13, Z:-1.05 [[ 9.95919000e-01 -1.05458881e-02 -8.96333095e-02 -1.19269869e+01] [ 8.68580987e-03 9.99739283e-01 -2.11168762e-02 -1.12532451e+00] [ 8.98326368e-02 2.02521604e-02 9.95750946e-01 -1.05303992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58463043999998 meters Centerline goodness : 0.095647 with order 1 Centerline is valid? [False, False] Translation: X:-11.93, Y:-1.13, Z:-1.05 [[ 9.95841167e-01 -1.13659283e-02 -9.03946107e-02 -1.19254327e+01] [ 9.47425250e-03 9.99727630e-01 -2.13285048e-02 -1.12830529e+00] [ 9.06124082e-02 2.03833817e-02 9.95677613e-01 -1.05259831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64463044 meters Centerline goodness : 0.095580 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-1.13, Z:-1.05 [[ 9.95818696e-01 -1.16601774e-02 -9.06044458e-02 -1.19245684e+01] [ 9.78350565e-03 9.99728879e-01 -2.11294068e-02 -1.13062019e+00] [ 9.08262537e-02 2.01546292e-02 9.95662786e-01 -1.05291165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70463044 meters Centerline goodness : 0.095018 with order 1 Centerline is valid? [False, False] Translation: X:-11.95, Y:-1.14, Z:-1.06 [[ 9.96064124e-01 -4.74276180e-03 -8.85085758e-02 -1.19459425e+01] [ 2.78971035e-03 9.99750170e-01 -2.21769078e-02 -1.13616598e+00] [ 8.85916435e-02 2.18427090e-02 9.95828508e-01 -1.05566119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76463044 meters Centerline goodness : 0.098044 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-1.14, Z:-1.06 [[ 9.95967192e-01 3.10665298e-03 -8.96643793e-02 -1.19640116e+01] [-5.24799118e-03 9.99706387e-01 -2.36558400e-02 -1.13733754e+00] [ 8.95645622e-02 2.40309984e-02 9.95691067e-01 -1.05841802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82463044 meters Centerline goodness : 0.104123 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-1.14, Z:-1.06 [[ 9.95975740e-01 2.97299272e-03 -8.95739206e-02 -1.19639251e+01] [-5.13677856e-03 9.99700305e-01 -2.39355951e-02 -1.13618926e+00] [ 8.94759154e-02 2.42993935e-02 9.95692523e-01 -1.05880258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88463044 meters Centerline goodness : 0.110810 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-1.14, Z:-1.06 [[ 9.95966111e-01 3.03530562e-03 -8.96788305e-02 -1.19636292e+01] [-5.17993279e-03 9.99705898e-01 -2.36914841e-02 -1.13729121e+00] [ 8.95805448e-02 2.40604456e-02 9.95688918e-01 -1.05885662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94463044 meters Centerline goodness : 0.103487 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-1.14, Z:-1.06 [[ 9.95958907e-01 3.14400966e-03 -8.97550609e-02 -1.19629659e+01] [-5.29634238e-03 9.99703852e-01 -2.37519844e-02 -1.13624087e+00] [ 8.96538037e-02 2.41313739e-02 9.95680608e-01 -1.05939233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00463044 meters Centerline goodness : 0.102306 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:-1.14, Z:-1.06 [[ 9.95971007e-01 1.14592906e-02 -8.89406450e-02 -1.19843315e+01] [-1.37251693e-02 9.99595557e-01 -2.49066632e-02 -1.13655929e+00] [ 8.86192609e-02 2.60270398e-02 9.95725474e-01 -1.06224725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06463044 meters Centerline goodness : 0.449232 with order 2 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.13, Z:-1.06 [[ 9.95994145e-01 4.00651687e-03 -8.93286676e-02 -1.20034161e+01] [-6.15485848e-03 9.99698093e-01 -2.37873887e-02 -1.13107473e+00] [ 8.92063941e-02 2.42419052e-02 9.95718107e-01 -1.06461318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12463044 meters Centerline goodness : 0.107991 with order 1 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.13, Z:-1.06 [[ 9.95938882e-01 4.40459514e-03 -8.99240908e-02 -1.20019806e+01] [-6.56270274e-03 9.99697156e-01 -2.37176666e-02 -1.12959216e+00] [ 8.97923911e-02 2.42114914e-02 9.95666174e-01 -1.06468172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18463044 meters Centerline goodness : 0.096872 with order 1 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.13, Z:-1.06 [[ 9.95986657e-01 4.52843954e-03 -8.93872023e-02 -1.20031264e+01] [-6.71043105e-03 9.99686424e-01 -2.41251567e-02 -1.12675562e+00] [ 8.92499234e-02 2.46281608e-02 9.95704728e-01 -1.06490185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24463043999998 meters Centerline goodness : 0.461970 with order 1 Centerline is valid? [False, False] Translation: X:-12.00, Y:-1.12, Z:-1.07 [[ 9.95993796e-01 5.33200254e-03 -8.92632560e-02 -1.20033716e+01] [-7.49669862e-03 9.99685455e-01 -2.39330271e-02 -1.12142058e+00] [ 8.91075677e-02 2.45063262e-02 9.95720484e-01 -1.06502176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30463043999998 meters Centerline goodness : 0.505091 with order 2 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.11, Z:-1.07 [[ 9.96110614e-01 1.23894571e-03 -8.81028399e-02 -1.20227191e+01] [-3.09130759e-03 9.99776966e-01 -2.08916639e-02 -1.11125914e+00] [ 8.80573064e-02 2.10827611e-02 9.95892277e-01 -1.06826460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36463043999998 meters Centerline goodness : 0.098487 with order 1 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.11, Z:-1.07 [[ 9.96158482e-01 1.00394725e-03 -8.75629500e-02 -1.20244563e+01] [-2.90153208e-03 9.99763637e-01 -2.15465084e-02 -1.10756565e+00] [ 8.75206217e-02 2.17178038e-02 9.95925940e-01 -1.06775237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42463044 meters Centerline goodness : 0.282293 with order 1 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.10, Z:-1.07 [[ 9.96125971e-01 2.64607359e-04 -8.79373642e-02 -1.20236589e+01] [-2.27846086e-03 9.99737418e-01 -2.28014130e-02 -1.10193484e+00] [ 8.79082400e-02 2.29134415e-02 9.95865009e-01 -1.06771229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48463044 meters Centerline goodness : 0.104266 with order 1 Centerline is valid? [False, False] Translation: X:-12.02, Y:-1.10, Z:-1.07 [[ 9.96166082e-01 5.61659054e-05 -8.74821866e-02 -1.20248806e+01] [-2.09820309e-03 9.99727468e-01 -2.32505408e-02 -1.09894402e+00] [ 8.74570390e-02 2.33449556e-02 9.95894713e-01 -1.06754822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54463044 meters Centerline goodness : 0.581968 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:-1.09, Z:-1.06 [[ 9.96223765e-01 1.17439715e-03 -8.68149209e-02 -1.20291046e+01] [-3.15007444e-03 9.99739085e-01 -2.26238562e-02 -1.09303037e+00] [ 8.67657002e-02 2.28118967e-02 9.95967535e-01 -1.06471055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60463044 meters SLAMing on 159.66463044 meters Centerline goodness : 0.147908 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.09, Z:-1.07 [[ 9.96120831e-01 8.47989009e-03 -8.75864276e-02 -1.20485632e+01] [-1.06915924e-02 9.99634924e-01 -2.48134750e-02 -1.08863759e+00] [ 8.73440363e-02 2.56536577e-02 9.95847834e-01 -1.06782336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72463044 meters Centerline goodness : 0.473789 with order 3 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.09, Z:-1.07 [[ 9.96125097e-01 8.42718801e-03 -8.75429850e-02 -1.20491156e+01] [-1.06606289e-02 9.99628694e-01 -2.50763792e-02 -1.08646456e+00] [ 8.72991565e-02 2.59124739e-02 9.95845069e-01 -1.06722550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78463044 meters Centerline goodness : 0.198871 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.08, Z:-1.07 [[ 9.96166858e-01 4.71008508e-04 -8.74721057e-02 -1.20682999e+01] [-2.59012729e-03 9.99705853e-01 -2.41143046e-02 -1.08333022e+00] [ 8.74350179e-02 2.42484349e-02 9.95875058e-01 -1.07035810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84463044 meters Centerline goodness : 0.164295 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-1.08, Z:-1.07 [[ 9.96147011e-01 -7.67386361e-03 -8.73627126e-02 -1.20482660e+01] [ 5.66001031e-03 9.99713054e-01 -2.32760546e-02 -1.08095035e+00] [ 8.75162614e-02 2.26918984e-02 9.95904605e-01 -1.06761776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90463044 meters Centerline goodness : 0.103896 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.09, Z:-1.07 [[ 9.96371702e-01 -2.80348150e-03 -8.50621686e-02 -1.20703429e+01] [ 6.44563333e-04 9.99677228e-01 -2.53973298e-02 -1.09172972e+00] [ 8.51059138e-02 2.52503527e-02 9.96051908e-01 -1.06992269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96463044 meters Centerline goodness : 0.089474 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.10, Z:-1.07 [[ 9.96384780e-01 -2.68763136e-03 -8.49125878e-02 -1.20705765e+01] [ 5.74790305e-04 9.99689851e-01 -2.48971977e-02 -1.09524258e+00] [ 8.49531668e-02 2.47583819e-02 9.96077297e-01 -1.07011412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02463043999998 meters Centerline goodness : 0.253465 with order 3 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.10, Z:-1.07 [[ 9.96306891e-01 -2.41656489e-03 -8.58297064e-02 -1.20670970e+01] [ 3.34616257e-04 9.99705558e-01 -2.42628451e-02 -1.09855724e+00] [ 8.58630673e-02 2.41445197e-02 9.96014345e-01 -1.07172248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08463043999998 meters Centerline goodness : 0.164190 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.10, Z:-1.07 [[ 9.96200124e-01 -2.64251926e-03 -8.70536072e-02 -1.20633043e+01] [ 5.43510881e-04 9.99708764e-01 -2.41265597e-02 -1.10259299e+00] [ 8.70920090e-02 2.39875672e-02 9.95911431e-01 -1.07274645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14463044 meters Centerline goodness : 0.471952 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.10, Z:-1.07 [[ 9.96218165e-01 -2.33773274e-03 -8.68556476e-02 -1.20642709e+01] [ 2.77359249e-04 9.99718453e-01 -2.37263125e-02 -1.10381088e+00] [ 8.68866594e-02 2.36124932e-02 9.95938331e-01 -1.07211609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20463044 meters Centerline goodness : 0.478123 with order 1 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.11, Z:-1.07 [[ 9.96231018e-01 -2.43352184e-03 -8.67054609e-02 -1.20637504e+01] [ 3.74312163e-04 9.99717673e-01 -2.37578278e-02 -1.10554188e+00] [ 8.67387968e-02 2.36358301e-02 9.95950666e-01 -1.07322010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26463044 meters Centerline goodness : 0.520264 with order 2 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.11, Z:-1.07 [[ 9.96308611e-01 -1.24588140e-03 -8.58347164e-02 -1.20669677e+01] [-6.66339997e-04 9.99752312e-01 -2.22456969e-02 -1.10948868e+00] [ 8.58411717e-02 2.22207745e-02 9.96061007e-01 -1.07198875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32463044 meters Centerline goodness : 0.277449 with order 1 Centerline is valid? [False, False] Translation: X:-12.09, Y:-1.12, Z:-1.07 [[ 9.96371883e-01 4.33434992e-03 -8.49957850e-02 -1.20892174e+01] [-6.48382755e-03 9.99665686e-01 -2.50295068e-02 -1.11571216e+00] [ 8.48588831e-02 2.54897948e-02 9.96066885e-01 -1.07416953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38463044 meters Centerline goodness : 0.465497 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.11, Z:-1.07 [[ 9.96389098e-01 -6.66302408e-05 -8.49044275e-02 -1.20701583e+01] [-1.77023669e-03 9.99766009e-01 -2.15590546e-02 -1.11250472e+00] [ 8.48859971e-02 2.16315079e-02 9.96155834e-01 -1.07195430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44463044 meters Centerline goodness : 0.431217 with order 1 Centerline is valid? [False, False] Translation: X:-12.07, Y:-1.11, Z:-1.07 [[ 9.96399371e-01 3.01708657e-04 -8.47832648e-02 -1.20701277e+01] [-2.11842568e-03 9.99770061e-01 -2.13386301e-02 -1.11221995e+00] [ 8.47573318e-02 2.14414047e-02 9.96170899e-01 -1.07237123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50463044 meters Centerline goodness : 0.500465 with order 1 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.12, Z:-1.08 [[ 9.96117566e-01 -2.60393624e-04 -8.80325371e-02 -1.21119608e+01] [-1.68852406e-03 9.99755147e-01 -2.20634144e-02 -1.11556556e+00] [ 8.80167272e-02 2.21263997e-02 9.95873224e-01 -1.07600246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56463044 meters Centerline goodness : 0.450510 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.11, Z:-1.08 [[ 9.96094460e-01 3.62613071e-03 -8.82194875e-02 -1.21121906e+01] [-5.29929141e-03 9.99810364e-01 -1.87390768e-02 -1.11357480e+00] [ 8.81348076e-02 1.91333914e-02 9.95924781e-01 -1.07518056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62463044 meters Centerline goodness : 0.143546 with order 3 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.10, Z:-1.07 [[ 9.96257101e-01 -2.52016910e-03 -8.64027617e-02 -1.20962632e+01] [ 1.04781218e-03 9.99853547e-01 -1.70817420e-02 -1.10339010e+00] [ 8.64331567e-02 1.69272729e-02 9.96113837e-01 -1.07160785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68463044 meters Centerline goodness : 0.375013 with order 1 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.10, Z:-1.07 [[ 9.96195273e-01 6.18658983e-03 -8.69293104e-02 -1.21176710e+01] [-7.77583656e-03 9.99808553e-01 -1.79553501e-02 -1.10038660e+00] [ 8.68015856e-02 1.85629830e-02 9.96052659e-01 -1.07344716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74463043999998 meters Centerline goodness : 0.377240 with order 3 Centerline is valid? [False, False] Translation: X:-12.11, Y:-1.09, Z:-1.08 [[ 9.95980629e-01 7.67936515e-03 -8.92390818e-02 -1.21097002e+01] [-9.28134458e-03 9.99802899e-01 -1.75504705e-02 -1.09191163e+00] [ 8.90867163e-02 1.83081873e-02 9.95855596e-01 -1.07598167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80463043999998 meters Centerline goodness : 0.099924 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.08, Z:-1.08 [[ 9.96035766e-01 2.23069105e-03 -8.89256778e-02 -1.21321596e+01] [-3.57892742e-03 9.99881016e-01 -1.50048233e-02 -1.08408757e+00] [ 8.88816260e-02 1.52635992e-02 9.95925238e-01 -1.07811399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86463043999998 meters Centerline goodness : 0.109142 with order 1 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.08, Z:-1.08 [[ 9.96052203e-01 2.08518670e-03 -8.87449172e-02 -1.21327158e+01] [-3.49392699e-03 9.99870303e-01 -1.57216601e-02 -1.07729973e+00] [ 8.87006247e-02 1.59696624e-02 9.95930303e-01 -1.07800366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92463044 meters Centerline goodness : 0.473413 with order 3 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.07, Z:-1.08 [[ 9.96072930e-01 1.84518700e-03 -8.85173023e-02 -1.21339916e+01] [-3.30080180e-03 9.99861684e-01 -1.63008531e-02 -1.07287107e+00] [ 8.84749808e-02 1.65290166e-02 9.95941248e-01 -1.07713203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98463044 meters Centerline goodness : 0.470986 with order 2 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.07, Z:-1.08 [[ 9.96080690e-01 1.74006303e-03 -8.84320723e-02 -1.21342231e+01] [-3.20143003e-03 9.99860613e-01 -1.63861607e-02 -1.07254376e+00] [ 8.83912331e-02 1.66050474e-02 9.95947419e-01 -1.07703435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04463044 meters Centerline goodness : 0.238698 with order 2 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.07, Z:-1.08 [[ 9.96154135e-01 -1.03778927e-02 -8.70013745e-02 -1.21554526e+01] [ 8.75647759e-03 9.99781183e-01 -1.89976369e-02 -1.07045398e+00] [ 8.71794926e-02 1.81627489e-02 9.96027033e-01 -1.08042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10463044 meters Centerline goodness : 0.465708 with order 2 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.07, Z:-1.08 [[ 9.96169520e-01 -1.04522279e-02 -8.68161199e-02 -1.21561176e+01] [ 8.84964355e-03 9.99783648e-01 -1.88239398e-02 -1.07130692e+00] [ 8.69940892e-02 1.79835433e-02 9.96046495e-01 -1.08005500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16463044 meters Centerline goodness : 0.460817 with order 3 Centerline is valid? [False, False] Translation: X:-12.15, Y:-1.07, Z:-1.08 [[ 9.96091251e-01 -1.04523391e-02 -8.77095726e-02 -1.21535449e+01] [ 8.82725224e-03 9.99782496e-01 -1.88955085e-02 -1.07029161e+00] [ 8.78879977e-02 1.80474162e-02 9.95966862e-01 -1.08047414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22463044 meters Centerline goodness : 0.463782 with order 2 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.08, Z:-1.08 [[ 9.96108539e-01 -2.41696069e-03 -8.81018583e-02 -1.21723937e+01] [ 6.73049494e-04 9.99803366e-01 -1.98185955e-02 -1.07501563e+00] [ 8.81324352e-02 1.96821752e-02 9.95914296e-01 -1.08343806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28463044 meters Centerline goodness : 0.467267 with order 3 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.08, Z:-1.08 [[ 9.96112647e-01 -2.65121718e-03 -8.80486516e-02 -1.21725379e+01] [ 9.02500230e-04 9.99801674e-01 -1.98946769e-02 -1.07599956e+00] [ 8.80839344e-02 1.97378754e-02 9.95917485e-01 -1.08339257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34463044 meters Centerline goodness : 0.088059 with order 1 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.08, Z:-1.09 [[ 9.96177688e-01 -1.13049186e-02 -8.66153119e-02 -1.21963929e+01] [ 9.69877139e-03 9.99773543e-01 -1.89419030e-02 -1.07909008e+00] [ 8.68098340e-02 1.80294390e-02 9.96061741e-01 -1.08544333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40463044 meters Centerline goodness : 0.087936 with order 1 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.08, Z:-1.09 [[ 9.96105642e-01 -1.16305554e-02 -8.73972502e-02 -1.21939387e+01] [ 1.00303231e-02 9.99774325e-01 -1.87267811e-02 -1.08338512e+00] [ 8.75953296e-02 1.77772296e-02 9.95997504e-01 -1.08596641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46463044 meters Centerline goodness : 0.100204 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.09, Z:-1.09 [[ 9.96174928e-01 -3.80396038e-03 -8.72985879e-02 -1.22125397e+01] [ 2.14148388e-03 9.99814724e-01 -1.91293248e-02 -1.09293505e+00] [ 8.73551808e-02 1.88692053e-02 9.95998507e-01 -1.08917424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52463043999998 meters Centerline goodness : 0.088336 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.09, Z:-1.09 [[ 9.96164761e-01 -3.51824304e-03 -8.74264860e-02 -1.22114735e+01] [ 1.85298450e-03 9.99815452e-01 -1.91213895e-02 -1.09284697e+00] [ 8.74776254e-02 1.88860545e-02 9.95987441e-01 -1.09010510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58463043999998 meters Centerline goodness : 0.088032 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.09, Z:-1.09 [[ 9.96099413e-01 -2.14985601e-04 -8.82378223e-02 -1.22078709e+01] [-1.25816759e-03 9.99860766e-01 -1.66393008e-02 -1.08961018e+00] [ 8.82291137e-02 1.66854157e-02 9.95960451e-01 -1.09190335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64463044 meters Centerline goodness : 0.296941 with order 1 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.09, Z:-1.09 [[ 9.96101081e-01 -9.70538169e-05 -8.82192011e-02 -1.22080869e+01] [-1.40373198e-03 9.99855356e-01 -1.69498102e-02 -1.08717943e+00] [ 8.82080858e-02 1.70075604e-02 9.95956865e-01 -1.09182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70463044 meters Centerline goodness : 0.495822 with order 3 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.09, Z:-1.09 [[ 9.96048635e-01 8.52257636e-03 -8.83995637e-02 -1.22290533e+01] [-1.01397281e-02 9.99789067e-01 -1.78607627e-02 -1.08629165e+00] [ 8.82286976e-02 1.86865359e-02 9.95924952e-01 -1.09451172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76463044 meters Centerline goodness : 0.287536 with order 3 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.08, Z:-1.09 [[ 9.96134135e-01 8.62260152e-03 -8.74210302e-02 -1.22315638e+01] [-1.02553741e-02 9.99780946e-01 -1.82452157e-02 -1.08273906e+00] [ 8.72445590e-02 1.90712175e-02 9.96004355e-01 -1.09429750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82463044 meters Centerline goodness : 0.465303 with order 2 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.08, Z:-1.09 [[ 9.96129286e-01 8.47853027e-03 -8.74903441e-02 -1.22314738e+01] [-1.01555122e-02 9.99772807e-01 -1.87403441e-02 -1.07932178e+00] [ 8.73115763e-02 1.95563148e-02 9.95989076e-01 -1.09422168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88463044 meters Centerline goodness : 0.287105 with order 3 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.08, Z:-1.09 [[ 9.96057584e-01 8.13178663e-03 -8.83355128e-02 -1.22292546e+01] [-9.85341407e-03 9.99769575e-01 -1.90710950e-02 -1.07822517e+00] [ 8.81600760e-02 1.98663152e-02 9.95908194e-01 -1.09442872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94463044 meters Centerline goodness : 0.091392 with order 1 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.08, Z:-1.10 [[ 9.96224896e-01 -8.56969609e-04 -8.68056532e-02 -1.22526245e+01] [-7.92977193e-04 9.99819718e-01 -1.89711001e-02 -1.07704585e+00] [ 8.68062614e-02 1.89683171e-02 9.96044615e-01 -1.09660409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00463044 meters Centerline goodness : 0.090872 with order 1 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.08, Z:-1.10 [[ 9.96228417e-01 -7.43096082e-04 -8.67662888e-02 -1.22527523e+01] [-8.98578959e-04 9.99821352e-01 -1.88800656e-02 -1.07665706e+00] [ 8.67648179e-02 1.88868242e-02 9.96049775e-01 -1.09647348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06463044 meters Centerline goodness : 0.100859 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.08, Z:-1.10 [[ 9.95977779e-01 1.17960465e-03 -8.95928156e-02 -1.22938460e+01] [-2.81742484e-03 9.99831189e-01 -1.81564448e-02 -1.07509969e+00] [ 8.95562739e-02 1.83358366e-02 9.95812970e-01 -1.10091313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12463044 meters Centerline goodness : 0.549943 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-1.07, Z:-1.10 [[ 9.95908087e-01 -3.58062725e-03 -9.03009460e-02 -1.22725232e+01] [ 2.21040637e-03 9.99880973e-01 -1.52693802e-02 -1.06847661e+00] [ 9.03448717e-02 1.50072974e-02 9.95797462e-01 -1.09853105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18463044 meters Centerline goodness : 0.096835 with order 1 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.07, Z:-1.10 [[ 9.96449550e-01 -2.20232807e-03 -8.41631959e-02 -1.23142136e+01] [ 9.31763533e-04 9.99885059e-01 -1.51327378e-02 -1.07219787e+00] [ 8.41868494e-02 1.50005896e-02 9.96337070e-01 -1.10338883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24463043999998 meters Centerline goodness : 0.096146 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.07, Z:-1.10 [[ 9.96488524e-01 -2.33761701e-03 -8.36968200e-02 -1.23155988e+01] [ 1.07498460e-03 9.99884992e-01 -1.51276756e-02 -1.07313292e+00] [ 8.37225569e-02 1.49845823e-02 9.96376433e-01 -1.10300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30463043999998 meters Centerline goodness : 0.095776 with order 1 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.07, Z:-1.10 [[ 9.96478280e-01 -2.45382857e-03 -8.38153667e-02 -1.23147607e+01] [ 1.19316124e-03 9.99885461e-01 -1.50877852e-02 -1.07438948e+00] [ 8.38427894e-02 1.49346450e-02 9.96367072e-01 -1.10365780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36463043999998 meters Centerline goodness : 0.094576 with order 1 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.07, Z:-1.10 [[ 9.96443570e-01 -2.38694622e-03 -8.42289383e-02 -1.23136447e+01] [ 1.12894306e-03 9.99887156e-01 -1.49799920e-02 -1.07468852e+00] [ 8.42551900e-02 1.48316270e-02 9.96333822e-01 -1.10380338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42463044 meters Centerline goodness : 0.474331 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.08, Z:-1.11 [[ 9.96437806e-01 5.28178619e-03 -8.41653267e-02 -1.23326421e+01] [-6.66692830e-03 9.99846790e-01 -1.61848411e-02 -1.07932943e+00] [ 8.40669468e-02 1.66883117e-02 9.96320354e-01 -1.10724211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48463044 meters Centerline goodness : 0.161517 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.08, Z:-1.11 [[ 9.96486776e-01 5.26621353e-03 -8.35845183e-02 -1.23345046e+01] [-6.63649035e-03 9.99847967e-01 -1.61245408e-02 -1.07976966e+00] [ 8.34868954e-02 1.66225996e-02 9.96370226e-01 -1.10664049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54463044 meters Centerline goodness : 0.093880 with order 1 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.08, Z:-1.11 [[ 9.96421899e-01 5.25490743e-03 -8.43551192e-02 -1.23314462e+01] [-6.63003976e-03 9.99849532e-01 -1.60298520e-02 -1.08035441e+00] [ 8.42581910e-02 1.65317733e-02 9.96306809e-01 -1.10808105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60463044 meters Centerline goodness : 0.094708 with order 1 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.08, Z:-1.11 [[ 9.96397932e-01 5.07475860e-03 -8.46487365e-02 -1.23304068e+01] [-6.46775474e-03 9.99848013e-01 -1.61900838e-02 -1.08038640e+00] [ 8.45537102e-02 1.66792533e-02 9.96279315e-01 -1.10849532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66463044 meters Centerline goodness : 0.240123 with order 2 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96344261e-01 -8.28362686e-05 -8.54289542e-02 -1.23511613e+01] [-1.02457249e-03 9.99916021e-01 -1.29189950e-02 -1.07676784e+00] [ 8.54228502e-02 1.29592947e-02 9.96260505e-01 -1.11114440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72463044 meters Centerline goodness : 0.093537 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96343766e-01 -2.93394280e-04 -8.54342689e-02 -1.23512632e+01] [-8.47802423e-04 9.99910912e-01 -1.33210106e-02 -1.07529499e+00] [ 8.54305660e-02 1.33447372e-02 9.96254755e-01 -1.11103626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78463044 meters Centerline goodness : 0.092363 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.07, Z:-1.11 [[ 9.96337779e-01 -4.76887974e-04 -8.55032316e-02 -1.23512924e+01] [-6.84939630e-04 9.99907848e-01 -1.35582625e-02 -1.07439143e+00] [ 8.55018181e-02 1.35671737e-02 9.96245638e-01 -1.11076798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84463044 meters Centerline goodness : 0.151034 with order 3 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96356327e-01 -7.75034141e-04 -8.52846308e-02 -1.23518577e+01] [-3.85782336e-04 9.99907526e-01 -1.35937640e-02 -1.07571600e+00] [ 8.52872799e-02 1.35771340e-02 9.96263891e-01 -1.11060222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90463044 meters Centerline goodness : 0.095321 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96324744e-01 -1.17257430e-03 -8.56482882e-02 -1.23508434e+01] [-1.00141179e-05 9.99904696e-01 -1.38057618e-02 -1.07691812e+00] [ 8.56563139e-02 1.37558798e-02 9.96229779e-01 -1.11068474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96463044 meters Centerline goodness : 0.334659 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96355457e-01 -1.02129399e-03 -8.52922041e-02 -1.23521157e+01] [-1.44061323e-04 9.99906745e-01 -1.36558206e-02 -1.07688190e+00] [ 8.52981967e-02 1.36183387e-02 9.96262394e-01 -1.11017529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02463043999998 meters Centerline goodness : 0.466866 with order 2 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.08, Z:-1.11 [[ 9.96453620e-01 -1.15334751e-03 -8.41359169e-02 -1.23552208e+01] [-1.59871351e-05 9.99903444e-01 -1.38961650e-02 -1.07614105e+00] [ 8.41438202e-02 1.38482291e-02 9.96357388e-01 -1.10965503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08463043999998 meters Centerline goodness : 0.097367 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96379101e-01 -1.22870429e-03 -8.50128107e-02 -1.23521425e+01] [ 2.75190370e-05 9.99900178e-01 -1.41291911e-02 -1.07546245e+00] [ 8.50216851e-02 1.40756913e-02 9.96279674e-01 -1.11102300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14463044 meters Centerline goodness : 0.091451 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.07, Z:-1.11 [[ 9.96448865e-01 -7.53657721e-04 -8.41967460e-02 -1.23540449e+01] [-4.12991210e-04 9.99904166e-01 -1.38379471e-02 -1.07488804e+00] [ 8.41991062e-02 1.38235792e-02 9.96353060e-01 -1.11111298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20463044 meters Centerline goodness : 0.102382 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.08, Z:-1.11 [[ 9.96478485e-01 -7.03774333e-04 -8.38458949e-02 -1.23548674e+01] [-4.43325360e-04 9.99906577e-01 -1.36616440e-02 -1.07609772e+00] [ 8.38476765e-02 1.36507053e-02 9.96385079e-01 -1.11118058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26463044 meters Centerline goodness : 0.101952 with order 1 Centerline is valid? [False, False] Translation: X:-12.37, Y:-1.08, Z:-1.11 [[ 9.96238912e-01 -7.83766342e-03 -8.62936958e-02 -1.23725908e+01] [ 6.86872723e-03 9.99910056e-01 -1.15195568e-02 -1.07774867e+00] [ 8.63762207e-02 1.08835029e-02 9.96203141e-01 -1.11479000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32463044 meters Centerline goodness : 0.466356 with order 2 Centerline is valid? [False, False] Translation: X:-12.37, Y:-1.08, Z:-1.11 [[ 9.96207278e-01 -7.93616520e-03 -8.66491578e-02 -1.23716665e+01] [ 6.93409902e-03 9.99905631e-01 -1.18595078e-02 -1.07627961e+00] [ 8.67350998e-02 1.12136941e-02 9.96168297e-01 -1.11498716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38463044 meters Centerline goodness : 0.099961 with order 1 Centerline is valid? [False, False] Translation: X:-12.37, Y:-1.07, Z:-1.12 [[ 9.96213329e-01 -7.70896330e-03 -8.66000922e-02 -1.23716936e+01] [ 6.70336874e-03 9.99906762e-01 -1.18967454e-02 -1.07415706e+00] [ 8.66837294e-02 1.12711840e-02 9.96172119e-01 -1.11517984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44463044 meters Centerline goodness : 0.468391 with order 2 Centerline is valid? [False, False] Translation: X:-12.37, Y:-1.07, Z:-1.12 [[ 9.96174504e-01 -7.92779032e-03 -8.70259070e-02 -1.23699492e+01] [ 6.87792224e-03 9.99899993e-01 -1.23570872e-02 -1.07209005e+00] [ 8.71151682e-02 1.17112578e-02 9.96129406e-01 -1.11613829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50463044 meters Centerline goodness : 0.451992 with order 1 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.07, Z:-1.12 [[ 9.96217739e-01 -7.05683228e-04 -8.68891136e-02 -1.23877614e+01] [-5.22506249e-04 9.99900290e-01 -1.41115821e-02 -1.07452954e+00] [ 8.68904082e-02 1.41036085e-02 9.96118038e-01 -1.11928841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56463044 meters Centerline goodness : 0.480008 with order 3 Centerline is valid? [False, False] Translation: X:-12.39, Y:-1.07, Z:-1.12 [[ 9.96245099e-01 -9.58521469e-04 -8.65724164e-02 -1.23886118e+01] [-3.00718680e-04 9.99894370e-01 -1.45312997e-02 -1.07274103e+00] [ 8.65772003e-02 1.45027701e-02 9.96139578e-01 -1.11915181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62463044 meters Centerline goodness : 0.094440 with order 1 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.07, Z:-1.12 [[ 9.96118509e-01 -8.62801282e-04 -8.80180218e-02 -1.24329238e+01] [-4.50833243e-04 9.99888833e-01 -1.49036377e-02 -1.07209482e+00] [ 8.80210960e-02 1.48854708e-02 9.96007384e-01 -1.12321507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68463044 meters Centerline goodness : 0.095867 with order 1 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.07, Z:-1.12 [[ 9.96130571e-01 -1.08697615e-03 -8.78789132e-02 -1.24329876e+01] [-2.97963355e-04 9.99875996e-01 -1.57449804e-02 -1.06653484e+00] [ 8.78851302e-02 1.57102410e-02 9.96006723e-01 -1.12348739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74463043999998 meters Centerline goodness : 0.106989 with order 1 Centerline is valid? [False, False] Translation: X:-12.45, Y:-1.06, Z:-1.13 [[ 9.96417511e-01 -7.02230977e-03 -8.42782906e-02 -1.24503622e+01] [ 5.75720248e-03 9.99867218e-01 -1.52447321e-02 -1.06236912e+00] [ 8.43741532e-02 1.47049109e-02 9.96325633e-01 -1.12676174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80463043999998 meters Centerline goodness : 0.108212 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.07, Z:-1.13 [[ 9.96189786e-01 -4.85524956e-04 -8.72105169e-02 -1.24656794e+01] [-1.03694142e-03 9.99847876e-01 -1.74112206e-02 -1.06853818e+00] [ 8.72057036e-02 1.74353124e-02 9.96037738e-01 -1.13069125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86463043999998 meters Centerline goodness : 0.467857 with order 2 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.07, Z:-1.13 [[ 9.96104891e-01 -6.58033482e-04 -8.81737642e-02 -1.24626148e+01] [-8.69018745e-04 9.99850326e-01 -1.72791627e-02 -1.07055158e+00] [ 8.81719372e-02 1.72884831e-02 9.95955229e-01 -1.13156446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92463044 meters Centerline goodness : 0.364167 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.07, Z:-1.13 [[ 9.96132007e-01 -4.40150325e-04 -8.78682566e-02 -1.24635857e+01] [-1.06253404e-03 9.99854004e-01 -1.70540567e-02 -1.07071741e+00] [ 8.78629346e-02 1.70814548e-02 9.95986109e-01 -1.13120170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98463044 meters Centerline goodness : 0.347820 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.07, Z:-1.13 [[ 9.96151350e-01 -2.29715921e-04 -8.76495025e-02 -1.24638431e+01] [-1.26159636e-03 9.99855395e-01 -1.69587229e-02 -1.07041535e+00] [ 8.76407236e-02 1.70040330e-02 9.96007011e-01 -1.13158310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04463044 meters Centerline goodness : 0.391591 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.07, Z:-1.13 [[ 9.96122124e-01 -2.33868219e-04 -8.79810133e-02 -1.24627156e+01] [-1.26486883e-03 9.99855052e-01 -1.69786422e-02 -1.07058255e+00] [ 8.79722314e-02 1.70240856e-02 9.95977443e-01 -1.13201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10463044 meters Centerline goodness : 0.094776 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:-1.07, Z:-1.13 [[ 9.96188671e-01 -1.79300131e-04 -8.72244254e-02 -1.24648367e+01] [-1.30552535e-03 9.99855220e-01 -1.69657034e-02 -1.07039872e+00] [ 8.72148390e-02 1.70149153e-02 9.96044208e-01 -1.13164222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16463044 meters Centerline goodness : 0.463651 with order 2 Centerline is valid? [False, False] Translation: X:-12.47, Y:-1.07, Z:-1.13 [[ 9.96213822e-01 -1.63117823e-04 -8.69367234e-02 -1.24653028e+01] [-1.33357479e-03 9.99851909e-01 -1.71575284e-02 -1.06887143e+00] [ 8.69266476e-02 1.72085036e-02 9.96066075e-01 -1.13196406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22463044 meters Centerline goodness : 0.460106 with order 2 Centerline is valid? [False, False] Translation: X:-12.50, Y:-1.07, Z:-1.14 [[ 9.95842788e-01 4.59420688e-04 -9.10874897e-02 -1.25036861e+01] [-2.06875799e-03 9.99843418e-01 -1.75744109e-02 -1.06929771e+00] [ 9.10651530e-02 1.76897883e-02 9.95687807e-01 -1.13684371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28463044 meters Centerline goodness : 0.092834 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.07, Z:-1.14 [[ 9.95895355e-01 5.85414050e-04 -9.05102189e-02 -1.25057385e+01] [-2.18022528e-03 9.99844094e-01 -1.75223689e-02 -1.06851288e+00] [ 9.04858500e-02 1.76477785e-02 9.95741365e-01 -1.13598278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34463044 meters Centerline goodness : 0.462795 with order 2 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.07, Z:-1.14 [[ 9.95932976e-01 3.46007209e-04 -9.00965457e-02 -1.25066338e+01] [-1.94667433e-03 9.99841822e-01 -1.76788651e-02 -1.06865783e+00] [ 9.00761774e-02 1.77823534e-02 9.95776114e-01 -1.13607882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40463044 meters Centerline goodness : 0.301770 with order 1 Centerline is valid? [False, False] Translation: X:-12.52, Y:-1.07, Z:-1.14 [[ 9.95849867e-01 -7.01643233e-03 -9.07403506e-02 -1.25247924e+01] [ 5.58012075e-03 9.99855253e-01 -1.60728298e-02 -1.06614024e+00] [ 9.08399901e-02 1.54997833e-02 9.95744873e-01 -1.13987309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46463044 meters Centerline goodness : 0.233453 with order 1 Centerline is valid? [False, False] Translation: X:-12.52, Y:-1.07, Z:-1.14 [[ 9.95786306e-01 -7.27614077e-03 -9.14149361e-02 -1.25232859e+01] [ 5.81467562e-03 9.99851161e-01 -1.62433351e-02 -1.06670830e+00] [ 9.15195188e-02 1.56433424e-02 9.95680402e-01 -1.13968307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52463043999998 meters Centerline goodness : 0.271052 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.07, Z:-1.14 [[ 9.95486350e-01 -7.91015299e-03 -9.45746074e-02 -1.25647707e+01] [ 6.35155798e-03 9.99839204e-01 -1.67697423e-02 -1.07187901e+00] [ 9.46920514e-02 1.60933535e-02 9.95376521e-01 -1.14421275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58463043999998 meters Centerline goodness : 0.088233 with order 1 Centerline is valid? [False, False] Translation: X:-12.57, Y:-1.07, Z:-1.14 [[ 9.95512640e-01 -7.93336947e-03 -9.42955239e-02 -1.25655186e+01] [ 6.40778774e-03 9.99843819e-01 -1.64705244e-02 -1.07362054e+00] [ 9.44114634e-02 1.57923896e-02 9.95407995e-01 -1.14401913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64463044 meters Centerline goodness : 0.265113 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.08, Z:-1.15 [[ 9.95712922e-01 -2.24568228e-03 -9.24701819e-02 -1.25880801e+01] [ 5.46670506e-04 9.99830651e-01 -1.83948497e-02 -1.08179105e+00] [ 9.24958311e-02 1.82654388e-02 9.95545526e-01 -1.14621191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70463044 meters Centerline goodness : 0.237145 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:-1.08, Z:-1.15 [[ 9.95653134e-01 -2.32143448e-03 -9.31098703e-02 -1.25858478e+01] [ 6.22398662e-04 9.99832850e-01 -1.82725340e-02 -1.08398291e+00] [ 9.31367254e-02 1.81351543e-02 9.95488155e-01 -1.14700229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76463044 meters Centerline goodness : 0.212919 with order 1 Centerline is valid? [False, False] Translation: X:-12.63, Y:-1.09, Z:-1.15 [[ 9.95274879e-01 -1.44269962e-03 -9.70867367e-02 -1.26253146e+01] [-2.95441826e-04 9.99839985e-01 -1.78862186e-02 -1.08832683e+00] [ 9.70970058e-02 1.78303875e-02 9.95115194e-01 -1.15181599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82463044 meters Centerline goodness : 0.097436 with order 1 Centerline is valid? [False, False] Translation: X:-12.62, Y:-1.09, Z:-1.15 [[ 9.95252940e-01 -1.30282725e-03 -9.73133496e-02 -1.26248017e+01] [-4.33499925e-04 9.99841128e-01 -1.78193675e-02 -1.08850518e+00] [ 9.73211049e-02 1.77769633e-02 9.95094258e-01 -1.15179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88463044 meters Centerline goodness : 0.097233 with order 1 Centerline is valid? [False, False] Translation: X:-12.63, Y:-1.09, Z:-1.15 [[ 9.95381690e-01 -8.43165651e-04 -9.59926020e-02 -1.26284645e+01] [-8.20335386e-04 9.99850203e-01 -1.72886883e-02 -1.09007585e+00] [ 9.59927998e-02 1.72875899e-02 9.95231893e-01 -1.15121345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94463044 meters Centerline goodness : 0.212539 with order 2 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.10, Z:-1.16 [[ 9.95227340e-01 -1.06056563e-03 -9.75777434e-02 -1.26723927e+01] [-6.50281904e-04 9.99846657e-01 -1.74997010e-02 -1.09612256e+00] [ 9.75813401e-02 1.74796339e-02 9.95074040e-01 -1.15569521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00463044 meters Centerline goodness : 0.463093 with order 2 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.10, Z:-1.16 [[ 9.95187834e-01 -9.87656701e-04 -9.79806121e-02 -1.26705258e+01] [-6.81610169e-04 9.99855227e-01 -1.70017703e-02 -1.10053018e+00] [ 9.79832191e-02 1.69867395e-02 9.95043084e-01 -1.15668125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06463044 meters Centerline goodness : 0.100017 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.10, Z:-1.16 [[ 9.95189044e-01 -7.93655284e-04 -9.79700796e-02 -1.26706796e+01] [-8.32827806e-04 9.99862530e-01 -1.65598241e-02 -1.10287713e+00] [ 9.79697544e-02 1.65617478e-02 9.95051574e-01 -1.15650017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12463044 meters Centerline goodness : 0.098910 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.11, Z:-1.16 [[ 9.95154018e-01 -5.51954593e-04 -9.83268846e-02 -1.26693758e+01] [-1.02779995e-03 9.99871224e-01 -1.60149766e-02 -1.10645119e+00] [ 9.83230620e-02 1.60384287e-02 9.95025298e-01 -1.15699573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18463044 meters Centerline goodness : 0.091719 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.11, Z:-1.16 [[ 9.95216096e-01 -3.58027793e-04 -9.76974581e-02 -1.26708484e+01] [-1.17649431e-03 9.99876858e-01 -1.56488184e-02 -1.10877097e+00] [ 9.76910301e-02 1.56888965e-02 9.95093122e-01 -1.15710519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24463043999998 meters Centerline goodness : 0.157088 with order 3 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.11, Z:-1.16 [[ 9.95223573e-01 -4.09852897e-04 -9.76210626e-02 -1.26708768e+01] [-1.13498198e-03 9.99875021e-01 -1.57687538e-02 -1.10867322e+00] [ 9.76153249e-02 1.58042336e-02 9.95098726e-01 -1.15735538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30463043999998 meters Centerline goodness : 0.200908 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.11, Z:-1.16 [[ 9.95145614e-01 2.44049564e-04 -9.84131415e-02 -1.26683646e+01] [-1.76491075e-03 9.99880362e-01 -1.53670821e-02 -1.10788777e+00] [ 9.83976172e-02 1.54661748e-02 9.95026988e-01 -1.15818427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36463043999998 meters Centerline goodness : 0.094091 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.11, Z:-1.16 [[ 9.95095825e-01 1.43458266e-04 -9.89155136e-02 -1.26665431e+01] [-1.68113575e-03 9.99879040e-01 -1.54621878e-02 -1.10818038e+00] [ 9.89013306e-02 1.55526490e-02 9.94975699e-01 -1.15890498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42463044 meters Centerline goodness : 0.401415 with order 3 Centerline is valid? [False, False] Translation: X:-12.68, Y:-1.11, Z:-1.16 [[ 9.95370528e-01 -5.91772192e-03 -9.59296181e-02 -1.26814723e+01] [ 4.52787866e-03 9.99881706e-01 -1.46993697e-02 -1.10878881e+00] [ 9.60052570e-02 1.41969617e-02 9.95279577e-01 -1.16354398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48463044 meters Centerline goodness : 0.461000 with order 2 Centerline is valid? [False, False] Translation: X:-12.68, Y:-1.11, Z:-1.16 [[ 9.95417033e-01 -5.85609059e-03 -9.54496595e-02 -1.26833567e+01] [ 4.48845005e-03 9.99884261e-01 -1.45368060e-02 -1.10949384e+00] [ 9.55237411e-02 1.40417632e-02 9.95328109e-01 -1.16260069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54463044 meters Centerline goodness : 0.091749 with order 1 Centerline is valid? [False, False] Translation: X:-12.68, Y:-1.11, Z:-1.16 [[ 9.95338024e-01 -5.75372190e-03 -9.62762305e-02 -1.26806370e+01] [ 4.33290881e-03 9.99878701e-01 -1.49602356e-02 -1.10613870e+00] [ 9.63506293e-02 1.44733352e-02 9.95242221e-01 -1.16362826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60463044 meters Centerline goodness : 0.171091 with order 1 Centerline is valid? [False, False] Translation: X:-12.67, Y:-1.10, Z:-1.17 [[ 9.95202173e-01 -3.46899097e-03 -9.77783263e-02 -1.26749855e+01] [ 2.13238549e-03 9.99902902e-01 -1.37709400e-02 -1.09903187e+00] [ 9.78166035e-02 1.34963683e-02 9.95112938e-01 -1.16563699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66463044 meters SLAMing on 165.72463044 meters Centerline goodness : 0.282410 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95497789e-01 -3.26019978e-03 -9.47286773e-02 -1.27630351e+01] [ 1.89034843e-03 9.99892401e-01 -1.45469285e-02 -1.09770224e+00] [ 9.47659105e-02 1.43023650e-02 9.95396838e-01 -1.17249398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78463044 meters Centerline goodness : 0.462847 with order 2 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95513800e-01 -3.54848694e-03 -9.45498945e-02 -1.27637794e+01] [ 2.15148820e-03 9.99887075e-01 -1.48731000e-02 -1.09649627e+00] [ 9.45919945e-02 1.46029533e-02 9.95409016e-01 -1.17206052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84463044 meters Centerline goodness : 0.461380 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95490155e-01 -3.74275475e-03 -9.47910453e-02 -1.27631490e+01] [ 2.32718311e-03 9.99884188e-01 -1.50397479e-02 -1.09626075e+00] [ 9.48363575e-02 1.47513248e-02 9.95383576e-01 -1.17205773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90463044 meters Centerline goodness : 0.461249 with order 2 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95431242e-01 -4.14278374e-03 -9.53911968e-02 -1.27616435e+01] [ 2.71738426e-03 9.99882783e-01 -1.50677316e-02 -1.09819238e+00] [ 9.54424377e-02 1.47396762e-02 9.95325818e-01 -1.17198602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96463044 meters Centerline goodness : 0.441257 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95471120e-01 -4.00198393e-03 -9.49801776e-02 -1.27631405e+01] [ 2.62182016e-03 9.99889225e-01 -1.46514187e-02 -1.10041750e+00] [ 9.50282909e-02 1.43360433e-02 9.95371339e-01 -1.17132192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02463043999998 meters Centerline goodness : 0.186935 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95431766e-01 -3.57528558e-03 -9.54086832e-02 -1.27615436e+01] [ 2.22132779e-03 9.99895374e-01 -1.42935760e-02 -1.10093127e+00] [ 9.54498046e-02 1.40163456e-02 9.95335560e-01 -1.17199224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08463043999998 meters Centerline goodness : 0.104295 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95353092e-01 -3.43798829e-03 -9.62309809e-02 -1.27588895e+01] [ 2.05908549e-03 9.99893838e-01 -1.44247329e-02 -1.10032176e+00] [ 9.62703569e-02 1.41595547e-02 9.95254503e-01 -1.17290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14463044 meters Centerline goodness : 0.136661 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:-1.10, Z:-1.17 [[ 9.95348234e-01 -3.21873559e-03 -9.62888009e-02 -1.27588377e+01] [ 1.87613301e-03 9.99899804e-01 -1.40307844e-02 -1.10192317e+00] [ 9.63243145e-02 1.37848658e-02 9.95254542e-01 -1.17276772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20463044 meters Centerline goodness : 0.150585 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.11, Z:-1.18 [[ 9.95405938e-01 1.31452057e-03 -9.57355219e-02 -1.27782968e+01] [-3.01612079e-03 9.99840005e-01 -1.76314314e-02 -1.10944291e+00] [ 9.56970278e-02 1.78391814e-02 9.95250643e-01 -1.17583613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26463044 meters Centerline goodness : 0.463119 with order 2 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.11, Z:-1.18 [[ 9.95423671e-01 -2.24766891e-03 -9.55335733e-02 -1.27790069e+01] [ 3.06250849e-04 9.99793244e-01 -2.03316466e-02 -1.11377607e+00] [ 9.55595200e-02 2.02093450e-02 9.95218549e-01 -1.17559306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32463044 meters Centerline goodness : 0.139887 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.12, Z:-1.18 [[ 9.95402215e-01 -2.09100050e-03 -9.57604162e-02 -1.27775191e+01] [ 2.10342755e-04 9.99806995e-01 -1.96450825e-02 -1.11851592e+00] [ 9.57830118e-02 1.95346162e-02 9.95210537e-01 -1.17658212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38463044 meters Centerline goodness : 0.195276 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.12, Z:-1.18 [[ 9.95389525e-01 -1.95472702e-03 -9.58951155e-02 -1.27776965e+01] [ 9.81808845e-05 9.99812552e-01 -1.93610735e-02 -1.12015765e+00] [ 9.59149857e-02 1.92623947e-02 9.95203133e-01 -1.17591152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44463044 meters Centerline goodness : 0.092970 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:-1.12, Z:-1.18 [[ 9.95327279e-01 -1.71181322e-03 -9.65436560e-02 -1.27751681e+01] [-1.51509999e-04 9.99813925e-01 -1.92896852e-02 -1.11960309e+00] [ 9.65587120e-02 1.92141772e-02 9.95141814e-01 -1.17706597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50463044 meters Centerline goodness : 0.089414 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.12, Z:-1.18 [[ 9.95072086e-01 -1.85172286e-04 -9.91539671e-02 -1.28181903e+01] [-1.70999511e-03 9.99817488e-01 -1.90280525e-02 -1.11999275e+00] [ 9.91393938e-02 1.91038367e-02 9.94890157e-01 -1.18105913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56463044 meters Centerline goodness : 0.094545 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.12, Z:-1.18 [[ 9.95046119e-01 3.27848186e-03 -9.93603191e-02 -1.28176686e+01] [-4.93536752e-03 9.99852767e-01 -1.64343186e-02 -1.11587899e+00] [ 9.92918103e-02 1.68432846e-02 9.94915796e-01 -1.18100285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62463044 meters Centerline goodness : 0.095952 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.11, Z:-1.18 [[ 9.95061530e-01 3.07637714e-03 -9.92123361e-02 -1.28176753e+01] [-4.77605611e-03 9.99845798e-01 -1.68987749e-02 -1.11322156e+00] [ 9.91450504e-02 1.72891645e-02 9.94922783e-01 -1.18149108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68463044 meters Centerline goodness : 0.463144 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:-1.11, Z:-1.18 [[ 9.95020665e-01 2.56028557e-03 -9.96359435e-02 -1.28168534e+01] [-4.34166619e-03 9.99834514e-01 -1.76661718e-02 -1.10959730e+00] [ 9.95742248e-02 1.80107920e-02 9.94867119e-01 -1.18120017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74463043999998 meters Centerline goodness : 0.092829 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.11, Z:-1.18 [[ 9.94950751e-01 -5.37525043e-03 -1.00220304e-01 -1.28352143e+01] [ 3.71296652e-03 9.99852556e-01 -1.67654556e-02 -1.10507511e+00] [ 1.00295645e-01 1.63086880e-02 9.94824010e-01 -1.18437744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80463043999998 meters Centerline goodness : 0.462834 with order 3 Centerline is valid? [False, False] Translation: X:-12.83, Y:-1.10, Z:-1.18 [[ 9.94894522e-01 -5.36269534e-03 -1.00777632e-01 -1.28342009e+01] [ 3.67146295e-03 9.99849431e-01 -1.69598101e-02 -1.10273332e+00] [ 1.00853409e-01 1.65032208e-02 9.94764411e-01 -1.18395443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86463043999998 meters Centerline goodness : 0.457259 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.10, Z:-1.18 [[ 9.95084300e-01 -4.29237530e-03 -9.89384262e-02 -1.28411444e+01] [ 2.70591078e-03 9.99865701e-01 -1.61634824e-02 -1.10024165e+00] [ 9.89945186e-02 1.58163090e-02 9.94962275e-01 -1.18130670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92463044 meters Centerline goodness : 0.464031 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.10, Z:-1.18 [[ 9.95084763e-01 -4.36241861e-03 -9.89306992e-02 -1.28415023e+01] [ 2.74350890e-03 9.99860197e-01 -1.64942211e-02 -1.09773806e+00] [ 9.89888232e-02 1.61417309e-02 9.94957616e-01 -1.18095041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98463044 meters Centerline goodness : 0.455098 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.09, Z:-1.18 [[ 9.95021282e-01 -4.52173722e-03 -9.95600408e-02 -1.28394944e+01] [ 2.83477983e-03 9.99850123e-01 -1.70790735e-02 -1.09439216e+00] [ 9.96223462e-02 1.67118108e-02 9.94884970e-01 -1.18155326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04463044 meters Centerline goodness : 0.455050 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.09, Z:-1.18 [[ 9.94968043e-01 -4.44250831e-03 -1.00094240e-01 -1.28385757e+01] [ 2.71322497e-03 9.99844822e-01 -1.74060644e-02 -1.09129808e+00] [ 1.00156035e-01 1.70468996e-02 9.94825699e-01 -1.18121620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10463044 meters Centerline goodness : 0.466586 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.09, Z:-1.18 [[ 9.94950959e-01 -4.61755111e-03 -1.00256011e-01 -1.28380588e+01] [ 2.83572383e-03 9.99835617e-01 -1.79080126e-02 -1.08846538e+00] [ 1.00322222e-01 1.75332960e-02 9.94800500e-01 -1.18141426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16463044 meters Centerline goodness : 0.270738 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.09, Z:-1.18 [[ 9.94965316e-01 -4.75212762e-03 -1.00107128e-01 -1.28386068e+01] [ 2.93284229e-03 9.99828007e-01 -1.83127213e-02 -1.08592397e+00] [ 1.00176934e-01 1.79269241e-02 9.94808126e-01 -1.18124565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22463044 meters Centerline goodness : 0.106071 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.08, Z:-1.18 [[ 9.95023126e-01 -4.76589108e-03 -9.95302231e-02 -1.28414341e+01] [ 2.93647727e-03 9.99824198e-01 -1.85189020e-02 -1.08380311e+00] [ 9.96009846e-02 1.81344675e-02 9.94862194e-01 -1.17942642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28463044 meters Centerline goodness : 0.111188 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.08, Z:-1.18 [[ 9.94969199e-01 -5.03681393e-03 -1.00054598e-01 -1.28400845e+01] [ 3.16856910e-03 9.99817822e-01 -1.88224000e-02 -1.08320118e+00] [ 1.00131175e-01 1.84106784e-02 9.94803898e-01 -1.17949616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34463044 meters Centerline goodness : 0.092495 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.08, Z:-1.18 [[ 9.94988683e-01 -4.92684569e-03 -9.98661486e-02 -1.28409848e+01] [ 3.08251648e-03 9.99821994e-01 -1.86139117e-02 -1.08326450e+00] [ 9.99400797e-02 1.82127925e-02 9.94826756e-01 -1.17880335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40463044 meters Centerline goodness : 0.283529 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.08, Z:-1.18 [[ 9.94963003e-01 -5.05937372e-03 -1.00115057e-01 -1.28405132e+01] [ 3.19564958e-03 9.99818769e-01 -1.87674436e-02 -1.08300074e+00] [ 1.00191865e-01 1.83529794e-02 9.94798853e-01 -1.17853726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46463044 meters Centerline goodness : 0.460337 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:-1.08, Z:-1.18 [[ 9.94886433e-01 -2.47676597e-03 -1.00969559e-01 -1.28373086e+01] [ 7.73500724e-04 9.99856805e-01 -1.69047578e-02 -1.07879204e+00] [ 1.00996969e-01 1.67402142e-02 9.94745886e-01 -1.17955642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52463043999998 meters Centerline goodness : 0.091779 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:-1.08, Z:-1.19 [[ 9.95118997e-01 7.59897813e-04 -9.86793052e-02 -1.28731788e+01] [-2.50439327e-03 9.99842749e-01 -1.75557681e-02 -1.07823921e+00] [ 9.86504472e-02 1.77172101e-02 9.94964416e-01 -1.18574407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58463043999998 meters Centerline goodness : 0.143027 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:-1.07, Z:-1.18 [[ 9.95149398e-01 3.64973286e-03 -9.83074546e-02 -1.28753213e+01] [-5.21845886e-03 9.99863052e-01 -1.57049449e-02 -1.07118964e+00] [ 9.82366727e-02 1.61417798e-02 9.95032160e-01 -1.18458509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64463044 meters Centerline goodness : 0.095751 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:-1.07, Z:-1.18 [[ 9.95148062e-01 3.22043519e-03 -9.83359749e-02 -1.28751057e+01] [-4.88008279e-03 9.99849612e-01 -1.66414585e-02 -1.06656894e+00] [ 9.82675936e-02 1.70406029e-02 9.95014119e-01 -1.18479797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70463044 meters SLAMing on 167.76463044 meters Centerline goodness : 0.465133 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.06, Z:-1.19 [[ 9.94957862e-01 1.61717559e-03 -1.00280791e-01 -1.29207552e+01] [-3.48545989e-03 9.99823559e-01 -1.84581259e-02 -1.06155676e+00] [ 1.00233247e-01 1.87145822e-02 9.94787948e-01 -1.18694193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82463044 meters Centerline goodness : 0.460707 with order 2 Centerline is valid? [False, False] Translation: X:-12.90, Y:-1.06, Z:-1.18 [[ 9.95004615e-01 -7.99071016e-03 -9.95086120e-02 -1.29016691e+01] [ 6.22129808e-03 9.99817204e-01 -1.80791305e-02 -1.06154451e+00] [ 9.96348873e-02 1.73697456e-02 9.94872445e-01 -1.18375993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88463044 meters Centerline goodness : 0.461020 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.07, Z:-1.19 [[ 9.95215684e-01 -3.51947313e-03 -9.76389031e-02 -1.29175727e+01] [ 1.53816183e-03 9.99791529e-01 -2.03600879e-02 -1.07297577e+00] [ 9.76902049e-02 2.01124944e-02 9.95013624e-01 -1.18829462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94463044 meters Centerline goodness : 0.099441 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.08, Z:-1.19 [[ 9.95234266e-01 -3.67723893e-03 -9.74434865e-02 -1.29180307e+01] [ 1.76115127e-03 9.99803551e-01 -1.97422990e-02 -1.08132721e+00] [ 9.74969409e-02 1.94765997e-02 9.95045229e-01 -1.18823317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00463044 meters Centerline goodness : 0.089926 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.08, Z:-1.19 [[ 9.95217953e-01 -3.49015672e-03 -9.76168268e-02 -1.29169982e+01] [ 1.59058039e-03 9.99807995e-01 -1.95305717e-02 -1.08259444e+00] [ 9.76662486e-02 1.92819082e-02 9.95032418e-01 -1.18895065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06463044 meters Centerline goodness : 0.105627 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.08, Z:-1.19 [[ 9.95209743e-01 -2.93059218e-03 -9.77188758e-02 -1.29164117e+01] [ 1.06474783e-03 9.99816233e-01 -1.91406849e-02 -1.08325729e+00] [ 9.77570119e-02 1.89449502e-02 9.95029977e-01 -1.18947480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12463044 meters Centerline goodness : 0.096325 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.09, Z:-1.19 [[ 9.95246797e-01 -2.59336116e-03 -9.73503384e-02 -1.29182097e+01] [ 7.94472121e-04 9.99828309e-01 -1.85127253e-02 -1.08583632e+00] [ 9.73816345e-02 1.83473884e-02 9.95077982e-01 -1.18830215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18463044 meters Centerline goodness : 0.089004 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.09, Z:-1.19 [[ 9.95241668e-01 -6.23860284e-03 -9.72373513e-02 -1.29181804e+01] [ 4.18127058e-03 9.99763378e-01 -2.13472695e-02 -1.09039822e+00] [ 9.73475199e-02 2.08391165e-02 9.95032257e-01 -1.18853011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24463043999998 meters Centerline goodness : 0.093029 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:-1.10, Z:-1.19 [[ 9.95269918e-01 1.14834707e-03 -9.71415023e-02 -1.29352978e+01] [-3.37224368e-03 9.99735901e-01 -2.27322910e-02 -1.09889612e+00] [ 9.70897427e-02 2.29523502e-02 9.95010940e-01 -1.19295223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30463043999998 meters Centerline goodness : 0.188672 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.10, Z:-1.19 [[ 9.95180672e-01 1.86079319e-03 -9.80406376e-02 -1.29331952e+01] [-4.05586954e-03 9.99745435e-01 -2.21949135e-02 -1.09981912e+00] [ 9.79743798e-02 2.24855890e-02 9.94934882e-01 -1.19296783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36463043999998 meters Centerline goodness : 0.096475 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:-1.10, Z:-1.19 [[ 9.95095306e-01 -4.13687271e-03 -9.88342930e-02 -1.29143044e+01] [ 2.18958554e-03 9.99801506e-01 -1.98028964e-02 -1.09539007e+00] [ 9.88965970e-02 1.94893631e-02 9.94906844e-01 -1.18942249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42463044 meters Centerline goodness : 0.222501 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-1.10, Z:-1.19 [[ 9.95238286e-01 -6.20800109e-03 -9.72739129e-02 -1.29207291e+01] [ 4.17539154e-03 9.99768960e-01 -2.10853785e-02 -1.10029871e+00] [ 9.73823368e-02 2.05788193e-02 9.95034267e-01 -1.18673110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48463044 meters Centerline goodness : 0.163235 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.11, Z:-1.18 [[ 9.95349684e-01 -8.54660052e-03 -9.59477051e-02 -1.29263147e+01] [ 6.43182241e-03 9.99729996e-01 -2.23286268e-02 -1.10666912e+00] [ 9.61126326e-02 2.16076730e-02 9.95135905e-01 -1.18415589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54463044 meters Centerline goodness : 0.257454 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.12, Z:-1.18 [[ 9.95358305e-01 -1.27864855e-02 -9.53852749e-02 -1.29283707e+01] [ 1.04798595e-02 9.99641356e-01 -2.46441028e-02 -1.11834535e+00] [ 9.56661770e-02 2.35300881e-02 9.95135326e-01 -1.18294903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60463044 meters Centerline goodness : 0.463934 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-1.13, Z:-1.19 [[ 9.95496731e-01 -6.34858410e-03 -9.45830490e-02 -1.29459148e+01] [ 3.92582090e-03 9.99659950e-01 -2.57792852e-02 -1.12905491e+00] [ 9.47145480e-02 2.52918781e-02 9.95183137e-01 -1.18655070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66463044 meters Centerline goodness : 0.295511 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:-1.14, Z:-1.19 [[ 9.95385598e-01 -9.01496053e-03 -9.55313694e-02 -1.29415120e+01] [ 6.45200429e-03 9.99611812e-01 -2.71034415e-02 -1.13814539e+00] [ 9.57386217e-02 2.63620065e-02 9.95057366e-01 -1.18857567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72463044 meters Centerline goodness : 0.415258 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:-1.15, Z:-1.19 [[ 9.95338638e-01 -1.20276506e-02 -9.56887211e-02 -1.29391159e+01] [ 9.31680531e-03 9.99543893e-01 -2.87263573e-02 -1.14909431e+00] [ 9.59905874e-02 2.77009402e-02 9.94996716e-01 -1.19054676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78463044 meters Centerline goodness : 0.104014 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:-1.15, Z:-1.19 [[ 9.95334290e-01 -1.16152572e-02 -9.57848473e-02 -1.29387842e+01] [ 8.98353660e-03 9.99571440e-01 -2.78609552e-02 -1.15346241e+00] [ 9.60674099e-02 2.68704774e-02 9.95012075e-01 -1.19070532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84463044 meters Centerline goodness : 0.293305 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:-1.16, Z:-1.19 [[ 9.95330804e-01 -1.13706643e-02 -9.58504019e-02 -1.29372006e+01] [ 8.79747567e-03 9.99590594e-01 -2.72258694e-02 -1.15824054e+00] [ 9.61207364e-02 2.62555049e-02 9.95023343e-01 -1.19234562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90463044 meters Centerline goodness : 0.379006 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.16, Z:-1.19 [[ 9.95257947e-01 -1.13807744e-02 -9.66027774e-02 -1.29345761e+01] [ 8.82403523e-03 9.99600457e-01 -2.68526034e-02 -1.16166539e+00] [ 9.68697838e-02 2.58728406e-02 9.94960723e-01 -1.19338210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96463043999998 meters Centerline goodness : 0.481687 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.17, Z:-1.19 [[ 9.95213523e-01 -1.16515260e-02 -9.70272455e-02 -1.29338718e+01] [ 9.15741420e-03 9.99617104e-01 -2.61110399e-02 -1.17094497e+00] [ 9.72943276e-02 2.50975413e-02 9.94939158e-01 -1.19302132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02463043999998 meters Centerline goodness : 0.391209 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:-1.18, Z:-1.19 [[ 9.95229580e-01 -1.15826834e-02 -9.68706636e-02 -1.29342930e+01] [ 9.14474701e-03 9.99631126e-01 -2.55731511e-02 -1.17518407e+00] [ 9.71311363e-02 2.45652987e-02 9.94968386e-01 -1.19288945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08463043999998 meters Centerline goodness : 0.097094 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-1.18, Z:-1.20 [[ 9.95254625e-01 -1.09360244e-02 -9.66883346e-02 -1.29813772e+01] [ 8.52378644e-03 9.99642892e-01 -2.53265421e-02 -1.18202670e+00] [ 9.69307781e-02 2.43822075e-02 9.94992428e-01 -1.19641893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14463044 meters Centerline goodness : 0.501505 with order 2 Centerline is valid? [False, False] Translation: X:-12.98, Y:-1.18, Z:-1.20 [[ 9.95213504e-01 -1.05775009e-02 -9.71503860e-02 -1.29805185e+01] [ 8.18263969e-03 9.99653550e-01 -2.50165012e-02 -1.18293541e+00] [ 9.73813403e-02 2.41018132e-02 9.94955264e-01 -1.19611779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20463044 meters Centerline goodness : 0.095055 with order 1 Centerline is valid? [False, False] Translation: X:-13.00, Y:-1.19, Z:-1.20 [[ 9.95303303e-01 -2.36370853e-03 -9.67767979e-02 -1.29997147e+01] [-9.99186330e-05 9.99676243e-01 -2.54440389e-02 -1.19034757e+00] [ 9.68056080e-02 2.53342057e-02 9.94980830e-01 -1.19899809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26463044 meters Centerline goodness : 0.089849 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.20, Z:-1.20 [[ 9.95565573e-01 2.71323028e-03 -9.40309973e-02 -1.30242209e+01] [-5.35833697e-03 9.99596662e-01 -2.78891000e-02 -1.19900415e+00] [ 9.39174015e-02 2.82692776e-02 9.95178562e-01 -1.20083493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32463044 meters Centerline goodness : 0.228316 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.20, Z:-1.20 [[ 9.95575664e-01 3.21166413e-03 -9.39083751e-02 -1.30244520e+01] [-5.77960822e-03 9.99616398e-01 -2.70860310e-02 -1.20191807e+00] [ 9.37853604e-02 2.75089469e-02 9.95212321e-01 -1.20095893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38463044 meters Centerline goodness : 0.216054 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95513943e-01 3.29101519e-03 -9.45577037e-02 -1.30223508e+01] [-5.84767364e-03 9.99624416e-01 -2.67737203e-02 -1.20535942e+00] [ 9.44340766e-02 2.72065544e-02 9.95159288e-01 -1.20166442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44463044 meters Centerline goodness : 0.239249 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95575823e-01 3.89659757e-03 -9.38807603e-02 -1.30241887e+01] [-6.35511250e-03 9.99644263e-01 -2.59029107e-02 -1.20868991e+00] [ 9.37464302e-02 2.63849344e-02 9.95246423e-01 -1.20143965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50463044 meters Centerline goodness : 0.155725 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95569720e-01 3.99117415e-03 -9.39414901e-02 -1.30237780e+01] [-6.43322460e-03 9.99648821e-01 -2.57069702e-02 -1.21052035e+00] [ 9.38058988e-02 2.61974278e-02 9.95245773e-01 -1.20181204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56463044 meters Centerline goodness : 0.103042 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95451995e-01 4.92885546e-03 -9.51369167e-02 -1.30201087e+01] [-7.34146406e-03 9.99659843e-01 -2.50259967e-02 -1.21100819e+00] [ 9.49812057e-02 2.56106225e-02 9.95149570e-01 -1.20295612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62463044 meters Centerline goodness : 0.107951 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95471112e-01 4.96528588e-03 -9.49347712e-02 -1.30203816e+01] [-7.39871803e-03 9.99652578e-01 -2.52978883e-02 -1.20950434e+00] [ 9.47761775e-02 2.58857126e-02 9.95162000e-01 -1.20322637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68463044 meters Centerline goodness : 0.116908 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-1.21, Z:-1.20 [[ 9.95458111e-01 5.42229370e-03 -9.50460270e-02 -1.30197625e+01] [-7.85717607e-03 9.99649976e-01 -2.52624330e-02 -1.20668052e+00] [ 9.48757783e-02 2.58944872e-02 9.95152281e-01 -1.20375958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74463043999998 meters Centerline goodness : 0.086865 with order 1 Centerline is valid? [False, False] Translation: X:-13.04, Y:-1.20, Z:-1.21 [[ 9.95516507e-01 -2.51973826e-03 -9.45544035e-02 -1.30388602e+01] [ 2.49462200e-04 9.99711581e-01 -2.40144054e-02 -1.20386312e+00] [ 9.45876423e-02 2.38831493e-02 9.95230010e-01 -1.20758665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80463043999998 meters Centerline goodness : 0.211181 with order 3 Centerline is valid? [False, False] Translation: X:-13.04, Y:-1.20, Z:-1.21 [[ 9.95454433e-01 -3.38995819e-03 -9.51786764e-02 -1.30375015e+01] [ 1.05446818e-03 9.99697371e-01 -2.45775352e-02 -1.20460623e+00] [ 9.52331894e-02 2.43654534e-02 9.95156754e-01 -1.20733989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86463043999998 meters SLAMing on 169.92463044 meters Centerline goodness : 0.462090 with order 1 Centerline is valid? [False, False] Translation: X:-13.06, Y:-1.21, Z:-1.21 [[ 9.95602062e-01 3.88436982e-03 -9.36025934e-02 -1.30578421e+01] [-6.26347990e-03 9.99664399e-01 -2.51367746e-02 -1.21048732e+00] [ 9.34735398e-02 2.56125026e-02 9.95292267e-01 -1.20940598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98463044 meters Centerline goodness : 0.097187 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.21, Z:-1.21 [[ 9.95770844e-01 -1.27192389e-03 -9.18629866e-02 -1.30778493e+01] [-7.94924050e-04 9.99747445e-01 -2.24591528e-02 -1.20556799e+00] [ 9.18683525e-02 2.24371937e-02 9.95518346e-01 -1.21290613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04463044 meters Centerline goodness : 0.164924 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.20, Z:-1.21 [[ 9.95901338e-01 -8.75833279e-04 -9.04420096e-02 -1.30821507e+01] [-1.16568383e-03 9.99745772e-01 -2.25173756e-02 -1.20345821e+00] [ 9.04387382e-02 2.25305113e-02 9.95647132e-01 -1.21179945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10463044 meters Centerline goodness : 0.171673 with order 1 Centerline is valid? [False, False] Translation: X:-13.09, Y:-1.20, Z:-1.21 [[ 9.96016129e-01 5.63153591e-04 -8.91714835e-02 -1.30865909e+01] [-2.48516912e-03 9.99766950e-01 -2.14445931e-02 -1.20150081e+00] [ 8.91386254e-02 2.15807668e-02 9.95785407e-01 -1.21049874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16463044 meters Centerline goodness : 0.093241 with order 1 Centerline is valid? [False, False] Translation: X:-13.09, Y:-1.19, Z:-1.21 [[ 9.96014944e-01 3.26305380e-03 -8.91267901e-02 -1.30851615e+01] [-5.07889695e-03 9.99783977e-01 -2.01545277e-02 -1.19235750e+00] [ 8.90417714e-02 2.05268766e-02 9.95816354e-01 -1.21210320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22463044 meters Centerline goodness : 0.161237 with order 1 Centerline is valid? [False, False] Translation: X:-13.09, Y:-1.19, Z:-1.21 [[ 9.95985935e-01 6.84627428e-03 -8.92476674e-02 -1.30853431e+01] [-8.43671794e-03 9.99812046e-01 -1.74555252e-02 -1.18774382e+00] [ 8.91113876e-02 1.81384150e-02 9.95856495e-01 -1.21162193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28463044 meters Centerline goodness : 0.407569 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.18, Z:-1.21 [[ 9.95939818e-01 1.01157839e-02 -8.94513788e-02 -1.30840175e+01] [-1.15231633e-02 9.99817599e-01 -1.52310493e-02 -1.18066952e+00] [ 8.92809888e-02 1.61999713e-02 9.95874724e-01 -1.21243054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34463044 meters Centerline goodness : 0.086283 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:-1.18, Z:-1.21 [[ 9.95880719e-01 9.61462246e-03 -9.01618077e-02 -1.30816618e+01] [-1.10976495e-02 9.99811016e-01 -1.59616329e-02 -1.17765134e+00] [ 8.99913035e-02 1.68964666e-02 9.95799214e-01 -1.21320336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40463044 meters Centerline goodness : 0.461236 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:-1.17, Z:-1.22 [[ 9.95762147e-01 -3.65684540e-04 -9.19652759e-02 -1.30995382e+01] [-1.12439641e-03 9.99868943e-01 -1.61503131e-02 -1.17415555e+00] [ 9.19591291e-02 1.61852759e-02 9.95631235e-01 -1.21564895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46463043999998 meters Centerline goodness : 0.479410 with order 2 Centerline is valid? [False, False] Translation: X:-13.12, Y:-1.17, Z:-1.22 [[ 9.95739380e-01 -9.43010905e-03 -9.17287269e-02 -1.31216536e+01] [ 8.04007033e-03 9.99847363e-01 -1.55115531e-02 -1.17377836e+00] [ 9.18610014e-02 1.47079589e-02 9.95663212e-01 -1.21776220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52463043999998 meters Centerline goodness : 0.462095 with order 1 Centerline is valid? [False, False] Translation: X:-13.12, Y:-1.17, Z:-1.22 [[ 9.95722790e-01 -9.39010206e-03 -9.19127345e-02 -1.31210187e+01] [ 8.00985073e-03 9.99849724e-01 -1.53743662e-02 -1.17438804e+00] [ 9.20432891e-02 1.45723995e-02 9.95648371e-01 -1.21794401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58463043999998 meters Centerline goodness : 0.093573 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:-1.18, Z:-1.22 [[ 9.95685311e-01 -2.05569133e-03 -9.27714175e-02 -1.31378381e+01] [ 4.92600121e-04 9.99857594e-01 -1.68685994e-02 -1.18018335e+00] [ 9.27928829e-02 1.67501174e-02 9.95544532e-01 -1.22129872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64463044 meters Centerline goodness : 0.101048 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:-1.18, Z:-1.22 [[ 9.95682347e-01 -1.87918202e-03 -9.28069613e-02 -1.31376144e+01] [ 3.23296673e-04 9.99859205e-01 -1.67769382e-02 -1.17994856e+00] [ 9.28254215e-02 1.66744970e-02 9.95542768e-01 -1.22144721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70463044 meters Centerline goodness : 0.463304 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.18, Z:-1.22 [[ 9.95729454e-01 -2.65450885e-03 -9.22811356e-02 -1.31855381e+01] [ 1.04909223e-03 9.99847341e-01 -1.74411766e-02 -1.18424369e+00] [ 9.23133458e-02 1.72698818e-02 9.95580232e-01 -1.22497987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76463044 meters Centerline goodness : 0.211194 with order 2 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.19, Z:-1.22 [[ 9.95758850e-01 -2.52133578e-03 -9.19671485e-02 -1.31868889e+01] [ 9.50430854e-04 9.99852974e-01 -1.71209521e-02 -1.18566258e+00] [ 9.19967946e-02 1.69609312e-02 9.95614844e-01 -1.22424017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82463044 meters Centerline goodness : 0.239768 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.19, Z:-1.22 [[ 9.95753451e-01 -2.25206692e-03 -9.20325685e-02 -1.31865689e+01] [ 7.36605950e-04 9.99863640e-01 -1.64972242e-02 -1.18878943e+00] [ 9.20571718e-02 1.63593762e-02 9.95619329e-01 -1.22430199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88463044 meters Centerline goodness : 0.239460 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.19, Z:-1.22 [[ 9.95815904e-01 -2.04499940e-03 -9.13591973e-02 -1.31885281e+01] [ 5.57937012e-04 9.99866996e-01 -1.62996709e-02 -1.18946319e+00] [ 9.13803790e-02 1.61804989e-02 9.95684598e-01 -1.22390595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94463044 meters Centerline goodness : 0.528189 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.19, Z:-1.22 [[ 9.95885836e-01 -1.28639235e-03 -9.06076539e-02 -1.31904322e+01] [-1.80524770e-04 9.99869084e-01 -1.61797149e-02 -1.18632398e+00] [ 9.06166053e-02 1.61295058e-02 9.95755226e-01 -1.22394258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00463044 meters Centerline goodness : 0.094905 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.18, Z:-1.23 [[ 9.95841429e-01 -1.21799977e-03 -9.10953648e-02 -1.31883883e+01] [-2.78600470e-04 9.99865236e-01 -1.64144194e-02 -1.18437280e+00] [ 9.11030811e-02 1.63715381e-02 9.95706885e-01 -1.22507963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06463044 meters Centerline goodness : 0.091593 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.18, Z:-1.23 [[ 9.95807304e-01 -1.21703075e-03 -9.14676578e-02 -1.31872350e+01] [-2.92570393e-04 9.99864005e-01 -1.64889865e-02 -1.18344856e+00] [ 9.14752862e-02 1.64466139e-02 9.95671523e-01 -1.22539172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12463044 meters Centerline goodness : 0.461737 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.18, Z:-1.23 [[ 9.95793281e-01 -1.54390786e-03 -9.16152761e-02 -1.31864266e+01] [-4.99156809e-06 9.99857118e-01 -1.69039258e-02 -1.18265096e+00] [ 9.16282841e-02 1.68332730e-02 9.95650992e-01 -1.22592388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18463044 meters Centerline goodness : 0.179088 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:-1.18, Z:-1.23 [[ 9.95710491e-01 -1.08752161e-03 -9.25172218e-02 -1.31829377e+01] [-4.76882804e-04 9.99857315e-01 -1.68855443e-02 -1.17923951e+00] [ 9.25223844e-02 1.68572334e-02 9.95567899e-01 -1.22756049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24463043999998 meters Centerline goodness : 0.128414 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:-1.18, Z:-1.23 [[ 9.95731262e-01 -7.51939155e-04 -9.22967444e-02 -1.31840723e+01] [-8.09274579e-04 9.99857253e-01 -1.68765629e-02 -1.17609760e+00] [ 9.22962594e-02 1.68792147e-02 9.95588516e-01 -1.22690685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30463043999998 meters Centerline goodness : 0.102430 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:-1.17, Z:-1.23 [[ 9.95765688e-01 -1.12828085e-03 -9.19207400e-02 -1.31849733e+01] [-5.21265251e-04 9.99839300e-01 -1.79193247e-02 -1.17035985e+00] [ 9.19261863e-02 1.78913638e-02 9.95605080e-01 -1.22701049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36463043999998 meters Centerline goodness : 0.349011 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:-1.16, Z:-1.23 [[ 9.95729204e-01 -5.93024398e-04 -9.23200950e-02 -1.31837810e+01] [-1.07459282e-03 9.99837181e-01 -1.80126688e-02 -1.16293429e+00] [ 9.23157455e-02 1.80349469e-02 9.95566444e-01 -1.22731925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42463044 meters Centerline goodness : 0.226246 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:-1.16, Z:-1.23 [[ 9.95728209e-01 -1.06344372e-03 -9.23266132e-02 -1.31844616e+01] [-6.91436841e-04 9.99819753e-01 -1.89732423e-02 -1.15590026e+00] [ 9.23301486e-02 1.89560306e-02 9.95547996e-01 -1.22662435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48463044 meters Centerline goodness : 0.194297 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.16, Z:-1.23 [[ 9.95764561e-01 -1.52343006e-03 -9.19272457e-02 -1.31864575e+01] [-2.42112727e-04 9.99815794e-01 -1.91916629e-02 -1.15564752e+00] [ 9.19395493e-02 1.91326345e-02 9.95580766e-01 -1.22527442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54463044 meters Centerline goodness : 0.219947 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.15, Z:-1.22 [[ 9.95859283e-01 -3.39934438e-03 -9.08445567e-02 -1.31898446e+01] [ 1.52457253e-03 9.99784599e-01 -2.06985704e-02 -1.15405887e+00] [ 9.08953503e-02 2.04743644e-02 9.95649956e-01 -1.22430163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60463044 meters Centerline goodness : 0.110337 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.15, Z:-1.22 [[ 9.95900981e-01 -3.34151751e-03 -9.03884463e-02 -1.31915365e+01] [ 1.46990849e-03 9.99783305e-01 -2.07649339e-02 -1.15232840e+00] [ 9.04382460e-02 2.05469553e-02 9.95690085e-01 -1.22352967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66463044 meters Centerline goodness : 0.373574 with order 2 Centerline is valid? [False, False] Translation: X:-13.19, Y:-1.15, Z:-1.22 [[ 9.95971412e-01 -3.12082064e-03 -8.96170050e-02 -1.31940058e+01] [ 1.25828029e-03 9.99782192e-01 -2.08323153e-02 -1.15008932e+00] [ 8.96624996e-02 2.06356272e-02 9.95758408e-01 -1.22275704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72463044 meters Centerline goodness : 0.176324 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.15, Z:-1.23 [[ 9.95744089e-01 1.48892476e-03 -9.21492899e-02 -1.32128069e+01] [-3.79237408e-03 9.99684572e-01 -2.48268757e-02 -1.15414451e+00] [ 9.20832581e-02 2.50706793e-02 9.95435651e-01 -1.22547474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78463044 meters Centerline goodness : 0.098081 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.16, Z:-1.23 [[ 9.95757585e-01 1.66192342e-03 -9.20003816e-02 -1.32128745e+01] [-3.88380721e-03 9.99704965e-01 -2.39770462e-02 -1.15892703e+00] [ 9.19333903e-02 2.42326374e-02 9.95470256e-01 -1.22568003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84463044 meters Centerline goodness : 0.461487 with order 2 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.16, Z:-1.23 [[ 9.95808036e-01 -2.17449401e-03 -9.14419284e-02 -1.32138442e+01] [-3.26936808e-04 9.99626370e-01 -2.73315305e-02 -1.16072135e+00] [ 9.14671953e-02 2.72468535e-02 9.95435262e-01 -1.22603626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90463044 meters Centerline goodness : 0.323628 with order 2 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.16, Z:-1.23 [[ 9.95700143e-01 -1.38083970e-04 -9.26348012e-02 -1.32080772e+01] [-2.23613765e-03 9.99671667e-01 -2.55256251e-02 -1.16088013e+00] [ 9.26079108e-02 2.56230127e-02 9.95372913e-01 -1.22884030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96463043999998 meters Centerline goodness : 0.095858 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.16, Z:-1.23 [[ 9.95668099e-01 -4.29417989e-04 -9.29776977e-02 -1.32068594e+01] [-1.98726645e-03 9.99662617e-01 -2.58979408e-02 -1.16029733e+00] [ 9.29574496e-02 2.59705250e-02 9.95331324e-01 -1.22927189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02463043999998 meters Centerline goodness : 0.461487 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:-1.16, Z:-1.23 [[ 9.95607289e-01 -5.57056387e-04 -9.36259347e-02 -1.32049248e+01] [-1.88028004e-03 9.99661669e-01 -2.59424746e-02 -1.16072326e+00] [ 9.36087095e-02 2.60045598e-02 9.95269397e-01 -1.22969863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08463043999998 meters Centerline goodness : 0.464043 with order 2 Centerline is valid? [False, False] Translation: X:-13.20, Y:-1.16, Z:-1.23 [[ 9.95605133e-01 -9.17508700e-05 -9.36504725e-02 -1.32045746e+01] [-2.27915912e-03 9.99679597e-01 -2.52093121e-02 -1.16285687e+00] [ 9.36227795e-02 2.53119649e-02 9.95285929e-01 -1.22991785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14463044 meters Centerline goodness : 0.463507 with order 2 Centerline is valid? [False, False] Translation: X:-13.21, Y:-1.16, Z:-1.23 [[ 9.95648726e-01 -1.99546832e-04 -9.31856963e-02 -1.32064811e+01] [-2.17443948e-03 9.99675673e-01 -2.53736368e-02 -1.16305525e+00] [ 9.31605369e-02 2.54658558e-02 9.95325376e-01 -1.22892277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20463044 meters SLAMing on 172.26463044 meters Centerline goodness : 0.116401 with order 1 Centerline is valid? [False, False] Translation: X:-13.23, Y:-1.16, Z:-1.23 [[ 9.95524709e-01 1.08400313e-02 -9.38778281e-02 -1.32278723e+01] [-1.31764269e-02 9.99617785e-01 -2.43036135e-02 -1.16421847e+00] [ 9.35784947e-02 2.54318221e-02 9.95287038e-01 -1.23069046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32463044 meters Centerline goodness : 0.462130 with order 2 Centerline is valid? [False, False] Translation: X:-13.23, Y:-1.16, Z:-1.23 [[ 9.95571816e-01 1.08658223e-02 -9.33739379e-02 -1.32299324e+01] [-1.32452823e-02 9.99602165e-01 -2.49012773e-02 -1.15926084e+00] [ 9.30662176e-02 2.60277741e-02 9.95319664e-01 -1.22971864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38463044 meters SLAMing on 172.44463044 meters Centerline goodness : 0.102546 with order 1 Centerline is valid? [False, False] Translation: X:-13.28, Y:-1.16, Z:-1.23 [[ 9.95563965e-01 1.16133139e-02 -9.33676769e-02 -1.32762348e+01] [-1.40235601e-02 9.99584063e-01 -2.52000236e-02 -1.15596474e+00] [ 9.30361860e-02 2.63975827e-02 9.95312733e-01 -1.23354106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50463044 meters Centerline goodness : 0.337070 with order 1 Centerline is valid? [False, False] Translation: X:-13.26, Y:-1.15, Z:-1.23 [[ 9.95570110e-01 3.61280684e-03 -9.39526666e-02 -1.32579337e+01] [-5.98937665e-03 9.99668865e-01 -2.50257277e-02 -1.14653486e+00] [ 9.38311424e-02 2.54775844e-02 9.95262081e-01 -1.22973915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56463044 meters Centerline goodness : 0.098535 with order 1 Centerline is valid? [False, False] Translation: X:-13.26, Y:-1.14, Z:-1.23 [[ 9.95477396e-01 3.45680432e-03 -9.49357924e-02 -1.32551727e+01] [-5.89059250e-03 9.99660828e-01 -2.53678803e-02 -1.14430759e+00] [ 9.48159011e-02 2.58123795e-02 9.95160121e-01 -1.23009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62463044 meters Centerline goodness : 0.099785 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:-1.14, Z:-1.23 [[ 9.95457050e-01 3.34315271e-03 -9.51529538e-02 -1.32540048e+01] [-5.79523248e-03 9.99657891e-01 -2.55052097e-02 -1.14411919e+00] [ 9.50351333e-02 2.59407743e-02 9.95135870e-01 -1.23081864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68463044 meters Centerline goodness : 0.461012 with order 3 Centerline is valid? [False, False] Translation: X:-13.25, Y:-1.15, Z:-1.23 [[ 9.95464431e-01 3.35431323e-03 -9.50753090e-02 -1.32545582e+01] [-5.78877197e-03 9.99662096e-01 -2.53413512e-02 -1.14540977e+00] [ 9.49581798e-02 2.57767831e-02 9.95147477e-01 -1.23031261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74463043999998 meters SLAMing on 172.80463043999998 meters Centerline goodness : 0.093556 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.16, Z:-1.23 [[ 9.95225733e-01 2.17116565e-03 -9.75757499e-02 -1.32969807e+01] [-4.72760376e-03 9.99651389e-01 -2.59759638e-02 -1.15500158e+00] [ 9.74853358e-02 2.63132471e-02 9.94889050e-01 -1.23464237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86463043999998 meters Centerline goodness : 0.100103 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.16, Z:-1.23 [[ 9.95173118e-01 2.33357320e-03 -9.81071876e-02 -1.32955839e+01] [-4.85642344e-03 9.99663426e-01 -2.54843131e-02 -1.15766758e+00] [ 9.80146977e-02 2.58377534e-02 9.94849501e-01 -1.23463924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92463044 meters Centerline goodness : 0.091856 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.16, Z:-1.23 [[ 9.95139915e-01 2.14775362e-03 -9.84476377e-02 -1.32950391e+01] [-4.70010537e-03 9.99658615e-01 -2.57013993e-02 -1.15759469e+00] [ 9.83588289e-02 2.60392025e-02 9.94810284e-01 -1.23425155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98463044 meters Centerline goodness : 0.198783 with order 2 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.16, Z:-1.23 [[ 9.95222063e-01 2.17376909e-03 -9.76131187e-02 -1.32978368e+01] [-4.66634116e-03 9.99668654e-01 -2.53141881e-02 -1.15952160e+00] [ 9.75257478e-02 2.56487346e-02 9.94902443e-01 -1.23311481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04463044 meters Centerline goodness : 0.098675 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.16, Z:-1.23 [[ 9.95176148e-01 2.29650582e-03 -9.80773213e-02 -1.32969473e+01] [-4.74094495e-03 9.99683721e-01 -2.46978182e-02 -1.16308426e+00] [ 9.79895828e-02 2.50436587e-02 9.94872282e-01 -1.23266115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10463044 meters Centerline goodness : 0.132492 with order 2 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.17, Z:-1.23 [[ 9.95148726e-01 -1.49602466e-03 -9.83706007e-02 -1.32964463e+01] [-1.21020475e-03 9.99622579e-01 -2.74451282e-02 -1.16920730e+00] [ 9.83745321e-02 2.74310329e-02 9.94771325e-01 -1.23235524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16463044 meters Centerline goodness : 0.144457 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.18, Z:-1.23 [[ 9.95201513e-01 -1.35494170e-03 -9.78371750e-02 -1.32973273e+01] [-1.26467267e-03 9.99642471e-01 -2.67082673e-02 -1.17670878e+00] [ 9.78383835e-02 2.67038400e-02 9.94843986e-01 -1.23274029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22463044 meters Centerline goodness : 0.462569 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.18, Z:-1.23 [[ 9.95173545e-01 -1.16967452e-03 -9.81236347e-02 -1.32962486e+01] [-1.41431274e-03 9.99654138e-01 -2.62603052e-02 -1.17976377e+00] [ 9.81204135e-02 2.62723385e-02 9.94827698e-01 -1.23317941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28463044 meters Centerline goodness : 0.102158 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.18, Z:-1.23 [[ 9.95194695e-01 -5.80391160e-04 -9.79141615e-02 -1.32971998e+01] [-1.91056739e-03 9.99676950e-01 -2.53445483e-02 -1.18401826e+00] [ 9.78972400e-02 2.54098316e-02 9.94872088e-01 -1.23261749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34463044 meters Centerline goodness : 0.120025 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.19, Z:-1.23 [[ 9.95193461e-01 -5.06137539e-04 -9.79271066e-02 -1.32970359e+01] [-1.95678502e-03 9.99684212e-01 -2.50528934e-02 -1.18646795e+00] [ 9.79088626e-02 2.51240979e-02 9.94878201e-01 -1.23275861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40463044 meters Centerline goodness : 0.105034 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.19, Z:-1.23 [[ 9.95181989e-01 -2.85978626e-05 -9.80449245e-02 -1.32963087e+01] [-2.35041824e-03 9.99705608e-01 -2.41489639e-02 -1.19079348e+00] [ 9.80167515e-02 2.42630606e-02 9.94888949e-01 -1.23326464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46463043999998 meters Centerline goodness : 0.106701 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:-1.19, Z:-1.23 [[ 9.95176990e-01 4.20080949e-05 -9.80956542e-02 -1.32961130e+01] [-2.39159910e-03 9.99713055e-01 -2.38345762e-02 -1.19324794e+00] [ 9.80665050e-02 2.39542273e-02 9.94891530e-01 -1.23330269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52463043999998 meters Centerline goodness : 0.106072 with order 1 Centerline is valid? [False, False] Translation: X:-13.34, Y:-1.20, Z:-1.24 [[ 9.94811726e-01 1.26828837e-03 -1.01725229e-01 -1.33372501e+01] [-3.63412183e-03 9.99727128e-01 -2.30751480e-02 -1.19692975e+00] [ 1.01668205e-01 2.33251097e-02 9.94544879e-01 -1.23723317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58463043999998 meters Centerline goodness : 0.102527 with order 1 Centerline is valid? [False, False] Translation: X:-13.34, Y:-1.20, Z:-1.24 [[ 9.94777890e-01 1.61858129e-03 -1.02050624e-01 -1.33356426e+01] [-3.98165465e-03 9.99728537e-01 -2.29564506e-02 -1.19600564e+00] [ 1.01985764e-01 2.32428999e-02 9.94514289e-01 -1.23828319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64463044 meters Centerline goodness : 0.104615 with order 1 Centerline is valid? [False, False] Translation: X:-13.34, Y:-1.19, Z:-1.24 [[ 9.94786490e-01 1.59677005e-03 -1.01967102e-01 -1.33362057e+01] [-4.00357764e-03 9.99718085e-01 -2.34034802e-02 -1.19369460e+00] [ 1.01900985e-01 2.36896991e-02 9.94512437e-01 -1.23787601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70463044 meters Centerline goodness : 0.111246 with order 1 Centerline is valid? [False, False] Translation: X:-13.34, Y:-1.19, Z:-1.24 [[ 9.94744541e-01 1.63517399e-03 -1.02374916e-01 -1.33350665e+01] [-4.07583524e-03 9.99712327e-01 -2.36357826e-02 -1.19178221e+00] [ 1.02306817e-01 2.39288290e-02 9.94465045e-01 -1.23809782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76463044 meters Centerline goodness : 0.103374 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:-1.19, Z:-1.24 [[ 9.94758825e-01 -6.10201205e-03 -1.02066870e-01 -1.33548548e+01] [ 3.84101266e-03 9.99743186e-01 -2.23340221e-02 -1.18876127e+00] [ 1.02176940e-01 2.18249254e-02 9.94526795e-01 -1.24154525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82463044 meters Centerline goodness : 0.099501 with order 1 Centerline is valid? [False, False] Translation: X:-13.36, Y:-1.19, Z:-1.24 [[ 9.94811975e-01 -6.32798518e-03 -1.01533698e-01 -1.33565606e+01] [ 4.09002315e-03 9.99744414e-01 -2.22346263e-02 -1.19039644e+00] [ 1.01648448e-01 2.17039973e-02 9.94583596e-01 -1.24091678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88463044 meters Centerline goodness : 0.106607 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:-1.20, Z:-1.24 [[ 9.95042734e-01 -2.22146266e-03 -9.94234487e-02 -1.33774681e+01] [-2.62781424e-04 9.99688255e-01 -2.49664330e-02 -1.19952872e+00] [ 9.94479160e-02 2.48687944e-02 9.94731951e-01 -1.24341450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94463044 meters Centerline goodness : 0.103082 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:-1.20, Z:-1.24 [[ 9.95078967e-01 -2.09518704e-03 -9.90629052e-02 -1.33782742e+01] [-3.26299721e-04 9.99701700e-01 -2.44214122e-02 -1.20294917e+00] [ 9.90845221e-02 2.43335578e-02 9.94781451e-01 -1.24340390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00463044 meters Centerline goodness : 0.101526 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:-1.21, Z:-1.24 [[ 9.95053763e-01 -2.31465178e-03 -9.93108853e-02 -1.33778242e+01] [-8.15372859e-05 9.99709132e-01 -2.41173210e-02 -1.20952278e+00] [ 9.93378222e-02 2.40061285e-02 9.94764144e-01 -1.24321451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06463044 meters Centerline goodness : 0.108847 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:-1.21, Z:-1.24 [[ 9.95023364e-01 -2.15332395e-03 -9.96186186e-02 -1.33766658e+01] [-2.01477325e-04 9.99720940e-01 -2.36220671e-02 -1.21275227e+00] [ 9.96416850e-02 2.35245795e-02 9.94745258e-01 -1.24363938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12463044 meters Centerline goodness : 0.257450 with order 3 Centerline is valid? [False, False] Translation: X:-13.38, Y:-1.22, Z:-1.24 [[ 9.94986508e-01 -1.95013494e-03 -9.99902308e-02 -1.33752598e+01] [-3.74422001e-04 9.99730221e-01 -2.32238055e-02 -1.21513536e+00] [ 1.00008545e-01 2.31448117e-02 9.94717351e-01 -1.24429777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18463044 meters Centerline goodness : 0.211502 with order 3 Centerline is valid? [False, False] Translation: X:-13.37, Y:-1.21, Z:-1.24 [[ 9.94948885e-01 -1.83917080e-03 -1.00365995e-01 -1.33741860e+01] [-5.02160561e-04 9.99728446e-01 -2.32976861e-02 -1.21436136e+00] [ 1.00381589e-01 2.32304066e-02 9.94677779e-01 -1.24453729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24463043999998 meters SLAMing on 174.30463043999998 meters Centerline goodness : 0.237080 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:-1.22, Z:-1.25 [[ 9.95033193e-01 6.48970909e-03 -9.93319142e-02 -1.33952280e+01] [-8.89751795e-03 9.99676758e-01 -2.38162566e-02 -1.21911676e+00] [ 9.91452453e-02 2.45817733e-02 9.94769298e-01 -1.24712677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36463043999998 meters Centerline goodness : 0.234284 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:-1.22, Z:-1.25 [[ 9.95063449e-01 6.08347492e-03 -9.90541497e-02 -1.33960672e+01] [-8.51662145e-03 9.99671839e-01 -2.41595143e-02 -1.21964636e+00] [ 9.88746701e-02 2.48838564e-02 9.94788718e-01 -1.24694460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42463044 meters Centerline goodness : 0.117582 with order 1 Centerline is valid? [False, False] Translation: X:-13.40, Y:-1.22, Z:-1.25 [[ 9.95032438e-01 6.13652098e-03 -9.93619174e-02 -1.33952233e+01] [-8.55276151e-03 9.99677532e-01 -2.39098947e-02 -1.22130247e+00] [ 9.91831528e-02 2.46409396e-02 9.94764056e-01 -1.24704399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48463044 meters Centerline goodness : 0.120147 with order 2 Centerline is valid? [False, False] Translation: X:-13.42, Y:-1.22, Z:-1.25 [[ 9.95130136e-01 -1.81860519e-03 -9.85530616e-02 -1.34174605e+01] [-4.06396544e-04 9.99745591e-01 -2.25519119e-02 -1.22241022e+00] [ 9.85690018e-02 2.24821388e-02 9.94876226e-01 -1.24937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54463044 meters Centerline goodness : 0.118758 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:-1.22, Z:-1.25 [[ 9.95147841e-01 -1.70360065e-03 -9.83761783e-02 -1.34175799e+01] [-4.95876505e-04 9.99750553e-01 -2.23290451e-02 -1.22378263e+00] [ 9.83896784e-02 2.22694835e-02 9.94898759e-01 -1.24971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60463044 meters Centerline goodness : 0.119030 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:-1.22, Z:-1.25 [[ 9.95135208e-01 -1.66180224e-03 -9.85046008e-02 -1.34172978e+01] [-5.31152135e-04 9.99752696e-01 -2.22320525e-02 -1.22448293e+00] [ 9.85171855e-02 2.21762191e-02 9.94888225e-01 -1.24965106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66463044 meters Centerline goodness : 0.117052 with order 2 Centerline is valid? [False, False] Translation: X:-13.42, Y:-1.22, Z:-1.25 [[ 9.95147401e-01 -1.76066895e-03 -9.83796264e-02 -1.34168486e+01] [-4.38769583e-04 9.99750546e-01 -2.23305397e-02 -1.22460440e+00] [ 9.83944019e-02 2.22653446e-02 9.94898385e-01 -1.25054861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72463044 meters Centerline goodness : 0.121048 with order 1 Centerline is valid? [False, False] Translation: X:-13.42, Y:-1.22, Z:-1.25 [[ 9.95144199e-01 -1.88526140e-03 -9.84096961e-02 -1.34163807e+01] [-3.32139567e-04 9.99746538e-01 -2.25110981e-02 -1.22411254e+00] [ 9.84271923e-02 2.24344745e-02 9.94891342e-01 -1.25101323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78463044 meters Centerline goodness : 0.113476 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:-1.22, Z:-1.25 [[ 9.95093675e-01 -1.77316466e-03 -9.89213536e-02 -1.34146867e+01] [-4.55847475e-04 9.99746603e-01 -2.25060233e-02 -1.22297505e+00] [ 9.89361941e-02 2.24406945e-02 9.94840713e-01 -1.25154623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84463044 meters Centerline goodness : 0.450269 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:-1.22, Z:-1.25 [[ 9.95034592e-01 -2.25931767e-03 -9.95040466e-02 -1.34129465e+01] [-7.62545668e-06 9.99740590e-01 -2.27761508e-02 -1.22378504e+00] [ 9.95296928e-02 2.26638167e-02 9.94776453e-01 -1.25184122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90463044 meters Centerline goodness : 0.180546 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:-1.23, Z:-1.25 [[ 9.94997594e-01 -6.20810563e-03 -9.97058020e-02 -1.34122536e+01] [ 3.63046409e-03 9.99655009e-01 -2.60131387e-02 -1.22616873e+00] [ 9.98328967e-02 2.55210321e-02 9.94676867e-01 -1.25199640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96463043999998 meters Centerline goodness : 0.254296 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:-1.23, Z:-1.25 [[ 9.94997357e-01 -6.17237912e-03 -9.97103882e-02 -1.34120554e+01] [ 3.59960621e-03 9.99656455e-01 -2.59617881e-02 -1.22605117e+00] [ 9.98363792e-02 2.54729924e-02 9.94677749e-01 -1.25221515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02463043999998 meters Centerline goodness : 0.230041 with order 3 Centerline is valid? [False, False] Translation: X:-13.45, Y:-1.22, Z:-1.26 [[ 9.94719325e-01 -4.57661924e-03 -1.02530580e-01 -1.34546233e+01] [ 2.02749354e-03 9.99686581e-01 -2.49525344e-02 -1.22474854e+00] [ 1.02612644e-01 2.46128881e-02 9.94416840e-01 -1.25709427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08463043999998 meters Centerline goodness : 0.122351 with order 1 Centerline is valid? [False, False] Translation: X:-13.45, Y:-1.22, Z:-1.26 [[ 9.94660634e-01 -4.81175181e-03 -1.03087678e-01 -1.34536158e+01] [ 2.18666136e-03 9.99670834e-01 -2.55625310e-02 -1.22208591e+00] [ 1.03176745e-01 2.52006255e-02 9.94343747e-01 -1.25673117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14463044 meters Centerline goodness : 0.109112 with order 1 Centerline is valid? [False, False] Translation: X:-13.50, Y:-1.22, Z:-1.26 [[ 9.94647138e-01 -4.24813870e-03 -1.03242549e-01 -1.35013543e+01] [ 1.64684723e-03 9.99679354e-01 -2.52681156e-02 -1.22111674e+00] [ 1.03316788e-01 2.49628341e-02 9.94335204e-01 -1.25988628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20463044 meters Centerline goodness : 0.117142 with order 1 Centerline is valid? [False, False] Translation: X:-13.50, Y:-1.22, Z:-1.26 [[ 9.94736644e-01 -4.38621953e-03 -1.02370747e-01 -1.35041922e+01] [ 1.78351762e-03 9.99673181e-01 -2.55019698e-02 -1.21971707e+00] [ 1.02449148e-01 2.51851638e-02 9.94419368e-01 -1.25882206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26463044 meters Centerline goodness : 0.098519 with order 1 Centerline is valid? [False, False] Translation: X:-13.51, Y:-1.22, Z:-1.26 [[ 9.94772328e-01 -4.86416773e-03 -1.02001745e-01 -1.35056388e+01] [ 2.24177314e-03 9.99664399e-01 -2.58081998e-02 -1.21975027e+00] [ 1.02093049e-01 2.54446182e-02 9.94449386e-01 -1.25812534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32463044 meters Centerline goodness : 0.122915 with order 1 Centerline is valid? [False, False] Translation: X:-13.50, Y:-1.22, Z:-1.26 [[ 9.94754313e-01 -4.81766155e-03 -1.02179484e-01 -1.35049596e+01] [ 2.22433547e-03 9.99672886e-01 -2.54788752e-02 -1.22181364e+00] [ 1.02268809e-01 2.51179395e-02 9.94439631e-01 -1.25834178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38463044 meters Centerline goodness : 0.127275 with order 1 Centerline is valid? [False, False] Translation: X:-13.55, Y:-1.23, Z:-1.26 [[ 9.94589229e-01 -7.36375986e-03 -1.03624513e-01 -1.35492148e+01] [ 4.63085812e-03 9.99635723e-01 -2.65890350e-02 -1.23103792e+00] [ 1.03782560e-01 2.59652974e-02 9.94261024e-01 -1.26308641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44463044 meters Centerline goodness : 0.115665 with order 1 Centerline is valid? [False, False] Translation: X:-13.55, Y:-1.24, Z:-1.26 [[ 9.94557922e-01 -6.94438921e-03 -1.03953432e-01 -1.35474559e+01] [ 4.30096690e-03 9.99662207e-01 -2.56315032e-02 -1.23622945e+00] [ 1.04096313e-01 2.50449143e-02 9.94251834e-01 -1.26416397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50463044 meters Centerline goodness : 0.106910 with order 1 Centerline is valid? [False, False] Translation: X:-13.59, Y:-1.24, Z:-1.27 [[ 9.94242450e-01 -6.56431788e-03 -1.06952612e-01 -1.35897330e+01] [ 3.87324534e-03 9.99671142e-01 -2.53496774e-02 -1.24156576e+00] [ 1.07083843e-01 2.47894716e-02 9.93940910e-01 -1.26921146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56463044 meters Centerline goodness : 0.111310 with order 1 Centerline is valid? [False, False] Translation: X:-13.59, Y:-1.24, Z:-1.27 [[ 9.94158666e-01 -6.18447065e-03 -1.07751100e-01 -1.35873693e+01] [ 3.47533816e-03 9.99673555e-01 -2.53121705e-02 -1.24073618e+00] [ 1.07872468e-01 2.47898421e-02 9.93855621e-01 -1.26988215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62463044 meters Centerline goodness : 0.119717 with order 1 Centerline is valid? [False, False] Translation: X:-13.59, Y:-1.24, Z:-1.27 [[ 9.94126654e-01 -2.53656174e-03 -1.08193168e-01 -1.35855615e+01] [ 9.08726329e-05 9.99744498e-01 -2.26037816e-02 -1.23736529e+00] [ 1.08222860e-01 2.24611900e-02 9.93872883e-01 -1.27078793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68463044 meters Centerline goodness : 0.124489 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.24, Z:-1.28 [[ 9.93957592e-01 -2.85504088e-03 -1.09727632e-01 -1.36307500e+01] [ 3.46461076e-04 9.99738292e-01 -2.28741479e-02 -1.23868251e+00] [ 1.09764222e-01 2.26979166e-02 9.93698455e-01 -1.27519787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74463043999998 meters Centerline goodness : 0.121960 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.24, Z:-1.27 [[ 9.93987250e-01 -2.93627301e-03 -1.09456502e-01 -1.36318284e+01] [ 4.41172665e-04 9.99739661e-01 -2.28126108e-02 -1.23931542e+00] [ 1.09494990e-01 2.26271550e-02 9.93729772e-01 -1.27459434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80463043999998 meters Centerline goodness : 0.222172 with order 3 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.24, Z:-1.27 [[ 9.93980868e-01 -3.08532697e-03 -1.09510345e-01 -1.36318497e+01] [ 5.67887102e-04 9.99735030e-01 -2.30118949e-02 -1.23881947e+00] [ 1.09552327e-01 2.28111937e-02 9.93719245e-01 -1.27438638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86463043999998 meters Centerline goodness : 0.108804 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.24, Z:-1.27 [[ 9.93962856e-01 -2.76922098e-03 -1.09682147e-01 -1.36314149e+01] [ 2.67841917e-04 9.99739694e-01 -2.28138789e-02 -1.23830192e+00] [ 1.09716772e-01 2.26467708e-02 9.93704862e-01 -1.27444408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92463044 meters Centerline goodness : 0.107012 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.24, Z:-1.27 [[ 9.94030043e-01 -2.68841772e-03 -1.09073576e-01 -1.36327423e+01] [ 2.43381824e-04 9.99748532e-01 -2.24235136e-02 -1.24115570e+00] [ 1.09106432e-01 2.22630997e-02 9.93780731e-01 -1.27458790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98463044 meters Centerline goodness : 0.090236 with order 1 Centerline is valid? [False, False] Translation: X:-13.64, Y:-1.25, Z:-1.27 [[ 9.94185681e-01 -3.94828711e-03 -1.07606894e-01 -1.36369601e+01] [ 1.53189344e-03 9.99745012e-01 -2.25291683e-02 -1.25018593e+00] [ 1.07668407e-01 2.22333342e-02 9.93938224e-01 -1.27381467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04463044 meters Centerline goodness : 0.157537 with order 3 Centerline is valid? [False, False] Translation: X:-13.64, Y:-1.26, Z:-1.27 [[ 9.94208691e-01 -3.75704219e-03 -1.07400943e-01 -1.36372862e+01] [ 1.42925925e-03 9.99762582e-01 -2.17425301e-02 -1.25750623e+00] [ 1.07457132e-01 2.14631086e-02 9.93978018e-01 -1.27393082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10463044 meters Centerline goodness : 0.118326 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.27, Z:-1.28 [[ 9.94134308e-01 -6.11883779e-03 -1.07979335e-01 -1.36333202e+01] [ 3.65624474e-03 9.99729023e-01 -2.29894119e-02 -1.26708493e+00] [ 1.08090743e-01 2.24597642e-02 9.93887293e-01 -1.27640633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16463044 meters Centerline goodness : 0.126254 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.27, Z:-1.28 [[ 9.94059804e-01 -5.76990114e-03 -1.08682174e-01 -1.36306881e+01] [ 3.35875386e-03 9.99744447e-01 -2.23553168e-02 -1.27061364e+00] [ 1.08783388e-01 2.18574851e-02 9.93825148e-01 -1.27750443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22463044 meters Centerline goodness : 0.124456 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.27, Z:-1.28 [[ 9.94037014e-01 -5.61660230e-03 -1.08898432e-01 -1.36298575e+01] [ 3.21258919e-03 9.99747529e-01 -2.22386280e-02 -1.27089077e+00] [ 1.08995844e-01 2.17561734e-02 9.93804093e-01 -1.27788652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28463044 meters Centerline goodness : 0.239961 with order 3 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.27, Z:-1.28 [[ 9.94063595e-01 -1.30271750e-03 -1.08792796e-01 -1.36298173e+01] [-7.48894320e-04 9.99822702e-01 -1.88149875e-02 -1.26874170e+00] [ 1.08798018e-01 1.87847685e-02 9.93886374e-01 -1.27843339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34463044 meters Centerline goodness : 0.368353 with order 3 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.27, Z:-1.28 [[ 9.94134438e-01 -8.07012431e-04 -1.08148361e-01 -1.36316320e+01] [-1.23859321e-03 9.99821625e-01 -1.88463017e-02 -1.26605897e+00] [ 1.08144280e-01 1.88697093e-02 9.93956110e-01 -1.27828630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40463044 meters Centerline goodness : 0.230784 with order 3 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.26, Z:-1.28 [[ 9.94095895e-01 -1.20119954e-03 -1.08498423e-01 -1.36307599e+01] [-9.21316322e-04 9.99809230e-01 -1.95103957e-02 -1.26350822e+00] [ 1.08501160e-01 1.94951656e-02 9.93905145e-01 -1.27840660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46463043999998 meters Centerline goodness : 0.119600 with order 1 Centerline is valid? [False, False] Translation: X:-13.63, Y:-1.26, Z:-1.28 [[ 9.94073398e-01 -1.61252393e-03 -1.08699027e-01 -1.36302567e+01] [-5.26045188e-04 9.99806926e-01 -1.96426792e-02 -1.26444188e+00] [ 1.08709715e-01 1.95834454e-02 9.93880620e-01 -1.27830914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52463043999998 meters SLAMing on 176.58463043999998 meters Centerline goodness : 0.124759 with order 1 Centerline is valid? [False, False] Translation: X:-13.67, Y:-1.27, Z:-1.28 [[ 9.93847173e-01 -5.11020510e-03 -1.10642137e-01 -1.36738377e+01] [ 2.83985537e-03 9.99782368e-01 -2.06676298e-02 -1.27276046e+00] [ 1.10723674e-01 2.02262577e-02 9.93645393e-01 -1.28181417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64463044 meters Centerline goodness : 0.124087 with order 1 Centerline is valid? [False, False] Translation: X:-13.67, Y:-1.27, Z:-1.28 [[ 9.93861116e-01 -4.95347186e-03 -1.10523961e-01 -1.36739712e+01] [ 2.71673310e-03 9.99788635e-01 -2.03790152e-02 -1.27390115e+00] [ 1.10601548e-01 1.99536466e-02 9.93664506e-01 -1.28199920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70463044 meters Centerline goodness : 0.119027 with order 1 Centerline is valid? [False, False] Translation: X:-13.70, Y:-1.28, Z:-1.29 [[ 9.94173618e-01 2.57239389e-03 -1.07759918e-01 -1.36951475e+01] [-4.80753800e-03 9.99778556e-01 -2.04872392e-02 -1.27983270e+00] [ 1.07683353e-01 2.08859326e-02 9.93965831e-01 -1.28521610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76463044 meters Centerline goodness : 0.133862 with order 1 Centerline is valid? [False, False] Translation: X:-13.70, Y:-1.28, Z:-1.29 [[ 9.94164265e-01 2.33510598e-03 -1.07851573e-01 -1.36951101e+01] [-4.60506717e-03 9.99772992e-01 -2.08028243e-02 -1.27926584e+00] [ 1.07778513e-01 2.11780883e-02 9.93949335e-01 -1.28505515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82463044 meters Centerline goodness : 0.122729 with order 1 Centerline is valid? [False, False] Translation: X:-13.69, Y:-1.28, Z:-1.29 [[ 9.94150341e-01 2.52556969e-03 -1.07975559e-01 -1.36944376e+01] [-4.76476474e-03 9.99778806e-01 -2.04850196e-02 -1.28055580e+00] [ 1.07899939e-01 2.08796673e-02 9.93942475e-01 -1.28550113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88463044 meters Centerline goodness : 0.117422 with order 1 Centerline is valid? [False, False] Translation: X:-13.70, Y:-1.28, Z:-1.28 [[ 9.94336601e-01 5.33069593e-04 -1.06275297e-01 -1.37003167e+01] [-2.87279622e-03 9.99756830e-01 -2.18638435e-02 -1.28496273e+00] [ 1.06237799e-01 2.20453271e-02 9.94096340e-01 -1.28399022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94463044 meters SLAMing on 177.00463044 meters SLAMing on 177.06463044 meters Centerline goodness : 0.128564 with order 1 Centerline is valid? [False, False] Translation: X:-13.75, Y:-1.30, Z:-1.29 [[ 9.93830228e-01 5.69007804e-03 -1.10765970e-01 -1.37540710e+01] [-8.31876516e-03 9.99694274e-01 -2.32842436e-02 -1.30402786e+00] [ 1.10599617e-01 2.40620212e-02 9.93573723e-01 -1.29425142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12463044 meters Centerline goodness : 0.145609 with order 3 Centerline is valid? [False, False] Translation: X:-13.75, Y:-1.30, Z:-1.29 [[ 9.93841188e-01 5.62165385e-03 -1.10671094e-01 -1.37538005e+01] [-8.24803605e-03 9.99694775e-01 -2.32879234e-02 -1.30480742e+00] [ 1.10506398e-01 2.40573166e-02 9.93584210e-01 -1.29486464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18463044 meters Centerline goodness : 0.090545 with order 1 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.30, Z:-1.30 [[ 9.93890281e-01 -2.35470736e-03 -1.10347477e-01 -1.37740396e+01] [-6.70461374e-05 9.99759336e-01 -2.19377665e-02 -1.30438230e+00] [ 1.10372577e-01 2.18111313e-02 9.93650929e-01 -1.29822063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24463043999998 meters Centerline goodness : 0.129856 with order 2 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.31, Z:-1.30 [[ 9.93872343e-01 -2.51157800e-03 -1.10505465e-01 -1.37736466e+01] [ 1.04015887e-04 9.99762626e-01 -2.17871876e-02 -1.30680962e+00] [ 1.10533954e-01 2.16421889e-02 9.93636684e-01 -1.29821064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30463043999998 meters Centerline goodness : 0.141052 with order 1 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.31, Z:-1.30 [[ 9.93817980e-01 -2.20909486e-03 -1.10999743e-01 -1.37722276e+01] [-1.13547472e-04 9.99781270e-01 -2.09140771e-02 -1.31136573e+00] [ 1.11021665e-01 2.07973896e-02 9.93600351e-01 -1.29835942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36463043999998 meters Centerline goodness : 0.124109 with order 3 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.31, Z:-1.30 [[ 9.93835426e-01 -2.12114942e-03 -1.10845144e-01 -1.37726765e+01] [-1.46116573e-04 9.99791025e-01 -2.04422305e-02 -1.31481114e+00] [ 1.10865341e-01 2.03324092e-02 9.93627430e-01 -1.29819106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42463044 meters Centerline goodness : 0.125234 with order 3 Centerline is valid? [False, False] Translation: X:-13.78, Y:-1.32, Z:-1.30 [[ 9.93935247e-01 -2.09185892e-03 -1.09947029e-01 -1.37754439e+01] [-1.02222314e-04 9.99801046e-01 -1.99463788e-02 -1.31874532e+00] [ 1.09966880e-01 1.98366480e-02 9.93737286e-01 -1.29750547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48463044 meters Centerline goodness : 0.237599 with order 3 Centerline is valid? [False, False] Translation: X:-13.78, Y:-1.32, Z:-1.30 [[ 9.93963947e-01 -1.72437450e-03 -1.09693656e-01 -1.37761376e+01] [-4.32196262e-04 9.99807158e-01 -1.96331269e-02 -1.31874689e+00] [ 1.09706357e-01 1.95620295e-02 9.93771524e-01 -1.29743941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54463044 meters Centerline goodness : 0.126278 with order 2 Centerline is valid? [False, False] Translation: X:-13.78, Y:-1.32, Z:-1.30 [[ 9.93987874e-01 -1.70127580e-03 -1.09476991e-01 -1.37766372e+01] [-4.43983206e-04 9.99808427e-01 -1.95681648e-02 -1.31930996e+00] [ 1.09489309e-01 1.94991245e-02 9.93796697e-01 -1.29750498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60463044 meters Centerline goodness : 0.119436 with order 3 Centerline is valid? [False, False] Translation: X:-13.78, Y:-1.32, Z:-1.30 [[ 9.93960370e-01 -1.74277545e-03 -1.09725775e-01 -1.37756429e+01] [-3.73030090e-04 9.99814455e-01 -1.92591870e-02 -1.32245991e+00] [ 1.09738980e-01 1.91837997e-02 9.93775296e-01 -1.29789590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66463044 meters Centerline goodness : 0.125976 with order 3 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.32, Z:-1.30 [[ 9.93812641e-01 -3.66994331e-03 -1.11008856e-01 -1.37702807e+01] [ 1.35987730e-03 9.99781100e-01 -2.08783046e-02 -1.32478821e+00] [ 1.11061178e-01 2.05981646e-02 9.93600086e-01 -1.29984340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72463044 meters Centerline goodness : 0.128404 with order 3 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.33, Z:-1.30 [[ 9.93782570e-01 -3.35154406e-03 -1.11287787e-01 -1.37690682e+01] [ 1.09725969e-03 9.99793100e-01 -2.03114209e-02 -1.32724347e+00] [ 1.11332836e-01 2.00630244e-02 9.93580633e-01 -1.30050353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78463044 meters Centerline goodness : 0.207606 with order 2 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.33, Z:-1.30 [[ 9.93734136e-01 -3.17432535e-03 -1.11724619e-01 -1.37675080e+01] [ 9.36364316e-04 9.99797982e-01 -2.00778209e-02 -1.32886515e+00] [ 1.11765782e-01 1.98474011e-02 9.93536356e-01 -1.30110486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84463044 meters Centerline goodness : 0.133030 with order 3 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.33, Z:-1.30 [[ 9.93678839e-01 -2.93244140e-03 -1.12221953e-01 -1.37660799e+01] [ 7.32771419e-04 9.99806901e-01 -1.96372959e-02 -1.33104773e+00] [ 1.12257868e-01 1.94309324e-02 9.93489109e-01 -1.30140211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90463044 meters Centerline goodness : 0.118538 with order 2 Centerline is valid? [False, False] Translation: X:-13.76, Y:-1.34, Z:-1.30 [[ 9.93614466e-01 -4.66310089e-03 -1.12732202e-01 -1.37639676e+01] [ 2.39062228e-03 9.99791380e-01 -2.02849865e-02 -1.33991388e+00] [ 1.12803275e-01 1.98859559e-02 9.93418326e-01 -1.30217143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96463043999998 meters Centerline goodness : 0.151262 with order 1 Centerline is valid? [False, False] Translation: X:-13.77, Y:-1.35, Z:-1.30 [[ 9.93689243e-01 -4.69242583e-03 -1.12069930e-01 -1.37667518e+01] [ 2.49549669e-03 9.99802123e-01 -1.97354375e-02 -1.34568672e+00] [ 1.12140361e-01 1.93312218e-02 9.93504325e-01 -1.30085083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02463043999998 meters SLAMing on 178.08463043999998 meters Centerline goodness : 0.135299 with order 2 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.36, Z:-1.30 [[ 9.93670668e-01 5.24967637e-03 -1.12209819e-01 -1.37878078e+01] [-7.36050730e-03 9.99803511e-01 -1.84054779e-02 -1.35685020e+00] [ 1.12091148e-01 1.91149047e-02 9.93514064e-01 -1.30226735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14463044 meters Centerline goodness : 0.132164 with order 3 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.36, Z:-1.30 [[ 9.93698526e-01 5.61438268e-03 -1.11945154e-01 -1.37885798e+01] [-7.70643055e-03 9.99803496e-01 -1.82642051e-02 -1.35596905e+00] [ 1.11820614e-01 1.90118112e-02 9.93546527e-01 -1.30213545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20463044 meters Centerline goodness : 0.116345 with order 2 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.35, Z:-1.30 [[ 9.93827236e-01 6.04519116e-03 -1.10774004e-01 -1.37919612e+01] [-8.14067258e-03 9.99796196e-01 -1.84742171e-02 -1.35323188e+00] [ 1.10639748e-01 1.92619550e-02 9.93673902e-01 -1.30165952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26463044 meters Centerline goodness : 0.149805 with order 3 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.35, Z:-1.30 [[ 9.93802879e-01 6.05347004e-03 -1.10991858e-01 -1.37912802e+01] [-8.18052352e-03 9.99791323e-01 -1.87186794e-02 -1.35102342e+00] [ 1.10855384e-01 1.95106490e-02 9.93645016e-01 -1.30186594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32463044 meters Centerline goodness : 0.129306 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.35, Z:-1.30 [[ 9.93788091e-01 5.89949205e-03 -1.11132473e-01 -1.37908592e+01] [-8.06186448e-03 9.99786632e-01 -1.90183082e-02 -1.34951462e+00] [ 1.10996562e-01 1.97961032e-02 9.93623610e-01 -1.30191684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38463044 meters Centerline goodness : 0.088773 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.34, Z:-1.30 [[ 9.93824271e-01 5.45840426e-03 -1.10831059e-01 -1.37921552e+01] [-7.71334731e-03 9.99771679e-01 -1.99272099e-02 -1.34434303e+00] [ 1.10696983e-01 2.06590233e-02 9.93639463e-01 -1.30125133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44463044 meters Centerline goodness : 0.120347 with order 2 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.33, Z:-1.30 [[ 9.93723768e-01 8.74004488e-03 -1.11519887e-01 -1.37893532e+01] [-1.08174225e-02 9.99778811e-01 -1.80364082e-02 -1.33234770e+00] [ 1.11337581e-01 1.91295652e-02 9.93598512e-01 -1.30223852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50463044 meters Centerline goodness : 0.128504 with order 3 Centerline is valid? [False, False] Translation: X:-13.79, Y:-1.32, Z:-1.30 [[ 9.93682106e-01 8.54606716e-03 -1.11905480e-01 -1.37889150e+01] [-1.07315879e-02 9.99762983e-01 -1.89422832e-02 -1.32279300e+00] [ 1.11717074e-01 2.00235314e-02 9.93538300e-01 -1.30161635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56463044 meters Centerline goodness : 0.146071 with order 3 Centerline is valid? [False, False] Translation: X:-13.81, Y:-1.31, Z:-1.30 [[ 9.93857020e-01 4.49326186e-04 -1.10670783e-01 -1.38088453e+01] [-2.60902461e-03 9.99808969e-01 -1.93705783e-02 -1.30762604e+00] [ 1.10640938e-01 1.95403281e-02 9.93668334e-01 -1.30440925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62463044 meters Centerline goodness : 0.112754 with order 1 Centerline is valid? [False, False] Translation: X:-13.83, Y:-1.30, Z:-1.31 [[ 9.94261829e-01 -6.14253458e-03 -1.06797396e-01 -1.38252180e+01] [ 4.01520730e-03 9.99789451e-01 -2.01229056e-02 -1.29975065e+00] [ 1.06898516e-01 1.95786233e-02 9.94077152e-01 -1.30726126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68463044 meters Centerline goodness : 0.226039 with order 3 Centerline is valid? [False, False] Translation: X:-13.82, Y:-1.30, Z:-1.31 [[ 9.94191929e-01 -6.72736261e-03 -1.07411134e-01 -1.38238394e+01] [ 4.55575411e-03 9.99780491e-01 -2.04503187e-02 -1.29958406e+00] [ 1.07525133e-01 1.98422030e-02 9.94004342e-01 -1.30690685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74463043999998 meters Centerline goodness : 0.107956 with order 1 Centerline is valid? [False, False] Translation: X:-13.82, Y:-1.30, Z:-1.31 [[ 9.94115236e-01 -7.98621686e-03 -1.08032948e-01 -1.38219616e+01] [ 5.75438171e-03 9.99763863e-01 -2.09548339e-02 -1.30221146e+00] [ 1.08174787e-01 2.02098569e-02 9.93926445e-01 -1.30692693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80463043999998 meters Centerline goodness : 0.105422 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.31, Z:-1.31 [[ 9.94393495e-01 -2.44188539e-03 -1.05714780e-01 -1.38421379e+01] [ 9.45958505e-05 9.99753472e-01 -2.22033087e-02 -1.31108365e+00] [ 1.05742936e-01 2.20688256e-02 9.94148580e-01 -1.30969992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86463043999998 meters Centerline goodness : 0.230543 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.31, Z:-1.31 [[ 9.94409287e-01 -2.36542581e-03 -1.05567867e-01 -1.38424996e+01] [ 2.01692678e-06 9.99749490e-01 -2.23820719e-02 -1.30984810e+00] [ 1.05594365e-01 2.22567273e-02 9.94160182e-01 -1.30960903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92463044 meters Centerline goodness : 0.178807 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.31, Z:-1.31 [[ 9.94371551e-01 -2.08623006e-03 -1.05928590e-01 -1.38414074e+01] [-3.04732516e-04 9.99745664e-01 -2.25502558e-02 -1.30714014e+00] [ 1.05948694e-01 2.24556127e-02 9.94118011e-01 -1.30996397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98463044 meters Centerline goodness : 0.184585 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.31, Z:-1.31 [[ 9.94406166e-01 -1.88374725e-03 -1.05606958e-01 -1.38428845e+01] [-4.76332029e-04 9.99750807e-01 -2.23180877e-02 -1.30739169e+00] [ 1.05622683e-01 2.22435480e-02 9.94157469e-01 -1.30905195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04463044 meters Centerline goodness : 0.087417 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.31, Z:-1.31 [[ 9.94454548e-01 -5.81404237e-03 -1.05006420e-01 -1.38449846e+01] [ 3.15456809e-03 9.99670479e-01 -2.54751275e-02 -1.31071131e+00] [ 1.05119931e-01 2.50026066e-02 9.94145195e-01 -1.30820614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10463044 meters Centerline goodness : 0.087465 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.32, Z:-1.31 [[ 9.94370466e-01 -7.36206027e-03 -1.05703249e-01 -1.38421803e+01] [ 4.67393893e-03 9.99659902e-01 -2.56560669e-02 -1.32128570e+00] [ 1.05856181e-01 2.50175846e-02 9.94066693e-01 -1.30918112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16463044 meters Centerline goodness : 0.085063 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.33, Z:-1.31 [[ 9.94298133e-01 -1.08038390e-02 -1.06087228e-01 -1.38416318e+01] [ 7.88562870e-03 9.99579930e-01 -2.78886983e-02 -1.33120542e+00] [ 1.06343969e-01 2.68931162e-02 9.93965654e-01 -1.30858605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22463044 meters Centerline goodness : 0.085932 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.34, Z:-1.31 [[ 9.94263630e-01 -1.08314438e-02 -1.06407306e-01 -1.38406458e+01] [ 7.98295241e-03 9.99599243e-01 -2.71592609e-02 -1.34077679e+00] [ 1.06658836e-01 2.61540209e-02 9.93951639e-01 -1.30882010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28463044 meters Centerline goodness : 0.199423 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.35, Z:-1.31 [[ 9.94284678e-01 -1.20785107e-02 -1.06075863e-01 -1.38413115e+01] [ 9.24316105e-03 9.99587806e-01 -2.71805343e-02 -1.35143935e+00] [ 1.06360439e-01 2.60447125e-02 9.93986484e-01 -1.30883797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34463044 meters Centerline goodness : 0.256045 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.37, Z:-1.31 [[ 9.94282961e-01 -1.52443509e-02 -1.05683502e-01 -1.38436558e+01] [ 1.22740118e-02 9.99512720e-01 -2.86996718e-02 -1.36584057e+00] [ 1.06069512e-01 2.72384342e-02 9.93985577e-01 -1.30728075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40463044 meters Centerline goodness : 0.108253 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-1.37, Z:-1.31 [[ 9.94260489e-01 -1.48652341e-02 -1.05948598e-01 -1.38427559e+01] [ 1.19878594e-02 9.99543189e-01 -2.77435342e-02 -1.37175614e+00] [ 1.06312613e-01 2.63142030e-02 9.93984502e-01 -1.30749054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46463043999998 meters Centerline goodness : 0.464911 with order 2 Centerline is valid? [False, False] Translation: X:-13.86, Y:-1.39, Z:-1.31 [[ 9.94547605e-01 -8.59440249e-03 -1.03928806e-01 -1.38613664e+01] [ 5.69765663e-03 9.99587831e-01 -2.81372365e-02 -1.38540056e+00] [ 1.04127793e-01 2.73916705e-02 9.94186652e-01 -1.31172017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52463043999998 meters Centerline goodness : 0.096306 with order 1 Centerline is valid? [False, False] Translation: X:-13.86, Y:-1.39, Z:-1.31 [[ 9.94483768e-01 -8.62071479e-03 -1.04535724e-01 -1.38599662e+01] [ 5.77085065e-03 9.99604210e-01 -2.75339892e-02 -1.39132453e+00] [ 1.04731713e-01 2.67788452e-02 9.94139911e-01 -1.31159002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58463043999998 meters Centerline goodness : 0.149427 with order 2 Centerline is valid? [False, False] Translation: X:-13.90, Y:-1.40, Z:-1.32 [[ 9.94089263e-01 -1.02041556e-02 -1.08085210e-01 -1.39004352e+01] [ 7.23889840e-03 9.99587534e-01 -2.77913652e-02 -1.39603706e+00] [ 1.08324216e-01 2.68446799e-02 9.93753102e-01 -1.31692449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64463044 meters Centerline goodness : 0.224758 with order 1 Centerline is valid? [False, False] Translation: X:-13.90, Y:-1.40, Z:-1.32 [[ 9.94049801e-01 -9.94388694e-03 -1.08471709e-01 -1.38984293e+01] [ 6.98837443e-03 9.99594811e-01 -2.75930525e-02 -1.39514243e+00] [ 1.08702140e-01 2.66708274e-02 9.93716515e-01 -1.31811624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70463044 meters Centerline goodness : 0.110877 with order 1 Centerline is valid? [False, False] Translation: X:-13.90, Y:-1.39, Z:-1.32 [[ 9.94015555e-01 -1.01222631e-02 -1.08768634e-01 -1.38980027e+01] [ 7.13134445e-03 9.99586623e-01 -2.78518850e-02 -1.39394054e+00] [ 1.09005595e-01 2.69095404e-02 9.93676837e-01 -1.31772601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76463044 meters Centerline goodness : 0.118287 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-1.40, Z:-1.32 [[ 9.93932437e-01 -4.01902137e-03 -1.09918871e-01 -1.39147645e+01] [ 7.50727129e-04 9.99556823e-01 -2.97589319e-02 -1.39989871e+00] [ 1.09989759e-01 2.94958486e-02 9.93494966e-01 -1.32151190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82463044 meters Centerline goodness : 0.462171 with order 2 Centerline is valid? [False, False] Translation: X:-13.96, Y:-1.40, Z:-1.32 [[ 9.93812340e-01 -6.88048079e-03 -1.10858878e-01 -1.39604754e+01] [ 3.56017712e-03 9.99539923e-01 -3.01208829e-02 -1.40262132e+00] [ 1.11015121e-01 2.95398279e-02 9.93379606e-01 -1.32477832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88463044 meters Centerline goodness : 0.111378 with order 1 Centerline is valid? [False, False] Translation: X:-13.96, Y:-1.40, Z:-1.32 [[ 9.93869707e-01 -6.98564424e-03 -1.10336785e-01 -1.39618807e+01] [ 3.70440939e-03 9.99545570e-01 -2.99154038e-02 -1.40434568e+00] [ 1.10495623e-01 2.93232810e-02 9.93443940e-01 -1.32435885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94463044 meters Centerline goodness : 0.151415 with order 3 Centerline is valid? [False, False] Translation: X:-13.98, Y:-1.42, Z:-1.33 [[ 9.94298382e-01 -1.81496988e-03 -1.06618162e-01 -1.39843918e+01] [-1.50246118e-03 9.99517433e-01 -3.10265033e-02 -1.41536037e+00] [ 1.06623024e-01 3.10097917e-02 9.93815840e-01 -1.32750622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00463044 meters Centerline goodness : 0.106762 with order 1 Centerline is valid? [False, False] Translation: X:-13.99, Y:-1.42, Z:-1.33 [[ 9.94334814e-01 -2.09302858e-03 -1.06272751e-01 -1.39857029e+01] [-1.17596150e-03 9.99528308e-01 -3.06884008e-02 -1.41798352e+00] [ 1.06286855e-01 3.06395179e-02 9.93863333e-01 -1.32749099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06463044 meters Centerline goodness : 0.091696 with order 1 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.42, Z:-1.32 [[ 9.94471535e-01 -1.00103125e-02 -1.04528270e-01 -1.39653746e+01] [ 6.91401761e-03 9.99527723e-01 -2.99420548e-02 -1.41907718e+00] [ 1.04778633e-01 2.90538109e-02 9.94071081e-01 -1.32485777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12463044 meters Centerline goodness : 0.211481 with order 3 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.43, Z:-1.32 [[ 9.94642705e-01 -2.01470150e-03 -1.03352941e-01 -1.39493095e+01] [-1.10023301e-03 9.99547101e-01 -3.00729495e-02 -1.42578431e+00] [ 1.03366721e-01 3.00255522e-02 9.94190016e-01 -1.32183813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18463044 meters Centerline goodness : 0.097584 with order 1 Centerline is valid? [False, False] Translation: X:-13.93, Y:-1.42, Z:-1.32 [[ 9.94691404e-01 -9.16539187e-03 -1.02493929e-01 -1.39294172e+01] [ 6.24115102e-03 9.99565270e-01 -2.88152496e-02 -1.42279724e+00] [ 1.02713475e-01 2.80226010e-02 9.94316185e-01 -1.31852824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24463043999998 meters Centerline goodness : 0.220651 with order 3 Centerline is valid? [False, False] Translation: X:-13.91, Y:-1.43, Z:-1.32 [[ 9.94739003e-01 -1.04014989e-03 -1.02436492e-01 -1.39121148e+01] [-1.91770529e-03 9.99584152e-01 -2.87723010e-02 -1.42651452e+00] [ 1.02423822e-01 2.88173730e-02 9.94323348e-01 -1.31665282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30463043999998 meters Centerline goodness : 0.092070 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-1.42, Z:-1.32 [[ 9.94619503e-01 -1.58404356e-03 -1.03583474e-01 -1.39086287e+01] [-1.48107894e-03 9.99563469e-01 -2.95072367e-02 -1.42338695e+00] [ 1.03584997e-01 2.95018884e-02 9.94182975e-01 -1.31744443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36463043999998 meters Centerline goodness : 0.266350 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.41, Z:-1.31 [[ 9.94268195e-01 -6.17935250e-03 -1.06735987e-01 -1.38851334e+01] [ 3.29824308e-03 9.99625975e-01 -2.71483231e-02 -1.41456684e+00] [ 1.06863825e-01 2.66406730e-02 9.93916695e-01 -1.31443519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42463044 meters Centerline goodness : 0.097408 with order 1 Centerline is valid? [False, False] Translation: X:-13.88, Y:-1.41, Z:-1.31 [[ 9.94231167e-01 -6.33337811e-03 -1.07071350e-01 -1.38840840e+01] [ 3.40687240e-03 9.99616186e-01 -2.74931486e-02 -1.41256106e+00] [ 1.07204379e-01 2.69697669e-02 9.93871145e-01 -1.31478631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48463044 meters Centerline goodness : 0.094402 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.42, Z:-1.31 [[ 9.94272027e-01 9.84364604e-04 -1.06874544e-01 -1.38685110e+01] [-4.02461317e-03 9.99593213e-01 -2.82349380e-02 -1.41502627e+00] [ 1.06803275e-01 2.85033377e-02 9.93871531e-01 -1.31211875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54463044 meters Centerline goodness : 0.261966 with order 3 Centerline is valid? [False, False] Translation: X:-13.85, Y:-1.41, Z:-1.31 [[ 9.94272739e-01 -5.83412696e-03 -1.06713086e-01 -1.38512644e+01] [ 2.99014261e-03 9.99636575e-01 -2.67913666e-02 -1.40529858e+00] [ 1.06830608e-01 2.63188381e-02 9.93928840e-01 -1.30767688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60463044 meters Centerline goodness : 0.103366 with order 1 Centerline is valid? [False, False] Translation: X:-13.85, Y:-1.40, Z:-1.31 [[ 9.94160353e-01 -6.49983310e-03 -1.07716966e-01 -1.38484937e+01] [ 3.56030355e-03 9.99616583e-01 -2.74592613e-02 -1.40247912e+00] [ 1.07854146e-01 2.69154038e-02 9.93802316e-01 -1.30788578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66463044 meters Centerline goodness : 0.241682 with order 3 Centerline is valid? [False, False] Translation: X:-13.85, Y:-1.40, Z:-1.31 [[ 9.94159462e-01 -6.62809388e-03 -1.07717375e-01 -1.38490041e+01] [ 3.68571756e-03 9.99615232e-01 -2.74918751e-02 -1.40100822e+00] [ 1.07858147e-01 2.69342920e-02 9.93801370e-01 -1.30714637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72463044 meters Centerline goodness : 0.098951 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.40, Z:-1.31 [[ 9.94265999e-01 -1.41210734e-02 -1.05998670e-01 -1.38695086e+01] [ 1.13751758e-02 9.99585016e-01 -2.64650761e-02 -1.39503603e+00] [ 1.06328397e-01 2.51075718e-02 9.94014025e-01 -1.30959807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78463044 meters Centerline goodness : 0.099352 with order 1 Centerline is valid? [False, False] Translation: X:-13.85, Y:-1.40, Z:-1.31 [[ 9.94513345e-01 -6.20788604e-03 -1.04425426e-01 -1.38535208e+01] [ 3.42609837e-03 9.99635017e-01 -2.67973022e-02 -1.40008058e+00] [ 1.04553668e-01 2.62925029e-02 9.94171633e-01 -1.30679851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84463044 meters Centerline goodness : 0.097175 with order 1 Centerline is valid? [False, False] Translation: X:-13.86, Y:-1.40, Z:-1.31 [[ 9.94573124e-01 -6.32112657e-03 -1.03847698e-01 -1.38551486e+01] [ 3.52883321e-03 9.99627850e-01 -2.70501086e-02 -1.39766151e+00] [ 1.03980038e-01 2.65368498e-02 9.94225300e-01 -1.30612421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90463044 meters Centerline goodness : 0.100927 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.39, Z:-1.31 [[ 9.94344446e-01 -1.36741563e-02 -1.05319226e-01 -1.38715303e+01] [ 1.10369864e-02 9.99611796e-01 -2.55820512e-02 -1.38879720e+00] [ 1.05628154e-01 2.42749637e-02 9.94109360e-01 -1.30913408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96463043999998 meters Centerline goodness : 0.103661 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.38, Z:-1.31 [[ 9.94278884e-01 -1.02084662e-02 -1.06326330e-01 -1.38686271e+01] [ 7.83854622e-03 9.99711973e-01 -2.26832324e-02 -1.38452511e+00] [ 1.06527266e-01 2.17200151e-02 9.94072524e-01 -1.30959804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02463043999998 meters Centerline goodness : 0.101051 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.38, Z:-1.31 [[ 9.94264548e-01 -7.53885865e-03 -1.06682589e-01 -1.38680205e+01] [ 5.35654441e-03 9.99770804e-01 -2.07279237e-02 -1.37813065e+00] [ 1.06814403e-01 2.00375897e-02 9.94077048e-01 -1.30905090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08463043999998 meters Centerline goodness : 0.485550 with order 3 Centerline is valid? [False, False] Translation: X:-13.87, Y:-1.37, Z:-1.31 [[ 9.94210217e-01 -3.99670471e-03 -1.07378170e-01 -1.38657935e+01] [ 2.08792538e-03 9.99837910e-01 -1.78827795e-02 -1.37313459e+00] [ 1.07432238e-01 1.75550444e-02 9.94057410e-01 -1.30950458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14463044 meters Centerline goodness : 0.231428 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.36, Z:-1.31 [[ 9.94083881e-01 4.23382736e-03 -1.08532542e-01 -1.38874130e+01] [-6.35180471e-03 9.99795939e-01 -1.91763986e-02 -1.36485909e+00] [ 1.08429205e-01 1.97523262e-02 9.93907920e-01 -1.31133432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20463044 meters Centerline goodness : 0.456301 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.36, Z:-1.31 [[ 9.94046583e-01 7.99621702e-03 -1.08662101e-01 -1.38866976e+01] [-9.84198369e-03 9.99816075e-01 -1.64606051e-02 -1.35792898e+00] [ 1.08510493e-01 1.74320588e-02 9.93942451e-01 -1.31126957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26463044 meters Centerline goodness : 0.206260 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.35, Z:-1.31 [[ 9.94070775e-01 1.10840435e-02 -1.08168565e-01 -1.38889488e+01] [-1.27830651e-02 9.99805381e-01 -1.50264088e-02 -1.34508652e+00] [ 1.07980960e-01 1.63200396e-02 9.94018998e-01 -1.30939380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32463044 meters Centerline goodness : 0.458041 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.34, Z:-1.31 [[ 9.94049261e-01 1.39136142e-02 -1.08039241e-01 -1.38906611e+01] [-1.54487763e-02 9.99791063e-01 -1.33852988e-02 -1.33676460e+00] [ 1.07830429e-01 1.49747205e-02 9.94056516e-01 -1.30760248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38463044 meters Centerline goodness : 0.464655 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.32, Z:-1.31 [[ 9.94033668e-01 1.62338703e-02 -1.07858832e-01 -1.38909242e+01] [-1.77168170e-02 9.99761046e-01 -1.28048987e-02 -1.32292252e+00] [ 1.07625186e-01 1.46394156e-02 9.94083752e-01 -1.30707029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44463044 meters Centerline goodness : 0.467114 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.31, Z:-1.30 [[ 9.94032939e-01 1.95371249e-02 -1.07316432e-01 -1.38938888e+01] [-2.08425290e-02 9.99721640e-01 -1.10558451e-02 -1.31023013e+00] [ 1.07070560e-01 1.32266201e-02 9.94163443e-01 -1.30495532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50463044 meters SLAMing on 181.56463044 meters Centerline goodness : 0.365884 with order 2 Centerline is valid? [False, False] Translation: X:-13.89, Y:-1.29, Z:-1.30 [[ 9.94006974e-01 2.24776566e-02 -1.06980795e-01 -1.38944494e+01] [-2.36995378e-02 9.99667460e-01 -1.01637306e-02 -1.29227433e+00] [ 1.06716762e-01 1.26382145e-02 9.94209137e-01 -1.30448507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62463044 meters Centerline goodness : 0.291659 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-1.28, Z:-1.31 [[ 9.94263942e-01 1.55909029e-02 -1.05811797e-01 -1.39109687e+01] [-1.66665738e-02 9.99817951e-01 -9.28921732e-03 -1.28084616e+00] [ 1.05647707e-01 1.09994540e-02 9.94342785e-01 -1.30877885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68463044 meters Centerline goodness : 0.467532 with order 2 Centerline is valid? [False, False] Translation: X:-13.93, Y:-1.27, Z:-1.31 [[ 9.94416694e-01 8.61706918e-03 -1.05172172e-01 -1.39276638e+01] [-9.50219606e-03 9.99923505e-01 -7.91780133e-03 -1.27080340e+00] [ 1.05095899e-01 8.87296042e-03 9.94422507e-01 -1.31288844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74463043999998 meters Centerline goodness : 0.289125 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-1.26, Z:-1.31 [[ 9.94300768e-01 1.65796550e-03 -1.06598473e-01 -1.39085484e+01] [-2.46819741e-03 9.99969058e-01 -7.46930383e-03 -1.26237045e+00] [ 1.06582791e-01 7.68984061e-03 9.94274095e-01 -1.30971842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80463043999998 meters Centerline goodness : 0.465761 with order 3 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.25, Z:-1.31 [[ 9.93956341e-01 2.87975260e-03 -1.09738321e-01 -1.39495234e+01] [-3.75073695e-03 9.99963079e-01 -7.73132386e-03 -1.25450735e+00] [ 1.09712005e-01 8.09619795e-03 9.93930444e-01 -1.31479421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86463043999998 meters Centerline goodness : 0.462695 with order 3 Centerline is valid? [False, False] Translation: X:-13.95, Y:-1.25, Z:-1.31 [[ 9.93914760e-01 3.42314920e-03 -1.10098741e-01 -1.39488852e+01] [-4.32450330e-03 9.99959055e-01 -7.94903384e-03 -1.25077384e+00] [ 1.10067022e-01 8.37678443e-03 9.93888867e-01 -1.31448553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92463044 meters Centerline goodness : 0.097817 with order 1 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.25, Z:-1.32 [[ 9.93850132e-01 1.13265701e-02 -1.10152726e-01 -1.39682577e+01] [-1.24014386e-02 9.99881892e-01 -9.07775193e-03 -1.25432933e+00] [ 1.10036896e-01 1.03879772e-02 9.93873217e-01 -1.31760668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98463044 meters Centerline goodness : 0.448708 with order 3 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.26, Z:-1.32 [[ 9.93810018e-01 7.83532139e-03 -1.10816320e-01 -1.39670627e+01] [-9.22038129e-03 9.99885585e-01 -1.19917570e-02 -1.25640006e+00] [ 1.10709682e-01 1.29392970e-02 9.93768555e-01 -1.31714789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04463044 meters Centerline goodness : 0.456156 with order 2 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.26, Z:-1.32 [[ 9.93857464e-01 4.15418231e-03 -1.10589712e-01 -1.39684165e+01] [-5.82100512e-03 9.99874217e-01 -1.47535387e-02 -1.26111424e+00] [ 1.10514513e-01 1.53066579e-02 9.93756635e-01 -1.31632350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10463044 meters Centerline goodness : 0.462054 with order 3 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.27, Z:-1.32 [[ 9.93961855e-01 3.71896663e-03 -1.09663124e-01 -1.39707373e+01] [-5.30052319e-03 9.99886061e-01 -1.41339669e-02 -1.27236027e+00] [ 1.09598066e-01 1.46298959e-02 9.93868316e-01 -1.31624168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16463044 meters Centerline goodness : 0.461243 with order 2 Centerline is valid? [False, False] Translation: X:-13.97, Y:-1.28, Z:-1.32 [[ 9.93941224e-01 4.83522873e-03 -1.09806487e-01 -1.39705982e+01] [-6.29403494e-03 9.99896433e-01 -1.29425215e-02 -1.28017877e+00] [ 1.09732535e-01 1.35552316e-02 9.93868717e-01 -1.31595859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22463044 meters Centerline goodness : 0.432364 with order 1 Centerline is valid? [False, False] Translation: X:-14.01, Y:-1.29, Z:-1.32 [[ 9.93646831e-01 7.75420178e-03 -1.12275766e-01 -1.40137331e+01] [-9.05452530e-03 9.99897661e-01 -1.10762295e-02 -1.28879454e+00] [ 1.12178388e-01 1.20224641e-02 9.93615353e-01 -1.31985318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28463044 meters Centerline goodness : 0.464689 with order 1 Centerline is valid? [False, False] Translation: X:-14.01, Y:-1.30, Z:-1.32 [[ 9.93644311e-01 8.43799776e-03 -1.12248761e-01 -1.40139344e+01] [-9.63722627e-03 9.99902093e-01 -1.01453541e-02 -1.29810719e+00] [ 1.12152165e-01 1.11626401e-02 9.93628345e-01 -1.31978021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34463044 meters Centerline goodness : 0.096374 with order 1 Centerline is valid? [False, False] Translation: X:-14.00, Y:-1.30, Z:-1.32 [[ 9.93837263e-01 1.59792348e-03 -1.10837458e-01 -1.39954574e+01] [-2.51415533e-03 9.99963813e-01 -8.12717660e-03 -1.30163936e+00] [ 1.10820460e-01 8.35575353e-03 9.93805316e-01 -1.31708553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40463044 meters Centerline goodness : 0.220884 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.32, Z:-1.32 [[ 9.93490377e-01 1.37994749e-03 -1.13907712e-01 -1.40342852e+01] [-2.14906443e-03 9.99975715e-01 -6.62958498e-03 -1.32127133e+00] [ 1.13895798e-01 6.83122390e-03 9.93469215e-01 -1.32301702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46463043999998 meters Centerline goodness : 0.253716 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.33, Z:-1.32 [[ 9.93370211e-01 -4.65244632e-04 -1.14958282e-01 -1.40305754e+01] [-3.94323801e-04 9.99972138e-01 -7.45436669e-03 -1.33001641e+00] [ 1.14958547e-01 7.45027660e-03 9.93342351e-01 -1.32393615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52463043999998 meters Centerline goodness : 0.102266 with order 1 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.34, Z:-1.32 [[ 9.93387525e-01 -1.67887561e-05 -1.14809514e-01 -1.40311193e+01] [-7.03343578e-04 9.99980334e-01 -6.23189781e-03 -1.34019692e+00] [ 1.14807361e-01 6.27144008e-03 9.93367978e-01 -1.32363538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58463043999998 meters Centerline goodness : 0.083481 with order 1 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.35, Z:-1.32 [[ 9.93456554e-01 5.22199036e-04 -1.14209468e-01 -1.40326946e+01] [-1.12276603e-03 9.99985880e-01 -5.19420693e-03 -1.34585496e+00] [ 1.14205143e-01 5.28844943e-03 9.93443112e-01 -1.32335526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64463044 meters Centerline goodness : 0.082866 with order 1 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.35, Z:-1.32 [[ 9.93394297e-01 5.72702972e-04 -1.14749481e-01 -1.40312276e+01] [-1.14462334e-03 9.99987250e-01 -4.91824993e-03 -1.34868803e+00] [ 1.14745201e-01 5.01710636e-03 9.93382287e-01 -1.32338761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70463044 meters Centerline goodness : 0.123293 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93428858e-01 8.17792077e-03 -1.14158772e-01 -1.40504092e+01] [-8.90469260e-03 9.99943195e-01 -5.85782748e-03 -1.35450091e+00] [ 1.14104382e-01 6.83588364e-03 9.93445248e-01 -1.32739685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76463044 meters Centerline goodness : 0.120728 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93534667e-01 8.41536027e-03 -1.13216818e-01 -1.40525429e+01] [-9.14916051e-03 9.99940364e-01 -5.96333425e-03 -1.35272266e+00] [ 1.13159882e-01 6.96061814e-03 9.93552410e-01 -1.32756980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82463044 meters Centerline goodness : 0.109322 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93436015e-01 8.60267627e-03 -1.14065236e-01 -1.40503977e+01] [-9.38055907e-03 9.99936252e-01 -6.28462607e-03 -1.34967319e+00] [ 1.14003900e-01 7.31336957e-03 9.93453384e-01 -1.32777312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88463044 meters Centerline goodness : 0.144829 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93414737e-01 8.45680893e-03 -1.14261295e-01 -1.40499776e+01] [-9.25437080e-03 9.99936365e-01 -6.45150704e-03 -1.34963201e+00] [ 1.14199465e-01 7.46643856e-03 9.93429783e-01 -1.32770086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94463044 meters Centerline goodness : 0.115090 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93504019e-01 8.47813132e-03 -1.13480774e-01 -1.40520161e+01] [-9.22116919e-03 9.99939337e-01 -6.02438305e-03 -1.35215466e+00] [ 1.13422814e-01 7.03167418e-03 9.93521928e-01 -1.32745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00463044 meters Centerline goodness : 0.085887 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.35, Z:-1.33 [[ 9.93506718e-01 8.67851368e-03 -1.13441991e-01 -1.40523811e+01] [-9.35895598e-03 9.99941259e-01 -5.46695043e-03 -1.35496951e+00] [ 1.13387882e-01 6.49315058e-03 9.93529580e-01 -1.32701087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06463044 meters Centerline goodness : 0.155309 with order 3 Centerline is valid? [False, False] Translation: X:-14.09, Y:-1.36, Z:-1.33 [[ 9.93107199e-01 7.88593357e-03 -1.16944016e-01 -1.40933859e+01] [-8.57270589e-03 9.99948830e-01 -5.37082530e-03 -1.35998841e+00] [ 1.16895678e-01 6.33633193e-03 9.93123986e-01 -1.33245733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12463044 meters Centerline goodness : 0.119800 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:-1.36, Z:-1.33 [[ 9.93071428e-01 8.08354544e-03 -1.17233931e-01 -1.40917831e+01] [-8.76101175e-03 9.99947763e-01 -5.26457887e-03 -1.35937656e+00] [ 1.17185250e-01 6.25519070e-03 9.93090373e-01 -1.33347718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18463044 meters Centerline goodness : 0.120588 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:-1.36, Z:-1.34 [[ 9.93300539e-01 -6.64644610e-04 -1.15557766e-01 -1.41157590e+01] [ 9.43626485e-05 9.99987792e-01 -4.94043840e-03 -1.35750549e+00] [ 1.15559639e-01 4.89643579e-03 9.93288475e-01 -1.33572374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24463043999998 meters Centerline goodness : 0.119822 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:-1.36, Z:-1.34 [[ 9.93276064e-01 -9.09088079e-04 -1.15766291e-01 -1.41156135e+01] [ 3.52996917e-04 9.99988302e-01 -4.82397813e-03 -1.35968566e+00] [ 1.15769322e-01 4.75067687e-03 9.93264766e-01 -1.33519713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30463043999998 meters Centerline goodness : 0.117772 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.37, Z:-1.34 [[ 9.93258132e-01 -4.74056350e-03 -1.15826638e-01 -1.41147908e+01] [ 3.89107425e-03 9.99963859e-01 -7.55915087e-03 -1.36506892e+00] [ 1.15858286e-01 7.05749802e-03 9.93240680e-01 -1.33573625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36463043999998 meters Centerline goodness : 0.132871 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.37, Z:-1.34 [[ 9.93234550e-01 -4.36591001e-03 -1.16043388e-01 -1.41145410e+01] [ 3.62363137e-03 9.99971610e-01 -6.60675461e-03 -1.37030107e+00] [ 1.16068938e-01 6.14155848e-03 9.93222172e-01 -1.33528923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42463044 meters Centerline goodness : 0.127297 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.34 [[ 9.93079190e-01 -6.90913916e-03 -1.17243282e-01 -1.41102526e+01] [ 5.96427535e-03 9.99946866e-01 -8.40793866e-03 -1.37666112e+00] [ 1.17295144e-01 7.65047770e-03 9.93067631e-01 -1.33634103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48463044 meters Centerline goodness : 0.126681 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93523072e-01 -7.77170394e-04 -1.13627912e-01 -1.41273243e+01] [-7.87908921e-05 9.99971659e-01 -7.52833459e-03 -1.38641283e+00] [ 1.13630542e-01 7.48852695e-03 9.93494852e-01 -1.33984441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54463044 meters Centerline goodness : 0.268145 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93542008e-01 -6.37871497e-04 -1.13463087e-01 -1.41276000e+01] [-1.97299639e-04 9.99972974e-01 -7.34934823e-03 -1.38737874e+00] [ 1.13464708e-01 7.32427242e-03 9.93515030e-01 -1.33997152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60463044 meters Centerline goodness : 0.181791 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93498018e-01 -3.12901303e-04 -1.13848982e-01 -1.41266124e+01] [-5.14044254e-04 9.99973701e-01 -7.23410090e-03 -1.38710641e+00] [ 1.13848251e-01 7.24558832e-03 9.93471729e-01 -1.34010569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66463044 meters Centerline goodness : 0.183696 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93600564e-01 1.47531034e-03 -1.12941328e-01 -1.41297118e+01] [-2.14548277e-03 9.99980806e-01 -5.81249466e-03 -1.38669834e+00] [ 1.12930585e-01 6.01761164e-03 9.93584657e-01 -1.33940776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72463044 meters Centerline goodness : 0.116438 with order 2 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93562868e-01 1.32244374e-03 -1.13274347e-01 -1.41287026e+01] [-2.01416658e-03 9.99980017e-01 -5.99238778e-03 -1.38659079e+00] [ 1.13264158e-01 6.18196740e-03 9.93545678e-01 -1.33959135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78463044 meters Centerline goodness : 0.238460 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93552346e-01 1.63796873e-03 -1.13362485e-01 -1.41280563e+01] [-2.28520623e-03 9.99981822e-01 -5.57973882e-03 -1.38762592e+00] [ 1.13351285e-01 5.80281925e-03 9.93538028e-01 -1.34005604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84463044 meters Centerline goodness : 0.243784 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93550092e-01 1.66052481e-03 -1.13381910e-01 -1.41279084e+01] [-2.30093546e-03 9.99982131e-01 -5.51763064e-03 -1.38800910e+00] [ 1.13370722e-01 5.74292688e-03 9.93536158e-01 -1.34015884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90463044 meters Centerline goodness : 0.132477 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93467769e-01 1.55657801e-03 -1.14102452e-01 -1.41255861e+01] [-2.19205737e-03 9.99982778e-01 -5.44411741e-03 -1.38937770e+00] [ 1.14092012e-01 5.65867429e-03 9.93454071e-01 -1.34080625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96463043999998 meters Centerline goodness : 0.256293 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93476611e-01 1.68537334e-03 -1.14023606e-01 -1.41258093e+01] [-2.30015596e-03 9.99983519e-01 -5.26036326e-03 -1.38980429e+00] [ 1.14012861e-01 5.48831994e-03 9.93464114e-01 -1.34075360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02463043999998 meters Centerline goodness : 0.156246 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93521087e-01 1.34127603e-03 -1.13640003e-01 -1.41270767e+01] [-1.97698184e-03 9.99983022e-01 -5.48151944e-03 -1.39048450e+00] [ 1.13630721e-01 5.67066938e-03 9.93506871e-01 -1.34031942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08463043999998 meters Centerline goodness : 0.127146 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93486213e-01 1.34233310e-03 -1.13944469e-01 -1.41261249e+01] [-1.97784087e-03 9.99983114e-01 -5.46447946e-03 -1.39041799e+00] [ 1.13935209e-01 5.65424903e-03 9.93472092e-01 -1.34050918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14463044 meters Centerline goodness : 0.119517 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93538210e-01 1.23859328e-03 -1.13491371e-01 -1.41276143e+01] [-1.84920526e-03 9.99984377e-01 -5.27513368e-03 -1.39212149e+00] [ 1.13483064e-01 5.45091572e-03 9.93524978e-01 -1.33995904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20463044 meters Centerline goodness : 0.124458 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.34 [[ 9.93547811e-01 1.12975963e-03 -1.13408422e-01 -1.41278635e+01] [-1.72584828e-03 9.99985208e-01 -5.15808128e-03 -1.39357953e+00] [ 1.13400918e-01 5.32052610e-03 9.93535064e-01 -1.33982823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26463044 meters Centerline goodness : 0.126049 with order 1 Centerline is valid? [False, False] Translation: X:-14.17, Y:-1.40, Z:-1.34 [[ 9.93252644e-01 -4.80449260e-05 -1.15970609e-01 -1.41705761e+01] [-5.28813073e-04 9.99987641e-01 -4.94340178e-03 -1.39798994e+00] [ 1.15969413e-01 4.97137367e-03 9.93240344e-01 -1.34498073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32463044 meters Centerline goodness : 0.340406 with order 3 Centerline is valid? [False, False] Translation: X:-14.17, Y:-1.40, Z:-1.34 [[ 9.93238210e-01 -2.74754296e-04 -1.16093851e-01 -1.41703231e+01] [-3.02219161e-04 9.99987692e-01 -4.95225653e-03 -1.39977765e+00] [ 1.16093783e-01 4.95385620e-03 9.93225902e-01 -1.34479629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38463044 meters SLAMing on 184.44463044 meters Centerline goodness : 0.202047 with order 3 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.35 [[ 9.93617659e-01 -3.17608649e-04 -1.12800028e-01 -1.42096510e+01] [-1.31827273e-04 9.99992083e-01 -3.97687880e-03 -1.40552142e+00] [ 1.12800398e-01 3.96636713e-03 9.93609751e-01 -1.35243609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50463044 meters Centerline goodness : 0.151230 with order 3 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.35 [[ 9.93582593e-01 -1.18939869e-04 -1.13108868e-01 -1.42088724e+01] [-2.82387094e-04 9.99993722e-01 -3.53211938e-03 -1.40795387e+00] [ 1.13108578e-01 3.54139282e-03 9.93576322e-01 -1.35249728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56463044 meters Centerline goodness : 0.114875 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.35 [[ 9.93592885e-01 8.51210882e-05 -1.13018453e-01 -1.42091142e+01] [-4.36268803e-04 9.99995155e-01 -3.08226572e-03 -1.41011478e+00] [ 1.13017643e-01 3.11182371e-03 9.93588108e-01 -1.35238752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62463044 meters Centerline goodness : 0.124936 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.35 [[ 9.93611808e-01 2.20304653e-05 -1.12852003e-01 -1.42092618e+01] [-3.51542331e-04 9.99995733e-01 -2.89995952e-03 -1.41232199e+00] [ 1.12851458e-01 2.92110627e-03 9.93607576e-01 -1.35263522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68463044 meters Centerline goodness : 0.213615 with order 3 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.35 [[ 9.93619878e-01 1.96813361e-04 -1.12780757e-01 -1.42088293e+01] [-5.03209288e-04 9.99996260e-01 -2.68827889e-03 -1.41270754e+00] [ 1.12779806e-01 2.72787966e-03 9.93616261e-01 -1.35330326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74463043999998 meters Centerline goodness : 0.114956 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.42, Z:-1.36 [[ 9.93563727e-01 7.08978715e-03 -1.13052447e-01 -1.42274986e+01] [-7.60159535e-03 9.99962716e-01 -4.09674102e-03 -1.41755992e+00] [ 1.13019186e-01 4.92975223e-03 9.93580576e-01 -1.35675267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80463043999998 meters Centerline goodness : 0.126152 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.42, Z:-1.36 [[ 9.93578068e-01 7.02999193e-03 -1.12930073e-01 -1.42278507e+01] [-7.57559484e-03 9.99961612e-01 -4.40292664e-03 -1.41509204e+00] [ 1.12894785e-01 5.23016382e-03 9.93593183e-01 -1.35664663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86463043999998 meters Centerline goodness : 0.131656 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.41, Z:-1.36 [[ 9.93586223e-01 6.85717707e-03 -1.12868938e-01 -1.42275393e+01] [-7.45515378e-03 9.99960318e-01 -4.87674580e-03 -1.41278284e+00] [ 1.12831018e-01 5.68692273e-03 9.93597917e-01 -1.35722822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92463044 meters Centerline goodness : 0.083621 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.41, Z:-1.36 [[ 9.93581259e-01 6.82097662e-03 -1.12914818e-01 -1.42275098e+01] [-7.45606583e-03 9.99958666e-01 -5.20314881e-03 -1.41030325e+00] [ 1.12874660e-01 6.01165146e-03 9.93591048e-01 -1.35715614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98463044 meters Centerline goodness : 0.131230 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.41, Z:-1.36 [[ 9.93552015e-01 6.54979128e-03 -1.13187869e-01 -1.42267999e+01] [-7.22584709e-03 9.99958416e-01 -5.56363529e-03 -1.40932246e+00] [ 1.13146722e-01 6.34563929e-03 9.93558027e-01 -1.35717321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04463044 meters Centerline goodness : 0.117842 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.41, Z:-1.36 [[ 9.93554236e-01 6.18133795e-03 -1.13189093e-01 -1.42269360e+01] [-6.91929849e-03 9.99957284e-01 -6.12801459e-03 -1.40727407e+00] [ 1.13146378e-01 6.87170398e-03 9.93554567e-01 -1.35700183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10463044 meters Centerline goodness : 0.129653 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.41, Z:-1.36 [[ 9.93571038e-01 6.28896928e-03 -1.13035573e-01 -1.42273717e+01] [-7.02889522e-03 9.99956394e-01 -6.14861027e-03 -1.40588055e+00] [ 1.12991976e-01 6.90359629e-03 9.93571917e-01 -1.35698334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16463044 meters Centerline goodness : 0.139945 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93532473e-01 5.72520469e-03 -1.13403908e-01 -1.42261428e+01] [-6.53378556e-03 9.99955807e-01 -6.75970053e-03 -1.40480617e+00] [ 1.13360196e-01 7.45693880e-03 9.93525974e-01 -1.35731263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22463044 meters Centerline goodness : 0.227641 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93553206e-01 5.61354164e-03 -1.13227710e-01 -1.42265042e+01] [-6.44071261e-03 9.99955170e-01 -6.94088646e-03 -1.40387981e+00] [ 1.13183671e-01 7.62540714e-03 9.93544820e-01 -1.35739156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28463044 meters Centerline goodness : 0.138522 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93552977e-01 5.65383458e-03 -1.13227718e-01 -1.42262361e+01] [-6.49628745e-03 9.99953886e-01 -7.07275477e-03 -1.40228834e+00] [ 1.13182508e-01 7.76271636e-03 9.93543889e-01 -1.35766153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34463044 meters Centerline goodness : 0.122655 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93559634e-01 5.49687782e-03 -1.13177017e-01 -1.42267631e+01] [-6.36085529e-03 9.99953312e-01 -7.27416124e-03 -1.40202218e+00] [ 1.13131748e-01 7.94721561e-03 9.93548212e-01 -1.35720504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40463044 meters Centerline goodness : 0.140071 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93550611e-01 5.71585643e-03 -1.13245363e-01 -1.42263974e+01] [-6.56238728e-03 9.99953234e-01 -7.10382083e-03 -1.40225113e+00] [ 1.13199462e-01 7.80116545e-03 9.93541657e-01 -1.35741292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46463043999998 meters Centerline goodness : 0.149243 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93550853e-01 5.72138290e-03 -1.13242965e-01 -1.42264215e+01] [-6.56475322e-03 9.99953416e-01 -7.07593429e-03 -1.40293516e+00] [ 1.13197206e-01 7.77371267e-03 9.93542129e-01 -1.35737479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52463043999998 meters Centerline goodness : 0.124629 with order 2 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93575928e-01 6.20540363e-03 -1.12997203e-01 -1.42270919e+01] [-6.99880670e-03 9.99953555e-01 -6.62609720e-03 -1.40386427e+00] [ 1.12950837e-01 7.37437626e-03 9.93573212e-01 -1.35730692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58463043999998 meters Centerline goodness : 0.117432 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.40, Z:-1.36 [[ 9.93537359e-01 6.19881867e-03 -1.13336182e-01 -1.42257872e+01] [-7.01703592e-03 9.99952110e-01 -6.82187728e-03 -1.40296966e+00] [ 1.13288467e-01 7.57307400e-03 9.93533277e-01 -1.35787486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64463044 meters Centerline goodness : 0.125154 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.40, Z:-1.36 [[ 9.93459920e-01 1.00316008e-03 -1.14176976e-01 -1.42465490e+01] [-1.37527214e-03 9.99993997e-01 -3.18035827e-03 -1.40072537e+00] [ 1.14173100e-01 3.31658289e-03 9.93455335e-01 -1.36052221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70463044 meters Centerline goodness : 0.134789 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.40, Z:-1.36 [[ 9.93480771e-01 8.46729196e-04 -1.13996667e-01 -1.42470954e+01] [-1.21804913e-03 9.99994178e-01 -3.18767320e-03 -1.40182877e+00] [ 1.13993304e-01 3.30574557e-03 9.93476018e-01 -1.36032167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76463044 meters Centerline goodness : 0.125657 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.40, Z:-1.36 [[ 9.93478877e-01 8.38376186e-04 -1.14013239e-01 -1.42471490e+01] [-1.18982705e-03 9.99994748e-01 -3.01452939e-03 -1.40335854e+00] [ 1.14010113e-01 3.13052730e-03 9.93474657e-01 -1.36019790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82463044 meters Centerline goodness : 0.127168 with order 2 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.41, Z:-1.36 [[ 9.93530210e-01 -1.45813216e-03 -1.13558778e-01 -1.42484458e+01] [ 9.76893068e-04 9.99990306e-01 -4.29332950e-03 -1.40986213e+00] [ 1.13563938e-01 4.15461778e-03 9.93522003e-01 -1.35982872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88463044 meters Centerline goodness : 0.126252 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.41, Z:-1.36 [[ 9.93529692e-01 -5.12227546e-03 -1.13457102e-01 -1.42483793e+01] [ 4.34551437e-03 9.99965405e-01 -7.09255479e-03 -1.41394527e+00] [ 1.13489507e-01 6.55363431e-03 9.93517580e-01 -1.36002820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94463044 meters Centerline goodness : 0.127738 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.41, Z:-1.36 [[ 9.93509806e-01 -4.88670403e-03 -1.13641479e-01 -1.42479044e+01] [ 4.14278676e-03 9.99968424e-01 -6.78141877e-03 -1.41488112e+00] [ 1.13671029e-01 6.26661363e-03 9.93498680e-01 -1.36003537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00463044 meters Centerline goodness : 0.121717 with order 2 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.41, Z:-1.36 [[ 9.93547839e-01 -4.45543496e-03 -1.13326257e-01 -1.42488968e+01] [ 3.72433561e-03 9.99970872e-01 -6.66217704e-03 -1.41368967e+00] [ 1.13352639e-01 6.19712658e-03 9.93535492e-01 -1.35979960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06463044 meters Centerline goodness : 0.118205 with order 2 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.41, Z:-1.36 [[ 9.93620052e-01 -4.09400493e-03 -1.12705062e-01 -1.42504987e+01] [ 3.36624716e-03 9.99972244e-01 -6.64673447e-03 -1.41201408e+00] [ 1.12729145e-01 6.22493556e-03 9.93606255e-01 -1.35978768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12463044 meters Centerline goodness : 0.129743 with order 1 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.41, Z:-1.36 [[ 9.93531513e-01 3.79121334e-03 -1.13493434e-01 -1.42702841e+01] [-4.69475582e-03 9.99959373e-01 -7.69496977e-03 -1.41335376e+00] [ 1.13459650e-01 8.17801891e-03 9.93508947e-01 -1.36304041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18463044 meters Centerline goodness : 0.134438 with order 3 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.41, Z:-1.36 [[ 9.93579160e-01 3.70628281e-03 -1.13078360e-01 -1.42708283e+01] [-4.64625282e-03 9.99956803e-01 -8.05014565e-03 -1.41079984e+00] [ 1.13043640e-01 8.52384761e-03 9.93553461e-01 -1.36360413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24463043999998 meters Centerline goodness : 0.116598 with order 2 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.41, Z:-1.36 [[ 9.93574831e-01 3.44721725e-03 -1.13124586e-01 -1.42710939e+01] [-4.41433556e-03 9.99955813e-01 -8.29976768e-03 -1.41046424e+00] [ 1.13090976e-01 8.74581015e-03 9.93546145e-01 -1.36315738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30463043999998 meters Centerline goodness : 0.178880 with order 1 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.41, Z:-1.36 [[ 9.93455850e-01 2.90035342e-03 -1.14179958e-01 -1.42685643e+01] [-3.87857800e-03 9.99957648e-01 -8.34617068e-03 -1.41268240e+00] [ 1.14150916e-01 8.73440796e-03 9.93425024e-01 -1.36299545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36463043999998 meters Centerline goodness : 0.125029 with order 2 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.42, Z:-1.36 [[ 9.93544300e-01 6.47460959e-04 -1.13442959e-01 -1.42709101e+01] [-1.79149926e-03 9.99948563e-01 -9.98304544e-03 -1.41667248e+00] [ 1.13430661e-01 1.01218309e-02 9.93494355e-01 -1.36252279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42463044 meters Centerline goodness : 0.145853 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.42, Z:-1.37 [[ 9.93383010e-01 -6.52814838e-04 -1.14846719e-01 -1.43165264e+01] [-4.48425322e-04 9.99954176e-01 -9.56268519e-03 -1.42327512e+00] [ 1.14847699e-01 9.55090918e-03 9.93337197e-01 -1.36668736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48463044 meters Centerline goodness : 0.141871 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.42, Z:-1.37 [[ 9.93271268e-01 -2.78375428e-04 -1.15810666e-01 -1.43133737e+01] [-8.04544472e-04 9.99956394e-01 -9.30392882e-03 -1.42326296e+00] [ 1.15808206e-01 9.33450001e-03 9.93227731e-01 -1.36764012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54463044 meters Centerline goodness : 0.118909 with order 2 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.42, Z:-1.37 [[ 9.93303322e-01 -1.22312435e-04 -1.15535686e-01 -1.43141117e+01] [-9.57262089e-04 9.99956402e-01 -9.28854758e-03 -1.42319786e+00] [ 1.15531785e-01 9.33694311e-03 9.93259900e-01 -1.36757878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60463044 meters Centerline goodness : 0.136716 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.42, Z:-1.37 [[ 9.93346505e-01 -3.50687693e-05 -1.15163881e-01 -1.43156422e+01] [-1.01259467e-03 9.99958638e-01 -9.03863856e-03 -1.42463057e+00] [ 1.15159434e-01 9.09511436e-03 9.93305383e-01 -1.36678754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66463044 meters Centerline goodness : 0.131780 with order 3 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.43, Z:-1.37 [[ 9.93359485e-01 -3.92593372e-03 -1.14984868e-01 -1.43156593e+01] [ 2.55995811e-03 9.99924422e-01 -1.20248721e-02 -1.42872937e+00] [ 1.15023387e-01 1.16506643e-02 9.93294459e-01 -1.36709670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72463044 meters Centerline goodness : 0.095200 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.44, Z:-1.37 [[ 9.93344668e-01 -5.54688619e-03 -1.15046090e-01 -1.43146114e+01] [ 4.10943752e-03 9.99910552e-01 -1.27279613e-02 -1.43571418e+00] [ 1.15106400e-01 1.21704778e-02 9.93278609e-01 -1.36784286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78463044 meters Centerline goodness : 0.140646 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.44, Z:-1.37 [[ 9.93275308e-01 -8.39321159e-03 -1.15471715e-01 -1.43119271e+01] [ 6.77604247e-03 9.99873494e-01 -1.43903131e-02 -1.44376721e+00] [ 1.15577888e-01 1.35111014e-02 9.93206525e-01 -1.36913712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84463044 meters Centerline goodness : 0.122454 with order 1 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.46, Z:-1.37 [[ 9.93434222e-01 -2.69854198e-03 -1.14372921e-01 -1.43273287e+01] [ 1.01898483e-03 9.99890829e-01 -1.47408403e-02 -1.45968427e+00] [ 1.14400214e-01 1.45275110e-02 9.93328517e-01 -1.37402632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90463044 meters Centerline goodness : 0.137269 with order 1 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.47, Z:-1.37 [[ 9.93414379e-01 -2.50264122e-03 -1.14549585e-01 -1.43267872e+01] [ 9.06902887e-04 9.99901856e-01 -1.39805415e-02 -1.46714513e+00] [ 1.14573331e-01 1.37845856e-02 9.93319152e-01 -1.37407875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96463043999998 meters Centerline goodness : 0.092945 with order 1 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.48, Z:-1.37 [[ 9.93438860e-01 -4.84084440e-03 -1.14261968e-01 -1.43265670e+01] [ 3.14384538e-03 9.99882140e-01 -1.50273597e-02 -1.47770964e+00] [ 1.14321246e-01 1.45695411e-02 9.93336993e-01 -1.37479494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02463043999998 meters Centerline goodness : 0.094095 with order 1 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.49, Z:-1.37 [[ 9.93463349e-01 -5.63741922e-03 -1.14012248e-01 -1.43270711e+01] [ 3.95797911e-03 9.99880389e-01 -1.49513561e-02 -1.48649637e+00] [ 1.14082898e-01 1.44023663e-02 9.93366833e-01 -1.37483205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08463043999998 meters Centerline goodness : 0.224464 with order 3 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.49, Z:-1.37 [[ 9.93480405e-01 -5.31411178e-03 -1.13879084e-01 -1.43280553e+01] [ 3.77172788e-03 9.99898279e-01 -1.37552343e-02 -1.49418023e+00] [ 1.13940597e-01 1.32360348e-02 9.93399390e-01 -1.37448555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14463044 meters Centerline goodness : 0.133582 with order 1 Centerline is valid? [False, False] Translation: X:-14.35, Y:-1.50, Z:-1.38 [[ 9.93700372e-01 1.31979613e-03 -1.12061716e-01 -1.43454233e+01] [-3.03550328e-03 9.99880759e-01 -1.51411387e-02 -1.50453247e+00] [ 1.12028370e-01 1.53859188e-02 9.93585888e-01 -1.37794726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20463044 meters Centerline goodness : 0.187372 with order 3 Centerline is valid? [False, False] Translation: X:-14.33, Y:-1.50, Z:-1.37 [[ 9.93820966e-01 -5.87058960e-03 -1.10839634e-01 -1.43259378e+01] [ 4.37175271e-03 9.99895759e-01 -1.37607649e-02 -1.50473045e+00] [ 1.10908863e-01 1.31911732e-02 9.93743034e-01 -1.37438457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26463044 meters Centerline goodness : 0.123757 with order 1 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.51, Z:-1.37 [[ 9.93816436e-01 1.01982876e-03 -1.11030856e-01 -1.43112464e+01] [-2.59782478e-03 9.99897659e-01 -1.40684908e-02 -1.51249997e+00] [ 1.11005146e-01 1.42699361e-02 9.93717378e-01 -1.37218785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32463044 meters Centerline goodness : 0.139049 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.51, Z:-1.37 [[ 9.94096974e-01 -6.62048631e-03 -1.08293003e-01 -1.42937798e+01] [ 5.23939080e-03 9.99901341e-01 -1.30328882e-02 -1.51117728e+00] [ 1.08368603e-01 1.23885654e-02 9.94033586e-01 -1.36882016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38463044 meters Centerline goodness : 0.125029 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.51, Z:-1.37 [[ 9.94061119e-01 -7.15400740e-03 -1.08587810e-01 -1.42929844e+01] [ 5.78220335e-03 9.99899521e-01 -1.29427515e-02 -1.51321003e+00] [ 1.08669492e-01 1.22380092e-02 9.94002602e-01 -1.36955845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44463044 meters Centerline goodness : 0.222495 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.52, Z:-1.37 [[ 9.94007095e-01 -9.74173913e-03 -1.08880635e-01 -1.42917667e+01] [ 8.29031703e-03 9.99870750e-01 -1.37751406e-02 -1.52086403e+00] [ 1.09000756e-01 1.27899326e-02 9.93959382e-01 -1.37137537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50463044 meters Centerline goodness : 0.205277 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:-1.53, Z:-1.38 [[ 9.94058513e-01 -3.03657540e-03 -1.08804651e-01 -1.43050586e+01] [ 1.25494511e-03 9.99864078e-01 -1.64393137e-02 -1.52817382e+00] [ 1.08839782e-01 1.62050958e-02 9.93927209e-01 -1.37554285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56463044 meters Centerline goodness : 0.231206 with order 3 Centerline is valid? [False, False] Translation: X:-14.28, Y:-1.53, Z:-1.37 [[ 9.93870390e-01 -1.00887182e-02 -1.10090262e-01 -1.42829467e+01] [ 8.43982944e-03 9.99845279e-01 -1.54333423e-02 -1.52553195e+00] [ 1.10228931e-01 1.44095989e-02 9.93801764e-01 -1.37302578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62463044 meters Centerline goodness : 0.095576 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.53, Z:-1.38 [[ 9.93854331e-01 -1.30796145e-03 -1.10688111e-01 -1.42961578e+01] [-5.98473559e-04 9.99852088e-01 -1.71885084e-02 -1.52980056e+00] [ 1.10694221e-01 1.71491174e-02 9.93706545e-01 -1.37634283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68463044 meters Centerline goodness : 0.095899 with order 1 Centerline is valid? [False, False] Translation: X:-14.28, Y:-1.53, Z:-1.37 [[ 9.93865158e-01 -8.82652702e-03 -1.10245817e-01 -1.42762474e+01] [ 7.04265349e-03 9.99838074e-01 -1.65598106e-02 -1.52670081e+00] [ 1.10374131e-01 1.56817957e-02 9.93766387e-01 -1.37314997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74463043999998 meters Centerline goodness : 0.272194 with order 1 Centerline is valid? [False, False] Translation: X:-14.28, Y:-1.53, Z:-1.37 [[ 9.93950037e-01 -9.14269664e-03 -1.09451980e-01 -1.42781272e+01] [ 7.40841047e-03 9.99840654e-01 -1.62413684e-02 -1.52823541e+00] [ 1.09583029e-01 1.53322435e-02 9.93859387e-01 -1.37389873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80463043999998 meters Centerline goodness : 0.093275 with order 1 Centerline is valid? [False, False] Translation: X:-14.28, Y:-1.53, Z:-1.37 [[ 9.93851473e-01 -9.66228651e-03 -1.10299090e-01 -1.42757193e+01] [ 7.92666514e-03 9.99837945e-01 -1.61632600e-02 -1.53096835e+00] [ 1.10437389e-01 1.51895758e-02 9.93767005e-01 -1.37423543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86463043999998 meters Centerline goodness : 0.264610 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.53, Z:-1.37 [[ 9.93909061e-01 -3.32190788e-03 -1.10153277e-01 -1.42538617e+01] [ 1.25544157e-03 9.99822025e-01 -1.88239695e-02 -1.53344888e+00] [ 1.10196204e-01 1.85710228e-02 9.93736340e-01 -1.37200777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92463044 meters Centerline goodness : 0.125927 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.53, Z:-1.37 [[ 9.94254227e-01 4.62705415e-03 -1.06944480e-01 -1.42353883e+01] [-6.83679142e-03 9.99770455e-01 -2.03050849e-02 -1.53178986e+00] [ 1.06825979e-01 2.09195736e-02 9.94057635e-01 -1.36957090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98463044 meters Centerline goodness : 0.292905 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.53, Z:-1.37 [[ 9.94377991e-01 6.81261011e-03 -1.05669291e-01 -1.42386242e+01] [-8.86824583e-03 9.99780232e-01 -1.89958268e-02 -1.52529532e+00] [ 1.05516657e-01 1.98261333e-02 9.94219875e-01 -1.36928359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04463044 meters Centerline goodness : 0.124521 with order 1 Centerline is valid? [False, False] Translation: X:-14.22, Y:-1.52, Z:-1.37 [[ 9.94294066e-01 -1.41509987e-05 -1.06673850e-01 -1.42191131e+01] [-1.99697607e-03 9.99822280e-01 -1.87462057e-02 -1.51746202e+00] [ 1.06655157e-01 1.88522662e-02 9.94117332e-01 -1.36597468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10463044 meters Centerline goodness : 0.281472 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:-1.51, Z:-1.37 [[ 9.94548717e-01 -6.84833356e-03 -1.04047826e-01 -1.42389872e+01] [ 5.04854888e-03 9.99833220e-01 -1.75511941e-02 -1.50592867e+00] [ 1.04150669e-01 1.69302270e-02 9.94417420e-01 -1.37011329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16463044 meters Centerline goodness : 0.120247 with order 3 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.50, Z:-1.37 [[ 9.94716327e-01 -4.89152197e-03 -1.02545118e-01 -1.41966112e+01] [ 3.10919393e-03 9.99841441e-01 -1.75335546e-02 -1.49812304e+00] [ 1.02614624e-01 1.71220804e-02 9.94573815e-01 -1.36525121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22463044 meters Centerline goodness : 0.460561 with order 2 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.49, Z:-1.37 [[ 9.94677024e-01 -4.71892563e-03 -1.02933713e-01 -1.41954706e+01] [ 2.85895999e-03 9.99830104e-01 -1.82096033e-02 -1.48688623e+00] [ 1.03002155e-01 1.78183907e-02 9.94521524e-01 -1.36530486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28463044 meters Centerline goodness : 0.113263 with order 1 Centerline is valid? [False, False] Translation: X:-14.19, Y:-1.48, Z:-1.37 [[ 9.94642596e-01 -5.54079838e-03 -1.03225022e-01 -1.41943099e+01] [ 3.57273779e-03 9.99808494e-01 -1.92408784e-02 -1.48127045e+00] [ 1.03311864e-01 1.87690013e-02 9.94471912e-01 -1.36560258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34463044 meters Centerline goodness : 0.225094 with order 3 Centerline is valid? [False, False] Translation: X:-14.18, Y:-1.47, Z:-1.36 [[ 9.94595567e-01 -1.02489531e-02 -1.03318039e-01 -1.41755237e+01] [ 8.54272380e-03 9.99819956e-01 -1.69433394e-02 -1.46615883e+00] [ 1.03473089e-01 1.59691528e-02 9.94504050e-01 -1.36241518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40463044 meters Centerline goodness : 0.095127 with order 1 Centerline is valid? [False, False] Translation: X:-14.18, Y:-1.46, Z:-1.36 [[ 9.94574965e-01 -1.06586656e-02 -1.03474792e-01 -1.41750983e+01] [ 8.84617325e-03 9.99799582e-01 -1.79594172e-02 -1.45564562e+00] [ 1.03645477e-01 1.69466308e-02 9.94469923e-01 -1.36229364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46463043999998 meters Centerline goodness : 0.097431 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.45, Z:-1.36 [[ 9.94503935e-01 -2.47561906e-03 -1.04669932e-01 -1.41540772e+01] [ 5.47391890e-04 9.99829695e-01 -1.84466927e-02 -1.44879948e+00] [ 1.04697773e-01 1.82880130e-02 9.94335922e-01 -1.36040286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52463043999998 meters Centerline goodness : 0.100941 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.44, Z:-1.36 [[ 9.94532782e-01 -3.37160041e-03 -1.04370387e-01 -1.41542516e+01] [ 1.30141620e-03 9.99801194e-01 -1.98967264e-02 -1.43845185e+00] [ 1.04416722e-01 1.96521174e-02 9.94339450e-01 -1.36063505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58463043999998 meters Centerline goodness : 0.103104 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.43, Z:-1.36 [[ 9.94574492e-01 -1.92157276e-04 -1.04026646e-01 -1.41542293e+01] [-1.63031300e-03 9.99846688e-01 -1.74339519e-02 -1.43342786e+00] [ 1.04014047e-01 1.75089599e-02 9.94421698e-01 -1.36143680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64463044 meters Centerline goodness : 0.104549 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.43, Z:-1.36 [[ 9.94553715e-01 3.32208859e-03 -1.04172314e-01 -1.41534535e+01] [-4.89113824e-03 9.99878360e-01 -1.48102232e-02 -1.42786194e+00] [ 1.04110442e-01 1.52390836e-02 9.94448986e-01 -1.36150500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70463044 meters Centerline goodness : 0.096935 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.41, Z:-1.36 [[ 9.94434023e-01 7.64316796e-03 -1.05083568e-01 -1.41505590e+01] [-8.99064085e-03 9.99883252e-01 -1.23551525e-02 -1.41485664e+00] [ 1.04976867e-01 1.32311526e-02 9.94386642e-01 -1.36170356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76463044 meters Centerline goodness : 0.099141 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.40, Z:-1.36 [[ 9.94424313e-01 1.17183137e-02 -1.04799652e-01 -1.41517266e+01] [-1.28684126e-02 9.99864098e-01 -1.03048167e-02 -1.40069520e+00] [ 1.04664655e-01 1.15959654e-02 9.94439965e-01 -1.36056894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82463044 meters Centerline goodness : 0.096811 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.36 [[ 9.94300418e-01 8.68188965e-03 -1.06260549e-01 -1.41333426e+01] [-9.51576338e-03 9.99927763e-01 -7.34294159e-03 -1.38930759e+00] [ 1.06189122e-01 8.31224012e-03 9.94311207e-01 -1.35673186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88463044 meters Centerline goodness : 0.097480 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.38, Z:-1.36 [[ 9.94249749e-01 1.03982349e-02 -1.06580084e-01 -1.41322507e+01] [-1.11542552e-02 9.99916664e-01 -6.49978033e-03 -1.38168668e+00] [ 1.06503616e-01 7.65122642e-03 9.94282877e-01 -1.35685369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94463044 meters Centerline goodness : 0.096394 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.94268139e-01 3.56103810e-03 -1.06855917e-01 -1.41141892e+01] [-4.15864091e-03 9.99976933e-01 -5.37029880e-03 -1.37505907e+00] [ 1.06834329e-01 5.78389238e-03 9.94260013e-01 -1.35278972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00463044 meters Centerline goodness : 0.092431 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:-1.37, Z:-1.35 [[ 9.94241746e-01 -3.36854890e-03 -1.07107441e-01 -1.40944996e+01] [ 2.91876703e-03 9.99986254e-01 -4.35583715e-03 -1.36948932e+00] [ 1.07120642e-01 4.01813346e-03 9.94237911e-01 -1.34920783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06463044 meters Centerline goodness : 0.098826 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:-1.37, Z:-1.35 [[ 9.94252227e-01 -2.99188855e-03 -1.07021291e-01 -1.40944615e+01] [ 2.58171760e-03 9.99988783e-01 -3.97095300e-03 -1.37003957e+00] [ 1.07031971e-01 3.67183012e-03 9.94248799e-01 -1.34938981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12463044 meters Centerline goodness : 0.098356 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:-1.37, Z:-1.35 [[ 9.94245362e-01 -2.83694390e-03 -1.07089272e-01 -1.40940518e+01] [ 2.45584633e-03 9.99990175e-01 -3.69039962e-03 -1.37089410e+00] [ 1.07098690e-01 3.40616791e-03 9.94242560e-01 -1.34941362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18463044 meters Centerline goodness : 0.095594 with order 1 Centerline is valid? [False, False] Translation: X:-14.08, Y:-1.38, Z:-1.35 [[ 9.94103056e-01 3.05994839e-03 -1.08396266e-01 -1.40793763e+01] [-3.52377292e-03 9.99985437e-01 -4.08768328e-03 -1.38188301e+00] [ 1.08382179e-01 4.44554226e-03 9.94099361e-01 -1.34600404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24463043999998 meters Centerline goodness : 0.095327 with order 1 Centerline is valid? [False, False] Translation: X:-14.06, Y:-1.38, Z:-1.34 [[ 9.94077481e-01 -4.15818887e-03 -1.08594063e-01 -1.40586038e+01] [ 3.86492516e-03 9.99988294e-01 -2.91088773e-03 -1.38024977e+00] [ 1.08604896e-01 2.47394002e-03 9.94081916e-01 -1.34284567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30463043999998 meters Centerline goodness : 0.187090 with order 3 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.39, Z:-1.35 [[ 9.94407124e-01 9.73451139e-04 -1.05610243e-01 -1.40724159e+01] [-1.38192249e-03 9.99991846e-01 -3.79461649e-03 -1.38710895e+00] [ 1.05605688e-01 3.91933884e-03 9.94400361e-01 -1.34732271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36463043999998 meters Centerline goodness : 0.129766 with order 1 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.39, Z:-1.35 [[ 9.94446235e-01 1.71198049e-03 -1.05231906e-01 -1.40734644e+01] [-2.07047169e-03 9.99992420e-01 -3.29752895e-03 -1.38731992e+00] [ 1.05225463e-01 3.49709493e-03 9.94442242e-01 -1.34697735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42463044 meters Centerline goodness : 0.101187 with order 2 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.39, Z:-1.34 [[ 9.94399722e-01 1.17971212e-02 -1.05023903e-01 -1.40517820e+01] [-1.22229035e-02 9.99919478e-01 -3.41141980e-03 -1.38762620e+00] [ 1.04975202e-01 4.67601194e-03 9.94463846e-01 -1.34452618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48463044 meters Centerline goodness : 0.137565 with order 1 Centerline is valid? [False, False] Translation: X:-14.05, Y:-1.38, Z:-1.35 [[ 9.94260695e-01 1.52851052e-02 -1.05886902e-01 -1.40483630e+01] [-1.54812045e-02 9.99879628e-01 -1.03022935e-03 -1.38197116e+00] [ 1.05858409e-01 2.66357333e-03 9.94377646e-01 -1.34546133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54463044 meters Centerline goodness : 0.153113 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.38, Z:-1.34 [[ 9.94291472e-01 8.22121444e-03 -1.06380830e-01 -1.40290427e+01] [-8.29015534e-03 9.99965615e-01 -2.05854796e-04 -1.37526187e+00] [ 1.06375480e-01 1.08659328e-03 9.94325438e-01 -1.34252428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60463044 meters Centerline goodness : 0.144710 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:-1.37, Z:-1.34 [[ 9.94282689e-01 8.09208730e-03 -1.06472780e-01 -1.40288201e+01] [-8.18113261e-03 9.99966454e-01 -3.99563961e-04 -1.37464705e+00] [ 1.06465975e-01 1.26834746e-03 9.94315537e-01 -1.34249810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66463044 meters Centerline goodness : 0.100836 with order 3 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.38, Z:-1.35 [[ 9.94036549e-01 5.55100999e-03 -1.08906036e-01 -1.40705981e+01] [-5.73452642e-03 9.99982616e-01 -1.37196593e-03 -1.37985053e+00] [ 1.08896527e-01 1.98830882e-03 9.94051102e-01 -1.34726454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72463044 meters Centerline goodness : 0.098780 with order 3 Centerline is valid? [False, False] Translation: X:-14.07, Y:-1.38, Z:-1.35 [[ 9.94061442e-01 2.35959654e-03 -1.08794675e-01 -1.40704799e+01] [-2.82712398e-03 9.99987420e-01 -4.14329182e-03 -1.38096171e+00] [ 1.08783530e-01 4.42626268e-03 9.94055608e-01 -1.34748636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78463044 meters SLAMing on 189.84463044 meters Centerline goodness : 0.115897 with order 3 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93639969e-01 3.75188118e-03 -1.12541259e-01 -1.41114019e+01] [-4.12607927e-03 9.99986707e-01 -3.09225231e-03 -1.38104100e+00] [ 1.12528161e-01 3.53693964e-03 9.93642241e-01 -1.35198219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90463044 meters Centerline goodness : 0.089741 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93635387e-01 3.80135260e-03 -1.12580048e-01 -1.41118065e+01] [-4.17389184e-03 9.99986566e-01 -3.07359171e-03 -1.38086714e+00] [ 1.12566851e-01 3.52392643e-03 9.93637905e-01 -1.35128974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96463043999998 meters Centerline goodness : 0.100086 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93591664e-01 3.61126221e-03 -1.12971518e-01 -1.41109363e+01] [-3.98325394e-03 9.99987363e-01 -3.06724514e-03 -1.38241852e+00] [ 1.12959013e-01 3.49758345e-03 9.93593492e-01 -1.35100915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02463043999998 meters Centerline goodness : 0.244629 with order 3 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93581298e-01 3.74594378e-03 -1.13058269e-01 -1.41107449e+01] [-4.08757672e-03 9.99987754e-01 -2.79008230e-03 -1.38408379e+00] [ 1.13046433e-01 3.23430794e-03 9.93584442e-01 -1.35077703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08463043999998 meters Centerline goodness : 0.114817 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.35 [[ 9.93362474e-01 1.10552171e-02 -1.14493567e-01 -1.41286361e+01] [-1.16092432e-02 9.99923902e-01 -4.17325387e-03 -1.38924118e+00] [ 1.14438718e-01 5.47473745e-03 9.93415224e-01 -1.35435995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14463044 meters Centerline goodness : 0.117334 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:-1.39, Z:-1.35 [[ 9.93398226e-01 1.13678838e-02 -1.14152246e-01 -1.41296992e+01] [-1.18958182e-02 9.99921461e-01 -3.94467624e-03 -1.38920987e+00] [ 1.14098438e-01 5.27656875e-03 9.93455436e-01 -1.35384868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20463044 meters Centerline goodness : 0.286947 with order 3 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93350124e-01 3.91917486e-03 -1.15065942e-01 -1.41087220e+01] [-4.33492253e-03 9.99984949e-01 -3.36311469e-03 -1.38474127e+00] [ 1.15051030e-01 3.83955234e-03 9.93352162e-01 -1.35117934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26463044 meters Centerline goodness : 0.200380 with order 2 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.39, Z:-1.35 [[ 9.93325268e-01 4.09156932e-03 -1.15274332e-01 -1.41079837e+01] [-4.47254474e-03 9.99985358e-01 -3.04649169e-03 -1.38637939e+00] [ 1.15260179e-01 3.54172678e-03 9.93329023e-01 -1.35135573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32463044 meters Centerline goodness : 0.119864 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.39, Z:-1.35 [[ 9.93367486e-01 4.22397311e-03 -1.14905157e-01 -1.41091764e+01] [-4.58468486e-03 9.99985357e-01 -2.87511563e-03 -1.38761627e+00] [ 1.14891330e-01 3.38285032e-03 9.93372306e-01 -1.35068261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38463044 meters Centerline goodness : 0.138892 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93473355e-01 4.76647114e-03 -1.13964791e-01 -1.41113831e+01] [-5.14421858e-03 9.99982206e-01 -3.02073791e-03 -1.38449293e+00] [ 1.13948365e-01 3.58728242e-03 9.93480197e-01 -1.35057179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44463044 meters Centerline goodness : 0.112535 with order 1 Centerline is valid? [False, False] Translation: X:-14.11, Y:-1.38, Z:-1.35 [[ 9.93389368e-01 4.84528117e-03 -1.14691265e-01 -1.41088592e+01] [-5.28156045e-03 9.99979926e-01 -3.50037200e-03 -1.38087637e+00] [ 1.14672003e-01 4.08298119e-03 9.93395018e-01 -1.35145471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50463044 meters Centerline goodness : 0.168006 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.38, Z:-1.36 [[ 9.93136390e-01 5.10645222e-03 -1.16850482e-01 -1.41536770e+01] [-5.47351024e-03 9.99981042e-01 -2.82058559e-03 -1.37948171e+00] [ 1.16833864e-01 3.44080850e-03 9.93145513e-01 -1.35591101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56463044 meters Centerline goodness : 0.140385 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:-1.38, Z:-1.36 [[ 9.93072779e-01 4.80045584e-03 -1.17402777e-01 -1.41521066e+01] [-5.20835724e-03 9.99981419e-01 -3.16782243e-03 -1.37902871e+00] [ 1.17385388e-01 3.75735383e-03 9.93079329e-01 -1.35599649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62463044 meters SLAMing on 190.68463044 meters Centerline goodness : 0.119750 with order 1 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.38, Z:-1.36 [[ 9.93175194e-01 3.27111552e-03 -1.16586163e-01 -1.42000582e+01] [-3.64993547e-03 9.99988731e-01 -3.03592381e-03 -1.38296571e+00] [ 1.16574919e-01 3.44073619e-03 9.93175941e-01 -1.36053256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74463043999998 meters Centerline goodness : 0.115238 with order 1 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.38, Z:-1.36 [[ 9.93093877e-01 3.21515163e-03 -1.17278359e-01 -1.41976832e+01] [-3.57912630e-03 9.99989410e-01 -2.89303868e-03 -1.38479567e+00] [ 1.17267816e-01 3.29281306e-03 9.93094868e-01 -1.36114729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80463043999998 meters Centerline goodness : 0.160148 with order 3 Centerline is valid? [False, False] Translation: X:-14.19, Y:-1.39, Z:-1.36 [[ 9.93014364e-01 2.03404823e-03 -1.17975993e-01 -1.41948126e+01] [-2.45272626e-03 9.99991199e-01 -3.40376096e-03 -1.39126454e+00] [ 1.17968031e-01 3.66934634e-03 9.93010614e-01 -1.36209466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86463043999998 meters Centerline goodness : 0.254525 with order 2 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.40, Z:-1.36 [[ 9.93146451e-01 -2.77314839e-04 -1.16876219e-01 -1.41987509e+01] [-3.09187577e-04 9.99987452e-01 -4.99998979e-03 -1.39611006e+00] [ 1.16876139e-01 5.00185879e-03 9.93133903e-01 -1.36093478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92463044 meters Centerline goodness : 0.109022 with order 1 Centerline is valid? [False, False] Translation: X:-14.20, Y:-1.40, Z:-1.36 [[ 9.93093181e-01 3.39947269e-05 -1.17328315e-01 -1.41969579e+01] [-5.32616416e-04 9.99990960e-01 -4.21844729e-03 -1.40158713e+00] [ 1.17327111e-01 4.25180222e-03 9.93084222e-01 -1.36147277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98463044 meters Centerline goodness : 0.085938 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.37 [[ 9.93155877e-01 6.94761584e-03 -1.16589597e-01 -1.42142017e+01] [-7.61932603e-03 9.99956839e-01 -5.31661891e-03 -1.40963916e+00] [ 1.16547627e-01 6.16856547e-03 9.93165948e-01 -1.36624839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04463044 meters Centerline goodness : 0.122949 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.37 [[ 9.93159704e-01 7.69631600e-03 -1.16509956e-01 -1.42141194e+01] [-8.30756990e-03 9.99954154e-01 -4.76165752e-03 -1.41002805e+00] [ 1.16467967e-01 5.69700098e-03 9.93178109e-01 -1.36649777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10463044 meters Centerline goodness : 0.149564 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.37 [[ 9.93105921e-01 7.51472418e-03 -1.16979309e-01 -1.42116887e+01] [-8.14522632e-03 9.99954759e-01 -4.91273442e-03 -1.41074883e+00] [ 1.16937099e-01 5.83168858e-03 9.93122201e-01 -1.36779087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16463044 meters Centerline goodness : 0.110679 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.41, Z:-1.37 [[ 9.93066232e-01 7.24787518e-03 -1.17332548e-01 -1.42104227e+01] [-7.87998462e-03 9.99956827e-01 -4.92433149e-03 -1.41255884e+00] [ 1.17291792e-01 5.81476599e-03 9.93080472e-01 -1.36817815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22463044 meters Centerline goodness : 0.137580 with order 3 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.42, Z:-1.37 [[ 9.93016545e-01 3.53840482e-03 -1.17922100e-01 -1.42080403e+01] [-4.47518710e-03 9.99960493e-01 -7.68023804e-03 -1.41656640e+00] [ 1.17890266e-01 8.15432690e-03 9.92993148e-01 -1.36911552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28463044 meters Centerline goodness : 0.119274 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.42, Z:-1.37 [[ 9.93023132e-01 3.76757759e-05 -1.17919712e-01 -1.42076975e+01] [-1.26332704e-03 9.99945957e-01 -1.03192182e-02 -1.42037025e+00] [ 1.17912950e-01 1.03961935e-02 9.92969514e-01 -1.36930017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34463044 meters Centerline goodness : 0.119405 with order 1 Centerline is valid? [False, False] Translation: X:-14.21, Y:-1.43, Z:-1.37 [[ 9.93071418e-01 -3.48508289e-03 -1.17460685e-01 -1.42090131e+01] [ 1.99761715e-03 9.99916352e-01 -1.27788704e-02 -1.42616186e+00] [ 1.17495395e-01 1.24556894e-02 9.92995311e-01 -1.36891353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40463044 meters Centerline goodness : 0.150470 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.43, Z:-1.37 [[ 9.93248810e-01 4.61931120e-03 -1.15911450e-01 -1.42294481e+01] [-6.13307648e-03 9.99900461e-01 -1.27064196e-02 -1.43267391e+00] [ 1.15841217e-01 1.33315299e-02 9.93178273e-01 -1.37251382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46463043999998 meters Centerline goodness : 0.117493 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.43, Z:-1.37 [[ 9.93273469e-01 4.75827453e-03 -1.15694312e-01 -1.42299737e+01] [-6.28100303e-03 9.99898341e-01 -1.28006540e-02 -1.43141755e+00] [ 1.15621642e-01 1.34412263e-02 9.93202381e-01 -1.37255316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52463043999998 meters Centerline goodness : 0.116713 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.43, Z:-1.37 [[ 9.93331949e-01 5.78336193e-03 -1.15144225e-01 -1.42317486e+01] [-7.25547152e-03 9.99897166e-01 -1.23699167e-02 -1.42921663e+00] [ 1.15060844e-01 1.31228591e-02 9.93271762e-01 -1.37208597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58463043999998 meters Centerline goodness : 0.216326 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.43, Z:-1.37 [[ 9.93338690e-01 6.13495391e-03 -1.15067843e-01 -1.42312109e+01] [-7.61274413e-03 9.99894042e-01 -1.24077186e-02 -1.42744260e+00] [ 1.14979530e-01 1.32010490e-02 9.93280142e-01 -1.37287732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64463044 meters Centerline goodness : 0.154530 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:-1.43, Z:-1.37 [[ 9.93340386e-01 6.00199752e-03 -1.15060220e-01 -1.42309714e+01] [-7.49994438e-03 9.99892612e-01 -1.25903172e-02 -1.42723898e+00] [ 1.14972297e-01 1.33694158e-02 9.93278727e-01 -1.37313350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70463044 meters Centerline goodness : 0.101570 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.43, Z:-1.38 [[ 9.93249367e-01 -1.98934838e-03 -1.15981630e-01 -1.42506927e+01] [ 7.17701824e-04 9.99939186e-01 -1.10049369e-02 -1.42602620e+00] [ 1.15996469e-01 1.08474064e-02 9.93190391e-01 -1.37594914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76463044 meters Centerline goodness : 0.121566 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.43, Z:-1.38 [[ 9.93192816e-01 -2.04140524e-03 -1.16463999e-01 -1.42485229e+01] [ 7.55602920e-04 9.99938291e-01 -1.10834240e-02 -1.42573492e+00] [ 1.16479438e-01 1.09199765e-02 9.93133070e-01 -1.37716600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82463044 meters Centerline goodness : 0.137886 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.42, Z:-1.38 [[ 9.93176201e-01 -2.00345355e-03 -1.16606261e-01 -1.42477348e+01] [ 6.87492944e-04 9.99935638e-01 -1.13246318e-02 -1.42430773e+00] [ 1.16621445e-01 1.11671888e-02 9.93113655e-01 -1.37762367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88463044 meters Centerline goodness : 0.086920 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-1.42, Z:-1.38 [[ 9.93218420e-01 -1.99718408e-03 -1.16246207e-01 -1.42491600e+01] [ 6.61143330e-04 9.99933302e-01 -1.15306225e-02 -1.42266554e+00] [ 1.16261482e-01 1.13755713e-02 9.93153495e-01 -1.37699680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94463044 meters Centerline goodness : 0.138040 with order 3 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.42, Z:-1.38 [[ 9.93143762e-01 -1.02588610e-02 -1.16448373e-01 -1.42702238e+01] [ 9.15865393e-03 9.99908263e-01 -9.97918484e-03 -1.42208432e+00] [ 1.16540066e-01 8.84425483e-03 9.93146612e-01 -1.37986548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00463044 meters Centerline goodness : 0.123786 with order 1 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.43, Z:-1.38 [[ 9.93111082e-01 -1.44822245e-02 -1.16278302e-01 -1.42696750e+01] [ 1.30600734e-02 9.99830421e-01 -1.29832046e-02 -1.42773492e+00] [ 1.16446609e-01 1.13751612e-02 9.93131810e-01 -1.38068136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06463044 meters Centerline goodness : 0.083158 with order 1 Centerline is valid? [False, False] Translation: X:-14.27, Y:-1.43, Z:-1.38 [[ 9.93140769e-01 -1.44259780e-02 -1.16031480e-01 -1.42706388e+01] [ 1.30787274e-02 9.99838025e-01 -1.23640922e-02 -1.43258646e+00] [ 1.16191050e-01 1.07617400e-02 9.93168578e-01 -1.38005359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12463044 meters Centerline goodness : 0.232747 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:-1.44, Z:-1.38 [[ 9.93016930e-01 -7.35411956e-03 -1.17742492e-01 -1.42859800e+01] [ 5.78241569e-03 9.99889640e-01 -1.36847052e-02 -1.44118367e+00] [ 1.17830136e-01 1.29083079e-02 9.92949865e-01 -1.38485619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18463044 meters Centerline goodness : 0.100681 with order 1 Centerline is valid? [False, False] Translation: X:-14.28, Y:-1.44, Z:-1.39 [[ 9.92909723e-01 -6.64999077e-03 -1.18684709e-01 -1.42828715e+01] [ 5.13009825e-03 9.99900939e-01 -1.31070599e-02 -1.44237052e+00] [ 1.18760114e-01 1.24052630e-02 9.92845479e-01 -1.38580247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24463043999998 meters Centerline goodness : 0.124511 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92860512e-01 1.53277816e-03 -1.19271348e-01 -1.43015061e+01] [-3.19095240e-03 9.99900884e-01 -1.37128021e-02 -1.44824040e+00] [ 1.19238507e-01 1.39954890e-02 9.92766994e-01 -1.38992669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30463043999998 meters Centerline goodness : 0.143424 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92843041e-01 2.09199694e-03 -1.19408205e-01 -1.43008613e+01] [-3.72611580e-03 9.99902420e-01 -1.34635249e-02 -1.44741062e+00] [ 1.19368387e-01 1.38120958e-02 9.92753954e-01 -1.39032782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36463043999998 meters Centerline goodness : 0.230382 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92770137e-01 2.02962665e-03 -1.20013896e-01 -1.42981762e+01] [-3.71396924e-03 9.99897705e-01 -1.38125565e-02 -1.44542001e+00] [ 1.19973585e-01 1.41584215e-02 9.92676119e-01 -1.39177713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42463044 meters Centerline goodness : 0.084043 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92798991e-01 2.17408419e-03 -1.19772439e-01 -1.42993109e+01] [-3.82341069e-03 9.99900987e-01 -1.35424256e-02 -1.44600149e+00] [ 1.19731138e-01 1.39028457e-02 9.92709003e-01 -1.39124249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48463044 meters Centerline goodness : 0.150857 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92786432e-01 1.90727754e-03 -1.19881040e-01 -1.42992386e+01] [-3.53917023e-03 9.99903937e-01 -1.34011672e-02 -1.44800158e+00] [ 1.19843964e-01 1.37287764e-02 9.92697812e-01 -1.39089279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54463044 meters Centerline goodness : 0.115380 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:-1.45, Z:-1.39 [[ 9.92828129e-01 -1.83871327e-03 -1.19536294e-01 -1.43005031e+01] [-6.02687363e-05 9.99873892e-01 -1.58806821e-02 -1.45408572e+00] [ 1.19550420e-01 1.57739922e-02 9.92702815e-01 -1.39045528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60463044 meters Centerline goodness : 0.448562 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.46, Z:-1.39 [[ 9.92681548e-01 -1.04114254e-02 -1.20311874e-01 -1.43207686e+01] [ 8.78125828e-03 9.99862428e-01 -1.40717620e-02 -1.45853237e+00] [ 1.20441830e-01 1.29122888e-02 9.92636408e-01 -1.39392630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66463044 meters Centerline goodness : 0.160014 with order 2 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.47, Z:-1.39 [[ 9.92615957e-01 -1.43323468e-02 -1.20449762e-01 -1.43198721e+01] [ 1.23896138e-02 9.99781053e-01 -1.68624699e-02 -1.46512943e+00] [ 1.20665068e-01 1.52456306e-02 9.92576200e-01 -1.39429265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72463044 meters Centerline goodness : 0.123682 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:-1.47, Z:-1.40 [[ 9.92590233e-01 -1.37927203e-02 -1.20724443e-01 -1.43182128e+01] [ 1.19638661e-02 9.99802632e-01 -1.58607603e-02 -1.47006461e+00] [ 1.20919378e-01 1.42989047e-02 9.92559341e-01 -1.39536916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78463044 meters Centerline goodness : 0.271519 with order 3 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.48, Z:-1.40 [[ 9.92677216e-01 -6.06080457e-03 -1.20644980e-01 -1.43381935e+01] [ 4.12422434e-03 9.99858720e-01 -1.62951227e-02 -1.47743954e+00] [ 1.20726697e-01 1.56782301e-02 9.92561967e-01 -1.39881406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84463044 meters Centerline goodness : 0.083424 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.48, Z:-1.40 [[ 9.92719794e-01 -5.51059465e-03 -1.20320591e-01 -1.43392899e+01] [ 3.62940894e-03 9.99867820e-01 -1.58483278e-02 -1.47844759e+00] [ 1.20392020e-01 1.52962561e-02 9.92608576e-01 -1.39849247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90463044 meters Centerline goodness : 0.082823 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.48, Z:-1.40 [[ 9.92836965e-01 -5.13374277e-03 -1.19366686e-01 -1.43416609e+01] [ 3.28843508e-03 9.99872108e-01 -1.56509857e-02 -1.47811965e+00] [ 1.19431768e-01 1.51463476e-02 9.92726871e-01 -1.39845135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96463043999998 meters Centerline goodness : 0.082596 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:-1.47, Z:-1.40 [[ 9.92801173e-01 -1.74274570e-03 -1.19761402e-01 -1.43391670e+01] [ 1.70058688e-04 9.99913641e-01 -1.31408009e-02 -1.47422515e+00] [ 1.19773961e-01 1.30258361e-02 9.92715733e-01 -1.39998537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02463043999998 meters Centerline goodness : 0.084791 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.47, Z:-1.40 [[ 9.92527522e-01 6.10619805e-03 -1.21868096e-01 -1.43584437e+01] [-7.87197592e-03 9.99870825e-01 -1.40130479e-02 -1.47428135e+00] [ 1.21766787e-01 1.48676784e-02 9.92447380e-01 -1.40320581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08463043999998 meters Centerline goodness : 0.083402 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.47, Z:-1.40 [[ 9.92414277e-01 5.61510671e-03 -1.22810312e-01 -1.43553051e+01] [-7.53184941e-03 9.99856884e-01 -1.51486610e-02 -1.46760642e+00] [ 1.22707674e-01 1.59587362e-02 9.92314540e-01 -1.40419468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14463044 meters Centerline goodness : 0.121207 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-1.46, Z:-1.40 [[ 9.92418194e-01 5.42403470e-03 -1.22787245e-01 -1.43550410e+01] [-7.40428461e-03 9.99849694e-01 -1.56769324e-02 -1.46385646e+00] [ 1.22683757e-01 1.64672246e-02 9.92309189e-01 -1.40457577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20463044 meters Centerline goodness : 0.156257 with order 2 Centerline is valid? [False, False] Translation: X:-14.37, Y:-1.46, Z:-1.41 [[ 9.92166282e-01 -3.51974493e-03 -1.24874659e-01 -1.43736549e+01] [ 1.60649663e-03 9.99879834e-01 -1.54187424e-02 -1.45637619e+00] [ 1.24913923e-01 1.50973456e-02 9.92052711e-01 -1.40781572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26463044 meters Centerline goodness : 0.128521 with order 1 Centerline is valid? [False, False] Translation: X:-14.37, Y:-1.45, Z:-1.41 [[ 9.92145429e-01 -3.80878395e-03 -1.25031760e-01 -1.43729370e+01] [ 1.84346314e-03 9.99872990e-01 -1.58305112e-02 -1.45424846e+00] [ 1.25076174e-01 1.54756779e-02 9.92026438e-01 -1.40819783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32463044 meters Centerline goodness : 0.120501 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:-1.45, Z:-1.41 [[ 9.92463060e-01 -7.76685978e-03 -1.22297792e-01 -1.44113464e+01] [ 5.78890312e-03 9.99846772e-01 -1.65203079e-02 -1.45344509e+00] [ 1.22407363e-01 1.56878253e-02 9.92355949e-01 -1.41478731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38463044 meters Centerline goodness : 0.211712 with order 3 Centerline is valid? [False, False] Translation: X:-14.41, Y:-1.45, Z:-1.41 [[ 9.92432628e-01 -7.90784018e-03 -1.22535485e-01 -1.44106617e+01] [ 5.89944266e-03 9.99842397e-01 -1.67444924e-02 -1.45262050e+00] [ 1.22648586e-01 1.58948895e-02 9.92322869e-01 -1.41487606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44463044 meters Centerline goodness : 0.112882 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.45, Z:-1.42 [[ 9.92344340e-01 1.19916498e-04 -1.23501804e-01 -1.44317699e+01] [-2.29100988e-03 9.99845329e-01 -1.74375812e-02 -1.45081169e+00] [ 1.23480611e-01 1.75870288e-02 9.92191128e-01 -1.41763893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50463044 meters Centerline goodness : 0.118924 with order 1 Centerline is valid? [False, False] Translation: X:-14.44, Y:-1.44, Z:-1.42 [[ 9.92445590e-01 2.41290175e-03 -1.22661848e-01 -1.44359092e+01] [-4.43138754e-03 9.99859186e-01 -1.61855465e-02 -1.44387619e+00] [ 1.22605521e-01 1.66068364e-02 9.92316532e-01 -1.41573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56463044 meters Centerline goodness : 0.122386 with order 1 Centerline is valid? [False, False] Translation: X:-14.44, Y:-1.44, Z:-1.42 [[ 9.92522072e-01 2.52625294e-03 -1.22039155e-01 -1.44375970e+01] [-4.59363042e-03 9.99850629e-01 -1.66618984e-02 -1.43988782e+00] [ 1.21978833e-01 1.70979047e-02 9.92385422e-01 -1.41564324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62463044 meters Centerline goodness : 0.147322 with order 3 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.43, Z:-1.42 [[ 9.92423074e-01 5.76189774e-03 -1.22732406e-01 -1.44348158e+01] [-7.58083206e-03 9.99868173e-01 -1.43585100e-02 -1.43471512e+00] [ 1.22633495e-01 1.51801304e-02 9.92335926e-01 -1.41660057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68463044 meters Centerline goodness : 0.123825 with order 2 Centerline is valid? [False, False] Translation: X:-14.44, Y:-1.43, Z:-1.42 [[ 9.92457314e-01 5.36703655e-03 -1.22473160e-01 -1.44352014e+01] [-7.29423389e-03 9.99856453e-01 -1.52927355e-02 -1.42887810e+00] [ 1.22373503e-01 1.60707350e-02 9.92353998e-01 -1.41694645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74463043999998 meters Centerline goodness : 0.122804 with order 1 Centerline is valid? [False, False] Translation: X:-14.44, Y:-1.43, Z:-1.42 [[ 9.92481406e-01 5.28673375e-03 -1.22281268e-01 -1.44358745e+01] [-7.23414546e-03 9.99853896e-01 -1.54871924e-02 -1.42739110e+00] [ 1.22181526e-01 1.62553509e-02 9.92374646e-01 -1.41676236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80463043999998 meters Centerline goodness : 0.265568 with order 3 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.43, Z:-1.42 [[ 9.92345810e-01 1.14246717e-03 -1.23484768e-01 -1.44313780e+01] [-3.46659206e-03 9.99820848e-01 -1.86079275e-02 -1.43149813e+00] [ 1.23441387e-01 1.88935702e-02 9.92171990e-01 -1.41836427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86463043999998 meters Centerline goodness : 0.112408 with order 3 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.44, Z:-1.42 [[ 9.92253968e-01 -1.99175293e-03 -1.24209889e-01 -1.44281650e+01] [-6.09311699e-04 9.99781398e-01 -2.08993785e-02 -1.43616458e+00] [ 1.24224363e-01 2.08131738e-02 9.92035846e-01 -1.41965322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92463044 meters Centerline goodness : 0.233775 with order 3 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.44, Z:-1.42 [[ 9.92347276e-01 -1.38110228e-03 -1.23470551e-01 -1.44311138e+01] [-1.09425897e-03 9.99799818e-01 -1.99781301e-02 -1.43964007e+00] [ 1.23473426e-01 1.99603518e-02 9.92147115e-01 -1.41836693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98463044 meters Centerline goodness : 0.130341 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.44, Z:-1.42 [[ 9.92289377e-01 -6.76630942e-04 -1.23940852e-01 -1.44287218e+01] [-1.80501549e-03 9.99800158e-01 -1.99094437e-02 -1.43653330e+00] [ 1.23929555e-01 1.99796447e-02 9.92089854e-01 -1.41979374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04463044 meters Centerline goodness : 0.122992 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.43, Z:-1.42 [[ 9.92225520e-01 1.23455039e-04 -1.24452813e-01 -1.44270032e+01] [-2.59704704e-03 9.99802293e-01 -1.97137025e-02 -1.43123617e+00] [ 1.24425774e-01 1.98836485e-02 9.92029671e-01 -1.42025018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10463044 meters Centerline goodness : 0.126501 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:-1.43, Z:-1.42 [[ 9.92327847e-01 1.54559497e-04 -1.23634218e-01 -1.44298837e+01] [-2.66204268e-03 9.99794098e-01 -2.01165296e-02 -1.42790941e+00] [ 1.23605652e-01 2.02913121e-02 9.92123937e-01 -1.41942730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16463044 meters Centerline goodness : 0.123399 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.42, Z:-1.42 [[ 9.92284158e-01 -7.75140783e-03 -1.23741933e-01 -1.44486296e+01] [ 5.49369555e-03 9.99812356e-01 -1.85761302e-02 -1.42330609e+00] [ 1.23862705e-01 1.77529992e-02 9.92140545e-01 -1.42353220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22463044 meters Centerline goodness : 0.096896 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.42, Z:-1.42 [[ 9.92257484e-01 -7.99253976e-03 -1.23940325e-01 -1.44481707e+01] [ 5.66814216e-03 9.99801598e-01 -1.90954602e-02 -1.42011029e+00] [ 1.24068356e-01 1.82451019e-02 9.92105921e-01 -1.42348894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28463044 meters Centerline goodness : 0.108875 with order 3 Centerline is valid? [False, False] Translation: X:-14.45, Y:-1.42, Z:-1.42 [[ 9.92250689e-01 -8.03201876e-03 -1.23992164e-01 -1.44475697e+01] [ 5.64715270e-03 9.99792472e-01 -1.95735008e-02 -1.41584703e+00] [ 1.24123647e-01 1.87216170e-02 9.92090128e-01 -1.42401229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34463044 meters SLAMing on 194.40463044 meters SLAMing on 194.46463043999998 meters Centerline goodness : 0.260704 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.42, Z:-1.44 [[ 9.91888168e-01 -7.20115573e-03 -1.26909442e-01 -1.45507555e+01] [ 4.23485244e-03 9.99711857e-01 -2.36277198e-02 -1.42053085e+00] [ 1.27043021e-01 2.28986129e-02 9.91632858e-01 -1.43830331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52463043999998 meters Centerline goodness : 0.102653 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.42, Z:-1.44 [[ 9.91930466e-01 -7.07270956e-03 -1.26585649e-01 -1.45521873e+01] [ 4.14609074e-03 9.99718328e-01 -2.33682386e-02 -1.42106349e+00] [ 1.26715270e-01 2.26548323e-02 9.91680391e-01 -1.43750012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58463043999998 meters Centerline goodness : 0.089135 with order 1 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.42, Z:-1.44 [[ 9.92008585e-01 -7.31002764e-03 -1.25958448e-01 -1.45540692e+01] [ 4.38983488e-03 9.99715472e-01 -2.34457783e-02 -1.42179239e+00] [ 1.26093998e-01 2.27054765e-02 9.91758421e-01 -1.43705973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64463044 meters Centerline goodness : 0.103084 with order 2 Centerline is valid? [False, False] Translation: X:-14.55, Y:-1.42, Z:-1.44 [[ 9.92048596e-01 -7.19455088e-03 -1.25649601e-01 -1.45544549e+01] [ 4.29221947e-03 9.99718042e-01 -2.33540895e-02 -1.42168948e+00] [ 1.25782195e-01 2.26290760e-02 9.91799760e-01 -1.43747341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70463044 meters Centerline goodness : 0.103393 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-1.42, Z:-1.44 [[ 9.91920237e-01 9.96427000e-04 -1.26859178e-01 -1.45732536e+01] [-4.10040856e-03 9.99698507e-01 -2.42091403e-02 -1.42471351e+00] [ 1.26796809e-01 2.45337106e-02 9.91625265e-01 -1.44140220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76463044 meters SLAMing on 194.82463044 meters SLAMing on 194.88463044 meters Centerline goodness : 0.118683 with order 1 Centerline is valid? [False, False] Translation: X:-14.66, Y:-1.43, Z:-1.45 [[ 9.91808739e-01 2.26699483e-03 -1.27711732e-01 -1.46567510e+01] [-5.42735372e-03 9.99687458e-01 -2.44034789e-02 -1.42913665e+00] [ 1.27616494e-01 2.48967204e-02 9.91511061e-01 -1.45081744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94463044 meters Centerline goodness : 0.262251 with order 3 Centerline is valid? [False, False] Translation: X:-14.66, Y:-1.43, Z:-1.45 [[ 9.91814863e-01 2.31265296e-03 -1.27663341e-01 -1.46563281e+01] [-5.46934784e-03 9.99687761e-01 -2.43817026e-02 -1.42857556e+00] [ 1.27567093e-01 2.48803703e-02 9.91517828e-01 -1.45136826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00463044 meters Centerline goodness : 0.102425 with order 2 Centerline is valid? [False, False] Translation: X:-14.66, Y:-1.43, Z:-1.45 [[ 9.91850568e-01 1.68510431e-03 -1.27395493e-01 -1.46567602e+01] [-4.92637430e-03 9.99672008e-01 -2.51317804e-02 -1.42708145e+00] [ 1.27311358e-01 2.55545685e-02 9.91533551e-01 -1.45164038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06463044 meters Centerline goodness : 0.128956 with order 1 Centerline is valid? [False, False] Translation: X:-14.70, Y:-1.43, Z:-1.46 [[ 9.91641125e-01 1.16231107e-03 -1.29021423e-01 -1.47036901e+01] [-4.39822436e-03 9.99682799e-01 -2.47983450e-02 -1.42980999e+00] [ 1.28951674e-01 2.51585239e-02 9.91331687e-01 -1.45536265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12463044 meters Centerline goodness : 0.150573 with order 3 Centerline is valid? [False, False] Translation: X:-14.70, Y:-1.43, Z:-1.46 [[ 9.91621642e-01 9.37437714e-04 -1.29172907e-01 -1.47035296e+01] [-4.21026495e-03 9.99676931e-01 -2.50660534e-02 -1.42933353e+00] [ 1.29107677e-01 2.53998932e-02 9.91305227e-01 -1.45513687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18463044 meters Centerline goodness : 0.103963 with order 2 Centerline is valid? [False, False] Translation: X:-14.69, Y:-1.42, Z:-1.45 [[ 9.91663394e-01 -5.23791365e-03 -1.28748889e-01 -1.46868583e+01] [ 2.27060664e-03 9.99728654e-01 -2.31832282e-02 -1.42244702e+00] [ 1.28835385e-01 2.26976207e-02 9.91406204e-01 -1.45070177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24463043999998 meters Centerline goodness : 0.089695 with order 1 Centerline is valid? [False, False] Translation: X:-14.71, Y:-1.42, Z:-1.45 [[ 9.91453428e-01 2.58321169e-03 -1.30435526e-01 -1.47059114e+01] [-5.78703997e-03 9.99690642e-01 -2.41894839e-02 -1.42492005e+00] [ 1.30332689e-01 2.47375823e-02 9.91161663e-01 -1.45445209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30463043999998 meters Centerline goodness : 0.412420 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-1.42, Z:-1.45 [[ 9.91449518e-01 2.45162821e-03 -1.30467785e-01 -1.47058340e+01] [-5.69432165e-03 9.99683928e-01 -2.44871110e-02 -1.42347992e+00] [ 1.30366514e-01 2.50206600e-02 9.91150109e-01 -1.45445601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36463043999998 meters Centerline goodness : 0.118803 with order 1 Centerline is valid? [False, False] Translation: X:-14.71, Y:-1.42, Z:-1.45 [[ 9.91564657e-01 4.58085612e-03 -1.29532027e-01 -1.47103371e+01] [-7.64382460e-03 9.99702568e-01 -2.31591581e-02 -1.41823006e+00] [ 1.29387411e-01 2.39539228e-02 9.91304750e-01 -1.45252479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42463044 meters Centerline goodness : 0.231851 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.41, Z:-1.46 [[ 9.91283768e-01 1.90001545e-04 -1.31743897e-01 -1.47290206e+01] [-2.78727508e-03 9.99805378e-01 -1.95304377e-02 -1.41032649e+00] [ 1.31714546e-01 1.97274124e-02 9.91091372e-01 -1.45529179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48463044 meters Centerline goodness : 0.215548 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.41, Z:-1.46 [[ 9.91255380e-01 -1.55630566e-05 -1.31957460e-01 -1.47284322e+01] [-2.62798874e-03 9.99799333e-01 -1.98591873e-02 -1.40874632e+00] [ 1.31931289e-01 2.00323089e-02 9.91056427e-01 -1.45529565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54463044 meters Centerline goodness : 0.233313 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.41, Z:-1.45 [[ 9.91312763e-01 -3.84707662e-04 -1.31525126e-01 -1.47298418e+01] [-2.27295380e-03 9.99796279e-01 -2.00557679e-02 -1.40851458e+00] [ 1.31506047e-01 2.01804892e-02 9.91109937e-01 -1.45489883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60463044 meters Centerline goodness : 0.240661 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.41, Z:-1.45 [[ 9.91278301e-01 -5.49591645e-04 -1.31784017e-01 -1.47293772e+01] [-2.14888575e-03 9.99790945e-01 -2.03334261e-02 -1.40695451e+00] [ 1.31767642e-01 2.04392729e-02 9.91069889e-01 -1.45461613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66463044 meters Centerline goodness : 0.185373 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.40, Z:-1.46 [[ 9.91088933e-01 2.13627149e-04 -1.33201654e-01 -1.47253470e+01] [-2.98482771e-03 9.99783234e-01 -2.06052162e-02 -1.39807844e+00] [ 1.33168378e-01 2.08191857e-02 9.90874737e-01 -1.45507223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72463044 meters Centerline goodness : 0.138096 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.39, Z:-1.45 [[ 9.91108167e-01 2.12122142e-04 -1.33058472e-01 -1.47258396e+01] [-3.06321669e-03 9.99770073e-01 -2.12230433e-02 -1.39236935e+00] [ 1.33023376e-01 2.14419184e-02 9.90880934e-01 -1.45495086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78463044 meters Centerline goodness : 0.151716 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.39, Z:-1.45 [[ 9.91219530e-01 1.79813515e-03 -1.32214256e-01 -1.47306970e+01] [-4.50766735e-03 9.99785857e-01 -2.01970492e-02 -1.38759827e+00] [ 1.32149626e-01 2.06156875e-02 9.91015373e-01 -1.45245185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84463044 meters Centerline goodness : 0.247996 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-1.38, Z:-1.45 [[ 9.91351591e-01 -6.41325229e-03 -1.31075909e-01 -1.47126263e+01] [ 3.87444980e-03 9.99800104e-01 -1.96148046e-02 -1.38263556e+00] [ 1.31175502e-01 1.89373207e-02 9.91178271e-01 -1.44816409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90463044 meters Centerline goodness : 0.214957 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-1.38, Z:-1.45 [[ 9.91313744e-01 -6.58437399e-03 -1.31353364e-01 -1.47127760e+01] [ 4.01350351e-03 9.99795364e-01 -1.98273216e-02 -1.38160511e+00] [ 1.31457035e-01 1.91279092e-02 9.91137312e-01 -1.44716148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96463043999998 meters Centerline goodness : 0.195493 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-1.38, Z:-1.45 [[ 9.91138736e-01 2.44329197e-03 -1.32808269e-01 -1.47328306e+01] [-5.20822218e-03 9.99776788e-01 -2.04755635e-02 -1.37873048e+00] [ 1.32728597e-01 2.09858191e-02 9.90930227e-01 -1.45000404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02463043999998 meters Centerline goodness : 0.105617 with order 1 Centerline is valid? [False, False] Translation: X:-14.76, Y:-1.37, Z:-1.45 [[ 9.91312796e-01 -2.34041174e-03 -1.31504615e-01 -1.47552783e+01] [-1.04088721e-05 9.99840269e-01 -1.78728050e-02 -1.37162519e+00] [ 1.31525439e-01 1.77189091e-02 9.91154427e-01 -1.45220100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08463043999998 meters Centerline goodness : 0.104637 with order 1 Centerline is valid? [False, False] Translation: X:-14.76, Y:-1.37, Z:-1.45 [[ 9.91316972e-01 -2.49740939e-03 -1.31470242e-01 -1.47561541e+01] [ 8.71260940e-05 9.99831880e-01 -1.83358600e-02 -1.36908098e+00] [ 1.31493931e-01 1.81651948e-02 9.91150529e-01 -1.45132150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14463044 meters Centerline goodness : 0.242338 with order 3 Centerline is valid? [False, False] Translation: X:-14.76, Y:-1.37, Z:-1.45 [[ 9.91419229e-01 -2.63419512e-03 -1.30694200e-01 -1.47587783e+01] [ 2.42665062e-04 9.99832306e-01 -1.83112226e-02 -1.36936862e+00] [ 1.30720518e-01 1.81223832e-02 9.91253613e-01 -1.45050714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20463044 meters Centerline goodness : 0.103215 with order 1 Centerline is valid? [False, False] Translation: X:-14.77, Y:-1.37, Z:-1.45 [[ 9.91613339e-01 -4.33004742e-03 -1.29167472e-01 -1.47652456e+01] [ 1.80655459e-03 9.99805340e-01 -1.96473683e-02 -1.36998647e+00] [ 1.29227402e-01 1.92492444e-02 9.91428134e-01 -1.44795547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26463044 meters Centerline goodness : 0.104758 with order 1 Centerline is valid? [False, False] Translation: X:-14.76, Y:-1.37, Z:-1.45 [[ 9.91578155e-01 -4.30954738e-03 -1.29437978e-01 -1.47642629e+01] [ 1.78674401e-03 9.99806300e-01 -1.96002465e-02 -1.37054091e+00] [ 1.29497375e-01 1.92039037e-02 9.91393787e-01 -1.44824289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32463044 meters Centerline goodness : 0.246583 with order 3 Centerline is valid? [False, False] Translation: X:-14.80, Y:-1.37, Z:-1.45 [[ 9.91014627e-01 -2.02050061e-03 -1.33738279e-01 -1.48034905e+01] [-3.37660977e-04 9.99844917e-01 -1.76076307e-02 -1.37245274e+00] [ 1.33753115e-01 1.74945778e-02 9.90860255e-01 -1.45450079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38463044 meters Centerline goodness : 0.106955 with order 1 Centerline is valid? [False, False] Translation: X:-14.82, Y:-1.37, Z:-1.46 [[ 9.90922760e-01 3.74702169e-03 -1.34380220e-01 -1.48248414e+01] [-6.58646157e-03 9.99764211e-01 -2.06915607e-02 -1.37432524e+00] [ 1.34271003e-01 2.13888286e-02 9.90713791e-01 -1.45712861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44463044 meters Centerline goodness : 0.273446 with order 3 Centerline is valid? [False, False] Translation: X:-14.83, Y:-1.37, Z:-1.46 [[ 9.90926760e-01 4.08736935e-03 -1.34340794e-01 -1.48250887e+01] [-6.94460765e-03 9.99759394e-01 -2.08068715e-02 -1.37104870e+00] [ 1.34223426e-01 2.15510299e-02 9.90716723e-01 -1.45699271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50463044 meters Centerline goodness : 0.112294 with order 1 Centerline is valid? [False, False] Translation: X:-14.83, Y:-1.37, Z:-1.46 [[ 9.90919548e-01 3.41992682e-03 -1.34412621e-01 -1.48252013e+01] [-6.36718774e-03 9.99748504e-01 -2.15032194e-02 -1.36966976e+00] [ 1.34305277e-01 2.21637909e-02 9.90692111e-01 -1.45665609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56463044 meters Centerline goodness : 0.116810 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-1.37, Z:-1.46 [[ 9.90584137e-01 -4.53803236e-03 -1.36830090e-01 -1.48424788e+01] [ 1.82255950e-03 9.99799032e-01 -1.99643355e-02 -1.36814096e+00] [ 1.36893190e-01 1.95269730e-02 9.90393332e-01 -1.46010087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62463044 meters Centerline goodness : 0.463965 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-1.37, Z:-1.46 [[ 9.90604322e-01 -4.69411238e-03 -1.36678610e-01 -1.48431510e+01] [ 1.98939658e-03 9.99799623e-01 -1.99187491e-02 -1.36944672e+00] [ 1.36744723e-01 1.94596910e-02 9.90415166e-01 -1.45968977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68463044 meters Centerline goodness : 0.104216 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-1.37, Z:-1.46 [[ 9.90605297e-01 -4.48107185e-03 -1.36678695e-01 -1.48443859e+01] [ 1.81701371e-03 9.99806056e-01 -1.96099280e-02 -1.37070970e+00] [ 1.36740061e-01 1.91773515e-02 9.90421317e-01 -1.45828868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74463043999998 meters Centerline goodness : 0.238084 with order 3 Centerline is valid? [False, False] Translation: X:-14.84, Y:-1.37, Z:-1.46 [[ 9.90591982e-01 -4.15774401e-03 -1.36785373e-01 -1.48441747e+01] [ 1.52480534e-03 9.99811650e-01 -1.93478359e-02 -1.37085703e+00] [ 1.36840053e-01 1.89572400e-02 9.90411744e-01 -1.45820095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80463043999998 meters Centerline goodness : 0.237339 with order 3 Centerline is valid? [False, False] Translation: X:-14.85, Y:-1.37, Z:-1.46 [[ 9.90662687e-01 -4.39573140e-03 -1.36264884e-01 -1.48469380e+01] [ 1.78915972e-03 9.99813192e-01 -1.92452845e-02 -1.37468460e+00] [ 1.36324026e-01 1.88217856e-02 9.90485487e-01 -1.45670574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86463043999998 meters Centerline goodness : 0.107006 with order 1 Centerline is valid? [False, False] Translation: X:-14.85, Y:-1.38, Z:-1.46 [[ 9.90638711e-01 -4.18224069e-03 -1.36445791e-01 -1.48466537e+01] [ 1.63960588e-03 9.99823012e-01 -1.87418271e-02 -1.37730985e+00] [ 1.36500025e-01 1.83426621e-02 9.90470237e-01 -1.45646508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92463044 meters Centerline goodness : 0.105895 with order 1 Centerline is valid? [False, False] Translation: X:-14.85, Y:-1.38, Z:-1.46 [[ 9.90604117e-01 -4.04092461e-03 -1.36700965e-01 -1.48459682e+01] [ 1.54036105e-03 9.99829647e-01 -1.83930540e-02 -1.37913462e+00] [ 1.36752002e-01 1.80096662e-02 9.90441589e-01 -1.45647905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98463044 meters Centerline goodness : 0.140251 with order 3 Centerline is valid? [False, False] Translation: X:-14.85, Y:-1.38, Z:-1.46 [[ 9.90557074e-01 -4.01137991e-03 -1.37042299e-01 -1.48451616e+01] [ 1.48895031e-03 9.99827682e-01 -1.85037645e-02 -1.37821750e+00] [ 1.37092909e-01 1.81249857e-02 9.90392356e-01 -1.45639306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04463044 meters Centerline goodness : 0.109600 with order 1 Centerline is valid? [False, False] Translation: X:-14.85, Y:-1.38, Z:-1.46 [[ 9.90563885e-01 -4.20134004e-03 -1.36987363e-01 -1.48452521e+01] [ 1.60660118e-03 9.99817308e-01 -1.90465115e-02 -1.37543293e+00] [ 1.37042357e-01 1.86467023e-02 9.90389667e-01 -1.45653253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10463044 meters Centerline goodness : 0.469722 with order 2 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.37, Z:-1.46 [[ 9.90645603e-01 -2.85644300e-03 -1.36429943e-01 -1.48942849e+01] [ 3.83878651e-04 9.99835270e-01 -1.81461981e-02 -1.37366526e+00] [ 1.36459302e-01 1.79240788e-02 9.90483511e-01 -1.46128040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16463044 meters Centerline goodness : 0.122499 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.37, Z:-1.46 [[ 9.90656801e-01 -2.91600924e-03 -1.36347350e-01 -1.48946587e+01] [ 4.24605512e-04 9.99832488e-01 -1.82979899e-02 -1.37280483e+00] [ 1.36377867e-01 1.80691343e-02 9.90492092e-01 -1.46106789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22463044 meters Centerline goodness : 0.123458 with order 1 Centerline is valid? [False, False] Translation: X:-14.90, Y:-1.37, Z:-1.46 [[ 9.90658422e-01 -3.19283591e-03 -1.36329367e-01 -1.48954727e+01] [ 6.88780538e-04 9.99830268e-01 -1.84109103e-02 -1.37384338e+00] [ 1.36365011e-01 1.81450223e-02 9.90492475e-01 -1.46018463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28463044 meters Centerline goodness : 0.104150 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90608188e-01 -3.39488889e-03 -1.36689036e-01 -1.48945254e+01] [ 9.21206638e-04 9.99834736e-01 -1.81563428e-02 -1.37709298e+00] [ 1.36728085e-01 1.78599030e-02 9.90447603e-01 -1.46017085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34463044 meters Centerline goodness : 0.460052 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.39, Z:-1.46 [[ 9.90612517e-01 -5.18097556e-03 -1.36601606e-01 -1.48944918e+01] [ 2.62698802e-03 9.99818490e-01 -1.88702609e-02 -1.38512167e+00] [ 1.36674578e-01 1.83342659e-02 9.90446321e-01 -1.46032828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40463044 meters Centerline goodness : 0.099978 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.39, Z:-1.46 [[ 9.90564402e-01 -4.78313311e-03 -1.36964544e-01 -1.48930451e+01] [ 2.30150517e-03 9.99830415e-01 -1.82713920e-02 -1.38837246e+00] [ 1.37028711e-01 1.77837659e-02 9.90407426e-01 -1.46087466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46463043999998 meters Centerline goodness : 0.102394 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.39, Z:-1.46 [[ 9.90576512e-01 -4.11525050e-03 -1.36898644e-01 -1.48934523e+01] [ 1.67069484e-03 9.99837188e-01 -1.79667918e-02 -1.38781395e+00] [ 1.36950293e-01 1.75687661e-02 9.90422110e-01 -1.46072551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52463043999998 meters Centerline goodness : 0.112632 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90529722e-01 1.36555267e-04 -1.37298404e-01 -1.48918047e+01] [-2.20657703e-03 9.99886185e-01 -1.49247213e-02 -1.38381737e+00] [ 1.37280739e-01 1.50863395e-02 9.90417286e-01 -1.46156254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58463043999998 meters Centerline goodness : 0.111942 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90541188e-01 2.78906433e-04 -1.37215443e-01 -1.48916508e+01] [-2.38732453e-03 9.99881602e-01 -1.52014220e-02 -1.38104248e+00] [ 1.37194958e-01 1.53852124e-02 9.90424575e-01 -1.46211809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64463044 meters Centerline goodness : 0.103819 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90622555e-01 2.79545534e-04 -1.36626772e-01 -1.48933201e+01] [-2.39000355e-03 9.99880350e-01 -1.52830907e-02 -1.37970153e+00] [ 1.36606152e-01 1.54663128e-02 9.90504696e-01 -1.46189739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70463044 meters Centerline goodness : 0.233128 with order 3 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90632508e-01 -4.02881306e-03 -1.36495429e-01 -1.48932412e+01] [ 1.45326957e-03 9.99819121e-01 -1.89634794e-02 -1.37992276e+00] [ 1.36547140e-01 1.85874745e-02 9.90459179e-01 -1.46224444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76463044 meters Centerline goodness : 0.103987 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90633262e-01 -4.00369712e-03 -1.36490697e-01 -1.48930349e+01] [ 1.46987679e-03 9.99824811e-01 -1.86597836e-02 -1.38138828e+00] [ 1.36541494e-01 1.82843778e-02 9.90465599e-01 -1.46242406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82463044 meters Centerline goodness : 0.105856 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90615893e-01 -4.47276451e-03 -1.36602150e-01 -1.48927153e+01] [ 1.91222027e-03 9.99820117e-01 -1.88700115e-02 -1.38253111e+00] [ 1.36661979e-01 1.84317199e-02 9.90446251e-01 -1.46232399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88463044 meters Centerline goodness : 0.104155 with order 1 Centerline is valid? [False, False] Translation: X:-14.89, Y:-1.38, Z:-1.46 [[ 9.90558597e-01 -4.36186291e-03 -1.37020586e-01 -1.48913952e+01] [ 1.77797569e-03 9.99818389e-01 -1.89743871e-02 -1.38064525e+00] [ 1.37078465e-01 1.85516230e-02 9.90386456e-01 -1.46266310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94463044 meters Centerline goodness : 0.107075 with order 1 Centerline is valid? [False, False] Translation: X:-14.91, Y:-1.38, Z:-1.47 [[ 9.90614381e-01 3.24617653e-03 -1.36647764e-01 -1.49117304e+01] [-6.05491087e-03 9.99778756e-01 -2.01439334e-02 -1.38397074e+00] [ 1.36552140e-01 2.07822602e-02 9.90414868e-01 -1.46621127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00463044 meters Centerline goodness : 0.107735 with order 1 Centerline is valid? [False, False] Translation: X:-14.91, Y:-1.38, Z:-1.47 [[ 9.90646286e-01 3.33828168e-03 -1.36414049e-01 -1.49122679e+01] [-6.20937539e-03 9.99767962e-01 -2.06268167e-02 -1.37913654e+00] [ 1.36313538e-01 2.12809253e-02 9.90437147e-01 -1.46630580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06463044 meters Centerline goodness : 0.105939 with order 1 Centerline is valid? [False, False] Translation: X:-14.91, Y:-1.37, Z:-1.47 [[ 9.90616146e-01 3.35049710e-03 -1.36632443e-01 -1.49115611e+01] [-6.29304599e-03 9.99757354e-01 -2.11099852e-02 -1.37494090e+00] [ 1.36528561e-01 2.17717264e-02 9.90396862e-01 -1.46649256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12463044 meters Centerline goodness : 0.119514 with order 1 Centerline is valid? [False, False] Translation: X:-14.91, Y:-1.37, Z:-1.47 [[ 9.90596487e-01 2.83267130e-03 -1.36786610e-01 -1.49114551e+01] [-5.90082606e-03 9.99739897e-01 -2.20299563e-02 -1.37092151e+00] [ 1.36688628e-01 2.26299513e-02 9.90355544e-01 -1.46619221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18463044 meters Centerline goodness : 0.123753 with order 1 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.37, Z:-1.47 [[ 9.90167662e-01 -4.97455370e-03 -1.39797192e-01 -1.49272962e+01] [ 2.09830846e-03 9.99783234e-01 -2.07142802e-02 -1.36730059e+00] [ 1.39869933e-01 2.02172728e-02 9.89963466e-01 -1.47051787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24463043999998 meters Centerline goodness : 0.124408 with order 1 Centerline is valid? [False, False] Translation: X:-14.93, Y:-1.37, Z:-1.47 [[ 9.90171928e-01 -5.49523700e-03 -1.39747469e-01 -1.49274033e+01] [ 2.62290430e-03 9.99781678e-01 -2.07296138e-02 -1.36962784e+00] [ 1.39830873e-01 2.01593375e-02 9.89970165e-01 -1.47040750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30463043999998 meters Centerline goodness : 0.107862 with order 1 Centerline is valid? [False, False] Translation: X:-14.95, Y:-1.38, Z:-1.47 [[ 9.90228031e-01 -4.04557303e-04 -1.39457101e-01 -1.49498630e+01] [-2.87009837e-03 9.99724875e-01 -2.32795450e-02 -1.37621126e+00] [ 1.39428150e-01 2.34523136e-02 9.89954433e-01 -1.47290980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36463043999998 meters Centerline goodness : 0.243270 with order 3 Centerline is valid? [False, False] Translation: X:-14.95, Y:-1.37, Z:-1.47 [[ 9.90182858e-01 -4.72531029e-04 -1.39777269e-01 -1.49487049e+01] [-2.85608279e-03 9.99717115e-01 -2.36121480e-02 -1.37444632e+00] [ 1.39748886e-01 2.37795597e-02 9.89901400e-01 -1.47331333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42463044 meters Centerline goodness : 0.106256 with order 1 Centerline is valid? [False, False] Translation: X:-14.95, Y:-1.37, Z:-1.47 [[ 9.90225525e-01 3.88099673e-03 -1.39421472e-01 -1.49502132e+01] [-6.82230964e-03 9.99764008e-01 -2.06248311e-02 -1.36894367e+00] [ 1.39308524e-01 2.13744106e-02 9.90018318e-01 -1.47271411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48463044 meters Centerline goodness : 0.280070 with order 3 Centerline is valid? [False, False] Translation: X:-14.95, Y:-1.36, Z:-1.47 [[ 9.90255982e-01 6.09855432e-03 -1.39125473e-01 -1.49515064e+01] [-8.90490958e-03 9.99769070e-01 -1.95578419e-02 -1.36153995e+00] [ 1.38974070e-01 2.06061697e-02 9.90081610e-01 -1.47222956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54463044 meters Centerline goodness : 0.107769 with order 1 Centerline is valid? [False, False] Translation: X:-14.95, Y:-1.35, Z:-1.47 [[ 9.90341709e-01 6.10180626e-03 -1.38513782e-01 -1.49527879e+01] [-8.97796947e-03 9.99756674e-01 -2.01491581e-02 -1.35498846e+00] [ 1.38357132e-01 2.11981242e-02 9.90155515e-01 -1.47260766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60463044 meters Centerline goodness : 0.116419 with order 1 Centerline is valid? [False, False] Translation: X:-14.94, Y:-1.35, Z:-1.47 [[ 9.90753629e-01 -4.78765570e-03 -1.35588806e-01 -1.49387069e+01] [ 1.88829013e-03 9.99766978e-01 -2.15040596e-02 -1.34994467e+00] [ 1.35660165e-01 2.10491941e-02 9.90531802e-01 -1.46726524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66463044 meters Centerline goodness : 0.237841 with order 1 Centerline is valid? [False, False] Translation: X:-14.98, Y:-1.35, Z:-1.47 [[ 9.90382713e-01 -6.32038813e-03 -1.38210469e-01 -1.49818483e+01] [ 3.28832426e-03 9.99749132e-01 -2.21553624e-02 -1.35458620e+00] [ 1.38315827e-01 2.14878071e-02 9.90155041e-01 -1.47278133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72463044 meters Centerline goodness : 0.117806 with order 1 Centerline is valid? [False, False] Translation: X:-14.98, Y:-1.36, Z:-1.47 [[ 9.90349536e-01 -6.46173570e-03 -1.38441475e-01 -1.49813164e+01] [ 3.44064324e-03 9.99750940e-01 -2.20503784e-02 -1.35642957e+00] [ 1.38549479e-01 2.13612543e-02 9.90125113e-01 -1.47262976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78463044 meters Centerline goodness : 0.205600 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.36, Z:-1.48 [[ 9.90519564e-01 1.48412140e-03 -1.37363717e-01 -1.50010443e+01] [-4.55852749e-03 9.99746043e-01 -2.20696282e-02 -1.36470524e+00] [ 1.37296078e-01 2.24865748e-02 9.90274780e-01 -1.47627494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84463044 meters Centerline goodness : 0.105466 with order 1 Centerline is valid? [False, False] Translation: X:-15.00, Y:-1.37, Z:-1.48 [[ 9.90305390e-01 -7.82722603e-04 -1.38905079e-01 -1.49952612e+01] [-2.54565025e-03 9.99713922e-01 -2.37822106e-02 -1.36927219e+00] [ 1.38883957e-01 2.39052551e-02 9.90020093e-01 -1.47800675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90463044 meters Centerline goodness : 0.104466 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.37, Z:-1.48 [[ 9.90250041e-01 -5.65859560e-04 -1.39300169e-01 -1.49940710e+01] [-2.67893418e-03 9.99729456e-01 -2.31049336e-02 -1.37386476e+00] [ 1.39275556e-01 2.32528374e-02 9.89980619e-01 -1.47817507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96463043999998 meters Centerline goodness : 0.238203 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.38, Z:-1.48 [[ 9.90076015e-01 -2.25433054e-03 -1.40514780e-01 -1.49884858e+01] [-1.11842874e-03 9.99713267e-01 -2.39192890e-02 -1.38151018e+00] [ 1.40528412e-01 2.38390701e-02 9.89789606e-01 -1.48047105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02463043999998 meters Centerline goodness : 0.106273 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.38, Z:-1.48 [[ 9.89981944e-01 -1.79709011e-03 -1.41182581e-01 -1.49860905e+01] [-1.49961773e-03 9.99728771e-01 -2.32408073e-02 -1.38441483e+00] [ 1.41186054e-01 2.32196995e-02 9.89710737e-01 -1.48127509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08463043999998 meters Centerline goodness : 0.354589 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.39, Z:-1.48 [[ 9.89957196e-01 -1.48464145e-03 -1.41359632e-01 -1.49856378e+01] [-1.77785167e-03 9.99735027e-01 -2.29502940e-02 -1.38542770e+00] [ 1.41356248e-01 2.29711252e-02 9.89692244e-01 -1.48133607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14463044 meters Centerline goodness : 0.460011 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.39, Z:-1.48 [[ 9.90002244e-01 -1.50339921e-03 -1.41043598e-01 -1.49868754e+01] [-1.75656639e-03 9.99734248e-01 -2.29858313e-02 -1.38575642e+00] [ 1.41040672e-01 2.30037770e-02 9.89736508e-01 -1.48094026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20463044 meters Centerline goodness : 0.103725 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.38, Z:-1.48 [[ 9.89936661e-01 -1.18042068e-03 -1.41506231e-01 -1.49851647e+01] [-2.07723633e-03 9.99736258e-01 -2.28713727e-02 -1.38458579e+00] [ 1.41495908e-01 2.29351523e-02 9.89673121e-01 -1.48155218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26463044 meters Centerline goodness : 0.144747 with order 3 Centerline is valid? [False, False] Translation: X:-14.98, Y:-1.38, Z:-1.48 [[ 9.89881052e-01 -1.33672447e-03 -1.41893327e-01 -1.49847665e+01] [-2.00893201e-03 9.99723396e-01 -2.34328035e-02 -1.38117134e+00] [ 1.41885402e-01 2.34807423e-02 9.89604561e-01 -1.48094225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32463044 meters Centerline goodness : 0.103157 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-1.38, Z:-1.48 [[ 9.90105438e-01 5.25316276e-04 -1.40324433e-01 -1.49920478e+01] [-3.67038746e-03 9.99747810e-01 -2.21549927e-02 -1.37616163e+00] [ 1.40277406e-01 2.24508238e-02 9.89857671e-01 -1.47785875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38463044 meters Centerline goodness : 0.102670 with order 1 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.37, Z:-1.48 [[ 9.90405429e-01 -6.62732931e-03 -1.38033203e-01 -1.50101562e+01] [ 3.59901100e-03 9.99747580e-01 -2.21771018e-02 -1.36646702e+00] [ 1.38145336e-01 2.14675390e-02 9.90179282e-01 -1.48231165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44463044 meters Centerline goodness : 0.104171 with order 1 Centerline is valid? [False, False] Translation: X:-15.01, Y:-1.36, Z:-1.48 [[ 9.90342646e-01 -6.96888686e-03 -1.38466161e-01 -1.50097266e+01] [ 3.87002952e-03 9.99736270e-01 -2.26365319e-02 -1.36475616e+00] [ 1.38587395e-01 2.18820548e-02 9.90108433e-01 -1.48154789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50463044 meters Centerline goodness : 0.104892 with order 1 Centerline is valid? [False, False] Translation: X:-15.04, Y:-1.36, Z:-1.48 [[ 9.90696593e-01 -1.54876243e-02 -1.35205009e-01 -1.50353503e+01] [ 1.25362125e-02 9.99664778e-01 -2.26533728e-02 -1.36202500e+00] [ 1.35510532e-01 2.07476606e-02 9.90558646e-01 -1.48371670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56463044 meters Centerline goodness : 0.477048 with order 2 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.37, Z:-1.49 [[ 9.90694478e-01 -9.34153963e-03 -1.35783605e-01 -1.50507145e+01] [ 6.05937085e-03 9.99679864e-01 -2.45652914e-02 -1.37115351e+00] [ 1.35969614e-01 2.35139353e-02 9.90433925e-01 -1.48836275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62463044 meters Centerline goodness : 0.104633 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.37, Z:-1.49 [[ 9.90723725e-01 -9.13485772e-03 -1.35584128e-01 -1.50518441e+01] [ 5.91009954e-03 9.99690449e-01 -2.41676827e-02 -1.37314403e+00] [ 1.35762926e-01 2.31421809e-02 9.90471033e-01 -1.48765313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68463044 meters Centerline goodness : 0.103529 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.38, Z:-1.49 [[ 9.90734078e-01 -8.93688666e-03 -1.35521654e-01 -1.50522178e+01] [ 5.76055720e-03 9.99699860e-01 -2.38118701e-02 -1.37530024e+00] [ 1.35693782e-01 2.28105509e-02 9.90488201e-01 -1.48743091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74463043999998 meters Centerline goodness : 0.099338 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.38, Z:-1.49 [[ 9.90745558e-01 -8.62885336e-03 -1.35457679e-01 -1.50519641e+01] [ 5.51748538e-03 9.99712641e-01 -2.33279476e-02 -1.37735973e+00] [ 1.35620047e-01 2.23646747e-02 9.90508467e-01 -1.48791490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80463043999998 meters Centerline goodness : 0.104818 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.38, Z:-1.49 [[ 9.90765092e-01 -8.34100818e-03 -1.35332774e-01 -1.50523326e+01] [ 5.30298691e-03 9.99726130e-01 -2.27935143e-02 -1.37983071e+00] [ 1.35485831e-01 2.18653504e-02 9.90537983e-01 -1.48782911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86463043999998 meters Centerline goodness : 0.105518 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.38, Z:-1.49 [[ 9.90650669e-01 -8.20085454e-03 -1.36176350e-01 -1.50493064e+01] [ 5.21570015e-03 9.99738530e-01 -2.22635827e-02 -1.38348172e+00] [ 1.36323324e-01 2.13451781e-02 9.90434417e-01 -1.48878984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92463044 meters Centerline goodness : 0.102349 with order 1 Centerline is valid? [False, False] Translation: X:-15.05, Y:-1.39, Z:-1.49 [[ 9.90634941e-01 -8.11150950e-03 -1.36296066e-01 -1.50489524e+01] [ 5.15690158e-03 9.99744297e-01 -2.20169853e-02 -1.38509127e+00] [ 1.36439805e-01 2.11079296e-02 9.90423462e-01 -1.48882369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98463044 meters Centerline goodness : 0.238828 with order 3 Centerline is valid? [False, False] Translation: X:-15.07, Y:-1.39, Z:-1.49 [[ 9.90951712e-01 -2.36783452e-03 -1.34197980e-01 -1.50664715e+01] [-7.50681003e-04 9.99730961e-01 -2.31828087e-02 -1.39310895e+00] [ 1.34216769e-01 2.30737839e-02 9.90683330e-01 -1.49311391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04463044 meters Centerline goodness : 0.253417 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-1.39, Z:-1.49 [[ 9.90840379e-01 -2.15056639e-03 -1.35021177e-01 -1.50634308e+01] [-1.01118080e-03 9.99726987e-01 -2.33437310e-02 -1.39070581e+00] [ 1.35034516e-01 2.32664421e-02 9.90567692e-01 -1.49419015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10463044 meters Centerline goodness : 0.461659 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.39, Z:-1.50 [[ 9.90564201e-01 -1.21456097e-03 -1.37044108e-01 -1.51093793e+01] [-1.99970210e-03 9.99726189e-01 -2.33141122e-02 -1.38801949e+00] [ 1.37034901e-01 2.33681723e-02 9.90290546e-01 -1.49864100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16463044 meters Centerline goodness : 0.232461 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.38, Z:-1.50 [[ 9.90584074e-01 -5.40160689e-04 -1.36904711e-01 -1.51094209e+01] [-2.66841689e-03 9.99726075e-01 -2.32519682e-02 -1.38334282e+00] [ 1.36879770e-01 2.33983482e-02 9.90311287e-01 -1.49895360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22463044 meters Centerline goodness : 0.166295 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-1.37, Z:-1.50 [[ 9.90439167e-01 -3.44525340e-04 -1.37949765e-01 -1.51060495e+01] [-3.00449273e-03 9.99705806e-01 -2.40681183e-02 -1.37402266e+00] [ 1.37917473e-01 2.42524761e-02 9.90146751e-01 -1.49978846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28463044 meters Centerline goodness : 0.461844 with order 2 Centerline is valid? [False, False] Translation: X:-15.15, Y:-1.37, Z:-1.50 [[ 9.90245601e-01 -6.26899839e-05 -1.39332861e-01 -1.51525801e+01] [-3.32888446e-03 9.99703809e-01 -2.41083444e-02 -1.37180693e+00] [ 1.39293104e-01 2.43370050e-02 9.89952090e-01 -1.50461393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34463044 meters Centerline goodness : 0.452879 with order 2 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.37, Z:-1.50 [[ 9.90443410e-01 -6.97695591e-04 -1.37917964e-01 -1.51571935e+01] [-2.76142572e-03 9.99686430e-01 -2.48880757e-02 -1.36777007e+00] [ 1.37892081e-01 2.50310807e-02 9.90130910e-01 -1.50331591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40463044 meters Centerline goodness : 0.105656 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-1.37, Z:-1.50 [[ 9.90459962e-01 -9.77304268e-04 -1.37797344e-01 -1.51578133e+01] [-2.53441285e-03 9.99676517e-01 -2.53068925e-02 -1.36599083e+00] [ 1.37777502e-01 2.54146992e-02 9.90137088e-01 -1.50290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46463043999998 meters Centerline goodness : 0.223497 with order 1 Centerline is valid? [False, False] Translation: X:-15.21, Y:-1.36, Z:-1.51 [[ 9.90497024e-01 -4.85578930e-04 -1.37533307e-01 -1.52059830e+01] [-3.02121302e-03 9.99675645e-01 -2.52878667e-02 -1.36451554e+00] [ 1.37500977e-01 2.54630741e-02 9.90174284e-01 -1.50768992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52463043999998 meters Centerline goodness : 0.383553 with order 1 Centerline is valid? [False, False] Translation: X:-15.21, Y:-1.36, Z:-1.51 [[ 9.90552568e-01 -6.66137593e-04 -1.37131930e-01 -1.52074318e+01] [-2.86867405e-03 9.99668727e-01 -2.55774811e-02 -1.36314394e+00] [ 1.37103540e-01 2.57292264e-02 9.90222513e-01 -1.50716391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58463043999998 meters Centerline goodness : 0.463559 with order 2 Centerline is valid? [False, False] Translation: X:-15.20, Y:-1.36, Z:-1.51 [[ 9.90382701e-01 -5.29299197e-04 -1.38353982e-01 -1.52038321e+01] [-3.05535875e-03 9.99665143e-01 -2.56956565e-02 -1.36132983e+00] [ 1.38321254e-01 2.58712548e-02 9.90049448e-01 -1.50777042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64463044 meters Centerline goodness : 0.462046 with order 2 Centerline is valid? [False, False] Translation: X:-15.20, Y:-1.36, Z:-1.51 [[ 9.90368894e-01 -5.66883490e-04 -1.38452633e-01 -1.52045326e+01] [-3.01542776e-03 9.99666109e-01 -2.56627844e-02 -1.36205215e+00] [ 1.38420953e-01 2.58331173e-02 9.90036509e-01 -1.50669884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70463044 meters Centerline goodness : 0.095520 with order 1 Centerline is valid? [False, False] Translation: X:-15.25, Y:-1.37, Z:-1.51 [[ 9.90104299e-01 -1.55699446e-03 -1.40324812e-01 -1.52498098e+01] [-2.18133319e-03 9.99646890e-01 -2.64827864e-02 -1.36595994e+00] [ 1.40316496e-01 2.65268159e-02 9.89751286e-01 -1.51199995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76463044 meters Centerline goodness : 0.286352 with order 1 Centerline is valid? [False, False] Translation: X:-15.25, Y:-1.37, Z:-1.51 [[ 9.90111283e-01 -1.34393860e-03 -1.40277730e-01 -1.52498013e+01] [-2.37705491e-03 9.99649821e-01 -2.63549806e-02 -1.36609537e+00] [ 1.40264027e-01 2.64278116e-02 9.89761372e-01 -1.51214279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82463044 meters Centerline goodness : 0.202556 with order 1 Centerline is valid? [False, False] Translation: X:-15.25, Y:-1.36, Z:-1.51 [[ 9.89997708e-01 -1.00575131e-03 -1.41079862e-01 -1.52477574e+01] [-2.76177872e-03 9.99644823e-01 -2.65066087e-02 -1.36425524e+00] [ 1.41056413e-01 2.66311132e-02 9.89643306e-01 -1.51219763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88463044 meters Centerline goodness : 0.395915 with order 1 Centerline is valid? [False, False] Translation: X:-15.27, Y:-1.36, Z:-1.52 [[ 9.89693075e-01 8.94226389e-03 -1.42925341e-01 -1.52677331e+01] [-1.28765311e-02 9.99562543e-01 -2.66255209e-02 -1.35988144e+00] [ 1.42624725e-01 2.81914763e-02 9.89375272e-01 -1.51549832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94463044 meters Centerline goodness : 0.161014 with order 1 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.35, Z:-1.52 [[ 9.89944700e-01 4.22843346e-03 -1.41391694e-01 -1.52856168e+01] [-7.78012232e-03 9.99667686e-01 -2.45761434e-02 -1.34865097e+00] [ 1.41240789e-01 2.54290676e-02 9.89648625e-01 -1.52065672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00463044 meters Centerline goodness : 0.435048 with order 1 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.34, Z:-1.52 [[ 9.89922566e-01 4.38557076e-03 -1.41541794e-01 -1.52855788e+01] [-8.02387443e-03 9.99651630e-01 -2.51443147e-02 -1.34019044e+00] [ 1.41382213e-01 2.60266381e-02 9.89612896e-01 -1.52030713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06463044 meters Centerline goodness : 0.462747 with order 2 Centerline is valid? [False, False] Translation: X:-15.29, Y:-1.33, Z:-1.52 [[ 9.89914060e-01 4.10530285e-03 -1.41609678e-01 -1.52864402e+01] [-7.83018224e-03 9.99637576e-01 -2.57566612e-02 -1.33422137e+00] [ 1.41452616e-01 2.66057106e-02 9.89587436e-01 -1.51921444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12463044 meters Centerline goodness : 0.334304 with order 2 Centerline is valid? [False, False] Translation: X:-15.31, Y:-1.32, Z:-1.52 [[ 9.90271387e-01 -5.28564259e-03 -1.39049067e-01 -1.53105821e+01] [ 1.52771566e-03 9.99631051e-01 -2.71187678e-02 -1.32460538e+00] [ 1.39141105e-01 2.66425124e-02 9.89914102e-01 -1.52204208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18463043999998 meters Centerline goodness : 0.465909 with order 3 Centerline is valid? [False, False] Translation: X:-15.33, Y:-1.31, Z:-1.53 [[ 9.90470934e-01 -1.27386974e-02 -1.37131521e-01 -1.53315835e+01] [ 9.16352097e-03 9.99602266e-01 -2.66709624e-02 -1.31447230e+00] [ 1.37416732e-01 2.51602055e-02 9.90193721e-01 -1.52610195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24463043999998 meters Centerline goodness : 0.464478 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.31, Z:-1.53 [[ 9.90240909e-01 -5.69149687e-03 -1.39249953e-01 -1.53509534e+01] [ 1.71814792e-03 9.99588385e-01 -2.86375236e-02 -1.31266266e+00] [ 1.39355626e-01 2.81187954e-02 9.89843090e-01 -1.52849778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30463043999998 meters Centerline goodness : 0.150721 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.31, Z:-1.53 [[ 9.90129053e-01 -5.69176690e-03 -1.40043070e-01 -1.53487101e+01] [ 1.62353162e-03 9.99573817e-01 -2.91469999e-02 -1.30803775e+00] [ 1.40149284e-01 2.86319271e-02 9.89716318e-01 -1.52874467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36463043999998 meters Centerline goodness : 0.152079 with order 3 Centerline is valid? [False, False] Translation: X:-15.35, Y:-1.30, Z:-1.53 [[ 9.90253323e-01 -4.69824108e-03 -1.39198717e-01 -1.53518480e+01] [ 6.73686912e-04 9.99580770e-01 -2.89453151e-02 -1.30030116e+00] [ 1.39276353e-01 2.85694181e-02 9.89841344e-01 -1.52770284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42463044 meters Centerline goodness : 0.164315 with order 3 Centerline is valid? [False, False] Translation: X:-15.36, Y:-1.30, Z:-1.53 [[ 9.90460723e-01 -4.71936907e-03 -1.37714499e-01 -1.53562568e+01] [ 7.42329695e-04 9.99581571e-01 -2.89159528e-02 -1.29980544e+00] [ 1.37793340e-01 2.85378860e-02 9.90049789e-01 -1.52677362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48463044 meters Centerline goodness : 0.111813 with order 1 Centerline is valid? [False, False] Translation: X:-15.36, Y:-1.30, Z:-1.53 [[ 9.90642624e-01 -7.82565362e-03 -1.36256927e-01 -1.53614524e+01] [ 3.62266452e-03 9.99510747e-01 -3.10667436e-02 -1.30462848e+00] [ 1.36433380e-01 3.02824273e-02 9.90186299e-01 -1.52531892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54463044 meters Centerline goodness : 0.107689 with order 1 Centerline is valid? [False, False] Translation: X:-15.40, Y:-1.31, Z:-1.53 [[ 9.89972485e-01 -7.72835028e-03 -1.41048758e-01 -1.53982004e+01] [ 3.32036946e-03 9.99499493e-01 -3.14600984e-02 -1.30798089e+00] [ 1.41221296e-01 3.06762978e-02 9.89502658e-01 -1.53265567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60463044 meters Centerline goodness : 0.463282 with order 3 Centerline is valid? [False, False] Translation: X:-15.39, Y:-1.30, Z:-1.53 [[ 9.89834948e-01 -4.87461270e-03 -1.42137305e-01 -1.53929474e+01] [ 6.34415154e-04 9.99553837e-01 -2.98617703e-02 -1.30218728e+00] [ 1.42219453e-01 2.94680498e-02 9.89396413e-01 -1.53499393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66463044 meters Centerline goodness : 0.465745 with order 3 Centerline is valid? [False, False] Translation: X:-15.39, Y:-1.30, Z:-1.53 [[ 9.89939179e-01 -9.31789690e-04 -1.41490474e-01 -1.53949897e+01] [-2.90513054e-03 9.99633669e-01 -2.69088851e-02 -1.29852507e+00] [ 1.41463715e-01 2.70492079e-02 9.89573826e-01 -1.53473596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72463044 meters Centerline goodness : 0.194151 with order 2 Centerline is valid? [False, False] Translation: X:-15.39, Y:-1.29, Z:-1.54 [[ 9.89800882e-01 -4.86450146e-04 -1.42456934e-01 -1.53916768e+01] [-3.41904809e-03 9.99625001e-01 -2.71692253e-02 -1.29412938e+00] [ 1.42416729e-01 2.73791903e-02 9.89428044e-01 -1.53578082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78463044 meters Centerline goodness : 0.142085 with order 1 Centerline is valid? [False, False] Translation: X:-15.43, Y:-1.30, Z:-1.54 [[ 9.89486324e-01 -1.60169064e-03 -1.44617598e-01 -1.54349314e+01] [-2.46604993e-03 9.99606450e-01 -2.79439226e-02 -1.29912203e+00] [ 1.44605441e-01 2.80067635e-02 9.89092962e-01 -1.54212388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84463044 meters Centerline goodness : 0.112392 with order 1 Centerline is valid? [False, False] Translation: X:-15.41, Y:-1.30, Z:-1.54 [[ 9.89432674e-01 -1.01876051e-02 -1.44634701e-01 -1.54144892e+01] [ 6.33310869e-03 9.99613063e-01 -2.70853291e-02 -1.29767581e+00] [ 1.44854672e-01 2.58831223e-02 9.89114345e-01 -1.53841741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90463044 meters Centerline goodness : 0.325372 with order 3 Centerline is valid? [False, False] Translation: X:-15.42, Y:-1.30, Z:-1.54 [[ 9.89465317e-01 -1.05254175e-02 -1.44386985e-01 -1.54150777e+01] [ 6.73767464e-03 9.99620859e-01 -2.66972227e-02 -1.30356460e+00] [ 1.44613242e-01 2.54431434e-02 9.89161087e-01 -1.53832040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96463043999998 meters Centerline goodness : 0.463107 with order 3 Centerline is valid? [False, False] Translation: X:-15.45, Y:-1.31, Z:-1.55 [[ 9.90149421e-01 -8.18229941e-03 -1.39775445e-01 -1.54506713e+01] [ 4.64231198e-03 9.99660628e-01 -2.56335443e-02 -1.31321628e+00] [ 1.39937750e-01 2.47321578e-02 9.89851376e-01 -1.54703009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02463043999998 meters Centerline goodness : 0.102061 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.32, Z:-1.55 [[ 9.90379951e-01 -2.89968561e-03 -1.38344300e-01 -1.54722144e+01] [-1.01452853e-03 9.99601380e-01 -2.82143786e-02 -1.32441080e+00] [ 1.38370966e-01 2.80833091e-02 9.89982224e-01 -1.55065460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08463043999998 meters Centerline goodness : 0.104387 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.33, Z:-1.55 [[ 9.90439537e-01 -2.18497720e-03 -1.37930237e-01 -1.54734877e+01] [-1.57879632e-03 9.99629520e-01 -2.71722146e-02 -1.32862565e+00] [ 1.37938508e-01 2.71301994e-02 9.90069149e-01 -1.55045140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14463044 meters Centerline goodness : 0.463047 with order 3 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.33, Z:-1.55 [[ 9.90472183e-01 -2.12193406e-03 -1.37696597e-01 -1.54740028e+01] [-1.61740435e-03 9.99633077e-01 -2.70387909e-02 -1.33007332e+00] [ 1.37703447e-01 2.70038813e-02 9.90105323e-01 -1.55059974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20463044 meters Centerline goodness : 0.115217 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.33, Z:-1.55 [[ 9.90483444e-01 -1.18800490e-03 -1.37626795e-01 -1.54736982e+01] [-2.46269294e-03 9.99649672e-01 -2.63527555e-02 -1.33058654e+00] [ 1.37609888e-01 2.64409006e-02 9.90133525e-01 -1.55124754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26463044 meters Centerline goodness : 0.451761 with order 2 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.33, Z:-1.55 [[ 9.90426752e-01 -9.63088649e-04 -1.38035944e-01 -1.54723013e+01] [-2.73159150e-03 9.99643113e-01 -2.65741381e-02 -1.32903481e+00] [ 1.38012274e-01 2.66967951e-02 9.90070651e-01 -1.55181888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32463044 meters Centerline goodness : 0.415560 with order 1 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.33, Z:-1.56 [[ 9.90545640e-01 -8.03183432e-03 -1.36948255e-01 -1.54913399e+01] [ 4.61582167e-03 9.99670684e-01 -2.52431641e-02 -1.32619234e+00] [ 1.37105905e-01 2.43723774e-02 9.90256511e-01 -1.55624855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38463044 meters Centerline goodness : 0.426775 with order 3 Centerline is valid? [False, False] Translation: X:-15.47, Y:-1.33, Z:-1.55 [[ 9.90659281e-01 -1.75305853e-02 -1.35228944e-01 -1.54724725e+01] [ 1.42875661e-02 9.99587466e-01 -2.49151053e-02 -1.32726796e+00] [ 1.35609934e-01 2.27502878e-02 9.90501070e-01 -1.55252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44463044 meters Centerline goodness : 0.346322 with order 1 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.34, Z:-1.56 [[ 9.90638629e-01 -1.36294896e-02 -1.35828362e-01 -1.54905250e+01] [ 9.90453436e-03 9.99557109e-01 -2.80621723e-02 -1.33809293e+00] [ 1.36150678e-01 2.64541552e-02 9.90334878e-01 -1.55598363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50463044 meters Centerline goodness : 0.096292 with order 1 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.34, Z:-1.56 [[ 9.90591540e-01 -1.79666852e-02 -1.35667236e-01 -1.54909395e+01] [ 1.38931365e-02 9.99425505e-01 -3.09134323e-02 -1.34492200e+00] [ 1.36144708e-01 2.87377410e-02 9.90272064e-01 -1.55558375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56463044 meters Centerline goodness : 0.300867 with order 2 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.35, Z:-1.56 [[ 0.99053588 -0.01960997 -0.13584597 -15.49068597] [ 0.01550163 0.99939186 -0.03123483 -1.35391277] [ 0.13637587 0.02883339 0.99023748 -1.555286 ] [ 0. 0. 0. 1. ]] SLAMing on 202.62463044 meters Centerline goodness : 0.447038 with order 1 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.36, Z:-1.56 [[ 0.99039363 -0.02361425 -0.13624545 -15.48929998] [ 0.01918029 0.99924572 -0.03376554 -1.36235127] [ 0.13694003 0.03082795 0.99009952 -1.55531131] [ 0. 0. 0. 1. ]] SLAMing on 202.68463043999998 meters Centerline goodness : 0.097958 with order 1 Centerline is valid? [False, False] Translation: X:-15.49, Y:-1.37, Z:-1.56 [[ 0.99038111 -0.02418974 -0.13623552 -15.48936013] [ 0.01978554 0.99923984 -0.0335898 -1.36875755] [ 0.13694449 0.03057121 0.99010687 -1.55515039] [ 0. 0. 0. 1. ]] SLAMing on 202.74463043999998 meters Centerline goodness : 0.559608 with order 3 Centerline is valid? [False, False] Translation: X:-15.53, Y:-1.38, Z:-1.56 [[ 0.9899934 -0.02702298 -0.13850205 -15.53252456] [ 0.02234996 0.99913087 -0.03518487 -1.37779384] [ 0.13933247 0.03173727 0.98973694 -1.56106854] [ 0. 0. 0. 1. ]] SLAMing on 202.80463043999998 meters Centerline goodness : 0.252392 with order 3 Centerline is valid? [False, False] Translation: X:-15.53, Y:-1.38, Z:-1.56 [[ 0.99000734 -0.02737896 -0.13833241 -15.53344877] [ 0.0227609 0.99913311 -0.03485638 -1.38283811] [ 0.13916682 0.0313595 0.98977229 -1.56048099] [ 0. 0. 0. 1. ]] SLAMing on 202.86463043999998 meters Centerline goodness : 0.102644 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:-1.39, Z:-1.57 [[ 0.99017814 -0.02169293 -0.1381183 -15.54780498] [ 0.01676922 0.99918514 -0.03671301 -1.39369608] [ 0.13880216 0.03403629 0.98973506 -1.56595027] [ 0. 0. 0. 1. ]] SLAMing on 202.92463044 meters Centerline goodness : 0.097752 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:-1.40, Z:-1.57 [[ 0.99009145 -0.02186624 -0.13871116 -15.54590352] [ 0.01694235 0.99918712 -0.03657951 -1.39658585] [ 0.13939826 0.03386697 0.98965709 -1.56628739] [ 0. 0. 0. 1. ]] SLAMing on 202.98463044 meters Centerline goodness : 0.440601 with order 2 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.41, Z:-1.57 [[ 9.90354626e-01 -1.82983605e-02 -1.37342215e-01 -1.55632945e+01] [ 1.29941067e-02 9.99138298e-01 -3.94184635e-02 -1.40902293e+00] [ 1.37945160e-01 3.72536183e-02 9.89739006e-01 -1.57034587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04463044 meters Centerline goodness : 0.104459 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.41, Z:-1.57 [[ 9.90403221e-01 -1.81860501e-02 -1.37006304e-01 -1.55643300e+01] [ 1.29240457e-02 9.99147833e-01 -3.91991888e-02 -1.41180768e+00] [ 1.37602430e-01 3.70523271e-02 9.89794270e-01 -1.57000014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10463044 meters Centerline goodness : 0.465228 with order 2 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.41, Z:-1.57 [[ 9.90399389e-01 -1.79381291e-02 -1.37066676e-01 -1.55645336e+01] [ 1.26922992e-02 9.99156617e-01 -3.90507388e-02 -1.41247697e+00] [ 1.37651573e-01 3.69361366e-02 9.89791779e-01 -1.56943820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16463044 meters Centerline goodness : 0.103237 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.42, Z:-1.57 [[ 9.90797286e-01 -1.37196319e-02 -1.34657005e-01 -1.55815617e+01] [ 8.19065086e-03 9.99103760e-01 -4.15281860e-02 -1.42067545e+00] [ 1.35106071e-01 4.00430855e-02 9.90021667e-01 -1.57406779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22463044 meters Centerline goodness : 0.102025 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.42, Z:-1.57 [[ 9.90812946e-01 -1.42988787e-02 -1.34481404e-01 -1.55817540e+01] [ 8.78420752e-03 9.99099420e-01 -4.15112779e-02 -1.42400702e+00] [ 1.34953857e-01 3.99485990e-02 9.90046244e-01 -1.57427305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28463044 meters Centerline goodness : 0.104068 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.57 [[ 9.90884785e-01 -1.47373508e-02 -1.33903523e-01 -1.55836983e+01] [ 9.26885159e-03 9.99100856e-01 -4.13710982e-02 -1.42668335e+00] [ 1.34392825e-01 3.97528599e-02 9.90130435e-01 -1.57368622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34463044 meters Centerline goodness : 0.097089 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.57 [[ 9.90894191e-01 -1.46782763e-02 -1.33840392e-01 -1.55835591e+01] [ 9.25883772e-03 9.99115233e-01 -4.10246926e-02 -1.42862175e+00] [ 1.34324146e-01 3.94119231e-02 9.90153384e-01 -1.57408705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40463044 meters Centerline goodness : 0.105271 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.57 [[ 9.90900719e-01 -1.49455706e-02 -1.33762456e-01 -1.55831027e+01] [ 9.59488258e-03 9.99131155e-01 -4.05570391e-02 -1.43405239e+00] [ 1.34252385e-01 3.89045642e-02 9.90183181e-01 -1.57492458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46463043999998 meters Centerline goodness : 0.108617 with order 1 Centerline is valid? [False, False] Translation: X:-15.63, Y:-1.44, Z:-1.58 [[ 9.90537350e-01 -1.55061611e-02 -1.36364648e-01 -1.56260631e+01] [ 1.00194195e-02 9.99115848e-01 -4.08305392e-02 -1.43618013e+00] [ 1.36877206e-01 3.90778795e-02 9.89816927e-01 -1.58060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52463043999998 meters Centerline goodness : 0.104616 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.44, Z:-1.58 [[ 9.90487551e-01 -1.55617295e-02 -1.36719579e-01 -1.56248817e+01] [ 1.00783305e-02 9.99120257e-01 -4.07079825e-02 -1.43769523e+00] [ 1.37232788e-01 3.89428448e-02 9.89773013e-01 -1.58096335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58463043999998 meters Centerline goodness : 0.100902 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.44, Z:-1.58 [[ 9.90512272e-01 -1.18318048e-02 -1.36914014e-01 -1.56243348e+01] [ 6.77418919e-03 9.99279387e-01 -3.73472445e-02 -1.43783679e+00] [ 1.37257237e-01 3.60654226e-02 9.89878647e-01 -1.58113853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64463044 meters Centerline goodness : 0.099827 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.44, Z:-1.58 [[ 9.90527836e-01 -1.18371356e-02 -1.36800906e-01 -1.56244541e+01] [ 6.78079538e-03 9.99278552e-01 -3.73683865e-02 -1.43786818e+00] [ 1.37144546e-01 3.60868081e-02 9.89893487e-01 -1.58131906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70463044 meters Centerline goodness : 0.105858 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.44, Z:-1.58 [[ 9.90469505e-01 -1.18520178e-02 -1.37221317e-01 -1.56235731e+01] [ 6.78247266e-03 9.99279112e-01 -3.73530996e-02 -1.43800891e+00] [ 1.37565105e-01 3.60664063e-02 9.89835873e-01 -1.58110284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76463044 meters Centerline goodness : 0.105620 with order 1 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.44, Z:-1.58 [[ 9.90346335e-01 -1.17502138e-02 -1.38116144e-01 -1.56206114e+01] [ 6.63561790e-03 9.99277093e-01 -3.74334197e-02 -1.43684483e+00] [ 1.38456149e-01 3.61555641e-02 9.89708376e-01 -1.58195100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82463044 meters Centerline goodness : 0.108630 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.90496794e-01 -1.13176238e-02 -1.37069367e-01 -1.55772107e+01] [ 6.24559188e-03 9.99281714e-01 -3.73771025e-02 -1.43374154e+00] [ 1.37393932e-01 3.61658209e-02 9.89856020e-01 -1.57523880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88463044 meters Centerline goodness : 0.107783 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.90472156e-01 -1.13414030e-02 -1.37245331e-01 -1.55765782e+01] [ 6.26795718e-03 9.99282882e-01 -3.73421287e-02 -1.43355178e+00] [ 1.37570422e-01 3.61260909e-02 9.89832958e-01 -1.57542142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94463044 meters Centerline goodness : 0.106168 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.90506549e-01 -1.16442309e-02 -1.36971485e-01 -1.55775672e+01] [ 6.55580787e-03 9.99273541e-01 -3.75421294e-02 -1.43392440e+00] [ 1.37309130e-01 3.62877663e-02 9.89863324e-01 -1.57505342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00463044 meters Centerline goodness : 0.106021 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.43, Z:-1.57 [[ 9.91027785e-01 -1.58399708e-02 -1.32714075e-01 -1.55602811e+01] [ 1.14511886e-02 9.99364103e-01 -3.37677236e-02 -1.43116993e+00] [ 1.33164562e-01 3.19450184e-02 9.90578980e-01 -1.57146665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06463044 meters Centerline goodness : 0.096320 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.91174812e-01 -7.39822203e-03 -1.32354668e-01 -1.55804316e+01] [ 2.83013859e-03 9.99394848e-01 -3.46688405e-02 -1.43251639e+00] [ 1.32531061e-01 3.39882995e-02 9.90595938e-01 -1.57559888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12463044 meters Centerline goodness : 0.106218 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.91170079e-01 -3.48785056e-03 -1.32550780e-01 -1.55798919e+01] [-6.76145970e-04 9.99508040e-01 -3.13563626e-02 -1.43127701e+00] [ 1.32594937e-01 3.11691120e-02 9.90680104e-01 -1.57570060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18463043999998 meters Centerline goodness : 0.104275 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.43, Z:-1.58 [[ 9.91084796e-01 -1.79362504e-04 -1.33232482e-01 -1.55778760e+01] [-3.71457472e-03 9.99573162e-01 -2.89775017e-02 -1.42656850e+00] [ 1.33180811e-01 2.92140634e-02 9.90661098e-01 -1.57578462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24463043999998 meters Centerline goodness : 0.107556 with order 1 Centerline is valid? [False, False] Translation: X:-15.57, Y:-1.42, Z:-1.58 [[ 9.90903237e-01 -1.14507557e-04 -1.34576230e-01 -1.55740846e+01] [-3.84566978e-03 9.99567164e-01 -2.91667007e-02 -1.42406537e+00] [ 1.34521320e-01 2.94189139e-02 9.90473898e-01 -1.57613582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30463043999998 meters Centerline goodness : 0.096196 with order 1 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.42, Z:-1.58 [[ 9.91127284e-01 -5.13856340e-03 -1.32816797e-01 -1.55972717e+01] [ 1.58406686e-03 9.99638105e-01 -2.68542231e-02 -1.41754002e+00] [ 1.32906723e-01 2.64055625e-02 9.90776740e-01 -1.57856763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36463043999998 meters Centerline goodness : 0.201734 with order 3 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.41, Z:-1.58 [[ 9.91182447e-01 -2.05726898e-03 -1.32488205e-01 -1.55981091e+01] [-1.22489750e-03 9.99694479e-01 -2.46870077e-02 -1.41294401e+00] [ 1.32498515e-01 2.46316132e-02 9.90877100e-01 -1.57833011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42463044 meters Centerline goodness : 0.170692 with order 3 Centerline is valid? [False, False] Translation: X:-15.59, Y:-1.41, Z:-1.58 [[ 9.91012328e-01 -9.94174855e-04 -1.33766875e-01 -1.55938350e+01] [-2.28588865e-03 9.99700518e-01 -2.43649329e-02 -1.40866153e+00] [ 1.33751038e-01 2.44517251e-02 9.90713265e-01 -1.57903139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48463044 meters Centerline goodness : 0.103262 with order 1 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.40, Z:-1.58 [[ 9.91020824e-01 2.03496714e-03 -1.33692130e-01 -1.55954331e+01] [-5.12046347e-03 9.99728315e-01 -2.27393464e-02 -1.40192210e+00] [ 1.33609534e-01 2.32197314e-02 9.90761998e-01 -1.57746272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54463044 meters Centerline goodness : 0.107054 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.40, Z:-1.57 [[ 9.91207922e-01 9.70811919e-03 -1.31956838e-01 -1.55755373e+01] [-1.29997356e-02 9.99624881e-01 -2.41060903e-02 -1.40122310e+00] [ 1.31673314e-01 2.56095517e-02 9.90962305e-01 -1.57399711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60463044 meters Centerline goodness : 0.097945 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-1.40, Z:-1.57 [[ 9.91245041e-01 9.27354702e-03 -1.31709033e-01 -1.55764765e+01] [-1.26810033e-02 9.99605619e-01 -2.50559274e-02 -1.39667304e+00] [ 1.31424732e-01 2.65067665e-02 9.90971711e-01 -1.57361034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66463044 meters Centerline goodness : 0.274633 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91107878e-01 2.41453212e-03 -1.33038880e-01 -1.55582530e+01] [-5.71139461e-03 9.99685835e-01 -2.44051561e-02 -1.38882389e+00] [ 1.32938157e-01 2.49479800e-02 9.90810297e-01 -1.56958565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72463044 meters Centerline goodness : 0.106950 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91059229e-01 2.37222203e-03 -1.33401567e-01 -1.55581691e+01] [-5.70761008e-03 9.99680446e-01 -2.46257652e-02 -1.38901877e+00] [ 1.33300520e-01 2.51669960e-02 9.90756072e-01 -1.56851794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78463044 meters Centerline goodness : 0.107607 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91055310e-01 2.42274871e-03 -1.33429769e-01 -1.55583315e+01] [-5.76201567e-03 9.99679637e-01 -2.46459518e-02 -1.39007168e+00] [ 1.33327313e-01 2.51943258e-02 9.90751772e-01 -1.56822878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84463044 meters Centerline goodness : 0.251437 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91083296e-01 2.54939928e-03 -1.33219375e-01 -1.55592229e+01] [-5.87560844e-03 9.99680581e-01 -2.45807521e-02 -1.39092369e+00] [ 1.33114156e-01 2.51443177e-02 9.90781704e-01 -1.56779774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90463044 meters Centerline goodness : 0.106717 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91043284e-01 2.63616794e-03 -1.33515015e-01 -1.55585388e+01] [-5.98648802e-03 9.99677034e-01 -2.46979877e-02 -1.39095927e+00] [ 1.33406787e-01 2.52760609e-02 9.90738992e-01 -1.56775829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96463043999998 meters Centerline goodness : 0.100098 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.39, Z:-1.57 [[ 9.91039225e-01 3.77545363e-03 -1.33517788e-01 -1.55587150e+01] [-7.02356011e-03 9.99690529e-01 -2.38645231e-02 -1.39269615e+00] [ 1.33386368e-01 2.45884487e-02 9.90759045e-01 -1.56757912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02463043999998 meters Centerline goodness : 0.104339 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.40, Z:-1.57 [[ 9.91108926e-01 4.32742308e-03 -1.32982595e-01 -1.55602085e+01] [-7.46164240e-03 9.99705791e-01 -2.30793397e-02 -1.39643812e+00] [ 1.32843596e-01 2.38664081e-02 9.90849622e-01 -1.56747716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08463043999998 meters Centerline goodness : 0.239503 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.40, Z:-1.57 [[ 9.91041632e-01 4.66219170e-03 -1.33471895e-01 -1.55580840e+01] [-7.76611502e-03 9.99711155e-01 -2.27441010e-02 -1.39877957e+00] [ 1.33327304e-01 2.35769091e-02 9.90791582e-01 -1.56853550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14463044 meters Centerline goodness : 0.313258 with order 2 Centerline is valid? [False, False] Translation: X:-15.56, Y:-1.40, Z:-1.57 [[ 9.91089944e-01 4.86108945e-03 -1.33105569e-01 -1.55586570e+01] [-7.91041260e-03 9.99718021e-01 -2.23898345e-02 -1.40204377e+00] [ 1.32959197e-01 2.32432598e-02 9.90848930e-01 -1.56900525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20463044 meters Centerline goodness : 0.464037 with order 3 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.41, Z:-1.57 [[ 9.90871626e-01 5.95814462e-03 -1.34677100e-01 -1.56038549e+01] [-8.99167279e-03 9.99719129e-01 -2.19274270e-02 -1.40576939e+00] [ 1.34508627e-01 2.29382377e-02 9.90646893e-01 -1.57421435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26463044 meters Centerline goodness : 0.461297 with order 1 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.41, Z:-1.57 [[ 9.90855493e-01 6.29496466e-03 -1.34780431e-01 -1.56033336e+01] [-9.31829996e-03 9.99718653e-01 -2.18124774e-02 -1.40555026e+00] [ 1.34605202e-01 2.28689376e-02 9.90635378e-01 -1.57456105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32463044 meters Centerline goodness : 0.254213 with order 2 Centerline is valid? [False, False] Translation: X:-15.60, Y:-1.41, Z:-1.57 [[ 9.90769806e-01 6.53012043e-03 -1.35397744e-01 -1.56016816e+01] [-9.56374414e-03 9.99717328e-01 -2.17669386e-02 -1.40553807e+00] [ 1.35217330e-01 2.28609350e-02 9.90552195e-01 -1.57478393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38463044 meters Centerline goodness : 0.208105 with order 3 Centerline is valid? [False, False] Translation: X:-15.62, Y:-1.40, Z:-1.58 [[ 9.90628322e-01 -1.14263523e-03 -1.36580457e-01 -1.56199640e+01] [-1.62940263e-03 9.99794985e-01 -2.01824875e-02 -1.40421399e+00] [ 1.36575517e-01 2.02158883e-02 9.90423367e-01 -1.57862455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44463044 meters Centerline goodness : 0.141847 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.41, Z:-1.58 [[ 9.90563342e-01 -1.04625177e-02 -1.36655776e-01 -1.56428325e+01] [ 7.78693198e-03 9.99767671e-01 -2.00989495e-02 -1.40591218e+00] [ 1.36834313e-01 1.88451533e-02 9.90414676e-01 -1.58114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50463044 meters Centerline goodness : 0.111198 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.41, Z:-1.58 [[ 9.90542555e-01 -1.39069055e-02 -1.36499250e-01 -1.56439931e+01] [ 1.09823513e-02 9.99694221e-01 -2.21551899e-02 -1.41334553e+00] [ 1.36765621e-01 2.04465757e-02 9.90392398e-01 -1.58029691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56463044 meters Centerline goodness : 0.089903 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.42, Z:-1.58 [[ 9.90489539e-01 -1.38748221e-02 -1.36886678e-01 -1.56422713e+01] [ 1.10306533e-02 9.99707687e-01 -2.15142892e-02 -1.41795371e+00] [ 1.37145171e-01 1.97997289e-02 9.90353055e-01 -1.58103520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62463044 meters Centerline goodness : 0.463496 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-1.42, Z:-1.58 [[ 9.90503252e-01 -1.39630755e-02 -1.36778436e-01 -1.56426316e+01] [ 1.11834203e-02 9.99715458e-01 -2.10697555e-02 -1.42408615e+00] [ 1.37033715e-01 1.93400106e-02 9.90377567e-01 -1.58087771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68463043999998 meters Centerline goodness : 0.096775 with order 1 Centerline is valid? [False, False] Translation: X:-15.66, Y:-1.43, Z:-1.58 [[ 9.90744243e-01 -6.99567156e-03 -1.35561444e-01 -1.56608177e+01] [ 4.04307977e-03 9.99748836e-01 -2.20435576e-02 -1.43356281e+00] [ 1.35681605e-01 2.12914420e-02 9.90523688e-01 -1.58497166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74463043999998 meters Centerline goodness : 0.463453 with order 3 Centerline is valid? [False, False] Translation: X:-15.68, Y:-1.44, Z:-1.59 [[ 9.90988067e-01 -8.58325813e-04 -1.33947430e-01 -1.56839973e+01] [-2.38490365e-03 9.99707903e-01 -2.40503767e-02 -1.43966505e+00] [ 1.33928948e-01 2.41530881e-02 9.90696556e-01 -1.58815542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80463043999998 meters Centerline goodness : 0.266890 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:-1.45, Z:-1.59 [[ 9.91147717e-01 7.74596029e-03 -1.32537551e-01 -1.57047450e+01] [-1.10161749e-02 9.99652259e-01 -2.39584167e-02 -1.44668016e+00] [ 1.32305881e-01 2.52063868e-02 9.90888385e-01 -1.59212505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86463043999998 meters Centerline goodness : 0.464148 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.45, Z:-1.59 [[ 9.91301064e-01 5.15950615e-05 -1.31613817e-01 -1.57264991e+01] [-3.14127257e-03 9.99724333e-01 -2.32678154e-02 -1.44535674e+00] [ 1.31576335e-01 2.34788450e-02 9.91027957e-01 -1.59461171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92463044 meters Centerline goodness : 0.466207 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.45, Z:-1.60 [[ 9.91326846e-01 -2.28925421e-05 -1.31419494e-01 -1.57262965e+01] [-3.00208465e-03 9.99735093e-01 -2.28195491e-02 -1.45393899e+00] [ 1.31385202e-01 2.30161641e-02 9.91064168e-01 -1.59536883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98463044 meters Centerline goodness : 0.466043 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.46, Z:-1.60 [[ 9.91294294e-01 1.63457248e-05 -1.31664808e-01 -1.57249083e+01] [-2.99219718e-03 9.99744523e-01 -2.24039094e-02 -1.46056341e+00] [ 1.31630805e-01 2.26028347e-02 9.91041090e-01 -1.59621647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04463044 meters Centerline goodness : 0.467028 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.47, Z:-1.60 [[ 9.91266617e-01 1.00541510e-03 -1.31869190e-01 -1.57245773e+01] [-3.82940710e-03 9.99768699e-01 -2.11632518e-02 -1.46542232e+00] [ 1.31817410e-01 2.14834058e-02 9.91041187e-01 -1.59608078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10463044 meters Centerline goodness : 0.294174 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.47, Z:-1.60 [[ 9.91261445e-01 1.26040767e-03 -1.31905870e-01 -1.57239496e+01] [-4.02229273e-03 9.99778180e-01 -2.06739520e-02 -1.46855153e+00] [ 1.31850553e-01 2.10238555e-02 9.91046633e-01 -1.59671812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16463044 meters Centerline goodness : 0.105812 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.47, Z:-1.60 [[ 9.91167205e-01 2.09038322e-03 -1.32601667e-01 -1.57216299e+01] [-4.71865160e-03 9.99798534e-01 -1.95096390e-02 -1.47345327e+00] [ 1.32534169e-01 1.99630154e-02 9.90977382e-01 -1.59748538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22463044 meters Centerline goodness : 0.103387 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.48, Z:-1.60 [[ 9.91039943e-01 2.15138166e-03 -1.33548507e-01 -1.57183954e+01] [-4.75551603e-03 9.99804668e-01 -1.91836282e-02 -1.47652706e+00] [ 1.33481149e-01 1.96468339e-02 9.90856591e-01 -1.59843128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28463044 meters Centerline goodness : 0.100993 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-1.48, Z:-1.60 [[ 9.91016118e-01 2.38054752e-03 -1.33721303e-01 -1.57182372e+01] [-4.92082475e-03 9.99813600e-01 -1.86695223e-02 -1.47966190e+00] [ 1.33651934e-01 1.91598166e-02 9.90843107e-01 -1.59815850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34463044 meters Centerline goodness : 0.102583 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.49, Z:-1.59 [[ 9.91336987e-01 4.37208146e-03 -1.31270193e-01 -1.57273513e+01] [-6.58182974e-03 9.99843775e-01 -1.64044311e-02 -1.48507736e+00] [ 1.31177963e-01 1.71263174e-02 9.91210891e-01 -1.59492650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40463044 meters Centerline goodness : 0.104895 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.49, Z:-1.60 [[ 9.91338103e-01 4.38074226e-03 -1.31261473e-01 -1.57270087e+01] [-6.57807085e-03 9.99845325e-01 -1.63111656e-02 -1.48630579e+00] [ 1.31169715e-01 1.70333272e-02 9.91213585e-01 -1.59534298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46463043999998 meters Centerline goodness : 0.108298 with order 1 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.49, Z:-1.60 [[ 9.91314548e-01 4.40285985e-03 -1.31438511e-01 -1.57257716e+01] [-6.59527153e-03 9.99846217e-01 -1.62494677e-02 -1.48749973e+00] [ 1.31346754e-01 1.69752064e-02 9.91191138e-01 -1.59631965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52463043999998 meters Centerline goodness : 0.098623 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.49, Z:-1.60 [[ 9.91213475e-01 -3.03692742e-03 -1.32236999e-01 -1.57436252e+01] [ 1.13104778e-03 9.99894442e-01 -1.44853337e-02 -1.48586963e+00] [ 1.32267031e-01 1.42084916e-02 9.91112280e-01 -1.60024218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58463043999998 meters Centerline goodness : 0.125988 with order 3 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.49, Z:-1.60 [[ 9.91134155e-01 -3.09742316e-03 -1.32828813e-01 -1.57416754e+01] [ 1.19122782e-03 9.99895204e-01 -1.44278334e-02 -1.48772332e+00] [ 1.32859582e-01 1.41416890e-02 9.91033977e-01 -1.60075094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64463044 meters Centerline goodness : 0.120355 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.49, Z:-1.60 [[ 9.91190874e-01 -2.72312639e-03 -1.32413127e-01 -1.57428661e+01] [ 8.82744100e-04 9.99902228e-01 -1.39555064e-02 -1.48899419e+00] [ 1.32438183e-01 1.37156837e-02 9.91096366e-01 -1.60061701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70463044 meters Centerline goodness : 0.229129 with order 3 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.49, Z:-1.60 [[ 9.91202758e-01 -2.58994715e-03 -1.32326809e-01 -1.57430354e+01] [ 7.77695374e-04 9.99905229e-01 -1.37451203e-02 -1.48985319e+00] [ 1.32349867e-01 1.35212912e-02 9.91110835e-01 -1.60069337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76463044 meters Centerline goodness : 0.109984 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.50, Z:-1.60 [[ 9.91030414e-01 -4.56700547e-03 -1.33558457e-01 -1.57381915e+01] [ 2.58420930e-03 9.99883922e-01 -1.50154874e-02 -1.49572034e+00] [ 1.33611530e-01 1.45356616e-02 9.90927179e-01 -1.60215729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82463044 meters Centerline goodness : 0.118412 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.50, Z:-1.60 [[ 9.91140233e-01 -6.00190994e-03 -1.32683891e-01 -1.57404166e+01] [ 3.96908868e-03 9.99870747e-01 -1.55799673e-02 -1.50280606e+00] [ 1.32760251e-01 1.49152983e-02 9.91035948e-01 -1.60209793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88463044 meters Centerline goodness : 0.118450 with order 1 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.51, Z:-1.60 [[ 9.91133015e-01 -5.90793099e-03 -1.32742020e-01 -1.57402574e+01] [ 3.94390959e-03 9.99878906e-01 -1.50538359e-02 -1.50688879e+00] [ 1.32814882e-01 1.43968312e-02 9.91036295e-01 -1.60200460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94463044 meters Centerline goodness : 0.116730 with order 3 Centerline is valid? [False, False] Translation: X:-15.74, Y:-1.51, Z:-1.60 [[ 9.91072609e-01 -5.18519787e-03 -1.33222361e-01 -1.57380446e+01] [ 3.33405261e-03 9.99894827e-01 -1.41144797e-02 -1.50990345e+00] [ 1.33281536e-01 1.35443039e-02 9.90985663e-01 -1.60300873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00463044 meters Centerline goodness : 0.116042 with order 3 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.52, Z:-1.61 [[ 9.91173077e-01 2.15334651e-03 -1.32556762e-01 -1.57577257e+01] [-4.17431124e-03 9.99879229e-01 -1.49700283e-02 -1.51830918e+00] [ 1.32508517e-01 1.53912221e-02 9.91062361e-01 -1.60619363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06463044 meters Centerline goodness : 0.130785 with order 3 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.52, Z:-1.61 [[ 9.91149632e-01 2.49107375e-03 -1.32726037e-01 -1.57568139e+01] [-4.48356999e-03 9.99881671e-01 -1.47153475e-02 -1.51828787e+00] [ 1.32673675e-01 1.51801978e-02 9.91043520e-01 -1.60677878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12463044 meters Centerline goodness : 0.216128 with order 3 Centerline is valid? [False, False] Translation: X:-15.76, Y:-1.52, Z:-1.61 [[ 9.91200474e-01 2.45793060e-03 -1.32346438e-01 -1.57577599e+01] [-4.46504260e-03 9.99879452e-01 -1.48709559e-02 -1.51742314e+00] [ 1.32293932e-01 1.53310310e-02 9.91091961e-01 -1.60681280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18463043999998 meters Centerline goodness : 0.120207 with order 1 Centerline is valid? [False, False] Translation: X:-15.80, Y:-1.52, Z:-1.61 [[ 9.90938672e-01 2.35802547e-03 -1.34294405e-01 -1.58033399e+01] [-4.42213273e-03 9.99876605e-01 -1.50738062e-02 -1.51582661e+00] [ 1.34242290e-01 1.55310852e-02 9.90826823e-01 -1.61204590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24463043999998 meters Centerline goodness : 0.128620 with order 1 Centerline is valid? [False, False] Translation: X:-15.80, Y:-1.51, Z:-1.61 [[ 9.91014974e-01 2.45429593e-03 -1.33728449e-01 -1.58046861e+01] [-4.54819943e-03 9.99871766e-01 -1.53546425e-02 -1.51279305e+00] [ 1.33673616e-01 1.58249043e-02 9.90899055e-01 -1.61212842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30463043999998 meters Centerline goodness : 0.234403 with order 3 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.51, Z:-1.61 [[ 9.91031120e-01 2.26755238e-03 -1.33612042e-01 -1.58051643e+01] [-4.40087469e-03 9.99867480e-01 -1.56733769e-02 -1.51122094e+00] [ 1.33558795e-01 1.61208141e-02 9.90909768e-01 -1.61192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36463043999998 meters SLAMing on 207.42463044 meters SLAMing on 207.48463044 meters Centerline goodness : 0.123463 with order 1 Centerline is valid? [False, False] Translation: X:-15.85, Y:-1.52, Z:-1.62 [[ 9.91073218e-01 -2.51060434e-03 -1.33295064e-01 -1.58528806e+01] [ 9.91167459e-05 9.99836269e-01 -1.80949035e-02 -1.52198880e+00] [ 1.33318669e-01 1.79201624e-02 9.90911197e-01 -1.61700421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54463044 meters Centerline goodness : 0.126998 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:-1.52, Z:-1.62 [[ 9.90680207e-01 -2.89990771e-03 -1.36177527e-01 -1.58962683e+01] [ 4.05532567e-04 9.99831703e-01 -1.83412538e-02 -1.52314947e+00] [ 1.36207796e-01 1.81150927e-02 9.90514654e-01 -1.62252080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60463044 meters Centerline goodness : 0.136267 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:-1.52, Z:-1.62 [[ 9.90638335e-01 1.26705028e-03 -1.36506715e-01 -1.58953760e+01] [-3.33956577e-03 9.99882597e-01 -1.49545782e-02 -1.52083575e+00] [ 1.36471741e-01 1.52704516e-02 9.90526263e-01 -1.62259619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66463044 meters Centerline goodness : 0.110790 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:-1.52, Z:-1.63 [[ 9.90659926e-01 9.31219120e-03 -1.36037475e-01 -1.59169093e+01] [-1.15965504e-02 9.99804592e-01 -1.60093111e-02 -1.52025419e+00] [ 1.35861810e-01 1.74373484e-02 9.90574332e-01 -1.62642588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72463044 meters Centerline goodness : 0.240664 with order 3 Centerline is valid? [False, False] Translation: X:-15.92, Y:-1.52, Z:-1.63 [[ 9.90612980e-01 9.01960346e-03 -1.36398570e-01 -1.59156990e+01] [-1.13480362e-02 9.99802700e-01 -1.63028696e-02 -1.51993846e+00] [ 1.36224614e-01 1.76976901e-02 9.90519887e-01 -1.62675363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78463044 meters Centerline goodness : 0.117465 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:-1.52, Z:-1.63 [[ 9.90582943e-01 9.00305588e-03 -1.36617633e-01 -1.59151528e+01] [-1.13201941e-02 9.99804796e-01 -1.61933179e-02 -1.51988332e+00] [ 1.36445176e-01 1.75873626e-02 9.90491494e-01 -1.62665175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84463044 meters Centerline goodness : 0.120108 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.52, Z:-1.63 [[ 9.90524138e-01 7.00772216e-04 -1.37336962e-01 -1.59346305e+01] [-2.84211463e-03 9.99877429e-01 -1.53964147e-02 -1.51508941e+00] [ 1.37309340e-01 1.56408478e-02 9.90404720e-01 -1.63045169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90463044 meters Centerline goodness : 0.103850 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.51, Z:-1.63 [[ 9.90514887e-01 5.32240681e-04 -1.37404421e-01 -1.59341140e+01] [-2.74553451e-03 9.99869517e-01 -1.59188588e-02 -1.51183358e+00] [ 1.37378019e-01 1.61451152e-02 9.90387104e-01 -1.63082747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96463043999998 meters Centerline goodness : 0.115316 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.51, Z:-1.63 [[ 9.90460480e-01 1.75696490e-04 -1.37796974e-01 -1.59332391e+01] [-2.51740523e-03 9.99855368e-01 -1.68198128e-02 -1.50619101e+00] [ 1.37774089e-01 1.70062507e-02 9.90317670e-01 -1.63077032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02463043999998 meters Centerline goodness : 0.116796 with order 1 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.51, Z:-1.63 [[ 9.90417506e-01 -1.77741833e-04 -1.38105512e-01 -1.59328125e+01] [-2.19598920e-03 9.99852478e-01 -1.70352488e-02 -1.50601040e+00] [ 1.38088166e-01 1.71752869e-02 9.90271007e-01 -1.63025766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08463043999998 meters Centerline goodness : 0.106785 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.51, Z:-1.63 [[ 9.90334486e-01 -1.03963669e-02 -1.38309516e-01 -1.59555559e+01] [ 8.08329049e-03 9.99818099e-01 -1.72751267e-02 -1.50754535e+00] [ 1.38463956e-01 1.59901578e-02 9.90238379e-01 -1.63276618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14463044 meters Centerline goodness : 0.103553 with order 1 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.52, Z:-1.63 [[ 9.90466348e-01 -1.30605584e-02 -1.37134368e-01 -1.59594245e+01] [ 1.06318522e-02 9.99773661e-01 -1.84279878e-02 -1.51630353e+00] [ 1.37344009e-01 1.67943095e-02 9.90381025e-01 -1.63176983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20463044 meters Centerline goodness : 0.254989 with order 3 Centerline is valid? [False, False] Translation: X:-15.95, Y:-1.52, Z:-1.63 [[ 9.90297072e-01 -1.56647366e-02 -1.38080862e-01 -1.59547037e+01] [ 1.29937283e-02 9.99711033e-01 -2.02240838e-02 -1.52169790e+00] [ 1.38357766e-01 1.82336658e-02 9.90214453e-01 -1.63369191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26463044 meters Centerline goodness : 0.106042 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:-1.53, Z:-1.64 [[ 9.90081714e-01 -7.91753442e-03 -1.40269428e-01 -1.59727522e+01] [ 5.10962656e-03 9.99779518e-01 -2.03668109e-02 -1.53209718e+00] [ 1.40399756e-01 1.94480827e-02 9.89903874e-01 -1.63702567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32463044 meters Centerline goodness : 0.102679 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:-1.53, Z:-1.64 [[ 9.90056154e-01 -7.79991913e-03 -1.40456304e-01 -1.59728192e+01] [ 5.00005018e-03 9.99781919e-01 -2.02759690e-02 -1.53284697e+00] [ 1.40583824e-01 1.93720594e-02 9.89879241e-01 -1.63637091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38463044 meters Centerline goodness : 0.156043 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:-1.53, Z:-1.64 [[ 9.90094211e-01 -7.51075324e-03 -1.40203576e-01 -1.59738175e+01] [ 4.75835754e-03 9.99789529e-01 -1.99563397e-02 -1.53364331e+00] [ 1.40323955e-01 1.90915176e-02 9.89921563e-01 -1.63593060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44463044 meters Centerline goodness : 0.114626 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.54, Z:-1.63 [[ 9.90262787e-01 -7.68288084e-03 -1.38998513e-01 -1.59776882e+01] [ 4.99899466e-03 9.99794470e-01 -1.96475728e-02 -1.53764018e+00] [ 1.39120895e-01 1.87614073e-02 9.90097665e-01 -1.63497476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50463044 meters Centerline goodness : 0.117563 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.54, Z:-1.63 [[ 9.90206620e-01 -1.18007884e-02 -1.39109997e-01 -1.59775569e+01] [ 8.69575079e-03 9.99699771e-01 -2.29074510e-02 -1.54080546e+00] [ 1.39338558e-01 2.14734438e-02 9.90011948e-01 -1.63465797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56463044 meters Centerline goodness : 0.082724 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.55, Z:-1.63 [[ 9.90179780e-01 -1.18539636e-02 -1.39296398e-01 -1.59771927e+01] [ 8.83370113e-03 9.99712729e-01 -2.22805908e-02 -1.54625545e+00] [ 1.39520495e-01 2.08312878e-02 9.90000045e-01 -1.63446593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62463044 meters Centerline goodness : 0.101064 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.55, Z:-1.63 [[ 9.90178057e-01 -1.16794122e-02 -1.39323387e-01 -1.59772522e+01] [ 8.73453455e-03 9.99725725e-01 -2.17297647e-02 -1.54940262e+00] [ 1.39538965e-01 2.02994112e-02 9.90008490e-01 -1.63428272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68463043999998 meters Centerline goodness : 0.269051 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:-1.56, Z:-1.63 [[ 9.90048272e-01 -1.57151690e-02 -1.39847963e-01 -1.59754919e+01] [ 1.24097675e-02 9.99623380e-01 -2.44764484e-02 -1.55724096e+00] [ 1.40179945e-01 2.24973848e-02 9.89870421e-01 -1.63446027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74463043999998 meters Centerline goodness : 0.104003 with order 1 Centerline is valid? [False, False] Translation: X:-15.99, Y:-1.57, Z:-1.64 [[ 9.90210173e-01 -8.36900817e-03 -1.39333317e-01 -1.59935619e+01] [ 4.97261293e-03 9.99682384e-01 -2.47063531e-02 -1.56664871e+00] [ 1.39495830e-01 2.37716315e-02 9.89937282e-01 -1.63863573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80463043999998 meters Centerline goodness : 0.092257 with order 1 Centerline is valid? [False, False] Translation: X:-15.99, Y:-1.57, Z:-1.64 [[ 9.90259904e-01 -8.14985314e-03 -1.38992456e-01 -1.59948583e+01] [ 4.82901459e-03 9.99695165e-01 -2.42127476e-02 -1.56943755e+00] [ 1.39147417e-01 2.33057165e-02 9.89997394e-01 -1.63803879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86463043999998 meters Centerline goodness : 0.086255 with order 1 Centerline is valid? [False, False] Translation: X:-15.99, Y:-1.57, Z:-1.64 [[ 9.90202697e-01 -9.15483785e-03 -1.39337029e-01 -1.59941975e+01] [ 5.75892575e-03 9.99676944e-01 -2.47556341e-02 -1.57483986e+00] [ 1.39518650e-01 2.37106640e-02 9.89935529e-01 -1.63785219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92463044 meters SLAMing on 208.98463044 meters Centerline goodness : 0.114097 with order 1 Centerline is valid? [False, False] Translation: X:-16.01, Y:-1.58, Z:-1.64 [[ 9.89335350e-01 -4.99090650e-03 -1.45570110e-01 -1.60088868e+01] [ 9.50328339e-04 9.99612685e-01 -2.78132649e-02 -1.58189029e+00] [ 1.45652542e-01 2.73783067e-02 9.88956908e-01 -1.64070524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04463044 meters Centerline goodness : 0.104305 with order 1 Centerline is valid? [False, False] Translation: X:-16.04, Y:-1.58, Z:-1.64 [[ 9.89685120e-01 -1.18335748e-02 -1.42770201e-01 -1.60353170e+01] [ 8.15086641e-03 9.99619495e-01 -2.63520038e-02 -1.57796045e+00] [ 1.43027715e-01 2.49164852e-02 9.89404994e-01 -1.64230590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10463044 meters Centerline goodness : 0.096063 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.58, Z:-1.64 [[ 9.89691054e-01 -1.18199582e-02 -1.42730185e-01 -1.60348049e+01] [ 8.20324139e-03 9.99630842e-01 -2.59014596e-02 -1.57932207e+00] [ 1.42983649e-01 2.44635927e-02 9.89422664e-01 -1.64337818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16463044 meters Centerline goodness : 0.097628 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.58, Z:-1.64 [[ 9.89581037e-01 -1.19794886e-02 -1.43477742e-01 -1.60325093e+01] [ 8.41326924e-03 9.99641035e-01 -2.54365353e-02 -1.58172011e+00] [ 1.43730955e-01 2.39643961e-02 9.89326599e-01 -1.64438434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22463044 meters Centerline goodness : 0.261139 with order 3 Centerline is valid? [False, False] Translation: X:-16.03, Y:-1.59, Z:-1.64 [[ 9.89589445e-01 -1.65509249e-02 -1.42964318e-01 -1.60347147e+01] [ 1.26727669e-02 9.99527732e-01 -2.79949019e-02 -1.58697794e+00] [ 1.43360142e-01 2.58917060e-02 9.89331840e-01 -1.64444068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28463044 meters Centerline goodness : 0.094893 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-1.59, Z:-1.65 [[ 9.89946821e-01 -8.23231999e-03 -1.41200283e-01 -1.60497861e+01] [ 4.31029964e-03 9.99596957e-01 -2.80596787e-02 -1.59306517e+00] [ 1.41374370e-01 2.71689743e-02 9.89583314e-01 -1.64855986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34463044 meters Centerline goodness : 0.102040 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.60, Z:-1.65 [[ 9.90632944e-01 -1.49633192e-03 -1.36543512e-01 -1.60723643e+01] [-2.53797889e-03 9.99565472e-01 -2.93671018e-02 -1.59671813e+00] [ 1.36528123e-01 2.94385631e-02 9.90198688e-01 -1.65239801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40463044 meters Centerline goodness : 0.167543 with order 3 Centerline is valid? [False, False] Translation: X:-16.08, Y:-1.59, Z:-1.65 [[ 9.90770504e-01 -2.41607424e-04 -1.35549810e-01 -1.60760836e+01] [-3.66722701e-03 9.99584597e-01 -2.85864468e-02 -1.59066164e+00] [ 1.35500408e-01 2.88197002e-02 9.90358048e-01 -1.65087059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46463043999998 meters Centerline goodness : 0.253897 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.59, Z:-1.65 [[ 9.90648466e-01 -6.02370291e-04 -1.36437727e-01 -1.60729817e+01] [-3.41906829e-03 9.99566623e-01 -2.92382766e-02 -1.58675673e+00] [ 1.36396210e-01 2.94313438e-02 9.90217082e-01 -1.65160236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52463043999998 meters Centerline goodness : 0.256188 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.58, Z:-1.65 [[ 9.90598326e-01 -7.92819265e-04 -1.36800323e-01 -1.60720161e+01] [-3.31468271e-03 9.99550531e-01 -2.97951200e-02 -1.58197274e+00] [ 1.36762458e-01 2.99684457e-02 9.90150454e-01 -1.65143497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58463043999998 meters Centerline goodness : 0.256227 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:-1.58, Z:-1.65 [[ 9.90540097e-01 2.66054973e-03 -1.37197803e-01 -1.60712029e+01] [-6.46295576e-03 9.99607027e-01 -2.72767678e-02 -1.57508053e+00] [ 1.37071317e-01 2.79054356e-02 9.90168037e-01 -1.65069836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64463044 meters Centerline goodness : 0.189245 with order 3 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.56, Z:-1.65 [[ 9.90361709e-01 -4.88526963e-03 -1.38419000e-01 -1.60865349e+01] [ 1.23230834e-03 9.99649007e-01 -2.64640254e-02 -1.56381925e+00] [ 1.38499700e-01 2.60383825e-02 9.90020119e-01 -1.65418096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70463044 meters Centerline goodness : 0.207481 with order 3 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.56, Z:-1.65 [[ 9.90343288e-01 -4.92658977e-03 -1.38549273e-01 -1.60866719e+01] [ 1.23638193e-03 9.99642511e-01 -2.67080869e-02 -1.56114243e+00] [ 1.38631323e-01 2.62788748e-02 9.89995342e-01 -1.65350022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76463044 meters Centerline goodness : 0.090747 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.56, Z:-1.65 [[ 9.90482660e-01 -5.44659993e-03 -1.37529759e-01 -1.60899598e+01] [ 1.74112192e-03 9.99632592e-01 -2.70490384e-02 -1.56040923e+00] [ 1.37626555e-01 2.65521474e-02 9.90128232e-01 -1.65244405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82463044 meters Centerline goodness : 0.094681 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.56, Z:-1.65 [[ 9.90464495e-01 -1.49296765e-02 -1.36956885e-01 -1.61119549e+01] [ 1.13337662e-02 9.99571231e-01 -2.69981470e-02 -1.55685520e+00] [ 1.37301235e-01 2.51884687e-02 9.90209024e-01 -1.65473696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88463044 meters Centerline goodness : 0.271731 with order 1 Centerline is valid? [False, False] Translation: X:-16.11, Y:-1.56, Z:-1.66 [[ 9.90421007e-01 -1.48116250e-02 -1.37283807e-01 -1.61108602e+01] [ 1.12461003e-02 9.99579928e-01 -2.67113012e-02 -1.55777506e+00] [ 1.37621776e-01 2.49115264e-02 9.90171532e-01 -1.65519016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94463044 meters Centerline goodness : 0.089625 with order 1 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.56, Z:-1.65 [[ 9.90864444e-01 -7.04005310e-03 -1.34677733e-01 -1.60931818e+01] [ 3.36688906e-03 9.99616626e-01 -2.74820743e-02 -1.55903130e+00] [ 1.34819577e-01 2.67775653e-02 9.90508275e-01 -1.65169881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00463044 meters Centerline goodness : 0.101613 with order 1 Centerline is valid? [False, False] Translation: X:-16.14, Y:-1.55, Z:-1.66 [[ 9.90582686e-01 -4.63692579e-03 -1.36837283e-01 -1.61386545e+01] [ 1.09687904e-03 9.99663041e-01 -2.59345544e-02 -1.55256634e+00] [ 1.36911431e-01 2.55402266e-02 9.90253986e-01 -1.65628006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06463044 meters Centerline goodness : 0.096751 with order 1 Centerline is valid? [False, False] Translation: X:-16.14, Y:-1.54, Z:-1.66 [[ 9.90515197e-01 -1.26495862e-03 -1.37397397e-01 -1.61359193e+01] [-2.02701739e-03 9.99714281e-01 -2.38169630e-02 -1.54442070e+00] [ 1.37388268e-01 2.38695707e-02 9.90229624e-01 -1.65732403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12463044 meters Centerline goodness : 0.091917 with order 1 Centerline is valid? [False, False] Translation: X:-16.16, Y:-1.53, Z:-1.66 [[ 9.90819715e-01 -5.87050515e-03 -1.35062318e-01 -1.61572106e+01] [ 3.00976482e-03 9.99766991e-01 -2.13753398e-02 -1.53318801e+00] [ 1.35156331e-01 2.07726023e-02 9.90606514e-01 -1.66015963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18463043999998 meters Centerline goodness : 0.095532 with order 1 Centerline is valid? [False, False] Translation: X:-16.15, Y:-1.53, Z:-1.66 [[ 9.90579155e-01 -5.16142159e-03 -1.36844063e-01 -1.61502953e+01] [ 2.30787009e-03 9.99776748e-01 -2.10030398e-02 -1.52714028e+00] [ 1.36921918e-01 2.04893551e-02 9.90369918e-01 -1.66246977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24463043999998 meters Centerline goodness : 0.098292 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.52, Z:-1.67 [[ 9.90350406e-01 -1.32912579e-02 -1.37947146e-01 -1.61674231e+01] [ 1.06130353e-02 9.99740994e-01 -2.01322868e-02 -1.51949177e+00] [ 1.38179001e-01 1.84739805e-02 9.90234960e-01 -1.66622512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30463043999998 meters Centerline goodness : 0.091465 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.52, Z:-1.67 [[ 9.90360806e-01 -1.37593388e-02 -1.37826534e-01 -1.61680069e+01] [ 1.10185950e-02 9.99726485e-01 -2.06287620e-02 -1.51810290e+00] [ 1.38072675e-01 1.89112626e-02 9.90241536e-01 -1.66587860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36463043999998 meters Centerline goodness : 0.345738 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:-1.52, Z:-1.67 [[ 9.90335235e-01 -1.41736064e-02 -1.37968226e-01 -1.61675036e+01] [ 1.13501660e-02 9.99710194e-01 -2.12297394e-02 -1.51578582e+00] [ 1.38229144e-01 1.94585967e-02 9.90209103e-01 -1.66596258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42463044 meters SLAMing on 210.48463044 meters Centerline goodness : 0.242433 with order 3 Centerline is valid? [False, False] Translation: X:-16.19, Y:-1.51, Z:-1.67 [[ 9.90397454e-01 -4.36873666e-03 -1.38180307e-01 -1.61896615e+01] [ 1.37013631e-03 9.99761668e-01 -2.17883141e-02 -1.50875811e+00] [ 1.38242562e-01 2.13897649e-02 9.90167396e-01 -1.66802553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54463044 meters Centerline goodness : 0.125881 with order 2 Centerline is valid? [False, False] Translation: X:-16.19, Y:-1.51, Z:-1.67 [[ 9.90496074e-01 -1.69646013e-03 -1.37530538e-01 -1.61918298e+01] [-1.02359466e-03 9.99805320e-01 -1.97046881e-02 -1.50536973e+00] [ 1.37537192e-01 1.96581917e-02 9.90301508e-01 -1.66752716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60463044 meters Centerline goodness : 0.112288 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:-1.50, Z:-1.67 [[ 9.90480259e-01 2.41556579e-03 -1.37633652e-01 -1.61917867e+01] [-4.78794804e-03 9.99845578e-01 -1.69084755e-02 -1.49525521e+00] [ 1.37571555e-01 1.74064939e-02 9.90338872e-01 -1.66692953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66463044 meters Centerline goodness : 0.249038 with order 3 Centerline is valid? [False, False] Translation: X:-16.21, Y:-1.48, Z:-1.67 [[ 9.90853351e-01 -2.16261365e-03 -1.34925757e-01 -1.62105582e+01] [ 1.25129019e-04 9.99885868e-01 -1.51074366e-02 -1.48380622e+00] [ 1.34943029e-01 1.49523711e-02 9.90740534e-01 -1.67065061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72463044 meters Centerline goodness : 0.108363 with order 1 Centerline is valid? [False, False] Translation: X:-16.21, Y:-1.48, Z:-1.67 [[ 9.90882391e-01 -2.55906781e-03 -1.34705376e-01 -1.62111798e+01] [ 4.44807963e-04 9.99876284e-01 -1.57231946e-02 -1.48015079e+00] [ 1.34728947e-01 1.55199186e-02 9.90760941e-01 -1.67042457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78463044 meters Centerline goodness : 0.109661 with order 1 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.48, Z:-1.67 [[ 9.90475357e-01 -4.17842902e-03 -1.37626700e-01 -1.62549040e+01] [ 1.93027462e-03 9.99862586e-01 -1.64645771e-02 -1.47602425e+00] [ 1.37676584e-01 1.60421006e-02 9.90347317e-01 -1.67481829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84463044 meters Centerline goodness : 0.113517 with order 1 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.48, Z:-1.67 [[ 9.90464026e-01 -4.88970158e-03 -1.37684798e-01 -1.62548372e+01] [ 2.59325934e-03 9.99854608e-01 -1.68534261e-02 -1.47572590e+00] [ 1.37747188e-01 1.63356599e-02 9.90332701e-01 -1.67466733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90463044 meters Centerline goodness : 0.114965 with order 1 Centerline is valid? [False, False] Translation: X:-16.26, Y:-1.47, Z:-1.67 [[ 9.90536044e-01 -4.99731627e-03 -1.37161851e-01 -1.62565715e+01] [ 2.68399522e-03 9.99851114e-01 -1.70453973e-02 -1.47451396e+00] [ 1.37226610e-01 1.65159386e-02 9.90401980e-01 -1.67405457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96463043999998 meters Centerline goodness : 0.096738 with order 1 Centerline is valid? [False, False] Translation: X:-16.30, Y:-1.47, Z:-1.68 [[ 9.90495535e-01 -3.50980000e-03 -1.37500096e-01 -1.63019872e+01] [ 1.22436593e-03 9.99859756e-01 -1.67023795e-02 -1.46887261e+00] [ 1.37539434e-01 1.63752819e-02 9.90360921e-01 -1.67954278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02463043999998 meters Centerline goodness : 0.099384 with order 1 Centerline is valid? [False, False] Translation: X:-16.30, Y:-1.46, Z:-1.68 [[ 9.90495304e-01 2.28285365e-04 -1.37546359e-01 -1.63017455e+01] [-2.20471356e-03 9.99896503e-01 -1.42170008e-02 -1.46198962e+00] [ 1.37528878e-01 1.43851228e-02 9.90393294e-01 -1.67938888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08463043999998 meters Centerline goodness : 0.194625 with order 3 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.45, Z:-1.68 [[ 9.90589055e-01 -4.57959635e-03 -1.36793097e-01 -1.63208042e+01] [ 2.96036840e-03 9.99923157e-01 -1.20381506e-02 -1.45150339e+00] [ 1.36837715e-01 1.15199022e-02 9.90526492e-01 -1.68335604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14463044 meters Centerline goodness : 0.103342 with order 1 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.44, Z:-1.68 [[ 9.90576299e-01 -4.41506698e-03 -1.36890842e-01 -1.63209933e+01] [ 2.70573533e-03 9.99916067e-01 -1.26703809e-02 -1.44182792e+00] [ 1.36935293e-01 1.21805887e-02 9.90505103e-01 -1.68267985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20463044 meters Centerline goodness : 0.106347 with order 1 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.44, Z:-1.68 [[ 9.90497946e-01 -4.77517140e-03 -1.37444597e-01 -1.63191350e+01] [ 2.96192129e-03 9.99905908e-01 -1.33940888e-02 -1.43674703e+00] [ 1.37495624e-01 1.28597174e-02 9.90418892e-01 -1.68304241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26463044 meters Centerline goodness : 0.264662 with order 3 Centerline is valid? [False, False] Translation: X:-16.32, Y:-1.43, Z:-1.68 [[ 9.90428883e-01 -5.10654481e-03 -1.37929516e-01 -1.63178172e+01] [ 3.17788948e-03 9.99894132e-01 -1.41995037e-02 -1.42826004e+00] [ 1.37987424e-01 1.36252738e-02 9.90340256e-01 -1.68297742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32463044 meters Centerline goodness : 0.094178 with order 3 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.42, Z:-1.69 [[ 9.90221180e-01 -5.51197148e-03 -1.39397393e-01 -1.63624872e+01] [ 3.43946702e-03 9.99880010e-01 -1.51041348e-02 -1.42180857e+00] [ 1.39463920e-01 1.44769814e-02 9.90121322e-01 -1.68801808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38463044 meters Centerline goodness : 0.117132 with order 3 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.42, Z:-1.69 [[ 9.90307069e-01 -6.25234885e-03 -1.38754522e-01 -1.63643042e+01] [ 4.10296283e-03 9.99867209e-01 -1.57712013e-02 -1.41969360e+00] [ 1.38834704e-01 1.50490275e-02 9.90201218e-01 -1.68770935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44463044 meters Centerline goodness : 0.100708 with order 3 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.42, Z:-1.69 [[ 9.90277914e-01 -6.22708145e-03 -1.38963580e-01 -1.63639340e+01] [ 4.06717615e-03 9.99866560e-01 -1.58215252e-02 -1.41794624e+00] [ 1.39043559e-01 1.51025176e-02 9.90171098e-01 -1.68752448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50463044 meters Centerline goodness : 0.137995 with order 1 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.41, Z:-1.69 [[ 9.90176066e-01 -6.62836506e-03 -1.39668975e-01 -1.63623497e+01] [ 4.38865368e-03 9.99856899e-01 -1.63377493e-02 -1.41497483e+00] [ 1.39757280e-01 1.55642896e-02 9.90063460e-01 -1.68720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56463044 meters Centerline goodness : 0.089542 with order 1 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.41, Z:-1.69 [[ 9.90166539e-01 -6.84091939e-03 -1.39726260e-01 -1.63620930e+01] [ 4.52958739e-03 9.99847715e-01 -1.68531795e-02 -1.41156976e+00] [ 1.39820273e-01 1.60545521e-02 9.90046738e-01 -1.68717158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62463044 meters Centerline goodness : 0.131325 with order 3 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.41, Z:-1.69 [[ 9.90258788e-01 -7.18465044e-03 -1.39053638e-01 -1.63643425e+01] [ 4.78072959e-03 9.99833432e-01 -1.76140247e-02 -1.40672209e+00] [ 1.39157027e-01 1.67776649e-02 9.90128190e-01 -1.68633494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68463043999998 meters Centerline goodness : 0.125247 with order 1 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.40, Z:-1.69 [[ 9.90263813e-01 -7.37499888e-03 -1.39007880e-01 -1.63636994e+01] [ 4.91511430e-03 9.99825347e-01 -1.80309993e-02 -1.40399910e+00] [ 1.39116580e-01 1.71722065e-02 9.90127109e-01 -1.68707757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74463043999998 meters Centerline goodness : 0.141728 with order 1 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.40, Z:-1.69 [[ 9.90208505e-01 -7.81883981e-03 -1.39377121e-01 -1.63621672e+01] [ 5.25764909e-03 9.99810666e-01 -1.87347146e-02 -1.40096456e+00] [ 1.39497216e-01 1.78184778e-02 9.90062134e-01 -1.68769108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80463043999998 meters Centerline goodness : 0.280940 with order 3 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.40, Z:-1.69 [[ 9.90157243e-01 -7.84892069e-03 -1.39739143e-01 -1.63611719e+01] [ 5.26622104e-03 9.99808596e-01 -1.88424761e-02 -1.40004567e+00] [ 1.39860289e-01 1.79211170e-02 9.90009057e-01 -1.68774700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86463043999998 meters Centerline goodness : 0.123518 with order 2 Centerline is valid? [False, False] Translation: X:-16.36, Y:-1.40, Z:-1.69 [[ 9.90151225e-01 -7.76577701e-03 -1.39786426e-01 -1.63608059e+01] [ 5.19885134e-03 9.99811268e-01 -1.87190016e-02 -1.40041785e+00] [ 1.39905411e-01 1.78079135e-02 9.90004724e-01 -1.68803901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92463044 meters Centerline goodness : 0.121838 with order 2 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.40, Z:-1.69 [[ 9.90223986e-01 2.10309905e-04 -1.39486247e-01 -1.63809069e+01] [-3.00874297e-03 9.99798405e-01 -1.98518635e-02 -1.40448807e+00] [ 1.39453953e-01 2.00774697e-02 9.90024995e-01 -1.69200615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98463044 meters Centerline goodness : 0.135086 with order 1 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.40, Z:-1.69 [[ 9.90176910e-01 4.66276909e-04 -1.39819416e-01 -1.63801964e+01] [-3.24266118e-03 9.99802059e-01 -1.96297745e-02 -1.40464394e+00] [ 1.39782587e-01 1.98903365e-02 9.89982425e-01 -1.69190498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04463044 meters Centerline goodness : 0.227690 with order 3 Centerline is valid? [False, False] Translation: X:-16.38, Y:-1.40, Z:-1.69 [[ 9.90099725e-01 4.63045044e-03 -1.40289321e-01 -1.63785743e+01] [-6.95339411e-03 9.99846649e-01 -1.60725935e-02 -1.40448017e+00] [ 1.40193384e-01 1.68889574e-02 9.89980090e-01 -1.69226754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10463044 meters Centerline goodness : 0.261853 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.40, Z:-1.70 [[ 9.90150585e-01 -1.97362951e-03 -1.39992582e-01 -1.63960481e+01] [-1.62321083e-04 9.99883782e-01 -1.52445396e-02 -1.39769079e+00] [ 1.40006399e-01 1.51171135e-02 9.90035192e-01 -1.69582261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16463044 meters Centerline goodness : 0.124712 with order 1 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.40, Z:-1.69 [[ 9.90410970e-01 3.18856555e-04 -1.38152125e-01 -1.64031198e+01] [-2.14931891e-03 9.99911873e-01 -1.31006351e-02 -1.39996066e+00] [ 1.38135773e-01 1.32719457e-02 9.90324373e-01 -1.69366795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22463044 meters Centerline goodness : 0.157923 with order 3 Centerline is valid? [False, False] Translation: X:-16.40, Y:-1.40, Z:-1.69 [[ 9.90479338e-01 1.95333261e-04 -1.37661337e-01 -1.64045150e+01] [-2.03082795e-03 9.99910905e-01 -1.31930817e-02 -1.40047004e+00] [ 1.37646495e-01 1.33470413e-02 9.90391488e-01 -1.69348092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28463044 meters Centerline goodness : 0.093258 with order 1 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.39, Z:-1.70 [[ 9.90386174e-01 -6.31416283e-03 -1.38185956e-01 -1.64215424e+01] [ 4.73157964e-03 9.99919441e-01 -1.17780646e-02 -1.39422360e+00] [ 1.38249192e-01 1.10109945e-02 9.90336266e-01 -1.69697548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34463044 meters Centerline goodness : 0.149342 with order 1 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.39, Z:-1.70 [[ 9.90496700e-01 -3.57416229e-03 -1.37490045e-01 -1.64246382e+01] [ 2.25481384e-03 9.99949920e-01 -9.75050685e-03 -1.39043474e+00] [ 1.37518010e-01 9.34783040e-03 9.90455155e-01 -1.69576261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40463044 meters Centerline goodness : 0.131161 with order 1 Centerline is valid? [False, False] Translation: X:-16.44, Y:-1.38, Z:-1.70 [[ 9.90716451e-01 -9.64366872e-03 -1.35602039e-01 -1.64424963e+01] [ 8.57530708e-03 9.99927439e-01 -8.46057458e-03 -1.38271563e+00] [ 1.35673790e-01 7.21920130e-03 9.90727261e-01 -1.70041963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46463043999998 meters Centerline goodness : 0.112622 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.39, Z:-1.70 [[ 9.90772539e-01 -2.26154604e-03 -1.35516274e-01 -1.64232164e+01] [ 1.01994623e-03 9.99956876e-01 -9.23072757e-03 -1.38783497e+00] [ 1.35531306e-01 9.00733209e-03 9.90732120e-01 -1.69724712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52463043999998 meters Centerline goodness : 0.139160 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.39, Z:-1.70 [[ 9.90641000e-01 -3.49050857e-03 -1.36448621e-01 -1.64202761e+01] [ 2.12809647e-03 9.99946432e-01 -1.01293949e-02 -1.38781948e+00] [ 1.36476669e-01 9.74421806e-03 9.90595361e-01 -1.69795907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58463043999998 meters Centerline goodness : 0.113583 with order 3 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.39, Z:-1.70 [[ 9.90607027e-01 -3.50771784e-03 -1.36694604e-01 -1.64194784e+01] [ 2.12788948e-03 9.99945315e-01 -1.02390564e-02 -1.38620283e+00] [ 1.36723044e-01 9.85201019e-03 9.90560320e-01 -1.69816136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64463044 meters SLAMing on 212.70463044 meters Centerline goodness : 0.113747 with order 3 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.36, Z:-1.71 [[ 9.91010870e-01 -2.58696772e-04 -1.33781123e-01 -1.64888458e+01] [-9.73565831e-04 9.99957705e-01 -9.14553652e-03 -1.36156208e+00] [ 1.33777831e-01 9.19357084e-03 9.90968703e-01 -1.70632315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76463044 meters Centerline goodness : 0.125073 with order 1 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.35, Z:-1.71 [[ 9.90914378e-01 1.15860969e-03 -1.34489234e-01 -1.64864842e+01] [-2.35606950e-03 9.99958987e-01 -8.74494519e-03 -1.35132069e+00] [ 1.34473586e-01 8.98235790e-03 9.90876467e-01 -1.70656035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82463044 meters Centerline goodness : 0.141496 with order 1 Centerline is valid? [False, False] Translation: X:-16.48, Y:-1.35, Z:-1.71 [[ 9.90809699e-01 6.19928654e-04 -1.35261803e-01 -1.64841071e+01] [-1.90472818e-03 9.99954292e-01 -9.36940663e-03 -1.34884141e+00] [ 1.35249812e-01 9.54093593e-03 9.90765592e-01 -1.70711659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88463044 meters Centerline goodness : 0.130283 with order 3 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.34, Z:-1.71 [[ 9.90643879e-01 -8.45239180e-03 -1.36210361e-01 -1.65047398e+01] [ 7.23598936e-03 9.99929422e-01 -9.42297394e-03 -1.34332712e+00] [ 1.36280394e-01 8.34919474e-03 9.90635122e-01 -1.70961877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94463044 meters Centerline goodness : 0.089306 with order 1 Centerline is valid? [False, False] Translation: X:-16.48, Y:-1.34, Z:-1.71 [[ 9.90538558e-01 -1.67990466e-02 -1.36202633e-01 -1.64835220e+01] [ 1.58076599e-02 9.99840125e-01 -8.35713762e-03 -1.34079885e+00] [ 1.36321249e-01 6.12502214e-03 9.90645750e-01 -1.70627483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00463044 meters Centerline goodness : 0.119897 with order 2 Centerline is valid? [False, False] Translation: X:-16.51, Y:-1.34, Z:-1.71 [[ 9.90733098e-01 -7.38891550e-03 -1.35622017e-01 -1.65055510e+01] [ 6.27786706e-03 9.99943157e-01 -8.61810519e-03 -1.34106373e+00] [ 1.35677986e-01 7.68682506e-03 9.90723169e-01 -1.70932080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06463044 meters Centerline goodness : 0.122170 with order 3 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.34, Z:-1.71 [[ 9.90997189e-01 1.33064378e-03 -1.33876068e-01 -1.64869724e+01] [-2.57580363e-03 9.99955021e-01 -9.12807078e-03 -1.34124958e+00] [ 1.33857900e-01 9.39073094e-03 9.90956042e-01 -1.70592321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12463044 meters Centerline goodness : 0.112833 with order 2 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.33, Z:-1.71 [[ 9.91168284e-01 5.47385179e-03 -1.32497056e-01 -1.64905793e+01] [-6.42689836e-03 9.99956455e-01 -6.76637218e-03 -1.33184556e+00] [ 1.32454248e-01 7.55815861e-03 9.91160303e-01 -1.70526022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18463043999998 meters Centerline goodness : 0.156222 with order 1 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.32, Z:-1.71 [[ 9.91126883e-01 8.77379777e-03 -1.32629264e-01 -1.64895711e+01] [-9.48477233e-03 9.99943833e-01 -4.72978476e-03 -1.32469750e+00] [ 1.32580316e-01 5.94577519e-03 9.91154432e-01 -1.70561177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24463043999998 meters Centerline goodness : 0.109521 with order 3 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.32, Z:-1.71 [[ 9.91047669e-01 1.26013594e-02 -1.32912466e-01 -1.64882997e+01] [-1.29958887e-02 9.99913342e-01 -2.10121603e-03 -1.31846279e+00] [ 1.32874470e-01 3.80972087e-03 9.91125553e-01 -1.70594863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30463043999998 meters Centerline goodness : 0.109262 with order 3 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.31, Z:-1.71 [[ 9.90961479e-01 1.56050265e-02 -1.33235998e-01 -1.64873689e+01] [-1.59002695e-02 9.99872919e-01 -1.15217453e-03 -1.30801710e+00] [ 1.33201086e-01 3.26024885e-03 9.91083670e-01 -1.70707284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36463043999998 meters Centerline goodness : 0.107925 with order 2 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.30, Z:-1.71 [[ 9.90829684e-01 1.80308779e-02 -1.33908273e-01 -1.64856934e+01] [-1.82417112e-02 9.99833546e-01 -3.47643950e-04 -1.29905146e+00] [ 1.33879715e-01 2.78717199e-03 9.90993670e-01 -1.70770187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42463044 meters Centerline goodness : 0.259319 with order 3 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.29, Z:-1.71 [[ 9.90945810e-01 1.09828609e-02 -1.33812471e-01 -1.65003938e+01] [-1.07510339e-02 9.99939192e-01 2.45493631e-03 -1.29175303e+00] [ 1.33831297e-01 -9.94086439e-04 9.91003631e-01 -1.71057610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48463044 meters Centerline goodness : 0.110873 with order 3 Centerline is valid? [False, False] Translation: X:-16.51, Y:-1.28, Z:-1.71 [[ 9.90868819e-01 3.32460170e-03 -1.34788463e-01 -1.65121989e+01] [-2.80110816e-03 9.99987781e-01 4.07327401e-03 -1.28153398e+00] [ 1.34800358e-01 -3.65852314e-03 9.90866025e-01 -1.71424223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54463044 meters Centerline goodness : 0.126070 with order 2 Centerline is valid? [False, False] Translation: X:-16.49, Y:-1.28, Z:-1.71 [[ 9.90922171e-01 -1.63249189e-03 -1.34426883e-01 -1.64906817e+01] [ 2.66272107e-03 9.99968446e-01 7.48443275e-03 -1.27604643e+00] [ 1.34410423e-01 -7.77443164e-03 9.90895250e-01 -1.71180027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60463044 meters Centerline goodness : 0.127088 with order 2 Centerline is valid? [False, False] Translation: X:-16.47, Y:-1.28, Z:-1.71 [[ 9.90990375e-01 5.85797519e-03 -1.33804939e-01 -1.64712793e+01] [-5.07662961e-03 9.99968018e-01 6.17986721e-03 -1.27638448e+00] [ 1.33836861e-01 -5.44491081e-03 9.90988419e-01 -1.70735345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66463044 meters Centerline goodness : 0.123374 with order 2 Centerline is valid? [False, False] Translation: X:-16.47, Y:-1.28, Z:-1.71 [[ 9.90956293e-01 5.81169597e-03 -1.34059126e-01 -1.64710134e+01] [-5.06597990e-03 9.99969745e-01 5.90303324e-03 -1.27521158e+00] [ 1.34089376e-01 -5.17050711e-03 9.90955753e-01 -1.70693133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72463044 meters Centerline goodness : 0.113727 with order 2 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.27, Z:-1.70 [[ 9.91137728e-01 5.79355909e-03 -1.32711867e-01 -1.64272662e+01] [-5.01382369e-03 9.99968156e-01 6.20882518e-03 -1.27497176e+00] [ 1.32743612e-01 -5.48840698e-03 9.91135213e-01 -1.70159358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78463044 meters Centerline goodness : 0.253453 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.27, Z:-1.70 [[ 9.91284301e-01 7.04727993e-03 -1.31551397e-01 -1.64303887e+01] [-6.27855079e-03 9.99960711e-01 6.25743431e-03 -1.27279730e+00] [ 1.31590326e-01 -5.37694428e-03 9.91289602e-01 -1.70064986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84463044 meters Centerline goodness : 0.186106 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.27, Z:-1.70 [[ 9.91344715e-01 7.76090687e-03 -1.31055044e-01 -1.64318052e+01] [-6.97461246e-03 9.99954826e-01 6.45767648e-03 -1.27178069e+00] [ 1.31099241e-01 -5.48772531e-03 9.91354061e-01 -1.70025536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90463044 meters Centerline goodness : 0.164906 with order 3 Centerline is valid? [False, False] Translation: X:-16.43, Y:-1.27, Z:-1.70 [[ 9.91316644e-01 7.91718875e-03 -1.31257871e-01 -1.64311697e+01] [-7.12772251e-03 9.99953580e-01 6.48335424e-03 -1.27397654e+00] [ 1.31303108e-01 -5.49148729e-03 9.91327059e-01 -1.70024173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96463043999998 meters Centerline goodness : 0.160963 with order 3 Centerline is valid? [False, False] Translation: X:-16.45, Y:-1.28, Z:-1.70 [[ 9.91254127e-01 8.65116967e-05 -1.31966846e-01 -1.64506570e+01] [ 8.99295252e-04 9.99972138e-01 7.41049323e-03 -1.27837876e+00] [ 1.31963810e-01 -7.46435916e-03 9.91226430e-01 -1.70377070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02463043999998 meters Centerline goodness : 0.279780 with order 3 Centerline is valid? [False, False] Translation: X:-16.45, Y:-1.28, Z:-1.70 [[ 9.91201465e-01 -2.12896821e-03 -1.32344712e-01 -1.64484402e+01] [ 2.90864029e-03 9.99979535e-01 5.69817917e-03 -1.28316328e+00] [ 1.32329872e-01 -6.03298670e-03 9.91187373e-01 -1.70453066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08463043999998 meters Centerline goodness : 0.138648 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-1.29, Z:-1.71 [[ 9.90944680e-01 6.37686909e-03 -1.34119265e-01 -1.64652062e+01] [-5.77502021e-03 9.99971437e-01 4.87596916e-03 -1.29095966e+00] [ 1.34146528e-01 -4.05727423e-03 9.90953202e-01 -1.70862831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14463044 meters Centerline goodness : 0.093087 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.29, Z:-1.71 [[ 9.90803133e-01 6.60246679e-03 -1.35150137e-01 -1.64619353e+01] [-5.98559614e-03 9.99969735e-01 4.97017302e-03 -1.29259779e+00] [ 1.35178862e-01 -4.11550886e-03 9.90812665e-01 -1.70932744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20463044 meters Centerline goodness : 0.111241 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-1.29, Z:-1.71 [[ 9.90734898e-01 6.88886503e-03 -1.35635193e-01 -1.64606326e+01] [-6.24845876e-03 9.99967234e-01 5.14669635e-03 -1.29439402e+00] [ 1.35666204e-01 -4.25150077e-03 9.90745480e-01 -1.70923858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26463044 meters Centerline goodness : 0.115284 with order 1 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.30, Z:-1.71 [[ 9.90561558e-01 8.10923189e-03 -1.36828503e-01 -1.65046747e+01] [-7.44532318e-03 9.99957901e-01 5.36320682e-03 -1.29768181e+00] [ 1.36866235e-01 -4.29385407e-03 9.90580232e-01 -1.71484260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32463044 meters Centerline goodness : 0.113856 with order 1 Centerline is valid? [False, False] Translation: X:-16.50, Y:-1.30, Z:-1.72 [[ 9.90566460e-01 8.16708480e-03 -1.36789574e-01 -1.65042951e+01] [-7.49715246e-03 9.99957250e-01 5.41201988e-03 -1.29871894e+00] [ 1.36827927e-01 -4.33543308e-03 9.90585343e-01 -1.71533040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38463044 meters Centerline goodness : 0.134445 with order 1 Centerline is valid? [False, False] Translation: X:-16.51, Y:-1.30, Z:-1.71 [[ 9.90589690e-01 8.38416214e-03 -1.36608098e-01 -1.65051935e+01] [-7.69689304e-03 9.99954930e-01 5.55839215e-03 -1.29954891e+00] [ 1.36648544e-01 -4.45462804e-03 9.90609576e-01 -1.71466977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44463044 meters Centerline goodness : 0.112420 with order 1 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.30, Z:-1.72 [[ 9.90429888e-01 8.90640877e-03 -1.37729131e-01 -1.65506864e+01] [-8.29657339e-03 9.99953076e-01 5.00124114e-03 -1.30345869e+00] [ 1.37767211e-01 -3.81069886e-03 9.90457306e-01 -1.71903572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50463044 meters Centerline goodness : 0.253338 with order 3 Centerline is valid? [False, False] Translation: X:-16.55, Y:-1.31, Z:-1.72 [[ 9.90454621e-01 9.17587495e-03 -1.37533438e-01 -1.65514672e+01] [-8.51157425e-03 9.99949101e-01 5.41744520e-03 -1.30559547e+00] [ 1.37576147e-01 -4.19510757e-03 9.90482309e-01 -1.71847843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56463044 meters Centerline goodness : 0.254979 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-1.31, Z:-1.72 [[ 9.90790263e-01 8.54498532e-03 -1.35135625e-01 -1.65999976e+01] [-8.11463953e-03 9.99960100e-01 3.73505159e-03 -1.31132824e+00] [ 1.35162149e-01 -2.60407586e-03 9.90820071e-01 -1.72331965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62463044 meters Centerline goodness : 0.171119 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-1.31, Z:-1.72 [[ 9.90830917e-01 8.87676175e-03 -1.34815788e-01 -1.66009811e+01] [-8.38542012e-03 9.99955971e-01 4.21195041e-03 -1.31303711e+00] [ 1.34847241e-01 -3.04284367e-03 9.90861727e-01 -1.72302168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68463043999998 meters Centerline goodness : 0.282327 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-1.31, Z:-1.72 [[ 9.90935520e-01 9.19766107e-03 -1.34023128e-01 -1.66034514e+01] [-8.67727348e-03 9.99952377e-01 4.46642715e-03 -1.31368124e+00] [ 1.34057826e-01 -3.26298598e-03 9.90968139e-01 -1.72235438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74463043999998 meters Centerline goodness : 0.111980 with order 1 Centerline is valid? [False, False] Translation: X:-16.62, Y:-1.31, Z:-1.73 [[ 9.90946346e-01 1.55016761e-03 -1.34249529e-01 -1.66231874e+01] [-8.85408657e-04 9.99987052e-01 5.01122850e-03 -1.31161560e+00] [ 1.34255559e-01 -4.84699288e-03 9.90934888e-01 -1.72594680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80463043999998 meters Centerline goodness : 0.218291 with order 3 Centerline is valid? [False, False] Translation: X:-16.61, Y:-1.31, Z:-1.73 [[ 9.90629380e-01 -2.34631922e-05 -1.36577560e-01 -1.66146649e+01] [ 5.42240307e-04 9.99992780e-01 3.76120467e-03 -1.31424578e+00] [ 1.36576486e-01 -3.80001771e-03 9.90622241e-01 -1.72848891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86463043999998 meters Centerline goodness : 0.109427 with order 1 Centerline is valid? [False, False] Translation: X:-16.66, Y:-1.32, Z:-1.73 [[ 9.90158575e-01 -5.50914355e-04 -1.39948895e-01 -1.66567867e+01] [ 9.60663240e-04 9.99995448e-01 2.86030911e-03 -1.32120907e+00] [ 1.39946682e-01 -2.96660335e-03 9.90154597e-01 -1.73429237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92463044 meters SLAMing on 214.98463044 meters Centerline goodness : 0.116635 with order 1 Centerline is valid? [False, False] Translation: X:-16.66, Y:-1.34, Z:-1.74 [[ 9.90200600e-01 -4.14379274e-03 -1.39590833e-01 -1.66563455e+01] [ 4.31552900e-03 9.99990258e-01 9.27618512e-04 -1.33977131e+00] [ 1.39585629e-01 -1.52093670e-03 9.90208836e-01 -1.73501534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04463044 meters Centerline goodness : 0.176981 with order 1 Centerline is valid? [False, False] Translation: X:-16.65, Y:-1.35, Z:-1.74 [[ 9.90072373e-01 -3.61931951e-03 -1.40511908e-01 -1.66524112e+01] [ 3.93341988e-03 9.99990348e-01 1.95774003e-03 -1.34949065e+00] [ 1.40503466e-01 -2.49099665e-03 9.90077053e-01 -1.73647094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10463044 meters Centerline goodness : 0.340351 with order 1 Centerline is valid? [False, False] Translation: X:-16.65, Y:-1.36, Z:-1.74 [[ 9.90146682e-01 -2.57523171e-03 -1.40010417e-01 -1.66537017e+01] [ 3.06344211e-03 9.99989956e-01 3.27155078e-03 -1.35645809e+00] [ 1.40000585e-01 -3.66822895e-03 9.90144626e-01 -1.73637724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16463044 meters Centerline goodness : 0.090383 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.37, Z:-1.74 [[ 9.90361189e-01 4.66063463e-03 -1.38430464e-01 -1.66731692e+01] [-4.40124056e-03 9.99987939e-01 2.17987113e-03 -1.36678335e+00] [ 1.38438954e-01 -1.54959399e-03 9.90369757e-01 -1.74093450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22463044 meters Centerline goodness : 0.358386 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-1.37, Z:-1.74 [[ 9.90359983e-01 5.16647884e-03 -1.38421140e-01 -1.66726107e+01] [-4.81044912e-03 9.99984206e-01 2.90649922e-03 -1.37111643e+00] [ 1.38433970e-01 -2.21261266e-03 9.90369194e-01 -1.74157073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28463044 meters Centerline goodness : 0.092975 with order 1 Centerline is valid? [False, False] Translation: X:-16.71, Y:-1.38, Z:-1.75 [[ 9.90895009e-01 5.95850986e-03 -1.34504936e-01 -1.67116199e+01] [-5.50628656e-03 9.99977869e-01 3.73388618e-03 -1.37759109e+00] [ 1.34524207e-01 -2.95926645e-03 9.90905889e-01 -1.74955868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34463044 meters Centerline goodness : 0.375867 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.38, Z:-1.75 [[ 9.91042223e-01 3.93640906e-03 -1.33490884e-01 -1.67155991e+01] [-3.65483944e-03 9.99990550e-01 2.35425557e-03 -1.38279515e+00] [ 1.33498890e-01 -1.84527893e-03 9.91047245e-01 -1.74834499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40463044 meters Centerline goodness : 0.100407 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.39, Z:-1.75 [[ 9.91069728e-01 4.00892401e-03 -1.33284366e-01 -1.67159905e+01] [-3.66720980e-03 9.99989330e-01 2.80918631e-03 -1.38653140e+00] [ 1.33294205e-01 -2.29531778e-03 9.91073855e-01 -1.74832295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46463043999998 meters Centerline goodness : 0.094126 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.39, Z:-1.75 [[ 9.91278517e-01 1.98766420e-03 -1.31768550e-01 -1.67210821e+01] [-1.78274721e-03 9.99997011e-01 1.67307943e-03 -1.39291360e+00] [ 1.31771482e-01 -1.42357769e-03 9.91279098e-01 -1.74706329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52463043999998 meters Centerline goodness : 0.220138 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.39, Z:-1.75 [[ 9.91257684e-01 2.01098238e-03 -1.31924830e-01 -1.67203096e+01] [-1.78965119e-03 9.99996785e-01 1.79625338e-03 -1.39419179e+00] [ 1.31928018e-01 -1.54445053e-03 9.91258096e-01 -1.74744931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58463043999998 meters Centerline goodness : 0.108185 with order 1 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.39, Z:-1.75 [[ 9.91120821e-01 5.24998089e-03 -1.32860667e-01 -1.67158270e+01] [-4.75134839e-03 9.99980430e-01 4.06981125e-03 -1.39003829e+00] [ 1.32879433e-01 -3.40240735e-03 9.91126369e-01 -1.74945520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64463044 meters Centerline goodness : 0.459223 with order 2 Centerline is valid? [False, False] Translation: X:-16.72, Y:-1.39, Z:-1.75 [[ 9.91083763e-01 5.60823557e-03 -1.33122210e-01 -1.67150248e+01] [-5.15657948e-03 9.99979721e-01 3.73731511e-03 -1.38573813e+00] [ 1.33140470e-01 -3.01753707e-03 9.91092584e-01 -1.74975962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70463044 meters Centerline goodness : 0.251240 with order 1 Centerline is valid? [False, False] Translation: X:-16.76, Y:-1.38, Z:-1.76 [[ 9.90850522e-01 7.66055611e-03 -1.34746275e-01 -1.67587897e+01] [-7.26456561e-03 9.99967729e-01 3.43022667e-03 -1.37762691e+00] [ 1.34768204e-01 -2.41996874e-03 9.90874197e-01 -1.75544254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76463044 meters Centerline goodness : 0.089653 with order 1 Centerline is valid? [False, False] Translation: X:-16.76, Y:-1.37, Z:-1.76 [[ 9.90701702e-01 1.00958767e-02 -1.35676866e-01 -1.67551908e+01] [-9.51483806e-03 9.99942578e-01 4.93032276e-03 -1.37051324e+00] [ 1.35718851e-01 -3.59353574e-03 9.90740874e-01 -1.75650235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82463044 meters Centerline goodness : 0.302784 with order 1 Centerline is valid? [False, False] Translation: X:-16.78, Y:-1.37, Z:-1.76 [[ 9.90917098e-01 2.04635209e-03 -1.34458605e-01 -1.67752771e+01] [-1.34527870e-03 9.99985025e-01 5.30469418e-03 -1.36611671e+00] [ 1.34467447e-01 -5.07562787e-03 9.90905012e-01 -1.76072122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88463044 meters Centerline goodness : 0.093188 with order 1 Centerline is valid? [False, False] Translation: X:-16.78, Y:-1.37, Z:-1.76 [[ 9.91042829e-01 -1.55268766e-03 -1.33535386e-01 -1.67790436e+01] [ 1.90723784e-03 9.99994988e-01 2.52722908e-03 -1.36804356e+00] [ 1.33530793e-01 -2.75927600e-03 9.91040823e-01 -1.75919767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94463044 meters Centerline goodness : 0.137555 with order 1 Centerline is valid? [False, False] Translation: X:-16.78, Y:-1.37, Z:-1.76 [[ 9.91159994e-01 -1.88390592e-03 -1.32658648e-01 -1.67812670e+01] [ 2.25343781e-03 9.99993988e-01 2.63550716e-03 -1.36984437e+00] [ 1.32652886e-01 -2.91114728e-03 9.91158281e-01 -1.75889285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00463044 meters Centerline goodness : 0.204861 with order 3 Centerline is valid? [False, False] Translation: X:-16.80, Y:-1.38, Z:-1.76 [[ 9.91022180e-01 5.77213480e-03 -1.33572908e-01 -1.67977566e+01] [-5.62535546e-03 9.99983088e-01 1.47623614e-03 -1.37596762e+00] [ 1.33579170e-01 -7.11587671e-04 9.91037890e-01 -1.76258531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06463044 meters Centerline goodness : 0.451676 with order 1 Centerline is valid? [False, False] Translation: X:-16.80, Y:-1.37, Z:-1.76 [[ 9.90983927e-01 5.66021112e-03 -1.33861190e-01 -1.67966059e+01] [-5.55166141e-03 9.99983888e-01 1.18415725e-03 -1.37496454e+00] [ 1.33865736e-01 -4.30328797e-04 9.90999384e-01 -1.76311229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12463044 meters Centerline goodness : 0.196156 with order 2 Centerline is valid? [False, False] Translation: X:-16.80, Y:-1.37, Z:-1.76 [[ 9.90945693e-01 5.93441720e-03 -1.34132085e-01 -1.67954800e+01] [-5.86950151e-03 9.99982388e-01 8.79397670e-04 -1.37194221e+00] [ 1.34134941e-01 -8.41468591e-05 9.90963072e-01 -1.76383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18463043999998 meters Centerline goodness : 0.232609 with order 2 Centerline is valid? [False, False] Translation: X:-16.80, Y:-1.37, Z:-1.76 [[ 9.90923630e-01 1.00028428e-02 -1.34053354e-01 -1.67953602e+01] [-9.56818826e-03 9.99946672e-01 3.88625470e-03 -1.36703657e+00] [ 1.34085079e-01 -2.56833388e-03 9.90966496e-01 -1.76428611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24463043999998 meters Centerline goodness : 0.202366 with order 2 Centerline is valid? [False, False] Translation: X:-16.80, Y:-1.37, Z:-1.76 [[ 9.90955792e-01 9.92341302e-03 -1.33821315e-01 -1.67962835e+01] [-9.52519415e-03 9.99948098e-01 3.61565464e-03 -1.36517051e+00] [ 1.33850249e-01 -2.30827990e-03 9.90998881e-01 -1.76395900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30463043999998 meters Centerline goodness : 0.463834 with order 2 Centerline is valid? [False, False] Translation: X:-16.82, Y:-1.36, Z:-1.77 [[ 9.90826413e-01 1.71490220e-03 -1.35129855e-01 -1.68159371e+01] [-1.21950083e-03 9.99992230e-01 3.74880322e-03 -1.35938716e+00] [ 1.35135234e-01 -3.54962228e-03 9.90820806e-01 -1.76761638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36463043999998 meters Centerline goodness : 0.130746 with order 1 Centerline is valid? [False, False] Translation: X:-16.81, Y:-1.36, Z:-1.77 [[ 9.90748353e-01 1.39554033e-03 -1.35704652e-01 -1.68142586e+01] [-9.59977415e-04 9.99994176e-01 3.27502524e-03 -1.35742312e+00] [ 1.35708433e-01 -3.11445247e-03 9.90743923e-01 -1.76785818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42463044 meters Centerline goodness : 0.107482 with order 1 Centerline is valid? [False, False] Translation: X:-16.84, Y:-1.35, Z:-1.77 [[ 9.91269949e-01 -6.38095927e-03 -1.31693474e-01 -1.68388099e+01] [ 6.84090951e-03 9.99971978e-01 3.04045109e-03 -1.35282606e+00] [ 1.31670382e-01 -3.91481093e-03 9.91285824e-01 -1.77053360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48463044 meters Centerline goodness : 0.146369 with order 2 Centerline is valid? [False, False] Translation: X:-16.84, Y:-1.35, Z:-1.77 [[ 9.91409034e-01 -6.73208928e-03 -1.30624679e-01 -1.68416232e+01] [ 7.19087175e-03 9.99969522e-01 3.04085810e-03 -1.35390094e+00] [ 1.30600226e-01 -3.95403950e-03 9.91427227e-01 -1.77016294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54463044 meters Centerline goodness : 0.302130 with order 1 Centerline is valid? [False, False] Translation: X:-16.86, Y:-1.36, Z:-1.77 [[ 9.91183900e-01 4.88763982e-04 -1.32492403e-01 -1.68576912e+01] [-3.06537232e-04 9.99998979e-01 1.39576843e-03 -1.36040840e+00] [ 1.32492950e-01 -1.34284934e-03 9.91183038e-01 -1.77432833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60463044 meters Centerline goodness : 0.538888 with order 3 Centerline is valid? [False, False] Translation: X:-16.86, Y:-1.36, Z:-1.77 [[ 9.91068407e-01 5.98727442e-04 -1.33353118e-01 -1.68550795e+01] [-4.16720223e-04 9.99998943e-01 1.39275754e-03 -1.36021085e+00] [ 1.33353811e-01 -1.32474706e-03 9.91067609e-01 -1.77492178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66463044 meters Centerline goodness : 0.304297 with order 1 Centerline is valid? [False, False] Translation: X:-16.86, Y:-1.36, Z:-1.77 [[ 9.91137118e-01 9.04111659e-04 -1.32839737e-01 -1.68565408e+01] [-7.33379932e-04 9.99998841e-01 1.33416809e-03 -1.35842133e+00] [ 1.32840790e-01 -1.22492152e-03 9.91136632e-01 -1.77482179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72463044 meters Centerline goodness : 0.107036 with order 1 Centerline is valid? [False, False] Translation: X:-16.86, Y:-1.35, Z:-1.78 [[ 9.91083976e-01 1.23961440e-03 -1.33232942e-01 -1.68550072e+01] [-1.11534680e-03 9.99998871e-01 1.00733840e-03 -1.35357511e+00] [ 1.33234040e-01 -8.49756009e-04 9.91084239e-01 -1.77563190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78463044 meters SLAMing on 216.84463044 meters Centerline goodness : 0.110368 with order 1 Centerline is valid? [False, False] Translation: X:-16.92, Y:-1.36, Z:-1.78 [[ 9.90957938e-01 -3.99312689e-03 -1.34113462e-01 -1.69166310e+01] [ 4.12952532e-03 9.99991200e-01 7.38882898e-04 -1.35614638e+00] [ 1.34109331e-01 -1.28602681e-03 9.90965707e-01 -1.78349785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90463044 meters Centerline goodness : 0.293539 with order 1 Centerline is valid? [False, False] Translation: X:-16.92, Y:-1.36, Z:-1.78 [[ 9.90960796e-01 -4.04389325e-03 -1.34090820e-01 -1.69170998e+01] [ 4.20157797e-03 9.99990775e-01 8.93000041e-04 -1.35733560e+00] [ 1.34085972e-01 -1.44832107e-03 9.90968645e-01 -1.78288583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96463043999998 meters Centerline goodness : 0.105791 with order 1 Centerline is valid? [False, False] Translation: X:-16.92, Y:-1.36, Z:-1.78 [[ 9.91136512e-01 -6.21518237e-03 -1.32701872e-01 -1.69225397e+01] [ 6.19204964e-03 9.99980657e-01 -5.86997545e-04 -1.36093175e+00] [ 1.32702953e-01 -2.39901878e-04 9.91155825e-01 -1.78105591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02463043999998 meters Centerline goodness : 0.108886 with order 1 Centerline is valid? [False, False] Translation: X:-16.92, Y:-1.36, Z:-1.78 [[ 9.91134363e-01 -6.08579194e-03 -1.32723914e-01 -1.69226589e+01] [ 6.10772465e-03 9.99981318e-01 -2.41874081e-04 -1.36315451e+00] [ 1.32722906e-01 -5.70911407e-04 9.91153018e-01 -1.78073427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08463043999998 meters Centerline goodness : 0.231306 with order 3 Centerline is valid? [False, False] Translation: X:-16.94, Y:-1.37, Z:-1.79 [[ 9.91104476e-01 1.77832208e-03 -1.33074247e-01 -1.69400453e+01] [-2.02032139e-03 9.99996542e-01 -1.68352366e-03 -1.36964045e+00] [ 1.33070793e-01 1.93740058e-03 9.91104642e-01 -1.78525678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14463044 meters Centerline goodness : 0.111510 with order 1 Centerline is valid? [False, False] Translation: X:-16.94, Y:-1.37, Z:-1.79 [[ 9.91002300e-01 1.94812449e-03 -1.33830663e-01 -1.69375576e+01] [-2.18960929e-03 9.99996230e-01 -1.65724876e-03 -1.36949099e+00] [ 1.33826930e-01 1.93537419e-03 9.91002829e-01 -1.78607072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20463044 meters Centerline goodness : 0.251427 with order 1 Centerline is valid? [False, False] Translation: X:-16.94, Y:-1.37, Z:-1.79 [[ 9.91075890e-01 2.68332341e-03 -1.33271830e-01 -1.69390737e+01] [-2.85179718e-03 9.99995358e-01 -1.07326865e-03 -1.36936464e+00] [ 1.33268331e-01 1.44375491e-03 9.91078941e-01 -1.78594485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26463044 meters Centerline goodness : 0.455472 with order 1 Centerline is valid? [False, False] Translation: X:-16.94, Y:-1.37, Z:-1.79 [[ 9.91134191e-01 2.63589282e-03 -1.32838503e-01 -1.69404486e+01] [-2.82994975e-03 9.99995187e-01 -1.27206962e-03 -1.36856545e+00] [ 1.32834510e-01 1.63671798e-03 9.91136880e-01 -1.78571401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32463044 meters Centerline goodness : 0.288612 with order 1 Centerline is valid? [False, False] Translation: X:-16.94, Y:-1.37, Z:-1.79 [[ 9.91088950e-01 2.82915369e-03 -1.33171650e-01 -1.69389580e+01] [-3.01640055e-03 9.99994725e-01 -1.20432908e-03 -1.36791263e+00] [ 1.33167540e-01 1.59529628e-03 9.91092257e-01 -1.78643418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38463044 meters Centerline goodness : 0.460327 with order 3 Centerline is valid? [False, False] Translation: X:-16.98, Y:-1.37, Z:-1.79 [[ 9.90699703e-01 2.36585362e-03 -1.36045950e-01 -1.69805920e+01] [-2.70324983e-03 9.99993712e-01 -2.29532784e-03 -1.37045661e+00] [ 1.36039664e-01 2.64174680e-03 9.90699869e-01 -1.79277391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44463044 meters SLAMing on 217.50463044 meters Centerline goodness : 0.453968 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:-1.37, Z:-1.80 [[ 9.90289421e-01 4.54857038e-03 -1.38946654e-01 -1.70213901e+01] [-4.87053473e-03 9.99986184e-01 -1.97724426e-03 -1.36650329e+00] [ 1.38935741e-01 2.63478858e-03 9.90297894e-01 -1.79953219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56463044 meters Centerline goodness : 0.101255 with order 1 Centerline is valid? [False, False] Translation: X:-17.07, Y:-1.36, Z:-1.81 [[ 9.90399237e-01 5.53579515e-03 -1.38125689e-01 -1.70671228e+01] [-5.95448181e-03 9.99978844e-01 -2.61816757e-03 -1.36225901e+00] [ 1.38108274e-01 3.41549807e-03 9.90411247e-01 -1.80550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62463044 meters Centerline goodness : 0.136554 with order 1 Centerline is valid? [False, False] Translation: X:-17.06, Y:-1.36, Z:-1.81 [[ 9.90284596e-01 4.76677421e-03 -1.38973724e-01 -1.70649328e+01] [-5.30262804e-03 9.99979866e-01 -3.48578578e-03 -1.35995093e+00] [ 1.38954310e-01 4.18884593e-03 9.90289934e-01 -1.80556398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68463043999998 meters Centerline goodness : 0.155649 with order 3 Centerline is valid? [False, False] Translation: X:-17.09, Y:-1.36, Z:-1.81 [[ 9.90368357e-01 -4.64787299e-03 -1.38379603e-01 -1.70882260e+01] [ 4.20264164e-03 9.99985011e-01 -3.50947689e-03 -1.35884532e+00] [ 1.38393840e-01 2.89411498e-03 9.90373045e-01 -1.80789916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74463043999998 meters Centerline goodness : 0.104763 with order 1 Centerline is valid? [False, False] Translation: X:-17.13, Y:-1.37, Z:-1.81 [[ 9.90222044e-01 -9.29306210e-03 -1.39190309e-01 -1.71338193e+01] [ 8.45564587e-03 9.99942426e-01 -6.60649537e-03 -1.36677519e+00] [ 1.39243689e-01 5.36495339e-03 9.90243613e-01 -1.81246759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80463043999998 meters Centerline goodness : 0.109708 with order 1 Centerline is valid? [False, False] Translation: X:-17.13, Y:-1.37, Z:-1.81 [[ 9.90247766e-01 -9.18716383e-03 -1.39014235e-01 -1.71342492e+01] [ 8.39572285e-03 9.99945044e-01 -6.27858828e-03 -1.36861834e+00] [ 1.39064277e-01 5.05023304e-03 9.90270479e-01 -1.81218917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86463043999998 meters Centerline goodness : 0.107898 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:-1.37, Z:-1.82 [[ 9.90205823e-01 -7.41314309e-04 -1.39613321e-01 -1.71518572e+01] [-2.70979327e-04 9.99973815e-01 -7.23154640e-03 -1.37426517e+00] [ 1.39615026e-01 7.19855167e-03 9.90179694e-01 -1.81644282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92463044 meters Centerline goodness : 0.110307 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:-1.37, Z:-1.82 [[ 9.90111856e-01 -6.09462800e-04 -1.40278796e-01 -1.71498226e+01] [-4.14358774e-04 9.99973494e-01 -7.26915407e-03 -1.37429196e+00] [ 1.40279508e-01 7.25540138e-03 9.90085359e-01 -1.81689978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98463044 meters Centerline goodness : 0.107753 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:-1.38, Z:-1.82 [[ 9.89996440e-01 4.25238391e-04 -1.41091702e-01 -1.71945508e+01] [-1.41868345e-03 9.99974907e-01 -6.94061969e-03 -1.38120347e+00] [ 1.41085211e-01 7.07135324e-03 9.89972201e-01 -1.82306859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04463044 meters Centerline goodness : 0.271688 with order 1 Centerline is valid? [False, False] Translation: X:-17.20, Y:-1.38, Z:-1.82 [[ 9.90107765e-01 5.36078751e-04 -1.40307972e-01 -1.71966219e+01] [-1.45174397e-03 9.99978313e-01 -6.42383926e-03 -1.38454685e+00] [ 1.40301485e-01 6.56398438e-03 9.90087071e-01 -1.82283207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10463044 meters Centerline goodness : 0.371927 with order 1 Centerline is valid? [False, False] Translation: X:-17.20, Y:-1.39, Z:-1.82 [[ 9.90110581e-01 6.21668627e-04 -1.40287745e-01 -1.71963791e+01] [-1.47154068e-03 9.99981190e-01 -5.95441218e-03 -1.38885391e+00] [ 1.40281405e-01 6.10196562e-03 9.90092871e-01 -1.82302256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16463044 meters Centerline goodness : 0.267039 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:-1.39, Z:-1.82 [[ 9.90056872e-01 6.90700792e-04 -1.40665966e-01 -1.71949303e+01] [-1.52372758e-03 9.99981935e-01 -5.81440321e-03 -1.39002969e+00] [ 1.40659409e-01 5.97092646e-03 9.90040039e-01 -1.82354372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22463044 meters Centerline goodness : 0.125312 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:-1.39, Z:-1.82 [[ 9.89961942e-01 1.30397403e-03 -1.41328173e-01 -1.71928132e+01] [-2.07362919e-03 9.99983812e-01 -5.29873870e-03 -1.39156415e+00] [ 1.41318975e-01 5.53861188e-03 9.89948620e-01 -1.82411784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28463044 meters Centerline goodness : 0.456146 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:-1.39, Z:-1.82 [[ 9.90003634e-01 1.47800191e-03 -1.41034107e-01 -1.71934865e+01] [-2.22676062e-03 9.99984252e-01 -5.15139554e-03 -1.39240329e+00] [ 1.41024273e-01 5.41394950e-03 9.89991335e-01 -1.82426994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34463044 meters Centerline goodness : 0.090882 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89983735e-01 8.77745031e-03 -1.40908344e-01 -1.72120829e+01] [-9.80538406e-03 9.99930129e-01 -6.60240327e-03 -1.39983780e+00] [ 1.40840546e-01 7.91793228e-03 9.90000630e-01 -1.82806887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40463044 meters Centerline goodness : 0.090239 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89970902e-01 8.95565233e-03 -1.40987270e-01 -1.72115547e+01] [-9.94004566e-03 9.99930880e-01 -6.27945094e-03 -1.40145548e+00] [ 1.40921289e-01 7.61789361e-03 9.89991494e-01 -1.82840306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46463043999998 meters Centerline goodness : 0.457006 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89915030e-01 8.80766538e-03 -1.41388323e-01 -1.72102893e+01] [-9.81148974e-03 9.99931358e-01 -6.40420888e-03 -1.40188762e+00] [ 1.41322212e-01 7.72685272e-03 9.89933497e-01 -1.82870900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52463043999998 meters Centerline goodness : 0.086951 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89876890e-01 8.97817257e-03 -1.41644399e-01 -1.72090297e+01] [-9.95535962e-03 9.99931274e-01 -6.19173705e-03 -1.40228523e+00] [ 1.41579074e-01 7.53917835e-03 9.89898240e-01 -1.82938530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58463043999998 meters Centerline goodness : 0.299823 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89901758e-01 9.02510860e-03 -1.41467511e-01 -1.72095573e+01] [-9.97159455e-03 9.99932383e-01 -5.98300364e-03 -1.40307202e+00] [ 1.41403948e-01 7.33324248e-03 9.89924819e-01 -1.82923216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64463044 meters Centerline goodness : 0.311224 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.40, Z:-1.83 [[ 9.89934768e-01 8.90820080e-03 -1.41243758e-01 -1.72100397e+01] [-9.85573533e-03 9.99933368e-01 -6.01037420e-03 -1.40341766e+00] [ 1.41180805e-01 7.34193948e-03 9.89956603e-01 -1.82925021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70463044 meters Centerline goodness : 0.313438 with order 1 Centerline is valid? [False, False] Translation: X:-17.20, Y:-1.40, Z:-1.83 [[ 9.89760633e-01 7.31717304e-03 -1.42549462e-01 -1.72042684e+01] [-8.47715133e-03 9.99935703e-01 -7.53175834e-03 -1.40234360e+00] [ 1.42485185e-01 8.66305126e-03 9.89759023e-01 -1.83155180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76463044 meters Centerline goodness : 0.317932 with order 1 Centerline is valid? [False, False] Translation: X:-17.20, Y:-1.40, Z:-1.83 [[ 9.89789308e-01 7.27667314e-03 -1.42352296e-01 -1.72047751e+01] [-8.41563209e-03 9.99937202e-01 -7.40055838e-03 -1.40362131e+00] [ 1.42289505e-01 8.52297810e-03 9.89788389e-01 -1.83151005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82463044 meters Centerline goodness : 0.089977 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:-1.40, Z:-1.84 [[ 9.89887115e-01 -2.46150764e-04 -1.41857104e-01 -1.72242628e+01] [-6.67343142e-04 9.99979349e-01 -6.39192561e-03 -1.40067998e+00] [ 1.41855748e-01 6.42195217e-03 9.89866509e-01 -1.83599209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88463044 meters Centerline goodness : 0.105657 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:-1.40, Z:-1.84 [[ 9.89825655e-01 -2.16127700e-04 -1.42285366e-01 -1.72226622e+01] [-6.97302675e-04 9.99979469e-01 -6.36981418e-03 -1.40047894e+00] [ 1.42283821e-01 6.40422146e-03 9.89805183e-01 -1.83655859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94463044 meters SLAMing on 219.00463044 meters Centerline goodness : 0.243273 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-1.40, Z:-1.84 [[ 9.90004547e-01 -7.84221826e-04 -1.41033266e-01 -1.72709958e+01] [-3.54876799e-04 9.99967523e-01 -8.05147633e-03 -1.40318803e+00] [ 1.41035000e-01 8.02104761e-03 9.89972117e-01 -1.84209879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06463044 meters Centerline goodness : 0.458759 with order 2 Centerline is valid? [False, False] Translation: X:-17.31, Y:-1.40, Z:-1.85 [[ 9.89646298e-01 2.60087306e-04 -1.43527480e-01 -1.73143139e+01] [-1.37594324e-03 9.99969598e-01 -7.67530879e-03 -1.40482608e+00] [ 1.43521120e-01 7.79332659e-03 9.89616568e-01 -1.84810704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12463044 meters Centerline goodness : 0.088031 with order 1 Centerline is valid? [False, False] Translation: X:-17.32, Y:-1.40, Z:-1.85 [[ 9.89759470e-01 3.51041784e-05 -1.42745197e-01 -1.73171522e+01] [-1.21609496e-03 9.99965753e-01 -8.18618453e-03 -1.40279163e+00] [ 1.42740021e-01 8.27594537e-03 9.89725616e-01 -1.84709171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18463043999998 meters Centerline goodness : 0.245969 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-1.40, Z:-1.85 [[ 9.89767685e-01 8.22890247e-06 -1.42688223e-01 -1.73171251e+01] [-1.21828719e-03 9.99964035e-01 -8.39307308e-03 -1.40162043e+00] [ 1.42683022e-01 8.48102775e-03 9.89732099e-01 -1.84734501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24463043999998 meters Centerline goodness : 0.162118 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-1.40, Z:-1.85 [[ 9.89774481e-01 7.34922241e-05 -1.42641058e-01 -1.73170231e+01] [-1.27083196e-03 9.99964722e-01 -8.30299091e-03 -1.40208555e+00] [ 1.42635416e-01 8.39936134e-03 9.89739657e-01 -1.84762535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30463043999998 meters Centerline goodness : 0.087958 with order 1 Centerline is valid? [False, False] Translation: X:-17.32, Y:-1.40, Z:-1.85 [[ 9.89773865e-01 3.85928505e-04 -1.42644829e-01 -1.73169798e+01] [-1.51489383e-03 9.99968385e-01 -7.80600334e-03 -1.40455148e+00] [ 1.42637307e-01 7.94226987e-03 9.89743158e-01 -1.84761543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36463043999998 meters Centerline goodness : 0.456759 with order 2 Centerline is valid? [False, False] Translation: X:-17.36, Y:-1.41, Z:-1.85 [[ 9.89124983e-01 3.41658545e-05 -1.47077419e-01 -1.73552959e+01] [-1.29151566e-03 9.99963435e-01 -8.45341047e-03 -1.41449022e+00] [ 1.47071753e-01 8.55143227e-03 9.89088860e-01 -1.85407839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42463044 meters Centerline goodness : 0.420000 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.42, Z:-1.85 [[ 9.89051755e-01 2.53272859e-04 -1.47568838e-01 -1.73532388e+01] [-1.46896961e-03 9.99965878e-01 -8.12924172e-03 -1.41641111e+00] [ 1.47561743e-01 8.25701493e-03 9.89018379e-01 -1.85491944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48463044 meters Centerline goodness : 0.100841 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.42, Z:-1.86 [[ 9.89047694e-01 6.51116481e-04 -1.47594831e-01 -1.73527459e+01] [-1.82426992e-03 9.99967812e-01 -7.81324408e-03 -1.41727151e+00] [ 1.47584993e-01 7.99692385e-03 9.89017047e-01 -1.85539736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54463044 meters Centerline goodness : 0.359749 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.42, Z:-1.86 [[ 9.88981601e-01 6.45418604e-04 -1.48037081e-01 -1.73514005e+01] [-1.81439456e-03 9.99968232e-01 -7.76160086e-03 -1.41842563e+00] [ 1.48027368e-01 7.94467811e-03 9.88951354e-01 -1.85568580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60463044 meters Centerline goodness : 0.378996 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.42, Z:-1.86 [[ 9.88945690e-01 6.26736843e-04 -1.48276865e-01 -1.73501491e+01] [-1.72896882e-03 9.99971825e-01 -7.30482859e-03 -1.42320662e+00] [ 1.48268109e-01 7.48044483e-03 9.88918910e-01 -1.85622514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66463044 meters Centerline goodness : 0.441991 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-1.43, Z:-1.85 [[ 9.89193990e-01 -1.67740895e-03 -1.46602988e-01 -1.73567454e+01] [ 4.43262956e-04 9.99964195e-01 -8.45054970e-03 -1.43056525e+00] [ 1.46611914e-01 8.29424930e-03 9.89159316e-01 -1.85383813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72463044 meters Centerline goodness : 0.347829 with order 2 Centerline is valid? [False, False] Translation: X:-17.36, Y:-1.44, Z:-1.85 [[ 9.89353304e-01 -4.11417568e-03 -1.45475475e-01 -1.73611904e+01] [ 2.70130067e-03 9.99947263e-01 -9.90832278e-03 -1.43666717e+00] [ 1.45508568e-01 9.40985887e-03 9.89312242e-01 -1.85233503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78463044 meters Centerline goodness : 0.459020 with order 2 Centerline is valid? [False, False] Translation: X:-17.36, Y:-1.45, Z:-1.85 [[ 9.89271654e-01 -6.85501627e-03 -1.45926708e-01 -1.73587568e+01] [ 5.26425848e-03 9.99922471e-01 -1.12844533e-02 -1.44628927e+00] [ 1.45992750e-01 1.03951939e-02 9.89231043e-01 -1.85316554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84463044 meters Centerline goodness : 0.151672 with order 3 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.46, Z:-1.86 [[ 9.89138453e-01 -9.03108118e-03 -1.46709098e-01 -1.73544434e+01] [ 7.28688979e-03 9.99896294e-01 -1.24218724e-02 -1.45503236e+00] [ 1.46806067e-01 1.12178987e-02 9.89101682e-01 -1.85502718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90463044 meters Centerline goodness : 0.447360 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-1.46, Z:-1.86 [[ 9.89188464e-01 -8.67965410e-03 -1.46392783e-01 -1.73551566e+01] [ 7.02899367e-03 9.99905801e-01 -1.17890855e-02 -1.45900972e+00] [ 1.46481318e-01 1.06326334e-02 9.89156292e-01 -1.85505297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96463043999998 meters Centerline goodness : 0.101541 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.46, Z:-1.86 [[ 9.89161266e-01 -8.09477323e-03 -1.46609908e-01 -1.73544836e+01] [ 6.51212164e-03 9.99915266e-01 -1.12717406e-02 -1.46040744e+00] [ 1.46688728e-01 1.01948276e-02 9.89130165e-01 -1.85523716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02463043999998 meters Centerline goodness : 0.292999 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-1.46, Z:-1.86 [[ 9.88899424e-01 1.08433825e-03 -1.48582479e-01 -1.73713996e+01] [-2.84216132e-03 9.99928460e-01 -1.16188060e-02 -1.46445378e+00] [ 1.48559251e-01 1.19121260e-02 9.88831760e-01 -1.85958379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08463043999998 meters Centerline goodness : 0.459410 with order 2 Centerline is valid? [False, False] Translation: X:-17.37, Y:-1.46, Z:-1.86 [[ 9.88937817e-01 1.44617550e-03 -1.48323640e-01 -1.73719131e+01] [-3.17576342e-03 9.99929692e-01 -1.14247380e-02 -1.46393527e+00] [ 1.48296690e-01 1.17693962e-02 9.88872880e-01 -1.85982021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14463044 meters SLAMing on 220.20463044 meters Centerline goodness : 0.454188 with order 3 Centerline is valid? [False, False] Translation: X:-17.40, Y:-1.47, Z:-1.86 [[ 9.88853148e-01 -9.04918145e-03 -1.48618852e-01 -1.73953546e+01] [ 7.38996647e-03 9.99904096e-01 -1.17126594e-02 -1.47226876e+00] [ 1.48710589e-01 1.04838118e-02 9.88825187e-01 -1.86225667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26463044 meters Centerline goodness : 0.326904 with order 2 Centerline is valid? [False, False] Translation: X:-17.39, Y:-1.48, Z:-1.86 [[ 9.88755089e-01 -1.17161334e-02 -1.49084225e-01 -1.73931739e+01] [ 9.88038503e-03 9.99866052e-01 -1.30482151e-02 -1.48091259e+00] [ 1.49217130e-01 1.14284795e-02 9.88738407e-01 -1.86270655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32463044 meters Centerline goodness : 0.092302 with order 1 Centerline is valid? [False, False] Translation: X:-17.39, Y:-1.49, Z:-1.86 [[ 9.88764597e-01 -1.16358028e-02 -1.49027445e-01 -1.73934860e+01] [ 9.87336840e-03 9.99872365e-01 -1.25606433e-02 -1.48590660e+00] [ 1.49154577e-01 1.09481165e-02 9.88753281e-01 -1.86239693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38463044 meters Centerline goodness : 0.424566 with order 1 Centerline is valid? [False, False] Translation: X:-17.39, Y:-1.49, Z:-1.86 [[ 9.88769199e-01 -1.13182544e-02 -1.49021367e-01 -1.73931701e+01] [ 9.59743388e-03 9.99878764e-01 -1.22615652e-02 -1.48664898e+00] [ 1.49142080e-01 1.06936353e-02 9.88757951e-01 -1.86275730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44463044 meters Centerline goodness : 0.096219 with order 1 Centerline is valid? [False, False] Translation: X:-17.41, Y:-1.49, Z:-1.87 [[ 9.88888381e-01 -3.30167265e-03 -1.48623247e-01 -1.74136009e+01] [ 1.37227684e-03 9.99913479e-01 -1.30824645e-02 -1.49404643e+00] [ 1.48653582e-01 1.27331449e-02 9.88807352e-01 -1.86663333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50463044 meters Centerline goodness : 0.178564 with order 1 Centerline is valid? [False, False] Translation: X:-17.41, Y:-1.49, Z:-1.87 [[ 9.88895231e-01 -2.80691236e-03 -1.48587832e-01 -1.74140523e+01] [ 9.28204497e-04 9.99918774e-01 -1.27115884e-02 -1.49399669e+00] [ 1.48611443e-01 1.24325092e-02 9.88817512e-01 -1.86623074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56463044 meters SLAMing on 220.62463044 meters Centerline goodness : 0.414277 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-1.49, Z:-1.87 [[ 9.89134519e-01 6.37710342e-03 -1.46874902e-01 -1.74376550e+01] [-8.38160530e-03 9.99879940e-01 -1.30328416e-02 -1.49465528e+00] [ 1.46774156e-01 1.41222810e-02 9.89069213e-01 -1.86972400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68463043999998 meters Centerline goodness : 0.190997 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-1.49, Z:-1.87 [[ 9.89018209e-01 6.19724701e-03 -1.47663731e-01 -1.74350526e+01] [-8.28597682e-03 9.99874076e-01 -1.35342329e-02 -1.49197942e+00] [ 1.47561261e-01 1.46091410e-02 9.88945017e-01 -1.87037229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74463043999998 meters Centerline goodness : 0.363150 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-1.49, Z:-1.87 [[ 9.88891740e-01 6.19025164e-03 -1.48508608e-01 -1.74328532e+01] [-8.34271339e-03 9.99868929e-01 -1.38752905e-02 -1.48867867e+00] [ 1.48403251e-01 1.49601250e-02 9.88813769e-01 -1.87047395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80463043999998 meters Centerline goodness : 0.150523 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89377257e-01 -2.18051411e-03 -1.45354355e-01 -1.74580448e+01] [ 1.40412845e-04 9.99901366e-01 -1.40441459e-02 -1.48552987e+00] [ 1.45370641e-01 1.38745489e-02 9.89279977e-01 -1.87349667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86463043999998 meters Centerline goodness : 0.192776 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89512005e-01 -4.82744025e-03 -1.44369966e-01 -1.74619687e+01] [ 2.54282570e-03 9.99868677e-01 -1.60050584e-02 -1.48792773e+00] [ 1.44428270e-01 1.54700898e-02 9.89394335e-01 -1.87229032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92463044 meters Centerline goodness : 0.328851 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89408234e-01 -4.78116498e-03 -1.45080967e-01 -1.74596683e+01] [ 2.51010941e-03 9.99871504e-01 -1.58327295e-02 -1.48884145e+00] [ 1.45138023e-01 1.53008638e-02 9.89293100e-01 -1.87273266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98463044 meters Centerline goodness : 0.464296 with order 2 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89380550e-01 -4.76120738e-03 -1.45270294e-01 -1.74594005e+01] [ 2.50326712e-03 9.99873270e-01 -1.57218667e-02 -1.48978371e+00] [ 1.45326739e-01 1.51912587e-02 9.89267084e-01 -1.87246116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04463044 meters Centerline goodness : 0.465247 with order 2 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89332351e-01 -4.63647342e-03 -1.45602205e-01 -1.74581398e+01] [ 2.38534298e-03 9.99874974e-01 -1.56316091e-02 -1.48982377e+00] [ 1.45656477e-01 1.51175454e-02 9.89219718e-01 -1.87290298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10463044 meters Centerline goodness : 0.389051 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89214545e-01 -4.52980060e-03 -1.46403770e-01 -1.74555903e+01] [ 2.22396568e-03 9.99870960e-01 -1.59096782e-02 -1.48795847e+00] [ 1.46456946e-01 1.54124882e-02 9.89096971e-01 -1.87361234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16463044 meters Centerline goodness : 0.151968 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.49, Z:-1.87 [[ 9.89435960e-01 -2.28076104e-03 -1.44952679e-01 -1.74611114e+01] [ 2.28104227e-04 9.99899491e-01 -1.41759179e-02 -1.48505098e+00] [ 1.44970442e-01 1.39930986e-02 9.89337033e-01 -1.87221674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22463044 meters Centerline goodness : 0.122163 with order 1 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.49, Z:-1.88 [[ 9.89412389e-01 5.99819913e-03 -1.45007403e-01 -1.74821340e+01] [-8.27179577e-03 9.99852054e-01 -1.50813369e-02 -1.48583338e+00] [ 1.44895489e-01 1.61211332e-02 9.89315625e-01 -1.87595271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28463044 meters Centerline goodness : 0.456962 with order 2 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.49, Z:-1.88 [[ 9.89358190e-01 5.88699910e-03 -1.45381274e-01 -1.74809608e+01] [-8.18856726e-03 9.99850365e-01 -1.52379176e-02 -1.48520663e+00] [ 1.45269814e-01 1.62662230e-02 9.89258354e-01 -1.87617121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34463044 meters Centerline goodness : 0.403554 with order 1 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.49, Z:-1.88 [[ 9.89419466e-01 1.81069261e-03 -1.45071851e-01 -1.74823421e+01] [-4.58842886e-03 9.99812453e-01 -1.88150065e-02 -1.48514118e+00] [ 1.45010575e-01 1.92815856e-02 9.89242212e-01 -1.87566223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40463044 meters Centerline goodness : 0.090509 with order 1 Centerline is valid? [False, False] Translation: X:-17.51, Y:-1.48, Z:-1.88 [[ 9.89473177e-01 -3.93862838e-03 -1.44662779e-01 -1.75052967e+01] [ 1.62088774e-03 9.99868492e-01 -1.61360475e-02 -1.48358199e+00] [ 1.44707308e-01 1.57317041e-02 9.89349437e-01 -1.87867131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46463043999998 meters Centerline goodness : 0.480397 with order 3 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.48, Z:-1.88 [[ 9.89469304e-01 -4.17587641e-03 -1.44682615e-01 -1.75049694e+01] [ 1.77062107e-03 9.99858156e-01 -1.67491365e-02 -1.48059660e+00] [ 1.44732035e-01 1.63165784e-02 9.89336347e-01 -1.87898748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52463043999998 meters Centerline goodness : 0.089201 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.48, Z:-1.88 [[ 9.89429637e-01 -4.17268602e-03 -1.44953723e-01 -1.75043893e+01] [ 1.73454283e-03 9.99854962e-01 -1.69424605e-02 -1.47889102e+00] [ 1.45003395e-01 1.65119441e-02 9.89293370e-01 -1.87895850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58463043999998 meters Centerline goodness : 0.091927 with order 1 Centerline is valid? [False, False] Translation: X:-17.51, Y:-1.48, Z:-1.88 [[ 9.89487603e-01 -4.43168381e-03 -1.44549797e-01 -1.75058033e+01] [ 2.01019116e-03 9.99855270e-01 -1.68937158e-02 -1.48048139e+00] [ 1.44603744e-01 1.64255496e-02 9.89353303e-01 -1.87840074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64463044 meters Centerline goodness : 0.097477 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.48, Z:-1.88 [[ 9.89439178e-01 -4.95321099e-03 -1.44863999e-01 -1.75048782e+01] [ 2.53594555e-03 9.99854537e-01 -1.68663478e-02 -1.48416339e+00] [ 1.44926469e-01 1.63208581e-02 9.89307813e-01 -1.87837428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70463044 meters Centerline goodness : 0.152235 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.49, Z:-1.88 [[ 9.89398468e-01 -6.34570797e-03 -1.45087574e-01 -1.75033247e+01] [ 3.89730450e-03 9.99845275e-01 -1.71533575e-02 -1.49254709e+00] [ 1.45173976e-01 1.64060552e-02 9.89270114e-01 -1.87913714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76463044 meters Centerline goodness : 0.458182 with order 3 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.50, Z:-1.88 [[ 9.89355742e-01 -6.41429364e-03 -1.45375627e-01 -1.75024293e+01] [ 3.99005281e-03 9.99848188e-01 -1.69611527e-02 -1.49559948e+00] [ 1.45462351e-01 1.62005574e-02 9.89231139e-01 -1.87927477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82463044 meters Centerline goodness : 0.428312 with order 3 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.50, Z:-1.88 [[ 9.89451696e-01 -5.51899275e-03 -1.44758013e-01 -1.75040441e+01] [ 3.20122290e-03 9.99863008e-01 -1.62393861e-02 -1.49657253e+00] [ 1.44827807e-01 1.56046855e-02 9.89333816e-01 -1.87922398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88463044 meters Centerline goodness : 0.382359 with order 2 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.50, Z:-1.88 [[ 9.89442297e-01 -5.32470055e-03 -1.44829514e-01 -1.75037059e+01] [ 3.02956795e-03 9.99866391e-01 -1.60630688e-02 -1.49747028e+00] [ 1.44895695e-01 1.54547088e-02 9.89326230e-01 -1.87935802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94463044 meters Centerline goodness : 0.095393 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.50, Z:-1.88 [[ 9.89416055e-01 -5.23449870e-03 -1.45011969e-01 -1.75027641e+01] [ 2.95293625e-03 9.99868520e-01 -1.59443938e-02 -1.49801133e+00] [ 1.45076364e-01 1.53474281e-02 9.89301423e-01 -1.87986373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00463044 meters Centerline goodness : 0.461214 with order 3 Centerline is valid? [False, False] Translation: X:-17.52, Y:-1.51, Z:-1.88 [[ 9.89412144e-01 1.26103519e-04 -1.45133019e-01 -1.75226255e+01] [-2.85422862e-03 9.99823129e-01 -1.85893414e-02 -1.50611948e+00] [ 1.45105005e-01 1.88067630e-02 9.89237506e-01 -1.88324936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06463044 meters SLAMing on 222.12463044 meters Centerline goodness : 0.095628 with order 1 Centerline is valid? [False, False] Translation: X:-17.57, Y:-1.52, Z:-1.89 [[ 9.89277045e-01 -2.85135259e-03 -1.46023278e-01 -1.75675971e+01] [ 5.70772662e-06 9.99810163e-01 -1.94843234e-02 -1.51725805e+00] [ 1.46051114e-01 1.92745604e-02 9.89089260e-01 -1.88775438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18463043999998 meters SLAMing on 222.24463043999998 meters Centerline goodness : 0.090368 with order 1 Centerline is valid? [False, False] Translation: X:-17.57, Y:-1.53, Z:-1.88 [[ 9.89463504e-01 -5.03796233e-03 -1.44694828e-01 -1.75738696e+01] [ 2.14123645e-03 9.99794306e-01 -2.01683140e-02 -1.52747282e+00] [ 1.44766673e-01 1.96459848e-02 9.89270765e-01 -1.88464021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30463043999998 meters Centerline goodness : 0.314520 with order 3 Centerline is valid? [False, False] Translation: X:-17.57, Y:-1.53, Z:-1.88 [[ 9.89467627e-01 -4.81531072e-03 -1.44674213e-01 -1.75741206e+01] [ 2.01266738e-03 9.99807593e-01 -1.95122196e-02 -1.53154820e+00] [ 1.44740334e-01 1.90155285e-02 9.89286938e-01 -1.88431639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36463043999998 meters Centerline goodness : 0.205489 with order 1 Centerline is valid? [False, False] Translation: X:-17.57, Y:-1.54, Z:-1.88 [[ 9.89402287e-01 -4.62904885e-03 -1.45126447e-01 -1.75725563e+01] [ 1.89346908e-03 9.99818031e-01 -1.89820940e-02 -1.53597000e+00] [ 1.45187908e-01 1.85061348e-02 9.89231012e-01 -1.88471916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42463044 meters Centerline goodness : 0.138679 with order 2 Centerline is valid? [False, False] Translation: X:-17.59, Y:-1.55, Z:-1.89 [[ 9.89490014e-01 2.58597168e-03 -1.44578094e-01 -1.75901770e+01] [-5.49217611e-03 9.99790737e-01 -1.97057716e-02 -1.54595753e+00] [ 1.44496880e-01 2.02927125e-02 9.89297153e-01 -1.88925756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48463044 meters Centerline goodness : 0.242354 with order 3 Centerline is valid? [False, False] Translation: X:-17.57, Y:-1.55, Z:-1.89 [[ 9.89522974e-01 -5.49684247e-03 -1.44270817e-01 -1.75697422e+01] [ 2.84758222e-03 9.99823634e-01 -1.85631789e-02 -1.54856608e+00] [ 1.44347412e-01 1.79578690e-02 9.89364109e-01 -1.88557300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54463044 meters Centerline goodness : 0.106313 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.56, Z:-1.89 [[ 9.89045475e-01 -6.99816541e-03 -1.47445156e-01 -1.76100134e+01] [ 4.22606201e-03 9.99808536e-01 -1.91058023e-02 -1.55765971e+00] [ 1.47550631e-01 1.82733950e-02 9.88885683e-01 -1.89279715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60463044 meters Centerline goodness : 0.106067 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.57, Z:-1.89 [[ 9.88930349e-01 -8.64747521e-03 -1.48128277e-01 -1.76075951e+01] [ 5.82449440e-03 9.99793264e-01 -1.94808732e-02 -1.56791353e+00] [ 1.48266114e-01 1.84024544e-02 9.88776269e-01 -1.89330915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66463044 meters Centerline goodness : 0.103429 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.57, Z:-1.89 [[ 9.88806988e-01 -1.22921134e-02 -1.48693120e-01 -1.76055663e+01] [ 9.11527484e-03 9.99715805e-01 -2.20277349e-02 -1.57419576e+00] [ 1.48921629e-01 2.04257995e-02 9.88638020e-01 -1.89370604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72463044 meters Centerline goodness : 0.105205 with order 1 Centerline is valid? [False, False] Translation: X:-17.60, Y:-1.59, Z:-1.89 [[ 9.88712218e-01 -1.22258954e-02 -1.49327415e-01 -1.76027699e+01] [ 9.19494401e-03 9.99737802e-01 -2.09709400e-02 -1.58553007e+00] [ 1.49544651e-01 1.93611674e-02 9.88565396e-01 -1.89472142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78463044 meters Centerline goodness : 0.114179 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.59, Z:-1.89 [[ 9.88845511e-01 -1.20775775e-02 -1.48454329e-01 -1.76057784e+01] [ 9.17466930e-03 9.99753387e-01 -2.02235160e-02 -1.59380700e+00] [ 1.48661969e-01 1.86359136e-02 9.88712456e-01 -1.89380575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84463044 meters Centerline goodness : 0.116620 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.60, Z:-1.90 [[ 9.88876208e-01 -4.62158386e-03 -1.48669049e-01 -1.76231233e+01] [ 1.51463735e-03 9.99778227e-01 -2.10048433e-02 -1.60274875e+00] [ 1.48733154e-01 2.05460101e-02 9.88663902e-01 -1.89852186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90463044 meters Centerline goodness : 0.121773 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.60, Z:-1.90 [[ 9.88852943e-01 -4.40443537e-03 -1.48830302e-01 -1.76229799e+01] [ 1.33755758e-03 9.99784830e-01 -2.07003538e-02 -1.60446123e+00] [ 1.48889452e-01 2.02705366e-02 9.88646062e-01 -1.89823352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96463043999998 meters Centerline goodness : 0.430981 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.61, Z:-1.90 [[ 9.89108530e-01 -2.12751265e-03 -1.47172655e-01 -1.76296593e+01] [-6.10020906e-04 9.99827689e-01 -1.85531948e-02 -1.60687150e+00] [ 1.47186767e-01 1.84409017e-02 9.88936797e-01 -1.89611217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02463043999998 meters Centerline goodness : 0.123132 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.61, Z:-1.90 [[ 9.89057171e-01 -2.09719433e-03 -1.47517845e-01 -1.76283942e+01] [-6.65696336e-04 9.99825342e-01 -1.86773320e-02 -1.60674813e+00] [ 1.47531250e-01 1.85711513e-02 9.88883028e-01 -1.89661859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08463043999998 meters Centerline goodness : 0.120737 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.61, Z:-1.90 [[ 9.89121497e-01 -1.84483672e-03 -1.47089296e-01 -1.76292504e+01] [-8.73514988e-04 9.99830062e-01 -1.84142269e-02 -1.60708770e+00] [ 1.47098271e-01 1.83423924e-02 9.88951796e-01 -1.89687260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14463044 meters Centerline goodness : 0.085537 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.61, Z:-1.90 [[ 9.89157831e-01 -2.03487519e-03 -1.46842247e-01 -1.76297661e+01] [-7.24230820e-04 9.99824247e-01 -1.87336833e-02 -1.60604564e+00] [ 1.46854559e-01 1.86369172e-02 9.88982509e-01 -1.89698892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20463044 meters Centerline goodness : 0.082463 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:-1.60, Z:-1.90 [[ 9.89086100e-01 2.13321453e-03 -1.47323237e-01 -1.76279199e+01] [-4.45858112e-03 9.99870613e-01 -1.54556887e-02 -1.60288853e+00] [ 1.47271205e-01 1.59438594e-02 9.88967636e-01 -1.89773705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26463044 meters Centerline goodness : 0.114261 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.60, Z:-1.90 [[ 9.88931874e-01 2.43700475e-03 -1.48350296e-01 -1.76247819e+01] [-4.81425722e-03 9.99865665e-01 -1.56676131e-02 -1.59904252e+00] [ 1.48292185e-01 1.62083985e-02 9.88810758e-01 -1.89835405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32463044 meters Centerline goodness : 0.117350 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.59, Z:-1.90 [[ 9.88850942e-01 2.01815683e-03 -1.48895070e-01 -1.76227123e+01] [-4.54365661e-03 9.99851498e-01 -1.66233978e-02 -1.59392196e+00] [ 1.48839410e-01 1.71145907e-02 9.88713265e-01 -1.89918757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38463044 meters Centerline goodness : 0.112780 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.59, Z:-1.90 [[ 9.88915689e-01 1.85598517e-03 -1.48466546e-01 -1.76240445e+01] [-4.42966519e-03 9.99845570e-01 -1.70063016e-02 -1.59129955e+00] [ 1.48412055e-01 1.74754555e-02 9.88771192e-01 -1.89896425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44463044 meters Centerline goodness : 0.103683 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.59, Z:-1.90 [[ 9.88866548e-01 1.35746755e-03 -1.48798885e-01 -1.76234698e+01] [-4.02351655e-03 9.99836703e-01 -1.76175718e-02 -1.58807564e+00] [ 1.48750671e-01 1.80201222e-02 9.88710530e-01 -1.89854097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50463044 meters Centerline goodness : 0.101404 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.59, Z:-1.90 [[ 9.88746879e-01 6.70740923e-04 -1.49596657e-01 -1.76220672e+01] [-3.44155065e-03 9.99827280e-01 -1.82637596e-02 -1.58648341e+00] [ 1.49558569e-01 1.85730798e-02 9.88578411e-01 -1.89779164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56463044 meters Centerline goodness : 0.116845 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.59, Z:-1.90 [[ 9.88800233e-01 3.81315917e-04 -1.49244611e-01 -1.76236851e+01] [-3.16733122e-03 9.99825133e-01 -1.84302039e-02 -1.58625913e+00] [ 1.49211485e-01 1.86964971e-02 9.88628532e-01 -1.89693611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62463044 meters Centerline goodness : 0.104230 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.58, Z:-1.90 [[ 9.89096937e-01 -8.13316158e-03 -1.47041156e-01 -1.76478015e+01] [ 5.49693739e-03 9.99816955e-01 -1.83259502e-02 -1.58285614e+00] [ 1.47163289e-01 1.73178652e-02 9.88960595e-01 -1.89968800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68463043999998 meters Centerline goodness : 0.482204 with order 2 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.58, Z:-1.90 [[ 9.89318631e-01 -9.80772739e-03 -1.45438835e-01 -1.76549515e+01] [ 7.05063631e-03 9.99785767e-01 -1.94604171e-02 -1.58392671e+00] [ 1.45598540e-01 1.82271169e-02 9.89175837e-01 -1.89659056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74463043999998 meters Centerline goodness : 0.103513 with order 1 Centerline is valid? [False, False] Translation: X:-17.66, Y:-1.59, Z:-1.90 [[ 9.89401500e-01 -9.95287844e-03 -1.44864118e-01 -1.76567784e+01] [ 7.27529816e-03 9.99792986e-01 -1.90014422e-02 -1.58757965e+00] [ 1.45023248e-01 1.77461257e-02 9.89269090e-01 -1.89595698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80463043999998 meters Centerline goodness : 0.413535 with order 1 Centerline is valid? [False, False] Translation: X:-17.66, Y:-1.60, Z:-1.90 [[ 9.89430123e-01 -1.42936287e-02 -1.44304273e-01 -1.76577912e+01] [ 1.12654212e-02 9.99699310e-01 -2.17802536e-02 -1.59677310e+00] [ 1.44572201e-01 1.99243906e-02 9.89293636e-01 -1.89604411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86463043999998 meters Centerline goodness : 0.104464 with order 1 Centerline is valid? [False, False] Translation: X:-17.66, Y:-1.60, Z:-1.90 [[ 9.89401194e-01 -1.41700498e-02 -1.44514663e-01 -1.76570956e+01] [ 1.12198975e-02 9.99712108e-01 -2.12088538e-02 -1.60049504e+00] [ 1.44773589e-01 1.93626256e-02 9.89275339e-01 -1.89618328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92463044 meters Centerline goodness : 0.105078 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:-1.61, Z:-1.90 [[ 9.89279297e-01 -1.67263674e-02 -1.45074814e-01 -1.76524996e+01] [ 1.36238044e-02 9.99657304e-01 -2.23532096e-02 -1.61156815e+00] [ 1.45398985e-01 2.01370966e-02 9.89168152e-01 -1.89879870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98463044 meters Centerline goodness : 0.245604 with order 3 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.62, Z:-1.90 [[ 9.89317133e-01 -1.01259992e-02 -1.45427211e-01 -1.76692613e+01] [ 6.81721435e-03 9.99706844e-01 -2.32325420e-02 -1.62454216e+00] [ 1.45619831e-01 2.19929434e-02 9.89096141e-01 -1.90389131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04463044 meters Centerline goodness : 0.097037 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.63, Z:-1.90 [[ 9.89296968e-01 -1.08665782e-02 -1.45510915e-01 -1.76686597e+01] [ 7.60895238e-03 9.99708223e-01 -2.29253869e-02 -1.63493018e+00] [ 1.45717578e-01 2.15728302e-02 9.89090997e-01 -1.90418857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10463044 meters Centerline goodness : 0.256987 with order 3 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.64, Z:-1.91 [[ 9.88928951e-01 -1.17440284e-02 -1.47924332e-01 -1.77113713e+01] [ 8.48322173e-03 9.99707341e-01 -2.26554195e-02 -1.64414196e+00] [ 1.48147106e-01 2.11497254e-02 9.88739159e-01 -1.91094712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16463044 meters Centerline goodness : 0.095846 with order 1 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.65, Z:-1.91 [[ 9.88797946e-01 -1.13503936e-02 -1.48828058e-01 -1.77090724e+01] [ 8.19120168e-03 9.99728295e-01 -2.18229428e-02 -1.64905930e+00] [ 1.49035320e-01 2.03594004e-02 9.88622258e-01 -1.91098499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22463044 meters Centerline goodness : 0.100304 with order 1 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.65, Z:-1.91 [[ 9.88780786e-01 -1.12826417e-02 -1.48947169e-01 -1.77092894e+01] [ 8.15857722e-03 9.99734079e-01 -2.15687012e-02 -1.65101476e+00] [ 1.49150912e-01 2.01115204e-02 9.88609899e-01 -1.91040496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28463044 meters Centerline goodness : 0.104331 with order 1 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.65, Z:-1.91 [[ 9.88857023e-01 -1.10334567e-02 -1.48458921e-01 -1.77114371e+01] [ 7.97614097e-03 9.99744003e-01 -2.11733262e-02 -1.65247802e+00] [ 1.48654531e-01 1.97532630e-02 9.88691883e-01 -1.90938261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34463044 meters Centerline goodness : 0.103528 with order 1 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.65, Z:-1.91 [[ 9.88939963e-01 -1.08400857e-02 -1.47919714e-01 -1.77140226e+01] [ 7.80622243e-03 9.99747414e-01 -2.10753672e-02 -1.65149715e+00] [ 1.48110810e-01 1.96875787e-02 9.88774791e-01 -1.90811338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40463044 meters Centerline goodness : 0.096445 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:-1.66, Z:-1.91 [[ 9.89068068e-01 -3.69871705e-03 -1.47413287e-01 -1.77336232e+01] [ 4.43331523e-04 9.99755443e-01 -2.21101334e-02 -1.65518606e+00] [ 1.47459016e-01 2.18030739e-02 9.88827824e-01 -1.91233353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46463043999998 meters Centerline goodness : 0.104542 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:-1.65, Z:-1.91 [[ 9.89076498e-01 -3.98900539e-03 -1.47349138e-01 -1.77341813e+01] [ 6.98771667e-04 9.99749415e-01 -2.23745263e-02 -1.65441785e+00] [ 1.47401467e-01 2.20271547e-02 9.88831438e-01 -1.91191198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52463043999998 meters Centerline goodness : 0.097896 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.66, Z:-1.91 [[ 9.89348679e-01 -6.31444287e-03 -1.45428058e-01 -1.77407900e+01] [ 2.93132761e-03 9.99720345e-01 -2.34657050e-02 -1.65783893e+00] [ 1.45535561e-01 2.27894670e-02 9.89090512e-01 -1.91112532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58463043999998 meters Centerline goodness : 0.217399 with order 3 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.66, Z:-1.91 [[ 9.89363046e-01 -1.00946011e-02 -1.45116722e-01 -1.77404548e+01] [ 6.40318234e-03 9.99644492e-01 -2.58822029e-02 -1.66207233e+00] [ 1.45326403e-01 2.46776863e-02 9.89075957e-01 -1.91291159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64463044 meters Centerline goodness : 0.344761 with order 3 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.67, Z:-1.91 [[ 9.89208280e-01 -1.23491959e-02 -1.45994781e-01 -1.77372640e+01] [ 8.58559362e-03 9.99615089e-01 -2.63810957e-02 -1.66989203e+00] [ 1.46264372e-01 2.48429465e-02 9.88933548e-01 -1.91499407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70463044 meters Centerline goodness : 0.100712 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.67, Z:-1.92 [[ 9.89139170e-01 -1.29854109e-02 -1.46407244e-01 -1.77359031e+01] [ 9.20484183e-03 9.99607220e-01 -2.64702807e-02 -1.67194047e+00] [ 1.46693466e-01 2.48351360e-02 9.88870185e-01 -1.91581353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76463044 meters Centerline goodness : 0.226480 with order 2 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.67, Z:-1.92 [[ 9.89144345e-01 -1.26176008e-02 -1.46404441e-01 -1.77350350e+01] [ 8.96942722e-03 9.99633257e-01 -2.55519243e-02 -1.67487570e+00] [ 1.46673152e-01 2.39613775e-02 9.88894756e-01 -1.91734503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82463044 meters SLAMing on 224.88463044 meters SLAMing on 224.94463044 meters Centerline goodness : 0.130532 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-1.68, Z:-1.92 [[ 9.88519921e-01 -3.45576001e-03 -1.51051064e-01 -1.77430725e+01] [-8.00219292e-04 9.99604631e-01 -2.81059022e-02 -1.67631014e+00] [ 1.51088470e-01 2.79041181e-02 9.88126325e-01 -1.92084217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00463044 meters Centerline goodness : 0.381326 with order 3 Centerline is valid? [False, False] Translation: X:-17.75, Y:-1.67, Z:-1.92 [[ 9.88676641e-01 -1.53161827e-03 -1.50053835e-01 -1.77471938e+01] [-2.46940012e-03 9.99646454e-01 -2.64739317e-02 -1.67338189e+00] [ 1.50041332e-01 2.65447009e-02 9.88323316e-01 -1.91921233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06463044 meters Centerline goodness : 0.105297 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.67, Z:-1.92 [[ 9.89364019e-01 -5.19166687e-03 -1.45368100e-01 -1.77680583e+01] [ 1.67424690e-03 9.99703102e-01 -2.43085369e-02 -1.66657463e+00] [ 1.45451143e-01 2.38066097e-02 9.89078971e-01 -1.92215654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12463044 meters Centerline goodness : 0.091440 with order 1 Centerline is valid? [False, False] Translation: X:-17.75, Y:-1.67, Z:-1.92 [[ 9.89434502e-01 2.54153271e-03 -1.44958291e-01 -1.77496497e+01] [-6.15579837e-03 9.99681121e-01 -2.44900585e-02 -1.67140397e+00] [ 1.44849825e-01 2.51236428e-02 9.89134637e-01 -1.91943308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18463043999998 meters SLAMing on 225.24463043999998 meters Centerline goodness : 0.456234 with order 1 Centerline is valid? [False, False] Translation: X:-17.75, Y:-1.66, Z:-1.92 [[ 9.89601136e-01 2.05858483e-03 -1.43824037e-01 -1.77527944e+01] [-5.62590943e-03 9.99686418e-01 -2.44011164e-02 -1.66432733e+00] [ 1.43728705e-01 2.49565135e-02 9.89302397e-01 -1.91933939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30463043999998 meters Centerline goodness : 0.202713 with order 3 Centerline is valid? [False, False] Translation: X:-17.75, Y:-1.66, Z:-1.92 [[ 9.89602972e-01 1.77995522e-03 -1.43815124e-01 -1.77518250e+01] [-5.38948308e-03 9.99680066e-01 -2.47127189e-02 -1.66188049e+00] [ 1.43725125e-01 2.52308692e-02 9.89295958e-01 -1.92026580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36463043999998 meters Centerline goodness : 0.277047 with order 1 Centerline is valid? [False, False] Translation: X:-17.76, Y:-1.66, Z:-1.92 [[ 9.89729372e-01 3.83339221e-03 -1.42902326e-01 -1.77551754e+01] [-7.21625884e-03 9.99705684e-01 -2.31618298e-02 -1.65736547e+00] [ 1.42771479e-01 2.39551634e-02 9.89465742e-01 -1.91936622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42463044 meters Centerline goodness : 0.464998 with order 3 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.65, Z:-1.92 [[ 9.89586715e-01 -3.57495374e-03 -1.43893546e-01 -1.77714947e+01] [ 3.85986887e-04 9.99753835e-01 -2.21838040e-02 -1.64596657e+00] [ 1.43937430e-01 2.18972567e-02 9.89344493e-01 -1.92411933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48463044 meters Centerline goodness : 0.091582 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.64, Z:-1.93 [[ 9.89475299e-01 -4.09353893e-03 -1.44643962e-01 -1.77685443e+01] [ 8.30116566e-04 9.99743905e-01 -2.26149139e-02 -1.64365430e+00] [ 1.44699495e-01 2.22568274e-02 9.89225298e-01 -1.92519007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54463044 meters Centerline goodness : 0.090946 with order 1 Centerline is valid? [False, False] Translation: X:-17.76, Y:-1.64, Z:-1.93 [[ 9.89165243e-01 -2.16699318e-03 -1.46790415e-01 -1.77607063e+01] [-9.29583694e-04 9.99778553e-01 -2.10233426e-02 -1.63954061e+00] [ 1.46803467e-01 2.09320137e-02 9.88944181e-01 -1.92721471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60463044 meters SLAMing on 225.66463044 meters Centerline goodness : 0.443567 with order 1 Centerline is valid? [False, False] Translation: X:-17.76, Y:-1.62, Z:-1.93 [[ 9.89358705e-01 -4.50490273e-04 -1.45496220e-01 -1.77647952e+01] [-2.45586336e-03 9.99801039e-01 -1.97952252e-02 -1.62471058e+00] [ 1.45476189e-01 1.99418972e-02 9.89160755e-01 -1.92618215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72463044 meters Centerline goodness : 0.110430 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.62, Z:-1.93 [[ 9.89421789e-01 -6.58467750e-04 -1.45065810e-01 -1.77666098e+01] [-2.31282494e-03 9.99790999e-01 -2.03127775e-02 -1.61823093e+00] [ 1.45048866e-01 2.04334165e-02 9.89213476e-01 -1.92515042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78463044 meters Centerline goodness : 0.110035 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.62, Z:-1.93 [[ 9.89388167e-01 -7.78507964e-04 -1.45294351e-01 -1.77660143e+01] [-2.22041744e-03 9.99787858e-01 -2.04770352e-02 -1.61661028e+00] [ 1.45279470e-01 2.05823504e-02 9.89176548e-01 -1.92507076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84463044 meters Centerline goodness : 0.109224 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.61, Z:-1.93 [[ 9.89011638e-01 -1.47160315e-03 -1.47830357e-01 -1.78082717e+01] [-1.59853708e-03 9.99785549e-01 -2.06470403e-02 -1.61196358e+00] [ 1.47829039e-01 2.06564755e-02 9.88797191e-01 -1.93139506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90463044 meters Centerline goodness : 0.111875 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-1.61, Z:-1.93 [[ 9.89138756e-01 -1.87302579e-03 -1.46972833e-01 -1.78103973e+01] [-1.21010060e-03 9.99781146e-01 -2.08853107e-02 -1.61123405e+00] [ 1.46979786e-01 2.08363221e-02 9.88920012e-01 -1.93125868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96463043999998 meters Centerline goodness : 0.112304 with order 1 Centerline is valid? [False, False] Translation: X:-17.85, Y:-1.61, Z:-1.94 [[ 9.89793914e-01 -1.83973650e-03 -1.42494292e-01 -1.78479467e+01] [-1.09155653e-03 9.99789454e-01 -2.04904009e-02 -1.60780654e+00] [ 1.42501987e-01 2.04368147e-02 9.89583509e-01 -1.93980622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02463043999998 meters Centerline goodness : 0.113632 with order 1 Centerline is valid? [False, False] Translation: X:-17.84, Y:-1.60, Z:-1.94 [[ 9.89621791e-01 1.98874999e-04 -1.43696457e-01 -1.78433067e+01] [-2.96873509e-03 9.99813903e-01 -1.90616178e-02 -1.60382747e+00] [ 1.43665925e-01 1.92903891e-02 9.89438216e-01 -1.94098846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08463043999998 meters Centerline goodness : 0.106753 with order 1 Centerline is valid? [False, False] Translation: X:-17.84, Y:-1.60, Z:-1.94 [[ 9.89469880e-01 5.90139257e-04 -1.44737725e-01 -1.78402377e+01] [-3.38793324e-03 9.99812137e-01 -1.90843783e-02 -1.60066638e+00] [ 1.44699271e-01 1.93737793e-02 9.89285994e-01 -1.94119457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14463044 meters Centerline goodness : 0.105404 with order 1 Centerline is valid? [False, False] Translation: X:-17.84, Y:-1.60, Z:-1.94 [[ 9.89585290e-01 2.85093198e-03 -1.43919515e-01 -1.78433927e+01] [-5.44324743e-03 9.99829908e-01 -1.76217278e-02 -1.59562017e+00] [ 1.43844798e-01 1.82215921e-02 9.89432488e-01 -1.94011679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20463044 meters Centerline goodness : 0.110553 with order 1 Centerline is valid? [False, False] Translation: X:-17.86, Y:-1.59, Z:-1.94 [[ 9.89385640e-01 -4.52577544e-03 -1.45243153e-01 -1.78602321e+01] [ 2.19961303e-03 9.99866801e-01 -1.61722396e-02 -1.59068488e+00] [ 1.45296998e-01 1.56811029e-02 9.89263810e-01 -1.94403220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26463044 meters Centerline goodness : 0.109685 with order 1 Centerline is valid? [False, False] Translation: X:-17.86, Y:-1.59, Z:-1.94 [[ 9.89314904e-01 -4.34348389e-03 -1.45729735e-01 -1.78584774e+01] [ 2.03659974e-03 9.99870312e-01 -1.59753404e-02 -1.59096390e+00] [ 1.45780224e-01 1.55078492e-02 9.89195447e-01 -1.94449166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32463044 meters Centerline goodness : 0.159177 with order 3 Centerline is valid? [False, False] Translation: X:-17.86, Y:-1.59, Z:-1.94 [[ 9.89525008e-01 -2.54134023e-03 -1.44339187e-01 -1.78637017e+01] [ 4.13364065e-04 9.99890818e-01 -1.47709622e-02 -1.58702541e+00] [ 1.44360966e-01 1.45565719e-02 9.89418020e-01 -1.94295505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38463044 meters Centerline goodness : 0.105984 with order 1 Centerline is valid? [False, False] Translation: X:-17.86, Y:-1.58, Z:-1.94 [[ 9.89552536e-01 1.08961409e-03 -1.44168624e-01 -1.78644849e+01] [-2.80483338e-03 9.99927682e-01 -1.16946020e-02 -1.58439368e+00] [ 1.44145456e-01 1.19767921e-02 9.89484029e-01 -1.94239079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44463044 meters Centerline goodness : 0.099573 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.58, Z:-1.95 [[ 9.89205340e-01 1.68895252e-03 -1.46526252e-01 -1.79088842e+01] [-3.30613113e-03 9.99936278e-01 -1.07939543e-02 -1.58343345e+00] [ 1.46498685e-01 1.11618723e-02 9.89147890e-01 -1.94798124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50463044 meters Centerline goodness : 0.320155 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.59, Z:-1.95 [[ 9.89174114e-01 1.57926213e-03 -1.46738128e-01 -1.79078109e+01] [-3.13302287e-03 9.99941445e-01 -1.03581495e-02 -1.58623751e+00] [ 1.46713178e-01 1.07057472e-02 9.89121140e-01 -1.94842911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56463044 meters Centerline goodness : 0.101635 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.59, Z:-1.95 [[ 9.89101483e-01 1.71266903e-03 -1.47225418e-01 -1.79064237e+01] [-3.19053533e-03 9.99946864e-01 -9.80255466e-03 -1.58843774e+00] [ 1.47200806e-01 1.01654492e-02 9.89054390e-01 -1.94846398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62463044 meters Centerline goodness : 0.139401 with order 1 Centerline is valid? [False, False] Translation: X:-17.95, Y:-1.59, Z:-1.95 [[ 9.88668989e-01 3.18858248e-03 -1.50078193e-01 -1.79500428e+01] [-4.49352392e-03 9.99954985e-01 -8.35676907e-03 -1.59012621e+00] [ 1.50044791e-01 8.93645837e-03 9.88638812e-01 -1.95425877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68463043999998 meters Centerline goodness : 0.247710 with order 1 Centerline is valid? [False, False] Translation: X:-17.95, Y:-1.59, Z:-1.95 [[ 9.88788947e-01 3.68577121e-03 -1.49274359e-01 -1.79519501e+01] [-4.92173400e-03 9.99956593e-01 -7.91123788e-03 -1.59028494e+00] [ 1.49238720e-01 8.55723325e-03 9.88764167e-01 -1.95408480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74463043999998 meters Centerline goodness : 0.263459 with order 3 Centerline is valid? [False, False] Translation: X:-17.95, Y:-1.59, Z:-1.95 [[ 9.88832742e-01 4.37594260e-03 -1.48965294e-01 -1.79531385e+01] [-5.54550837e-03 9.99956970e-01 -7.43680566e-03 -1.59014317e+00] [ 1.48926341e-01 8.17984522e-03 9.88814459e-01 -1.95347642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80463043999998 meters Centerline goodness : 0.452566 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.59, Z:-1.95 [[ 9.88773171e-01 6.06319118e-03 -1.49301217e-01 -1.79062107e+01] [-7.23378009e-03 9.99947200e-01 -7.29864534e-03 -1.58893475e+00] [ 1.49249081e-01 8.29671687e-03 9.88764824e-01 -1.94798967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86463043999998 meters Centerline goodness : 0.088722 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.59, Z:-1.95 [[ 9.88769087e-01 7.40576630e-03 -1.49267703e-01 -1.79063280e+01] [-8.46649514e-03 9.99943214e-01 -6.47201562e-03 -1.58868767e+00] [ 1.49211296e-01 7.66310326e-03 9.88775640e-01 -1.94769674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92463044 meters Centerline goodness : 0.092708 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-1.58, Z:-1.95 [[ 9.88678710e-01 8.83637830e-03 -1.49787605e-01 -1.79052621e+01] [-9.82340793e-03 9.99934632e-01 -5.85090864e-03 -1.58446410e+00] [ 1.49726113e-01 7.25609355e-03 9.88700885e-01 -1.94716107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98463044 meters Centerline goodness : 0.553020 with order 3 Centerline is valid? [False, False] Translation: X:-17.90, Y:-1.58, Z:-1.95 [[ 9.88527450e-01 1.31988029e-02 -1.50463526e-01 -1.79025004e+01] [-1.37286504e-02 9.99902674e-01 -2.48318947e-03 -1.58111555e+00] [ 1.50416107e-01 4.52036210e-03 9.88612442e-01 -1.94794883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04463044 meters Centerline goodness : 0.239028 with order 3 Centerline is valid? [False, False] Translation: X:-17.90, Y:-1.58, Z:-1.95 [[ 9.88416517e-01 1.33274037e-02 -1.51179261e-01 -1.79006961e+01] [-1.39153842e-02 9.99899166e-01 -2.83197441e-03 -1.57763152e+00] [ 1.51126274e-01 4.90288778e-03 9.88502307e-01 -1.94769089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10463044 meters Centerline goodness : 0.461151 with order 2 Centerline is valid? [False, False] Translation: X:-17.90, Y:-1.58, Z:-1.95 [[ 9.88399842e-01 1.33769621e-02 -1.51283869e-01 -1.79008903e+01] [-1.39450131e-02 9.99899133e-01 -2.69451005e-03 -1.57813825e+00] [ 1.51232565e-01 4.77290884e-03 9.88486687e-01 -1.94704909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16463044 meters Centerline goodness : 0.166545 with order 2 Centerline is valid? [False, False] Translation: X:-17.88, Y:-1.58, Z:-1.94 [[ 9.88436720e-01 5.23981028e-03 -1.51543375e-01 -1.78803952e+01] [-5.59906776e-03 9.99982435e-01 -1.94403695e-03 -1.57536494e+00] [ 1.51530527e-01 2.77005912e-03 9.88448697e-01 -1.94260857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22463044 meters Centerline goodness : 0.480853 with order 3 Centerline is valid? [False, False] Translation: X:-17.92, Y:-1.58, Z:-1.95 [[ 9.88059814e-01 5.05540578e-03 -1.53987816e-01 -1.79235654e+01] [-5.32652101e-03 9.99984905e-01 -1.34810586e-03 -1.57874816e+00] [ 1.53978677e-01 2.15222856e-03 9.88071827e-01 -1.94785919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28463044 meters Centerline goodness : 0.094278 with order 1 Centerline is valid? [False, False] Translation: X:-17.92, Y:-1.58, Z:-1.95 [[ 9.88046957e-01 5.00515832e-03 -1.54071931e-01 -1.79236393e+01] [-5.27720517e-03 9.99985155e-01 -1.35678501e-03 -1.57960757e+00] [ 1.54062853e-01 2.15363650e-03 9.88058702e-01 -1.94734033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34463044 meters Centerline goodness : 0.089992 with order 1 Centerline is valid? [False, False] Translation: X:-17.92, Y:-1.58, Z:-1.95 [[ 9.87962834e-01 5.27917632e-03 -1.54601322e-01 -1.79223825e+01] [-5.55871292e-03 9.99983604e-01 -1.37587448e-03 -1.57817351e+00] [ 1.54591524e-01 2.21869721e-03 9.87975981e-01 -1.94705745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40463044 meters Centerline goodness : 0.275306 with order 1 Centerline is valid? [False, False] Translation: X:-17.92, Y:-1.58, Z:-1.95 [[ 9.87839822e-01 5.31655656e-03 -1.55384104e-01 -1.79203745e+01] [-5.62673242e-03 9.99982959e-01 -1.55642939e-03 -1.57739294e+00] [ 1.55373182e-01 2.41180771e-03 9.87852903e-01 -1.94692559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46463043999998 meters SLAMing on 227.52463043999998 meters SLAMing on 227.58463043999998 meters Centerline goodness : 0.088114 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.60, Z:-1.95 [[ 9.87789880e-01 1.30038571e-02 -1.55248357e-01 -1.79801625e+01] [-1.37791937e-02 9.99897382e-01 -3.91904561e-03 -1.59834670e+00] [ 1.55181463e-01 6.01039078e-03 9.87867698e-01 -1.95394873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64463044 meters Centerline goodness : 0.362767 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.60, Z:-1.95 [[ 9.87809352e-01 1.30217594e-02 -1.55122912e-01 -1.79805833e+01] [-1.37830380e-02 9.99897663e-01 -3.83300596e-03 -1.59897017e+00] [ 1.55057125e-01 5.92434413e-03 9.87887742e-01 -1.95379379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70463044 meters SLAMing on 227.76463044 meters SLAMing on 227.82463044 meters SLAMing on 227.88463044 meters Centerline goodness : 0.335296 with order 3 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.60, Z:-1.95 [[ 9.87795913e-01 1.80674572e-02 -1.54702302e-01 -1.79818556e+01] [-1.82723019e-02 9.99833043e-01 9.78368790e-05 -1.59798905e+00] [ 1.54678241e-01 2.73012429e-03 9.87961127e-01 -1.95284417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94463044 meters Centerline goodness : 0.461856 with order 1 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.59, Z:-1.95 [[ 9.87838200e-01 1.78711962e-02 -1.54454885e-01 -1.79830416e+01] [-1.82036758e-02 9.99834027e-01 -7.38444032e-04 -1.59324904e+00] [ 1.54416053e-01 3.54110988e-03 9.87999566e-01 -1.95212352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00463044 meters Centerline goodness : 0.088452 with order 1 Centerline is valid? [False, False] Translation: X:-17.96, Y:-1.59, Z:-1.95 [[ 9.87683341e-01 9.88065216e-03 -1.56153740e-01 -1.79621030e+01] [-1.00986582e-02 9.99948826e-01 -6.02802815e-04 -1.58801104e+00] [ 1.56139793e-01 2.17232154e-03 9.87732578e-01 -1.94772330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06463044 meters Centerline goodness : 0.101557 with order 1 Centerline is valid? [False, False] Translation: X:-17.96, Y:-1.59, Z:-1.95 [[ 9.87632289e-01 9.69413894e-03 -1.56487970e-01 -1.79608085e+01] [-9.86306956e-03 9.99951313e-01 -3.03020160e-04 -1.58965870e+00] [ 1.56477414e-01 1.84272423e-03 9.87679818e-01 -1.94772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12463044 meters Centerline goodness : 0.087662 with order 1 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.59, Z:-1.95 [[ 9.87071922e-01 7.74794880e-03 -1.60090569e-01 -1.80013369e+01] [-8.13459780e-03 9.99965365e-01 -1.75995772e-03 -1.58994549e+00] [ 1.60071388e-01 3.03947724e-03 9.87100761e-01 -1.95436357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18463043999998 meters Centerline goodness : 0.087250 with order 1 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.59, Z:-1.95 [[ 9.86965225e-01 7.80813485e-03 -1.60744139e-01 -1.79994805e+01] [-8.22344914e-03 9.99964346e-01 -1.91858853e-03 -1.58876577e+00] [ 1.60723428e-01 3.21545141e-03 9.86994246e-01 -1.95440232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24463043999998 meters Centerline goodness : 0.423832 with order 3 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.59, Z:-1.95 [[ 9.86952746e-01 7.84182219e-03 -1.60819102e-01 -1.79998470e+01] [-8.24447707e-03 9.99964327e-01 -1.83664028e-03 -1.58963893e+00] [ 1.60798962e-01 3.13854657e-03 9.86982190e-01 -1.95356270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30463043999998 meters Centerline goodness : 0.270979 with order 1 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.59, Z:-1.95 [[ 9.86956847e-01 7.92186273e-03 -1.60790005e-01 -1.80003322e+01] [-8.27793386e-03 9.99964544e-01 -1.54475802e-03 -1.59212265e+00] [ 1.60772067e-01 2.85561853e-03 9.86987430e-01 -1.95289859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36463043999998 meters Centerline goodness : 0.087175 with order 1 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.60, Z:-1.95 [[ 9.87110060e-01 8.43339018e-03 -1.59820550e-01 -1.80025560e+01] [-8.67096104e-03 9.99962095e-01 -7.89149818e-04 -1.59568584e+00] [ 1.59807837e-01 2.16477549e-03 9.87145769e-01 -1.95282656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42463044 meters Centerline goodness : 0.087189 with order 1 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.60, Z:-1.95 [[ 9.87118542e-01 8.65426948e-03 -1.59756340e-01 -1.80026160e+01] [-8.88159873e-03 9.99960306e-01 -7.08984851e-04 -1.59588102e+00] [ 1.59743863e-01 2.11874380e-03 9.87156223e-01 -1.95284113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48463044 meters Centerline goodness : 0.480256 with order 2 Centerline is valid? [False, False] Translation: X:-18.00, Y:-1.59, Z:-1.95 [[ 9.86988867e-01 9.78025798e-03 -1.60490879e-01 -1.79999237e+01] [-9.92552670e-03 9.99950735e-01 -1.03483708e-04 -1.59482282e+00] [ 1.60481961e-01 1.69509377e-03 9.87037318e-01 -1.95362581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54463044 meters SLAMing on 228.60463044 meters Centerline goodness : 0.226232 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.61, Z:-1.96 [[ 9.87427408e-01 4.30529446e-03 -1.58014488e-01 -1.80429040e+01] [-4.62552711e-03 9.99987926e-01 -1.65889709e-03 -1.60646942e+00] [ 1.58005438e-01 2.36894075e-03 9.87435400e-01 -1.95958431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66463044 meters Centerline goodness : 0.464128 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.61, Z:-1.96 [[ 9.87255941e-01 1.85193205e-03 -1.59129752e-01 -1.80373282e+01] [-2.41904774e-03 9.99991395e-01 -3.37022544e-03 -1.61103641e+00] [ 1.59122141e-01 3.71221756e-03 9.87251925e-01 -1.96167715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72463044 meters Centerline goodness : 0.101879 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.61, Z:-1.96 [[ 9.87219616e-01 1.80269200e-03 -1.59355516e-01 -1.80368982e+01] [-2.35161011e-03 9.99991934e-01 -3.25610424e-03 -1.61315275e+00] [ 1.59348361e-01 3.58923202e-03 9.87215892e-01 -1.96142791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78463044 meters Centerline goodness : 0.104181 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.61, Z:-1.96 [[ 9.87095373e-01 2.06708668e-03 -1.60120119e-01 -1.80347723e+01] [-2.58732106e-03 9.99992030e-01 -3.04060753e-03 -1.61398730e+00] [ 1.60112558e-01 3.41565178e-03 9.87092854e-01 -1.96150317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84463044 meters Centerline goodness : 0.251680 with order 3 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.61, Z:-1.96 [[ 9.87148525e-01 2.16788297e-03 -1.59790771e-01 -1.80357941e+01] [-2.67379025e-03 9.99992071e-01 -2.95112362e-03 -1.61496309e+00] [ 1.59783106e-01 3.34044434e-03 9.87146494e-01 -1.96116953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90463044 meters Centerline goodness : 0.100050 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87176311e-01 2.17970200e-03 -1.59618860e-01 -1.80367174e+01] [-2.67613703e-03 9.99992228e-01 -2.89523441e-03 -1.61560638e+00] [ 1.59611309e-01 3.28526877e-03 9.87174471e-01 -1.96060629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96463043999998 meters Centerline goodness : 0.216280 with order 3 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87162996e-01 2.15589401e-03 -1.59701505e-01 -1.80364196e+01] [-2.65466222e-03 9.99992243e-01 -2.90984753e-03 -1.61584716e+00] [ 1.59693993e-01 3.29644736e-03 9.87161062e-01 -1.96062673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02463043999998 meters Centerline goodness : 0.286802 with order 2 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87196372e-01 2.37054766e-03 -1.59492016e-01 -1.80378104e+01] [-2.80905042e-03 9.99992869e-01 -2.52397353e-03 -1.61758285e+00] [ 1.59484896e-01 2.93967863e-03 9.87195992e-01 -1.95945053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08463043999998 meters Centerline goodness : 0.216415 with order 3 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87222730e-01 2.53469373e-03 -1.59326260e-01 -1.80384735e+01] [-2.90396054e-03 9.99993610e-01 -2.08489374e-03 -1.62018680e+00] [ 1.59319957e-01 2.52093166e-03 9.87223782e-01 -1.95891837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14463044 meters Centerline goodness : 0.087956 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87154145e-01 2.51259824e-03 -1.59750998e-01 -1.80375950e+01] [-2.86605460e-03 9.99993928e-01 -1.98217659e-03 -1.62143908e+00] [ 1.59745048e-01 2.41456891e-03 9.87155352e-01 -1.95858819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20463044 meters Centerline goodness : 0.228625 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.62, Z:-1.96 [[ 9.87147041e-01 2.61308333e-03 -1.59793277e-01 -1.80372148e+01] [-2.97262762e-03 9.99993560e-01 -2.01106119e-03 -1.62054310e+00] [ 1.59786993e-01 2.46021901e-03 9.87148451e-01 -1.95882806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26463044 meters Centerline goodness : 0.130797 with order 3 Centerline is valid? [False, False] Translation: X:-18.04, Y:-1.61, Z:-1.96 [[ 9.87110028e-01 5.79551501e-03 -1.59938126e-01 -1.80354710e+01] [-5.86403023e-03 9.99982805e-01 4.35937793e-05 -1.61461946e+00] [ 1.59935628e-01 8.94850147e-04 9.87127041e-01 -1.95998301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32463044 meters Centerline goodness : 0.098507 with order 1 Centerline is valid? [False, False] Translation: X:-18.03, Y:-1.61, Z:-1.96 [[ 9.86987245e-01 5.92688561e-03 -1.60689298e-01 -1.80339415e+01] [-6.08034002e-03 9.99981407e-01 -4.63270619e-04 -1.60807376e+00] [ 1.60683565e-01 1.43428776e-03 9.87004932e-01 -1.95965252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38463044 meters Centerline goodness : 0.114254 with order 3 Centerline is valid? [False, False] Translation: X:-18.05, Y:-1.60, Z:-1.96 [[ 9.87044524e-01 -2.26952992e-03 -1.60430536e-01 -1.80542624e+01] [ 2.31259230e-03 9.99997323e-01 8.17033924e-05 -1.60297602e+00] [ 1.60429921e-01 -4.51655309e-04 9.87047130e-01 -1.96397118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44463044 meters Centerline goodness : 0.099979 with order 1 Centerline is valid? [False, False] Translation: X:-18.05, Y:-1.60, Z:-1.96 [[ 9.87046832e-01 -2.68367650e-03 -1.60409942e-01 -1.80547138e+01] [ 2.63629801e-03 9.99996396e-01 -5.08180704e-04 -1.60048856e+00] [ 1.60410728e-01 7.87097422e-05 9.87050349e-01 -1.96351377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50463044 meters Centerline goodness : 0.522126 with order 3 Centerline is valid? [False, False] Translation: X:-18.07, Y:-1.61, Z:-1.97 [[ 9.87102720e-01 4.20559870e-03 -1.60032910e-01 -1.80733994e+01] [-4.52848479e-03 9.99988380e-01 -1.65297140e-03 -1.60620199e+00] [ 1.60024099e-01 2.35635917e-03 9.87110295e-01 -1.96785934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56463044 meters Centerline goodness : 0.097098 with order 1 Centerline is valid? [False, False] Translation: X:-18.07, Y:-1.61, Z:-1.97 [[ 9.87077216e-01 4.08590797e-03 -1.60193241e-01 -1.80730107e+01] [-4.39710367e-03 9.99989072e-01 -1.58819139e-03 -1.60732243e+00] [ 1.60185002e-01 2.27205382e-03 9.87084395e-01 -1.96773197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62463044 meters Centerline goodness : 0.258092 with order 3 Centerline is valid? [False, False] Translation: X:-18.07, Y:-1.61, Z:-1.97 [[ 9.87055801e-01 3.97588582e-03 -1.60327908e-01 -1.80730705e+01] [-4.27559300e-03 9.99989698e-01 -1.52440094e-03 -1.60866119e+00] [ 1.60320195e-01 2.19016567e-03 9.87062631e-01 -1.96716760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68463043999998 meters Centerline goodness : 0.088146 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.61, Z:-1.97 [[ 9.87197809e-01 4.25973934e-03 -1.59443849e-01 -1.81198095e+01] [-4.52361938e-03 9.99988934e-01 -1.29208462e-03 -1.60914504e+00] [ 1.59436581e-01 1.99680639e-03 9.87206154e-01 -1.97363149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74463043999998 meters Centerline goodness : 0.355041 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:-1.61, Z:-1.97 [[ 9.87188721e-01 8.27024678e-03 -1.59342497e-01 -1.81196994e+01] [-8.09485603e-03 9.99965705e-01 1.74976909e-03 -1.60531424e+00] [ 1.59351503e-01 -4.37497740e-04 9.87221812e-01 -1.97396306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80463043999998 meters Centerline goodness : 0.191743 with order 1 Centerline is valid? [False, False] Translation: X:-18.16, Y:-1.60, Z:-1.98 [[ 9.86892798e-01 1.02400709e-02 -1.61052000e-01 -1.81623867e+01] [-9.99436734e-03 9.99947327e-01 2.33565775e-03 -1.59606940e+00] [ 1.61067435e-01 -6.95430959e-04 9.86943158e-01 -1.98114052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86463043999998 meters Centerline goodness : 0.088979 with order 1 Centerline is valid? [False, False] Translation: X:-18.16, Y:-1.59, Z:-1.98 [[ 9.86913276e-01 9.75684388e-03 -1.60956485e-01 -1.81630132e+01] [-9.66204925e-03 9.99952381e-01 1.37164148e-03 -1.59098341e+00] [ 1.60962203e-01 2.01478298e-04 9.86960551e-01 -1.98079266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92463044 meters Centerline goodness : 0.417057 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-1.58, Z:-1.99 [[ 9.87528211e-01 3.13519146e-03 -1.57410939e-01 -1.81819487e+01] [-2.95359298e-03 9.99994675e-01 1.38756798e-03 -1.57953962e+00] [ 1.57414451e-01 -9.05334685e-04 9.87532213e-01 -1.98576306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98463044 meters Centerline goodness : 0.103157 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-1.57, Z:-1.99 [[ 9.87531152e-01 2.58361861e-03 -1.57402503e-01 -1.81819851e+01] [-2.57095646e-03 9.99996655e-01 2.84051232e-04 -1.57289538e+00] [ 1.57402710e-01 1.24165541e-04 9.87534491e-01 -1.98577837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04463044 meters SLAMing on 230.10463044 meters Centerline goodness : 0.105302 with order 1 Centerline is valid? [False, False] Translation: X:-18.22, Y:-1.57, Z:-1.99 [[ 9.86647455e-01 7.98886686e-04 -1.62868538e-01 -1.82190613e+01] [-1.03635273e-03 9.99998520e-01 -1.37306615e-03 -1.57006278e+00] [ 1.62867201e-01 1.52352147e-03 9.86646823e-01 -1.99288483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16463044 meters Centerline goodness : 0.564690 with order 3 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.86912542e-01 -1.45033661e-03 -1.61249903e-01 -1.82255188e+01] [ 9.83170882e-04 9.99995086e-01 -2.97690606e-03 -1.57268404e+00] [ 1.61253428e-01 2.77940972e-03 9.86909118e-01 -1.99087176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22463044 meters Centerline goodness : 0.089202 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.58, Z:-1.99 [[ 9.87000836e-01 -1.46178818e-03 -1.60708473e-01 -1.82265971e+01] [ 1.03987067e-03 9.99995789e-01 -2.70943275e-03 -1.57515963e+00] [ 1.60711757e-01 2.50709636e-03 9.86998199e-01 -1.99102973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28463044 meters Centerline goodness : 0.506048 with order 2 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.86960320e-01 -1.26671980e-03 -1.60958762e-01 -1.82258408e+01] [ 8.48642508e-04 9.99996086e-01 -2.66613855e-03 -1.57453174e+00] [ 1.60961509e-01 2.49477651e-03 9.86957531e-01 -1.99119822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34463044 meters Centerline goodness : 0.511777 with order 2 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.86998950e-01 -8.06558671e-04 -1.60724681e-01 -1.82263122e+01] [ 3.94564509e-04 9.99996554e-01 -2.59525254e-03 -1.57263553e+00] [ 1.60726220e-01 2.49809528e-03 9.86995867e-01 -1.99141680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40463043999998 meters Centerline goodness : 0.211909 with order 3 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.86992986e-01 -6.58828681e-04 -1.60761969e-01 -1.82260587e+01] [ 1.80685567e-04 9.99995517e-01 -2.98883089e-03 -1.56935588e+00] [ 1.60763218e-01 2.92090776e-03 9.86988681e-01 -1.99178824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46463043999998 meters Centerline goodness : 0.277202 with order 3 Centerline is valid? [False, False] Translation: X:-18.22, Y:-1.57, Z:-1.99 [[ 9.86954910e-01 -8.43197021e-04 -1.60994702e-01 -1.82248453e+01] [ 2.94495741e-04 9.99994067e-01 -3.43202598e-03 -1.56686503e+00] [ 1.60996641e-01 3.33984264e-03 9.86949303e-01 -1.99243800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52463043999998 meters Centerline goodness : 0.465001 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.87109559e-01 -2.93445293e-03 -1.60019082e-01 -1.82286763e+01] [ 2.18237116e-03 9.99985733e-01 -4.87549125e-03 -1.56907371e+00] [ 1.60031106e-01 4.46342299e-03 9.87101881e-01 -1.99136192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58463043999998 meters Centerline goodness : 0.102240 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-1.57, Z:-1.99 [[ 9.87109104e-01 -7.17915977e-03 -1.59887699e-01 -1.82290433e+01] [ 5.99777477e-03 9.99951042e-01 -7.87021275e-03 -1.57449511e+00] [ 1.59936373e-01 6.80978825e-03 9.87103836e-01 -1.99101929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64463044 meters Centerline goodness : 0.107083 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87150255e-01 -2.10905609e-03 -1.59780871e-01 -1.82489106e+01] [ 4.79188765e-04 9.99947471e-01 -1.02384846e-02 -1.58368147e+00] [ 1.59794072e-01 1.00303575e-02 9.87099411e-01 -1.99526593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70463044 meters Centerline goodness : 0.460091 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.59, Z:-2.00 [[ 9.87073028e-01 -1.70907026e-03 -1.60262023e-01 -1.82474400e+01] [ 1.70647130e-04 9.99953782e-01 -9.61269591e-03 -1.58717339e+00] [ 1.60271045e-01 9.46108461e-03 9.87027700e-01 -1.99545787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76463044 meters Centerline goodness : 0.111963 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.59, Z:-2.00 [[ 9.87111375e-01 -1.31159993e-03 -1.60029413e-01 -1.82484064e+01] [-2.04348405e-04 9.99955269e-01 -9.45611100e-03 -1.58685367e+00] [ 1.60034657e-01 9.36693648e-03 9.87066953e-01 -1.99511397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82463044 meters Centerline goodness : 0.114631 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.59, Z:-2.00 [[ 9.87136662e-01 -6.46770443e-04 -1.59877427e-01 -1.82484149e+01] [-8.49621774e-04 9.99956476e-01 -9.29108705e-03 -1.58529192e+00] [ 1.59876478e-01 9.30740800e-03 9.87093149e-01 -1.99565067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88463044 meters Centerline goodness : 0.200081 with order 3 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87132840e-01 -6.83933729e-04 -1.59900871e-01 -1.82483498e+01] [-8.49954791e-04 9.99954283e-01 -9.52415544e-03 -1.58396707e+00] [ 1.59900075e-01 9.53751511e-03 9.87087130e-01 -1.99569134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94463044 meters Centerline goodness : 0.256788 with order 3 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87157124e-01 -7.54351944e-04 -1.59750569e-01 -1.82491240e+01] [-8.00523836e-04 9.99952938e-01 -9.66856807e-03 -1.58292689e+00] [ 1.59750344e-01 9.67227998e-03 9.87110062e-01 -1.99530099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00463044 meters Centerline goodness : 0.100517 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87157955e-01 -9.78328805e-04 -1.59744215e-01 -1.82486118e+01] [-6.31899650e-04 9.99949509e-01 -1.00289339e-02 -1.58141535e+00] [ 1.59745961e-01 1.00010842e-02 9.87107495e-01 -1.99586094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06463044 meters Centerline goodness : 0.114082 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87194220e-01 -1.08241628e-03 -1.59519281e-01 -1.82497082e+01] [-5.56575279e-04 9.99947522e-01 -1.02295307e-02 -1.58029150e+00] [ 1.59521982e-01 1.01873181e-02 9.87141811e-01 -1.99534830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12463044 meters Centerline goodness : 0.118762 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87363355e-01 -1.53254025e-03 -1.58465317e-01 -1.82523428e+01] [-1.17182128e-04 9.99945904e-01 -1.04007534e-02 -1.58098108e+00] [ 1.58472685e-01 1.02878920e-02 9.87309763e-01 -1.99525641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18463043999998 meters Centerline goodness : 0.103957 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87232070e-01 -1.83841987e-03 -1.59277936e-01 -1.82497733e+01] [ 1.60880415e-04 9.99944393e-01 -1.05444067e-02 -1.58164826e+00] [ 1.59288464e-01 1.03841518e-02 9.87177469e-01 -1.99573870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24463043999998 meters Centerline goodness : 0.103039 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.58, Z:-2.00 [[ 9.87281561e-01 -1.87975320e-03 -1.58970395e-01 -1.82503518e+01] [ 2.53620920e-04 9.99947447e-01 -1.02488212e-02 -1.58332025e+00] [ 1.58981306e-01 1.00781540e-02 9.87230153e-01 -1.99580103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30463043999998 meters Centerline goodness : 0.102351 with order 1 Centerline is valid? [False, False] Translation: X:-18.27, Y:-1.59, Z:-2.00 [[ 9.87815281e-01 1.14419345e-03 -1.55626674e-01 -1.82699473e+01] [-3.26688894e-03 9.99905086e-01 -1.33845819e-02 -1.58917560e+00] [ 1.55596589e-01 1.37299096e-02 9.87725261e-01 -2.00022853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36463043999998 meters Centerline goodness : 0.104123 with order 1 Centerline is valid? [False, False] Translation: X:-18.27, Y:-1.59, Z:-2.00 [[ 9.87694968e-01 1.33134328e-03 -1.56386948e-01 -1.82668343e+01] [-3.45223020e-03 9.99905712e-01 -1.32909599e-02 -1.58862854e+00] [ 1.56354508e-01 1.36672979e-02 9.87606436e-01 -2.00150208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42463044 meters Centerline goodness : 0.101678 with order 1 Centerline is valid? [False, False] Translation: X:-18.27, Y:-1.58, Z:-2.00 [[ 9.87580658e-01 1.43699093e-03 -1.57106266e-01 -1.82652115e+01] [-3.67691068e-03 9.99895687e-01 -1.39676469e-02 -1.58383588e+00] [ 1.57069806e-01 1.43718436e-02 9.87482924e-01 -2.00139618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48463044 meters Centerline goodness : 0.238646 with order 3 Centerline is valid? [False, False] Translation: X:-18.26, Y:-1.58, Z:-2.00 [[ 9.87545123e-01 1.58699176e-03 -1.57328041e-01 -1.82645101e+01] [-3.88106738e-03 9.99890570e-01 -1.42753386e-02 -1.58046605e+00] [ 1.57288170e-01 1.47081418e-02 9.87443215e-01 -2.00162895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54463044 meters Centerline goodness : 0.239146 with order 3 Centerline is valid? [False, False] Translation: X:-18.29, Y:-1.57, Z:-2.01 [[ 9.87471013e-01 1.10236824e-02 -1.57414985e-01 -1.82866197e+01] [-1.35058583e-02 9.99800623e-01 -1.47073614e-02 -1.57431272e+00] [ 1.57221471e-01 1.66491175e-02 9.87423018e-01 -2.00560161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60463044 meters Centerline goodness : 0.233919 with order 3 Centerline is valid? [False, False] Translation: X:-18.29, Y:-1.57, Z:-2.01 [[ 9.87533220e-01 1.07766360e-02 -1.57041406e-01 -1.82876856e+01] [-1.33737859e-02 9.99790568e-01 -1.54906843e-02 -1.56928832e+00] [ 1.56841579e-01 1.73978035e-02 9.87470524e-01 -2.00558212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66463044 meters Centerline goodness : 0.169168 with order 3 Centerline is valid? [False, False] Translation: X:-18.29, Y:-1.56, Z:-2.01 [[ 9.87498216e-01 1.07866991e-02 -1.57260677e-01 -1.82870849e+01] [-1.35025362e-02 9.99777410e-01 -1.62115058e-02 -1.56002585e+00] [ 1.57050803e-01 1.81322510e-02 9.87424056e-01 -2.00556709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72463044 meters Centerline goodness : 0.102212 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-1.55, Z:-2.01 [[ 9.87941256e-01 3.05588136e-03 -1.54799021e-01 -1.83070767e+01] [-5.66175298e-03 9.99849549e-01 -1.63958256e-02 -1.55149666e+00] [ 1.54725627e-01 1.70745463e-02 9.87809921e-01 -2.01037122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78463044 meters Centerline goodness : 0.087983 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-1.55, Z:-2.01 [[ 9.87944274e-01 2.81990492e-03 -1.54784233e-01 -1.83069507e+01] [-5.48979694e-03 9.99843389e-01 -1.68243891e-02 -1.54763804e+00] [ 1.54712548e-01 1.74712929e-02 9.87805032e-01 -2.01049840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84463044 meters Centerline goodness : 0.214318 with order 1 Centerline is valid? [False, False] Translation: X:-18.32, Y:-1.54, Z:-2.02 [[ 9.87712799e-01 -5.71849761e-03 -1.56175306e-01 -1.83238220e+01] [ 3.22801473e-03 9.99863631e-01 -1.61956867e-02 -1.54400121e+00] [ 1.56246623e-01 1.54925508e-02 9.87596564e-01 -2.01540599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90463043999998 meters Centerline goodness : 0.192564 with order 1 Centerline is valid? [False, False] Translation: X:-18.33, Y:-1.55, Z:-2.02 [[ 9.87809935e-01 -6.08226346e-03 -1.55545939e-01 -1.83255577e+01] [ 3.59910696e-03 9.99861632e-01 -1.62407858e-02 -1.54515683e+00] [ 1.55623197e-01 1.54829830e-02 9.87695144e-01 -2.01512524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96463043999998 meters Centerline goodness : 0.466720 with order 3 Centerline is valid? [False, False] Translation: X:-18.33, Y:-1.55, Z:-2.02 [[ 9.87793796e-01 -6.05604520e-03 -1.55649417e-01 -1.83250621e+01] [ 3.60554105e-03 9.99865151e-01 -1.60212452e-02 -1.54638185e+00] [ 1.55725453e-01 1.52644863e-02 9.87682428e-01 -2.01533995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02463043999998 meters Centerline goodness : 0.470286 with order 1 Centerline is valid? [False, False] Translation: X:-18.34, Y:-1.55, Z:-2.02 [[ 9.87673245e-01 1.66223960e-03 -1.56520918e-01 -1.83431596e+01] [-4.42837998e-03 9.99840094e-01 -1.73255989e-02 -1.54986729e+00] [ 1.56467090e-01 1.78051645e-02 9.87522671e-01 -2.02043854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08463043999998 meters Centerline goodness : 0.118485 with order 1 Centerline is valid? [False, False] Translation: X:-18.34, Y:-1.55, Z:-2.02 [[ 9.87621426e-01 1.41644345e-03 -1.56849970e-01 -1.83416513e+01] [-4.30330310e-03 9.99827515e-01 -1.80671709e-02 -1.54629836e+00] [ 1.56797324e-01 1.85184981e-02 9.87457171e-01 -2.02125473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14463044 meters SLAMing on 232.20463044 meters Centerline goodness : 0.098004 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.55, Z:-2.03 [[ 9.87084619e-01 -1.54931569e-04 -1.60199660e-01 -1.83831626e+01] [-2.98314590e-03 9.99808362e-01 -1.93478520e-02 -1.54517407e+00] [ 1.60171957e-01 1.95758661e-02 9.86894994e-01 -2.02792391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26463044 meters Centerline goodness : 0.117463 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.54, Z:-2.03 [[ 9.87059477e-01 -6.89786837e-04 -1.60353087e-01 -1.83828381e+01] [-2.53737411e-03 9.99798363e-01 -1.99197095e-02 -1.54377027e+00] [ 1.60334494e-01 2.00688138e-02 9.86858699e-01 -2.02777663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32463044 meters Centerline goodness : 0.121210 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-1.54, Z:-2.03 [[ 9.87130589e-01 -9.69084493e-04 -1.59913291e-01 -1.83844146e+01] [-2.30914717e-03 9.99791004e-01 -2.03129567e-02 -1.54116932e+00] [ 1.59899555e-01 2.04208043e-02 9.86922045e-01 -2.02727548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38463044 meters Centerline goodness : 0.310739 with order 3 Centerline is valid? [False, False] Translation: X:-18.41, Y:-1.54, Z:-2.03 [[ 9.87193938e-01 -9.74643663e-03 -1.59226679e-01 -1.84070809e+01] [ 6.56572386e-03 9.99768501e-01 -2.04898926e-02 -1.53607667e+00] [ 1.59389522e-01 1.91820593e-02 9.87029396e-01 -2.03042309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44463044 meters SLAMing on 232.50463044 meters Centerline goodness : 0.090186 with order 1 Centerline is valid? [False, False] Translation: X:-18.45, Y:-1.54, Z:-2.04 [[ 9.87706045e-01 -1.00730687e-02 -1.55997761e-01 -1.84540969e+01] [ 6.86177155e-03 9.99753603e-01 -2.11103895e-02 -1.53843794e+00] [ 1.56171970e-01 1.97804383e-02 9.87531797e-01 -2.03664653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56463044 meters Centerline goodness : 0.147294 with order 1 Centerline is valid? [False, False] Translation: X:-18.46, Y:-1.54, Z:-2.04 [[ 9.87799909e-01 -9.85310237e-03 -1.55416397e-01 -1.84557551e+01] [ 6.64608967e-03 9.99754411e-01 -2.11411141e-02 -1.53693542e+00] [ 1.55586534e-01 1.98502793e-02 9.87622801e-01 -2.03644772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62463044 meters Centerline goodness : 0.134465 with order 3 Centerline is valid? [False, False] Translation: X:-18.45, Y:-1.54, Z:-2.04 [[ 9.87751772e-01 -5.67992075e-03 -1.55930032e-01 -1.84541893e+01] [ 2.96710195e-03 9.99840267e-01 -1.76249131e-02 -1.53621098e+00] [ 1.56005233e-01 1.69463789e-02 9.87610848e-01 -2.03678618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68463043999998 meters Centerline goodness : 0.092572 with order 1 Centerline is valid? [False, False] Translation: X:-18.46, Y:-1.54, Z:-2.04 [[ 9.87766439e-01 -9.48212999e-03 -1.55652022e-01 -1.84553192e+01] [ 6.39669092e-03 9.99773235e-01 -2.03116100e-02 -1.54173816e+00] [ 1.55809323e-01 1.90674688e-02 9.87603102e-01 -2.03627304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74463043999998 meters Centerline goodness : 0.098051 with order 1 Centerline is valid? [False, False] Translation: X:-18.46, Y:-1.55, Z:-2.04 [[ 9.87789723e-01 -1.12091855e-02 -1.55389246e-01 -1.84557867e+01] [ 8.06050487e-03 9.99749527e-01 -2.08784981e-02 -1.55030694e+00] [ 1.55584356e-01 1.93710501e-02 9.87632660e-01 -2.03635268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80463043999998 meters Centerline goodness : 0.466785 with order 3 Centerline is valid? [False, False] Translation: X:-18.45, Y:-1.56, Z:-2.04 [[ 9.87705860e-01 -1.45039710e-02 -1.55649507e-01 -1.84528714e+01] [ 1.10907095e-02 9.99679090e-01 -2.27752588e-02 -1.55970822e+00] [ 1.55929889e-01 2.07689931e-02 9.87549755e-01 -2.03818300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86463043999998 meters Centerline goodness : 0.465860 with order 2 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.57, Z:-2.04 [[ 9.87639475e-01 -7.20137074e-03 -1.56577159e-01 -1.84684344e+01] [ 3.50357049e-03 9.99708701e-01 -2.38796545e-02 -1.57072552e+00] [ 1.56703515e-01 2.30359104e-02 9.87377008e-01 -2.04358495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92463044 meters Centerline goodness : 0.110986 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.57, Z:-2.04 [[ 9.87503818e-01 -7.20013409e-03 -1.57430515e-01 -1.84653293e+01] [ 3.50463597e-03 9.99712051e-01 -2.37388502e-02 -1.57317897e+00] [ 1.57556106e-01 2.28904686e-02 9.87244701e-01 -2.04461304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98463044 meters Centerline goodness : 0.107194 with order 1 Centerline is valid? [False, False] Translation: X:-18.46, Y:-1.58, Z:-2.04 [[ 9.87428153e-01 -7.55156243e-03 -1.57887988e-01 -1.84639834e+01] [ 3.92162648e-03 9.99721071e-01 -2.32894961e-02 -1.58204592e+00] [ 1.58019821e-01 2.23775264e-02 9.87182345e-01 -2.04481336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04463044 meters Centerline goodness : 0.109319 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.59, Z:-2.04 [[ 9.87587805e-01 -9.87060595e-03 -1.56757454e-01 -1.84678089e+01] [ 6.10625118e-03 9.99681736e-01 -2.44773388e-02 -1.59033440e+00] [ 1.56949170e-01 2.32163209e-02 9.87333764e-01 -2.04397155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10463044 meters Centerline goodness : 0.258122 with order 3 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.59, Z:-2.04 [[ 9.87649473e-01 -9.59114120e-03 -1.56385834e-01 -1.84684981e+01] [ 5.92061143e-03 9.99696345e-01 -2.39199418e-02 -1.59332136e+00] [ 1.56567766e-01 2.26986181e-02 9.87406354e-01 -2.04417619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16463044 meters Centerline goodness : 0.437391 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-1.59, Z:-2.04 [[ 9.87588160e-01 -8.89958343e-03 -1.56813338e-01 -1.84672513e+01] [ 5.31199205e-03 9.99714817e-01 -2.32823624e-02 -1.59491527e+00] [ 1.56975820e-01 2.21603942e-02 9.87353791e-01 -2.04439124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22463044 meters Centerline goodness : 0.104196 with order 1 Centerline is valid? [False, False] Translation: X:-18.49, Y:-1.60, Z:-2.05 [[ 9.87594711e-01 -8.65904334e-04 -1.57022093e-01 -1.84856204e+01] [-2.93890003e-03 9.99707705e-01 -2.39972178e-02 -1.60098161e+00] [ 1.56996976e-01 2.41609976e-02 9.87303497e-01 -2.04878808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28463044 meters Centerline goodness : 0.460567 with order 1 Centerline is valid? [False, False] Translation: X:-18.49, Y:-1.60, Z:-2.05 [[ 9.87751595e-01 -2.69616627e-04 -1.56034337e-01 -1.84884052e+01] [-3.43158173e-03 9.99719108e-01 -2.34505513e-02 -1.60194713e+00] [ 1.55996831e-01 2.36987640e-02 9.87473219e-01 -2.04850008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34463044 meters Centerline goodness : 0.101215 with order 1 Centerline is valid? [False, False] Translation: X:-18.49, Y:-1.60, Z:-2.05 [[ 9.87841059e-01 -1.52853577e-04 -1.55467096e-01 -1.84900993e+01] [-3.51005337e-03 9.99722686e-01 -2.32858665e-02 -1.60278525e+00] [ 1.55427542e-01 2.35484328e-02 9.87566580e-01 -2.04831732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40463043999998 meters Centerline goodness : 0.103168 with order 1 Centerline is valid? [False, False] Translation: X:-18.49, Y:-1.61, Z:-2.05 [[ 9.87861684e-01 -6.39171804e-05 -1.55336055e-01 -1.84905878e+01] [-3.52283907e-03 9.99733499e-01 -2.28149085e-02 -1.60618071e+00] [ 1.55296116e-01 2.30851979e-02 9.87598193e-01 -2.04818540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46463043999998 meters Centerline goodness : 0.105108 with order 1 Centerline is valid? [False, False] Translation: X:-18.51, Y:-1.61, Z:-2.05 [[ 9.87479163e-01 -7.80497035e-03 -1.57556295e-01 -1.85075986e+01] [ 4.55684642e-03 9.99769797e-01 -2.09663648e-02 -1.60969741e+00] [ 1.57683666e-01 1.99858885e-02 9.87287408e-01 -2.05307564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52463043999998 meters Centerline goodness : 0.172051 with order 3 Centerline is valid? [False, False] Translation: X:-18.51, Y:-1.62, Z:-2.05 [[ 9.87470767e-01 -7.69072216e-03 -1.57614523e-01 -1.85070913e+01] [ 4.52771409e-03 9.99781294e-01 -2.04172482e-02 -1.61515400e+00] [ 1.57737076e-01 1.94478022e-02 9.87289622e-01 -2.05337301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58463043999998 meters Centerline goodness : 0.100601 with order 1 Centerline is valid? [False, False] Translation: X:-18.53, Y:-1.62, Z:-2.06 [[ 9.87720570e-01 4.02298602e-04 -1.56230322e-01 -1.85271545e+01] [-3.71651101e-03 9.99774201e-01 -2.09221012e-02 -1.62010949e+00] [ 1.56186628e-01 2.12458214e-02 9.87499039e-01 -2.05857805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64463044 meters Centerline goodness : 0.116441 with order 1 Centerline is valid? [False, False] Translation: X:-18.53, Y:-1.62, Z:-2.06 [[ 9.87694666e-01 6.53616285e-04 -1.56393154e-01 -1.85257150e+01] [-3.96552334e-03 9.99774423e-01 -2.08657305e-02 -1.62027603e+00] [ 1.56344237e-01 2.12291514e-02 9.87474457e-01 -2.05979367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70463044 meters Centerline goodness : 0.118024 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.62, Z:-2.06 [[ 9.87594015e-01 7.30388770e-04 -1.57027155e-01 -1.85239140e+01] [-4.00104593e-03 9.99781570e-01 -2.05135207e-02 -1.62315391e+00] [ 1.56977872e-01 2.08873031e-02 9.87381217e-01 -2.06003792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76463044 meters Centerline goodness : 0.242698 with order 3 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.63, Z:-2.06 [[ 9.87643482e-01 -1.99415989e-03 -1.56704738e-01 -1.85230386e+01] [-1.45676723e-03 9.99759019e-01 -2.19039069e-02 -1.63182724e+00] [ 1.56710655e-01 2.18615332e-02 9.87402574e-01 -2.06146810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82463044 meters Centerline goodness : 0.220082 with order 3 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.64, Z:-2.06 [[ 9.87694011e-01 -5.63481113e-03 -1.56297121e-01 -1.85236855e+01] [ 1.83807558e-03 9.99699959e-01 -2.44256848e-02 -1.63760149e+00] [ 1.56387859e-01 2.38378166e-02 9.87408019e-01 -2.06183724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88463044 meters Centerline goodness : 0.115878 with order 3 Centerline is valid? [False, False] Translation: X:-18.53, Y:-1.64, Z:-2.06 [[ 9.87802404e-01 -5.15542794e-03 -1.55627223e-01 -1.85255086e+01] [ 1.44096240e-03 9.99711614e-01 -2.39710958e-02 -1.63838268e+00] [ 1.55705923e-01 2.34544531e-02 9.87524964e-01 -2.06170805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94463044 meters Centerline goodness : 0.117923 with order 2 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.63, Z:-2.06 [[ 9.87754391e-01 -1.92448782e-03 -1.56004997e-01 -1.85234015e+01] [-1.47611502e-03 9.99763888e-01 -2.16792576e-02 -1.63496243e+00] [ 1.56009884e-01 2.16440632e-02 9.87518329e-01 -2.06272198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00463044 meters Centerline goodness : 0.114099 with order 3 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.63, Z:-2.06 [[ 9.87666514e-01 9.92781505e-04 -1.56569061e-01 -1.85195470e+01] [-4.16393347e-03 9.99792760e-01 -1.99273208e-02 -1.62841355e+00] [ 1.56516830e-01 2.03334906e-02 9.87465965e-01 -2.06497387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06463044 meters Centerline goodness : 0.212798 with order 3 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.62, Z:-2.06 [[ 9.87735403e-01 7.89605818e-04 -1.56135036e-01 -1.85208396e+01] [-4.05683178e-03 9.99779400e-01 -2.06080892e-02 -1.62338771e+00] [ 1.56084320e-01 2.09887529e-02 9.87520712e-01 -2.06486114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12463044 meters Centerline goodness : 0.115768 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.62, Z:-2.06 [[ 9.87722135e-01 3.49289531e-04 -1.56220555e-01 -1.85210635e+01] [-3.75451840e-03 9.99761733e-01 -2.15030258e-02 -1.61542390e+00] [ 1.56175822e-01 2.18255475e-02 9.87488105e-01 -2.06445833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18463043999998 meters Centerline goodness : 0.100966 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.61, Z:-2.06 [[ 9.87719884e-01 -1.77399772e-04 -1.56235075e-01 -1.85206199e+01] [-3.33598471e-03 9.99747421e-01 -2.22253128e-02 -1.61032205e+00] [ 1.56199556e-01 2.24735812e-02 9.87469816e-01 -2.06489887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24463043999998 meters Centerline goodness : 0.121328 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.61, Z:-2.07 [[ 9.87650328e-01 -1.07151226e-03 -1.56670612e-01 -1.85193209e+01] [-2.57277749e-03 9.99730860e-01 -2.30561965e-02 -1.60836635e+00] [ 1.56653150e-01 2.31745387e-02 9.87381756e-01 -2.06500314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30463043999998 meters Centerline goodness : 0.107251 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.61, Z:-2.07 [[ 9.87416190e-01 -1.16202978e-02 -1.57715684e-01 -1.85404485e+01] [ 7.95327216e-03 9.99683622e-01 -2.38621273e-02 -1.60548758e+00] [ 1.57943071e-01 2.23074951e-02 9.87196212e-01 -2.06785490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36463043999998 meters Centerline goodness : 0.108298 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.61, Z:-2.07 [[ 9.87444936e-01 -1.20422225e-02 -1.57503915e-01 -1.85409608e+01] [ 8.38330271e-03 9.99679815e-01 -2.38744347e-02 -1.60715082e+00] [ 1.57740986e-01 2.22542866e-02 9.87229724e-01 -2.06776691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42463044 meters Centerline goodness : 0.123657 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.61, Z:-2.07 [[ 9.87427995e-01 -1.24438706e-02 -1.57578885e-01 -1.85410961e+01] [ 8.84958035e-03 9.99684888e-01 -2.34906219e-02 -1.61376245e+00] [ 1.57821545e-01 2.18007907e-02 9.87226968e-01 -2.06725574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48463044 meters Centerline goodness : 0.150108 with order 3 Centerline is valid? [False, False] Translation: X:-18.54, Y:-1.62, Z:-2.07 [[ 9.87445315e-01 -1.21505427e-02 -1.57493220e-01 -1.85415873e+01] [ 8.68965586e-03 9.99705807e-01 -2.26448363e-02 -1.62047815e+00] [ 1.57722033e-01 2.09919756e-02 9.87260400e-01 -2.06691993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54463044 meters Centerline goodness : 0.239873 with order 3 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.64, Z:-2.07 [[ 9.88025978e-01 -8.67864803e-03 -1.54043328e-01 -1.85620825e+01] [ 4.98801624e-03 9.99691568e-01 -2.43287501e-02 -1.63972993e+00] [ 1.54206957e-01 2.32690665e-02 9.87764529e-01 -2.07125758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60463044 meters Centerline goodness : 0.103095 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.65, Z:-2.07 [[ 9.87977197e-01 -8.50744479e-03 -1.54365415e-01 -1.85610750e+01] [ 4.98348957e-03 9.99718393e-01 -2.32012784e-02 -1.65133227e+00] [ 1.54519328e-01 2.21530556e-02 9.87741373e-01 -2.07146356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66463044 meters Centerline goodness : 0.107599 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-1.67, Z:-2.07 [[ 9.87924781e-01 -8.58368473e-03 -1.54696309e-01 -1.85596831e+01] [ 5.27121848e-03 9.99748233e-01 -2.18101925e-02 -1.66955089e+00] [ 1.54844574e-01 2.07313916e-02 9.87721300e-01 -2.07195199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72463044 meters Centerline goodness : 0.148664 with order 3 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.69, Z:-2.08 [[ 9.87981283e-01 -1.00341366e-03 -1.54570300e-01 -1.85736888e+01] [-2.46570444e-03 9.99749391e-01 -2.22502773e-02 -1.69100308e+00] [ 1.54553890e-01 2.23639822e-02 9.87731212e-01 -2.07695227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78463044 meters Centerline goodness : 0.235074 with order 3 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.70, Z:-2.08 [[ 9.87907894e-01 -6.14754091e-04 -1.55040688e-01 -1.85721868e+01] [-2.72724933e-03 9.99768513e-01 -2.13420294e-02 -1.70083579e+00] [ 1.55017918e-01 2.15067940e-02 9.87677530e-01 -2.07728714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84463044 meters Centerline goodness : 0.138870 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.72, Z:-2.08 [[ 9.87648703e-01 -2.45550421e-03 -1.56665282e-01 -1.85670724e+01] [-9.98650496e-04 9.99758231e-01 -2.19654690e-02 -1.71555631e+00] [ 1.56681342e-01 2.18506209e-02 9.87407468e-01 -2.07799812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90463043999998 meters Centerline goodness : 0.082072 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.72, Z:-2.08 [[ 9.87581820e-01 -2.10135398e-03 -1.57091481e-01 -1.85651973e+01] [-1.22523888e-03 9.99777119e-01 -2.10763132e-02 -1.72408953e+00] [ 1.57100757e-01 2.10070584e-02 9.87359132e-01 -2.07881280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96463043999998 meters Centerline goodness : 0.209535 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-1.73, Z:-2.07 [[ 9.87837808e-01 6.34067282e-03 -1.55358489e-01 -1.85466351e+01] [-9.80013018e-03 9.99720561e-01 -2.15117832e-02 -1.73425436e+00] [ 1.55178677e-01 2.27726862e-02 9.87623908e-01 -2.07489569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02463043999998 meters Centerline goodness : 0.083310 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.74, Z:-2.08 [[ 9.87546802e-01 1.50589631e-03 -1.57318294e-01 -1.85685692e+01] [-4.34764165e-03 9.99833516e-01 -1.77211050e-02 -1.73907824e+00] [ 1.57265417e-01 1.81843841e-02 9.87388939e-01 -2.07711651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08463043999998 meters Centerline goodness : 0.117414 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-1.74, Z:-2.08 [[ 9.87515366e-01 1.57637443e-03 -1.57514814e-01 -1.85684666e+01] [-4.37770507e-03 9.99838342e-01 -1.74391941e-02 -1.74145746e+00] [ 1.57461860e-01 1.79110256e-02 9.87362627e-01 -2.07666996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14463044 meters Centerline goodness : 0.119465 with order 1 Centerline is valid? [False, False] Translation: X:-18.58, Y:-1.75, Z:-2.07 [[ 9.87794472e-01 -1.28951391e-03 -1.55757565e-01 -1.85756979e+01] [-1.69316249e-03 9.99817759e-01 -1.90152912e-02 -1.74804719e+00] [ 1.55753700e-01 1.90469224e-02 9.87612272e-01 -2.07402939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20463044 meters Centerline goodness : 0.318920 with order 3 Centerline is valid? [False, False] Translation: X:-18.58, Y:-1.75, Z:-2.07 [[ 9.87910649e-01 -3.97624948e-03 -1.54973353e-01 -1.85785321e+01] [ 8.06416255e-04 9.99789291e-01 -2.05115550e-02 -1.75435616e+00] [ 1.55022257e-01 2.01386105e-02 9.87705693e-01 -2.07325561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26463044 meters Centerline goodness : 0.455462 with order 1 Centerline is valid? [False, False] Translation: X:-18.58, Y:-1.76, Z:-2.07 [[ 9.87880436e-01 -4.16005627e-03 -1.55161010e-01 -1.85781924e+01] [ 1.02731166e-03 9.99794116e-01 -2.02650053e-02 -1.75701542e+00] [ 1.55213368e-01 1.98600035e-02 9.87681320e-01 -2.07301925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32463044 meters Centerline goodness : 0.104255 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.76, Z:-2.08 [[ 9.87440880e-01 -1.50516054e-02 -1.57270333e-01 -1.85976949e+01] [ 1.19523249e-02 9.99715650e-01 -2.06339694e-02 -1.76140277e+00] [ 1.57536187e-01 1.84950788e-02 9.87340003e-01 -2.07627035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38463044 meters Centerline goodness : 0.122102 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.76, Z:-2.08 [[ 9.87362006e-01 -1.49940818e-02 -1.57770236e-01 -1.85954268e+01] [ 1.18621016e-02 9.99713814e-01 -2.07745284e-02 -1.75980333e+00] [ 1.58036579e-01 1.86404935e-02 9.87257298e-01 -2.07729603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44463044 meters Centerline goodness : 0.122562 with order 1 Centerline is valid? [False, False] Translation: X:-18.61, Y:-1.76, Z:-2.08 [[ 9.87398842e-01 -7.85512646e-03 -1.58056394e-01 -1.86134749e+01] [ 4.43693639e-03 9.99748836e-01 -2.19676509e-02 -1.76315206e+00] [ 1.58189255e-01 2.09895469e-02 9.87185696e-01 -2.08176277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50463044 meters Centerline goodness : 0.463283 with order 2 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.77, Z:-2.08 [[ 9.87501641e-01 -1.06730070e-02 -1.57246925e-01 -1.86168878e+01] [ 7.13394764e-03 9.99708776e-01 -2.30536382e-02 -1.77067226e+00] [ 1.57447183e-01 2.16437142e-02 9.87290198e-01 -2.08147073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56463044 meters Centerline goodness : 0.087662 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.78, Z:-2.08 [[ 9.87480783e-01 -1.36555168e-02 -1.57147158e-01 -1.86171276e+01] [ 9.99959666e-03 9.99661190e-01 -2.40314919e-02 -1.77964519e+00] [ 1.57422078e-01 2.21592283e-02 9.87282765e-01 -2.08271438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62463044 meters Centerline goodness : 0.091504 with order 1 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.79, Z:-2.09 [[ 9.87082557e-01 -8.23087972e-03 -1.60000869e-01 -1.86302344e+01] [ 4.07723821e-03 9.99646540e-01 -2.62711056e-02 -1.79410563e+00] [ 1.60160549e-01 2.52793884e-02 9.86767222e-01 -2.08699952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68463043999998 meters Centerline goodness : 0.089445 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.80, Z:-2.09 [[ 9.86574348e-01 3.11448317e-03 -1.63283057e-01 -1.86413238e+01] [-7.47815904e-03 9.99630928e-01 -2.61167707e-02 -1.80031397e+00] [ 1.63141454e-01 2.69871927e-02 9.86233521e-01 -2.08942757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74463043999998 meters Centerline goodness : 0.227671 with order 3 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.80, Z:-2.08 [[ 9.86397289e-01 1.39087392e-02 -1.63789303e-01 -1.86182201e+01] [-1.84143743e-02 9.99491739e-01 -2.60225721e-02 -1.79834514e+00] [ 1.63344115e-01 2.86846722e-02 9.86152062e-01 -2.08450124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80463043999998 meters Centerline goodness : 0.098507 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.79, Z:-2.08 [[ 9.86438700e-01 1.68093998e-02 -1.63267067e-01 -1.86202140e+01] [-2.10185479e-02 9.99488875e-01 -2.40875335e-02 -1.79393684e+00] [ 1.62778720e-01 2.71925119e-02 9.86287816e-01 -2.08338452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86463043999998 meters Centerline goodness : 0.095933 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.79, Z:-2.08 [[ 9.86409767e-01 1.70849036e-02 -1.63413212e-01 -1.86194115e+01] [-2.13495058e-02 9.99474856e-01 -2.43764221e-02 -1.79052878e+00] [ 1.62910928e-01 2.75339322e-02 9.86256514e-01 -2.08346908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92463044 meters Centerline goodness : 0.101001 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-1.79, Z:-2.08 [[ 9.86344072e-01 1.70612638e-02 -1.63811737e-01 -1.86183936e+01] [-2.13622832e-02 9.99470822e-01 -2.45301474e-02 -1.78957061e+00] [ 1.63306536e-01 2.76945582e-02 9.86186588e-01 -2.08333036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98463044 meters Centerline goodness : 0.470116 with order 3 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.78, Z:-2.08 [[ 9.86864027e-01 1.03483847e-02 -1.61221288e-01 -1.86026042e+01] [-1.42189734e-02 9.99637265e-01 -2.28726767e-02 -1.78410751e+00] [ 1.60926112e-01 2.48646230e-02 9.86653200e-01 -2.07845971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04463044 meters Centerline goodness : 0.121127 with order 3 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.78, Z:-2.08 [[ 9.86858715e-01 9.99092700e-03 -1.61276341e-01 -1.86029918e+01] [-1.39018833e-02 9.99635576e-01 -2.31398394e-02 -1.78448661e+00] [ 1.60986380e-01 2.50777970e-02 9.86637973e-01 -2.07790509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10463044 meters Centerline goodness : 0.126695 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.79, Z:-2.08 [[ 9.86927908e-01 1.01543653e-02 -1.60842137e-01 -1.86037763e+01] [-1.39405627e-02 9.99651243e-01 -2.24288647e-02 -1.78823043e+00] [ 1.60558291e-01 2.43779024e-02 9.86725267e-01 -2.07846843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16463044 meters Centerline goodness : 0.120590 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.79, Z:-2.08 [[ 9.86922169e-01 6.89849113e-03 -1.61049814e-01 -1.86021871e+01] [-1.10578641e-02 9.99627675e-01 -2.49446333e-02 -1.79154112e+00] [ 1.60817771e-01 2.63992785e-02 9.86630996e-01 -2.07951136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22463044 meters Centerline goodness : 0.092573 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.79, Z:-2.08 [[ 9.86806811e-01 7.52050016e-03 -1.61727423e-01 -1.86002117e+01] [-1.16308643e-02 9.99632569e-01 -2.44836598e-02 -1.79226265e+00] [ 1.61483870e-01 2.60416720e-02 9.86531698e-01 -2.07938330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28463044 meters Centerline goodness : 0.100695 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.79, Z:-2.08 [[ 9.86868936e-01 7.79245047e-03 -1.61334996e-01 -1.86013830e+01] [-1.18982352e-02 9.99629063e-01 -2.44983347e-02 -1.79124826e+00] [ 1.61084249e-01 2.60962472e-02 9.86595586e-01 -2.07901158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34463044 meters Centerline goodness : 0.121211 with order 3 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.79, Z:-2.09 [[ 9.86178824e-01 9.55973231e-03 -1.65408396e-01 -1.86414856e+01] [-1.34121100e-02 9.99663829e-01 -2.21888389e-02 -1.79260096e+00] [ 1.65140672e-01 2.41006386e-02 9.85975516e-01 -2.08569656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40463043999998 meters Centerline goodness : 0.083810 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.79, Z:-2.09 [[ 9.86173162e-01 6.01666984e-03 -1.65608857e-01 -1.86408562e+01] [-1.03440363e-02 9.99626893e-01 -2.52799645e-02 -1.79368269e+00] [ 1.65394966e-01 2.66434866e-02 9.85867450e-01 -2.08571238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46463043999998 meters Centerline goodness : 0.461325 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.80, Z:-2.09 [[ 9.86395727e-01 3.98641342e-03 -1.64339828e-01 -1.86452087e+01] [-8.31787838e-03 9.99635685e-01 -2.56770292e-02 -1.80372939e+00] [ 1.64177598e-01 2.66946706e-02 9.86069526e-01 -2.08534383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52463043999998 meters Centerline goodness : 0.375121 with order 3 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.81, Z:-2.09 [[ 9.86259206e-01 3.15833976e-04 -1.65204962e-01 -1.86422508e+01] [-5.01645362e-03 9.99594304e-01 -2.80367954e-02 -1.81259068e+00] [ 1.65129084e-01 2.84802906e-02 9.85860669e-01 -2.08605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58463043999998 meters Centerline goodness : 0.083765 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86235970e-01 6.69375186e-04 -1.65342565e-01 -1.86415442e+01] [-5.27981833e-03 9.99609337e-01 -2.74462481e-02 -1.81568912e+00] [ 1.65259600e-01 2.79414559e-02 9.85854218e-01 -2.08640899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64463044 meters Centerline goodness : 0.140982 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.82, Z:-2.09 [[ 9.86414524e-01 8.97058775e-03 -1.64030230e-01 -1.86621130e+01] [-1.36374707e-02 9.99532960e-01 -2.73474047e-02 -1.82109741e+00] [ 1.63708299e-01 2.92128346e-02 9.86076165e-01 -2.09152992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70463044 meters Centerline goodness : 0.220725 with order 3 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.82, Z:-2.09 [[ 9.86281979e-01 9.35571631e-03 -1.64803908e-01 -1.86599592e+01] [-1.40715346e-02 9.99523569e-01 -2.74704776e-02 -1.81899330e+00] [ 1.64468384e-01 2.94126809e-02 9.85943733e-01 -2.09126686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76463044 meters Centerline goodness : 0.181049 with order 3 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.82, Z:-2.09 [[ 9.86332062e-01 9.19939909e-03 -1.64512721e-01 -1.86603716e+01] [-1.39717467e-02 9.99513758e-01 -2.78753870e-02 -1.81671490e+00] [ 1.64176291e-01 2.97929180e-02 9.85980997e-01 -2.09155713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82463044 meters Centerline goodness : 0.150272 with order 3 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.82, Z:-2.09 [[ 9.86382608e-01 9.31934213e-03 -1.64202620e-01 -1.86611931e+01] [-1.40482353e-02 9.99518630e-01 -2.76614277e-02 -1.81713033e+00] [ 1.63865791e-01 2.95915082e-02 9.86038714e-01 -2.09165089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88463044 meters Centerline goodness : 0.114634 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.82, Z:-2.09 [[ 9.86325233e-01 9.44383730e-03 -1.64539812e-01 -1.86603343e+01] [-1.41273262e-02 9.99526983e-01 -2.73172067e-02 -1.81884415e+00] [ 1.64204002e-01 2.92681579e-02 9.85992100e-01 -2.09168750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94463044 meters Centerline goodness : 0.115010 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.81, Z:-2.09 [[ 9.86360911e-01 2.54836876e-03 -1.64577211e-01 -1.86412323e+01] [-6.84561783e-03 9.99650133e-01 -2.55489362e-02 -1.81479566e+00] [ 1.64454523e-01 2.63271047e-02 9.86033262e-01 -2.08813861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00463044 meters Centerline goodness : 0.120884 with order 3 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86358319e-01 2.41802766e-03 -1.64594712e-01 -1.86411414e+01] [-6.71810375e-03 9.99650369e-01 -2.55735755e-02 -1.81580419e+00] [ 1.64475327e-01 2.63304733e-02 9.86029702e-01 -2.08820369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06463044 meters Centerline goodness : 0.112601 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86219733e-01 2.43570933e-03 -1.65422809e-01 -1.86387125e+01] [-6.70220950e-03 9.99658999e-01 -2.52381913e-02 -1.81867202e+00] [ 1.65304927e-01 2.59991006e-02 9.85899756e-01 -2.08849657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12463044 meters Centerline goodness : 0.109441 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86238689e-01 2.57925829e-03 -1.65307577e-01 -1.86387114e+01] [-6.76447452e-03 9.99670544e-01 -2.47597722e-02 -1.82247026e+00] [ 1.65189254e-01 2.55372642e-02 9.85931214e-01 -2.08881857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18463043999998 meters Centerline goodness : 0.109526 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.83, Z:-2.09 [[ 9.86240621e-01 -1.37247603e-03 -1.65310478e-01 -1.86382674e+01] [-3.27735925e-03 9.99606690e-01 -2.78518404e-02 -1.82578528e+00] [ 1.65283685e-01 2.80103982e-02 9.85848224e-01 -2.08923434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24463043999998 meters Centerline goodness : 0.129732 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.83, Z:-2.09 [[ 9.86225019e-01 -1.01170506e-03 -1.65406130e-01 -1.86378294e+01] [-3.53461520e-03 9.99624058e-01 -2.71891415e-02 -1.82906268e+00] [ 1.65371454e-01 2.73992586e-02 9.85850680e-01 -2.08942526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30463043999998 meters Centerline goodness : 0.166233 with order 3 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.83, Z:-2.09 [[ 9.86309811e-01 -7.70405856e-04 -1.64901073e-01 -1.86395362e+01] [-3.69659363e-03 9.99634507e-01 -2.67803645e-02 -1.83169222e+00] [ 1.64861434e-01 2.70233085e-02 9.85946473e-01 -2.08897236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36463043999998 meters Centerline goodness : 0.182316 with order 3 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.83, Z:-2.09 [[ 9.86421765e-01 -3.58532862e-04 -1.64231460e-01 -1.86415493e+01] [-4.04058913e-03 9.99641938e-01 -2.64512630e-02 -1.83195235e+00] [ 1.64182139e-01 2.67556934e-02 9.86067116e-01 -2.08866910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42463044 meters Centerline goodness : 0.105984 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.83, Z:-2.09 [[ 9.86329708e-01 1.54929441e-04 -1.64783748e-01 -1.86395486e+01] [-4.60617696e-03 9.99634723e-01 -2.66308807e-02 -1.82811433e+00] [ 1.64719430e-01 2.70258518e-02 9.85970138e-01 -2.08925066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48463044 meters Centerline goodness : 0.104420 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86327296e-01 4.18077144e-04 -1.64797729e-01 -1.86392743e+01] [-4.90580372e-03 9.99628090e-01 -2.68256516e-02 -1.82495516e+00] [ 1.64725223e-01 2.72673377e-02 9.85962521e-01 -2.08951512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54463044 meters Centerline goodness : 0.086072 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86427658e-01 6.55183340e-04 -1.64195147e-01 -1.86407224e+01] [-5.15047487e-03 9.99623420e-01 -2.69535022e-02 -1.82216262e+00] [ 1.64115655e-01 2.74333630e-02 9.86059563e-01 -2.08957626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60463044 meters Centerline goodness : 0.088388 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86263792e-01 1.94637672e-04 -1.65177766e-01 -1.86374998e+01] [-4.84613259e-03 9.99602925e-01 -2.77580018e-02 -1.81845474e+00] [ 1.65106775e-01 2.81771854e-02 9.85873115e-01 -2.09031685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66463044 meters Centerline goodness : 0.085334 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86264700e-01 3.11558854e-04 -1.65172167e-01 -1.86377410e+01] [-4.96989959e-03 9.99601417e-01 -2.77904077e-02 -1.81664364e+00] [ 1.65097674e-01 2.82295872e-02 9.85873140e-01 -2.09001820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72463044 meters Centerline goodness : 0.121737 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.82, Z:-2.09 [[ 9.86560542e-01 -5.81332431e-05 -1.63396123e-01 -1.86427416e+01] [-4.59592998e-03 9.99594407e-01 -2.81051519e-02 -1.81522214e+00] [ 1.63331484e-01 2.84783910e-02 9.86160133e-01 -2.08928316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78463044 meters Centerline goodness : 0.460845 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.81, Z:-2.09 [[ 9.86614118e-01 3.24763951e-05 -1.63072317e-01 -1.86438155e+01] [-4.66445220e-03 9.99596434e-01 -2.80216237e-02 -1.81475702e+00] [ 1.63005597e-01 2.84071725e-02 9.86216106e-01 -2.08896954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84463044 meters Centerline goodness : 0.114419 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.81, Z:-2.09 [[ 9.86433405e-01 -4.13910752e-04 -1.64161402e-01 -1.86405912e+01] [-4.34846741e-03 9.99580048e-01 -2.86499163e-02 -1.81262405e+00] [ 1.64104321e-01 2.89750850e-02 9.86017351e-01 -2.08939146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90463043999998 meters Centerline goodness : 0.083683 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-1.81, Z:-2.09 [[ 9.86489100e-01 3.93718816e-04 -1.63826434e-01 -1.86414824e+01] [-5.09656752e-03 9.99586851e-01 -2.82869623e-02 -1.80788451e+00] [ 1.63747612e-01 2.87397325e-02 9.86083540e-01 -2.08932287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96463043999998 meters Centerline goodness : 0.084004 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.80, Z:-2.09 [[ 9.86777450e-01 2.84095369e-03 -1.62056143e-01 -1.86479849e+01] [-7.32089876e-03 9.99607167e-01 -2.70539582e-02 -1.79972906e+00] [ 1.61915623e-01 2.78826325e-02 9.86410609e-01 -2.08750706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02463043999998 meters Centerline goodness : 0.083484 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.79, Z:-2.09 [[ 9.86705823e-01 5.81509904e-03 -1.62412451e-01 -1.86464669e+01] [-1.00949924e-02 9.99622849e-01 -2.55391866e-02 -1.78934578e+00] [ 1.62202684e-01 2.68392166e-02 9.86392389e-01 -2.08795204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08463043999998 meters Centerline goodness : 0.083949 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-1.78, Z:-2.09 [[ 9.86681190e-01 5.47041835e-03 -1.62573994e-01 -1.86457369e+01] [-9.88399256e-03 9.99603869e-01 -2.63516821e-02 -1.78362969e+00] [ 1.62365438e-01 2.76075892e-02 9.86344405e-01 -2.08820295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14463044 meters Centerline goodness : 0.083841 with order 1 Centerline is valid? [False, False] Translation: X:-18.67, Y:-1.77, Z:-2.09 [[ 9.86730866e-01 -3.58545223e-03 -1.62324808e-01 -1.86656039e+01] [-6.81481239e-04 9.99655884e-01 -2.62230835e-02 -1.77484227e+00] [ 1.62362971e-01 2.59857471e-02 9.86388872e-01 -2.09186749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20463044 meters Centerline goodness : 0.083887 with order 1 Centerline is valid? [False, False] Translation: X:-18.67, Y:-1.77, Z:-2.09 [[ 9.86723605e-01 -3.90391943e-03 -1.62361591e-01 -1.86654696e+01] [-4.50160178e-04 9.99641471e-01 -2.67717471e-02 -1.77147014e+00] [ 1.62407894e-01 2.64894035e-02 9.86368079e-01 -2.09185318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26463044 meters Centerline goodness : 0.121388 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.77, Z:-2.09 [[ 9.86709971e-01 -3.72529923e-03 -1.62448625e-01 -1.86647266e+01] [-6.43021173e-04 9.99639814e-01 -2.68296074e-02 -1.76665987e+00] [ 1.62490062e-01 2.65774991e-02 9.86352177e-01 -2.09221267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32463044 meters Centerline goodness : 0.124729 with order 1 Centerline is valid? [False, False] Translation: X:-18.70, Y:-1.76, Z:-2.10 [[ 9.86051878e-01 -5.51793715e-03 -1.66346765e-01 -1.87047539e+01] [ 9.59569705e-04 9.99622148e-01 -2.74707275e-02 -1.76318153e+00] [ 1.66435493e-01 2.69279412e-02 9.85684591e-01 -2.09928448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38463044 meters Centerline goodness : 0.248364 with order 3 Centerline is valid? [False, False] Translation: X:-18.70, Y:-1.76, Z:-2.10 [[ 9.86015732e-01 -5.85020207e-03 -1.66549545e-01 -1.87042677e+01] [ 1.19096705e-03 9.99605497e-01 -2.80612109e-02 -1.76003174e+00] [ 1.66648004e-01 2.74704404e-02 9.85633714e-01 -2.09918351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44463044 meters Centerline goodness : 0.261766 with order 3 Centerline is valid? [False, False] Translation: X:-18.71, Y:-1.75, Z:-2.10 [[ 9.86232023e-01 -4.06001010e-03 -1.65317612e-01 -1.87092124e+01] [-4.53136434e-04 9.99628466e-01 -2.72529906e-02 -1.75129909e+00] [ 1.65366838e-01 2.69526835e-02 9.85863764e-01 -2.09759903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50463044 meters Centerline goodness : 0.269696 with order 3 Centerline is valid? [False, False] Translation: X:-18.73, Y:-1.75, Z:-2.10 [[ 9.86031484e-01 4.56772070e-03 -1.66496392e-01 -1.87302422e+01] [-9.31989209e-03 9.99570834e-01 -2.77720530e-02 -1.74597023e+00] [ 1.66298083e-01 2.89358470e-02 9.85650884e-01 -2.10114016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56463044 meters Centerline goodness : 0.132809 with order 1 Centerline is valid? [False, False] Translation: X:-18.73, Y:-1.73, Z:-2.10 [[ 9.85981789e-01 7.93668940e-03 -1.66664096e-01 -1.87293585e+01] [-1.24680699e-02 9.99580012e-01 -2.61600063e-02 -1.73249961e+00] [ 1.66386475e-01 2.78712694e-02 9.85666644e-01 -2.10123478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62463044 meters Centerline goodness : 0.139709 with order 1 Centerline is valid? [False, False] Translation: X:-18.75, Y:-1.72, Z:-2.10 [[ 9.86665643e-01 1.96579152e-03 -1.62748408e-01 -1.87510767e+01] [-6.27492776e-03 9.99643094e-01 -2.59674781e-02 -1.72028294e+00] [ 1.62639275e-01 2.66424530e-02 9.86325831e-01 -2.10465790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68463043999998 meters Centerline goodness : 0.130049 with order 1 Centerline is valid? [False, False] Translation: X:-18.75, Y:-1.72, Z:-2.10 [[ 9.86737046e-01 1.89094470e-03 -1.62315825e-01 -1.87523356e+01] [-6.26137397e-03 9.99631371e-01 -2.64181388e-02 -1.71595766e+00] [ 1.62206036e-01 2.70840763e-02 9.86385145e-01 -2.10448616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74463043999998 meters Centerline goodness : 0.132440 with order 1 Centerline is valid? [False, False] Translation: X:-18.75, Y:-1.71, Z:-2.10 [[ 9.86799804e-01 1.79159502e-03 -1.61934975e-01 -1.87535455e+01] [-6.24139368e-03 9.99616640e-01 -2.69743942e-02 -1.70966176e+00] [ 1.61824569e-01 2.76290269e-02 9.86432687e-01 -2.10412541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80463043999998 meters Centerline goodness : 0.137116 with order 1 Centerline is valid? [False, False] Translation: X:-18.75, Y:-1.71, Z:-2.10 [[ 9.86735693e-01 1.68495038e-03 -1.62326315e-01 -1.87525262e+01] [-6.23418254e-03 9.99601815e-01 -2.75199432e-02 -1.70559144e+00] [ 1.62215309e-01 2.81668821e-02 9.86353294e-01 -2.10403818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86463043999998 meters Centerline goodness : 0.142866 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-1.69, Z:-2.11 [[ 9.86418362e-01 4.25181108e-03 -1.64197251e-01 -1.87449053e+01] [-8.71475556e-03 9.99611631e-01 -2.64695972e-02 -1.69494003e+00] [ 1.64020938e-01 2.75410356e-02 9.86072321e-01 -2.10654264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92463044 meters Centerline goodness : 0.141058 with order 1 Centerline is valid? [False, False] Translation: X:-18.75, Y:-1.69, Z:-2.11 [[ 9.86539050e-01 6.19475626e-03 -1.63408471e-01 -1.87480897e+01] [-1.05201381e-02 9.99616457e-01 -2.56176853e-02 -1.68637413e+00] [ 1.63187102e-01 2.69919266e-02 9.86225839e-01 -2.10550186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98463044 meters Centerline goodness : 0.108042 with order 1 Centerline is valid? [False, False] Translation: X:-18.77, Y:-1.67, Z:-2.11 [[ 9.87275492e-01 2.96455520e-03 -1.58991555e-01 -1.87689077e+01] [-6.83003260e-03 9.99694085e-01 -2.37715487e-02 -1.67190976e+00] [ 1.58872445e-01 2.45549850e-02 9.86993718e-01 -2.10876061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04463044 meters Centerline goodness : 0.110890 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.66, Z:-2.11 [[ 9.86946351e-01 -6.08269238e-03 -1.60934461e-01 -1.87872132e+01] [ 2.26069598e-03 9.99711290e-01 -2.39212322e-02 -1.66480052e+00] [ 1.61033503e-01 2.32451490e-02 9.86675161e-01 -2.11287538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10463044 meters Centerline goodness : 0.221771 with order 3 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.66, Z:-2.11 [[ 9.86884030e-01 -6.33449737e-03 -1.61306495e-01 -1.87860876e+01] [ 2.45213309e-03 9.99702774e-01 -2.42559582e-02 -1.66321891e+00] [ 1.61412200e-01 2.35422728e-02 9.86606235e-01 -2.11304907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16463044 meters Centerline goodness : 0.247739 with order 3 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.66, Z:-2.11 [[ 9.86948599e-01 -6.53656605e-03 -1.60902876e-01 -1.87872285e+01] [ 2.61262942e-03 9.99694293e-01 -2.45864892e-02 -1.65667193e+00] [ 1.61014398e-01 2.38452214e-02 9.86663959e-01 -2.11294508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22463044 meters Centerline goodness : 0.106442 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-1.65, Z:-2.11 [[ 9.86913245e-01 -7.05039784e-03 -1.61097914e-01 -1.87867083e+01] [ 2.98394329e-03 9.99671130e-01 -2.54701374e-02 -1.65208580e+00] [ 1.61224509e-01 2.46561089e-02 9.86609717e-01 -2.11287275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28463044 meters Centerline goodness : 0.226886 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.65, Z:-2.12 [[ 9.86391666e-01 -5.76386988e-03 -1.64311472e-01 -1.88286044e+01] [ 1.73875604e-03 9.99695119e-01 -2.46301617e-02 -1.64626588e+00] [ 1.64403342e-01 2.40092886e-02 9.86100956e-01 -2.11943449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34463044 meters Centerline goodness : 0.300454 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.64, Z:-2.12 [[ 9.86475955e-01 -6.07167159e-03 -1.63793545e-01 -1.88301578e+01] [ 1.99157370e-03 9.99683897e-01 -2.50627260e-02 -1.64450892e+00] [ 1.63893942e-01 2.43975697e-02 9.86176219e-01 -2.11912709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40463043999998 meters Centerline goodness : 0.451555 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.64, Z:-2.12 [[ 9.86516785e-01 -6.28756388e-03 -1.63539292e-01 -1.88308856e+01] [ 2.20013289e-03 9.99680948e-01 -2.51626979e-02 -1.64467575e+00] [ 1.63645326e-01 2.44636156e-02 9.86215868e-01 -2.11896206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46463043999998 meters Centerline goodness : 0.448897 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.64, Z:-2.12 [[ 9.86567676e-01 -6.19291571e-03 -1.63235625e-01 -1.88320304e+01] [ 2.11015062e-03 9.99680882e-01 -2.51730163e-02 -1.64403283e+00] [ 1.63339428e-01 2.44904324e-02 9.86265912e-01 -2.11851346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52463043999998 meters Centerline goodness : 0.243723 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.64, Z:-2.12 [[ 9.86668222e-01 -2.13179608e-03 -1.62730685e-01 -1.88328756e+01] [-1.45779844e-03 9.99758316e-01 -2.19359013e-02 -1.64165495e+00] [ 1.62738119e-01 2.18806852e-02 9.86426652e-01 -2.11896974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58463043999998 meters Centerline goodness : 0.184219 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.63, Z:-2.12 [[ 9.86543523e-01 -4.87213411e-05 -1.63498853e-01 -1.88295621e+01] [-3.50768013e-03 9.99763488e-01 -2.14630798e-02 -1.63058683e+00] [ 1.63461230e-01 2.17477640e-02 9.86310023e-01 -2.12024917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64463044 meters Centerline goodness : 0.449173 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.63, Z:-2.12 [[ 9.86492020e-01 3.65970313e-03 -1.63768436e-01 -1.88286329e+01] [-6.82614166e-03 9.99800408e-01 -1.87762775e-02 -1.62571865e+00] [ 1.63667033e-01 1.96405545e-02 9.86320106e-01 -2.12038215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70463044 meters Centerline goodness : 0.442617 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.62, Z:-2.12 [[ 9.86569567e-01 2.78003266e-03 -1.63317974e-01 -1.88296913e+01] [-6.10195800e-03 9.99784505e-01 -1.98421056e-02 -1.62203927e+00] [ 1.63227618e-01 2.05721769e-02 9.86373930e-01 -2.12041122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76463044 meters Centerline goodness : 0.441965 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.62, Z:-2.12 [[ 9.86493577e-01 2.33075156e-03 -1.63783364e-01 -1.88281182e+01] [-5.71325920e-03 9.99779952e-01 -2.01843138e-02 -1.62141869e+00] [ 1.63700279e-01 2.08474327e-02 9.86289817e-01 -2.12076084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82463044 meters Centerline goodness : 0.089475 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-1.62, Z:-2.12 [[ 9.86515325e-01 1.95078720e-03 -1.63657291e-01 -1.88277146e+01] [-5.34608808e-03 9.99779467e-01 -2.03085412e-02 -1.62209174e+00] [ 1.63581581e-01 2.09096134e-02 9.86308194e-01 -2.12140667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88463044 meters Centerline goodness : 0.462963 with order 3 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.62, Z:-2.13 [[ 9.86363901e-01 -5.38096192e-03 -1.64491032e-01 -1.88447183e+01] [ 2.23685859e-03 9.99811363e-01 -1.92933941e-02 -1.61687519e+00] [ 1.64563820e-01 1.86623643e-02 9.86189873e-01 -2.12587843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94463044 meters Centerline goodness : 0.202098 with order 1 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.61, Z:-2.13 [[ 9.86225703e-01 -2.16104657e-03 -1.65391031e-01 -1.88417224e+01] [-7.00172608e-04 9.99851144e-01 -1.72394663e-02 -1.61124396e+00] [ 1.65403667e-01 1.71178070e-02 9.86077384e-01 -2.12647997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00463044 meters Centerline goodness : 0.460055 with order 2 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.13 [[ 9.86447150e-01 -7.14445378e-04 -1.64077756e-01 -1.88466279e+01] [-1.96967281e-03 9.99866904e-01 -1.61955434e-02 -1.60928033e+00] [ 1.64067489e-01 1.62992271e-02 9.86314450e-01 -2.12522918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06463044 meters Centerline goodness : 0.434320 with order 1 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.12 [[ 9.86555174e-01 -1.16988746e-03 -1.63424357e-01 -1.88488357e+01] [-1.60113592e-03 9.99857197e-01 -1.68232531e-02 -1.60712137e+00] [ 1.63420701e-01 1.68587320e-02 9.86412418e-01 -2.12464438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12463044 meters Centerline goodness : 0.401323 with order 2 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.12 [[ 9.86580478e-01 -1.44541559e-03 -1.63269323e-01 -1.88495438e+01] [-1.34875534e-03 9.99854550e-01 -1.70017306e-02 -1.60704583e+00] [ 1.63270150e-01 1.69937858e-02 9.86435030e-01 -2.12427668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18463043999998 meters Centerline goodness : 0.453038 with order 2 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.12 [[ 9.86565463e-01 -1.50314460e-03 -1.63359503e-01 -1.88497770e+01] [-1.27912794e-03 9.99855942e-01 -1.69250730e-02 -1.60729544e+00] [ 1.63361410e-01 1.69066502e-02 9.86421418e-01 -2.12363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24463043999998 meters Centerline goodness : 0.396526 with order 2 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.12 [[ 9.86372913e-01 -1.81086379e-03 -1.64515037e-01 -1.88459126e+01] [-1.00605751e-03 9.99854343e-01 -1.70376396e-02 -1.60857979e+00] [ 1.64521927e-01 1.69709778e-02 9.86227419e-01 -2.12444519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30463043999998 meters Centerline goodness : 0.416225 with order 2 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.61, Z:-2.12 [[ 9.86361287e-01 -5.71178792e-03 -1.64495551e-01 -1.88459446e+01] [ 2.45416429e-03 9.99796965e-01 -2.00001493e-02 -1.61207047e+00] [ 1.64576389e-01 1.93236739e-02 9.86175039e-01 -2.12436689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36463043999998 meters Centerline goodness : 0.288908 with order 1 Centerline is valid? [False, False] Translation: X:-18.85, Y:-1.62, Z:-2.12 [[ 9.86350943e-01 -9.45201849e-03 -1.64385147e-01 -1.88466334e+01] [ 5.80199132e-03 9.99726164e-01 -2.26701173e-02 -1.61678762e+00] [ 1.64554411e-01 2.14069304e-02 9.86135685e-01 -2.12391677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42463044 meters Centerline goodness : 0.449076 with order 3 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.63, Z:-2.12 [[ 9.86266076e-01 -1.23129227e-02 -1.64704640e-01 -1.88446307e+01] [ 8.46413605e-03 9.99674942e-01 -2.40492924e-02 -1.62687671e+00] [ 1.64947218e-01 2.23249188e-02 9.86049701e-01 -2.12469004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48463044 meters Centerline goodness : 0.100211 with order 1 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.63, Z:-2.12 [[ 9.86229087e-01 -1.20810483e-02 -1.64943133e-01 -1.88437992e+01] [ 8.35529216e-03 9.99694457e-01 -2.32633197e-02 -1.63346707e+00] [ 1.65173781e-01 2.15648145e-02 9.86028692e-01 -2.12481212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54463044 meters Centerline goodness : 0.454717 with order 1 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.63, Z:-2.13 [[ 9.86162328e-01 -1.18488165e-02 -1.65358604e-01 -1.88421740e+01] [ 8.13775552e-03 9.99699992e-01 -2.31019960e-02 -1.63400072e+00] [ 1.65582726e-01 2.14366703e-02 9.85962895e-01 -2.12529316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60463044 meters Centerline goodness : 0.369320 with order 3 Centerline is valid? [False, False] Translation: X:-18.84, Y:-1.63, Z:-2.13 [[ 9.86068345e-01 -1.14758381e-02 -1.65944340e-01 -1.88404727e+01] [ 7.75177295e-03 9.99703754e-01 -2.30719562e-02 -1.63245470e+00] [ 1.66159950e-01 2.14641629e-02 9.85865184e-01 -2.12549485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66463044 meters Centerline goodness : 0.257683 with order 1 Centerline is valid? [False, False] Translation: X:-18.86, Y:-1.64, Z:-2.13 [[ 9.86115468e-01 -3.90140737e-03 -1.66015250e-01 -1.88581746e+01] [-9.48572380e-05 9.99710586e-01 -2.40569372e-02 -1.63687561e+00] [ 1.66061058e-01 2.37386657e-02 9.85829702e-01 -2.13012402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72463044 meters Centerline goodness : 0.170724 with order 1 Centerline is valid? [False, False] Translation: X:-18.86, Y:-1.64, Z:-2.13 [[ 9.86222698e-01 -4.16533294e-03 -1.65370616e-01 -1.88609348e+01] [ 1.39351945e-04 9.99703501e-01 -2.43493431e-02 -1.63658766e+00] [ 1.65423007e-01 2.39908301e-02 9.85930864e-01 -2.12889820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78463044 meters Centerline goodness : 0.123381 with order 1 Centerline is valid? [False, False] Translation: X:-18.86, Y:-1.64, Z:-2.13 [[ 9.86246198e-01 -4.13370573e-03 -1.65231201e-01 -1.88622002e+01] [ 1.03408187e-04 9.99702440e-01 -2.43930308e-02 -1.63599808e+00] [ 1.65282868e-01 2.40404476e-02 9.85953158e-01 -2.12785018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84463044 meters Centerline goodness : 0.161642 with order 3 Centerline is valid? [False, False] Translation: X:-18.86, Y:-1.64, Z:-2.13 [[ 9.86344271e-01 -4.20904142e-03 -1.64642836e-01 -1.88648608e+01] [ 1.70741791e-04 9.99698979e-01 -2.45341026e-02 -1.63540978e+00] [ 1.64696540e-01 2.41709601e-02 9.86048079e-01 -2.12658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90463043999998 meters Centerline goodness : 0.177482 with order 1 Centerline is valid? [False, False] Translation: X:-18.87, Y:-1.63, Z:-2.13 [[ 9.86421581e-01 -3.92020492e-03 -1.64186165e-01 -1.88671754e+01] [-8.81140736e-05 9.99702300e-01 -2.43988614e-02 -1.63437154e+00] [ 1.64232936e-01 2.40820306e-02 9.86127577e-01 -2.12529787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96463043999998 meters SLAMing on 241.02463043999998 meters Centerline goodness : 0.103519 with order 1 Centerline is valid? [False, False] Translation: X:-18.91, Y:-1.63, Z:-2.13 [[ 9.86019517e-01 -3.47389818e-03 -1.66593648e-01 -1.89098438e+01] [-6.43154925e-04 9.99695866e-01 -2.46528304e-02 -1.63445079e+00] [ 1.66628623e-01 2.44153175e-02 9.85717401e-01 -2.13163470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08463043999998 meters Centerline goodness : 0.201688 with order 1 Centerline is valid? [False, False] Translation: X:-18.91, Y:-1.63, Z:-2.13 [[ 9.85816430e-01 -9.84526157e-04 -1.67824305e-01 -1.89053138e+01] [-2.97176779e-03 9.99723606e-01 -2.33212439e-02 -1.62735437e+00] [ 1.67800880e-01 2.34892003e-02 9.85541030e-01 -2.13266034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14463044 meters Centerline goodness : 0.090790 with order 1 Centerline is valid? [False, False] Translation: X:-18.90, Y:-1.62, Z:-2.13 [[ 9.85734263e-01 2.36277553e-03 -1.68292541e-01 -1.89031753e+01] [-6.01178342e-03 9.99757681e-01 -2.11763272e-02 -1.62105291e+00] [ 1.68201726e-01 2.18859696e-02 9.85509606e-01 -2.13336734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20463044 meters Centerline goodness : 0.091594 with order 1 Centerline is valid? [False, False] Translation: X:-18.90, Y:-1.61, Z:-2.13 [[ 9.85610199e-01 5.63723978e-03 -1.68940097e-01 -1.89011196e+01] [-9.04619893e-03 9.99770573e-01 -1.94156363e-02 -1.61164302e+00] [ 1.68791887e-01 2.06645149e-02 9.85435070e-01 -2.13364840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26463044 meters Centerline goodness : 0.089527 with order 1 Centerline is valid? [False, False] Translation: X:-18.90, Y:-1.60, Z:-2.13 [[ 9.85511848e-01 5.42303685e-03 -1.69519877e-01 -1.88994613e+01] [-8.98567496e-03 9.99754447e-01 -2.02559369e-02 -1.60313951e+00] [ 1.69368402e-01 2.14857163e-02 9.85318582e-01 -2.13375361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32463044 meters Centerline goodness : 0.450165 with order 3 Centerline is valid? [False, False] Translation: X:-18.92, Y:-1.60, Z:-2.14 [[ 9.85904070e-01 -1.56907105e-03 -1.67304220e-01 -1.89182305e+01] [-1.74955447e-03 9.99804669e-01 -1.96866369e-02 -1.59501478e+00] [ 1.67302430e-01 1.97018433e-02 9.85708747e-01 -2.13883520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38463044 meters Centerline goodness : 0.097452 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-1.59, Z:-2.14 [[ 9.85839404e-01 -2.02207254e-03 -1.67679994e-01 -1.89174728e+01] [-1.40199524e-03 9.99792964e-01 -2.02993570e-02 -1.59019888e+00] [ 1.67686325e-01 2.02469925e-02 9.85632465e-01 -2.13850487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44463044 meters Centerline goodness : 0.297005 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.59, Z:-2.14 [[ 9.85651573e-01 -3.05445319e-03 -1.68765066e-01 -1.89628659e+01] [-5.33422977e-04 9.99774897e-01 -2.12101646e-02 -1.58958350e+00] [ 1.68791862e-01 2.09958553e-02 9.85428070e-01 -2.14449922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50463044 meters SLAMing on 241.56463044 meters Centerline goodness : 0.287396 with order 1 Centerline is valid? [False, False] Translation: X:-19.00, Y:-1.59, Z:-2.15 [[ 9.86245086e-01 -4.96775038e-03 -1.65214868e-01 -1.90003590e+01] [ 1.02190626e-03 9.99712407e-01 -2.39595364e-02 -1.58761534e+00] [ 1.65286379e-01 2.34611410e-02 9.85966525e-01 -2.15228688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62463044 meters Centerline goodness : 0.448180 with order 3 Centerline is valid? [False, False] Translation: X:-19.00, Y:-1.58, Z:-2.15 [[ 9.86242603e-01 -2.51210961e-03 -1.65285261e-01 -1.90022145e+01] [-1.24221920e-03 9.99743659e-01 -2.26069471e-02 -1.58072119e+00] [ 1.65299682e-01 2.25012549e-02 9.85986668e-01 -2.15059307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68463043999998 meters Centerline goodness : 0.512964 with order 3 Centerline is valid? [False, False] Translation: X:-19.02, Y:-1.58, Z:-2.15 [[ 9.86130445e-01 5.73289490e-03 -1.65873082e-01 -1.90225066e+01] [-9.84187521e-03 9.99664460e-01 -2.39604971e-02 -1.57890859e+00] [ 1.65680062e-01 2.52606778e-02 9.85855981e-01 -2.15440829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74463043999998 meters Centerline goodness : 0.359691 with order 2 Centerline is valid? [False, False] Translation: X:-19.02, Y:-1.58, Z:-2.15 [[ 9.86110035e-01 5.57126097e-03 -1.65999880e-01 -1.90223147e+01] [-9.73587737e-03 9.99657669e-01 -2.42849129e-02 -1.57752772e+00] [ 1.65807755e-01 2.55637508e-02 9.85826700e-01 -2.15427376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80463043999998 meters Centerline goodness : 0.495443 with order 3 Centerline is valid? [False, False] Translation: X:-19.04, Y:-1.58, Z:-2.16 [[ 9.85937052e-01 -3.06308275e-03 -1.67089041e-01 -1.90433442e+01] [-9.20759095e-04 9.99717269e-01 -2.37599498e-02 -1.57798063e+00] [ 1.67114578e-01 2.35796636e-02 9.85655476e-01 -2.15778518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86463043999998 meters Centerline goodness : 0.444891 with order 1 Centerline is valid? [False, False] Translation: X:-19.05, Y:-1.58, Z:-2.16 [[ 9.86052058e-01 -3.13295971e-03 -1.66407704e-01 -1.90452718e+01] [-7.49694678e-04 9.99729070e-01 -2.32642407e-02 -1.58179599e+00] [ 1.66435505e-01 2.30645074e-02 9.85782558e-01 -2.15737501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92463044 meters Centerline goodness : 0.092642 with order 1 Centerline is valid? [False, False] Translation: X:-19.04, Y:-1.59, Z:-2.16 [[ 9.85909540e-01 -3.16230846e-03 -1.67249450e-01 -1.90423250e+01] [-6.70616302e-04 9.99738543e-01 -2.28559715e-02 -1.58553125e+00] [ 1.67277999e-01 2.26460806e-02 9.85649647e-01 -2.15804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98463044 meters Centerline goodness : 0.303035 with order 1 Centerline is valid? [False, False] Translation: X:-19.04, Y:-1.59, Z:-2.16 [[ 9.85793198e-01 -2.91755895e-03 -1.67938260e-01 -1.90397659e+01] [-9.21084382e-04 9.99740191e-01 -2.27750344e-02 -1.58514881e+00] [ 1.67961076e-01 2.26061593e-02 9.85534392e-01 -2.15871689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04463044 meters Centerline goodness : 0.096777 with order 1 Centerline is valid? [False, False] Translation: X:-19.11, Y:-1.59, Z:-2.17 [[ 9.85840004e-01 4.48090618e-03 -1.67628783e-01 -1.91059475e+01] [-8.56826453e-03 9.99683153e-01 -2.36680804e-02 -1.58845588e+00] [ 1.67469616e-01 2.47692282e-02 9.85566037e-01 -2.16915062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10463044 meters Centerline goodness : 0.315204 with order 1 Centerline is valid? [False, False] Translation: X:-19.09, Y:-1.58, Z:-2.16 [[ 9.85743772e-01 -2.50182081e-03 -1.68234825e-01 -1.90872507e+01] [-1.32477150e-03 9.99743043e-01 -2.26294597e-02 -1.58198088e+00] [ 1.68248211e-01 2.25297217e-02 9.85487164e-01 -2.16415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16463044 meters Centerline goodness : 0.320028 with order 1 Centerline is valid? [False, False] Translation: X:-19.09, Y:-1.58, Z:-2.16 [[ 9.85701173e-01 -2.73420453e-03 -1.68480625e-01 -1.90867426e+01] [-1.11445891e-03 9.99740688e-01 -2.27445676e-02 -1.58245222e+00] [ 1.68499124e-01 2.26071117e-02 9.85442522e-01 -2.16399046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22463044 meters Centerline goodness : 0.398803 with order 1 Centerline is valid? [False, False] Translation: X:-19.11, Y:-1.59, Z:-2.17 [[ 9.85794132e-01 -1.24454236e-02 -1.67496389e-01 -1.91098772e+01] [ 8.79191442e-03 9.99707364e-01 -2.25363900e-02 -1.58744515e+00] [ 1.67727848e-01 2.07436271e-02 9.85615072e-01 -2.16768156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28463044 meters Centerline goodness : 0.099495 with order 1 Centerline is valid? [False, False] Translation: X:-19.11, Y:-1.59, Z:-2.17 [[ 9.85715904e-01 -1.65102092e-02 -1.67605399e-01 -1.91096963e+01] [ 1.23875235e-02 9.99595169e-01 -2.56134140e-02 -1.59091344e+00] [ 1.67960430e-01 2.31713337e-02 9.85521376e-01 -2.16735452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34463044 meters Centerline goodness : 0.477200 with order 3 Centerline is valid? [False, False] Translation: X:-19.11, Y:-1.59, Z:-2.17 [[ 9.85621691e-01 -1.62117915e-02 -1.68187574e-01 -1.91082147e+01] [ 1.21640798e-02 9.99611712e-01 -2.50691275e-02 -1.59417332e+00] [ 1.68528684e-01 2.26628287e-02 9.85436187e-01 -2.16724930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40463043999998 meters Centerline goodness : 0.229788 with order 1 Centerline is valid? [False, False] Translation: X:-19.13, Y:-1.60, Z:-2.17 [[ 9.86124418e-01 -7.55695172e-03 -1.65835838e-01 -1.91311801e+01] [ 3.52132090e-03 9.99690788e-01 -2.46156353e-02 -1.60337970e+00] [ 1.65970578e-01 2.36901178e-02 9.85846106e-01 -2.17138183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46463043999998 meters Centerline goodness : 0.094422 with order 1 Centerline is valid? [False, False] Translation: X:-19.13, Y:-1.61, Z:-2.17 [[ 9.86170554e-01 -7.32082079e-03 -1.65571872e-01 -1.91319740e+01] [ 3.33621631e-03 9.99698390e-01 -2.43310318e-02 -1.60518665e+00] [ 1.65700057e-01 2.34421635e-02 9.85897538e-01 -2.17120853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52463043999998 meters Centerline goodness : 0.448637 with order 2 Centerline is valid? [False, False] Translation: X:-19.13, Y:-1.61, Z:-2.17 [[ 9.86036906e-01 -6.81481455e-03 -1.66387433e-01 -1.91290319e+01] [ 2.98079457e-03 9.99724503e-01 -2.32815878e-02 -1.61178588e+00] [ 1.66500254e-01 2.24605380e-02 9.85785570e-01 -2.17197841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58463043999998 meters Centerline goodness : 0.231179 with order 1 Centerline is valid? [False, False] Translation: X:-19.12, Y:-1.62, Z:-2.17 [[ 9.85750677e-01 -8.76097839e-03 -1.67984667e-01 -1.91225453e+01] [ 4.70285695e-03 9.99687779e-01 -2.45403268e-02 -1.61728956e+00] [ 1.68147216e-01 2.34006359e-02 9.85484106e-01 -2.17373643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64463044 meters Centerline goodness : 0.218736 with order 1 Centerline is valid? [False, False] Translation: X:-19.12, Y:-1.62, Z:-2.17 [[ 9.85655013e-01 -8.16201585e-03 -1.68575135e-01 -1.91204122e+01] [ 4.22735847e-03 9.99710500e-01 -2.36863869e-02 -1.62145972e+00] [ 1.68719662e-01 2.26339785e-02 9.85404170e-01 -2.17430399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70463044 meters Centerline goodness : 0.098702 with order 1 Centerline is valid? [False, False] Translation: X:-19.14, Y:-1.62, Z:-2.18 [[ 9.85510844e-01 1.67462070e-03 -1.69604163e-01 -1.91399928e+01] [-5.73004072e-03 9.99709189e-01 -2.34244460e-02 -1.62447194e+00] [ 1.69515613e-01 2.40568843e-02 9.85233842e-01 -2.17855062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76463044 meters SLAMing on 242.82463044 meters Centerline goodness : 0.367194 with order 1 Centerline is valid? [False, False] Translation: X:-19.16, Y:-1.62, Z:-2.18 [[ 9.85315054e-01 1.18042739e-02 -1.70337616e-01 -1.91628767e+01] [-1.60252234e-02 9.99597120e-01 -2.34262740e-02 -1.61891682e+00] [ 1.69992461e-01 2.58119587e-02 9.85107256e-01 -2.18064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88463044 meters SLAMing on 242.94463044 meters Centerline goodness : 0.221230 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-1.61, Z:-2.18 [[ 9.85654025e-01 4.34943879e-03 -1.68722330e-01 -1.91837506e+01] [-8.48774856e-03 9.99680377e-01 -2.38138896e-02 -1.60807434e+00] [ 1.68564825e-01 2.49043288e-02 9.85375905e-01 -2.18377311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00463044 meters Centerline goodness : 0.117278 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-1.60, Z:-2.18 [[ 9.85648516e-01 3.91239580e-03 -1.68765208e-01 -1.91842200e+01] [-8.18215851e-03 9.99663594e-01 -2.46120204e-02 -1.60304611e+00] [ 1.68612142e-01 2.56396651e-02 9.85348950e-01 -2.18309337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06463044 meters Centerline goodness : 0.253083 with order 3 Centerline is valid? [False, False] Translation: X:-19.18, Y:-1.60, Z:-2.18 [[ 9.85603941e-01 3.57434663e-03 -1.69032822e-01 -1.91836664e+01] [-7.94216915e-03 9.99651610e-01 -2.51710396e-02 -1.60010621e+00] [ 1.68883962e-01 2.61511631e-02 9.85288955e-01 -2.18288121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12463044 meters Centerline goodness : 0.460674 with order 2 Centerline is valid? [False, False] Translation: X:-19.23, Y:-1.59, Z:-2.19 [[ 9.85348468e-01 3.17357389e-03 -1.70523679e-01 -1.92296214e+01] [-7.79890325e-03 9.99619417e-01 -2.64612593e-02 -1.59443676e+00] [ 1.70374804e-01 2.74034590e-02 9.84998211e-01 -2.18820536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18463043999998 meters Centerline goodness : 0.131826 with order 1 Centerline is valid? [False, False] Translation: X:-19.24, Y:-1.59, Z:-2.19 [[ 9.85655248e-01 5.45938305e-03 -1.68682918e-01 -1.92367310e+01] [-9.79709376e-03 9.99642098e-01 -2.48936158e-02 -1.58907056e+00] [ 1.68486642e-01 2.61891254e-02 9.85355967e-01 -2.18591748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24463043999998 meters Centerline goodness : 0.095747 with order 1 Centerline is valid? [False, False] Translation: X:-19.24, Y:-1.59, Z:-2.19 [[ 9.85662878e-01 5.11755422e-03 -1.68649050e-01 -1.92369394e+01] [-9.52831836e-03 9.99633110e-01 -2.53546229e-02 -1.58779291e+00] [ 1.68457420e-01 2.65980524e-02 9.85350009e-01 -2.18577846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30463043999998 meters Centerline goodness : 0.458288 with order 2 Centerline is valid? [False, False] Translation: X:-19.24, Y:-1.59, Z:-2.19 [[ 9.85642180e-01 4.67127455e-03 -1.68782914e-01 -1.92370205e+01] [-9.18539880e-03 9.99620410e-01 -2.59742827e-02 -1.58599555e+00] [ 1.68597512e-01 2.71516870e-02 9.85310948e-01 -2.18534811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36463043999998 meters Centerline goodness : 0.453920 with order 2 Centerline is valid? [False, False] Translation: X:-19.22, Y:-1.58, Z:-2.18 [[ 9.85710329e-01 -1.99607702e-03 -1.68437418e-01 -1.92198929e+01] [-2.08170883e-03 9.99709084e-01 -2.40294482e-02 -1.58022798e+00] [ 1.68436382e-01 2.40367130e-02 9.85419414e-01 -2.18014984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42463044 meters Centerline goodness : 0.408806 with order 2 Centerline is valid? [False, False] Translation: X:-19.22, Y:-1.58, Z:-2.18 [[ 9.85457631e-01 -4.35850269e-03 -1.69865423e-01 -1.92153603e+01] [-7.16710603e-06 9.99669914e-01 -2.56916730e-02 -1.58443074e+00] [ 1.69921330e-01 2.53192726e-02 9.85132314e-01 -2.18068094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48463044 meters Centerline goodness : 0.460558 with order 2 Centerline is valid? [False, False] Translation: X:-19.22, Y:-1.59, Z:-2.18 [[ 9.85444545e-01 -5.23535970e-03 -1.69916564e-01 -1.92156771e+01] [ 8.87905870e-04 9.99670546e-01 -2.56517245e-02 -1.59179346e+00] [ 1.69994881e-01 2.51274820e-02 9.85124535e-01 -2.18013930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54463044 meters SLAMing on 243.60463044 meters Centerline goodness : 0.090754 with order 1 Centerline is valid? [False, False] Translation: X:-19.26, Y:-1.62, Z:-2.19 [[ 9.85474249e-01 -9.93227231e-03 -1.69534229e-01 -1.92612748e+01] [ 5.47510648e-03 9.99627484e-01 -2.67379393e-02 -1.61683265e+00] [ 1.69736643e-01 2.54213327e-02 9.85161524e-01 -2.18714617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66463044 meters SLAMing on 243.72463044 meters Centerline goodness : 0.238229 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.63, Z:-2.19 [[ 9.84740184e-01 -4.46961438e-04 -1.74030372e-01 -1.92744756e+01] [-4.26499941e-03 9.99634377e-01 -2.67005941e-02 -1.62587294e+00] [ 1.73978676e-01 2.70353874e-02 9.84378234e-01 -2.19093133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78463044 meters SLAMing on 243.84463044 meters Centerline goodness : 0.102316 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-1.64, Z:-2.20 [[ 9.85405798e-01 -2.55659568e-03 -1.70202458e-01 -1.93206966e+01] [-2.27847692e-03 9.99599524e-01 -2.82063858e-02 -1.63532693e+00] [ 1.70206408e-01 2.81825384e-02 9.85005342e-01 -2.19908694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90463043999998 meters Centerline goodness : 0.457660 with order 2 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.64, Z:-2.21 [[ 9.85444570e-01 -3.70994205e-03 -1.69956572e-01 -1.93665481e+01] [-1.07425554e-03 9.99605974e-01 -2.80489274e-02 -1.64386219e+00] [ 1.69993664e-01 2.78232399e-02 9.85052294e-01 -2.20589060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96463043999998 meters Centerline goodness : 0.345226 with order 3 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.65, Z:-2.21 [[ 9.85450772e-01 -3.58257613e-03 -1.69923339e-01 -1.93666547e+01] [-1.15938867e-03 9.99612859e-01 -2.77990632e-02 -1.64527634e+00] [ 1.69957147e-01 2.75916155e-02 9.85065110e-01 -2.20582243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02463043999998 meters Centerline goodness : 0.191176 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.64, Z:-2.21 [[ 9.85451750e-01 -3.46732110e-03 -1.69920056e-01 -1.93666207e+01] [-1.27681525e-03 9.99612618e-01 -2.78025906e-02 -1.64423264e+00] [ 1.69950632e-01 2.76150681e-02 9.85065577e-01 -2.20584927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08463043999998 meters Centerline goodness : 0.247417 with order 3 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.64, Z:-2.21 [[ 9.85389527e-01 -3.74003249e-03 -1.70274753e-01 -1.93658838e+01] [-1.08279396e-03 9.99601090e-01 -2.82221192e-02 -1.64245574e+00] [ 1.70312380e-01 2.79941532e-02 9.84992396e-01 -2.20562598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14463044 meters Centerline goodness : 0.171172 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-1.64, Z:-2.21 [[ 9.85419752e-01 -3.85494295e-03 -1.70097181e-01 -1.93664743e+01] [-1.00314109e-03 9.99594273e-01 -2.84654567e-02 -1.64091589e+00] [ 1.70137901e-01 2.82210548e-02 9.85016074e-01 -2.20537690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20463044 meters Centerline goodness : 0.464543 with order 2 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.64, Z:-2.21 [[ 9.85212205e-01 -3.39841821e-03 -1.71304879e-01 -1.94111784e+01] [-1.60411674e-03 9.99576508e-01 -2.90556488e-02 -1.63617764e+00] [ 1.71331076e-01 2.89007728e-02 9.84789525e-01 -2.21250103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26463044 meters Centerline goodness : 0.461595 with order 2 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.63, Z:-2.21 [[ 9.85123935e-01 -3.00615626e-03 -1.71819076e-01 -1.94098054e+01] [-2.03704265e-03 9.99572449e-01 -2.91679513e-02 -1.63005763e+00] [ 1.71833298e-01 2.90840497e-02 9.84696621e-01 -2.21247957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32463044 meters Centerline goodness : 0.289039 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.62, Z:-2.21 [[ 9.85138959e-01 -3.15224361e-03 -1.71730296e-01 -1.94099697e+01] [-2.00620597e-03 9.99552189e-01 -2.98562559e-02 -1.62256146e+00] [ 1.71747508e-01 2.97570872e-02 9.84691479e-01 -2.21243702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38463044 meters Centerline goodness : 0.198040 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.62, Z:-2.21 [[ 9.85219819e-01 -3.46069592e-03 -1.71259837e-01 -1.94114321e+01] [-1.80753722e-03 9.99530194e-01 -3.05961493e-02 -1.61824140e+00] [ 1.71285262e-01 3.04534913e-02 9.84750701e-01 -2.21208108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44463044 meters Centerline goodness : 0.463059 with order 2 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85284658e-01 -3.81078876e-03 -1.70878967e-01 -1.94121843e+01] [-1.57446877e-03 9.99506649e-01 -3.13684518e-02 -1.61159157e+00] [ 1.70914202e-01 3.11758978e-02 9.84792566e-01 -2.21224142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50463044 meters Centerline goodness : 0.094578 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85180829e-01 -4.06739957e-03 -1.71470670e-01 -1.94102517e+01] [-1.42878958e-03 9.99489481e-01 -3.19176404e-02 -1.60876546e+00] [ 1.71512953e-01 3.16896429e-02 9.84672064e-01 -2.21256033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56463044 meters Centerline goodness : 0.464562 with order 2 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85195118e-01 -4.17371849e-03 -1.71385998e-01 -1.94105508e+01] [-1.35207126e-03 9.99483349e-01 -3.21124024e-02 -1.60747731e+00] [ 1.71431480e-01 3.18687081e-02 9.84680473e-01 -2.21237603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62463044 meters Centerline goodness : 0.393030 with order 3 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85478785e-01 -4.56771042e-03 -1.69737149e-01 -1.94149044e+01] [-8.72443158e-04 9.99488702e-01 -3.19620614e-02 -1.61038614e+00] [ 1.69796356e-01 3.16460195e-02 9.84970927e-01 -2.21222180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68463043999998 meters Centerline goodness : 0.299401 with order 3 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85411386e-01 -4.81719760e-03 -1.70121117e-01 -1.94136272e+01] [-6.03176712e-04 9.99494203e-01 -3.17958074e-02 -1.61381807e+00] [ 1.70188237e-01 3.14345638e-02 9.84910063e-01 -2.21243059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74463043999998 meters Centerline goodness : 0.097920 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.62, Z:-2.21 [[ 9.85334562e-01 -4.63221814e-03 -1.70570644e-01 -1.94117430e+01] [-7.44755631e-04 9.99505176e-01 -3.14459707e-02 -1.61595011e+00] [ 1.70631906e-01 3.11118352e-02 9.84843544e-01 -2.21312115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80463043999998 meters Centerline goodness : 0.091783 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.62, Z:-2.21 [[ 9.85320441e-01 -4.59419704e-03 -1.70653220e-01 -1.94112619e+01] [-7.98308159e-04 9.99502893e-01 -3.15171468e-02 -1.61528352e+00] [ 1.70713183e-01 3.11907228e-02 9.84826963e-01 -2.21342368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86463043999998 meters Centerline goodness : 0.202060 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85189590e-01 -4.08185290e-03 -1.71419985e-01 -1.94088916e+01] [-1.33246857e-03 9.99504180e-01 -3.14581943e-02 -1.61278056e+00] [ 1.71463399e-01 3.12206973e-02 9.84695674e-01 -2.21378545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92463044 meters Centerline goodness : 0.460544 with order 3 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85173306e-01 -3.93426494e-03 -1.71516992e-01 -1.94092173e+01] [-1.54369090e-03 9.99493276e-01 -3.17932023e-02 -1.60893891e+00] [ 1.71555163e-01 3.15865834e-02 9.84668022e-01 -2.21321046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98463044 meters Centerline goodness : 0.125894 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-1.61, Z:-2.21 [[ 9.85171925e-01 -4.12615300e-03 -1.71520416e-01 -1.94089430e+01] [-1.39373408e-03 9.99485320e-01 -3.20492286e-02 -1.60801084e+00] [ 1.71564378e-01 3.18130541e-02 9.84659126e-01 -2.21345843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04463044 meters Centerline goodness : 0.093898 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-1.61, Z:-2.22 [[ 9.85058672e-01 -1.22179062e-02 -1.71785141e-01 -1.94282821e+01] [ 7.01770635e-03 9.99499503e-01 -3.08463156e-02 -1.60804993e+00] [ 1.72076041e-01 2.91798930e-02 9.84651395e-01 -2.21842448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10463044 meters Centerline goodness : 0.293057 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-1.61, Z:-2.22 [[ 9.84952547e-01 -1.29170753e-02 -1.72341606e-01 -1.94268991e+01] [ 7.68556910e-03 9.99490199e-01 -3.09882761e-02 -1.61146292e+00] [ 1.72654024e-01 2.91974381e-02 9.84549693e-01 -2.21818754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16463044 meters Centerline goodness : 0.271639 with order 3 Centerline is valid? [False, False] Translation: X:-19.43, Y:-1.62, Z:-2.22 [[ 9.84926816e-01 -1.46056782e-02 -1.72353824e-01 -1.94269988e+01] [ 9.34292312e-03 9.99466166e-01 -3.13064458e-02 -1.62153413e+00] [ 1.72719067e-01 2.92242695e-02 9.84537488e-01 -2.21789485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22463044 meters Centerline goodness : 0.093240 with order 1 Centerline is valid? [False, False] Translation: X:-19.45, Y:-1.63, Z:-2.22 [[ 9.85668444e-01 -9.17493356e-03 -1.68444468e-01 -1.94476666e+01] [ 3.79714989e-03 9.99473570e-01 -3.22205462e-02 -1.63253545e+00] [ 1.68651416e-01 3.11191667e-02 9.85184398e-01 -2.22302473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28463044 meters Centerline goodness : 0.150754 with order 1 Centerline is valid? [False, False] Translation: X:-19.45, Y:-1.64, Z:-2.22 [[ 9.85891114e-01 -8.14545993e-03 -1.67189602e-01 -1.94514734e+01] [ 2.99873486e-03 9.99514478e-01 -3.10131671e-02 -1.63730873e+00] [ 1.67361044e-01 3.00742486e-02 9.85436868e-01 -2.22244069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34463044 meters Centerline goodness : 0.152476 with order 1 Centerline is valid? [False, False] Translation: X:-19.45, Y:-1.64, Z:-2.22 [[ 9.85944574e-01 -7.87156052e-03 -1.66887193e-01 -1.94519952e+01] [ 2.82311654e-03 9.99531807e-01 -3.04663203e-02 -1.64095813e+00] [ 1.67048875e-01 2.95669612e-02 9.85505184e-01 -2.22272209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40463043999998 meters Centerline goodness : 0.453487 with order 2 Centerline is valid? [False, False] Translation: X:-19.45, Y:-1.65, Z:-2.22 [[ 9.85835327e-01 -7.68990666e-03 -1.67539764e-01 -1.94492214e+01] [ 2.69552512e-03 9.99545749e-01 -3.00171702e-02 -1.64518169e+00] [ 1.67694488e-01 2.91403792e-02 9.85408239e-01 -2.22381028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46463043999998 meters SLAMing on 245.52463043999998 meters Centerline goodness : 0.401153 with order 1 Centerline is valid? [False, False] Translation: X:-19.51, Y:-1.66, Z:-2.24 [[ 9.85918364e-01 -1.96536339e-03 -1.67215781e-01 -1.95099882e+01] [-3.20280328e-03 9.99525602e-01 -3.06318792e-02 -1.65669339e+00] [ 1.67196657e-01 3.07360915e-02 9.85444352e-01 -2.23685776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58463043999998 meters Centerline goodness : 0.087493 with order 1 Centerline is valid? [False, False] Translation: X:-19.51, Y:-1.66, Z:-2.24 [[ 9.85808509e-01 -2.20311713e-03 -1.67859253e-01 -1.95084413e+01] [-3.02530836e-03 9.99518348e-01 -3.08855819e-02 -1.65705436e+00] [ 1.67846448e-01 3.09550955e-02 9.85327028e-01 -2.23669585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64463044 meters Centerline goodness : 0.258489 with order 3 Centerline is valid? [False, False] Translation: X:-19.51, Y:-1.66, Z:-2.24 [[ 9.85729832e-01 -1.94785841e-03 -1.68323809e-01 -1.95072051e+01] [-3.29215309e-03 9.99518731e-01 -3.08458708e-02 -1.65545045e+00] [ 1.68302884e-01 3.09598428e-02 9.85249018e-01 -2.23666787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70463044 meters Centerline goodness : 0.098567 with order 1 Centerline is valid? [False, False] Translation: X:-19.55, Y:-1.66, Z:-2.24 [[ 9.85652072e-01 -1.60504110e-03 -1.68782155e-01 -1.95524573e+01] [-3.67357527e-03 9.99513941e-01 -3.09578227e-02 -1.65579594e+00] [ 1.68749806e-01 3.11336761e-02 9.85167091e-01 -2.24380907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76463044 meters Centerline goodness : 0.108143 with order 1 Centerline is valid? [False, False] Translation: X:-19.55, Y:-1.65, Z:-2.24 [[ 9.85626590e-01 -1.96806789e-03 -1.68927058e-01 -1.95528551e+01] [-3.40371105e-03 9.99497832e-01 -3.15039389e-02 -1.65374132e+00] [ 1.68904230e-01 3.16260988e-02 9.85124942e-01 -2.24290099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82463044 meters Centerline goodness : 0.107806 with order 1 Centerline is valid? [False, False] Translation: X:-19.53, Y:-1.65, Z:-2.24 [[ 9.85344949e-01 -9.23148608e-03 -1.70323548e-01 -1.95333325e+01] [ 4.06327628e-03 9.99521393e-01 -3.06671576e-02 -1.64730394e+00] [ 1.70525133e-01 2.95256572e-02 9.84910866e-01 -2.23810671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88463044 meters Centerline goodness : 0.469919 with order 1 Centerline is valid? [False, False] Translation: X:-19.57, Y:-1.65, Z:-2.25 [[ 9.86284557e-01 -8.69719199e-03 -1.64824546e-01 -1.95723978e+01] [ 3.77948004e-03 9.99538957e-01 -3.01262133e-02 -1.65041758e+00] [ 1.65010568e-01 2.90900678e-02 9.85862709e-01 -2.24655068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94463044 meters Centerline goodness : 0.092903 with order 1 Centerline is valid? [False, False] Translation: X:-19.57, Y:-1.65, Z:-2.25 [[ 9.86411143e-01 -8.81957185e-03 -1.64058743e-01 -1.95749377e+01] [ 3.92473834e-03 9.99538099e-01 -3.01361107e-02 -1.65087904e+00] [ 1.64248752e-01 2.90827077e-02 9.85990134e-01 -2.24575660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00463044 meters Centerline goodness : 0.467785 with order 2 Centerline is valid? [False, False] Translation: X:-19.57, Y:-1.65, Z:-2.25 [[ 9.86374294e-01 -8.69899679e-03 -1.64286575e-01 -1.95739568e+01] [ 3.83973592e-03 9.99546345e-01 -2.98723961e-02 -1.65208187e+00] [ 1.64471906e-01 2.88345466e-02 9.85960223e-01 -2.24601858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06463044 meters Centerline goodness : 0.252455 with order 3 Centerline is valid? [False, False] Translation: X:-19.57, Y:-1.66, Z:-2.25 [[ 9.86317506e-01 -9.27248621e-03 -1.64595862e-01 -1.95729457e+01] [ 4.41246338e-03 9.99544109e-01 -2.98681208e-02 -1.65729390e+00] [ 1.64797776e-01 2.87331772e-02 9.85908767e-01 -2.24602726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12463044 meters Centerline goodness : 0.465880 with order 3 Centerline is valid? [False, False] Translation: X:-19.57, Y:-1.66, Z:-2.25 [[ 9.86322021e-01 -9.10033715e-03 -1.64578415e-01 -1.95733254e+01] [ 4.31692357e-03 9.99558434e-01 -2.93990069e-02 -1.66027982e+00] [ 1.64773284e-01 2.82864154e-02 9.85925780e-01 -2.24554134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18463043999998 meters Centerline goodness : 0.104481 with order 1 Centerline is valid? [False, False] Translation: X:-19.59, Y:-1.67, Z:-2.25 [[ 9.85871682e-01 -1.75327263e-03 -1.67493145e-01 -1.95888620e+01] [-3.41333078e-03 9.99527296e-01 -3.05537878e-02 -1.66748934e+00] [ 1.67467539e-01 3.06938237e-02 9.85399671e-01 -2.25008544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24463043999998 meters Centerline goodness : 0.199460 with order 3 Centerline is valid? [False, False] Translation: X:-19.59, Y:-1.67, Z:-2.25 [[ 9.85797600e-01 -1.53881468e-03 -1.67930713e-01 -1.95878395e+01] [-3.58092445e-03 9.99538062e-01 -3.01801290e-02 -1.66970472e+00] [ 1.67899581e-01 3.03528460e-02 9.85336712e-01 -2.24987584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30463043999998 meters Centerline goodness : 0.128662 with order 1 Centerline is valid? [False, False] Translation: X:-19.59, Y:-1.67, Z:-2.25 [[ 9.85889208e-01 -3.87056068e-03 -1.67354381e-01 -1.95913324e+01] [-1.49123363e-03 9.99489920e-01 -3.19010324e-02 -1.67452961e+00] [ 1.67392491e-01 3.17004481e-02 9.85380554e-01 -2.24814480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36463043999998 meters Centerline goodness : 0.470319 with order 2 Centerline is valid? [False, False] Translation: X:-19.63, Y:-1.68, Z:-2.26 [[ 9.85362197e-01 -3.24347132e-03 -1.70443015e-01 -1.96319794e+01] [-2.09966822e-03 9.99512237e-01 -3.11589358e-02 -1.68006872e+00] [ 1.70460943e-01 3.10607112e-02 9.84874763e-01 -2.25560025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42463044 meters Centerline goodness : 0.291556 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-1.68, Z:-2.26 [[ 9.85301296e-01 -2.98319672e-03 -1.70799464e-01 -1.96310190e+01] [-2.31281585e-03 9.99522897e-01 -3.07998267e-02 -1.68208033e+00] [ 1.70809857e-01 3.07421369e-02 9.84824306e-01 -2.25551995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48463044 meters Centerline goodness : 0.285343 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-1.68, Z:-2.26 [[ 9.85302272e-01 -2.80757232e-03 -1.70796809e-01 -1.96312162e+01] [-2.47109368e-03 9.99526029e-01 -3.06856776e-02 -1.68282629e+00] [ 1.70802009e-01 3.06567228e-02 9.84828330e-01 -2.25524204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54463044 meters Centerline goodness : 0.177285 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.69, Z:-2.26 [[ 9.85774592e-01 5.13281117e-03 -1.67994368e-01 -1.96529933e+01] [-1.05097823e-02 9.99459982e-01 -3.11334066e-02 -1.68684556e+00] [ 1.67743846e-01 3.24561055e-02 9.85296201e-01 -2.26054729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60463044 meters Centerline goodness : 0.099983 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.68, Z:-2.26 [[ 9.85860881e-01 5.27698444e-03 -1.67482767e-01 -1.96541207e+01] [-1.06857842e-02 9.99449464e-01 -3.14099023e-02 -1.68380189e+00] [ 1.67224813e-01 3.27554786e-02 9.85374518e-01 -2.26067307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66463044 meters Centerline goodness : 0.470076 with order 3 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.68, Z:-2.26 [[ 9.85731773e-01 6.09085196e-03 -1.68213477e-01 -1.96516797e+01] [-1.14864452e-02 9.99449606e-01 -3.11214920e-02 -1.67886118e+00] [ 1.67931336e-01 3.26096183e-02 9.85259194e-01 -2.26103655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72463044 meters Centerline goodness : 0.332702 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.68, Z:-2.26 [[ 9.85689890e-01 5.94523371e-03 -1.68463929e-01 -1.96509511e+01] [-1.14072746e-02 9.99439492e-01 -3.14734072e-02 -1.67673249e+00] [ 1.68182387e-01 3.29447336e-02 9.85205222e-01 -2.26108404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78463044 meters Centerline goodness : 0.469440 with order 2 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.67, Z:-2.26 [[ 9.85729996e-01 5.63572842e-03 -1.68239751e-01 -1.96523769e+01] [-1.11725988e-02 9.99425992e-01 -3.19821700e-02 -1.67388602e+00] [ 1.67962937e-01 3.34054595e-02 9.85227145e-01 -2.25999153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84463044 meters Centerline goodness : 0.099389 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-1.67, Z:-2.26 [[ 9.85760402e-01 -5.71977036e-03 -1.68058665e-01 -1.96334746e+01] [ 4.42516958e-05 9.99430123e-01 -3.37554106e-02 -1.67135018e+00] [ 1.68155965e-01 3.32673102e-02 9.85198892e-01 -2.25540144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90463043999998 meters Centerline goodness : 0.087287 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.68, Z:-2.26 [[ 9.85129451e-01 -1.42457482e-02 -1.71222144e-01 -1.96505096e+01] [ 8.79107014e-03 9.99430682e-01 -3.25734484e-02 -1.67547785e+00] [ 1.71588698e-01 3.05838375e-02 9.84693835e-01 -2.25893741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96463043999998 meters Centerline goodness : 0.092883 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-1.68, Z:-2.26 [[ 9.85092168e-01 -1.46501981e-02 -1.71402427e-01 -1.96498903e+01] [ 9.25840535e-03 9.99438107e-01 -3.22141512e-02 -1.68258358e+00] [ 1.71778061e-01 3.01469949e-02 9.84674290e-01 -2.25886932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02463043999998 meters SLAMing on 247.08463043999998 meters Centerline goodness : 0.417148 with order 1 Centerline is valid? [False, False] Translation: X:-19.67, Y:-1.70, Z:-2.26 [[ 9.84853452e-01 -1.01908467e-02 -1.73089067e-01 -1.96669961e+01] [ 4.31684908e-03 9.99402983e-01 -3.42788772e-02 -1.70125593e+00] [ 1.73335061e-01 3.30124711e-02 9.84309470e-01 -2.26339338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14463044 meters Centerline goodness : 0.165943 with order 2 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.70, Z:-2.27 [[ 9.84903660e-01 -8.39028693e-04 -1.73101347e-01 -1.96882746e+01] [-5.18766661e-03 9.99396035e-01 -3.43606442e-02 -1.70492406e+00] [ 1.73025629e-01 3.47399163e-02 9.84304460e-01 -2.26696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20463044 meters Centerline goodness : 0.091607 with order 1 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.70, Z:-2.27 [[ 9.85043769e-01 1.54836285e-03 -1.72297347e-01 -1.96918674e+01] [-7.30579600e-03 9.99435674e-01 -3.27865742e-02 -1.70106334e+00] [ 1.72149350e-01 3.35549799e-02 9.84499195e-01 -2.26569461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26463044 meters Centerline goodness : 0.099211 with order 1 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.70, Z:-2.27 [[ 9.85117858e-01 1.98315321e-03 -1.71868769e-01 -1.96933169e+01] [-7.74922817e-03 9.99429104e-01 -3.28848693e-02 -1.69665420e+00] [ 1.71705434e-01 3.37273223e-02 9.84570826e-01 -2.26519711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32463044 meters Centerline goodness : 0.362204 with order 3 Centerline is valid? [False, False] Translation: X:-19.69, Y:-1.70, Z:-2.27 [[ 9.85055104e-01 1.81391127e-03 -1.72229941e-01 -1.96923295e+01] [-7.63431177e-03 9.99421628e-01 -3.31379991e-02 -1.69546314e+00] [ 1.72070218e-01 3.39576122e-02 9.84499223e-01 -2.26516644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38463044 meters Centerline goodness : 0.099513 with order 1 Centerline is valid? [False, False] Translation: X:-19.67, Y:-1.69, Z:-2.26 [[ 9.84977073e-01 -5.57534828e-03 -1.72595139e-01 -1.96738855e+01] [-1.35444624e-05 9.99476167e-01 -3.23634184e-02 -1.68935739e+00] [ 1.72685166e-01 3.18795629e-02 9.84461034e-01 -2.26024229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44463044 meters Centerline goodness : 0.471292 with order 2 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.69, Z:-2.27 [[ 9.84704719e-01 -4.20391041e-03 -1.74180778e-01 -1.97175904e+01] [-1.23830591e-03 9.99514758e-01 -3.11241931e-02 -1.68970044e+00] [ 1.74227102e-01 3.08638289e-02 9.84221693e-01 -2.26744027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50463044 meters Centerline goodness : 0.463745 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.69, Z:-2.27 [[ 9.84760715e-01 -3.88007246e-03 -1.73871447e-01 -1.97181571e+01] [-1.55766557e-03 9.99514220e-01 -3.11271088e-02 -1.68738486e+00] [ 1.73907760e-01 3.09235875e-02 9.84276294e-01 -2.26756507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56463044 meters Centerline goodness : 0.249177 with order 3 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84792572e-01 -4.08846704e-03 -1.73686136e-01 -1.97181673e+01] [-1.46806505e-03 9.99491541e-01 -3.18512917e-02 -1.68289979e+00] [ 1.73728046e-01 3.16218980e-02 9.84285843e-01 -2.26795902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62463044 meters Centerline goodness : 0.099620 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84789748e-01 -4.29421456e-03 -1.73697183e-01 -1.97179853e+01] [-1.37594785e-03 9.99470451e-01 -3.25103713e-02 -1.67802390e+00] [ 1.73744808e-01 3.22548786e-02 9.84262345e-01 -2.26803474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68463043999998 meters Centerline goodness : 0.102949 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84840436e-01 -4.39530471e-03 -1.73407025e-01 -1.97195560e+01] [-1.27608480e-03 9.99468296e-01 -3.25806155e-02 -1.67735506e+00] [ 1.73458026e-01 3.23079896e-02 9.84311184e-01 -2.26698776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74463043999998 meters Centerline goodness : 0.106457 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84809078e-01 -4.86280126e-03 -1.73572559e-01 -1.97189100e+01] [-8.66921058e-04 9.99457632e-01 -3.29194637e-02 -1.67752378e+00] [ 1.73638500e-01 3.25698604e-02 9.84270733e-01 -2.26711502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80463043999998 meters Centerline goodness : 0.116046 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84777064e-01 -5.11574499e-03 -1.73746835e-01 -1.97179166e+01] [-6.06121840e-04 9.99459676e-01 -3.28631926e-02 -1.67897641e+00] [ 1.73821075e-01 3.24682301e-02 9.84241864e-01 -2.26758482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86463043999998 meters Centerline goodness : 0.110907 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-1.68, Z:-2.27 [[ 9.84884731e-01 -5.12180477e-03 -1.73135305e-01 -1.97195557e+01] [-5.41082782e-04 9.99466868e-01 -3.26448632e-02 -1.68051546e+00] [ 1.73210202e-01 3.22451078e-02 9.84356886e-01 -2.26737235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92463044 meters Centerline goodness : 0.108616 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84407371e-01 -5.54308190e-03 -1.75816389e-01 -1.97598933e+01] [-2.73546989e-04 9.99453924e-01 -3.30420655e-02 -1.68295739e+00] [ 1.75903534e-01 3.25749469e-02 9.83868294e-01 -2.27609455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98463044 meters Centerline goodness : 0.243802 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84360569e-01 -5.21670362e-03 -1.76088206e-01 -1.97585067e+01] [-5.92015515e-04 9.99457850e-01 -3.29189117e-02 -1.68188302e+00] [ 1.76164469e-01 3.25083256e-02 9.83823810e-01 -2.27672983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04463044 meters Centerline goodness : 0.253505 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84426211e-01 -5.33865901e-03 -1.75717198e-01 -1.97597325e+01] [-4.98740703e-04 9.99449948e-01 -3.31595084e-02 -1.68071107e+00] [ 1.75797571e-01 3.27307265e-02 9.83882063e-01 -2.27639325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10463044 meters Centerline goodness : 0.106784 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84448421e-01 -5.28389890e-03 -1.75594383e-01 -1.97602634e+01] [-5.60385371e-04 9.99448019e-01 -3.32166250e-02 -1.67980570e+00] [ 1.75672972e-01 3.27984546e-02 9.83902062e-01 -2.27610046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16463044 meters Centerline goodness : 0.242960 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84443172e-01 -5.30695420e-03 -1.75623111e-01 -1.97604259e+01] [-5.50243150e-04 9.99445734e-01 -3.32854589e-02 -1.67972625e+00] [ 1.75702414e-01 3.28642782e-02 9.83894609e-01 -2.27582463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22463044 meters Centerline goodness : 0.215920 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84491722e-01 -5.11001045e-03 -1.75356601e-01 -1.97610508e+01] [-6.75748445e-04 9.99457805e-01 -3.29186843e-02 -1.68206636e+00] [ 1.75429738e-01 3.25266691e-02 9.83954482e-01 -2.27580036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28463044 meters Centerline goodness : 0.120325 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.68, Z:-2.28 [[ 9.84479823e-01 -5.08881049e-03 -1.75424009e-01 -1.97613366e+01] [-6.44346548e-04 9.99467969e-01 -3.26092721e-02 -1.68494648e+00] [ 1.75496620e-01 3.22162043e-02 9.83952769e-01 -2.27525227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34463044 meters Centerline goodness : 0.105064 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.69, Z:-2.28 [[ 9.84422924e-01 -4.90403199e-03 -1.75748277e-01 -1.97604661e+01] [-7.41880608e-04 9.99486155e-01 -3.20449023e-02 -1.68864553e+00] [ 1.75815119e-01 3.16761206e-02 9.83913445e-01 -2.27525627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40463043999998 meters Centerline goodness : 0.104040 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.69, Z:-2.28 [[ 9.84428420e-01 -5.01088396e-03 -1.75714477e-01 -1.97604503e+01] [-5.60202071e-04 9.99499128e-01 -3.16414053e-02 -1.69496558e+00] [ 1.75785018e-01 3.12471342e-02 9.83932540e-01 -2.27531231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46463043999998 meters Centerline goodness : 0.105260 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84404715e-01 -4.80962059e-03 -1.75852851e-01 -1.97603321e+01] [-7.26426792e-04 9.99506533e-01 -3.14032165e-02 -1.69594838e+00] [ 1.75917111e-01 3.10412186e-02 9.83915450e-01 -2.27505097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52463043999998 meters Centerline goodness : 0.240290 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84234456e-01 -4.57075107e-03 -1.76809626e-01 -1.97570853e+01] [-9.84375602e-04 9.99508979e-01 -3.13182220e-02 -1.69582181e+00] [ 1.76865957e-01 3.09985203e-02 9.83746677e-01 -2.27600506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58463043999998 meters Centerline goodness : 0.141131 with order 3 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84215718e-01 -4.40360601e-03 -1.76918141e-01 -1.97565004e+01] [-1.11386009e-03 9.99516431e-01 -3.10751352e-02 -1.69676316e+00] [ 1.76969432e-01 3.07816986e-02 9.83734876e-01 -2.27629773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64463044 meters Centerline goodness : 0.118518 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84243816e-01 -4.27344680e-03 -1.76764953e-01 -1.97567818e+01] [-1.21079571e-03 9.99521558e-01 -3.09061287e-02 -1.69703962e+00] [ 1.76812457e-01 3.06331922e-02 9.83767738e-01 -2.27634708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70463044 meters Centerline goodness : 0.120782 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84307456e-01 -4.25177843e-03 -1.76410756e-01 -1.97577784e+01] [-1.22122820e-03 9.99521609e-01 -3.09040591e-02 -1.69690510e+00] [ 1.76457760e-01 3.06345336e-02 9.83831380e-01 -2.27623405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76463044 meters Centerline goodness : 0.104025 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84365891e-01 -4.12159770e-03 -1.76087495e-01 -1.97586766e+01] [-1.30324919e-03 9.99528380e-01 -3.06809290e-02 -1.69738268e+00] [ 1.76130903e-01 3.04307459e-02 9.83896272e-01 -2.27616561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82463044 meters Centerline goodness : 0.100305 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-1.70, Z:-2.28 [[ 9.84405441e-01 -4.54392530e-03 -1.75855850e-01 -1.97591044e+01] [-8.58597552e-04 9.99530330e-01 -3.06330398e-02 -1.69985464e+00] [ 1.75912450e-01 3.03063205e-02 9.83939194e-01 -2.27622590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88463044 meters Centerline goodness : 0.106751 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-1.70, Z:-2.28 [[ 9.83757303e-01 -6.10517204e-03 -1.79399820e-01 -1.97984321e+01] [ 4.58424793e-04 9.99503635e-01 -3.15003822e-02 -1.70381149e+00] [ 1.79503088e-01 3.09064897e-02 9.83271799e-01 -2.28496423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94463044 meters Centerline goodness : 0.106708 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-1.70, Z:-2.29 [[ 9.83768332e-01 -5.99342671e-03 -1.79343098e-01 -1.97984134e+01] [ 3.45582097e-04 9.99503486e-01 -3.15065270e-02 -1.70275780e+00] [ 1.79442884e-01 3.09331458e-02 9.83281949e-01 -2.28502031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00463044 meters Centerline goodness : 0.106663 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-1.70, Z:-2.29 [[ 9.83782891e-01 -5.94449887e-03 -1.79264848e-01 -1.97985035e+01] [ 2.30960275e-04 9.99491802e-01 -3.18760938e-02 -1.69958335e+00] [ 1.79363234e-01 3.13177527e-02 9.83284307e-01 -2.28508861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06463044 meters Centerline goodness : 0.110194 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.70, Z:-2.29 [[ 9.83945585e-01 -5.43580799e-03 -1.78385924e-01 -1.98445383e+01] [-2.50300267e-04 9.99493032e-01 -3.18373441e-02 -1.69742206e+00] [ 1.78468550e-01 3.13708642e-02 9.83445395e-01 -2.29369884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12463044 meters Centerline goodness : 0.110067 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.70, Z:-2.29 [[ 9.83955627e-01 -5.70049759e-03 -1.78322260e-01 -1.98447099e+01] [-2.58203562e-05 9.99484874e-01 -3.20933977e-02 -1.69706534e+00] [ 1.78413350e-01 3.15830836e-02 9.83448619e-01 -2.29368235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18463043999998 meters Centerline goodness : 0.105098 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.70, Z:-2.29 [[ 9.83787490e-01 -5.78620002e-03 -1.79244791e-01 -1.98420011e+01] [ 2.65141082e-05 9.99484057e-01 -3.21188158e-02 -1.69756358e+00] [ 1.79338157e-01 3.15933367e-02 9.83280065e-01 -2.29402352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24463043999998 meters Centerline goodness : 0.106550 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.70, Z:-2.29 [[ 9.83944601e-01 -5.45872933e-03 -1.78390651e-01 -1.98442653e+01] [-1.72200676e-04 9.99502651e-01 -3.15344460e-02 -1.70039153e+00] [ 1.78474067e-01 3.10588669e-02 9.83454297e-01 -2.29390223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30463043999998 meters Centerline goodness : 0.110795 with order 1 Centerline is valid? [False, False] Translation: X:-19.85, Y:-1.70, Z:-2.29 [[ 9.84115303e-01 -5.09261123e-03 -1.77457422e-01 -1.98464971e+01] [-4.08301957e-04 9.99520906e-01 -3.09481990e-02 -1.70375837e+00] [ 1.77530010e-01 3.05290524e-02 9.83641740e-01 -2.29414356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36463043999998 meters Centerline goodness : 0.115572 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.29 [[ 9.84051487e-01 -4.77704491e-03 -1.77819712e-01 -1.98448303e+01] [-6.68901448e-04 9.99532903e-01 -3.05536826e-02 -1.70534601e+00] [ 1.77882609e-01 3.01853407e-02 9.83588645e-01 -2.29490550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42463044 meters Centerline goodness : 0.118659 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.84070963e-01 -4.44049955e-03 -1.77720631e-01 -1.98445995e+01] [-9.07102278e-04 9.99549566e-01 -2.99973750e-02 -1.70793096e+00] [ 1.77773783e-01 2.96807565e-02 9.83623675e-01 -2.29542462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48463044 meters Centerline goodness : 0.108177 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.83968991e-01 -4.21776334e-03 -1.78289752e-01 -1.98428242e+01] [-1.07015861e-03 9.99562654e-01 -2.95525770e-02 -1.71092904e+00] [ 1.78336423e-01 2.92696177e-02 9.83534143e-01 -2.29576246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54463044 meters Centerline goodness : 0.253766 with order 3 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.83944382e-01 -3.93313122e-03 -1.78432016e-01 -1.98424438e+01] [-1.33930490e-03 9.99566281e-01 -2.94186380e-02 -1.71054703e+00] [ 1.78470334e-01 2.91852784e-02 9.83512359e-01 -2.29582678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60463044 meters Centerline goodness : 0.122498 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.83995445e-01 -3.12300818e-03 -1.78166244e-01 -1.98416418e+01] [-2.11455892e-03 9.99571364e-01 -2.91996160e-02 -1.70828522e+00] [ 1.78181066e-01 2.91090322e-02 9.83567065e-01 -2.29744115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66463044 meters Centerline goodness : 0.108541 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.84100675e-01 -2.90666529e-03 -1.77587761e-01 -1.98430919e+01] [-2.29633175e-03 9.99574286e-01 -2.90856164e-02 -1.70816680e+00] [ 1.77596702e-01 2.90309751e-02 9.83675055e-01 -2.29757224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72463044 meters Centerline goodness : 0.118218 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-1.71, Z:-2.30 [[ 9.84048084e-01 -2.88040284e-03 -1.77879372e-01 -1.98425656e+01] [-2.31223102e-03 9.99577384e-01 -2.89776829e-02 -1.70936389e+00] [ 1.77887665e-01 2.89267316e-02 9.83625550e-01 -2.29733606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78463044 meters Centerline goodness : 0.114624 with order 1 Centerline is valid? [False, False] Translation: X:-19.88, Y:-1.72, Z:-2.31 [[ 9.83421258e-01 -2.70975789e-03 -1.81315432e-01 -1.98831948e+01] [-2.47035938e-03 9.99595354e-01 -2.83377165e-02 -1.71565609e+00] [ 1.81318852e-01 2.83158271e-02 9.83016626e-01 -2.30565818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84463044 meters Centerline goodness : 0.118713 with order 1 Centerline is valid? [False, False] Translation: X:-19.88, Y:-1.72, Z:-2.31 [[ 9.83458041e-01 -2.69749843e-03 -1.81116001e-01 -1.98829009e+01] [-2.46899956e-03 9.99596584e-01 -2.82943950e-02 -1.71625817e+00] [ 1.81119260e-01 2.82735256e-02 9.83054638e-01 -2.30647536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90463043999998 meters Centerline goodness : 0.118995 with order 1 Centerline is valid? [False, False] Translation: X:-19.88, Y:-1.72, Z:-2.31 [[ 9.83354995e-01 -3.04168766e-03 -1.81669213e-01 -1.98810961e+01] [-2.17661131e-03 9.99590912e-01 -2.85179028e-02 -1.71701158e+00] [ 1.81681636e-01 2.84386454e-02 9.82946095e-01 -2.30675820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96463043999998 meters Centerline goodness : 0.093122 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.72, Z:-2.31 [[ 9.82920504e-01 -8.18637982e-03 -1.83848486e-01 -1.98993932e+01] [ 3.67881123e-03 9.99684533e-01 -2.48455584e-02 -1.71515654e+00] [ 1.83993883e-01 2.37448649e-02 9.82640541e-01 -2.31032326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02463043999998 meters Centerline goodness : 0.121737 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.71, Z:-2.31 [[ 9.82960864e-01 -8.83682081e-03 -1.83602426e-01 -1.99010156e+01] [ 4.24952658e-03 9.99669265e-01 -2.53633895e-02 -1.71492464e+00] [ 1.83765834e-01 2.41509958e-02 9.82673317e-01 -2.30918723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08463043999998 meters Centerline goodness : 0.122557 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.71, Z:-2.31 [[ 9.82916726e-01 -8.49728552e-03 -1.83854580e-01 -1.99008253e+01] [ 3.94673497e-03 9.99677089e-01 -2.51026102e-02 -1.71380522e+00] [ 1.84008515e-01 2.39481501e-02 9.82632868e-01 -2.30866485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14463044 meters Centerline goodness : 0.104737 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.71, Z:-2.31 [[ 9.82840800e-01 -8.66600607e-03 -1.84252172e-01 -1.99001484e+01] [ 4.01641669e-03 9.99664372e-01 -2.55931818e-02 -1.71066329e+00] [ 1.84412122e-01 2.44139897e-02 9.82545738e-01 -2.30824377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20463044 meters Centerline goodness : 0.107807 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.70, Z:-2.31 [[ 9.82787577e-01 -5.54668570e-03 -1.84655931e-01 -1.99010779e+01] [ 1.16135216e-03 9.99714913e-01 -2.38483643e-02 -1.70225501e+00] [ 1.84735568e-01 2.32234256e-02 9.82513838e-01 -2.30665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26463044 meters Centerline goodness : 0.105176 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.70, Z:-2.31 [[ 9.82878972e-01 -1.60259643e-03 -1.84245374e-01 -1.99026125e+01] [-2.33092451e-03 9.99774003e-01 -2.11307935e-02 -1.69620136e+00] [ 1.84237599e-01 2.11984746e-02 9.82653109e-01 -2.30619526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32463044 meters Centerline goodness : 0.248380 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.69, Z:-2.31 [[ 9.82909274e-01 -1.91550867e-03 -1.84080663e-01 -1.99034398e+01] [-2.18828425e-03 9.99753642e-01 -2.20877174e-02 -1.68904331e+00] [ 1.84077622e-01 2.21130431e-02 9.82662934e-01 -2.30590038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38463044 meters Centerline goodness : 0.099633 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-1.68, Z:-2.31 [[ 9.82804776e-01 -1.65206543e-03 -1.84640309e-01 -1.99025722e+01] [-2.55329247e-03 9.99742775e-01 -2.25358619e-02 -1.67983264e+00] [ 1.84630045e-01 2.26197934e-02 9.82547755e-01 -2.30526519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44463044 meters Centerline goodness : 0.248624 with order 3 Centerline is valid? [False, False] Translation: X:-19.95, Y:-1.68, Z:-2.31 [[ 9.82716462e-01 -2.66121185e-03 -1.85098011e-01 -1.99478944e+01] [-1.73244016e-03 9.99720662e-01 -2.35711120e-02 -1.67847072e+00] [ 1.85109034e-01 2.34843910e-02 9.82437341e-01 -2.31308811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50463044 meters Centerline goodness : 0.102320 with order 1 Centerline is valid? [False, False] Translation: X:-19.95, Y:-1.68, Z:-2.31 [[ 9.82710904e-01 -2.86342473e-03 -1.85124497e-01 -1.99482014e+01] [-1.58501869e-03 9.99713647e-01 -2.38770125e-02 -1.67702273e+00] [ 1.85139856e-01 2.37576264e-02 9.82424964e-01 -2.31264308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56463044 meters SLAMing on 250.62463044 meters Centerline goodness : 0.108088 with order 1 Centerline is valid? [False, False] Translation: X:-20.01, Y:-1.68, Z:-2.32 [[ 9.82072405e-01 -1.38109689e-02 -1.87997471e-01 -2.00126640e+01] [ 9.05532951e-03 9.99617494e-01 -2.61317178e-02 -1.67779890e+00] [ 1.88286466e-01 2.39608599e-02 9.81821819e-01 -2.32357950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68463043999998 meters Centerline goodness : 0.416265 with order 3 Centerline is valid? [False, False] Translation: X:-20.02, Y:-1.68, Z:-2.32 [[ 9.82182448e-01 -1.76498050e-02 -1.87099235e-01 -2.00163440e+01] [ 1.25729071e-02 9.99520772e-01 -2.82869037e-02 -1.68377680e+00] [ 1.87508831e-01 2.54305190e-02 9.81933667e-01 -2.32201190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74463043999998 meters Centerline goodness : 0.217826 with order 3 Centerline is valid? [False, False] Translation: X:-20.02, Y:-1.69, Z:-2.32 [[ 9.82163378e-01 -2.09226286e-02 -1.86861829e-01 -2.00176574e+01] [ 1.55705503e-02 9.99426693e-01 -3.00639745e-02 -1.69138330e+00] [ 1.87383717e-01 2.66181932e-02 9.81926074e-01 -2.32112812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80463043999998 meters Centerline goodness : 0.202881 with order 3 Centerline is valid? [False, False] Translation: X:-20.02, Y:-1.70, Z:-2.32 [[ 0.98202211 -0.02631477 -0.18692271 -20.01654315] [ 0.02046401 0.99924048 -0.03316167 -1.70470616] [ 0.18765338 0.02874031 0.98181475 -2.32159126] [ 0. 0. 0. 1. ]] SLAMing on 250.86463043999998 meters Centerline goodness : 0.093901 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-1.72, Z:-2.33 [[ 0.98135968 -0.02748408 -0.19020463 -20.05723725] [ 0.02150628 0.99920992 -0.03342172 -1.71623629] [ 0.19097292 0.02870814 0.98117541 -2.33035716] [ 0. 0. 0. 1. ]] SLAMing on 250.92463044 meters Centerline goodness : 0.103764 with order 1 Centerline is valid? [False, False] Translation: X:-20.04, Y:-1.73, Z:-2.33 [[ 9.81373775e-01 -2.04847787e-02 -1.91012796e-01 -2.00367454e+01] [ 1.42860408e-02 9.99327424e-01 -3.37728963e-02 -1.72682500e+00] [ 1.91576156e-01 3.04150181e-02 9.81006373e-01 -2.32598709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98463044 meters Centerline goodness : 0.130099 with order 1 Centerline is valid? [False, False] Translation: X:-20.05, Y:-1.74, Z:-2.33 [[ 9.81936648e-01 -1.50314426e-02 -1.88611968e-01 -2.00549452e+01] [ 8.66965322e-03 9.99366771e-01 -3.45093375e-02 -1.74272057e+00] [ 1.89011259e-01 3.22507829e-02 9.81445175e-01 -2.33168529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04463044 meters Centerline goodness : 0.095775 with order 1 Centerline is valid? [False, False] Translation: X:-20.10, Y:-1.75, Z:-2.34 [[ 9.81448896e-01 -1.51526556e-02 -1.91124207e-01 -2.00952379e+01] [ 8.74637865e-03 9.99372686e-01 -3.43181354e-02 -1.75106733e+00] [ 1.91524323e-01 3.20098514e-02 9.80965750e-01 -2.34049167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10463044 meters Centerline goodness : 0.104753 with order 1 Centerline is valid? [False, False] Translation: X:-20.09, Y:-1.76, Z:-2.34 [[ 9.81193637e-01 -1.56030563e-02 -1.92394362e-01 -2.00913978e+01] [ 9.13855276e-03 9.99364914e-01 -3.44420548e-02 -1.75746549e+00] [ 1.92809577e-01 3.20361190e-02 9.80713085e-01 -2.34090329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16463044 meters Centerline goodness : 0.101624 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-1.76, Z:-2.35 [[ 9.81122975e-01 -1.51604102e-02 -1.92789701e-01 -2.01360826e+01] [ 8.93961662e-03 9.99412185e-01 -3.30963502e-02 -1.76450029e+00] [ 1.93178131e-01 3.07481236e-02 9.80681785e-01 -2.34883528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22463044 meters Centerline goodness : 0.105562 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-1.77, Z:-2.35 [[ 9.81221945e-01 -1.53985029e-02 -1.92266431e-01 -2.01381347e+01] [ 9.23656162e-03 9.99415826e-01 -3.29042907e-02 -1.76969635e+00] [ 1.92660791e-01 3.05105313e-02 9.80790970e-01 -2.34821239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28463044 meters Centerline goodness : 0.106511 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-1.78, Z:-2.35 [[ 9.81382625e-01 -1.08195959e-02 -1.91757868e-01 -2.01559339e+01] [ 4.18442075e-03 9.99379494e-01 -3.49730862e-02 -1.78301953e+00] [ 1.92017276e-01 3.35195835e-02 9.80818945e-01 -2.35367678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34463044 meters Centerline goodness : 0.108581 with order 1 Centerline is valid? [False, False] Translation: X:-20.15, Y:-1.79, Z:-2.35 [[ 9.81299778e-01 -1.07404958e-02 -1.92185816e-01 -2.01542717e+01] [ 4.20152636e-03 9.99399332e-01 -3.43994558e-02 -1.78928566e+00] [ 1.92439843e-01 3.29487046e-02 9.80755469e-01 -2.35418799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40463043999998 meters Centerline goodness : 0.117497 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-1.80, Z:-2.36 [[ 9.81470944e-01 -3.35989972e-03 -1.91581569e-01 -2.01727373e+01] [-3.35534702e-03 9.99391570e-01 -3.47164453e-02 -1.80017618e+00] [ 1.91581649e-01 3.47160050e-02 9.80862514e-01 -2.35898077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46463043999998 meters Centerline goodness : 0.108244 with order 1 Centerline is valid? [False, False] Translation: X:-20.19, Y:-1.80, Z:-2.36 [[ 9.81459840e-01 5.09978693e-03 -1.91600036e-01 -2.01919937e+01] [-1.20701167e-02 9.99306336e-01 -3.52300844e-02 -1.80444458e+00] [ 1.91287464e-01 3.68895479e-02 9.80840592e-01 -2.36429799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52463043999998 meters Centerline goodness : 0.126571 with order 1 Centerline is valid? [False, False] Translation: X:-20.19, Y:-1.80, Z:-2.36 [[ 9.81517370e-01 6.19494757e-03 -1.91272775e-01 -2.01929240e+01] [-1.31304458e-02 9.99300575e-01 -3.50135872e-02 -1.80284990e+00] [ 1.90922087e-01 3.68779408e-02 9.80912215e-01 -2.36419187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58463043999998 meters Centerline goodness : 0.105832 with order 1 Centerline is valid? [False, False] Translation: X:-20.21, Y:-1.80, Z:-2.37 [[ 9.81861706e-01 2.95422261e-03 -1.89575480e-01 -2.02089556e+01] [-9.17829291e-03 9.99446939e-01 -3.19620744e-02 -1.79653861e+00] [ 1.89376210e-01 3.31223162e-02 9.81345792e-01 -2.36924083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64463044 meters Centerline goodness : 0.254912 with order 3 Centerline is valid? [False, False] Translation: X:-20.20, Y:-1.79, Z:-2.37 [[ 9.81493000e-01 5.06499937e-03 -1.91431024e-01 -2.02028609e+01] [-1.12094228e-02 9.99455657e-01 -3.10280307e-02 -1.79082544e+00] [ 1.91169663e-01 3.25996262e-02 9.81015507e-01 -2.37002714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70463044 meters Centerline goodness : 0.119413 with order 1 Centerline is valid? [False, False] Translation: X:-20.25, Y:-1.79, Z:-2.38 [[ 9.81005624e-01 7.31714643e-03 -1.93841239e-01 -2.02458142e+01] [-1.32554985e-02 9.99481129e-01 -2.93558214e-02 -1.78871956e+00] [ 1.93525860e-01 3.13676881e-02 9.80593601e-01 -2.37823334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76463044 meters Centerline goodness : 0.119516 with order 1 Centerline is valid? [False, False] Translation: X:-20.25, Y:-1.78, Z:-2.38 [[ 9.81093512e-01 6.99559667e-03 -1.93407813e-01 -2.02472084e+01] [-1.30558579e-02 9.99462306e-01 -3.00772871e-02 -1.78481532e+00] [ 1.93093411e-01 3.20337361e-02 9.80657318e-01 -2.37793369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82463044 meters Centerline goodness : 0.118616 with order 1 Centerline is valid? [False, False] Translation: X:-20.25, Y:-1.78, Z:-2.38 [[ 9.81137328e-01 7.29238330e-03 -1.93174443e-01 -2.02479434e+01] [-1.34190810e-02 9.99446927e-01 -3.04264432e-02 -1.77603525e+00] [ 1.92845722e-01 3.24447427e-02 9.80692544e-01 -2.37769929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88463044 meters Centerline goodness : 0.114687 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-1.76, Z:-2.38 [[ 9.81426778e-01 7.05819211e-04 -1.91835818e-01 -2.02642035e+01] [-6.52006286e-03 9.99538220e-01 -2.96788736e-02 -1.76409383e+00] [ 1.91726285e-01 3.03784229e-02 9.80978177e-01 -2.38371039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94463044 meters Centerline goodness : 0.108514 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:-1.75, Z:-2.39 [[ 9.81875593e-01 -5.93390047e-03 -1.89433655e-01 -2.02820202e+01] [ 2.44457455e-04 9.99548571e-01 -3.00432092e-02 -1.75081050e+00] [ 1.89526412e-01 2.94523854e-02 9.81433796e-01 -2.38761014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00463044 meters Centerline goodness : 0.121848 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:-1.75, Z:-2.39 [[ 9.81825591e-01 -6.44216160e-03 -1.89676059e-01 -2.02813680e+01] [ 6.23794945e-04 9.99527865e-01 -3.07190176e-02 -1.74729543e+00] [ 1.89784403e-01 3.00423986e-02 9.81366055e-01 -2.38755358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06463044 meters Centerline goodness : 0.110412 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:-1.74, Z:-2.39 [[ 9.81964481e-01 -7.28188824e-03 -1.88925200e-01 -2.02831779e+01] [ 1.32144675e-03 9.99497949e-01 -3.16560129e-02 -1.74265952e+00] [ 1.89060866e-01 3.08354257e-02 9.81481108e-01 -2.38772675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12463044 meters Centerline goodness : 0.302587 with order 1 Centerline is valid? [False, False] Translation: X:-20.33, Y:-1.74, Z:-2.40 [[ 9.81697618e-01 -6.51851146e-03 -1.90334696e-01 -2.03272869e+01] [ 6.75911536e-04 9.99527025e-01 -3.07452489e-02 -1.74200702e+00] [ 1.90445086e-01 3.00538882e-02 9.81237705e-01 -2.39595125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18463043999998 meters Centerline goodness : 0.111416 with order 1 Centerline is valid? [False, False] Translation: X:-20.33, Y:-1.74, Z:-2.40 [[ 9.81622771e-01 -7.09998612e-03 -1.90699571e-01 -2.03265714e+01] [ 1.12091810e-03 9.99504920e-01 -3.14429251e-02 -1.74078350e+00] [ 1.90828404e-01 3.06513327e-02 9.81144748e-01 -2.39563695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24463043999998 meters Centerline goodness : 0.109215 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.74, Z:-2.40 [[ 9.81641639e-01 1.24174570e-03 -1.90730569e-01 -2.03472105e+01] [-7.49721042e-03 9.99457208e-01 -3.20792953e-02 -1.74321829e+00] [ 1.90587207e-01 3.29203192e-02 9.81118122e-01 -2.39996328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30463043999998 meters Centerline goodness : 0.115351 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.74, Z:-2.40 [[ 9.81650875e-01 1.22373433e-03 -1.90683144e-01 -2.03469792e+01] [-7.51026774e-03 9.99451639e-01 -3.22492985e-02 -1.74275470e+00] [ 1.90539116e-01 3.30896335e-02 9.81121767e-01 -2.40036938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36463043999998 meters Centerline goodness : 0.115215 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.74, Z:-2.40 [[ 9.81578263e-01 1.48200078e-03 -1.91054749e-01 -2.03461280e+01] [-7.70600551e-03 9.99463329e-01 -3.18382145e-02 -1.74469538e+00] [ 1.90905031e-01 3.27239683e-02 9.81062899e-01 -2.40029397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42463044 meters Centerline goodness : 0.107720 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.75, Z:-2.40 [[ 9.81565119e-01 1.58699535e-03 -1.91121424e-01 -2.03461511e+01] [-7.75879752e-03 9.99472105e-01 -3.15485689e-02 -1.74660048e+00] [ 1.90970465e-01 3.24498472e-02 9.81059269e-01 -2.40012821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48463044 meters Centerline goodness : 0.124150 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.75, Z:-2.40 [[ 9.81626749e-01 -2.38259820e-03 -1.90796355e-01 -2.03471802e+01] [-4.28374703e-03 9.99394843e-01 -3.45195117e-02 -1.75041444e+00] [ 1.90763140e-01 3.47025994e-02 9.81022504e-01 -2.40007317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54463044 meters Centerline goodness : 0.111016 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-1.76, Z:-2.40 [[ 9.81424447e-01 -1.01498712e-02 -1.91580360e-01 -2.03671193e+01] [ 3.97329718e-03 9.99460685e-01 -3.25967975e-02 -1.75606362e+00] [ 1.91807892e-01 3.12300883e-02 9.80935479e-01 -2.40463086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60463044 meters Centerline goodness : 0.118009 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-1.77, Z:-2.41 [[ 9.81964612e-01 -5.06595567e-03 -1.88996923e-01 -2.03865872e+01] [-1.41309582e-03 9.99416377e-01 -3.41307629e-02 -1.76742812e+00] [ 1.89059525e-01 3.37822721e-02 9.81384356e-01 -2.41009161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66463044 meters Centerline goodness : 0.122121 with order 1 Centerline is valid? [False, False] Translation: X:-20.38, Y:-1.78, Z:-2.41 [[ 9.81875373e-01 -4.85129745e-03 -1.89465606e-01 -2.03847274e+01] [-1.51747719e-03 9.99439077e-01 -3.34548832e-02 -1.77545334e+00] [ 1.89521630e-01 3.31360356e-02 9.81317255e-01 -2.41077244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72463044 meters Centerline goodness : 0.124564 with order 1 Centerline is valid? [False, False] Translation: X:-20.38, Y:-1.78, Z:-2.41 [[ 9.81814065e-01 -4.39726984e-03 -1.89794114e-01 -2.03832872e+01] [-1.88206768e-03 9.99457137e-01 -3.28920803e-02 -1.77789737e+00] [ 1.89835717e-01 3.26511124e-02 9.81272799e-01 -2.41136403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78463044 meters Centerline goodness : 0.124109 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-1.78, Z:-2.41 [[ 9.81908360e-01 -3.88776412e-03 -1.89316820e-01 -2.03851083e+01] [-2.30101949e-03 9.99470409e-01 -3.24593211e-02 -1.77917672e+00] [ 1.89342754e-01 3.23077005e-02 9.81379404e-01 -2.41079059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84463044 meters Centerline goodness : 0.150939 with order 3 Centerline is valid? [False, False] Translation: X:-20.39, Y:-1.78, Z:-2.41 [[ 9.82203874e-01 -1.36875994e-03 -1.87812876e-01 -2.03914484e+01] [-4.41770465e-03 9.99528425e-01 -3.03876987e-02 -1.78027421e+00] [ 1.87765901e-01 3.06766172e-02 9.81734644e-01 -2.40899199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90463043999998 meters Centerline goodness : 0.124668 with order 2 Centerline is valid? [False, False] Translation: X:-20.39, Y:-1.78, Z:-2.41 [[ 9.82053678e-01 -9.54238355e-04 -1.88599212e-01 -2.03890596e+01] [-4.84145859e-03 9.99530119e-01 -3.02671582e-02 -1.77965453e+00] [ 1.88539475e-01 3.06370693e-02 9.81587610e-01 -2.40942764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96463043999998 meters SLAMing on 253.02463043999998 meters Centerline goodness : 0.116511 with order 2 Centerline is valid? [False, False] Translation: X:-20.39, Y:-1.78, Z:-2.41 [[ 9.81880337e-01 -9.63508190e-04 -1.89499541e-01 -2.03864766e+01] [-4.84485525e-03 9.99532574e-01 -3.01854342e-02 -1.78111981e+00] [ 1.89440048e-01 3.05565822e-02 9.81416713e-01 -2.40977296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08463043999998 meters Centerline goodness : 0.116623 with order 1 Centerline is valid? [False, False] Translation: X:-20.41, Y:-1.78, Z:-2.41 [[ 9.81820557e-01 -9.24409111e-03 -1.89586235e-01 -2.04065502e+01] [ 3.77440842e-03 9.99566713e-01 -2.91914336e-02 -1.78030163e+00] [ 1.89773938e-01 2.79451738e-02 9.81430038e-01 -2.41418558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14463044 meters Centerline goodness : 0.112577 with order 2 Centerline is valid? [False, False] Translation: X:-20.41, Y:-1.78, Z:-2.41 [[ 9.81814475e-01 -9.15091152e-03 -1.89622248e-01 -2.04062911e+01] [ 3.73060757e-03 9.99574710e-01 -2.89220030e-02 -1.78211715e+00] [ 1.89806266e-01 2.76886350e-02 9.81431058e-01 -2.41425050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20463044 meters Centerline goodness : 0.115368 with order 1 Centerline is valid? [False, False] Translation: X:-20.41, Y:-1.79, Z:-2.41 [[ 9.81826206e-01 -9.99121507e-03 -1.89519069e-01 -2.04061329e+01] [ 4.54793838e-03 9.99565148e-01 -2.91347214e-02 -1.78844946e+00] [ 1.89727748e-01 2.77433119e-02 9.81444696e-01 -2.41468871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26463044 meters Centerline goodness : 0.115766 with order 2 Centerline is valid? [False, False] Translation: X:-20.40, Y:-1.79, Z:-2.41 [[ 9.81716323e-01 -9.86079951e-03 -1.90094253e-01 -2.04042475e+01] [ 4.48471863e-03 9.99578279e-01 -2.86906071e-02 -1.79168647e+00] [ 1.90296998e-01 2.73135181e-02 9.81346536e-01 -2.41499664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32463044 meters Centerline goodness : 0.165331 with order 3 Centerline is valid? [False, False] Translation: X:-20.40, Y:-1.80, Z:-2.41 [[ 9.81696996e-01 -9.64276080e-03 -1.90205217e-01 -2.04042812e+01] [ 4.37696890e-03 9.99595942e-01 -2.80854932e-02 -1.79656537e+00] [ 1.90399185e-01 2.67389220e-02 9.81342540e-01 -2.41471255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38463044 meters Centerline goodness : 0.205826 with order 2 Centerline is valid? [False, False] Translation: X:-20.41, Y:-1.80, Z:-2.41 [[ 9.81824920e-01 -9.22281871e-03 -1.89564676e-01 -2.04062106e+01] [ 4.09706176e-03 9.99615777e-01 -2.74137454e-02 -1.79940949e+00] [ 1.89744673e-01 2.61388402e-02 9.81485466e-01 -2.41450620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44463044 meters Centerline goodness : 0.102185 with order 2 Centerline is valid? [False, False] Translation: X:-20.43, Y:-1.81, Z:-2.42 [[ 9.82512771e-01 -5.09760636e-03 -1.86125414e-01 -2.04288241e+01] [-3.59645911e-04 9.99571337e-01 -2.92747659e-02 -1.81024310e+00] [ 1.86194860e-01 2.88297706e-02 9.82089771e-01 -2.41904715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50463044 meters SLAMing on 253.56463044 meters SLAMing on 253.62463044 meters Centerline goodness : 0.104430 with order 2 Centerline is valid? [False, False] Translation: X:-20.49, Y:-1.84, Z:-2.43 [[ 9.82042223e-01 -3.27745276e-03 -1.88632795e-01 -2.04886384e+01] [-2.74424271e-03 9.99495157e-01 -3.16528224e-02 -1.83525220e+00] [ 1.88641306e-01 3.16020623e-02 9.81537451e-01 -2.43112066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68463043999998 meters Centerline goodness : 0.144483 with order 1 Centerline is valid? [False, False] Translation: X:-20.49, Y:-1.84, Z:-2.43 [[ 9.82110501e-01 -3.49329769e-03 -1.88273100e-01 -2.04899195e+01] [-2.47470339e-03 9.99502129e-01 -3.14542580e-02 -1.84021935e+00] [ 1.88289243e-01 3.13574772e-02 9.81612892e-01 -2.43082241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74463043999998 meters Centerline goodness : 0.140250 with order 1 Centerline is valid? [False, False] Translation: X:-20.49, Y:-1.84, Z:-2.43 [[ 9.82053250e-01 -3.22135226e-03 -1.88576341e-01 -2.04891102e+01] [-2.69186196e-03 9.99512882e-01 -3.10926324e-02 -1.84178094e+00] [ 1.88584643e-01 3.10422422e-02 9.81566203e-01 -2.43083275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80463043999998 meters SLAMing on 253.86463043999998 meters Centerline goodness : 0.123723 with order 1 Centerline is valid? [False, False] Translation: X:-20.51, Y:-1.84, Z:-2.43 [[ 9.81750336e-01 5.86780362e-03 -1.90083789e-01 -2.05082974e+01] [-1.20869805e-02 9.99428290e-01 -3.15752766e-02 -1.84157550e+00] [ 1.89789839e-01 3.32965775e-02 9.81259983e-01 -2.43474175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92463044 meters Centerline goodness : 0.085635 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-1.83, Z:-2.44 [[ 9.82055597e-01 3.80777510e-04 -1.88591249e-01 -2.05290342e+01] [-6.03471716e-03 9.99549316e-01 -2.94065705e-02 -1.83474597e+00] [ 1.88495057e-01 3.00169820e-02 9.81615299e-01 -2.43958523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98463044 meters Centerline goodness : 0.084522 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.83, Z:-2.44 [[ 9.82476208e-01 -5.18880070e-03 -1.86315800e-01 -2.05456397e+01] [-7.77065800e-05 9.99600939e-01 -2.82481407e-02 -1.82560659e+00] [ 1.86388022e-01 2.77676041e-02 9.82083736e-01 -2.44460367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04463044 meters Centerline goodness : 0.083743 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.82, Z:-2.44 [[ 9.82654834e-01 -3.38850953e-03 -1.85413041e-01 -2.05493770e+01] [-1.69286215e-03 9.99627475e-01 -2.72405133e-02 -1.81903766e+00] [ 1.85436275e-01 2.70819008e-02 9.82283034e-01 -2.44341610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10463044 meters Centerline goodness : 0.142595 with order 3 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.82, Z:-2.44 [[ 9.82682987e-01 -3.56913377e-03 -1.85260382e-01 -2.05502482e+01] [-1.59196176e-03 9.99614948e-01 -2.77023784e-02 -1.81540615e+00] [ 1.85287921e-01 2.75175834e-02 9.82298920e-01 -2.44291716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16463044 meters Centerline goodness : 0.149079 with order 3 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.81, Z:-2.44 [[ 9.82693983e-01 -3.96716158e-03 -1.85193944e-01 -2.05508986e+01] [-1.27039061e-03 9.99602784e-01 -2.81542195e-02 -1.81355060e+00] [ 1.85232075e-01 2.79022508e-02 9.82298602e-01 -2.44239241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22463044 meters Centerline goodness : 0.459830 with order 3 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.81, Z:-2.44 [[ 9.82729799e-01 -4.09722627e-03 -1.85000957e-01 -2.05519904e+01] [-1.13989366e-03 9.99601838e-01 -2.81933806e-02 -1.81359827e+00] [ 1.85042811e-01 2.79173566e-02 9.82333843e-01 -2.44175092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28463044 meters Centerline goodness : 0.114618 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.82, Z:-2.44 [[ 9.82700540e-01 -7.79187128e-03 -1.85037662e-01 -2.05526488e+01] [ 2.10125068e-03 9.99519343e-01 -3.09300595e-02 -1.81658862e+00] [ 1.85189725e-01 3.00061756e-02 9.82244570e-01 -2.44106157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34463044 meters Centerline goodness : 0.260415 with order 3 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.82, Z:-2.44 [[ 9.82658331e-01 -7.77526872e-03 -1.85262381e-01 -2.05520562e+01] [ 2.13283878e-03 9.99528324e-01 -3.06362764e-02 -1.81895727e+00] [ 1.85413202e-01 2.97098575e-02 9.82211418e-01 -2.44105550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40463043999998 meters Centerline goodness : 0.206223 with order 3 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.82, Z:-2.44 [[ 9.82718142e-01 -9.00841931e-03 -1.84888893e-01 -2.05531195e+01] [ 3.29876987e-03 9.99508781e-01 -3.11659242e-02 -1.82452976e+00] [ 1.85078827e-01 3.00174132e-02 9.82265128e-01 -2.44094317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46463043999998 meters Centerline goodness : 0.162001 with order 3 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.83, Z:-2.45 [[ 9.82487215e-01 -1.80477473e-03 -1.86321269e-01 -2.05697687e+01] [-4.30344186e-03 9.99466573e-01 -3.23735914e-02 -1.83112055e+00] [ 1.86280307e-01 3.26084624e-02 9.81955363e-01 -2.44588531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52463043999998 meters Centerline goodness : 0.264800 with order 2 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.83, Z:-2.45 [[ 9.82263295e-01 -1.11320788e-03 -1.87503547e-01 -2.05661750e+01] [-4.99857727e-03 9.99471533e-01 -3.21195981e-02 -1.82958062e+00] [ 1.87440213e-01 3.24871532e-02 9.81738637e-01 -2.44636881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58463043999998 meters Centerline goodness : 0.264323 with order 3 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.83, Z:-2.45 [[ 9.82390523e-01 -3.47569014e-04 -1.86838808e-01 -2.05685701e+01] [-5.68992314e-03 9.99478798e-01 -3.17766661e-02 -1.82807677e+00] [ 1.86752472e-01 3.22801941e-02 9.81876521e-01 -2.44575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64463044 meters SLAMing on 254.70463044 meters Centerline goodness : 0.123942 with order 1 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.84, Z:-2.45 [[ 9.82361820e-01 -1.12498432e-03 -1.86986599e-01 -2.05680632e+01] [-4.93115005e-03 9.99478270e-01 -3.19197790e-02 -1.83503907e+00] [ 1.86924952e-01 3.22788312e-02 9.81843745e-01 -2.44592952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76463044 meters Centerline goodness : 0.089944 with order 1 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.84, Z:-2.45 [[ 9.82410065e-01 -7.97841199e-04 -1.86734642e-01 -2.05689202e+01] [-5.17869472e-03 9.99489847e-01 -3.15155020e-02 -1.83630753e+00] [ 1.86664524e-01 3.19281881e-02 9.81904754e-01 -2.44574612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82463044 meters Centerline goodness : 0.111289 with order 1 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.84, Z:-2.45 [[ 9.82422685e-01 -6.32037360e-04 -1.86668874e-01 -2.05694135e+01] [-5.29994543e-03 9.99496693e-01 -3.12773402e-02 -1.83795216e+00] [ 1.86594691e-01 3.17169033e-02 9.81924875e-01 -2.44537213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88463044 meters Centerline goodness : 0.129263 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.84, Z:-2.45 [[ 9.82098375e-01 -7.72006389e-03 -1.88210475e-01 -2.05869582e+01] [ 2.18995559e-03 9.99560229e-01 -2.95728333e-02 -1.83529814e+00] [ 1.88356010e-01 2.86312590e-02 9.81683383e-01 -2.44998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94463044 meters Centerline goodness : 0.124566 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.83, Z:-2.45 [[ 9.82211253e-01 -7.21374957e-03 -1.87640658e-01 -2.05886868e+01] [ 1.72855304e-03 9.99566830e-01 -2.93796696e-02 -1.83361778e+00] [ 1.87771316e-01 2.85326952e-02 9.81798257e-01 -2.44974818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00463044 meters Centerline goodness : 0.129816 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.83, Z:-2.45 [[ 9.82208656e-01 -7.27177100e-03 -1.87652010e-01 -2.05888991e+01] [ 1.72299735e-03 9.99556907e-01 -2.97156743e-02 -1.83094078e+00] [ 1.87784948e-01 2.88636687e-02 9.81785976e-01 -2.44948375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06463044 meters Centerline goodness : 0.124866 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.83, Z:-2.45 [[ 9.82103476e-01 -7.45583982e-03 -1.88194509e-01 -2.05870896e+01] [ 1.78154214e-03 9.99539189e-01 -3.03024003e-02 -1.82716915e+00] [ 1.88333717e-01 2.94248163e-02 9.81664195e-01 -2.44982055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12463044 meters Centerline goodness : 0.124161 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.82, Z:-2.45 [[ 9.82230295e-01 -5.05909553e-03 -1.87611441e-01 -2.05900275e+01] [-4.04501297e-04 9.99577234e-01 -2.90721617e-02 -1.81911651e+00] [ 1.87679204e-01 2.86314470e-02 9.81812995e-01 -2.44872836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18463043999998 meters Centerline goodness : 0.107159 with order 3 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.81, Z:-2.45 [[ 9.82432321e-01 -4.09569306e-03 -1.86574274e-01 -2.05926153e+01] [-1.31772465e-03 9.99581972e-01 -2.88815608e-02 -1.81199571e+00] [ 1.86614570e-01 2.86200323e-02 9.82016240e-01 -2.44882866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24463043999998 meters Centerline goodness : 0.112719 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.80, Z:-2.45 [[ 9.82139238e-01 -3.03635779e-03 -1.88131067e-01 -2.05881244e+01] [-2.46054716e-03 9.99577019e-01 -2.89780602e-02 -1.80171403e+00] [ 1.88139479e-01 2.89233953e-02 9.81716341e-01 -2.44906161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30463043999998 meters Centerline goodness : 0.120656 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.80, Z:-2.45 [[ 9.82217152e-01 -3.17713027e-03 -1.87721527e-01 -2.05893359e+01] [-2.40969023e-03 9.99561122e-01 -2.95255162e-02 -1.79553842e+00] [ 1.87732946e-01 2.94528191e-02 9.81778423e-01 -2.44887013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36463043999998 meters Centerline goodness : 0.227493 with order 3 Centerline is valid? [False, False] Translation: X:-20.59, Y:-1.79, Z:-2.45 [[ 9.82388788e-01 -2.76082745e-03 -1.86827855e-01 -2.05923367e+01] [-2.82365078e-03 9.99557293e-01 -2.96183247e-02 -1.78773202e+00] [ 1.86826916e-01 2.96242467e-02 9.81946082e-01 -2.44817573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42463044 meters Centerline goodness : 0.330430 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.78, Z:-2.45 [[ 9.82437585e-01 -1.05208977e-02 -1.86294667e-01 -2.06123328e+01] [ 5.20017143e-03 9.99565116e-01 -2.90264805e-02 -1.77968121e+00] [ 1.86519035e-01 2.75479412e-02 9.82065049e-01 -2.45270665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48463044 meters Centerline goodness : 0.245592 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.78, Z:-2.45 [[ 9.82393896e-01 -1.07556429e-02 -1.86511527e-01 -2.06116092e+01] [ 5.34920150e-03 9.99551462e-01 -2.94662522e-02 -1.77652914e+00] [ 1.86744798e-01 2.79497785e-02 9.82010789e-01 -2.45278505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54463044 meters Centerline goodness : 0.106705 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.77, Z:-2.45 [[ 9.82422446e-01 -1.11663304e-02 -1.86336926e-01 -2.06120031e+01] [ 5.69062277e-03 9.99536842e-01 -2.98951109e-02 -1.77445755e+00] [ 1.86584442e-01 2.83092548e-02 9.82030973e-01 -2.45268238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60463044 meters Centerline goodness : 0.102728 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.77, Z:-2.45 [[ 9.82459510e-01 -1.13107875e-02 -1.86132685e-01 -2.06125514e+01] [ 5.80263690e-03 9.99529723e-01 -3.01108451e-02 -1.77321613e+00] [ 1.86385729e-01 2.85026257e-02 9.82063114e-01 -2.45260295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66463044 meters Centerline goodness : 0.108662 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.77, Z:-2.45 [[ 9.82261341e-01 -1.10793736e-02 -1.87189489e-01 -2.06086288e+01] [ 5.50084211e-03 9.99525872e-01 -3.02947355e-02 -1.77008333e+00] [ 1.87436384e-01 2.87276477e-02 9.81856570e-01 -2.45373948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72463044 meters Centerline goodness : 0.107384 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-1.77, Z:-2.46 [[ 9.82385741e-01 -4.22149643e-03 -1.86816579e-01 -2.06251164e+01] [-1.76958380e-03 9.99489788e-01 -3.18909409e-02 -1.77452248e+00] [ 1.86855890e-01 3.16597932e-02 9.81877046e-01 -2.45982541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78463044 meters Centerline goodness : 0.107049 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.78, Z:-2.46 [[ 9.82354709e-01 -4.38743337e-03 -1.86975871e-01 -2.06243026e+01] [-1.61181783e-03 9.99489076e-01 -3.19215980e-02 -1.77571570e+00] [ 1.87020394e-01 3.16597031e-02 9.81845729e-01 -2.46016786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84463044 meters Centerline goodness : 0.098462 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.77, Z:-2.46 [[ 9.82353058e-01 -4.22956392e-03 -1.86988180e-01 -2.06238046e+01] [-1.77891971e-03 9.99487774e-01 -3.19534885e-02 -1.77463219e+00] [ 1.87027549e-01 3.17222441e-02 9.81842347e-01 -2.46054264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90463043999998 meters Centerline goodness : 0.498360 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.77, Z:-2.46 [[ 9.82392595e-01 -4.03268598e-03 -1.86784706e-01 -2.06241450e+01] [-2.01534289e-03 9.99480107e-01 -3.21784768e-02 -1.77165802e+00] [ 1.86817364e-01 3.19883326e-02 9.81873729e-01 -2.46077654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96463043999998 meters Centerline goodness : 0.421538 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.77, Z:-2.46 [[ 9.82374253e-01 -3.26048347e-05 -1.86924652e-01 -2.06233719e+01] [-5.51662571e-03 9.99559337e-01 -2.91667336e-02 -1.76847193e+00] [ 1.86843232e-01 2.96838415e-02 9.81941178e-01 -2.46107940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02463044 meters Centerline goodness : 0.100039 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-1.76, Z:-2.46 [[ 9.82519901e-01 -2.33232367e-04 -1.86157431e-01 -2.06255947e+01] [-5.43489094e-03 9.99537009e-01 -2.99370960e-02 -1.76384086e+00] [ 1.86078224e-01 3.04255379e-02 9.82063736e-01 -2.46085916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08463044 meters Centerline goodness : 0.087754 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-1.76, Z:-2.46 [[ 9.82574031e-01 -1.33986673e-04 -1.85871611e-01 -2.06268628e+01] [-5.54270127e-03 9.99533902e-01 -3.00209296e-02 -1.76208420e+00] [ 1.85788999e-01 3.05280167e-02 9.82115313e-01 -2.46031789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14463044 meters Centerline goodness : 0.360119 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-1.76, Z:-2.46 [[ 9.82556118e-01 -6.89388204e-05 -1.85966313e-01 -2.06261783e+01] [-5.73205534e-03 9.99513560e-01 -3.06559357e-02 -1.75669162e+00] [ 1.85877965e-01 3.11871464e-02 9.82077769e-01 -2.46074694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20463044 meters Centerline goodness : 0.093292 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.75, Z:-2.46 [[ 9.82399271e-01 3.00333536e-03 -1.86768982e-01 -2.06224962e+01] [-8.51731052e-03 9.99550991e-01 -2.87275368e-02 -1.75031711e+00] [ 1.86598843e-01 2.98126806e-02 9.81983745e-01 -2.46193397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26463044 meters Centerline goodness : 0.567050 with order 3 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.75, Z:-2.46 [[ 9.82337145e-01 3.10959463e-03 -1.87093729e-01 -2.06213117e+01] [-8.68945056e-03 9.99541319e-01 -2.90111367e-02 -1.74701766e+00] [ 1.86917699e-01 3.01244590e-02 9.81913586e-01 -2.46225398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32463044 meters Centerline goodness : 0.097469 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-1.74, Z:-2.46 [[ 9.82294294e-01 2.64988258e-03 -1.87325646e-01 -2.06210091e+01] [-8.41862028e-03 9.99514254e-01 -3.00063946e-02 -1.73938502e+00] [ 1.87155140e-01 3.10521337e-02 9.81839457e-01 -2.46188215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38463044 meters Centerline goodness : 0.464699 with order 3 Centerline is valid? [False, False] Translation: X:-20.64, Y:-1.73, Z:-2.47 [[ 9.82463991e-01 -5.14205795e-03 -1.86381505e-01 -2.06401697e+01] [-3.65010623e-04 9.99564686e-01 -2.95009386e-02 -1.73256745e+00] [ 1.86452066e-01 2.90516411e-02 9.82034434e-01 -2.46701331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44463044 meters Centerline goodness : 0.196444 with order 1 Centerline is valid? [False, False] Translation: X:-20.66, Y:-1.73, Z:-2.47 [[ 9.82066246e-01 -1.34891490e-02 -1.88053003e-01 -2.06578230e+01] [ 8.25115680e-03 9.99556627e-01 -2.86088795e-02 -1.72674169e+00] [ 1.88355535e-01 2.65441600e-02 9.81742125e-01 -2.47105467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50463044 meters Centerline goodness : 0.466810 with order 2 Centerline is valid? [False, False] Translation: X:-20.66, Y:-1.73, Z:-2.47 [[ 9.82107451e-01 -1.42538482e-02 -1.87781211e-01 -2.06587657e+01] [ 8.95333570e-03 9.99538003e-01 -2.90451066e-02 -1.72635418e+00] [ 1.88108461e-01 2.68441473e-02 9.81781340e-01 -2.47054571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56463044000003 meters SLAMing on 256.62463044000003 meters Centerline goodness : 0.461205 with order 3 Centerline is valid? [False, False] Translation: X:-20.68, Y:-1.72, Z:-2.47 [[ 9.81753984e-01 -2.48361943e-02 -1.88526598e-01 -2.06806048e+01] [ 1.95222593e-02 9.99359485e-01 -2.99916858e-02 -1.72492880e+00] [ 1.89150723e-01 2.57639919e-02 9.81610014e-01 -2.47455925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68463044000003 meters Centerline goodness : 0.468353 with order 2 Centerline is valid? [False, False] Translation: X:-20.70, Y:-1.73, Z:-2.48 [[ 9.82074793e-01 -1.72130511e-02 -1.87704052e-01 -2.07006807e+01] [ 1.15874804e-02 9.99451387e-01 -3.10266895e-02 -1.72824967e+00] [ 1.88135139e-01 2.82955127e-02 9.81735470e-01 -2.47887733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74463044000004 meters Centerline goodness : 0.475378 with order 3 Centerline is valid? [False, False] Translation: X:-20.72, Y:-1.73, Z:-2.48 [[ 9.82063001e-01 -8.59716265e-03 -1.88356976e-01 -2.07207584e+01] [ 2.61745489e-03 9.99485324e-01 -3.19724409e-02 -1.72631428e+00] [ 1.88534905e-01 3.09059354e-02 9.81580059e-01 -2.48295974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80463044000004 meters Centerline goodness : 0.092804 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-1.72, Z:-2.48 [[ 9.82083498e-01 -6.47739165e-03 -1.88334932e-01 -2.07198817e+01] [ 6.11165686e-04 9.99513310e-01 -3.11892402e-02 -1.71749275e+00] [ 1.88445297e-01 3.05153343e-02 9.81609487e-01 -2.48371035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86463044000004 meters Centerline goodness : 0.100206 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-1.71, Z:-2.48 [[ 9.82157239e-01 -6.39917147e-03 -1.87952674e-01 -2.07214397e+01] [ 4.86735552e-04 9.99504063e-01 -3.14863679e-02 -1.71276517e+00] [ 1.88060948e-01 3.08330810e-02 9.81673266e-01 -2.48318668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92463044000004 meters Centerline goodness : 0.461044 with order 3 Centerline is valid? [False, False] Translation: X:-20.74, Y:-1.71, Z:-2.49 [[ 9.82036024e-01 -1.42764662e-02 -1.88152677e-01 -2.07401291e+01] [ 8.58118203e-03 9.99481014e-01 -3.10493962e-02 -1.70711306e+00] [ 1.88498304e-01 2.88770532e-02 9.81648871e-01 -2.48716715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98463044000005 meters Centerline goodness : 0.274665 with order 1 Centerline is valid? [False, False] Translation: X:-20.74, Y:-1.71, Z:-2.49 [[ 9.82061699e-01 -1.45782588e-02 -1.87995464e-01 -2.07409722e+01] [ 8.91393185e-03 9.99481480e-01 -3.09404733e-02 -1.70885049e+00] [ 1.88349043e-01 2.87096750e-02 9.81682430e-01 -2.48657616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04463044 meters Centerline goodness : 0.320232 with order 1 Centerline is valid? [False, False] Translation: X:-20.77, Y:-1.71, Z:-2.49 [[ 9.82002743e-01 -2.48139933e-02 -1.87229480e-01 -2.07651501e+01] [ 1.92568321e-02 9.99320058e-01 -3.14419465e-02 -1.71391060e+00] [ 1.87882375e-01 2.72706310e-02 9.81812877e-01 -2.49014034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10463044 meters SLAMing on 257.16463044 meters Centerline goodness : 0.467589 with order 2 Centerline is valid? [False, False] Translation: X:-20.78, Y:-1.73, Z:-2.50 [[ 9.82126768e-01 -1.92270786e-02 -1.87236033e-01 -2.07787901e+01] [ 1.33925379e-02 9.99386003e-01 -3.23767983e-02 -1.73411051e+00] [ 1.87743582e-01 2.92905546e-02 9.81781244e-01 -2.49505435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22463044 meters Centerline goodness : 0.467298 with order 3 Centerline is valid? [False, False] Translation: X:-20.80, Y:-1.74, Z:-2.50 [[ 9.82357316e-01 -1.13929779e-02 -1.86666290e-01 -2.07963082e+01] [ 5.35931915e-03 9.99447696e-01 -3.27960615e-02 -1.74454269e+00] [ 1.86936839e-01 3.12170467e-02 9.81875814e-01 -2.50043317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28463044 meters Centerline goodness : 0.479371 with order 3 Centerline is valid? [False, False] Translation: X:-20.81, Y:-1.76, Z:-2.51 [[ 9.82528793e-01 -3.70677412e-03 -1.86073725e-01 -2.08147170e+01] [-2.53734818e-03 9.99441917e-01 -3.33078895e-02 -1.75654717e+00] [ 1.86093346e-01 3.31980943e-02 9.81971055e-01 -2.50596264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34463044 meters Centerline goodness : 0.467992 with order 2 Centerline is valid? [False, False] Translation: X:-20.81, Y:-1.76, Z:-2.51 [[ 9.82381348e-01 -3.05415657e-03 -1.86862405e-01 -2.08120125e+01] [-3.12896502e-03 9.99457520e-01 -3.27852820e-02 -1.75792694e+00] [ 1.86861167e-01 3.27923355e-02 9.81838870e-01 -2.50657754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40463044 meters Centerline goodness : 0.477771 with order 3 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.76, Z:-2.51 [[ 9.82091959e-01 6.42408248e-03 -1.88292630e-01 -2.08300554e+01] [-1.28851272e-02 9.99368654e-01 -3.31099158e-02 -1.75958593e+00] [ 1.87961052e-01 3.49431565e-02 9.81554695e-01 -2.51155021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46463044 meters Centerline goodness : 0.095399 with order 1 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.76, Z:-2.51 [[ 9.82135183e-01 7.06189138e-03 -1.88044177e-01 -2.08308594e+01] [-1.35309201e-02 9.99359114e-01 -3.31402297e-02 -1.75502730e+00] [ 1.87689629e-01 3.50925963e-02 9.81601300e-01 -2.51142018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52463044 meters Centerline goodness : 0.090096 with order 1 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.75, Z:-2.51 [[ 9.82029918e-01 8.35790457e-03 -1.88540144e-01 -2.08296067e+01] [-1.48188122e-02 9.99349294e-01 -3.28845137e-02 -1.74686246e+00] [ 1.88142614e-01 3.50875173e-02 9.81514759e-01 -2.51126470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58463044 meters Centerline goodness : 0.093556 with order 1 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.74, Z:-2.51 [[ 9.82031433e-01 8.20167938e-03 -1.88539113e-01 -2.08299693e+01] [-1.47763920e-02 9.99329721e-01 -3.34927821e-02 -1.74141263e+00] [ 1.88138042e-01 3.56768926e-02 9.81494389e-01 -2.51084095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64463044 meters Centerline goodness : 0.096294 with order 1 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.73, Z:-2.52 [[ 9.82685808e-01 2.25156961e-03 -1.85266112e-01 -2.08479346e+01] [-8.50740677e-03 9.99419845e-01 -3.29787486e-02 -1.73224931e+00] [ 1.85084375e-01 3.39838824e-02 9.82134853e-01 -2.51632075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70463044 meters Centerline goodness : 0.211436 with order 2 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.72, Z:-2.52 [[ 9.82988262e-01 -5.90492927e-03 -1.83573444e-01 -2.08687344e+01] [-1.91756220e-04 9.99449517e-01 -3.31756745e-02 -1.72443015e+00] [ 1.83668290e-01 3.26464999e-02 9.82446011e-01 -2.52128871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76463044 meters Centerline goodness : 0.211550 with order 3 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.72, Z:-2.52 [[ 9.82948071e-01 -6.06425804e-03 -1.83783334e-01 -2.08684312e+01] [-4.35651846e-05 9.99448342e-01 -3.32115804e-02 -1.72370157e+00] [ 1.83883352e-01 3.26532654e-02 9.82405556e-01 -2.52087075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82463044 meters Centerline goodness : 0.178841 with order 1 Centerline is valid? [False, False] Translation: X:-20.89, Y:-1.72, Z:-2.53 [[ 9.82934005e-01 -1.40645683e-02 -1.83420092e-01 -2.08878555e+01] [ 8.31962231e-03 9.99451535e-01 -3.20532756e-02 -1.72210638e+00] [ 1.83770308e-01 2.99802686e-02 9.82511912e-01 -2.52564705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88463044 meters Centerline goodness : 0.309886 with order 2 Centerline is valid? [False, False] Translation: X:-20.89, Y:-1.73, Z:-2.53 [[ 9.82770318e-01 -1.81214592e-02 -1.83940519e-01 -2.08862790e+01] [ 1.18707564e-02 9.99315873e-01 -3.50267295e-02 -1.72544547e+00] [ 1.84449416e-01 3.22397170e-02 9.82313093e-01 -2.52555086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94463044 meters Centerline goodness : 0.342685 with order 3 Centerline is valid? [False, False] Translation: X:-20.89, Y:-1.73, Z:-2.53 [[ 9.82711680e-01 -1.82637788e-02 -1.84239485e-01 -2.08851530e+01] [ 1.20842826e-02 9.99327906e-01 -3.46078813e-02 -1.72961772e+00] [ 1.84747729e-01 3.17831672e-02 9.82271911e-01 -2.52561362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00463044 meters Centerline goodness : 0.449349 with order 3 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.74, Z:-2.53 [[ 9.83177229e-01 -1.47628778e-02 -1.82056566e-01 -2.09045097e+01] [ 8.10987163e-03 9.99273662e-01 -3.72341079e-02 -1.74304025e+00] [ 1.82474014e-01 3.51312716e-02 9.82582835e-01 -2.53012468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06463044000003 meters Centerline goodness : 0.442292 with order 1 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.75, Z:-2.53 [[ 9.83151944e-01 -1.44716490e-02 -1.82216429e-01 -2.09042168e+01] [ 7.92975901e-03 9.99299291e-01 -3.65793063e-02 -1.74688105e+00] [ 1.82618111e-01 3.45180837e-02 9.82577797e-01 -2.52995716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12463044000003 meters Centerline goodness : 0.468763 with order 1 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.75, Z:-2.53 [[ 9.83074412e-01 -1.43003193e-02 -1.82647754e-01 -2.09022944e+01] [ 7.78784491e-03 9.99309736e-01 -3.63235631e-02 -1.74955178e+00] [ 1.83041117e-01 3.42863330e-02 9.82507199e-01 -2.53074753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18463044000003 meters Centerline goodness : 0.433497 with order 2 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.75, Z:-2.53 [[ 9.83078737e-01 -1.41152788e-02 -1.82638865e-01 -2.09021552e+01] [ 7.61543495e-03 9.99314060e-01 -3.62410510e-02 -1.74924791e+00] [ 1.83025138e-01 3.42369322e-02 9.82511899e-01 -2.53091569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24463044000004 meters Centerline goodness : 0.127477 with order 1 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.75, Z:-2.54 [[ 9.83001104e-01 -5.88777054e-03 -1.83505213e-01 -2.09199191e+01] [-9.71752723e-04 9.99304826e-01 -3.72682138e-02 -1.75305304e+00] [ 1.83597072e-01 3.68130170e-02 9.82312026e-01 -2.53597921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30463044000004 meters Centerline goodness : 0.464119 with order 1 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.75, Z:-2.54 [[ 9.82976552e-01 -5.84466005e-03 -1.83638064e-01 -2.09198268e+01] [-1.00977878e-03 9.99306953e-01 -3.72101412e-02 -1.75348753e+00] [ 1.83728275e-01 3.67621302e-02 9.82289401e-01 -2.53575588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36463044000004 meters Centerline goodness : 0.332748 with order 2 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.76, Z:-2.54 [[ 9.83024314e-01 -5.86096225e-03 -1.83381701e-01 -2.09207668e+01] [-9.13814450e-04 9.99320859e-01 -3.68372833e-02 -1.75693601e+00] [ 1.83473060e-01 3.63795220e-02 9.82351346e-01 -2.53549497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42463044000004 meters Centerline goodness : 0.090671 with order 1 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.76, Z:-2.54 [[ 9.83041728e-01 -5.69919014e-03 -1.83293427e-01 -2.09209093e+01] [-9.92457460e-04 9.99336975e-01 -3.63954051e-02 -1.75984392e+00] [ 1.83379323e-01 3.59601128e-02 9.82384290e-01 -2.53556662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48463044000005 meters Centerline goodness : 0.095605 with order 1 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.76, Z:-2.54 [[ 9.83021031e-01 -5.29692166e-03 -1.83416451e-01 -2.09205183e+01] [-1.25082528e-03 9.99366593e-01 -3.55647167e-02 -1.76454752e+00] [ 1.83488657e-01 3.51902865e-02 9.82391753e-01 -2.53565617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54463044 meters Centerline goodness : 0.314035 with order 1 Centerline is valid? [False, False] Translation: X:-20.92, Y:-1.77, Z:-2.54 [[ 9.82978443e-01 -5.17066524e-03 -1.83648156e-01 -2.09198884e+01] [-1.31186482e-03 9.99380849e-01 -3.51596160e-02 -1.76738379e+00] [ 1.83716249e-01 3.48020662e-02 9.82363047e-01 -2.53561808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60463044 meters Centerline goodness : 0.088325 with order 1 Centerline is valid? [False, False] Translation: X:-20.94, Y:-1.77, Z:-2.54 [[ 9.82569922e-01 -1.24937814e-02 -1.85473055e-01 -2.09374242e+01] [ 6.35357857e-03 9.99413039e-01 -3.36631801e-02 -1.76782022e+00] [ 1.85784770e-01 3.18980106e-02 9.82072572e-01 -2.54093228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66463044 meters Centerline goodness : 0.272173 with order 1 Centerline is valid? [False, False] Translation: X:-20.94, Y:-1.77, Z:-2.54 [[ 9.82600358e-01 -1.21850269e-02 -1.85332302e-01 -2.09378507e+01] [ 6.06859953e-03 9.99419151e-01 -3.35340418e-02 -1.76717162e+00] [ 1.85633266e-01 3.18258539e-02 9.82103562e-01 -2.54088282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72463044 meters Centerline goodness : 0.121814 with order 1 Centerline is valid? [False, False] Translation: X:-20.93, Y:-1.77, Z:-2.54 [[ 9.82409687e-01 -1.00953332e-02 -1.86465257e-01 -2.09332715e+01] [ 4.18128189e-03 9.99476470e-01 -3.20827389e-02 -1.76513435e+00] [ 1.86691523e-01 3.07387296e-02 9.81937577e-01 -2.54208630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78463044 meters Centerline goodness : 0.133508 with order 1 Centerline is valid? [False, False] Translation: X:-20.95, Y:-1.77, Z:-2.55 [[ 9.82587752e-01 -3.01968901e-03 -1.85774572e-01 -2.09512644e+01] [-3.18948131e-03 9.99446452e-01 -3.31152035e-02 -1.77242396e+00] [ 1.85771734e-01 3.31311178e-02 9.82034211e-01 -2.54728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84463044 meters Centerline goodness : 0.099039 with order 1 Centerline is valid? [False, False] Translation: X:-20.96, Y:-1.78, Z:-2.55 [[ 9.82726534e-01 -5.49961844e-03 -1.84981927e-01 -2.09552718e+01] [-9.16300278e-04 9.99401490e-01 -3.45806727e-02 -1.77847771e+00] [ 1.85061394e-01 3.41528436e-02 9.82133323e-01 -2.54584302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90463044 meters Centerline goodness : 0.099385 with order 1 Centerline is valid? [False, False] Translation: X:-21.00, Y:-1.79, Z:-2.55 [[ 9.82123365e-01 -6.68423463e-03 -1.88119686e-01 -2.09957589e+01] [ 4.86801200e-05 9.99378327e-01 -3.52555837e-02 -1.78514512e+00] [ 1.88238394e-01 3.46161748e-02 9.81513132e-01 -2.55424391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96463044 meters Centerline goodness : 0.457485 with order 2 Centerline is valid? [False, False] Translation: X:-20.99, Y:-1.79, Z:-2.55 [[ 9.82078578e-01 -6.13823722e-03 -1.88371943e-01 -2.09947473e+01] [-3.54763042e-04 9.99407532e-01 -3.44159835e-02 -1.78918620e+00] [ 1.88471593e-01 3.38660275e-02 9.81494550e-01 -2.55456754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02463044 meters Centerline goodness : 0.116147 with order 1 Centerline is valid? [False, False] Translation: X:-20.99, Y:-1.79, Z:-2.55 [[ 9.82046471e-01 -6.05609139e-03 -1.88541910e-01 -2.09947392e+01] [-4.00941030e-04 9.99415262e-01 -3.41902387e-02 -1.79122175e+00] [ 1.88638722e-01 3.36519974e-02 9.81469804e-01 -2.55412749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08463044 meters Centerline goodness : 0.106905 with order 1 Centerline is valid? [False, False] Translation: X:-20.99, Y:-1.79, Z:-2.55 [[ 9.81956508e-01 -5.81421402e-03 -1.89017490e-01 -2.09944565e+01] [-5.99041132e-04 9.99426589e-01 -3.38546048e-02 -1.79304175e+00] [ 1.89105943e-01 3.33569788e-02 9.81389960e-01 -2.55315537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14463044 meters SLAMing on 259.20463044 meters Centerline goodness : 0.109751 with order 1 Centerline is valid? [False, False] Translation: X:-21.03, Y:-1.80, Z:-2.56 [[ 9.82988822e-01 -3.07290768e-03 -1.83639680e-01 -2.10343360e+01] [-2.87568530e-03 9.99479958e-01 -3.21176564e-02 -1.80220060e+00] [ 1.83642874e-01 3.20993871e-02 9.82468790e-01 -2.56191656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26463044 meters Centerline goodness : 0.106338 with order 1 Centerline is valid? [False, False] Translation: X:-21.04, Y:-1.80, Z:-2.56 [[ 9.83046114e-01 -2.93222305e-03 -1.83335049e-01 -2.10359958e+01] [-2.98394625e-03 9.99483878e-01 -3.19855175e-02 -1.80218931e+00] [ 1.83334215e-01 3.19903006e-02 9.82529993e-01 -2.56103008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32463044 meters Centerline goodness : 0.146170 with order 1 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.80, Z:-2.57 [[ 9.83368235e-01 -8.15855624e-03 -1.81439665e-01 -2.10489349e+01] [ 2.62129534e-03 9.99524059e-01 -3.07373511e-02 -1.79824847e+00] [ 1.81604083e-01 2.97505277e-02 9.82921596e-01 -2.56685390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38463044 meters Centerline goodness : 0.175762 with order 1 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.80, Z:-2.57 [[ 9.83278141e-01 -8.24655187e-03 -1.81923315e-01 -2.10472852e+01] [ 2.68434832e-03 9.99521978e-01 -3.07995091e-02 -1.79836911e+00] [ 1.82090342e-01 2.97961385e-02 9.82830249e-01 -2.56720327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44463044 meters Centerline goodness : 0.208247 with order 1 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.80, Z:-2.57 [[ 9.83249127e-01 -8.61037961e-03 -1.82063217e-01 -2.10471209e+01] [ 3.08137294e-03 9.99526051e-01 -3.06296988e-02 -1.80238030e+00] [ 1.82240661e-01 2.95556199e-02 9.82809649e-01 -2.56689445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50463044 meters Centerline goodness : 0.161760 with order 1 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.81, Z:-2.57 [[ 9.83151202e-01 -8.69967710e-03 -1.82587048e-01 -2.10457512e+01] [ 3.22245686e-03 9.99536469e-01 -3.02731342e-02 -1.80700415e+00] [ 1.82765780e-01 2.91746894e-02 9.82723515e-01 -2.56680799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56463044000003 meters Centerline goodness : 0.106824 with order 1 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.81, Z:-2.57 [[ 9.83144053e-01 -8.32132374e-03 -1.82643169e-01 -2.10459347e+01] [ 2.93029981e-03 9.99552577e-01 -2.97667510e-02 -1.80952466e+00] [ 1.82809149e-01 2.87298050e-02 9.82728555e-01 -2.56636592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62463044000003 meters Centerline goodness : 0.104681 with order 1 Centerline is valid? [False, False] Translation: X:-21.07, Y:-1.81, Z:-2.57 [[ 9.83056157e-01 4.94887766e-05 -1.83304636e-01 -2.10664104e+01] [-5.73021598e-03 9.99519528e-01 -3.04610904e-02 -1.81484182e+00] [ 1.83215056e-01 3.09953377e-02 9.82584110e-01 -2.57036407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68463044000003 meters Centerline goodness : 0.107228 with order 1 Centerline is valid? [False, False] Translation: X:-21.07, Y:-1.82, Z:-2.57 [[ 9.83020607e-01 4.26539212e-04 -1.83494696e-01 -2.10660768e+01] [-6.06772242e-03 9.99525982e-01 -3.01826662e-02 -1.81509264e+00] [ 1.83394842e-01 3.07835778e-02 9.82557226e-01 -2.57021169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74463044000004 meters Centerline goodness : 0.207748 with order 3 Centerline is valid? [False, False] Translation: X:-21.07, Y:-1.82, Z:-2.57 [[ 9.83067945e-01 -2.35863556e-03 -1.83226234e-01 -2.10688681e+01] [-3.56545079e-03 9.99481640e-01 -3.19959276e-02 -1.82064039e+00] [ 1.83206724e-01 3.21074549e-02 9.82549952e-01 -2.56856108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80463044000004 meters Centerline goodness : 0.463693 with order 3 Centerline is valid? [False, False] Translation: X:-21.07, Y:-1.83, Z:-2.57 [[ 9.83145293e-01 -3.23455574e-03 -1.82797347e-01 -2.10702231e+01] [-2.67278397e-03 9.99482349e-01 -3.20607298e-02 -1.82753060e+00] [ 1.82806424e-01 3.20089334e-02 9.82627722e-01 -2.56825608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86463044000004 meters Centerline goodness : 0.487407 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.83, Z:-2.58 [[ 9.82901457e-01 -3.85759861e-03 -1.84091945e-01 -2.11132736e+01] [-2.09688838e-03 9.99481192e-01 -3.21395479e-02 -1.83266231e+00] [ 1.84120419e-01 3.19760287e-02 9.82383431e-01 -2.57679803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92463044000004 meters Centerline goodness : 0.178744 with order 1 Centerline is valid? [False, False] Translation: X:-21.13, Y:-1.84, Z:-2.58 [[ 9.83075209e-01 3.16153371e-03 -1.83175159e-01 -2.11313741e+01] [-9.41162068e-03 9.99402367e-01 -3.32615335e-02 -1.84015401e+00] [ 1.82960530e-01 3.44225641e-02 9.82517446e-01 -2.58207889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98463044000005 meters Centerline goodness : 0.453593 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.84, Z:-2.58 [[ 9.82959414e-01 -4.08698183e-03 -1.83777277e-01 -2.11114915e+01] [-1.82720547e-03 9.99486185e-01 -3.20004234e-02 -1.83944343e+00] [ 1.83813635e-01 3.17909163e-02 9.82446887e-01 -2.57775015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04463044 meters Centerline goodness : 0.464044 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.84, Z:-2.58 [[ 9.82910022e-01 -3.99453871e-03 -1.84043287e-01 -2.11106187e+01] [-1.86933321e-03 9.99496414e-01 -3.16768602e-02 -1.84176279e+00] [ 1.84077140e-01 3.14795416e-02 9.82407576e-01 -2.57790466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10463044 meters Centerline goodness : 0.103242 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.85, Z:-2.58 [[ 9.82775465e-01 -4.18319547e-03 -1.84756287e-01 -2.11082030e+01] [-1.64559212e-03 9.99506049e-01 -3.13839211e-02 -1.84667992e+00] [ 1.84796311e-01 3.11473812e-02 9.82283138e-01 -2.57834718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16463044 meters Centerline goodness : 0.104034 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.85, Z:-2.58 [[ 9.82703928e-01 -4.49708453e-03 -1.85129052e-01 -2.11071937e+01] [-1.29676037e-03 9.99513466e-01 -3.11632777e-02 -1.85370018e+00] [ 1.85179124e-01 3.08643434e-02 9.82219978e-01 -2.57840753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22463044 meters Centerline goodness : 0.272938 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.86, Z:-2.58 [[ 9.82610787e-01 -4.20009764e-03 -1.85629741e-01 -2.11060201e+01] [-1.51716157e-03 9.99529135e-01 -3.06464861e-02 -1.85645386e+00] [ 1.85671053e-01 3.03951982e-02 9.82141737e-01 -2.57825362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28463044 meters Centerline goodness : 0.230116 with order 3 Centerline is valid? [False, False] Translation: X:-21.10, Y:-1.86, Z:-2.58 [[ 9.82488740e-01 -3.71743615e-03 -1.86284882e-01 -2.11040773e+01] [-1.86149551e-03 9.99555205e-01 -2.97645250e-02 -1.86163971e+00] [ 1.86312672e-01 2.95900791e-02 9.82044813e-01 -2.57851408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34463044 meters Centerline goodness : 0.113630 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82539871e-01 -3.41953317e-03 -1.86020722e-01 -2.11056821e+01] [-2.01780007e-03 9.99576430e-01 -2.90325386e-02 -1.86904536e+00] [ 1.86041207e-01 2.89009793e-02 9.82116797e-01 -2.57764057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40463044 meters Centerline goodness : 0.131585 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82603040e-01 -3.04265011e-03 -1.85693316e-01 -2.11069946e+01] [-2.31412592e-03 9.99587574e-01 -2.86238758e-02 -1.87073490e+00] [ 1.85703824e-01 2.85556251e-02 9.82190748e-01 -2.57721282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46463044 meters Centerline goodness : 0.217163 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82612906e-01 -2.30929456e-03 -1.85651675e-01 -2.11067750e+01] [-2.95102249e-03 9.99602081e-01 -2.80530108e-02 -1.87138328e+00] [ 1.85642583e-01 2.81131127e-02 9.82215091e-01 -2.57756108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52463044 meters Centerline goodness : 0.124406 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82714038e-01 -2.05985578e-03 -1.85118549e-01 -2.11084559e+01] [-3.16032126e-03 9.99605734e-01 -2.78996122e-02 -1.87221193e+00] [ 1.85103032e-01 2.80023747e-02 9.82320077e-01 -2.57726370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58463044 meters Centerline goodness : 0.128230 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82741643e-01 -1.99436488e-03 -1.84972663e-01 -2.11093854e+01] [-3.21922842e-03 9.99606062e-01 -2.78811417e-02 -1.87218751e+00] [ 1.84955401e-01 2.79954283e-02 9.82348083e-01 -2.57669683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64463044 meters Centerline goodness : 0.216528 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82789727e-01 -1.95341207e-03 -1.84717450e-01 -2.11105160e+01] [-3.26530142e-03 9.99604157e-01 -2.79439951e-02 -1.87147510e+00] [ 1.84698917e-01 2.80662295e-02 9.82394318e-01 -2.57620858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70463044 meters Centerline goodness : 0.132902 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.87, Z:-2.58 [[ 9.82771121e-01 -1.64095735e-03 -1.84819457e-01 -2.11097768e+01] [-3.61777188e-03 9.99598218e-01 -2.81125151e-02 -1.86727081e+00] [ 1.84791331e-01 2.82968026e-02 9.82370325e-01 -2.57667042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76463044 meters Centerline goodness : 0.111465 with order 2 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.86, Z:-2.58 [[ 9.82810325e-01 -1.89098164e-03 -1.84608473e-01 -2.11105442e+01] [-3.48313328e-03 9.99579637e-01 -2.87822438e-02 -1.86223011e+00] [ 1.84585297e-01 2.89305023e-02 9.82390602e-01 -2.57639065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82463044 meters Centerline goodness : 0.244768 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.86, Z:-2.58 [[ 9.82793261e-01 -2.06575952e-03 -1.84697425e-01 -2.11103178e+01] [-3.39559585e-03 9.99566418e-01 -2.92480124e-02 -1.85893338e+00] [ 1.84677763e-01 2.93719073e-02 9.82360125e-01 -2.57635141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88463044 meters Centerline goodness : 0.117142 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.85, Z:-2.58 [[ 9.82743596e-01 -2.14910938e-03 -1.84960552e-01 -2.11085849e+01] [-3.44679132e-03 9.99546123e-01 -2.99277115e-02 -1.85028807e+00] [ 1.84940921e-01 3.00487872e-02 9.82290144e-01 -2.57718770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94463044 meters Centerline goodness : 0.147501 with order 3 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.85, Z:-2.58 [[ 9.82710537e-01 -2.47765472e-03 -1.85132010e-01 -2.11085337e+01] [-3.23322495e-03 9.99528336e-01 -3.05393450e-02 -1.84628806e+00] [ 1.85120356e-01 3.06099096e-02 9.82239017e-01 -2.57671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00463044 meters Centerline goodness : 0.113796 with order 1 Centerline is valid? [False, False] Translation: X:-21.13, Y:-1.84, Z:-2.58 [[ 9.82705651e-01 -1.00910717e-02 -1.84899360e-01 -2.11277251e+01] [ 4.77007646e-03 9.99562206e-01 -2.92000620e-02 -1.84087762e+00] [ 1.85113072e-01 2.78130819e-02 9.82323563e-01 -2.58153564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06463044000003 meters Centerline goodness : 0.112390 with order 1 Centerline is valid? [False, False] Translation: X:-21.13, Y:-1.84, Z:-2.58 [[ 9.82576660e-01 -1.18053559e-02 -1.85482457e-01 -2.11258951e+01] [ 6.28528519e-03 9.99520466e-01 -3.03204973e-02 -1.84110812e+00] [ 1.85751456e-01 2.86264028e-02 9.82179681e-01 -2.58147846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12463044000003 meters Centerline goodness : 0.251381 with order 3 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.85, Z:-2.59 [[ 9.82924871e-01 -5.96818282e-03 -1.83910516e-01 -2.11431345e+01] [ 1.56733510e-04 9.99500656e-01 -3.15976786e-02 -1.84783655e+00] [ 1.84007262e-01 3.10293193e-02 9.82434990e-01 -2.58708304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18463044000003 meters Centerline goodness : 0.127194 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.85, Z:-2.59 [[ 9.82911706e-01 -6.29234543e-03 -1.83970065e-01 -2.11428777e+01] [ 4.08994805e-04 9.99487772e-01 -3.20004047e-02 -1.84634887e+00] [ 1.84077188e-01 3.13783296e-02 9.82410805e-01 -2.58709249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24463044000004 meters Centerline goodness : 0.105477 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.84, Z:-2.59 [[ 9.82772213e-01 -3.71823656e-03 -1.84783529e-01 -2.11398062e+01] [-1.90396543e-03 9.99540879e-01 -3.02391332e-02 -1.84180443e+00] [ 1.84811128e-01 3.00700013e-02 9.82313922e-01 -2.58763853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30463044000004 meters Centerline goodness : 0.107196 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.84, Z:-2.59 [[ 9.82886715e-01 -3.83489919e-03 -1.84171112e-01 -2.11414899e+01] [-1.81555712e-03 9.99533055e-01 -3.05020447e-02 -1.84052176e+00] [ 1.84202086e-01 3.03144277e-02 9.82420799e-01 -2.58754205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36463044000004 meters Centerline goodness : 0.121810 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.84, Z:-2.59 [[ 9.82976238e-01 -4.09733727e-03 -1.83687035e-01 -2.11430690e+01] [-1.58735764e-03 9.99524615e-01 -3.07900027e-02 -1.83979198e+00] [ 1.83725870e-01 3.05574181e-02 9.82502442e-01 -2.58718661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42463044000004 meters Centerline goodness : 0.180927 with order 3 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.84, Z:-2.59 [[ 9.82845133e-01 -3.93509863e-03 -1.84390777e-01 -2.11406576e+01] [-1.82002466e-03 9.99516737e-01 -3.10319172e-02 -1.83598481e+00] [ 1.84423781e-01 3.08351646e-02 9.82362999e-01 -2.58763041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48463044000005 meters Centerline goodness : 0.186132 with order 3 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.83, Z:-2.59 [[ 9.82824094e-01 -3.94863032e-03 -1.84502597e-01 -2.11401237e+01] [-1.87971606e-03 9.99505008e-01 -3.14039267e-02 -1.83296014e+00] [ 1.84535272e-01 3.12113483e-02 9.82330181e-01 -2.58785217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54463044 meters Centerline goodness : 0.106437 with order 1 Centerline is valid? [False, False] Translation: X:-21.19, Y:-1.83, Z:-2.60 [[ 9.83039210e-01 -3.18676608e-03 -1.83367817e-01 -2.11860228e+01] [-2.53229864e-03 9.99517837e-01 -3.09464251e-02 -1.83315552e+00] [ 1.83378022e-01 3.08858914e-02 9.82557155e-01 -2.59590860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60463044 meters Centerline goodness : 0.106627 with order 1 Centerline is valid? [False, False] Translation: X:-21.19, Y:-1.84, Z:-2.60 [[ 9.83086813e-01 -3.77608599e-03 -1.83101227e-01 -2.11867240e+01] [-1.93294751e-03 9.99517789e-01 -3.09911649e-02 -1.83644048e+00] [ 1.83129959e-01 3.08209306e-02 9.82605459e-01 -2.59580487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66463044 meters Centerline goodness : 0.110458 with order 1 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.85, Z:-2.60 [[ 9.82934793e-01 -7.94142995e-03 -1.83782823e-01 -2.11838031e+01] [ 1.82741465e-03 9.99439956e-01 -3.34130952e-02 -1.84687912e+00] [ 1.83945244e-01 3.25070464e-02 9.82398819e-01 -2.59678826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72463044 meters Centerline goodness : 0.116350 with order 1 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.85, Z:-2.60 [[ 9.82837725e-01 -7.81910102e-03 -1.84306453e-01 -2.11819146e+01] [ 1.79640294e-03 9.99459599e-01 -3.28219815e-02 -1.85213989e+00] [ 1.84463492e-01 3.19275930e-02 9.82320645e-01 -2.59720056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78463044 meters Centerline goodness : 0.107508 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-1.86, Z:-2.60 [[ 9.82921848e-01 6.68863036e-04 -1.84022262e-01 -2.12014515e+01] [-6.87412246e-03 9.99428925e-01 -3.30842803e-02 -1.85989386e+00] [ 1.83895042e-01 3.37842535e-02 9.82365124e-01 -2.60182359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84463044 meters Centerline goodness : 0.107093 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-1.86, Z:-2.60 [[ 9.83036032e-01 1.31406849e-03 -1.83407833e-01 -2.12031535e+01] [-7.43395901e-03 9.99438085e-01 -3.26840973e-02 -1.86048957e+00] [ 1.83261825e-01 3.34930916e-02 9.82493418e-01 -2.60174961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90463044 meters Centerline goodness : 0.124817 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.86, Z:-2.60 [[ 9.83354638e-01 1.24529377e-05 -1.81696605e-01 -2.12093341e+01] [-6.21201076e-03 9.99417690e-01 -3.35513364e-02 -1.86475965e+00] [ 1.81590383e-01 3.41215635e-02 9.82782098e-01 -2.60049224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96463044 meters Centerline goodness : 0.102005 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.87, Z:-2.60 [[ 9.83380593e-01 1.25574829e-04 -1.81556032e-01 -2.12098569e+01] [-6.25392875e-03 9.99429741e-01 -3.31825326e-02 -1.86732916e+00] [ 1.81448331e-01 3.37664971e-02 9.82820597e-01 -2.60038340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02463044 meters Centerline goodness : 0.112781 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.88, Z:-2.60 [[ 9.83580585e-01 -1.88974588e-03 -1.80459586e-01 -2.12123105e+01] [-4.28048352e-03 9.99419578e-01 -3.37962069e-02 -1.87792997e+00] [ 1.80418710e-01 3.40137472e-02 9.83001604e-01 -2.60083086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08463044 meters Centerline goodness : 0.086697 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.89, Z:-2.60 [[ 9.83520143e-01 -2.02753791e-03 -1.80787218e-01 -2.12108128e+01] [-4.06830524e-03 9.99435749e-01 -3.33411515e-02 -1.88578249e+00] [ 1.80752809e-01 3.35271917e-02 9.82956942e-01 -2.60153228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14463044 meters Centerline goodness : 0.121644 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.89, Z:-2.60 [[ 9.83297152e-01 -6.68426611e-04 -1.82006219e-01 -2.12056776e+01] [-5.19561183e-03 9.99482649e-01 -3.17401852e-02 -1.89300993e+00] [ 1.81933274e-01 3.21556674e-02 9.82784970e-01 -2.60326442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20463044 meters Centerline goodness : 0.138026 with order 3 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.90, Z:-2.60 [[ 9.83291024e-01 -2.67008449e-04 -1.82040353e-01 -2.12051549e+01] [-5.50796985e-03 9.99497444e-01 -3.12173179e-02 -1.89545290e+00] [ 1.81957203e-01 3.16983813e-02 9.82795395e-01 -2.60377611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26463044 meters Centerline goodness : 0.118626 with order 1 Centerline is valid? [False, False] Translation: X:-21.21, Y:-1.90, Z:-2.60 [[ 9.83299447e-01 6.54918676e-05 -1.81995038e-01 -2.12051519e+01] [-5.77117963e-03 9.99508247e-01 -3.08213792e-02 -1.89710325e+00] [ 1.81903523e-01 3.13569712e-02 9.82816284e-01 -2.60390206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32463044 meters Centerline goodness : 0.134757 with order 3 Centerline is valid? [False, False] Translation: X:-21.20, Y:-1.90, Z:-2.60 [[ 9.83277499e-01 3.74301085e-05 -1.82113589e-01 -2.12041367e+01] [-5.71233407e-03 9.99514257e-01 -3.06369099e-02 -1.90018660e+00] [ 1.82023982e-01 3.11648778e-02 9.82800092e-01 -2.60463091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38463044 meters Centerline goodness : 0.126619 with order 2 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.83001690e-01 -7.26644187e-03 -1.83452652e-01 -2.12221616e+01] [ 1.99931630e-03 9.99580894e-01 -2.88797414e-02 -1.89993146e+00] [ 1.83585619e-01 2.80220547e-02 9.82604236e-01 -2.60935020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44463044 meters Centerline goodness : 0.124708 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.82861514e-01 -6.67973583e-03 -1.84224389e-01 -2.12198062e+01] [ 1.47923307e-03 9.99596902e-01 -2.83521743e-02 -1.90117479e+00] [ 1.84339514e-01 2.75937502e-02 9.82475205e-01 -2.60982841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50463044 meters Centerline goodness : 0.130588 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.82813717e-01 -6.37849411e-03 -1.84489873e-01 -2.12187198e+01] [ 1.22252974e-03 9.99605847e-01 -2.80473986e-02 -1.90186567e+00] [ 1.84596056e-01 2.73398237e-02 9.82434135e-01 -2.61024236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56463044000003 meters Centerline goodness : 0.274001 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.82980468e-01 -6.01905662e-03 -1.83611464e-01 -2.12219142e+01] [ 9.74635826e-04 9.99619918e-01 -2.75512257e-02 -1.90344595e+00] [ 1.83707509e-01 2.69033625e-02 9.82612721e-01 -2.60916545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62463044000003 meters Centerline goodness : 0.147262 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.83083040e-01 -5.89353588e-03 -1.83065572e-01 -2.12233683e+01] [ 9.08389118e-04 9.99626780e-01 -2.73034100e-02 -1.90412782e+00] [ 1.83158162e-01 2.66752245e-02 9.82721487e-01 -2.60900684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68463044000003 meters Centerline goodness : 0.116899 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.90, Z:-2.61 [[ 9.83055285e-01 -6.21132090e-03 -1.83204055e-01 -2.12225077e+01] [ 1.21503481e-03 9.99624596e-01 -2.73713525e-02 -1.90482070e+00] [ 1.83305291e-01 2.66849534e-02 9.82693789e-01 -2.60938456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74463044000004 meters Centerline goodness : 0.229230 with order 3 Centerline is valid? [False, False] Translation: X:-21.23, Y:-1.91, Z:-2.61 [[ 9.83194231e-01 -6.70306391e-03 -1.82439503e-01 -2.12251386e+01] [ 1.70929970e-03 9.99619911e-01 -2.75156556e-02 -1.90640116e+00] [ 1.82554599e-01 2.67413901e-02 9.82831988e-01 -2.60862776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80463044000004 meters Centerline goodness : 0.124074 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.91, Z:-2.61 [[ 9.83089621e-01 -6.97595522e-03 -1.82992169e-01 -2.12234304e+01] [ 1.98269907e-03 9.99621061e-01 -2.74554966e-02 -1.90829589e+00] [ 1.83114354e-01 2.66283954e-02 9.82730920e-01 -2.60882435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86463044000004 meters Centerline goodness : 0.117407 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.91, Z:-2.61 [[ 9.82935664e-01 -7.05744825e-03 -1.83814235e-01 -2.12207033e+01] [ 2.08065694e-03 9.99626377e-01 -2.72539258e-02 -1.91070596e+00] [ 1.83937901e-01 2.64064013e-02 9.82583101e-01 -2.60934701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92463044000004 meters Centerline goodness : 0.120782 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.91, Z:-2.61 [[ 9.82724115e-01 -7.24613348e-03 -1.84934603e-01 -2.12164033e+01] [ 2.27508492e-03 9.99630732e-01 -2.70780959e-02 -1.91471443e+00] [ 1.85062524e-01 2.61895559e-02 9.82377712e-01 -2.61061476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98463044000005 meters Centerline goodness : 0.096051 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.92, Z:-2.61 [[ 9.82767002e-01 -7.17837569e-03 -1.84709208e-01 -2.12173277e+01] [ 2.23993792e-03 9.99634783e-01 -2.69310719e-02 -1.91638397e+00] [ 1.84835071e-01 2.60532316e-02 9.82424158e-01 -2.61021457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04463044 meters Centerline goodness : 0.176733 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.92, Z:-2.61 [[ 9.82631219e-01 1.68433041e-03 -1.85561446e-01 -2.12374158e+01] [-6.74933996e-03 9.99621580e-01 -2.66672804e-02 -1.92198687e+00] [ 1.85446310e-01 2.74565196e-02 9.82270740e-01 -2.61498724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10463044 meters Centerline goodness : 0.090512 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.92, Z:-2.62 [[ 9.82608298e-01 1.98008962e-03 -1.85679866e-01 -2.12366742e+01] [-7.07260061e-03 9.99616655e-01 -2.67679291e-02 -1.92012041e+00] [ 1.85555683e-01 2.76156288e-02 9.82245624e-01 -2.61543117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16463044 meters Centerline goodness : 0.127459 with order 3 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.92, Z:-2.62 [[ 9.82711769e-01 2.14583001e-03 -1.85129618e-01 -2.12385442e+01] [-7.21367070e-03 9.99617321e-01 -2.67053446e-02 -1.91988844e+00] [ 1.85001467e-01 2.75791206e-02 9.82351184e-01 -2.61503562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22463044 meters Centerline goodness : 0.087855 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.92, Z:-2.62 [[ 9.82847801e-01 2.06447411e-03 -1.84406992e-01 -2.12402431e+01] [-7.05808907e-03 9.99625828e-01 -2.64270113e-02 -1.92239060e+00] [ 1.84283435e-01 2.72752910e-02 9.82494618e-01 -2.61512101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28463044 meters Centerline goodness : 0.120663 with order 2 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.93, Z:-2.62 [[ 9.82958257e-01 -1.63029522e-03 -1.83821671e-01 -2.12416965e+01] [-3.77194718e-03 9.99571279e-01 -2.90350038e-02 -1.92636004e+00] [ 1.83790198e-01 2.92335624e-02 9.82530693e-01 -2.61508467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34463044 meters Centerline goodness : 0.111202 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.93, Z:-2.62 [[ 9.82897259e-01 -1.41938084e-03 -1.84149297e-01 -2.12406937e+01] [-3.86914490e-03 9.99590394e-01 -2.83561841e-02 -1.93035393e+00] [ 1.84114117e-01 2.85837160e-02 9.82489167e-01 -2.61517591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40463044 meters Centerline goodness : 0.112563 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.94, Z:-2.62 [[ 9.82931179e-01 -5.47172457e-03 -1.83892246e-01 -2.12413745e+01] [-2.90291177e-04 9.99510239e-01 -3.12921350e-02 -1.93510306e+00] [ 1.83973404e-01 3.08113975e-02 9.82448189e-01 -2.61508860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46463044 meters Centerline goodness : 0.115506 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.94, Z:-2.62 [[ 9.82916546e-01 -5.33932335e-03 -1.83974334e-01 -2.12411338e+01] [-3.42334647e-04 9.99524359e-01 -3.08372914e-02 -1.93815142e+00] [ 1.84051478e-01 3.03734647e-02 9.82447203e-01 -2.61506702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52463044 meters Centerline goodness : 0.133083 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.94, Z:-2.62 [[ 9.82807639e-01 -5.12834101e-03 -1.84561221e-01 -2.12393053e+01] [-4.96873279e-04 9.99537090e-01 -3.04197051e-02 -1.94041544e+00] [ 1.84631788e-01 2.99884221e-02 9.82350140e-01 -2.61532386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58463044 meters Centerline goodness : 0.157157 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.95, Z:-2.62 [[ 9.82761056e-01 1.58946771e-03 -1.84873419e-01 -2.12571444e+01] [-7.56710342e-03 9.99470919e-01 -3.16326047e-02 -1.94719821e+00] [ 1.84725327e-01 3.24862483e-02 9.82253123e-01 -2.62048652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64463044 meters Centerline goodness : 0.122630 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.95, Z:-2.62 [[ 9.82912021e-01 -1.40842936e-03 -1.84070570e-01 -2.12604950e+01] [-4.83478547e-03 9.99428219e-01 -3.34643001e-02 -1.95342417e+00] [ 1.84012455e-01 3.37824045e-02 9.82343202e-01 -2.61958799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70463044 meters Centerline goodness : 0.097634 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.62 [[ 9.82893145e-01 -5.20443286e-03 -1.84103174e-01 -2.12599093e+01] [-1.48034368e-03 9.99345138e-01 -3.61538815e-02 -1.95794835e+00] [ 1.84170772e-01 3.58079383e-02 9.82241782e-01 -2.61998665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76463044 meters Centerline goodness : 0.248917 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.97, Z:-2.62 [[ 9.82714832e-01 -6.97537370e-03 -1.84994330e-01 -2.12566390e+01] [ 1.57255730e-04 9.99320983e-01 -3.68449118e-02 -1.96638141e+00] [ 1.85125723e-01 3.61789499e-02 9.82048650e-01 -2.62086854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82463044 meters Centerline goodness : 0.144871 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.97, Z:-2.62 [[ 9.82842318e-01 -6.86211433e-03 -1.84320074e-01 -2.12583515e+01] [ 1.95308017e-04 9.99345866e-01 -3.61635521e-02 -1.97237349e+00] [ 1.84447663e-01 3.55070701e-02 9.82200747e-01 -2.62101052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88463044 meters Centerline goodness : 0.122692 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.97, Z:-2.62 [[ 9.82809676e-01 -6.75160212e-03 -1.84498123e-01 -2.12576292e+01] [ 1.30059140e-04 9.99356167e-01 -3.58780443e-02 -1.97407030e+00] [ 1.84621572e-01 3.52372934e-02 9.82177789e-01 -2.62125906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94463044 meters Centerline goodness : 0.461989 with order 3 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.98, Z:-2.63 [[ 9.82381067e-01 -8.93376444e-03 -1.86675193e-01 -2.12980603e+01] [ 2.22211274e-03 9.99344556e-01 -3.61319963e-02 -1.98049535e+00] [ 1.86875632e-01 3.50805757e-02 9.81757023e-01 -2.63084463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00463044 meters Centerline goodness : 0.124343 with order 1 Centerline is valid? [False, False] Translation: X:-21.28, Y:-1.99, Z:-2.63 [[ 9.83115122e-01 -6.41987867e-03 -1.82875485e-01 -2.12822077e+01] [-5.83854873e-04 9.99269245e-01 -3.82182657e-02 -1.99273027e+00] [ 1.82987204e-01 3.76797276e-02 9.82392957e-01 -2.62984873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06463044000003 meters Centerline goodness : 0.124144 with order 1 Centerline is valid? [False, False] Translation: X:-21.28, Y:-2.00, Z:-2.63 [[ 9.83166177e-01 -9.53582066e-03 -1.82464617e-01 -2.12836130e+01] [ 2.31907093e-03 9.99207997e-01 -3.97240643e-02 -1.99932398e+00] [ 1.82698906e-01 3.86322081e-02 9.82409620e-01 -2.63064784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12463044000003 meters Centerline goodness : 0.126837 with order 1 Centerline is valid? [False, False] Translation: X:-21.30, Y:-2.01, Z:-2.64 [[ 9.83429099e-01 -2.50687215e-03 -1.81275819e-01 -2.12961949e+01] [-4.69723056e-03 9.99216381e-01 -3.93008895e-02 -2.01278597e+00] [ 1.81232290e-01 3.95011326e-02 9.82646690e-01 -2.63688071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18463044000003 meters Centerline goodness : 0.257258 with order 2 Centerline is valid? [False, False] Translation: X:-21.28, Y:-2.01, Z:-2.63 [[ 9.83363412e-01 -1.02104806e-02 -1.81361920e-01 -2.12751291e+01] [ 3.25884577e-03 9.99249935e-01 -3.85868893e-02 -2.01282770e+00] [ 1.81619878e-01 3.73539046e-02 9.82659099e-01 -2.63247667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24463044000004 meters Centerline goodness : 0.091416 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-2.02, Z:-2.63 [[ 9.83310493e-01 -1.65652718e-03 -1.81927816e-01 -2.12554057e+01] [-5.36854843e-03 9.99258923e-01 -3.81153895e-02 -2.01788890e+00] [ 1.81856133e-01 3.84559507e-02 9.82572891e-01 -2.62959922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30463044000004 meters Centerline goodness : 0.126076 with order 1 Centerline is valid? [False, False] Translation: X:-21.23, Y:-2.01, Z:-2.62 [[ 9.82731347e-01 -5.05590862e-03 -1.84969018e-01 -2.12341492e+01] [-1.54731408e-03 9.99367152e-01 -3.55373193e-02 -2.01231857e+00] [ 1.85031634e-01 3.52098428e-02 9.82101604e-01 -2.62494935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36463044000004 meters Centerline goodness : 0.128166 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-2.02, Z:-2.62 [[ 9.82182314e-01 9.39468796e-03 -1.87695609e-01 -2.12357020e+01] [-1.67047221e-02 9.99160651e-01 -3.74024737e-02 -2.01710829e+00] [ 1.87186683e-01 3.98714511e-02 9.81514856e-01 -2.62497636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42463044000004 meters Centerline goodness : 0.240042 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-2.01, Z:-2.62 [[ 9.81948514e-01 3.30088341e-03 -1.89119591e-01 -2.12174014e+01] [-1.03582922e-02 9.99285766e-01 -3.63409406e-02 -2.01064571e+00] [ 1.88864559e-01 3.76438886e-02 9.81281364e-01 -2.61905673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48463044000005 meters SLAMing on 264.54463044 meters Centerline goodness : 0.144371 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-2.00, Z:-2.61 [[ 9.82126983e-01 -6.26426515e-04 -1.88218479e-01 -2.11958226e+01] [-5.81078521e-03 9.99416887e-01 -3.36470161e-02 -2.00198087e+00] [ 1.88129804e-01 3.41393395e-02 9.81550652e-01 -2.61390634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60463044 meters Centerline goodness : 0.157005 with order 3 Centerline is valid? [False, False] Translation: X:-21.18, Y:-2.00, Z:-2.61 [[ 9.82240426e-01 -7.37579719e-03 -1.87481579e-01 -2.11775036e+01] [ 1.28836205e-03 9.99468605e-01 -3.25706477e-02 -1.99619103e+00] [ 1.87622187e-01 3.17506627e-02 9.81727972e-01 -2.60805551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66463044 meters Centerline goodness : 0.121976 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-2.00, Z:-2.61 [[ 9.82807032e-01 -1.28690124e-04 -1.84635646e-01 -2.11953769e+01] [-6.18767347e-03 9.99415086e-01 -3.36332879e-02 -2.00166592e+00] [ 1.84531978e-01 3.41974970e-02 9.82231378e-01 -2.61264635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72463044 meters Centerline goodness : 0.109679 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-2.00, Z:-2.61 [[ 9.82858172e-01 1.46230043e-04 -1.84363208e-01 -2.11962973e+01] [-6.43688887e-03 9.99417218e-01 -3.35229794e-02 -2.00041065e+00] [ 1.84250862e-01 3.41350597e-02 9.82286322e-01 -2.61214182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78463044 meters Centerline goodness : 0.156390 with order 3 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.99, Z:-2.61 [[ 9.83052293e-01 -2.80647398e-03 -1.83303881e-01 -2.11750860e+01] [-2.77571310e-03 9.99540339e-01 -3.01895139e-02 -1.99409550e+00] [ 1.83304350e-01 3.01866699e-02 9.82592632e-01 -2.60759493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84463044 meters Centerline goodness : 0.118282 with order 1 Centerline is valid? [False, False] Translation: X:-21.17, Y:-1.99, Z:-2.61 [[ 9.83001176e-01 -2.26321183e-03 -1.83585310e-01 -2.11736609e+01] [-3.35133820e-03 9.99536238e-01 -3.02667551e-02 -1.98977667e+00] [ 1.83568671e-01 3.03675123e-02 9.82537713e-01 -2.60805635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90463044 meters Centerline goodness : 0.120969 with order 1 Centerline is valid? [False, False] Translation: X:-21.17, Y:-1.98, Z:-2.61 [[ 9.82898684e-01 -2.73798230e-04 -1.84146960e-01 -2.11717279e+01] [-5.21875538e-03 9.99555816e-01 -2.93416976e-02 -1.98279794e+00] [ 1.84073199e-01 2.98009339e-02 9.82460667e-01 -2.60817058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96463044 meters Centerline goodness : 0.151079 with order 3 Centerline is valid? [False, False] Translation: X:-21.17, Y:-1.98, Z:-2.61 [[ 9.82817564e-01 -5.29866267e-04 -1.84578860e-01 -2.11705208e+01] [-5.08199053e-03 9.99539103e-01 -2.99291675e-02 -1.97959063e+00] [ 1.84509647e-01 3.03529395e-02 9.82361893e-01 -2.60810863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02463044 meters Centerline goodness : 0.183471 with order 3 Centerline is valid? [False, False] Translation: X:-21.19, Y:-1.97, Z:-2.61 [[ 9.82409732e-01 -7.89015153e-03 -1.86571338e-01 -2.11854748e+01] [ 2.67347850e-03 9.99598843e-01 -2.81958371e-02 -1.97434111e+00] [ 1.86718963e-01 2.72010703e-02 9.82036726e-01 -2.61293746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08463044 meters Centerline goodness : 0.091620 with order 1 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.98, Z:-2.61 [[ 9.82270372e-01 -8.11384597e-03 -1.87294104e-01 -2.11831564e+01] [ 2.87068663e-03 9.99596808e-01 -2.82485354e-02 -1.97545700e+00] [ 1.87447792e-01 2.72100367e-02 9.81897621e-01 -2.61330347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14463044 meters Centerline goodness : 0.461679 with order 3 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.98, Z:-2.61 [[ 9.82248670e-01 -7.78103906e-03 -1.87421999e-01 -2.11822044e+01] [ 2.64621978e-03 9.99614668e-01 -2.76317345e-02 -1.97818326e+00] [ 1.87564783e-01 2.66452746e-02 9.81890769e-01 -2.61372946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20463044 meters Centerline goodness : 0.140405 with order 3 Centerline is valid? [False, False] Translation: X:-21.18, Y:-1.98, Z:-2.61 [[ 9.82243062e-01 -7.79501966e-03 -1.87450807e-01 -2.11816266e+01] [ 2.67672967e-03 9.99617054e-01 -2.75423485e-02 -1.97975548e+00] [ 1.87593716e-01 2.65515256e-02 9.81887781e-01 -2.61409320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26463044 meters Centerline goodness : 0.457116 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-1.99, Z:-2.62 [[ 9.82433303e-01 -7.22506271e-04 -1.86612654e-01 -2.11995658e+01] [-4.65230721e-03 9.99586879e-01 -2.83624353e-02 -1.98599965e+00] [ 1.86556053e-01 2.87323804e-02 9.82024078e-01 -2.61985020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32463044 meters Centerline goodness : 0.127962 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-1.99, Z:-2.62 [[ 9.82437070e-01 3.72765874e-03 -1.86556985e-01 -2.11994104e+01] [-8.45779761e-03 9.99662446e-01 -2.45654348e-02 -1.98709659e+00] [ 1.86402440e-01 2.57118550e-02 9.82136971e-01 -2.61993775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38463044 meters Centerline goodness : 0.120263 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-1.99, Z:-2.63 [[ 9.82252065e-01 3.96014945e-03 -1.87523859e-01 -2.12428819e+01] [-8.56935350e-03 9.99680607e-01 -2.37750044e-02 -1.98807715e+00] [ 1.87369813e-01 2.49600054e-02 9.81972276e-01 -2.62828238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44463044 meters Centerline goodness : 0.146627 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.98, Z:-2.62 [[ 9.81823805e-01 6.15634684e-04 -1.89793671e-01 -2.12221693e+01] [-4.73110846e-03 9.99763390e-01 -2.12316136e-02 -1.97972809e+00] [ 1.89735693e-01 2.17436381e-02 9.81594408e-01 -2.62422049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50463044 meters Centerline goodness : 0.137900 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.98, Z:-2.62 [[ 9.81848515e-01 6.46997230e-04 -1.89665694e-01 -2.12225950e+01] [-4.79826823e-03 9.99758860e-01 -2.14289218e-02 -1.97807731e+00] [ 1.89606093e-01 2.19500219e-02 9.81614856e-01 -2.62393436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56463044000003 meters Centerline goodness : 0.139056 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.98, Z:-2.62 [[ 9.81864605e-01 5.67992865e-04 -1.89582631e-01 -2.12225267e+01] [-4.77690279e-03 9.99752144e-01 -2.17447119e-02 -1.97592277e+00] [ 1.89523291e-01 2.22559807e-02 9.81623957e-01 -2.62415235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62463044000003 meters Centerline goodness : 0.084430 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.97, Z:-2.62 [[ 9.81905882e-01 7.57310573e-04 -1.89368069e-01 -2.12226089e+01] [-5.00929300e-03 9.99745951e-01 -2.19759123e-02 -1.97244776e+00] [ 1.89303318e-01 2.25268777e-02 9.81660223e-01 -2.62452991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68463044000003 meters Centerline goodness : 0.139818 with order 1 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.97, Z:-2.62 [[ 9.81917434e-01 1.26384121e-03 -1.89305457e-01 -2.12227690e+01] [-5.53153104e-03 9.99742288e-01 -2.20172801e-02 -1.96660798e+00] [ 1.89228844e-01 2.26663001e-02 9.81671372e-01 -2.62439473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74463044000004 meters Centerline goodness : 0.154222 with order 3 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.96, Z:-2.62 [[ 9.81909627e-01 1.05896855e-03 -1.89347203e-01 -2.12223629e+01] [-5.41459007e-03 9.99732461e-01 -2.24875405e-02 -1.96387307e+00] [ 1.89272731e-01 2.31059699e-02 9.81652661e-01 -2.62460198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80463044000004 meters Centerline goodness : 0.127724 with order 2 Centerline is valid? [False, False] Translation: X:-21.22, Y:-1.96, Z:-2.62 [[ 9.81947541e-01 9.87731767e-04 -1.89150871e-01 -2.12225006e+01] [-5.39552081e-03 9.99725725e-01 -2.27895199e-02 -1.96128681e+00] [ 1.89076482e-01 2.33986804e-02 9.81683547e-01 -2.62486478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86463044000004 meters Centerline goodness : 0.151303 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81456531e-01 1.72271927e-04 -1.91684764e-01 -2.12643408e+01] [-4.63887768e-03 9.99728066e-01 -2.28533120e-02 -1.96148157e+00] [ 1.91628702e-01 2.33187344e-02 9.81190439e-01 -2.63325987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92463044000004 meters Centerline goodness : 0.133530 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81371318e-01 1.71661298e-04 -1.92120550e-01 -2.12628600e+01] [-4.67828043e-03 9.99724430e-01 -2.30038704e-02 -1.96006201e+00] [ 1.92063659e-01 2.34741324e-02 9.81101685e-01 -2.63350475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98463044000005 meters Centerline goodness : 0.131405 with order 3 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81393469e-01 1.53154074e-04 -1.92007385e-01 -2.12629083e+01] [-4.66467811e-03 9.99723551e-01 -2.30448058e-02 -1.95970427e+00] [ 1.91950775e-01 2.35116746e-02 9.81122878e-01 -2.63356854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04463044 meters Centerline goodness : 0.119313 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81419206e-01 4.23777360e-05 -1.91875847e-01 -2.12632647e+01] [-4.56100793e-03 9.99722567e-01 -2.31081445e-02 -1.95999933e+00] [ 1.91821635e-01 2.35539241e-02 9.81147121e-01 -2.63346096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10463044 meters Centerline goodness : 0.139650 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81425867e-01 5.62587075e-05 -1.91841771e-01 -2.12626582e+01] [-4.59533015e-03 9.99719919e-01 -2.32156578e-02 -1.95886348e+00] [ 1.91786734e-01 2.36660234e-02 9.81151246e-01 -2.63398291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16463044 meters Centerline goodness : 0.141315 with order 1 Centerline is valid? [False, False] Translation: X:-21.26, Y:-1.96, Z:-2.63 [[ 9.81418662e-01 1.92152346e-04 -1.91878537e-01 -2.12623135e+01] [-4.77940861e-03 9.99713714e-01 -2.34445370e-02 -1.95606455e+00] [ 1.91819100e-01 2.39259721e-02 9.81138614e-01 -2.63417387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22463044 meters Centerline goodness : 0.159218 with order 3 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.95, Z:-2.64 [[ 9.80851697e-01 2.00628170e-03 -1.94745791e-01 -2.13034174e+01] [-6.37269536e-03 9.99742103e-01 -2.17971580e-02 -1.95348843e+00] [ 1.94651836e-01 2.26208350e-02 9.80611524e-01 -2.64269406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28463044 meters Centerline goodness : 0.136694 with order 3 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.95, Z:-2.64 [[ 9.80882304e-01 1.66998475e-03 -1.94594749e-01 -2.13041530e+01] [-6.09699466e-03 9.99735997e-01 -2.21531687e-02 -1.95285726e+00] [ 1.94506380e-01 2.29160943e-02 9.80633530e-01 -2.64229868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34463044 meters Centerline goodness : 0.126856 with order 2 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.96, Z:-2.64 [[ 9.81092412e-01 -6.05656248e-04 -1.93538919e-01 -2.13074474e+01] [-4.08397440e-03 9.99707658e-01 -2.38310491e-02 -1.95503877e+00] [ 1.93496773e-01 2.41708695e-02 9.80803124e-01 -2.64204909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40463044 meters Centerline goodness : 0.140987 with order 3 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.96, Z:-2.64 [[ 9.81145437e-01 -9.99827901e-04 -1.93268291e-01 -2.13075236e+01] [-3.64212043e-03 9.99713396e-01 -2.36613630e-02 -1.95836962e+00] [ 1.93236556e-01 2.39191448e-02 9.80860595e-01 -2.64246554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46463044 meters Centerline goodness : 0.140049 with order 1 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.96, Z:-2.64 [[ 9.81002942e-01 -9.59810078e-04 -1.93990478e-01 -2.13052011e+01] [-3.67290722e-03 9.99716618e-01 -2.35200764e-02 -1.95940138e+00] [ 1.93958079e-01 2.37857732e-02 9.80721418e-01 -2.64279828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52463044 meters Centerline goodness : 0.140537 with order 1 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.96, Z:-2.64 [[ 9.80875212e-01 -8.47286971e-04 -1.94635815e-01 -2.13032028e+01] [-3.80676388e-03 9.99715735e-01 -2.35362975e-02 -1.95881346e+00] [ 1.94600429e-01 2.38271034e-02 9.80593158e-01 -2.64306620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58463044 meters Centerline goodness : 0.177192 with order 1 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.96, Z:-2.64 [[ 9.80975299e-01 -4.98824476e-04 -1.94131951e-01 -2.13043598e+01] [-4.16258048e-03 9.99712748e-01 -2.36028628e-02 -1.95649998e+00] [ 1.94087960e-01 2.39619153e-02 9.80691435e-01 -2.64319563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64463044 meters Centerline goodness : 0.190364 with order 3 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.96, Z:-2.64 [[ 9.81123627e-01 -3.30011594e-04 -1.93381281e-01 -2.13067226e+01] [-4.31272505e-03 9.99712492e-01 -2.35867357e-02 -1.95507889e+00] [ 1.93333466e-01 2.39755040e-02 9.80840123e-01 -2.64262944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70463044 meters Centerline goodness : 0.126916 with order 1 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.95, Z:-2.64 [[ 9.81171094e-01 -5.82942083e-04 -1.93139700e-01 -2.13079737e+01] [-4.10345628e-03 9.99706808e-01 -2.38633687e-02 -1.95442395e+00] [ 1.93096984e-01 2.42065879e-02 9.80881031e-01 -2.64194980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76463044 meters Centerline goodness : 0.167822 with order 3 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.95, Z:-2.64 [[ 9.81154723e-01 -1.00861744e-03 -1.93221096e-01 -2.13080276e+01] [-3.77285949e-03 9.99695728e-01 -2.43765797e-02 -1.95315604e+00] [ 1.93186891e-01 2.46461923e-02 9.80852379e-01 -2.64160358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82463044 meters Centerline goodness : 0.248608 with order 3 Centerline is valid? [False, False] Translation: X:-21.31, Y:-1.95, Z:-2.64 [[ 9.81037627e-01 -1.00442971e-03 -1.93814771e-01 -2.13055204e+01] [-3.86751855e-03 9.99686014e-01 -2.47571200e-02 -1.94925570e+00] [ 1.93778783e-01 2.50372485e-02 9.80725711e-01 -2.64248246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88463044 meters Centerline goodness : 0.131398 with order 1 Centerline is valid? [False, False] Translation: X:-21.30, Y:-1.95, Z:-2.64 [[ 9.81007902e-01 -1.09624602e-03 -1.93964671e-01 -2.13049118e+01] [-3.84054193e-03 9.99678217e-01 -2.50741293e-02 -1.94691514e+00] [ 1.93929744e-01 2.53428484e-02 9.80688021e-01 -2.64267437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94463044 meters SLAMing on 267.00463044 meters Centerline goodness : 0.147858 with order 3 Centerline is valid? [False, False] Translation: X:-21.35, Y:-1.94, Z:-2.65 [[ 9.81117641e-01 -5.61592970e-04 -1.93411116e-01 -2.13514771e+01] [-4.42755017e-03 9.99668520e-01 -2.53623188e-02 -1.93776001e+00] [ 1.93361248e-01 2.57397558e-02 9.80789933e-01 -2.65135631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06463044000003 meters Centerline goodness : 0.157247 with order 3 Centerline is valid? [False, False] Translation: X:-21.35, Y:-1.93, Z:-2.65 [[ 9.81122053e-01 -7.50403970e-04 -1.93388091e-01 -2.13505940e+01] [-4.31917729e-03 9.99658011e-01 -2.57915955e-02 -1.93432730e+00] [ 1.93341309e-01 2.61399806e-02 9.80783279e-01 -2.65220575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12463044000003 meters Centerline goodness : 0.143951 with order 3 Centerline is valid? [False, False] Translation: X:-21.37, Y:-1.93, Z:-2.66 [[ 9.80861381e-01 -8.91093523e-03 -1.94503333e-01 -2.13687511e+01] [ 4.17441488e-03 9.99685001e-01 -2.47481926e-02 -1.93037873e+00] [ 1.94662594e-01 2.34626088e-02 9.80589609e-01 -2.65748287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18463044000003 meters Centerline goodness : 0.114656 with order 2 Centerline is valid? [False, False] Translation: X:-21.36, Y:-1.93, Z:-2.66 [[ 9.80561368e-01 -9.74315655e-03 -1.95970597e-01 -2.13645574e+01] [ 4.84280522e-03 9.99663877e-01 -2.54691980e-02 -1.92868024e+00] [ 1.96152878e-01 2.40250642e-02 9.80278963e-01 -2.65763852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24463044000004 meters Centerline goodness : 0.093276 with order 3 Centerline is valid? [False, False] Translation: X:-21.36, Y:-1.93, Z:-2.66 [[ 9.80522185e-01 -9.89066302e-03 -1.96159168e-01 -2.13640396e+01] [ 4.93737842e-03 9.99656882e-01 -2.57243152e-02 -1.92732687e+00] [ 1.96346293e-01 2.42547497e-02 9.80234584e-01 -2.65758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30463044000004 meters Centerline goodness : 0.112831 with order 2 Centerline is valid? [False, False] Translation: X:-21.39, Y:-1.93, Z:-2.66 [[ 9.80706666e-01 -1.36388044e-03 -1.95480372e-01 -2.13852315e+01] [-3.82715328e-03 9.99650047e-01 -2.61750979e-02 -1.92805448e+00] [ 1.95447663e-01 2.64182263e-02 9.80358245e-01 -2.66252553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36463044000004 meters Centerline goodness : 0.123373 with order 1 Centerline is valid? [False, False] Translation: X:-21.39, Y:-1.92, Z:-2.66 [[ 9.80710425e-01 -1.08415690e-03 -1.95463264e-01 -2.13851958e+01] [-4.16372109e-03 9.99641849e-01 -2.64355214e-02 -1.92450742e+00] [ 1.95421919e-01 2.67394459e-02 9.80354668e-01 -2.66266885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42463044000004 meters Centerline goodness : 0.132380 with order 1 Centerline is valid? [False, False] Translation: X:-21.39, Y:-1.92, Z:-2.66 [[ 9.80739106e-01 -5.91269097e-04 -1.95321417e-01 -2.13856034e+01] [-4.67814160e-03 9.99637450e-01 -2.65157361e-02 -1.91959037e+00] [ 1.95266281e-01 2.69187606e-02 9.80380773e-01 -2.66265151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48463044000005 meters SLAMing on 267.54463044 meters Centerline goodness : 0.134871 with order 1 Centerline is valid? [False, False] Translation: X:-21.39, Y:-1.92, Z:-2.66 [[ 9.80851446e-01 -7.20998040e-04 -1.94756054e-01 -2.13869530e+01] [-4.62131155e-03 9.99625426e-01 -2.69750181e-02 -1.91651494e+00] [ 1.94702552e-01 2.73585139e-02 9.80480713e-01 -2.66259545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60463044 meters Centerline goodness : 0.114246 with order 3 Centerline is valid? [False, False] Translation: X:-21.41, Y:-1.91, Z:-2.67 [[ 9.80830570e-01 -9.50181264e-03 -1.94630698e-01 -2.14084369e+01] [ 4.41723406e-03 9.99637950e-01 -2.65416215e-02 -1.91366031e+00] [ 1.94812425e-01 2.51731044e-02 9.80517432e-01 -2.66707080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66463044 meters SLAMing on 267.72463044 meters Centerline goodness : 0.131290 with order 1 Centerline is valid? [False, False] Translation: X:-21.45, Y:-1.92, Z:-2.68 [[ 9.80632866e-01 -1.24039191e-02 -1.95461827e-01 -2.14502682e+01] [ 7.17621740e-03 9.99597942e-01 -2.74309182e-02 -1.91903947e+00] [ 1.95723491e-01 2.54969834e-02 9.80327608e-01 -2.67565102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78463044 meters Centerline goodness : 0.122053 with order 1 Centerline is valid? [False, False] Translation: X:-21.45, Y:-1.92, Z:-2.68 [[ 9.80648894e-01 -1.23009146e-02 -1.95387908e-01 -2.14503408e+01] [ 7.07473097e-03 9.99598879e-01 -2.74231573e-02 -1.91807759e+00] [ 1.95646863e-01 2.55101719e-02 9.80342561e-01 -2.67576315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84463044 meters Centerline goodness : 0.129706 with order 1 Centerline is valid? [False, False] Translation: X:-21.45, Y:-1.91, Z:-2.68 [[ 9.80665496e-01 -8.30153597e-03 -1.95515396e-01 -2.14493099e+01] [ 3.56725007e-03 9.99692138e-01 -2.45540827e-02 -1.91406112e+00] [ 1.95659041e-01 2.33818893e-02 9.80393200e-01 -2.67649701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90463044 meters Centerline goodness : 0.118683 with order 3 Centerline is valid? [False, False] Translation: X:-21.47, Y:-1.91, Z:-2.68 [[ 9.80331563e-01 -2.43114735e-04 -1.97357462e-01 -2.14666606e+01] [-4.90430355e-03 9.99660428e-01 -2.55925248e-02 -1.91437618e+00] [ 1.97296667e-01 2.60570607e-02 9.79997477e-01 -2.68144897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96463044 meters Centerline goodness : 0.299005 with order 3 Centerline is valid? [False, False] Translation: X:-21.47, Y:-1.91, Z:-2.68 [[ 9.80236984e-01 -3.82783303e-04 -1.97826459e-01 -2.14651613e+01] [-4.87953081e-03 9.99647101e-01 -2.61125069e-02 -1.91101745e+00] [ 1.97766642e-01 2.65617454e-02 9.79889192e-01 -2.68166067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02463044 meters Centerline goodness : 0.118543 with order 1 Centerline is valid? [False, False] Translation: X:-21.48, Y:-1.90, Z:-2.69 [[ 9.80667053e-01 -6.79721546e-03 -1.95565666e-01 -2.14848716e+01] [ 1.83855024e-03 9.99672471e-01 -2.55258688e-02 -1.90095781e+00] [ 1.95675117e-01 2.46728212e-02 9.80358353e-01 -2.68686907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08463044 meters Centerline goodness : 0.151842 with order 3 Centerline is valid? [False, False] Translation: X:-21.49, Y:-1.89, Z:-2.69 [[ 9.80716745e-01 -6.69160432e-03 -1.95319965e-01 -2.14857073e+01] [ 1.67099515e-03 9.99664229e-01 -2.58580045e-02 -1.89457228e+00] [ 1.95427414e-01 2.50329993e-02 9.80398630e-01 -2.68667765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14463044 meters Centerline goodness : 0.247769 with order 3 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.89, Z:-2.69 [[ 9.80769881e-01 8.53793493e-04 -1.95165856e-01 -2.15060026e+01] [-6.24920906e-03 9.99615056e-01 -2.70312200e-02 -1.89438226e+00] [ 1.95067649e-01 2.77310387e-02 9.80397675e-01 -2.69144813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20463044 meters Centerline goodness : 0.119426 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.89, Z:-2.69 [[ 9.80769858e-01 2.50318403e-04 -1.95167680e-01 -2.15064013e+01] [-5.78132544e-03 9.99597603e-01 -2.77706435e-02 -1.89101209e+00] [ 1.95082193e-01 2.83649379e-02 9.80376646e-01 -2.69104284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26463044 meters Centerline goodness : 0.109974 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.89, Z:-2.69 [[ 9.80847371e-01 -6.50809550e-04 -1.94776822e-01 -2.15074760e+01] [-4.94632113e-03 9.99588697e-01 -2.82483711e-02 -1.89173820e+00] [ 1.94715094e-01 2.86707692e-02 9.80440727e-01 -2.69085685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32463044 meters Centerline goodness : 0.120376 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.89, Z:-2.69 [[ 9.81037175e-01 -3.84918119e-03 -1.93781434e-01 -2.15113780e+01] [-2.10949867e-03 9.99531510e-01 -3.05337533e-02 -1.89423719e+00] [ 1.93808179e-01 3.03635288e-02 9.80569450e-01 -2.68991891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38463044 meters Centerline goodness : 0.107379 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.90, Z:-2.69 [[ 9.80991231e-01 -3.80995293e-03 -1.94014661e-01 -2.15096121e+01] [-2.10774023e-03 9.99539060e-01 -3.02857084e-02 -1.89550228e+00] [ 1.94040619e-01 3.01189468e-02 9.80531023e-01 -2.69102052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44463044 meters Centerline goodness : 0.107768 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.90, Z:-2.69 [[ 9.80932420e-01 -7.73802046e-03 -1.94195030e-01 -2.15078896e+01] [ 1.36486691e-03 9.99456706e-01 -3.29306793e-02 -1.90127138e+00] [ 1.94344343e-01 3.20377206e-02 9.80410047e-01 -2.69219112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50463044 meters Centerline goodness : 0.106125 with order 1 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.91, Z:-2.69 [[ 9.80882315e-01 -1.10641664e-02 -1.94287076e-01 -2.15064596e+01] [ 4.36344645e-03 9.99381880e-01 -3.48829173e-02 -1.90896081e+00] [ 1.94552934e-01 3.33682755e-02 9.80324290e-01 -2.69306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56463044000003 meters Centerline goodness : 0.110088 with order 1 Centerline is valid? [False, False] Translation: X:-21.55, Y:-1.92, Z:-2.70 [[ 9.80605002e-01 -1.46420777e-02 -1.95446767e-01 -2.15482893e+01] [ 7.76253797e-03 9.99324565e-01 -3.59187543e-02 -1.92176990e+00] [ 1.95840681e-01 3.37049472e-02 9.80056327e-01 -2.70260923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62463044000003 meters Centerline goodness : 0.100731 with order 1 Centerline is valid? [False, False] Translation: X:-21.55, Y:-1.93, Z:-2.70 [[ 9.80640160e-01 -1.44817361e-02 -1.95282248e-01 -2.15487068e+01] [ 7.78032480e-03 9.99355622e-01 -3.50400792e-02 -1.93169403e+00] [ 1.95663854e-01 3.28423496e-02 9.80120930e-01 -2.70267011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68463044000003 meters Centerline goodness : 0.106648 with order 1 Centerline is valid? [False, False] Translation: X:-21.57, Y:-1.94, Z:-2.71 [[ 9.80576157e-01 -6.14125852e-03 -1.96042562e-01 -2.15676641e+01] [-8.02483210e-04 9.99375714e-01 -3.53204960e-02 -1.93757752e+00] [ 1.96137087e-01 3.47917571e-02 9.79959069e-01 -2.70847705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74463044000004 meters Centerline goodness : 0.103888 with order 1 Centerline is valid? [False, False] Translation: X:-21.57, Y:-1.94, Z:-2.71 [[ 9.80513000e-01 -5.88855363e-03 -1.96365938e-01 -2.15666920e+01] [-1.04583434e-03 9.99380050e-01 -3.51912213e-02 -1.93785672e+00] [ 1.96451427e-01 3.47108162e-02 9.79898972e-01 -2.70872764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80463044000004 meters Centerline goodness : 0.108591 with order 1 Centerline is valid? [False, False] Translation: X:-21.57, Y:-1.94, Z:-2.71 [[ 9.80561675e-01 -5.79681529e-03 -1.96125466e-01 -2.15673189e+01] [-1.12673896e-03 9.99380650e-01 -3.51716798e-02 -1.93710778e+00] [ 1.96207879e-01 3.47089835e-02 9.79947833e-01 -2.70864435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86463044000004 meters Centerline goodness : 0.107615 with order 1 Centerline is valid? [False, False] Translation: X:-21.59, Y:-1.93, Z:-2.71 [[ 9.80700497e-01 -1.39674910e-02 -1.95016521e-01 -2.15870395e+01] [ 7.33728470e-03 9.99371558e-01 -3.46792898e-02 -1.93117997e+00] [ 1.95378347e-01 3.25791050e-02 9.80186668e-01 -2.71418859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92463044000004 meters Centerline goodness : 0.111209 with order 1 Centerline is valid? [False, False] Translation: X:-21.59, Y:-1.93, Z:-2.71 [[ 9.80737935e-01 -1.39965915e-02 -1.94826074e-01 -2.15876220e+01] [ 7.36410443e-03 9.99369742e-01 -3.47259139e-02 -1.92993930e+00] [ 1.95189328e-01 3.26223015e-02 9.80222889e-01 -2.71409220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98463044000005 meters Centerline goodness : 0.107147 with order 1 Centerline is valid? [False, False] Translation: X:-21.59, Y:-1.93, Z:-2.71 [[ 9.80724785e-01 -1.43831596e-02 -1.94864106e-01 -2.15871454e+01] [ 7.67866504e-03 9.99353679e-01 -3.51178392e-02 -1.92886203e+00] [ 1.95243267e-01 3.29446391e-02 9.80201366e-01 -2.71438450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04463044 meters Centerline goodness : 0.108354 with order 1 Centerline is valid? [False, False] Translation: X:-21.61, Y:-1.93, Z:-2.72 [[ 9.80622245e-01 -8.31841037e-03 -1.95731492e-01 -2.16056945e+01] [ 1.06934008e-03 9.99310527e-01 -3.71123538e-02 -1.93067729e+00] [ 1.95905256e-01 3.61838962e-02 9.79955028e-01 -2.71912957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10463044 meters Centerline goodness : 0.102272 with order 1 Centerline is valid? [False, False] Translation: X:-21.61, Y:-1.93, Z:-2.72 [[ 9.80606601e-01 -8.65447413e-03 -1.95795285e-01 -2.16051079e+01] [ 1.31163207e-03 9.99291961e-01 -3.76012699e-02 -1.92768714e+00] [ 1.95982074e-01 3.66152421e-02 9.79923645e-01 -2.71952308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16463044 meters Centerline goodness : 0.161844 with order 3 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.93, Z:-2.73 [[ 9.80236839e-01 -9.71772063e-03 -1.97588729e-01 -2.16474215e+01] [ 2.19155236e-03 9.99264913e-01 -3.82731188e-02 -1.92501341e+00] [ 1.97815412e-01 3.70836949e-02 9.79537576e-01 -2.72848623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22463044 meters Centerline goodness : 0.093467 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79594330e-01 -1.13998755e-02 -2.00661385e-01 -2.16881563e+01] [ 3.58677375e-03 9.99222696e-01 -3.92573343e-02 -1.92294282e+00] [ 2.00952939e-01 3.77365351e-02 9.78873776e-01 -2.73711721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28463044 meters Centerline goodness : 0.099455 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79537331e-01 -1.36916176e-02 -2.00796308e-01 -2.16877820e+01] [ 5.60394666e-03 9.99151975e-01 -4.07912469e-02 -1.92497501e+00] [ 2.01184526e-01 3.88312973e-02 9.78783386e-01 -2.73709707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34463044 meters Centerline goodness : 0.091957 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.93, Z:-2.74 [[ 9.79776644e-01 -1.39185594e-02 -1.99609621e-01 -2.16908641e+01] [ 5.95767029e-03 9.99164707e-01 -4.04276458e-02 -1.92738329e+00] [ 2.00005583e-01 3.84208549e-02 9.79041166e-01 -2.73756159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40463044 meters Centerline goodness : 0.371943 with order 3 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.93, Z:-2.74 [[ 9.79769648e-01 -1.44693902e-02 -1.99604793e-01 -2.16902296e+01] [ 6.47326278e-03 9.99152298e-01 -4.06544249e-02 -1.92852802e+00] [ 2.00023832e-01 3.85398773e-02 9.79032760e-01 -2.73827997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46463044 meters Centerline goodness : 0.447132 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.93, Z:-2.74 [[ 9.79652857e-01 -1.44250509e-02 -2.00180414e-01 -2.16883119e+01] [ 6.38239825e-03 9.99148402e-01 -4.07643871e-02 -1.92741539e+00] [ 2.00597969e-01 3.86573172e-02 9.78910653e-01 -2.73849829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52463044 meters Centerline goodness : 0.090541 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.93, Z:-2.74 [[ 9.79925900e-01 -1.10327416e-02 -1.99056546e-01 -2.16916670e+01] [ 3.53592124e-03 9.99272319e-01 -3.79780151e-02 -1.92563359e+00] [ 1.99330698e-01 3.65117924e-02 9.79251838e-01 -2.73834330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58463044 meters Centerline goodness : 0.461179 with order 2 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79907117e-01 -1.11301083e-02 -1.99143572e-01 -2.16911982e+01] [ 3.55907605e-03 9.99258582e-01 -3.83356198e-02 -1.92326045e+00] [ 1.99422603e-01 3.68565795e-02 9.79220209e-01 -2.73840647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64463044 meters Centerline goodness : 0.448889 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79832469e-01 -1.12281004e-02 -1.99505044e-01 -2.16896230e+01] [ 3.58181927e-03 9.99246548e-01 -3.86459286e-02 -1.92118998e+00] [ 1.99788647e-01 3.71519447e-02 9.79134429e-01 -2.73886997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70463044 meters Centerline goodness : 0.436078 with order 3 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79905393e-01 -1.15461991e-02 -1.99128365e-01 -2.16907325e+01] [ 3.81236006e-03 9.99224965e-01 -3.91782368e-02 -1.91825421e+00] [ 1.99426393e-01 3.76318165e-02 9.79189951e-01 -2.73868772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76463044 meters Centerline goodness : 0.106700 with order 1 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79894538e-01 -1.16238882e-02 -1.99177259e-01 -2.16902354e+01] [ 3.88559428e-03 9.99223900e-01 -3.91982213e-02 -1.91780726e+00] [ 1.99478313e-01 3.76362009e-02 9.79179207e-01 -2.73911196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82463044 meters Centerline goodness : 0.425646 with order 3 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79727353e-01 -1.18086638e-02 -1.99987172e-01 -2.16875696e+01] [ 4.04791957e-03 9.99224333e-01 -3.91707457e-02 -1.91862236e+00] [ 2.00294602e-01 3.75671190e-02 9.79015211e-01 -2.73968546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88463044 meters Centerline goodness : 0.461471 with order 2 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79618597e-01 -1.19955626e-02 -2.00508132e-01 -2.16860969e+01] [ 4.21091294e-03 9.99222272e-01 -3.92061142e-02 -1.91939193e+00] [ 2.00822491e-01 3.75627163e-02 9.78907232e-01 -2.73976165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94463044 meters Centerline goodness : 0.461708 with order 3 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.92, Z:-2.74 [[ 9.79552049e-01 -1.19883033e-02 -2.00833423e-01 -2.16852269e+01] [ 4.17719176e-03 9.99219818e-01 -3.92722155e-02 -1.91867478e+00] [ 2.01147544e-01 3.76302595e-02 9.78837897e-01 -2.73969286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00463044 meters Centerline goodness : 0.102902 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.92, Z:-2.74 [[ 9.79292523e-01 -9.78880114e-03 -2.02213586e-01 -2.16791377e+01] [ 2.23718493e-03 9.99292636e-01 -3.75396063e-02 -1.91634581e+00] [ 2.02438015e-01 3.63098666e-02 9.78621706e-01 -2.74142623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06463044000003 meters Centerline goodness : 0.099549 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:-2.74 [[ 9.79279055e-01 -1.00277170e-02 -2.02267094e-01 -2.16796390e+01] [ 2.39057040e-03 9.99276144e-01 -3.79667436e-02 -1.91421110e+00] [ 2.02501402e-01 3.66965030e-02 9.78594170e-01 -2.74064955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12463044000003 meters Centerline goodness : 0.454065 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:-2.74 [[ 9.79247207e-01 -1.01878314e-02 -2.02413232e-01 -2.16793480e+01] [ 2.49939536e-03 9.99266865e-01 -3.82032160e-02 -1.91269829e+00] [ 2.02654044e-01 3.69044819e-02 9.78554750e-01 -2.74049986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18463044000003 meters Centerline goodness : 0.448779 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:-2.74 [[ 9.79204013e-01 -1.03740783e-02 -2.02612634e-01 -2.16786350e+01] [ 2.64758340e-03 9.99260163e-01 -3.83681844e-02 -1.91179489e+00] [ 2.02860768e-01 3.70338463e-02 9.78507028e-01 -2.74066544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24463044000004 meters Centerline goodness : 0.343566 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:-2.74 [[ 9.79330256e-01 -1.09120252e-02 -2.01973207e-01 -2.16809151e+01] [ 3.14833566e-03 9.99245116e-01 -3.87206184e-02 -1.91147711e+00] [ 2.02243261e-01 3.72843937e-02 9.78625330e-01 -2.74012982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30463044000004 meters Centerline goodness : 0.268357 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:-2.74 [[ 9.79383620e-01 -1.13338482e-02 -2.01691022e-01 -2.16823652e+01] [ 3.47691474e-03 9.99222704e-01 -3.92670186e-02 -1.90949396e+00] [ 2.01979295e-01 3.77562124e-02 9.78661756e-01 -2.73929474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36463044000004 meters Centerline goodness : 0.449501 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.90, Z:-2.74 [[ 9.79343093e-01 -7.88826752e-03 -2.02051682e-01 -2.16816421e+01] [ 4.60034893e-04 9.99323111e-01 -3.67846285e-02 -1.90478652e+00] [ 2.02205082e-01 3.59318210e-02 9.78683815e-01 -2.73893679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42463044000004 meters Centerline goodness : 0.095810 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.90, Z:-2.74 [[ 9.79278935e-01 -8.08162545e-03 -2.02354773e-01 -2.16806022e+01] [ 5.31894125e-04 9.99302627e-01 -3.73359952e-02 -1.90044014e+00] [ 2.02515392e-01 3.64547223e-02 9.78600311e-01 -2.73896346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48463044000005 meters Centerline goodness : 0.093960 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.89, Z:-2.74 [[ 9.79300016e-01 -8.65229528e-03 -2.02229120e-01 -2.16810238e+01] [ 9.23918352e-04 9.99266658e-01 -3.82791406e-02 -1.89465497e+00] [ 2.02412019e-01 3.72999198e-02 9.78589848e-01 -2.73864856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54463044 meters Centerline goodness : 0.241112 with order 3 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.89, Z:-2.74 [[ 9.79245034e-01 -9.07547989e-03 -2.02476664e-01 -2.16802347e+01] [ 1.22059142e-03 9.99242938e-01 -3.88852273e-02 -1.89145359e+00] [ 2.02676279e-01 3.78310244e-02 9.78514762e-01 -2.73862465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60463044 meters Centerline goodness : 0.093374 with order 1 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.89, Z:-2.74 [[ 9.79085993e-01 -9.36695688e-03 -2.03231098e-01 -2.16774769e+01] [ 1.37784704e-03 9.99221922e-01 -3.94163984e-02 -1.88788040e+00] [ 2.03442180e-01 3.83120222e-02 9.78337093e-01 -2.73913871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66463044 meters Centerline goodness : 0.096090 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.88, Z:-2.73 [[ 9.78958006e-01 -1.43562990e-02 -2.03556183e-01 -2.16556676e+01] [ 6.97907834e-03 9.99294099e-01 -3.69133479e-02 -1.87883871e+00] [ 2.03942432e-01 3.47159829e-02 9.78367152e-01 -2.73450138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72463044 meters Centerline goodness : 0.095288 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.87, Z:-2.73 [[ 9.79020111e-01 -1.13866755e-02 -2.03445241e-01 -2.16563810e+01] [ 4.40250741e-03 9.99386370e-01 -3.47491291e-02 -1.87469046e+00] [ 2.03716078e-01 3.31244271e-02 9.78469484e-01 -2.73407007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78463044 meters Centerline goodness : 0.104093 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.87, Z:-2.73 [[ 9.78712918e-01 -9.71716545e-03 -2.05003906e-01 -2.16506785e+01] [ 2.83596664e-03 9.99423465e-01 -3.38333358e-02 -1.86856127e+00] [ 2.05214478e-01 3.25317385e-02 9.78176213e-01 -2.73482780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84463044 meters Centerline goodness : 0.223121 with order 3 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.86, Z:-2.73 [[ 9.78928809e-01 -7.41743359e-03 -2.04067069e-01 -2.16551598e+01] [ 8.25639032e-04 9.99475669e-01 -3.23682925e-02 -1.86334514e+00] [ 2.04200160e-01 3.15177683e-02 9.78421650e-01 -2.73313003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90463044 meters Centerline goodness : 0.098463 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.86, Z:-2.73 [[ 9.79030157e-01 -4.00157836e-03 -2.03676063e-01 -2.16565244e+01] [-2.15216796e-03 9.99548094e-01 -2.99829409e-02 -1.85855846e+00] [ 2.03703999e-01 2.97925484e-02 9.78579115e-01 -2.73257268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96463044 meters Centerline goodness : 0.097596 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.85, Z:-2.73 [[ 9.79013929e-01 -1.49170866e-04 -2.03793290e-01 -2.16565539e+01] [-5.54806836e-03 9.99609582e-01 -2.73843600e-02 -1.85238444e+00] [ 2.03717810e-01 2.79403290e-02 9.78630876e-01 -2.73200639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02463044 meters Centerline goodness : 0.088718 with order 3 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.84, Z:-2.73 [[ 9.78990752e-01 3.12667354e-03 -2.03880678e-01 -2.16554904e+01] [-8.48030857e-03 9.99641644e-01 -2.53902952e-02 -1.84379548e+00] [ 2.03728229e-01 2.65858353e-02 9.78666441e-01 -2.73229360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08463044 meters Centerline goodness : 0.231697 with order 3 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.84, Z:-2.74 [[ 9.79471020e-01 -5.03854027e-03 -2.01522044e-01 -2.16762299e+01] [-1.86520154e-04 9.99664506e-01 -2.59005955e-02 -1.83598476e+00] [ 2.01584936e-01 2.54064706e-02 9.79141473e-01 -2.73729920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14463044 meters Centerline goodness : 0.130771 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.83, Z:-2.73 [[ 9.79462512e-01 -1.45715133e-02 -2.01099127e-01 -2.16562078e+01] [ 9.62852959e-03 9.99627528e-01 -2.55361730e-02 -1.83490115e+00] [ 2.01396324e-01 2.30754353e-02 9.79237992e-01 -2.73259026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20463044 meters Centerline goodness : 0.145220 with order 3 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.84, Z:-2.73 [[ 9.79161255e-01 -1.92273318e-02 -2.02172071e-01 -2.16508551e+01] [ 1.37593525e-02 9.99501453e-01 -2.84169874e-02 -1.84328268e+00] [ 2.02617662e-01 2.50430563e-02 9.78937653e-01 -2.73465501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26463044 meters Centerline goodness : 0.119357 with order 2 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.85, Z:-2.73 [[ 9.79167243e-01 -1.90712102e-02 -2.02157858e-01 -2.16507103e+01] [ 1.37544210e-02 9.99522409e-01 -2.76725501e-02 -1.84944697e+00] [ 2.02589059e-01 2.43154903e-02 9.78961915e-01 -2.73487599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32463044 meters Centerline goodness : 0.089543 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.85, Z:-2.74 [[ 9.79170564e-01 -1.10617551e-02 -2.02737872e-01 -2.16687766e+01] [ 5.31540025e-03 9.99569147e-01 -2.88663661e-02 -1.85411663e+00] [ 2.02969834e-01 2.71874630e-02 9.78807483e-01 -2.74072585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38463044 meters Centerline goodness : 0.088617 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.86, Z:-2.74 [[ 9.79184513e-01 -6.59524646e-03 -2.02864961e-01 -2.16677870e+01] [ 1.53933358e-03 9.99684507e-01 -2.50702441e-02 -1.85572443e+00] [ 2.02966303e-01 2.42361180e-02 9.78885739e-01 -2.74139443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44463044 meters Centerline goodness : 0.152343 with order 3 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.86, Z:-2.74 [[ 9.79189299e-01 -6.37612339e-03 -2.02848863e-01 -2.16683696e+01] [ 1.34283329e-03 9.99688024e-01 -2.49409641e-02 -1.85559958e+00] [ 2.02944605e-01 2.41495330e-02 9.78892378e-01 -2.74082776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50463044 meters Centerline goodness : 0.196611 with order 3 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.86, Z:-2.74 [[ 9.79164204e-01 -6.36042576e-03 -2.02970458e-01 -2.16682650e+01] [ 1.34972778e-03 9.99691132e-01 -2.48157103e-02 -1.85681511e+00] [ 2.03065606e-01 2.40247004e-02 9.78870356e-01 -2.74062375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56463044000003 meters Centerline goodness : 0.127974 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.86, Z:-2.74 [[ 9.79224170e-01 -6.19326861e-03 -2.02686131e-01 -2.16689209e+01] [ 1.27617752e-03 9.99701916e-01 -2.43813358e-02 -1.85945631e+00] [ 2.02776714e-01 2.36161298e-02 9.78940183e-01 -2.74079052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62463044000003 meters SLAMing on 271.68463044000003 meters Centerline goodness : 0.089758 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.87, Z:-2.74 [[ 9.79182336e-01 -6.32743430e-03 -2.02883998e-01 -2.16685145e+01] [ 1.52447814e-03 9.99715079e-01 -2.38209493e-02 -1.86635855e+00] [ 2.02976917e-01 2.30157605e-02 9.78912992e-01 -2.74081958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74463044000004 meters Centerline goodness : 0.139648 with order 1 Centerline is valid? [False, False] Translation: X:-21.67, Y:-1.87, Z:-2.74 [[ 9.79175371e-01 -6.27940077e-03 -2.02919104e-01 -2.16686294e+01] [ 1.56331242e-03 9.99725120e-01 -2.33931532e-02 -1.86964748e+00] [ 2.03010220e-01 2.25887735e-02 9.78916032e-01 -2.74072521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80463044000004 meters SLAMing on 271.86463044000004 meters Centerline goodness : 0.152657 with order 3 Centerline is valid? [False, False] Translation: X:-21.73, Y:-1.87, Z:-2.75 [[ 9.78978594e-01 -1.09545624e-02 -2.03668628e-01 -2.17326401e+01] [ 6.67344895e-03 9.99742364e-01 -2.16949293e-02 -1.87442029e+00] [ 2.03853814e-01 1.98796992e-02 9.78799479e-01 -2.75212215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92463044000004 meters Centerline goodness : 0.089708 with order 1 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.88, Z:-2.75 [[ 9.79507477e-01 -2.37507491e-03 -2.01393796e-01 -2.17154646e+01] [-2.12591085e-03 9.99752842e-01 -2.21299441e-02 -1.87694753e+00] [ 2.01396581e-01 2.21045910e-02 9.79260335e-01 -2.74683106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98463044000005 meters Centerline goodness : 0.113031 with order 1 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.87, Z:-2.75 [[ 9.79654836e-01 8.36822475e-04 -2.00688074e-01 -2.17187789e+01] [-4.98358152e-03 9.99784378e-01 -2.01583862e-02 -1.87084739e+00] [ 2.00627932e-01 2.07484059e-02 9.79447771e-01 -2.74544585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04463044 meters Centerline goodness : 0.104714 with order 2 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.86, Z:-2.74 [[ 9.79662505e-01 3.78122653e-03 -2.00616745e-01 -2.17205821e+01] [-7.68000529e-03 9.99796404e-01 -1.86592427e-02 -1.86066023e+00] [ 2.00505345e-01 1.98204981e-02 9.79492090e-01 -2.74375735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10463044 meters Centerline goodness : 0.090705 with order 2 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.85, Z:-2.74 [[ 9.79546976e-01 3.53089294e-03 -2.01184628e-01 -2.17191448e+01] [-7.56248438e-03 9.99785634e-01 -1.92741995e-02 -1.85442664e+00] [ 2.01073446e-01 2.04014395e-02 9.79363697e-01 -2.74335907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16463044 meters Centerline goodness : 0.256803 with order 2 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.84, Z:-2.75 [[ 9.79289639e-01 -4.44498691e-03 -2.02415527e-01 -2.17367059e+01] [ 5.41895884e-04 9.99812936e-01 -1.93339041e-02 -1.84098661e+00] [ 2.02463601e-01 1.88238038e-02 9.79108857e-01 -2.74795857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22463044 meters Centerline goodness : 0.246226 with order 2 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.84, Z:-2.75 [[ 9.79224966e-01 -4.92106272e-03 -2.02717164e-01 -2.17352089e+01] [ 9.33989941e-04 9.99804333e-01 -1.97591239e-02 -1.83884772e+00] [ 2.02774735e-01 1.91592916e-02 9.79037961e-01 -2.74856180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28463044 meters Centerline goodness : 0.191990 with order 3 Centerline is valid? [False, False] Translation: X:-21.71, Y:-1.84, Z:-2.74 [[ 9.78853732e-01 -1.39821747e-02 -2.04082997e-01 -2.17123785e+01] [ 1.02240452e-02 9.99758407e-01 -1.94575340e-02 -1.83581919e+00] [ 2.04305751e-01 1.69595260e-02 9.78760203e-01 -2.74383192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34463044 meters Centerline goodness : 0.130829 with order 3 Centerline is valid? [False, False] Translation: X:-21.76, Y:-1.83, Z:-2.75 [[ 9.78206465e-01 -1.42415616e-02 -2.07145575e-01 -2.17555660e+01] [ 1.02855798e-02 9.99743815e-01 -2.01621126e-02 -1.83161351e+00] [ 2.07379648e-01 1.75920965e-02 9.78102346e-01 -2.75176206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40463044 meters Centerline goodness : 0.214779 with order 3 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.83, Z:-2.75 [[ 9.78514638e-01 -6.31380518e-03 -2.06080663e-01 -2.17358452e+01] [ 2.04412418e-03 9.99778962e-01 -2.09248364e-02 -1.83254269e+00] [ 2.06167226e-01 2.00540043e-02 9.78311255e-01 -2.74693852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46463044 meters Centerline goodness : 0.094350 with order 1 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.83, Z:-2.75 [[ 9.78747373e-01 -3.65538342e-03 -2.05037115e-01 -2.17395646e+01] [-3.04685532e-04 9.99814096e-01 -1.92790170e-02 -1.82663648e+00] [ 2.05069470e-01 1.89317591e-02 9.78564306e-01 -2.74614122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52463044 meters Centerline goodness : 0.124112 with order 3 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.82, Z:-2.75 [[ 9.78706074e-01 -3.99158742e-03 -2.05227894e-01 -2.17396609e+01] [-1.26004273e-04 9.99799040e-01 -2.00465265e-02 -1.82107849e+00] [ 2.05266669e-01 1.96455168e-02 9.78508890e-01 -2.74536507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58463044 meters Centerline goodness : 0.162024 with order 3 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.82, Z:-2.75 [[ 9.78566801e-01 -4.22776950e-03 -2.05886236e-01 -2.17375771e+01] [ 9.79159003e-06 9.99790188e-01 -2.04836459e-02 -1.81800698e+00] [ 2.05929638e-01 2.00425999e-02 9.78361527e-01 -2.74550225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64463044 meters Centerline goodness : 0.148144 with order 3 Centerline is valid? [False, False] Translation: X:-21.76, Y:-1.81, Z:-2.75 [[ 9.78521095e-01 -1.12590243e-02 -2.05839019e-01 -2.17553064e+01] [ 7.40526833e-03 9.99782763e-01 -1.94830271e-02 -1.80965394e+00] [ 2.06013663e-01 1.75402599e-02 9.78391900e-01 -2.75128451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70463044 meters Centerline goodness : 0.157154 with order 3 Centerline is valid? [False, False] Translation: X:-21.76, Y:-1.81, Z:-2.75 [[ 9.78598658e-01 -1.19043552e-02 -2.05433571e-01 -2.17567562e+01] [ 7.98829262e-03 9.99770434e-01 -1.98813167e-02 -1.80931831e+00] [ 2.05623085e-01 1.78147663e-02 9.78469101e-01 -2.75087345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76463044 meters Centerline goodness : 0.179938 with order 3 Centerline is valid? [False, False] Translation: X:-21.75, Y:-1.81, Z:-2.75 [[ 9.78357311e-01 -1.50795276e-02 -2.06372431e-01 -2.17529389e+01] [ 1.08057414e-02 9.99703504e-01 -2.18206494e-02 -1.81487516e+00] [ 2.06640287e-01 1.91183847e-02 9.78230177e-01 -2.75173566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82463044 meters Centerline goodness : 0.165439 with order 3 Centerline is valid? [False, False] Translation: X:-21.75, Y:-1.82, Z:-2.75 [[ 9.78169508e-01 -1.92609984e-02 -2.06914058e-01 -2.17511222e+01] [ 1.44026966e-02 9.99584677e-01 -2.49607020e-02 -1.81817574e+00] [ 2.07308890e-01 2.14356772e-02 9.78040662e-01 -2.75192363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88463044 meters Centerline goodness : 0.175288 with order 3 Centerline is valid? [False, False] Translation: X:-21.73, Y:-1.83, Z:-2.75 [[ 9.78230387e-01 -1.20319678e-02 -2.07172735e-01 -2.17326049e+01] [ 7.01677081e-03 9.99664682e-01 -2.49256490e-02 -1.82937829e+00] [ 2.07403171e-01 2.29293436e-02 9.77986794e-01 -2.74726067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94463044 meters Centerline goodness : 0.100427 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-1.83, Z:-2.75 [[ 9.78354646e-01 -1.17825131e-02 -2.06599514e-01 -2.17348650e+01] [ 6.82053604e-03 9.99671315e-01 -2.47132104e-02 -1.83031140e+00] [ 2.06822791e-01 2.27691648e-02 9.78113438e-01 -2.74648977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00463044 meters SLAMing on 273.06463044000003 meters Centerline goodness : 0.125658 with order 2 Centerline is valid? [False, False] Translation: X:-21.80, Y:-1.83, Z:-2.76 [[ 9.78064284e-01 -2.03700452e-03 -2.08293320e-01 -2.17964578e+01] [-3.24629811e-03 9.99681686e-01 -2.50197383e-02 -1.82896560e+00] [ 2.08277982e-01 2.51470946e-02 9.77746340e-01 -2.75940782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12463044000003 meters Centerline goodness : 0.088548 with order 1 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78305867e-01 -5.81650314e-03 -2.07084037e-01 -2.17765981e+01] [ 1.50921781e-03 9.99779352e-01 -2.09516057e-02 -1.82762342e+00] [ 2.07160210e-01 2.01845439e-02 9.78098784e-01 -2.75461399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18463044000003 meters Centerline goodness : 0.158240 with order 3 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78319974e-01 -5.75014538e-03 -2.07019237e-01 -2.17770482e+01] [ 1.39499948e-03 9.99774764e-01 -2.11772319e-02 -1.82510577e+00] [ 2.07094381e-01 2.04293172e-02 9.78107643e-01 -2.75420458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24463044000004 meters Centerline goodness : 0.160417 with order 3 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78381134e-01 -5.98726593e-03 -2.06723266e-01 -2.17779213e+01] [ 1.64473754e-03 9.99774496e-01 -2.11719546e-02 -1.82601715e+00] [ 2.06803411e-01 2.03742355e-02 9.78170353e-01 -2.75423975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30463044000004 meters Centerline goodness : 0.088310 with order 1 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78480530e-01 -6.23827084e-03 -2.06244847e-01 -2.17789767e+01] [ 1.91225633e-03 9.99774108e-01 -2.11678311e-02 -1.82734810e+00] [ 2.06330309e-01 2.03179175e-02 9.78271428e-01 -2.75454361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36463044000004 meters Centerline goodness : 0.162526 with order 3 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78413395e-01 -6.27731567e-03 -2.06561911e-01 -2.17784500e+01] [ 1.99010005e-03 9.99778411e-01 -2.09563521e-02 -1.82903248e+00] [ 2.06647689e-01 2.00928967e-02 9.78209082e-01 -2.75424679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42463044000004 meters Centerline goodness : 0.087409 with order 1 Centerline is valid? [False, False] Translation: X:-21.78, Y:-1.83, Z:-2.75 [[ 9.78337048e-01 -6.12643277e-03 -2.06927733e-01 -2.17774485e+01] [ 1.87980804e-03 9.99783703e-01 -2.07126504e-02 -1.83002690e+00] [ 2.07009870e-01 1.98749689e-02 9.78136953e-01 -2.75425599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48463044000005 meters SLAMing on 273.54463044 meters Centerline goodness : 0.087608 with order 1 Centerline is valid? [False, False] Translation: X:-21.82, Y:-1.83, Z:-2.76 [[ 9.78619376e-01 -4.93872167e-03 -2.05620343e-01 -2.18240932e+01] [ 8.33841660e-04 9.99798726e-01 -2.00452638e-02 -1.83370496e+00] [ 2.05677955e-01 1.94452288e-02 9.78426524e-01 -2.76308363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60463044 meters Centerline goodness : 0.170280 with order 3 Centerline is valid? [False, False] Translation: X:-21.82, Y:-1.84, Z:-2.76 [[ 9.78598185e-01 -4.82956587e-03 -2.05723765e-01 -2.18232799e+01] [ 7.64229087e-04 9.99802955e-01 -1.98360215e-02 -1.83517594e+00] [ 2.05779028e-01 1.92542746e-02 9.78409048e-01 -2.76362468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66463044 meters Centerline goodness : 0.213624 with order 3 Centerline is valid? [False, False] Translation: X:-21.82, Y:-1.83, Z:-2.76 [[ 9.78554962e-01 -3.81914042e-04 -2.05985534e-01 -2.18223306e+01] [-3.02624234e-03 9.99863700e-01 -1.62302972e-02 -1.83481146e+00] [ 2.05963657e-01 1.65056001e-02 9.78420430e-01 -2.76377276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72463044 meters Centerline goodness : 0.177581 with order 1 Centerline is valid? [False, False] Translation: X:-21.83, Y:-1.83, Z:-2.76 [[ 9.78664847e-01 2.58386000e-03 -2.05446928e-01 -2.18250234e+01] [-5.60983795e-03 9.99884180e-01 -1.41476462e-02 -1.83119052e+00] [ 2.05386578e-01 1.49983280e-02 9.78565994e-01 -2.76282362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78463044 meters Centerline goodness : 0.119310 with order 3 Centerline is valid? [False, False] Translation: X:-21.87, Y:-1.82, Z:-2.77 [[ 9.78662105e-01 3.79472466e-03 -2.05441192e-01 -2.18711165e+01] [-6.92560260e-03 9.99870553e-01 -1.45228489e-02 -1.82483763e+00] [ 2.05359488e-01 1.56357659e-02 9.78561701e-01 -2.77173516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84463044 meters Centerline goodness : 0.152676 with order 3 Centerline is valid? [False, False] Translation: X:-21.85, Y:-1.82, Z:-2.77 [[ 9.78509777e-01 -4.87008758e-03 -2.06142906e-01 -2.18492170e+01] [ 2.01712633e-03 9.99899293e-01 -1.40476301e-02 -1.82364729e+00] [ 2.06190559e-01 1.33299271e-02 9.78421058e-01 -2.76712288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90463044 meters SLAMing on 273.96463044 meters Centerline goodness : 0.149154 with order 3 Centerline is valid? [False, False] Translation: X:-21.87, Y:-1.82, Z:-2.77 [[ 9.77989505e-01 -1.31989182e-02 -2.08236202e-01 -2.18689217e+01] [ 1.06160179e-02 9.99852292e-01 -1.35164514e-02 -1.82036441e+00] [ 2.08383847e-01 1.10083084e-02 9.77985168e-01 -2.77038530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02463044 meters Centerline goodness : 0.094027 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-1.82, Z:-2.77 [[ 9.78979622e-01 -3.60886167e-03 -2.03926155e-01 -2.18974163e+01] [ 1.05918929e-03 9.99919921e-01 -1.26106823e-02 -1.81995151e+00] [ 2.03955335e-01 1.21296046e-02 9.78905049e-01 -2.77446790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08463044 meters Centerline goodness : 0.113974 with order 3 Centerline is valid? [False, False] Translation: X:-21.90, Y:-1.82, Z:-2.77 [[ 9.79190415e-01 -7.91853711e-04 -2.02942119e-01 -2.19009461e+01] [-1.36884754e-03 9.99943870e-01 -1.05063043e-02 -1.81724361e+00] [ 2.02939047e-01 1.05654693e-02 9.79134370e-01 -2.77381714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14463044 meters Centerline goodness : 0.121518 with order 3 Centerline is valid? [False, False] Translation: X:-21.90, Y:-1.82, Z:-2.77 [[ 9.79095010e-01 -6.43097509e-04 -2.03402427e-01 -2.18993726e+01] [-1.56166141e-03 9.99941762e-01 -1.06787071e-02 -1.81517637e+00] [ 2.03397448e-01 1.07731146e-02 9.79036985e-01 -2.77402627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20463044 meters Centerline goodness : 0.144145 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-1.81, Z:-2.77 [[ 9.79142975e-01 3.62358663e-03 -2.03140112e-01 -2.18997406e+01] [-5.27458324e-03 9.99957310e-01 -7.58658233e-03 -1.81249602e+00] [ 2.03103949e-01 8.49982822e-03 9.79120288e-01 -2.77410905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26463044 meters Centerline goodness : 0.149096 with order 1 Centerline is valid? [False, False] Translation: X:-21.92, Y:-1.81, Z:-2.78 [[ 9.79036346e-01 1.27898073e-02 -2.03283679e-01 -2.19208410e+01] [-1.47697064e-02 9.99857089e-01 -8.22545076e-03 -1.81209460e+00] [ 2.03149426e-01 1.10554555e-02 9.79085332e-01 -2.77880519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32463044 meters Centerline goodness : 0.123627 with order 1 Centerline is valid? [False, False] Translation: X:-21.92, Y:-1.81, Z:-2.78 [[ 9.78832049e-01 1.31705146e-02 -2.04240931e-01 -2.19174635e+01] [-1.51229006e-02 9.99853628e-01 -8.00130043e-03 -1.81179317e+00] [ 2.04105655e-01 1.09206446e-02 9.78887951e-01 -2.77955867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38463044 meters Centerline goodness : 0.121684 with order 1 Centerline is valid? [False, False] Translation: X:-21.93, Y:-1.81, Z:-2.79 [[ 9.78809593e-01 7.54418118e-03 -2.04633492e-01 -2.19324175e+01] [-8.95036708e-03 9.99942260e-01 -5.94702049e-03 -1.80663450e+00] [ 2.04576811e-01 7.65254557e-03 9.78820600e-01 -2.78551498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44463044 meters Centerline goodness : 0.123131 with order 1 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.80, Z:-2.79 [[ 9.79022049e-01 4.47637629e-03 -2.03705153e-01 -2.19509289e+01] [-5.21617262e-03 9.99981606e-01 -3.09493423e-03 -1.80030511e+00] [ 2.03687552e-01 4.09257009e-03 9.79027391e-01 -2.79001726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50463044 meters Centerline goodness : 0.133732 with order 1 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.80, Z:-2.79 [[ 9.78881264e-01 4.96738481e-03 -2.04369264e-01 -2.19488497e+01] [-5.68725769e-03 9.99979520e-01 -2.93521101e-03 -1.79890858e+00] [ 2.04350498e-01 4.03552373e-03 9.78889467e-01 -2.79045625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56463044000003 meters Centerline goodness : 0.234873 with order 3 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.80, Z:-2.79 [[ 9.78846677e-01 5.00503161e-03 -2.04533942e-01 -2.19477410e+01] [-5.78120326e-03 9.99978177e-01 -3.19746057e-03 -1.79751809e+00] [ 2.04513475e-01 4.31227595e-03 9.78854250e-01 -2.79130176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62463044000003 meters Centerline goodness : 0.114059 with order 3 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.80, Z:-2.79 [[ 9.78844028e-01 5.00769650e-03 -2.04546552e-01 -2.19480757e+01] [-5.82721515e-03 9.99977227e-01 -3.40437072e-03 -1.79620882e+00] [ 2.04524846e-01 4.52428471e-03 9.78850917e-01 -2.79103994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68463044000003 meters Centerline goodness : 0.121031 with order 1 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.79, Z:-2.79 [[ 9.79220694e-01 7.25093882e-03 -2.02667847e-01 -2.19548202e+01] [-7.84307370e-03 9.99966998e-01 -2.11874037e-03 -1.79225387e+00] [ 2.02645796e-01 3.66425328e-03 9.79245247e-01 -2.79010819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74463044000004 meters Centerline goodness : 0.111455 with order 1 Centerline is valid? [False, False] Translation: X:-21.96, Y:-1.79, Z:-2.79 [[ 9.79378069e-01 7.38037247e-03 -2.01901281e-01 -2.19572644e+01] [-8.04352791e-03 9.99964614e-01 -2.46429109e-03 -1.78998686e+00] [ 2.01875949e-01 4.03747123e-03 9.79402777e-01 -2.79005191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80463044000004 meters Centerline goodness : 0.109212 with order 1 Centerline is valid? [False, False] Translation: X:-21.96, Y:-1.78, Z:-2.79 [[ 9.79532953e-01 1.03326148e-02 -2.01018484e-01 -2.19607919e+01] [-1.06951626e-02 9.99942548e-01 -7.17561242e-04 -1.78479689e+00] [ 2.00999521e-01 2.85280026e-03 9.79587186e-01 -2.78962047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86463044000004 meters Centerline goodness : 0.242982 with order 3 Centerline is valid? [False, False] Translation: X:-21.98, Y:-1.78, Z:-2.79 [[ 9.80018105e-01 2.82709443e-03 -1.98888211e-01 -2.19793384e+01] [-2.91762105e-03 9.99995731e-01 -1.62096557e-04 -1.77664021e+00] [ 1.98886904e-01 7.39137994e-04 9.80022170e-01 -2.79475519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92463044000004 meters Centerline goodness : 0.106808 with order 1 Centerline is valid? [False, False] Translation: X:-21.98, Y:-1.78, Z:-2.80 [[ 9.79882353e-01 2.83115814e-03 -1.99555904e-01 -2.19768611e+01] [-2.93229247e-03 9.99995679e-01 -2.11247766e-04 -1.77730335e+00] [ 1.99554444e-01 7.92154233e-04 9.79886420e-01 -2.79507215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98463044000005 meters Centerline goodness : 0.115008 with order 1 Centerline is valid? [False, False] Translation: X:-21.98, Y:-1.78, Z:-2.80 [[ 9.79876625e-01 2.72068235e-03 -1.99585567e-01 -2.19764124e+01] [-2.80584747e-03 9.99996053e-01 -1.43861821e-04 -1.77984196e+00] [ 1.99584388e-01 7.00973496e-04 9.79880391e-01 -2.79527923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04463044 meters Centerline goodness : 0.124607 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.78, Z:-2.80 [[ 9.79701887e-01 -8.44206037e-04 -2.00458224e-01 -2.19738013e+01] [ 2.67793244e-04 9.99995752e-01 -2.90257437e-03 -1.78295666e+00] [ 2.00459823e-01 2.78997623e-03 9.79697951e-01 -2.79541422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10463044 meters Centerline goodness : 0.108596 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.79, Z:-2.80 [[ 9.79611319e-01 -6.81615221e-04 -2.00900967e-01 -2.19723088e+01] [ 1.51224122e-04 9.99996463e-01 -2.65539761e-03 -1.78553123e+00] [ 2.00902067e-01 2.57087648e-03 9.79607957e-01 -2.79557744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16463044 meters Centerline goodness : 0.109372 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.79, Z:-2.80 [[ 9.79494192e-01 -2.27653269e-03 -2.01459538e-01 -2.19697235e+01] [ 1.59136020e-03 9.99992387e-01 -3.56293523e-03 -1.79318813e+00] [ 2.01466115e-01 3.16927967e-03 9.79490357e-01 -2.79637174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22463044 meters Centerline goodness : 0.108939 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.80, Z:-2.80 [[ 9.79314827e-01 -4.49769932e-03 -2.02292462e-01 -2.19662030e+01] [ 3.52818599e-03 9.99980499e-01 -5.15296887e-03 -1.79999845e+00] [ 2.02311694e-01 4.33265339e-03 9.79311598e-01 -2.79710714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28463044 meters Centerline goodness : 0.107384 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.81, Z:-2.80 [[ 9.79367558e-01 -5.24210089e-03 -2.02019074e-01 -2.19668231e+01] [ 4.24375237e-03 9.99976552e-01 -5.37466366e-03 -1.80843375e+00] [ 2.02042511e-01 4.40645230e-03 9.79366840e-01 -2.79708240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34463044 meters Centerline goodness : 0.104809 with order 1 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.82, Z:-2.80 [[ 9.79424613e-01 -4.71700834e-03 -2.01755239e-01 -2.19679182e+01] [ 3.85813955e-03 9.99981746e-01 -4.65001753e-03 -1.81534174e+00] [ 2.01773490e-01 3.77594176e-03 9.79424934e-01 -2.79650905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40463044 meters Centerline goodness : 0.105030 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-1.83, Z:-2.80 [[ 9.79437304e-01 4.15230520e-03 -2.01706039e-01 -2.19861969e+01] [-5.21578672e-03 9.99975158e-01 -4.74122656e-03 -1.82591896e+00] [ 2.01681341e-01 5.69578984e-03 9.79434630e-01 -2.80121031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46463044 meters Centerline goodness : 0.106437 with order 1 Centerline is valid? [False, False] Translation: X:-22.01, Y:-1.83, Z:-2.81 [[ 9.79232764e-01 1.32684852e-02 -2.02304575e-01 -2.20054993e+01] [-1.45301814e-02 9.99883136e-01 -4.75271060e-03 -1.83126558e+00] [ 2.02217871e-01 7.59353210e-03 9.79311121e-01 -2.80635934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52463044 meters Centerline goodness : 0.455901 with order 3 Centerline is valid? [False, False] Translation: X:-22.01, Y:-1.83, Z:-2.81 [[ 9.79354265e-01 1.40146403e-02 -2.01665104e-01 -2.20069445e+01] [-1.52091481e-02 9.99874763e-01 -4.37487151e-03 -1.83201463e+00] [ 2.01578536e-01 7.35170350e-03 9.79444764e-01 -2.80695089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58463044 meters Centerline goodness : 0.320061 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-1.83, Z:-2.80 [[ 9.79449795e-01 6.72704190e-03 -2.01575904e-01 -2.19885408e+01] [-7.58651648e-03 9.99965126e-01 -3.49151209e-03 -1.82988254e+00] [ 2.01545387e-01 4.94901972e-03 9.79466673e-01 -2.80195249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64463044 meters Centerline goodness : 0.453089 with order 2 Centerline is valid? [False, False] Translation: X:-22.03, Y:-1.83, Z:-2.81 [[ 9.79039136e-01 6.83373708e-03 -2.03557535e-01 -2.20306616e+01] [-7.66490765e-03 9.99965195e-01 -3.29511426e-03 -1.83485709e+00] [ 2.03527932e-01 4.78629553e-03 9.79057441e-01 -2.81135564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70463044 meters Centerline goodness : 0.457142 with order 2 Centerline is valid? [False, False] Translation: X:-22.03, Y:-1.84, Z:-2.81 [[ 9.79050658e-01 6.74155395e-03 -2.03505186e-01 -2.20307377e+01] [-7.55557551e-03 9.99966261e-01 -3.22333151e-03 -1.83712370e+00] [ 2.03476590e-01 4.69340364e-03 9.79068562e-01 -2.81139276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76463044 meters Centerline goodness : 0.454512 with order 1 Centerline is valid? [False, False] Translation: X:-22.05, Y:-1.84, Z:-2.82 [[ 9.79103392e-01 -1.99983305e-04 -2.03362993e-01 -2.20507739e+01] [-1.06851128e-04 9.99998873e-01 -1.49782110e-03 -1.83650870e+00] [ 2.03363063e-01 1.48825128e-03 9.79102267e-01 -2.81621397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82463044 meters Centerline goodness : 0.456480 with order 3 Centerline is valid? [False, False] Translation: X:-22.05, Y:-1.84, Z:-2.82 [[ 9.79041974e-01 4.44767279e-05 -2.03658566e-01 -2.20491018e+01] [-2.33775945e-04 9.99999563e-01 -9.05435789e-04 -1.84131569e+00] [ 2.03658436e-01 9.34070116e-04 9.79041556e-01 -2.81692664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88463044 meters Centerline goodness : 0.197664 with order 2 Centerline is valid? [False, False] Translation: X:-22.05, Y:-1.85, Z:-2.82 [[ 9.78886975e-01 4.53697253e-04 -2.04401773e-01 -2.20461177e+01] [-5.19002190e-04 9.99999830e-01 -2.65884716e-04 -1.84544692e+00] [ 2.04401618e-01 3.66356053e-04 9.78887044e-01 -2.81783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94463044 meters Centerline goodness : 0.390878 with order 3 Centerline is valid? [False, False] Translation: X:-22.05, Y:-1.85, Z:-2.82 [[ 9.78842801e-01 6.72599090e-04 -2.04612607e-01 -2.20451076e+01] [-6.91713663e-04 9.99999761e-01 -2.18950862e-05 -1.84689967e+00] [ 2.04612543e-01 1.62965183e-04 9.78843032e-01 -2.81828814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00463044 meters Centerline goodness : 0.458245 with order 2 Centerline is valid? [False, False] Translation: X:-22.04, Y:-1.85, Z:-2.82 [[ 9.78844665e-01 1.39346158e-03 -2.04600051e-01 -2.20448026e+01] [-1.31804733e-03 9.99999004e-01 5.04870807e-04 -1.84791045e+00] [ 2.04600551e-01 -2.24517544e-04 9.78845526e-01 -2.81864747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06463044000003 meters Centerline goodness : 0.454732 with order 3 Centerline is valid? [False, False] Translation: X:-22.04, Y:-1.85, Z:-2.82 [[ 9.78813703e-01 1.82618407e-03 -2.04744720e-01 -2.20444842e+01] [-1.71147736e-03 9.99998264e-01 7.37325023e-04 -1.84782095e+00] [ 2.04745711e-01 -3.71287883e-04 9.78815129e-01 -2.81860490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12463044000003 meters Centerline goodness : 0.457608 with order 2 Centerline is valid? [False, False] Translation: X:-22.04, Y:-1.85, Z:-2.82 [[ 9.78690525e-01 2.22152055e-03 -2.05328811e-01 -2.20423128e+01] [-2.09787388e-03 9.99997463e-01 8.19883079e-04 -1.84719575e+00] [ 2.05330111e-01 -3.71657852e-04 9.78692703e-01 -2.81932291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18463044000003 meters Centerline goodness : 0.458944 with order 2 Centerline is valid? [False, False] Translation: X:-22.04, Y:-1.85, Z:-2.82 [[ 9.78785571e-01 2.68616638e-03 -2.04869690e-01 -2.20436193e+01] [-2.52516212e-03 9.99996263e-01 1.04731986e-03 -1.84651585e+00] [ 2.04871738e-01 -5.07772382e-04 9.78788697e-01 -2.81925090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24463044000004 meters SLAMing on 276.30463044000004 meters Centerline goodness : 0.094154 with order 1 Centerline is valid? [False, False] Translation: X:-22.08, Y:-1.85, Z:-2.83 [[ 9.79323448e-01 6.19315663e-03 -2.02205908e-01 -2.20786707e+01] [-6.12648810e-03 9.99980776e-01 9.55581024e-04 -1.84638295e+00] [ 2.02207939e-01 3.02989188e-04 9.79342564e-01 -2.82862472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36463044000004 meters Centerline goodness : 0.350539 with order 1 Centerline is valid? [False, False] Translation: X:-22.10, Y:-1.84, Z:-2.83 [[ 9.79508981e-01 -1.13281451e-03 -2.01397301e-01 -2.20975517e+01] [ 1.60172787e-03 9.99996373e-01 2.16535388e-03 -1.84289307e+00] [ 2.01394117e-01 -2.44356724e-03 9.79507243e-01 -2.83467639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42463044000004 meters Centerline goodness : 0.155837 with order 1 Centerline is valid? [False, False] Translation: X:-22.10, Y:-1.84, Z:-2.83 [[ 9.79648090e-01 -1.40850383e-03 -2.00717800e-01 -2.20995410e+01] [ 1.76796513e-03 9.99997138e-01 1.61163512e-03 -1.84024744e+00] [ 2.00714956e-01 -1.93369734e-03 9.79647777e-01 -2.83452113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48463044000005 meters Centerline goodness : 0.097402 with order 1 Centerline is valid? [False, False] Translation: X:-22.10, Y:-1.83, Z:-2.83 [[ 9.79520717e-01 -1.07600297e-03 -2.01340524e-01 -2.20978699e+01] [ 1.37350467e-03 9.99998162e-01 1.33790890e-03 -1.83396128e+00] [ 2.01338714e-01 -1.58705164e-03 9.79520395e-01 -2.83461065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54463044 meters SLAMing on 276.60463044 meters Centerline goodness : 0.093279 with order 1 Centerline is valid? [False, False] Translation: X:-22.16, Y:-1.83, Z:-2.85 [[ 9.79472868e-01 -6.61947458e-03 -2.01467325e-01 -2.21621461e+01] [ 7.19700536e-03 9.99971824e-01 2.13425879e-03 -1.82861173e+00] [ 2.01447521e-01 -3.54041000e-03 9.79492911e-01 -2.84701179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66463044 meters Centerline goodness : 0.456930 with order 3 Centerline is valid? [False, False] Translation: X:-22.16, Y:-1.83, Z:-2.85 [[ 9.79381550e-01 -7.21700988e-03 -2.01890303e-01 -2.21610542e+01] [ 7.72251002e-03 9.99968708e-01 1.71627750e-03 -1.82864609e+00] [ 2.01871599e-01 -3.23999040e-03 9.79406637e-01 -2.84683731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72463044 meters Centerline goodness : 0.100687 with order 1 Centerline is valid? [False, False] Translation: X:-22.16, Y:-1.83, Z:-2.85 [[ 9.79112128e-01 -9.85391225e-03 -2.03082103e-01 -2.21569435e+01] [ 1.00868080e-02 9.99949121e-01 1.11802926e-04 -1.83443568e+00] [ 2.03070668e-01 -2.15791778e-03 9.79161706e-01 -2.84703329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78463044 meters Centerline goodness : 0.091209 with order 1 Centerline is valid? [False, False] Translation: X:-22.16, Y:-1.85, Z:-2.85 [[ 9.79007827e-01 -1.43122969e-02 -2.03319535e-01 -2.21560678e+01] [ 1.40773203e-02 9.99897524e-01 -2.60193138e-03 -1.84578639e+00] [ 2.03335939e-01 -3.14883028e-04 9.79108981e-01 -2.84667899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84463044 meters Centerline goodness : 0.093369 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-1.86, Z:-2.85 [[ 9.79532296e-01 -9.39406806e-03 -2.01067733e-01 -2.21754933e+01] [ 8.77554561e-03 9.99953624e-01 -3.96733005e-03 -1.85896574e+00] [ 2.01095677e-01 2.12164886e-03 9.79569307e-01 -2.85194578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90463044 meters Centerline goodness : 0.095141 with order 1 Centerline is valid? [False, False] Translation: X:-22.19, Y:-1.87, Z:-2.86 [[ 9.80094860e-01 -2.40160332e-03 -1.98515232e-01 -2.21944179e+01] [ 1.72415249e-03 9.99992086e-01 -3.58537383e-03 -1.87365023e+00] [ 1.98522272e-01 3.17173593e-03 9.80091245e-01 -2.85684845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96463044 meters Centerline goodness : 0.452031 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-1.88, Z:-2.85 [[ 9.79746479e-01 4.70898710e-03 -2.00186568e-01 -2.21755019e+01] [-5.72697902e-03 9.99973447e-01 -4.50642357e-03 -1.88233975e+00] [ 2.00160032e-01 5.56161690e-03 9.79747432e-01 -2.85080990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02463044 meters Centerline goodness : 0.460323 with order 2 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79729500e-01 5.83806532e-03 -2.00239915e-01 -2.21745767e+01] [-6.63094122e-03 9.99972606e-01 -3.28917108e-03 -1.88752475e+00] [ 2.00215227e-01 4.55027705e-03 9.79741373e-01 -2.85150847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08463044 meters Centerline goodness : 0.195849 with order 1 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79712685e-01 5.97154888e-03 -2.00318237e-01 -2.21742626e+01] [-6.72124404e-03 9.99972722e-01 -3.06263704e-03 -1.89009334e+00] [ 2.00294484e-01 4.34689211e-03 9.79726097e-01 -2.85158889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14463044 meters Centerline goodness : 0.179740 with order 1 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79731943e-01 6.67269052e-03 -2.00201886e-01 -2.21741850e+01] [-7.31968338e-03 9.99970106e-01 -2.49166770e-03 -1.89109720e+00] [ 2.00179275e-01 3.90658085e-03 9.79751497e-01 -2.85197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20463044 meters Centerline goodness : 0.093594 with order 1 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79676278e-01 7.07386930e-03 -2.00460349e-01 -2.21728839e+01] [-7.72425848e-03 9.99967135e-01 -2.46251184e-03 -1.88992164e+00] [ 2.00436342e-01 3.96087198e-03 9.79698721e-01 -2.85261464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26463044 meters Centerline goodness : 0.108916 with order 1 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79602713e-01 7.08457964e-03 -2.00819156e-01 -2.21718159e+01] [-7.81154994e-03 9.99965491e-01 -2.82781965e-03 -1.88767462e+00] [ 2.00792192e-01 4.33884867e-03 9.79624249e-01 -2.85281997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32463044 meters Centerline goodness : 0.228465 with order 3 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.88, Z:-2.85 [[ 9.79626517e-01 7.65048669e-03 -2.00682232e-01 -2.21726588e+01] [-8.34042863e-03 9.99961857e-01 -2.59270671e-03 -1.88467839e+00] [ 2.00654742e-01 4.21366007e-03 9.79652959e-01 -2.85246303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38463044 meters Centerline goodness : 0.097261 with order 1 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.89, Z:-2.85 [[ 9.79633874e-01 7.17493112e-03 -2.00663881e-01 -2.21734136e+01] [-7.91116961e-03 9.99964595e-01 -2.86734527e-03 -1.88508116e+00] [ 2.00636204e-01 4.39643456e-03 9.79655952e-01 -2.85165730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44463044 meters Centerline goodness : 0.095168 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-1.89, Z:-2.85 [[ 9.79925702e-01 4.98336953e-03 -1.99300741e-01 -2.21798264e+01] [-5.94312774e-03 9.99973445e-01 -4.21767839e-03 -1.88778377e+00] [ 1.99274430e-01 5.31748122e-03 9.79929296e-01 -2.84930970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50463044 meters SLAMing on 277.56463044000003 meters Centerline goodness : 0.342197 with order 3 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.89, Z:-2.86 [[ 9.79095546e-01 4.34141834e-03 -2.03354527e-01 -2.22202008e+01] [-5.37151172e-03 9.99975386e-01 -4.51384947e-03 -1.89226941e+00] [ 2.03329925e-01 5.51181113e-03 9.79094766e-01 -2.85782974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62463044000003 meters Centerline goodness : 0.380206 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.89, Z:-2.86 [[ 9.79084955e-01 4.47669789e-03 -2.03402580e-01 -2.22198998e+01] [-5.50053255e-03 9.99974888e-01 -4.46849394e-03 -1.89215420e+00] [ 2.03377468e-01 5.49385771e-03 9.79084993e-01 -2.85792733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68463044000003 meters Centerline goodness : 0.098132 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.89, Z:-2.86 [[ 9.79216173e-01 4.30953939e-03 -2.02773553e-01 -2.22215806e+01] [-5.32655651e-03 9.99975823e-01 -4.47008535e-03 -1.89369465e+00] [ 2.02749387e-01 5.45726466e-03 9.79215454e-01 -2.85791251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74463044000004 meters Centerline goodness : 0.095845 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.90, Z:-2.86 [[ 9.79226110e-01 4.36441098e-03 -2.02724389e-01 -2.22214454e+01] [-5.34016962e-03 9.99976639e-01 -4.26650437e-03 -1.89533596e+00] [ 2.02701033e-01 5.26045510e-03 9.79226541e-01 -2.85808363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80463044000004 meters Centerline goodness : 0.056938 with order 2 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.90, Z:-2.86 [[ 9.79298262e-01 4.52967142e-03 -2.02371923e-01 -2.22229132e+01] [-5.40103251e-03 9.99978369e-01 -3.75372386e-03 -1.89865712e+00] [ 2.02350542e-01 4.76903259e-03 9.79301544e-01 -2.85743380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86463044000004 meters Centerline goodness : 0.104364 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.90, Z:-2.86 [[ 9.79195556e-01 4.57207679e-03 -2.02867344e-01 -2.22204496e+01] [-5.38293489e-03 9.99979576e-01 -3.44541657e-03 -1.90199240e+00] [ 2.02847448e-01 4.46575830e-03 9.79200168e-01 -2.85840018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92463044000004 meters Centerline goodness : 0.111274 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.90, Z:-2.86 [[ 9.79156322e-01 4.59538915e-03 -2.03056099e-01 -2.22199920e+01] [-5.38268791e-03 9.99979985e-01 -3.32516841e-03 -1.90358642e+00] [ 2.03036754e-01 4.34884728e-03 9.79161460e-01 -2.85831172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98463044 meters Centerline goodness : 0.109360 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-1.90, Z:-2.86 [[ 9.79146285e-01 5.08060014e-03 -2.03092935e-01 -2.22201623e+01] [-5.77562797e-03 9.99979317e-01 -2.82968789e-03 -1.90450762e+00] [ 2.03074358e-01 3.94366762e-03 9.79155377e-01 -2.85798671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04463044 meters Centerline goodness : 0.119708 with order 1 Centerline is valid? [False, False] Translation: X:-22.26, Y:-1.91, Z:-2.87 [[ 9.78640724e-01 5.53881978e-03 -2.05503418e-01 -2.22633035e+01] [-6.10219745e-03 9.99979160e-01 -2.10777313e-03 -1.91068232e+00] [ 2.05487460e-01 3.31677505e-03 9.78654128e-01 -2.86651749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10463044 meters Centerline goodness : 0.106190 with order 1 Centerline is valid? [False, False] Translation: X:-22.26, Y:-1.91, Z:-2.87 [[ 9.78577422e-01 5.63981652e-03 -2.05801900e-01 -2.22625001e+01] [-6.14733086e-03 9.99979437e-01 -1.82670148e-03 -1.91287956e+00] [ 2.05787366e-01 3.05270119e-03 9.78591969e-01 -2.86640800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16463044 meters Centerline goodness : 0.227942 with order 3 Centerline is valid? [False, False] Translation: X:-22.27, Y:-1.92, Z:-2.87 [[ 9.78797155e-01 2.50919805e-03 -2.04816583e-01 -2.22664960e+01] [-3.37804806e-03 9.99986718e-01 -3.89255154e-03 -1.91848177e+00] [ 2.04804095e-01 4.50189864e-03 9.78792632e-01 -2.86535515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22463044 meters Centerline goodness : 0.114665 with order 1 Centerline is valid? [False, False] Translation: X:-22.27, Y:-1.92, Z:-2.86 [[ 9.78965218e-01 -1.25513536e-04 -2.04027170e-01 -2.22693929e+01] [-1.04542231e-03 9.99983597e-01 -5.63132627e-03 -1.92340472e+00] [ 2.04024530e-01 5.72616711e-03 9.78949029e-01 -2.86482598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28463044 meters Centerline goodness : 0.114455 with order 1 Centerline is valid? [False, False] Translation: X:-22.27, Y:-1.93, Z:-2.87 [[ 9.78699470e-01 4.80843347e-05 -2.05298183e-01 -2.22651710e+01] [-1.10632852e-03 9.99986688e-01 -5.03988599e-03 -1.92814759e+00] [ 2.05295208e-01 5.15966098e-03 9.78686495e-01 -2.86541697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34463044 meters Centerline goodness : 0.083523 with order 1 Centerline is valid? [False, False] Translation: X:-22.26, Y:-1.93, Z:-2.87 [[ 9.78640804e-01 -1.13414399e-05 -2.05577666e-01 -2.22645013e+01] [-1.03398526e-03 9.99987078e-01 -4.97739605e-03 -1.92975703e+00] [ 2.05575066e-01 5.08364715e-03 9.78628146e-01 -2.86529709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40463044 meters Centerline goodness : 0.122798 with order 1 Centerline is valid? [False, False] Translation: X:-22.25, Y:-1.93, Z:-2.86 [[ 9.79456350e-01 7.07908093e-03 -2.01531995e-01 -2.22462830e+01] [-8.43077867e-03 9.99947351e-01 -5.84955001e-03 -1.93251172e+00] [ 2.01479975e-01 7.42845055e-03 9.79464465e-01 -2.86112866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46463044 meters Centerline goodness : 0.121945 with order 1 Centerline is valid? [False, False] Translation: X:-22.25, Y:-1.93, Z:-2.86 [[ 9.79489832e-01 3.30714327e-03 -2.01466452e-01 -2.22460927e+01] [-5.24931835e-03 9.99944755e-01 -9.10669428e-03 -1.93300311e+00] [ 2.01425204e-01 9.97747600e-03 9.79453081e-01 -2.86152230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52463044 meters Centerline goodness : 0.126980 with order 1 Centerline is valid? [False, False] Translation: X:-22.24, Y:-1.94, Z:-2.86 [[ 9.79284059e-01 3.30898505e-03 -2.02464273e-01 -2.22433767e+01] [-5.22017731e-03 9.99946711e-01 -8.90639949e-03 -1.93510137e+00] [ 2.02424013e-01 9.77879445e-03 9.79249148e-01 -2.86158011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58463044 meters Centerline goodness : 0.115974 with order 2 Centerline is valid? [False, False] Translation: X:-22.24, Y:-1.94, Z:-2.86 [[ 9.79291789e-01 3.43962026e-03 -2.02424702e-01 -2.22433601e+01] [-5.25449473e-03 9.99950670e-01 -8.42897604e-03 -1.93839927e+00] [ 2.02385724e-01 9.31806656e-03 9.79261555e-01 -2.86163035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64463044 meters Centerline goodness : 0.197277 with order 3 Centerline is valid? [False, False] Translation: X:-22.25, Y:-1.94, Z:-2.86 [[ 9.79431860e-01 -1.24198629e-04 -2.01775162e-01 -2.22452877e+01] [-2.11715791e-03 9.99938435e-01 -1.08923361e-02 -1.94351199e+00] [ 2.01764093e-01 1.10954909e-02 9.79371299e-01 -2.86146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70463044 meters Centerline goodness : 0.236535 with order 3 Centerline is valid? [False, False] Translation: X:-22.24, Y:-1.95, Z:-2.86 [[ 9.79371001e-01 2.44734016e-04 -2.02070243e-01 -2.22445631e+01] [-2.35890484e-03 9.99944974e-01 -1.02218041e-02 -1.94679374e+00] [ 2.02056623e-01 1.04876030e-02 9.79317687e-01 -2.86135141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76463044 meters SLAMing on 278.82463044 meters Centerline goodness : 0.117221 with order 3 Centerline is valid? [False, False] Translation: X:-22.26, Y:-1.96, Z:-2.87 [[ 9.79580861e-01 6.86566466e-03 -2.00933322e-01 -2.22622120e+01] [-9.21023543e-03 9.99899951e-01 -1.07358629e-02 -1.96037689e+00] [ 2.00839510e-01 1.23672890e-02 9.79546089e-01 -2.86709261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88463044 meters SLAMing on 278.94463044 meters SLAMing on 279.00463044 meters SLAMing on 279.06463044000003 meters Centerline goodness : 0.163981 with order 3 Centerline is valid? [False, False] Translation: X:-22.36, Y:-2.00, Z:-2.89 [[ 9.79380487e-01 1.04632592e-02 -2.01753268e-01 -2.23604383e+01] [-1.32696092e-02 9.99833039e-01 -1.25622951e-02 -1.99616110e+00] [ 2.01588140e-01 1.49804537e-02 9.79355813e-01 -2.88952706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12463044000003 meters Centerline goodness : 0.145555 with order 1 Centerline is valid? [False, False] Translation: X:-22.36, Y:-2.00, Z:-2.89 [[ 9.79376499e-01 1.05509913e-02 -2.01768061e-01 -2.23599596e+01] [-1.33255668e-02 9.99834347e-01 -1.23979160e-02 -1.99711120e+00] [ 2.01603827e-01 1.48309013e-02 9.79354860e-01 -2.88992806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18463044000003 meters Centerline goodness : 0.141847 with order 1 Centerline is valid? [False, False] Translation: X:-22.36, Y:-2.00, Z:-2.89 [[ 9.79535325e-01 7.56764784e-03 -2.01130003e-01 -2.23615949e+01] [-1.07844862e-02 9.99830785e-01 -1.49028880e-02 -1.99826461e+00] [ 2.00983189e-01 1.67669890e-02 9.79451186e-01 -2.89008260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24463044000004 meters SLAMing on 279.30463044000004 meters SLAMing on 279.36463044000004 meters Centerline goodness : 0.124395 with order 3 Centerline is valid? [False, False] Translation: X:-22.41, Y:-2.01, Z:-2.90 [[ 9.79691526e-01 8.43200278e-03 -2.00333261e-01 -2.24104034e+01] [-1.13545907e-02 9.99845153e-01 -1.34440938e-02 -2.00614060e+00] [ 2.00188879e-01 1.54457669e-02 9.79635565e-01 -2.89830486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42463044000004 meters Centerline goodness : 0.131100 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79504495e-01 2.26604566e-04 -2.01422177e-01 -2.24286003e+01] [-2.85404959e-03 9.99914589e-01 -1.27541526e-02 -2.00168088e+00] [ 2.01402084e-01 1.30676187e-02 9.79421481e-01 -2.90362441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48463044 meters Centerline goodness : 0.248350 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79375001e-01 1.05391344e-04 -2.02050973e-01 -2.24265472e+01] [-2.80807326e-03 9.99910384e-01 -1.30896418e-02 -1.99911444e+00] [ 2.02031486e-01 1.33870419e-02 9.79287530e-01 -2.90400003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54463044 meters Centerline goodness : 0.163318 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79403822e-01 -1.41950381e-04 -2.01911200e-01 -2.24272777e+01] [-2.61538814e-03 9.99906938e-01 -1.33893430e-02 -1.99801836e+00] [ 2.01894310e-01 1.36416499e-02 9.79312306e-01 -2.90360218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60463044 meters SLAMing on 279.66463044 meters Centerline goodness : 0.271010 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79569028e-01 -3.29666029e-03 -2.01081206e-01 -2.24306148e+01] [ 1.12701802e-04 9.99874476e-01 -1.58435855e-02 -1.99830518e+00] [ 2.01108197e-01 1.54972234e-02 9.79446440e-01 -2.90283204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72463044 meters Centerline goodness : 0.244122 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79537482e-01 -3.64090359e-03 -2.01228887e-01 -2.24306626e+01] [ 4.22933186e-04 9.99871385e-01 -1.60322728e-02 -1.99873046e+00] [ 2.01261378e-01 1.56191058e-02 9.79413039e-01 -2.90234875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78463044 meters Centerline goodness : 0.123623 with order 1 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79515602e-01 -3.47079976e-03 -2.01338369e-01 -2.24299279e+01] [ 2.94990545e-04 9.99875107e-01 -1.58013520e-02 -1.99839129e+00] [ 2.01368067e-01 1.54182779e-02 9.79394292e-01 -2.90272555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84463044 meters Centerline goodness : 0.143526 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79557964e-01 -3.73157180e-03 -2.01127498e-01 -2.24308501e+01] [ 5.43684094e-04 9.99873392e-01 -1.59029934e-02 -1.99917052e+00] [ 2.01161377e-01 1.54685540e-02 9.79435973e-01 -2.90232577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90463044 meters Centerline goodness : 0.125631 with order 1 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79653985e-01 -3.76703837e-03 -2.00658611e-01 -2.24322894e+01] [ 6.08072488e-04 9.99874951e-01 -1.58022955e-02 -1.99987464e+00] [ 2.00693047e-01 1.53587668e-02 9.79533771e-01 -2.90205969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96463044 meters Centerline goodness : 0.123804 with order 1 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.00, Z:-2.90 [[ 9.79433639e-01 -3.86007207e-03 -2.01729636e-01 -2.24290444e+01] [ 6.03687753e-04 9.99868567e-01 -1.62013510e-02 -1.99726330e+00] [ 2.01765660e-01 1.57463665e-02 9.79307240e-01 -2.90233165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02463044 meters Centerline goodness : 0.128508 with order 2 Centerline is valid? [False, False] Translation: X:-22.43, Y:-1.99, Z:-2.90 [[ 9.79311472e-01 3.46497313e-04 -2.02358397e-01 -2.24271207e+01] [-3.06900939e-03 9.99908953e-01 -1.31403015e-02 -1.99287200e+00] [ 2.02335420e-01 1.34894878e-02 9.79223372e-01 -2.90250322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08463044 meters Centerline goodness : 0.223541 with order 3 Centerline is valid? [False, False] Translation: X:-22.43, Y:-1.98, Z:-2.90 [[ 9.79539189e-01 2.13721688e-03 -2.01242168e-01 -2.24313301e+01] [-4.78689533e-03 9.99908136e-01 -1.26808961e-02 -1.98329820e+00] [ 2.01196579e-01 1.33847599e-02 9.79459435e-01 -2.90168168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14463044 meters Centerline goodness : 0.127853 with order 1 Centerline is valid? [False, False] Translation: X:-22.47, Y:-1.98, Z:-2.91 [[ 9.78959835e-01 2.20127744e-03 -2.04041162e-01 -2.24740686e+01] [-4.87039379e-03 9.99909007e-01 -1.25800242e-02 -1.97858230e+00] [ 2.03994903e-01 1.33090992e-02 9.78881478e-01 -2.91012945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20463044 meters Centerline goodness : 0.243194 with order 3 Centerline is valid? [False, False] Translation: X:-22.47, Y:-1.98, Z:-2.91 [[ 9.78938165e-01 1.69506854e-03 -2.04149933e-01 -2.24737146e+01] [-4.50429626e-03 9.99901449e-01 -1.32967275e-02 -1.97547978e+00] [ 2.04107275e-01 1.39362258e-02 9.78849325e-01 -2.91012839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26463044 meters Centerline goodness : 0.115770 with order 3 Centerline is valid? [False, False] Translation: X:-22.47, Y:-1.97, Z:-2.91 [[ 9.78947744e-01 1.48385226e-03 -2.04105641e-01 -2.24742196e+01] [-4.41068819e-03 9.99893862e-01 -1.38856451e-02 -1.97118850e+00] [ 2.04063373e-01 1.44935673e-02 9.78850385e-01 -2.90981831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32463044 meters Centerline goodness : 0.108922 with order 2 Centerline is valid? [False, False] Translation: X:-22.49, Y:-1.96, Z:-2.91 [[ 9.78940745e-01 -2.17152097e-03 -2.04133049e-01 -2.24931198e+01] [-7.87059520e-05 9.99939335e-01 -1.10145697e-02 -1.95800968e+00] [ 2.04144584e-01 1.07986775e-02 9.78881187e-01 -2.91476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38463044 meters Centerline goodness : 0.250986 with order 3 Centerline is valid? [False, False] Translation: X:-22.50, Y:-1.95, Z:-2.91 [[ 9.79072216e-01 -7.55396312e-04 -2.03511734e-01 -2.24955543e+01] [-1.42837299e-03 9.99942975e-01 -1.05833384e-02 -1.94979374e+00] [ 2.03508123e-01 1.06525432e-02 9.79015305e-01 -2.91414844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44463044 meters Centerline goodness : 0.123685 with order 1 Centerline is valid? [False, False] Translation: X:-22.50, Y:-1.94, Z:-2.91 [[ 9.79220279e-01 5.93712214e-04 -2.02798650e-01 -2.24987486e+01] [-2.75675162e-03 9.99942288e-01 -1.03836448e-02 -1.93944718e+00] [ 2.02780781e-01 1.07269410e-02 9.79165404e-01 -2.91324091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50463044 meters Centerline goodness : 0.106241 with order 1 Centerline is valid? [False, False] Translation: X:-22.50, Y:-1.94, Z:-2.91 [[ 9.79344701e-01 2.91141379e-04 -2.02197605e-01 -2.25012497e+01] [-2.56860581e-03 9.99936185e-01 -1.10012564e-02 -1.93534667e+00] [ 2.02181499e-01 1.12933881e-02 9.79282952e-01 -2.91250478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56463044000003 meters Centerline goodness : 0.107598 with order 1 Centerline is valid? [False, False] Translation: X:-22.52, Y:-1.93, Z:-2.92 [[ 9.79688443e-01 -7.28469963e-03 -2.00393333e-01 -2.25215067e+01] [ 5.37988349e-03 9.99935042e-01 -1.00483220e-02 -1.93042604e+00] [ 2.00453515e-01 8.76613219e-03 9.79663995e-01 -2.91797350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62463044000003 meters Centerline goodness : 0.104748 with order 1 Centerline is valid? [False, False] Translation: X:-22.52, Y:-1.93, Z:-2.92 [[ 9.79452028e-01 -1.01048993e-02 -2.01423971e-01 -2.25165229e+01] [ 7.80950377e-03 9.99895236e-01 -1.21872604e-02 -1.93182542e+00] [ 2.01526020e-01 1.03638157e-02 9.79428330e-01 -2.91951126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68463044000003 meters Centerline goodness : 0.114456 with order 1 Centerline is valid? [False, False] Translation: X:-22.52, Y:-1.93, Z:-2.92 [[ 9.79460402e-01 -1.01591873e-02 -2.01380517e-01 -2.25164272e+01] [ 7.89662323e-03 9.99896390e-01 -1.20354488e-02 -1.93304486e+00] [ 2.01481922e-01 1.01980195e-02 9.79439143e-01 -2.91957417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74463044000004 meters Centerline goodness : 0.111008 with order 1 Centerline is valid? [False, False] Translation: X:-22.53, Y:-1.94, Z:-2.93 [[ 9.79638680e-01 -3.85165929e-03 -2.00731716e-01 -2.25323099e+01] [ 1.13715672e-03 9.99906371e-01 -1.36365892e-02 -1.93852864e+00] [ 2.00765445e-01 1.31306668e-02 9.79551337e-01 -2.92545733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80463044000004 meters Centerline goodness : 0.107431 with order 1 Centerline is valid? [False, False] Translation: X:-22.53, Y:-1.94, Z:-2.93 [[ 9.79465201e-01 -3.94157169e-03 -2.01574759e-01 -2.25294445e+01] [ 1.15496039e-03 9.99902167e-01 -1.39399525e-02 -1.93673441e+00] [ 2.01609984e-01 1.34208875e-02 9.79373930e-01 -2.92605303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86463044000004 meters Centerline goodness : 0.104181 with order 1 Centerline is valid? [False, False] Translation: X:-22.53, Y:-1.94, Z:-2.93 [[ 9.79513685e-01 -4.13488461e-03 -2.01335150e-01 -2.25302011e+01] [ 1.32585356e-03 9.99899924e-01 -1.40848684e-02 -1.93673248e+00] [ 2.01373241e-01 1.35293805e-02 9.79421142e-01 -2.92590308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92463044000004 meters Centerline goodness : 0.109101 with order 1 Centerline is valid? [False, False] Translation: X:-22.55, Y:-1.94, Z:-2.93 [[ 9.79874144e-01 2.77226634e-04 -1.99616094e-01 -2.25521662e+01] [-3.68362885e-03 9.99853867e-01 -1.66935765e-02 -1.94242432e+00] [ 1.99582296e-01 1.70929156e-02 9.79731973e-01 -2.93053538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98463044 meters Centerline goodness : 0.112038 with order 1 Centerline is valid? [False, False] Translation: X:-22.55, Y:-1.94, Z:-2.93 [[ 9.79725607e-01 -1.08326064e-04 -2.00344012e-01 -2.25501343e+01] [-3.29537973e-03 9.99855853e-01 -1.66557429e-02 -1.94482039e+00] [ 2.00316937e-01 1.69782674e-02 9.79584026e-01 -2.93045162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04463044 meters Centerline goodness : 0.120945 with order 1 Centerline is valid? [False, False] Translation: X:-22.57, Y:-1.95, Z:-2.93 [[ 9.79258602e-01 -9.18732237e-03 -2.02405985e-01 -2.25699106e+01] [ 5.99139568e-03 9.99847614e-01 -1.63967315e-02 -1.94571492e+00] [ 2.02525783e-01 1.48439460e-02 9.79164422e-01 -2.93457407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10463044 meters Centerline goodness : 0.118302 with order 1 Centerline is valid? [False, False] Translation: X:-22.57, Y:-1.95, Z:-2.93 [[ 9.79448014e-01 -9.33143896e-03 -2.01480797e-01 -2.25731387e+01] [ 6.22980386e-03 9.99852218e-01 -1.60228219e-02 -1.94881954e+00] [ 2.01600538e-01 1.44383352e-02 9.79361403e-01 -2.93367310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16463044 meters Centerline goodness : 0.204923 with order 3 Centerline is valid? [False, False] Translation: X:-22.57, Y:-1.95, Z:-2.93 [[ 9.79432975e-01 -9.35817131e-03 -2.01552656e-01 -2.25732513e+01] [ 6.29245452e-03 9.99854646e-01 -1.58458523e-02 -1.95030821e+00] [ 2.01671648e-01 1.42516894e-02 9.79349496e-01 -2.93323014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22463044 meters Centerline goodness : 0.123852 with order 1 Centerline is valid? [False, False] Translation: X:-22.57, Y:-1.95, Z:-2.93 [[ 9.79390603e-01 -9.48711585e-03 -2.01752425e-01 -2.25727038e+01] [ 6.45526349e-03 9.99856219e-01 -1.56802447e-02 -1.95248469e+00] [ 2.01872177e-01 1.40547192e-02 9.79311028e-01 -2.93317352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28463044 meters Centerline goodness : 0.159726 with order 1 Centerline is valid? [False, False] Translation: X:-22.58, Y:-1.96, Z:-2.93 [[ 9.79648745e-01 -1.19304219e-02 -2.00364672e-01 -2.25781421e+01] [ 8.70510859e-03 9.99818094e-01 -1.69705715e-02 -1.95938051e+00] [ 2.00530690e-01 1.48810029e-02 9.79574396e-01 -2.93175343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34463044 meters SLAMing on 281.40463044 meters Centerline goodness : 0.126550 with order 1 Centerline is valid? [False, False] Translation: X:-22.58, Y:-1.97, Z:-2.93 [[ 9.79580861e-01 -1.49899493e-02 -2.00490995e-01 -2.25763528e+01] [ 1.14419463e-02 9.99756969e-01 -1.88437125e-02 -1.96930047e+00] [ 2.00724736e-01 1.61649329e-02 9.79514306e-01 -2.93260172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46463044 meters Centerline goodness : 0.125295 with order 1 Centerline is valid? [False, False] Translation: X:-22.59, Y:-1.98, Z:-2.94 [[ 9.80056341e-01 -1.00452704e-02 -1.98465766e-01 -2.25946556e+01] [ 6.08600370e-03 9.99770317e-01 -2.05493206e-02 -1.98166059e+00] [ 1.98626605e-01 1.89316285e-02 9.79892374e-01 -2.93867098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52463044 meters Centerline goodness : 0.126539 with order 1 Centerline is valid? [False, False] Translation: X:-22.61, Y:-1.99, Z:-2.95 [[ 9.80256783e-01 -4.12783034e-03 -1.97685611e-01 -2.26087635e+01] [-2.32797303e-04 9.99757281e-01 -2.20300787e-02 -1.99265969e+00] [ 1.97728566e-01 2.16411547e-02 9.80017895e-01 -2.94543126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58463044 meters Centerline goodness : 0.113428 with order 1 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.00, Z:-2.95 [[ 9.79537864e-01 -3.25886159e-03 -2.01233578e-01 -2.26487755e+01] [-9.67002838e-04 9.99781147e-01 -2.08979253e-02 -1.99820147e+00] [ 2.01257641e-01 2.06649025e-02 9.79320338e-01 -2.95423552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64463044 meters Centerline goodness : 0.118706 with order 1 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.00, Z:-2.95 [[ 9.79432523e-01 -3.17933300e-03 -2.01746932e-01 -2.26476814e+01] [-1.03718881e-03 9.99783308e-01 -2.07909011e-02 -1.99970027e+00] [ 2.01769317e-01 2.05725344e-02 9.79216990e-01 -2.95383623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70463044 meters Centerline goodness : 0.210922 with order 3 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.01, Z:-2.96 [[ 9.79419499e-01 3.99301692e-03 -2.01795690e-01 -2.26644412e+01] [-8.58716730e-03 9.99723374e-01 -2.18960412e-02 -2.00743813e+00] [ 2.01652437e-01 2.31782631e-02 9.79182855e-01 -2.95969038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76463044 meters Centerline goodness : 0.108480 with order 1 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.01, Z:-2.96 [[ 9.79394390e-01 4.01775545e-03 -2.01917030e-01 -2.26647341e+01] [-8.60335618e-03 9.99724508e-01 -2.18378321e-02 -2.00868413e+00] [ 2.01773664e-01 2.31250143e-02 9.79159140e-01 -2.95907665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82463044 meters Centerline goodness : 0.235739 with order 3 Centerline is valid? [False, False] Translation: X:-22.67, Y:-2.01, Z:-2.96 [[ 9.79500315e-01 4.27359588e-03 -2.01397291e-01 -2.26668854e+01] [-8.82447827e-03 9.99725492e-01 -2.17041475e-02 -2.00936819e+00] [ 2.01249251e-01 2.30364454e-02 9.79269146e-01 -2.95836858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88463044 meters Centerline goodness : 0.465191 with order 2 Centerline is valid? [False, False] Translation: X:-22.69, Y:-2.01, Z:-2.96 [[ 9.79208111e-01 -1.03770531e-03 -2.02855608e-01 -2.26874628e+01] [-2.87518292e-03 9.99815475e-01 -1.89933929e-02 -2.00731436e+00] [ 2.02837885e-01 1.91817314e-02 9.79024440e-01 -2.96249881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94463044 meters Centerline goodness : 0.233664 with order 3 Centerline is valid? [False, False] Translation: X:-22.69, Y:-2.01, Z:-2.96 [[ 9.79331882e-01 -4.85683266e-04 -2.02259310e-01 -2.26893887e+01] [-3.39091482e-03 9.99817147e-01 -1.88195314e-02 -2.00593745e+00] [ 2.02231467e-01 1.91164112e-02 9.79151161e-01 -2.96212114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00463044 meters Centerline goodness : 0.246204 with order 3 Centerline is valid? [False, False] Translation: X:-22.71, Y:-2.01, Z:-2.97 [[ 9.79789484e-01 7.82326822e-03 -1.99878373e-01 -2.27137683e+01] [-1.18381436e-02 9.99751306e-01 -1.88993234e-02 -2.00869729e+00] [ 1.99680810e-01 2.08835472e-02 9.79638429e-01 -2.96638178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06463044000003 meters Centerline goodness : 0.120006 with order 1 Centerline is valid? [False, False] Translation: X:-22.69, Y:-2.00, Z:-2.96 [[ 9.79581886e-01 8.85140100e-04 -2.01043642e-01 -2.26936815e+01] [-4.65196728e-03 9.99822364e-01 -1.82646911e-02 -2.00236302e+00] [ 2.00991762e-01 1.88270090e-02 9.79411995e-01 -2.96133392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12463044000003 meters SLAMing on 282.18463044000003 meters Centerline goodness : 0.243902 with order 3 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.01, Z:-2.98 [[ 9.79525715e-01 -7.28662899e-04 -2.01317765e-01 -2.27660194e+01] [-3.15720731e-03 9.99814871e-01 -1.89804101e-02 -2.00604615e+00] [ 2.01294326e-01 1.92274017e-02 9.79342076e-01 -2.97815087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24463044000004 meters Centerline goodness : 0.106526 with order 1 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.00, Z:-2.98 [[ 9.79463440e-01 -8.94034232e-04 -2.01619866e-01 -2.27653044e+01] [-3.05661678e-03 9.99809406e-01 -1.92823668e-02 -2.00422086e+00] [ 2.01598677e-01 1.95026480e-02 9.79274027e-01 -2.97796236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30463044000004 meters Centerline goodness : 0.217693 with order 3 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.00, Z:-2.98 [[ 9.79441783e-01 -1.22476161e-03 -2.01723309e-01 -2.27653845e+01] [-2.86654143e-03 9.99796103e-01 -1.99883809e-02 -1.99996647e+00] [ 2.01706659e-01 2.01557036e-02 9.79238567e-01 -2.97758283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36463044000004 meters Centerline goodness : 0.107034 with order 1 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.00, Z:-2.98 [[ 9.79448456e-01 -1.47678775e-03 -2.01689219e-01 -2.27655690e+01] [-2.74050841e-03 9.99783443e-01 -2.06290386e-02 -1.99586803e+00] [ 2.01676006e-01 2.07578110e-02 9.79232302e-01 -2.97747905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42463044000004 meters Centerline goodness : 0.106282 with order 1 Centerline is valid? [False, False] Translation: X:-22.76, Y:-1.99, Z:-2.98 [[ 9.79389526e-01 -1.72470067e-03 -2.01973222e-01 -2.27644885e+01] [-2.63751790e-03 9.99769077e-01 -2.13268856e-02 -1.99096912e+00] [ 2.01963364e-01 2.14200364e-02 9.79158813e-01 -2.97774249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48463044 meters Centerline goodness : 0.466163 with order 2 Centerline is valid? [False, False] Translation: X:-22.77, Y:-1.98, Z:-2.98 [[ 9.79409614e-01 -6.92483083e-04 -2.01881967e-01 -2.27656720e+01] [-3.63599200e-03 9.99771412e-01 -2.10689958e-02 -1.98281596e+00] [ 2.01850409e-01 2.13692183e-02 9.79183215e-01 -2.97688891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54463044 meters Centerline goodness : 0.091497 with order 1 Centerline is valid? [False, False] Translation: X:-22.77, Y:-1.98, Z:-2.98 [[ 9.79362434e-01 -1.08521191e-03 -2.02108993e-01 -2.27656985e+01] [-3.36315024e-03 9.99759629e-01 -2.16650135e-02 -1.98042450e+00] [ 2.02083923e-01 2.18976232e-02 9.79123374e-01 -2.97614398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60463044 meters Centerline goodness : 0.449829 with order 1 Centerline is valid? [False, False] Translation: X:-22.77, Y:-1.98, Z:-2.98 [[ 9.79322549e-01 -1.28130650e-03 -2.02301022e-01 -2.27655401e+01] [-3.19626454e-03 9.99757134e-01 -2.18049776e-02 -1.98014321e+00] [ 2.02279829e-01 2.20007138e-02 9.79080609e-01 -2.97572383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66463044 meters Centerline goodness : 0.101550 with order 1 Centerline is valid? [False, False] Translation: X:-22.78, Y:-1.98, Z:-2.98 [[ 9.79000872e-01 -1.01065132e-02 -2.03605379e-01 -2.27845299e+01] [ 5.89442958e-03 9.99756108e-01 -2.12833108e-02 -1.98001123e+00] [ 2.03770822e-01 1.96362423e-02 9.78821674e-01 -2.98054135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72463044 meters Centerline goodness : 0.263547 with order 1 Centerline is valid? [False, False] Translation: X:-22.78, Y:-1.98, Z:-2.98 [[ 9.78931013e-01 -1.03778852e-02 -2.03927370e-01 -2.27837841e+01] [ 6.17241314e-03 9.99755189e-01 -2.12476528e-02 -1.98267669e+00] [ 2.04097952e-01 1.95412623e-02 9.78755416e-01 -2.98021999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78463044 meters Centerline goodness : 0.096477 with order 1 Centerline is valid? [False, False] Translation: X:-22.78, Y:-1.99, Z:-2.98 [[ 9.78869028e-01 -9.89112469e-03 -2.04248848e-01 -2.27842446e+01] [ 5.84075048e-03 9.99774349e-01 -2.04239242e-02 -1.98722877e+00] [ 2.04404775e-01 1.87993803e-02 9.78705917e-01 -2.97883069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84463044 meters Centerline goodness : 0.102491 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-2.00, Z:-2.98 [[ 9.79298646e-01 -2.76442918e-03 -2.02401878e-01 -2.28051686e+01] [-1.50164241e-03 9.99780012e-01 -2.09206429e-02 -1.99501237e+00] [ 2.02415186e-01 2.07914925e-02 9.79079060e-01 -2.98317339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90463044 meters Centerline goodness : 0.096696 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.99, Z:-2.98 [[ 9.79356052e-01 -2.24299476e-03 -2.02130385e-01 -2.28063295e+01] [-2.00727163e-03 9.99781227e-01 -2.08199162e-02 -1.99372828e+00] [ 2.02132863e-01 2.07958415e-02 9.79137293e-01 -2.98265845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96463044 meters Centerline goodness : 0.527917 with order 2 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.00, Z:-2.99 [[ 9.79083688e-01 6.31101795e-03 -2.03360031e-01 -2.28253109e+01] [-1.09077918e-02 9.99709531e-01 -2.14912254e-02 -1.99544633e+00] [ 2.03165329e-01 2.32599171e-02 9.78868135e-01 -2.98723262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02463044 meters Centerline goodness : 0.115060 with order 1 Centerline is valid? [False, False] Translation: X:-22.82, Y:-1.99, Z:-2.99 [[ 9.78949860e-01 6.66611676e-03 -2.03991997e-01 -2.28233809e+01] [-1.13014584e-02 9.99703535e-01 -2.15666333e-02 -1.99375880e+00] [ 2.03787754e-01 2.34180597e-02 9.78734972e-01 -2.98743287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08463044 meters Centerline goodness : 0.463334 with order 1 Centerline is valid? [False, False] Translation: X:-22.84, Y:-1.99, Z:-2.99 [[ 9.78687588e-01 -1.70386872e-03 -2.05347760e-01 -2.28437447e+01] [-2.63693665e-03 9.99778860e-01 -2.08632862e-02 -1.99280728e+00] [ 2.05337898e-01 2.09601283e-02 9.78466668e-01 -2.99126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14463044 meters Centerline goodness : 0.111185 with order 1 Centerline is valid? [False, False] Translation: X:-22.84, Y:-1.99, Z:-2.99 [[ 9.78431966e-01 -1.95545218e-03 -2.06560075e-01 -2.28401275e+01] [-2.44401217e-03 9.99775618e-01 -2.10413994e-02 -1.99317723e+00] [ 2.06554873e-01 2.10924131e-02 9.78207644e-01 -2.99138118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20463044 meters Centerline goodness : 0.166004 with order 3 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.99, Z:-3.00 [[ 9.78179868e-01 -1.15645491e-03 -2.07756610e-01 -2.28855754e+01] [-3.15043287e-03 9.99786968e-01 -2.03983813e-02 -1.99371221e+00] [ 2.07735941e-01 2.06078092e-02 9.77967841e-01 -3.00019181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26463044 meters Centerline goodness : 0.235429 with order 3 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.99, Z:-3.00 [[ 9.78192871e-01 -9.47057004e-04 -2.07696437e-01 -2.28856304e+01] [-3.43557320e-03 9.99779012e-01 -2.07394070e-02 -1.98968655e+00] [ 2.07670180e-01 2.10006964e-02 9.77973449e-01 -3.00019473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32463044 meters Centerline goodness : 0.108866 with order 1 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.99, Z:-3.00 [[ 9.78167033e-01 -9.93341657e-04 -2.07817875e-01 -2.28857451e+01] [-3.47010870e-03 9.99771094e-01 -2.11120444e-02 -1.98643733e+00] [ 2.07791276e-01 2.13722564e-02 9.77939677e-01 -2.99977254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38463044 meters Centerline goodness : 0.257073 with order 3 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.99, Z:-3.00 [[ 9.78091118e-01 -1.58367235e-03 -2.08171222e-01 -2.28857542e+01] [-2.93330623e-03 9.99766950e-01 -2.13878941e-02 -1.98703341e+00] [ 2.08156579e-01 2.15299392e-02 9.77858528e-01 -2.99869544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44463044 meters Centerline goodness : 0.112617 with order 1 Centerline is valid? [False, False] Translation: X:-22.86, Y:-1.99, Z:-2.99 [[ 9.78083604e-01 -9.87687538e-03 -2.07978148e-01 -2.28645395e+01] [ 5.65527790e-03 9.99765930e-01 -2.08831021e-02 -1.98598357e+00] [ 2.08135727e-01 1.92492456e-02 9.77910520e-01 -2.99395786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50463044 meters Centerline goodness : 0.105676 with order 1 Centerline is valid? [False, False] Translation: X:-22.88, Y:-2.00, Z:-3.00 [[ 9.78367535e-01 -5.75955002e-03 -2.06794086e-01 -2.28838035e+01] [ 9.14718322e-04 9.99723036e-01 -2.35162630e-02 -1.99539118e+00] [ 2.06872255e-01 2.28183899e-02 9.78101831e-01 -2.99901289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56463044000003 meters Centerline goodness : 0.097683 with order 1 Centerline is valid? [False, False] Translation: X:-22.89, Y:-2.00, Z:-3.00 [[ 9.78404431e-01 -5.33074247e-03 -2.06630959e-01 -2.28850104e+01] [ 6.57542529e-04 9.99742599e-01 -2.26782465e-02 -2.00113743e+00] [ 2.06698664e-01 2.20526282e-02 9.78156094e-01 -2.99819673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62463044000003 meters Centerline goodness : 0.101538 with order 1 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.01 [[ 9.77720089e-01 -4.25318187e-03 -2.09869811e-01 -2.29270632e+01] [-3.19818788e-04 9.99763369e-01 -2.17509544e-02 -2.01131617e+00] [ 2.09912660e-01 2.13334654e-02 9.77487370e-01 -3.00695481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68463044000003 meters Centerline goodness : 0.101488 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-2.02, Z:-3.00 [[ 9.77818277e-01 3.85091286e-03 -2.09419647e-01 -2.29079477e+01] [-8.81117904e-03 9.99702175e-01 -2.27579696e-02 -2.01527684e+00] [ 2.09269637e-01 2.40983926e-02 9.77560989e-01 -3.00148409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74463044000004 meters Centerline goodness : 0.168149 with order 1 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.01 [[ 9.78343990e-01 -3.54972113e-04 -2.06985294e-01 -2.29268668e+01] [-3.88061476e-03 9.99791310e-01 -2.00568556e-02 -2.01321514e+00] [ 2.06949218e-01 2.04257343e-02 9.78138441e-01 -3.00655862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80463044000004 meters Centerline goodness : 0.102881 with order 1 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.01 [[ 9.78388455e-01 -3.26080090e-04 -2.06775057e-01 -2.29276685e+01] [-3.91308619e-03 9.99790477e-01 -2.00920274e-02 -2.01345008e+00] [ 2.06738285e-01 2.04669363e-02 9.78182185e-01 -3.00628634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86463044000004 meters Centerline goodness : 0.085105 with order 1 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.01 [[ 9.78396997e-01 -1.50321507e-04 -2.06734840e-01 -2.29284383e+01] [-4.07395657e-03 9.99791531e-01 -2.00074503e-02 -2.01294802e+00] [ 2.06694750e-01 2.04174581e-02 9.78192419e-01 -3.00560553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92463044000004 meters Centerline goodness : 0.131856 with order 3 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.00 [[ 9.78470193e-01 -4.86480647e-04 -2.06387608e-01 -2.29298869e+01] [-3.79818689e-03 9.99785426e-01 -2.03635720e-02 -2.01264306e+00] [ 2.06353229e-01 2.07090470e-02 9.78258391e-01 -3.00496345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98463044 meters Centerline goodness : 0.086753 with order 1 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.01, Z:-3.00 [[ 9.78415471e-01 -5.83924127e-04 -2.06646618e-01 -2.29293113e+01] [-3.73225778e-03 9.99782962e-01 -2.04963245e-02 -2.01239355e+00] [ 2.06613737e-01 2.08251794e-02 9.78200938e-01 -3.00473566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04463044 meters Centerline goodness : 0.123888 with order 3 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.01, Z:-3.01 [[ 9.78067647e-01 -6.07321115e-03 -2.08198931e-01 -2.29503599e+01] [ 2.47646143e-03 9.99843238e-01 -1.75318494e-02 -2.01357127e+00] [ 2.08272768e-01 1.66317380e-02 9.77929363e-01 -3.00851224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10463044 meters Centerline goodness : 0.100875 with order 1 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.01, Z:-3.01 [[ 9.78082151e-01 -5.94189043e-03 -2.08134570e-01 -2.29506621e+01] [ 2.33675277e-03 9.99843032e-01 -1.75627796e-02 -2.01309513e+00] [ 2.08206255e-01 1.66914822e-02 9.77942508e-01 -3.00838333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16463044 meters Centerline goodness : 0.085072 with order 1 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.01, Z:-3.01 [[ 9.77957339e-01 -1.52002305e-03 -2.08799263e-01 -2.29487645e+01] [-1.44697725e-03 9.99900158e-01 -1.40563394e-02 -2.01167820e+00] [ 2.08799782e-01 1.40486281e-02 9.77857498e-01 -3.00844400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22463044 meters Centerline goodness : 0.099178 with order 1 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.01, Z:-3.01 [[ 9.77933252e-01 -1.56473788e-03 -2.08911720e-01 -2.29483442e+01] [-1.48989958e-03 9.99894288e-01 -1.44635007e-02 -2.00879099e+00] [ 2.08912267e-01 1.44555957e-02 9.77827541e-01 -3.00857393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28463044 meters Centerline goodness : 0.196842 with order 1 Centerline is valid? [False, False] Translation: X:-22.97, Y:-2.00, Z:-3.01 [[ 9.78097676e-01 -7.82901797e-03 -2.07999139e-01 -2.29661520e+01] [ 5.26906255e-03 9.99903440e-01 -1.28587271e-02 -2.00090279e+00] [ 2.08079726e-01 1.14811306e-02 9.78044483e-01 -3.01450017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34463044 meters Centerline goodness : 0.101772 with order 1 Centerline is valid? [False, False] Translation: X:-22.97, Y:-2.00, Z:-3.01 [[ 9.78169872e-01 -7.88513688e-03 -2.07657231e-01 -2.29675474e+01] [ 5.25075119e-03 9.99898635e-01 -1.32343621e-02 -1.99754754e+00] [ 2.07740536e-01 1.18550979e-02 9.78112124e-01 -3.01406063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40463044 meters Centerline goodness : 0.092704 with order 1 Centerline is valid? [False, False] Translation: X:-22.97, Y:-1.99, Z:-3.01 [[ 9.78171171e-01 -4.93600911e-03 -2.07742140e-01 -2.29683483e+01] [ 2.58059227e-03 9.99929299e-01 -1.16076554e-02 -1.98832949e+00] [ 2.07784748e-01 1.08181761e-02 9.78114751e-01 -3.01329905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46463044 meters Centerline goodness : 0.118222 with order 1 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:-3.02 [[ 9.78031770e-01 -5.04616915e-03 -2.08394802e-01 -2.30136498e+01] [ 2.63251938e-03 9.99926228e-01 -1.18578260e-02 -1.98453109e+00] [ 2.08439265e-01 1.10487272e-02 9.77972903e-01 -3.02227988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52463044 meters Centerline goodness : 0.101310 with order 1 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:-3.02 [[ 9.77994541e-01 -6.17296364e-03 -2.08539140e-01 -2.30142776e+01] [ 3.51510049e-03 9.99907838e-01 -1.31133448e-02 -1.97990227e+00] [ 2.08600868e-01 1.20917436e-02 9.77926105e-01 -3.02131251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58463044 meters Centerline goodness : 0.102034 with order 1 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:-3.02 [[ 9.77867480e-01 -6.81652596e-03 -2.09114148e-01 -2.30127424e+01] [ 4.06340290e-03 9.99899362e-01 -1.35924347e-02 -1.97907346e+00] [ 2.09185756e-01 1.24418849e-02 9.77796768e-01 -3.02115290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64463044 meters Centerline goodness : 0.106905 with order 1 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:-3.02 [[ 9.77930521e-01 -7.19366186e-03 -2.08806482e-01 -2.30139527e+01] [ 4.42211642e-03 9.99895863e-01 -1.37370741e-02 -1.97924788e+00] [ 2.08883558e-01 1.25105375e-02 9.77860494e-01 -3.02059639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70463044 meters Centerline goodness : 0.263074 with order 1 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.99, Z:-3.02 [[ 9.78500366e-01 -4.60657363e-03 -2.06193632e-01 -2.30323268e+01] [ 1.18813183e-03 9.99859847e-01 -1.66995486e-02 -1.98506354e+00] [ 2.06241661e-01 1.60955292e-02 9.78368699e-01 -3.02482912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76463044 meters Centerline goodness : 0.453766 with order 1 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.99, Z:-3.03 [[ 9.78194131e-01 -6.71207283e-03 -2.07584176e-01 -2.30272106e+01] [ 3.02565325e-03 9.99832127e-01 -1.80710779e-02 -1.98854175e+00] [ 2.07670622e-01 1.70489446e-02 9.78050227e-01 -3.02559911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82463044 meters Centerline goodness : 0.105254 with order 1 Centerline is valid? [False, False] Translation: X:-23.04, Y:-2.00, Z:-3.03 [[ 9.78328735e-01 8.95153739e-05 -2.07057667e-01 -2.30447557e+01] [-4.16054566e-03 9.99806507e-01 -1.92259643e-02 -1.99530276e+00] [ 2.07015882e-01 1.96707863e-02 9.78139808e-01 -3.03099070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88463044 meters Centerline goodness : 0.103727 with order 1 Centerline is valid? [False, False] Translation: X:-23.04, Y:-2.00, Z:-3.03 [[ 9.78294475e-01 3.66826707e-05 -2.07219494e-01 -2.30445610e+01] [-4.11539819e-03 9.99806193e-01 -1.92520292e-02 -1.99587180e+00] [ 2.07178627e-01 1.96869446e-02 9.78105025e-01 -3.03064814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94463044 meters Centerline goodness : 0.107640 with order 1 Centerline is valid? [False, False] Translation: X:-23.04, Y:-2.00, Z:-3.03 [[ 9.78303854e-01 2.75385337e-04 -2.07175033e-01 -2.30449519e+01] [-4.31647121e-03 9.99809141e-01 -1.90538773e-02 -1.99621900e+00] [ 2.07130244e-01 1.95347466e-02 9.78118324e-01 -3.03037453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00463044 meters Centerline goodness : 0.116495 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.00, Z:-3.03 [[ 9.78348224e-01 5.37407795e-04 -2.06964884e-01 -2.30458694e+01] [-4.49377305e-03 9.99816041e-01 -1.86464770e-02 -1.99849772e+00] [ 2.06916790e-01 1.91728009e-02 9.78170663e-01 -3.02989959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06463044000003 meters Centerline goodness : 0.106780 with order 1 Centerline is valid? [False, False] Translation: X:-23.04, Y:-2.00, Z:-3.03 [[ 9.78180546e-01 6.78447582e-04 -2.07755527e-01 -2.30442453e+01] [-4.58734209e-03 9.99821400e-01 -1.83336753e-02 -2.00115060e+00] [ 2.07705983e-01 1.88866902e-02 9.78008956e-01 -3.02937347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12463044000003 meters Centerline goodness : 0.134148 with order 1 Centerline is valid? [False, False] Translation: X:-23.04, Y:-2.00, Z:-3.03 [[ 9.78163846e-01 8.72945473e-04 -2.07833416e-01 -2.30439094e+01] [-4.72635212e-03 9.99826005e-01 -1.80449961e-02 -2.00279876e+00] [ 2.07781502e-01 1.86332567e-02 9.77997776e-01 -3.02946162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18463044000003 meters Centerline goodness : 0.125359 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.00, Z:-3.03 [[ 9.78267195e-01 9.43104614e-04 -2.07346102e-01 -2.30461507e+01] [-4.75046245e-03 9.99829119e-01 -1.78651930e-02 -2.00461237e+00] [ 2.07293821e-01 1.84619221e-02 9.78104508e-01 -3.02847996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24463044000004 meters Centerline goodness : 0.113303 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.01, Z:-3.03 [[ 9.78301452e-01 1.46663020e-03 -2.07181363e-01 -2.30469359e+01] [-5.16634098e-03 9.99836694e-01 -1.73174273e-02 -2.00650251e+00] [ 2.07122131e-01 1.80120339e-02 9.78149268e-01 -3.02822912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30463044000004 meters Centerline goodness : 0.114468 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.01, Z:-3.03 [[ 9.78509972e-01 -4.96844317e-04 -2.06198905e-01 -2.30513844e+01] [-3.42323965e-03 9.99820139e-01 -1.86539744e-02 -2.01050117e+00] [ 2.06171086e-01 1.89589682e-02 9.78332275e-01 -3.02695812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36463044000004 meters Centerline goodness : 0.109277 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.02, Z:-3.03 [[ 9.78746124e-01 -3.14961873e-03 -2.05051467e-01 -2.30564425e+01] [-9.16385489e-04 9.99804901e-01 -1.97312072e-02 -2.02108565e+00] [ 2.05073607e-01 1.94997488e-02 9.78552285e-01 -3.02519007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42463044000004 meters Centerline goodness : 0.114911 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.03, Z:-3.03 [[ 9.78719702e-01 -6.96998575e-03 -2.05083311e-01 -2.30557815e+01] [ 2.47313011e-03 9.99751043e-01 -2.21751313e-02 -2.02819536e+00] [ 2.05186815e-01 2.11960402e-02 9.78493280e-01 -3.02563064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48463044 meters Centerline goodness : 0.144592 with order 3 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.04, Z:-3.03 [[ 9.78820843e-01 -8.40264273e-03 -2.04546214e-01 -2.30571500e+01] [ 3.94455095e-03 9.99745923e-01 -2.21930245e-02 -2.03969255e+00] [ 2.04680723e-01 2.09161520e-02 9.78605291e-01 -3.02558682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54463044 meters Centerline goodness : 0.123088 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.04, Z:-3.03 [[ 9.78862707e-01 -8.20630663e-03 -2.04353756e-01 -2.30574204e+01] [ 3.85877437e-03 9.99757862e-01 -2.16639485e-02 -2.04352429e+00] [ 2.04482056e-01 2.04174762e-02 9.78657353e-01 -3.02576868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60463044 meters Centerline goodness : 0.085720 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.05, Z:-3.03 [[ 9.78767691e-01 -7.76110034e-03 -2.04825710e-01 -2.30548947e+01] [ 3.54296396e-03 9.99774195e-01 -2.09524926e-02 -2.04704985e+00] [ 2.04942074e-01 1.97819327e-02 9.78574178e-01 -3.02698193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66463044 meters Centerline goodness : 0.102974 with order 1 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.05, Z:-3.03 [[ 9.78707731e-01 -3.41915384e-03 -2.05230325e-01 -2.30753660e+01] [-1.50455439e-03 9.99714886e-01 -2.38302892e-02 -2.05491048e+00] [ 2.05253290e-01 2.36316685e-02 9.78423544e-01 -3.03162444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72463044 meters Centerline goodness : 0.152215 with order 3 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.06, Z:-3.03 [[ 9.78839501e-01 -1.28712611e-02 -2.04224295e-01 -2.30549927e+01] [ 8.13577725e-03 9.99678604e-01 -2.40103862e-02 -2.05881389e+00] [ 2.04467702e-01 2.18407910e-02 9.78629623e-01 -3.02704645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78463044 meters Centerline goodness : 0.107824 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.06, Z:-3.03 [[ 9.78840112e-01 -1.26739022e-02 -2.04233707e-01 -2.30550832e+01] [ 8.07633055e-03 9.99695215e-01 -2.33291710e-02 -2.06328230e+00] [ 2.04467132e-01 2.11860695e-02 9.78644135e-01 -3.02697416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84463044 meters Centerline goodness : 0.267786 with order 3 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.07, Z:-3.03 [[ 9.78818492e-01 -1.27599673e-02 -2.04331941e-01 -2.30551479e+01] [ 8.21938986e-03 9.99700412e-01 -2.30549066e-02 -2.06628834e+00] [ 2.04564905e-01 2.08870851e-02 9.78630129e-01 -3.02660164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90463044 meters Centerline goodness : 0.207903 with order 3 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.07, Z:-3.03 [[ 9.78868062e-01 -1.37151169e-02 -2.04032382e-01 -2.30563065e+01] [ 9.18351399e-03 9.99690041e-01 -2.31405288e-02 -2.07272809e+00] [ 2.04286515e-01 2.07777904e-02 9.78690606e-01 -3.02626779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96463044 meters Centerline goodness : 0.247772 with order 3 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.08, Z:-3.03 [[ 9.79196323e-01 -1.65309910e-02 -2.02240666e-01 -2.30626394e+01] [ 1.18436322e-02 9.99632960e-01 -2.43654376e-02 -2.08022509e+00] [ 2.02569221e-01 2.14632829e-02 9.79032705e-01 -3.02543077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02463044 meters Centerline goodness : 0.180563 with order 3 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.08, Z:-3.03 [[ 9.79192941e-01 -1.64963817e-02 -2.02259865e-01 -2.30629615e+01] [ 1.18584056e-02 9.99638707e-01 -2.41212192e-02 -2.08162236e+00] [ 2.02584703e-01 2.12208481e-02 9.79034787e-01 -3.02507156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08463044 meters Centerline goodness : 0.114704 with order 1 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.09, Z:-3.03 [[ 9.79870554e-01 -8.52714283e-03 -1.99451714e-01 -2.30837395e+01] [ 3.86706297e-03 9.99710631e-01 -2.37423591e-02 -2.08874767e+00] [ 1.99596453e-01 2.24931462e-02 9.79619985e-01 -3.03103561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14463044 meters Centerline goodness : 0.092883 with order 1 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.09, Z:-3.03 [[ 9.79891646e-01 -9.29893599e-03 -1.99313550e-01 -2.30840473e+01] [ 4.60536203e-03 9.99701365e-01 -2.39993880e-02 -2.08971898e+00] [ 1.99477197e-01 2.25988887e-02 9.79641842e-01 -3.03149034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20463044 meters Centerline goodness : 0.239845 with order 3 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.09, Z:-3.03 [[ 9.79796956e-01 -9.35139735e-03 -1.99776065e-01 -2.30826933e+01] [ 4.67540153e-03 9.99704254e-01 -2.38651588e-02 -2.09057989e+00] [ 1.99940155e-01 2.24489766e-02 9.79550906e-01 -3.03179828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26463044 meters Centerline goodness : 0.162980 with order 3 Centerline is valid? [False, False] Translation: X:-23.10, Y:-2.09, Z:-3.04 [[ 9.80359749e-01 -3.63123377e-03 -1.97184121e-01 -2.31031261e+01] [-1.46080765e-03 9.99669347e-01 -2.56721996e-02 -2.09488206e+00] [ 1.97212143e-01 2.54560392e-02 9.80030286e-01 -3.03661678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32463044 meters Centerline goodness : 0.095237 with order 1 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.10, Z:-3.03 [[ 9.80374246e-01 4.83418121e-03 -1.97086198e-01 -2.30845182e+01] [-1.00729589e-02 9.99621840e-01 -2.55873645e-02 -2.09691947e+00] [ 1.96887974e-01 2.70704344e-02 9.80052201e-01 -3.03277783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38463044 meters Centerline goodness : 0.247973 with order 3 Centerline is valid? [False, False] Translation: X:-23.08, Y:-2.09, Z:-3.03 [[ 9.80336395e-01 4.30328969e-03 -1.97286680e-01 -2.30837836e+01] [-9.72573068e-03 9.99600853e-01 -2.65244248e-02 -2.09142922e+00] [ 1.97093791e-01 2.79216161e-02 9.79986949e-01 -3.03284683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44463044 meters Centerline goodness : 0.247090 with order 3 Centerline is valid? [False, False] Translation: X:-23.07, Y:-2.08, Z:-3.03 [[ 9.80383374e-01 -2.31206653e-03 -1.97086514e-01 -2.30667379e+01] [-2.66864058e-03 9.99683830e-01 -2.50023520e-02 -2.08418928e+00] [ 1.97082008e-01 2.50378432e-02 9.80067237e-01 -3.02703845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50463044 meters Centerline goodness : 0.103203 with order 1 Centerline is valid? [False, False] Translation: X:-23.07, Y:-2.08, Z:-3.03 [[ 9.80309501e-01 -3.46554914e-03 -1.97436756e-01 -2.30653987e+01] [-1.58847878e-03 9.99675239e-01 -2.54340915e-02 -2.08490586e+00] [ 1.97460779e-01 2.52469056e-02 9.79985630e-01 -3.02814155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56463044000003 meters Centerline goodness : 0.112999 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-2.09, Z:-3.03 [[ 9.80275597e-01 -4.02010066e-03 -1.97594514e-01 -2.30649524e+01] [-1.03228458e-03 9.99675314e-01 -2.54598099e-02 -2.08511850e+00] [ 1.97632709e-01 2.51616041e-02 9.79953165e-01 -3.02798997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62463044000003 meters Centerline goodness : 0.256559 with order 3 Centerline is valid? [False, False] Translation: X:-23.07, Y:-2.09, Z:-3.03 [[ 9.80321948e-01 -4.42262107e-03 -1.97355816e-01 -2.30654895e+01] [-5.71440113e-04 9.99681238e-01 -2.52407388e-02 -2.08694064e+00] [ 1.97404537e-01 2.48568272e-02 9.80006932e-01 -3.02807183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68463044000003 meters Centerline goodness : 0.176541 with order 3 Centerline is valid? [False, False] Translation: X:-23.09, Y:-2.09, Z:-3.03 [[ 9.80331144e-01 -1.29491348e-02 -1.96934424e-01 -2.30853740e+01] [ 8.33894647e-03 9.99671848e-01 -2.42210399e-02 -2.08596283e+00] [ 1.97183441e-01 2.21024141e-02 9.80117429e-01 -3.03293918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74463044000004 meters Centerline goodness : 0.104254 with order 1 Centerline is valid? [False, False] Translation: X:-23.07, Y:-2.09, Z:-3.03 [[ 9.80243618e-01 -5.99935465e-03 -1.97702950e-01 -2.30696976e+01] [ 1.19599123e-03 9.99701406e-01 -2.44063151e-02 -2.09131023e+00] [ 1.97790340e-01 2.36876837e-02 9.79958099e-01 -3.02926351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80463044000004 meters Centerline goodness : 0.104731 with order 1 Centerline is valid? [False, False] Translation: X:-23.11, Y:-2.09, Z:-3.04 [[ 9.79817429e-01 -6.38780287e-03 -1.99792396e-01 -2.31113240e+01] [ 1.54734801e-03 9.99701708e-01 -2.43741953e-02 -2.08837467e+00] [ 1.99888497e-01 2.35731131e-02 9.79535041e-01 -3.03854759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86463044000004 meters Centerline goodness : 0.103733 with order 1 Centerline is valid? [False, False] Translation: X:-23.16, Y:-2.08, Z:-3.05 [[ 9.79578171e-01 -5.95302084e-03 -2.00975543e-01 -2.31557786e+01] [ 1.19239344e-03 9.99716021e-01 -2.38003473e-02 -2.08386070e+00] [ 2.01060154e-01 2.30746587e-02 9.79307089e-01 -3.04703817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92463044000004 meters Centerline goodness : 0.167028 with order 3 Centerline is valid? [False, False] Translation: X:-23.16, Y:-2.08, Z:-3.05 [[ 9.79566976e-01 -6.42933820e-03 -2.01015432e-01 -2.31554705e+01] [ 1.64382659e-03 9.99711457e-01 -2.39645522e-02 -2.08418039e+00] [ 2.01111507e-01 2.31444495e-02 9.79294898e-01 -3.04711925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98463044 meters Centerline goodness : 0.268275 with order 3 Centerline is valid? [False, False] Translation: X:-23.17, Y:-2.08, Z:-3.05 [[ 9.79386423e-01 -1.49182371e-02 -2.01443988e-01 -2.31746519e+01] [ 1.04868271e-02 9.99679366e-01 -2.30475861e-02 -2.08280802e+00] [ 2.01723228e-01 2.04599847e-02 9.79228844e-01 -3.05213724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04463044 meters Centerline goodness : 0.276202 with order 3 Centerline is valid? [False, False] Translation: X:-23.17, Y:-2.09, Z:-3.05 [[ 9.79335373e-01 -1.48807436e-02 -2.01694797e-01 -2.31732828e+01] [ 1.05685339e-02 9.99692329e-01 -2.24399751e-02 -2.08582616e+00] [ 2.01966664e-01 1.98446431e-02 9.79191328e-01 -3.05329439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10463044 meters Centerline goodness : 0.268023 with order 3 Centerline is valid? [False, False] Translation: X:-23.19, Y:-2.09, Z:-3.06 [[ 9.79402225e-01 -5.65408579e-03 -2.01839819e-01 -2.31892176e+01] [ 9.69392664e-04 9.99728019e-01 -2.33012628e-02 -2.09037153e+00] [ 2.01916669e-01 2.26256466e-02 9.79141327e-01 -3.05775016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16463044 meters Centerline goodness : 0.102823 with order 1 Centerline is valid? [False, False] Translation: X:-23.19, Y:-2.09, Z:-3.06 [[ 9.79373995e-01 -5.44812215e-03 -2.01982416e-01 -2.31884443e+01] [ 8.36958102e-04 9.99737229e-01 -2.29079127e-02 -2.09161392e+00] [ 2.02054146e-01 2.22663631e-02 9.79121204e-01 -3.05814706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22463044 meters Centerline goodness : 0.235343 with order 3 Centerline is valid? [False, False] Translation: X:-23.19, Y:-2.09, Z:-3.06 [[ 9.79447301e-01 -5.53457274e-03 -2.01624286e-01 -2.31896166e+01] [ 8.92650504e-04 9.99732616e-01 -2.31062877e-02 -2.09044733e+00] [ 2.01698258e-01 2.24514111e-02 9.79190353e-01 -3.05785453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28463044 meters Centerline goodness : 0.455201 with order 1 Centerline is valid? [False, False] Translation: X:-23.23, Y:-2.09, Z:-3.07 [[ 9.78968002e-01 -4.55781644e-03 -2.03962933e-01 -2.32317321e+01] [ 8.85121191e-05 9.99759810e-01 -2.19160957e-02 -2.08677422e+00] [ 2.04013833e-01 2.14371033e-02 9.78733266e-01 -3.06678993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34463044 meters Centerline goodness : 0.459664 with order 2 Centerline is valid? [False, False] Translation: X:-23.23, Y:-2.08, Z:-3.07 [[ 9.78900142e-01 -4.85821307e-03 -2.04281450e-01 -2.32301817e+01] [ 2.78141405e-04 9.99748082e-01 -2.24431369e-02 -2.08184558e+00] [ 2.04339021e-01 2.19127707e-02 9.78654891e-01 -3.06712229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40463044 meters Centerline goodness : 0.291170 with order 3 Centerline is valid? [False, False] Translation: X:-23.25, Y:-2.07, Z:-3.07 [[ 9.79121514e-01 -1.05916863e-02 -2.02999695e-01 -2.32519030e+01] [ 6.59428433e-03 9.99771009e-01 -2.03579379e-02 -2.07328977e+00] [ 2.03168835e-01 1.85942573e-02 9.78967149e-01 -3.07150842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46463044 meters Centerline goodness : 0.172219 with order 1 Centerline is valid? [False, False] Translation: X:-23.27, Y:-2.07, Z:-3.08 [[ 9.79099110e-01 -1.81977830e-02 -2.02567950e-01 -2.32696010e+01] [ 1.45946344e-02 9.99707847e-01 -1.92669817e-02 -2.06560839e+00] [ 2.02859385e-01 1.59078794e-02 9.79078653e-01 -3.07679823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52463044 meters Centerline goodness : 0.099332 with order 1 Centerline is valid? [False, False] Translation: X:-23.29, Y:-2.07, Z:-3.08 [[ 9.79141829e-01 -9.98919551e-03 -2.02932240e-01 -2.32878578e+01] [ 5.96007488e-03 9.99772990e-01 -2.04559376e-02 -2.06536245e+00] [ 2.03090511e-01 1.88197728e-02 9.78979091e-01 -3.08214830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58463044 meters Centerline goodness : 0.314843 with order 1 Centerline is valid? [False, False] Translation: X:-23.29, Y:-2.06, Z:-3.08 [[ 9.79166221e-01 -1.00300319e-02 -2.02812499e-01 -2.32878195e+01] [ 5.99841468e-03 9.99772197e-01 -2.04834615e-02 -2.06412166e+00] [ 2.02971748e-01 1.88401601e-02 9.79003329e-01 -3.08246401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64463044 meters Centerline goodness : 0.140590 with order 1 Centerline is valid? [False, False] Translation: X:-23.29, Y:-2.06, Z:-3.08 [[ 9.79090222e-01 -1.02324585e-02 -2.03168979e-01 -2.32865450e+01] [ 6.16875621e-03 9.99768255e-01 -2.06247940e-02 -2.06336126e+00] [ 2.03332938e-01 1.89402343e-02 9.78926445e-01 -3.08273698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70463044 meters Centerline goodness : 0.437574 with order 2 Centerline is valid? [False, False] Translation: X:-23.33, Y:-2.06, Z:-3.09 [[ 9.78567618e-01 -9.70631142e-03 -2.05696873e-01 -2.33266005e+01] [ 5.75213657e-03 9.99787164e-01 -1.98126054e-02 -2.06132244e+00] [ 2.05845401e-01 1.82047776e-02 9.78415176e-01 -3.09237699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76463044 meters Centerline goodness : 0.097149 with order 1 Centerline is valid? [False, False] Translation: X:-23.33, Y:-2.06, Z:-3.09 [[ 9.78691178e-01 -9.75747644e-03 -2.05105753e-01 -2.33281117e+01] [ 5.78921998e-03 9.99784446e-01 -1.99385663e-02 -2.06077828e+00] [ 2.05256092e-01 1.83262966e-02 9.78536705e-01 -3.09241519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82463044 meters Centerline goodness : 0.104117 with order 1 Centerline is valid? [False, False] Translation: X:-23.35, Y:-2.06, Z:-3.10 [[ 9.78721503e-01 -1.86493782e-03 -2.05184654e-01 -2.33486787e+01] [-2.44140232e-03 9.99782078e-01 -2.07324684e-02 -2.06185014e+00] [ 2.05178605e-01 2.07922509e-02 9.78503665e-01 -3.09774160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88463044 meters Centerline goodness : 0.376527 with order 3 Centerline is valid? [False, False] Translation: X:-23.37, Y:-2.05, Z:-3.10 [[ 9.78580170e-01 -6.47397518e-03 -2.05764281e-01 -2.33673892e+01] [ 2.88280802e-03 9.99838339e-01 -1.77478317e-02 -2.05373094e+00] [ 2.05845916e-01 1.67744972e-02 9.78440634e-01 -3.10262067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94463044 meters Centerline goodness : 0.090452 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-2.05, Z:-3.10 [[ 9.78579784e-01 -6.65385177e-03 -2.05760375e-01 -2.33675383e+01] [ 2.96380894e-03 9.99829305e-01 -1.82367109e-02 -2.05035607e+00] [ 2.05846597e-01 1.72362422e-02 9.78432466e-01 -3.10236925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00463044 meters Centerline goodness : 0.094067 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-2.05, Z:-3.10 [[ 9.78611738e-01 -6.74013598e-03 -2.05605535e-01 -2.33681304e+01] [ 2.99024635e-03 9.99823582e-01 -1.85435510e-02 -2.04684771e+00] [ 2.05694249e-01 1.75321255e-02 9.78459248e-01 -3.10212166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06463044000003 meters Centerline goodness : 0.094954 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-2.04, Z:-3.11 [[ 9.78129931e-01 -7.62185425e-03 -2.07855107e-01 -2.34095154e+01] [ 3.78007417e-03 9.99814726e-01 -1.88739093e-02 -2.04392174e+00] [ 2.07960451e-01 1.76754279e-02 9.77977520e-01 -3.11135738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12463044000003 meters Centerline goodness : 0.158640 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-2.04, Z:-3.11 [[ 9.78145985e-01 -7.78311652e-03 -2.07773567e-01 -2.34099323e+01] [ 3.92338956e-03 9.99812123e-01 -1.89822342e-02 -2.04286063e+00] [ 2.07882272e-01 1.77522195e-02 9.77992750e-01 -3.11113984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18463044000003 meters SLAMing on 288.24463044000004 meters Centerline goodness : 0.109420 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-2.02, Z:-3.12 [[ 9.78287812e-01 -1.29926678e-03 -2.07246877e-01 -2.34557827e+01] [-2.06152205e-03 9.99869874e-01 -1.59995636e-02 -2.02223975e+00] [ 2.07240696e-01 1.60794221e-02 9.78157833e-01 -3.11950170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30463044000004 meters Centerline goodness : 0.114759 with order 1 Centerline is valid? [False, False] Translation: X:-23.45, Y:-2.01, Z:-3.12 [[ 9.78179974e-01 2.45634378e-03 -2.07744805e-01 -2.34545260e+01] [-5.41996113e-03 9.99891493e-01 -1.36976719e-02 -2.01269945e+00] [ 2.07688617e-01 1.45247572e-02 9.78087148e-01 -3.11916014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36463044000004 meters Centerline goodness : 0.109386 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-2.00, Z:-3.12 [[ 9.78184377e-01 4.47138133e-03 -2.07690471e-01 -2.34557552e+01] [-7.37463953e-03 9.99885594e-01 -1.32066117e-02 -1.99927343e+00] [ 2.07607658e-01 1.44501436e-02 9.78105441e-01 -3.11797172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42463044000004 meters Centerline goodness : 0.098321 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.99, Z:-3.12 [[ 9.78202472e-01 3.73056127e-03 -2.07619863e-01 -2.34565232e+01] [-6.84772061e-03 9.99874343e-01 -1.42971134e-02 -1.99334436e+00] [ 2.07540438e-01 1.54071945e-02 9.78105099e-01 -3.11728491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48463044 meters Centerline goodness : 0.126925 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.99, Z:-3.12 [[ 9.78116057e-01 3.02481043e-03 -2.08038051e-01 -2.34554605e+01] [-6.35470910e-03 9.99862146e-01 -1.53397398e-02 -1.98756503e+00] [ 2.07962972e-01 1.63260671e-02 9.78000441e-01 -3.11702889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54463044 meters Centerline goodness : 0.104635 with order 1 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.98, Z:-3.12 [[ 9.78045753e-01 3.47334100e-03 -2.08361321e-01 -2.34549526e+01] [-6.92751343e-03 9.99850376e-01 -1.58503688e-02 -1.97533838e+00] [ 2.08275092e-01 1.69458117e-02 9.77923476e-01 -3.11628849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60463044 meters Centerline goodness : 0.100932 with order 1 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.97, Z:-3.12 [[ 9.78238035e-01 -3.28607353e-03 -2.07459752e-01 -2.34725965e+01] [ 1.73148385e-04 9.99887158e-01 -1.50213348e-02 -1.96534998e+00] [ 2.07485703e-01 1.46585197e-02 9.78128218e-01 -3.12144465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66463044 meters Centerline goodness : 0.089358 with order 1 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.95, Z:-3.13 [[ 9.78436159e-01 -9.98651247e-03 -2.06307908e-01 -2.34906067e+01] [ 7.18964837e-03 9.99871872e-01 -1.43020256e-02 -1.95334853e+00] [ 2.06424301e-01 1.25103377e-02 9.78382593e-01 -3.12663247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72463044 meters Centerline goodness : 0.096667 with order 2 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.95, Z:-3.13 [[ 9.78280184e-01 -1.06518147e-02 -2.07013090e-01 -2.34881764e+01] [ 7.66254988e-03 9.99854557e-01 -1.52364509e-02 -1.94708931e+00] [ 2.07145278e-01 1.33192699e-02 9.78219521e-01 -3.12694828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78463044 meters Centerline goodness : 0.258497 with order 3 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.94, Z:-3.13 [[ 9.78220906e-01 -1.10670376e-02 -2.07271271e-01 -2.34876199e+01] [ 7.93682233e-03 9.99841648e-01 -1.59275308e-02 -1.94277038e+00] [ 2.07414720e-01 1.39355684e-02 9.78153840e-01 -3.12669504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84463044 meters Centerline goodness : 0.121781 with order 1 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.94, Z:-3.13 [[ 9.78399582e-01 -8.64042787e-03 -2.06542007e-01 -2.34909038e+01] [ 5.79583782e-03 9.99879897e-01 -1.43735644e-02 -1.93677989e+00] [ 2.06641394e-01 1.28660054e-02 9.78332152e-01 -3.12570793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90463044 meters Centerline goodness : 0.151670 with order 3 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.93, Z:-3.13 [[ 9.78473229e-01 -5.07708910e-03 -2.06311325e-01 -2.34915979e+01] [ 2.64814024e-03 9.99923918e-01 -1.20476590e-02 -1.92967426e+00] [ 2.06356795e-01 1.12419705e-02 9.78412230e-01 -3.12547738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96463044 meters Centerline goodness : 0.119782 with order 2 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.92, Z:-3.13 [[ 9.78430642e-01 -5.40341318e-03 -2.06504922e-01 -2.34912421e+01] [ 2.82546475e-03 9.99914384e-01 -1.27765927e-02 -1.92434722e+00] [ 2.06556279e-01 1.19175374e-02 9.78362139e-01 -3.12518140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02463044 meters Centerline goodness : 0.117086 with order 2 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.91, Z:-3.12 [[ 9.78351970e-01 -4.70182190e-03 -2.06894455e-01 -2.34905814e+01] [ 2.05066257e-03 9.99913047e-01 -1.30266580e-02 -1.91409695e+00] [ 2.06937714e-01 1.23203858e-02 9.78276541e-01 -3.12460905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08463044 meters Centerline goodness : 0.145910 with order 1 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.91, Z:-3.12 [[ 9.78369891e-01 -1.02186870e-03 -2.06860612e-01 -2.34906613e+01] [-1.14888660e-03 9.99945535e-01 -1.03734059e-02 -1.90932723e+00] [ 2.06859946e-01 1.03866874e-02 9.78315429e-01 -3.12453669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14463044 meters Centerline goodness : 0.119675 with order 2 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.90, Z:-3.12 [[ 9.78379520e-01 -1.64675021e-03 -2.06811035e-01 -2.34907448e+01] [-7.71743032e-04 9.99932269e-01 -1.16129986e-02 -1.89977577e+00] [ 2.06816151e-01 1.15215249e-02 9.78311982e-01 -3.12439245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20463044 meters Centerline goodness : 0.124024 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.89, Z:-3.13 [[ 9.78215275e-01 -8.95165162e-03 -2.07399962e-01 -2.35077032e+01] [ 6.88354931e-03 9.99919155e-01 -1.06911054e-02 -1.89147585e+00] [ 2.07478898e-01 9.03055472e-03 9.78197810e-01 -3.12965206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26463044 meters Centerline goodness : 0.144815 with order 3 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.89, Z:-3.13 [[ 9.77983299e-01 -9.81514574e-03 -2.08452222e-01 -2.35044654e+01] [ 7.63390507e-03 9.99907397e-01 -1.12659157e-02 -1.89008325e+00] [ 2.08543495e-01 9.42657292e-03 9.77967663e-01 -3.13002317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32463044 meters Centerline goodness : 0.153811 with order 3 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.89, Z:-3.13 [[ 9.77955728e-01 -1.00624940e-02 -2.08569749e-01 -2.35043500e+01] [ 7.86055447e-03 9.99904309e-01 -1.13835150e-02 -1.88990888e+00] [ 2.08664337e-01 9.49309988e-03 9.77941243e-01 -3.12985665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38463044 meters Centerline goodness : 0.269403 with order 2 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.89, Z:-3.13 [[ 9.77978971e-01 -1.00623143e-02 -2.08460744e-01 -2.35053225e+01] [ 7.85237814e-03 9.99903888e-01 -1.14260675e-02 -1.88904350e+00] [ 2.08555681e-01 9.53754115e-03 9.77963989e-01 -3.12912574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44463044 meters Centerline goodness : 0.087506 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.89, Z:-3.13 [[ 9.78183715e-01 -7.96090357e-03 -2.07589122e-01 -2.35093149e+01] [ 6.03920529e-03 9.99932862e-01 -9.88932757e-03 -1.88637841e+00] [ 2.07653913e-01 8.41990586e-03 9.78166120e-01 -3.12798451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50463044 meters Centerline goodness : 0.113826 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.88, Z:-3.13 [[ 9.78209095e-01 -7.90402666e-03 -2.07471668e-01 -2.35098582e+01] [ 5.94853848e-03 9.99931829e-01 -1.00475087e-02 -1.88444529e+00] [ 2.07536941e-01 8.59441119e-03 9.78189427e-01 -3.12767162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56463044000003 meters Centerline goodness : 0.122413 with order 3 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.88, Z:-3.13 [[ 9.78130180e-01 -8.01772358e-03 -2.07839041e-01 -2.35094192e+01] [ 5.99201684e-03 9.99928233e-01 -1.03742572e-02 -1.88236980e+00] [ 2.07907302e-01 8.90199899e-03 9.78108025e-01 -3.12706045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62463044000003 meters Centerline goodness : 0.228477 with order 3 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.88, Z:-3.13 [[ 9.78346410e-01 -5.66170692e-03 -2.06896706e-01 -2.35139308e+01] [ 3.93709724e-03 9.99953999e-01 -8.74640082e-03 -1.87834844e+00] [ 2.06936708e-01 7.74243739e-03 9.78323696e-01 -3.12557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68463044000003 meters Centerline goodness : 0.220245 with order 3 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.87, Z:-3.13 [[ 9.78354526e-01 -2.54046822e-03 -2.06920198e-01 -2.35136743e+01] [ 1.21203994e-03 9.99977837e-01 -6.54651973e-03 -1.87411479e+00] [ 2.06932243e-01 6.15402166e-03 9.78335921e-01 -3.12564804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74463044000004 meters Centerline goodness : 0.090757 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.87, Z:-3.13 [[ 9.78305651e-01 1.30021482e-03 -2.07162649e-01 -2.35125813e+01] [-2.13883586e-03 9.99990400e-01 -3.82420708e-03 -1.86923725e+00] [ 2.07155688e-01 4.18433030e-03 9.78299040e-01 -3.12596667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80463044000004 meters Centerline goodness : 0.102573 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.86, Z:-3.13 [[ 9.78106875e-01 3.33053461e-03 -2.08076547e-01 -2.35094335e+01] [-4.03174989e-03 9.99987533e-01 -2.94597930e-03 -1.85965527e+00] [ 2.08064142e-01 3.72039520e-03 9.78108108e-01 -3.12622778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86463044000004 meters Centerline goodness : 0.126183 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.85, Z:-3.13 [[ 9.78010963e-01 2.98892343e-03 -2.08532065e-01 -2.35085698e+01] [-3.82831183e-03 9.99986113e-01 -3.62174045e-03 -1.85490999e+00] [ 2.08518344e-01 4.34042764e-03 9.78008824e-01 -3.12577218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92463044000004 meters Centerline goodness : 0.287608 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.85, Z:-3.13 [[ 9.77912664e-01 2.75443810e-03 -2.08995776e-01 -2.35077436e+01] [-3.70670101e-03 9.99984457e-01 -4.16484290e-03 -1.85058313e+00] [ 2.08981056e-01 4.84753747e-03 9.77907674e-01 -3.12521169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98463044 meters Centerline goodness : 0.105699 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.84, Z:-3.12 [[ 9.78065091e-01 5.20461890e-03 -2.08234456e-01 -2.35116594e+01] [-5.93395606e-03 9.99978253e-01 -2.87795578e-03 -1.84216874e+00] [ 2.08214949e-01 4.05048220e-03 9.78074705e-01 -3.12362989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04463044 meters Centerline goodness : 0.298016 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.84, Z:-3.12 [[ 9.78121820e-01 7.99690369e-03 -2.07879182e-01 -2.35140842e+01] [-8.43155720e-03 9.99963728e-01 -1.20491357e-03 -1.83582877e+00] [ 2.07862007e-01 2.93129747e-03 9.78153768e-01 -3.12231979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10463044 meters Centerline goodness : 0.296412 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.83, Z:-3.12 [[ 9.78180777e-01 1.04201603e-02 -2.07494066e-01 -2.35167871e+01] [-1.07605859e-02 9.99941972e-01 -5.12027702e-04 -1.82589745e+00] [ 2.07476690e-01 2.73361338e-03 9.78236143e-01 -3.12138996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16463044 meters Centerline goodness : 0.109937 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.82, Z:-3.12 [[ 9.78322892e-01 1.07629420e-02 -2.06805412e-01 -2.35187629e+01] [-1.11987889e-02 9.99936853e-01 -9.36963684e-04 -1.82085690e+00] [ 2.06782269e-01 3.23262318e-03 9.78381645e-01 -3.12163441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22463044 meters Centerline goodness : 0.216171 with order 3 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.82, Z:-3.12 [[ 9.78318446e-01 1.06475858e-02 -2.06832411e-01 -2.35185752e+01] [-1.12355068e-02 9.99935488e-01 -1.66803930e-03 -1.81684032e+00] [ 2.06801308e-01 3.95574058e-03 9.78374965e-01 -3.12206694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28463044 meters Centerline goodness : 0.199448 with order 3 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.81, Z:-3.12 [[ 9.78135122e-01 1.39565665e-02 -2.07501559e-01 -2.35160912e+01] [-1.42092319e-02 9.99899007e-01 2.72808593e-04 -1.81137189e+00] [ 2.07484410e-01 2.68159410e-03 9.78234649e-01 -3.12302896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34463044 meters Centerline goodness : 0.092932 with order 1 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.80, Z:-3.13 [[ 9.78607233e-01 7.71078080e-03 -2.05592870e-01 -2.35301243e+01] [-7.68927995e-03 9.99970029e-01 9.03556261e-04 -1.80212789e+00] [ 2.05593675e-01 6.96634440e-04 9.78637193e-01 -3.12807398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40463044 meters Centerline goodness : 0.112896 with order 1 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.80, Z:-3.13 [[ 9.78384940e-01 8.41839354e-03 -2.06620523e-01 -2.35276627e+01] [-8.31373212e-03 9.99964495e-01 1.37481187e-03 -1.80196508e+00] [ 2.06624760e-01 3.72692446e-04 9.78420191e-01 -3.12805915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46463044 meters Centerline goodness : 0.112938 with order 1 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.80, Z:-3.13 [[ 9.78233055e-01 -2.49844371e-04 -2.07509101e-01 -2.35412051e+01] [ 8.83224122e-04 9.99995230e-01 2.95965743e-03 -1.79909202e+00] [ 2.07507372e-01 -3.07851177e-03 9.78228610e-01 -3.13155218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52463044 meters Centerline goodness : 0.194839 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.81, Z:-3.13 [[ 9.77958763e-01 6.06465963e-03 -2.08710034e-01 -2.35234288e+01] [-5.78086239e-03 9.99981351e-01 1.96972562e-03 -1.80522166e+00] [ 2.08718087e-01 -7.19786444e-04 9.77975584e-01 -3.12575816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58463044 meters Centerline goodness : 0.171309 with order 3 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.80, Z:-3.13 [[ 9.78125120e-01 -1.47966211e-03 -2.08012165e-01 -2.35412060e+01] [ 2.27661718e-03 9.99990957e-01 3.59194242e-03 -1.80269464e+00] [ 2.08004969e-01 -3.98693318e-03 9.78119644e-01 -3.12888357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64463044 meters Centerline goodness : 0.242846 with order 3 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.81, Z:-3.12 [[ 9.78126143e-01 5.64750810e-03 -2.07935936e-01 -2.35222598e+01] [-5.18560227e-03 9.99982728e-01 2.76641651e-03 -1.80861947e+00] [ 2.07947968e-01 -1.62763125e-03 9.78138535e-01 -3.12343060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70463044 meters Centerline goodness : 0.226965 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.81, Z:-3.12 [[ 9.78296318e-01 6.02507278e-03 -2.07123182e-01 -2.35247254e+01] [-5.46552052e-03 9.99979705e-01 3.27366497e-03 -1.81193717e+00] [ 2.07138703e-01 -2.07057839e-03 9.78309394e-01 -3.12306799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76463044 meters Centerline goodness : 0.297322 with order 1 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.82, Z:-3.11 [[ 9.78839222e-01 4.51561605e-03 -2.04581002e-01 -2.34848250e+01] [-3.97395451e-03 9.99987427e-01 3.05843025e-03 -1.81755659e+00] [ 2.04592240e-01 -2.18071589e-03 9.78844860e-01 -3.11372074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82463044 meters Centerline goodness : 0.282597 with order 3 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.82, Z:-3.11 [[ 9.78646966e-01 1.75554362e-03 -2.05540833e-01 -2.34813352e+01] [-1.55258424e-03 9.99998135e-01 1.14871817e-03 -1.82290928e+00] [ 2.05542466e-01 -8.05070099e-04 9.78647866e-01 -3.11434195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88463044 meters Centerline goodness : 0.102260 with order 1 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.83, Z:-3.11 [[ 9.78561475e-01 1.34519495e-03 -2.05950555e-01 -2.34803199e+01] [-1.06827788e-03 9.99998370e-01 1.45577259e-03 -1.83269232e+00] [ 2.05952177e-01 -1.20455055e-03 9.78561316e-01 -3.11414294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94463044 meters Centerline goodness : 0.106379 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.84, Z:-3.11 [[ 9.78261968e-01 8.29571188e-03 -2.07206911e-01 -2.34633809e+01] [-8.22371272e-03 9.99965454e-01 1.20883954e-03 -1.84384975e+00] [ 2.07209781e-01 5.21448356e-04 9.78296394e-01 -3.10813173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00463044 meters Centerline goodness : 0.102343 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.85, Z:-3.11 [[ 9.78209706e-01 8.89612655e-03 -2.07428614e-01 -2.34626093e+01] [-8.73159533e-03 9.99960419e-01 1.70874755e-03 -1.84729556e+00] [ 2.07435605e-01 1.39669284e-04 9.78248665e-01 -3.10812581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06463044000003 meters Centerline goodness : 0.102195 with order 1 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.85, Z:-3.11 [[ 9.77917362e-01 9.79346440e-04 -2.08989651e-01 -2.34761410e+01] [-1.83006492e-04 9.99992650e-01 3.82973038e-03 -1.84593238e+00] [ 2.08991866e-01 -3.70691337e-03 9.77910353e-01 -3.11232527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12463044000003 meters Centerline goodness : 0.245051 with order 2 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.85, Z:-3.11 [[ 9.77881847e-01 1.46769434e-03 -2.09152910e-01 -2.34759923e+01] [-5.73058838e-04 9.99990427e-01 4.33795758e-03 -1.85003904e+00] [ 2.09157274e-01 -4.12215305e-03 9.77873326e-01 -3.11196615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18463044000003 meters Centerline goodness : 0.091730 with order 1 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.86, Z:-3.12 [[ 9.77976714e-01 1.03037573e-02 -2.08459541e-01 -2.34963460e+01] [-9.59995427e-03 9.99944293e-01 4.38766943e-03 -1.85692454e+00] [ 2.08493137e-01 -2.28983647e-03 9.78021149e-01 -3.11680882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24463044000004 meters Centerline goodness : 0.090610 with order 1 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.86, Z:-3.12 [[ 9.77966288e-01 1.88660502e-02 -2.07908662e-01 -2.35141183e+01] [-1.85094820e-02 9.99821984e-01 3.66046489e-03 -1.86248432e+00] [ 2.07940710e-01 2.68470380e-04 9.78141395e-01 -3.12275015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30463044000004 meters Centerline goodness : 0.092058 with order 1 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.86, Z:-3.13 [[ 9.77698719e-01 1.13213925e-02 -2.09707037e-01 -2.35274043e+01] [-1.05600253e-02 9.99932959e-01 4.75000917e-03 -1.85510545e+00] [ 2.09746755e-01 -2.42956627e-03 9.77752727e-01 -3.12742026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36463044000004 meters Centerline goodness : 0.092478 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.85, Z:-3.13 [[ 9.77490533e-01 1.16130939e-02 -2.10659427e-01 -2.35246572e+01] [-1.08676671e-02 9.99929919e-01 4.69591286e-03 -1.85349055e+00] [ 2.10699197e-01 -2.30083385e-03 9.77548236e-01 -3.12764886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42463044000004 meters Centerline goodness : 0.094787 with order 1 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.85, Z:-3.13 [[ 9.77869978e-01 4.78586314e-03 -2.09158796e-01 -2.35437305e+01] [-3.92184550e-03 9.99981979e-01 4.54545511e-03 -1.84644582e+00] [ 2.09176781e-01 -3.62457560e-03 9.77871125e-01 -3.13226619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48463044 meters Centerline goodness : 0.099064 with order 1 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.84, Z:-3.14 [[ 9.78002892e-01 -1.87751045e-03 -2.08582881e-01 -2.35626034e+01] [ 3.11012473e-03 9.99979586e-01 5.58166063e-03 -1.84076254e+00] [ 2.08568144e-01 -6.10759902e-03 9.77988766e-01 -3.13777410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54463044 meters Centerline goodness : 0.090641 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.84, Z:-3.14 [[ 9.78033852e-01 5.33865700e-03 -2.08377742e-01 -2.35821917e+01] [-4.61268936e-03 9.99981482e-01 3.96967442e-03 -1.84422639e+00] [ 2.08395077e-01 -2.92129417e-03 9.78040366e-01 -3.14232102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60463044 meters Centerline goodness : 0.275788 with order 3 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.84, Z:-3.14 [[ 9.78025128e-01 5.37173283e-03 -2.08417833e-01 -2.35829443e+01] [-4.73009623e-03 9.99982416e-01 3.57687913e-03 -1.84024883e+00] [ 2.08433382e-01 -2.51244127e-03 9.78033339e-01 -3.14161492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66463044 meters Centerline goodness : 0.305569 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.84, Z:-3.14 [[ 9.78000525e-01 5.20184084e-03 -2.08537560e-01 -2.35829552e+01] [-4.66842885e-03 9.99984452e-01 3.04997381e-03 -1.83710114e+00] [ 2.08550183e-01 -2.00933322e-03 9.78009603e-01 -3.14139980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72463044 meters Centerline goodness : 0.304242 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.83, Z:-3.14 [[ 9.77992175e-01 5.61885078e-03 -2.08565898e-01 -2.35830962e+01] [-5.10280435e-03 9.99982444e-01 3.01223461e-03 -1.83406089e+00] [ 2.08579162e-01 -1.88167091e-03 9.78003677e-01 -3.14128744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78463044 meters Centerline goodness : 0.099747 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.83, Z:-3.14 [[ 9.77934763e-01 5.46503745e-03 -2.08839009e-01 -2.35826410e+01] [-4.98934505e-03 9.99983620e-01 2.80452375e-03 -1.83397666e+00] [ 2.08850915e-01 -1.70067140e-03 9.77946012e-01 -3.14092596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84463044 meters Centerline goodness : 0.306823 with order 1 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.83, Z:-3.15 [[ 9.78543507e-01 -9.06288393e-04 -2.06038305e-01 -2.36050070e+01] [ 1.77578073e-03 9.99990282e-01 4.03516770e-03 -1.83265354e+00] [ 2.06032646e-01 -4.31446600e-03 9.78535607e-01 -3.14532456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90463044 meters Centerline goodness : 0.096983 with order 1 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.84, Z:-3.15 [[ 9.78571078e-01 -8.57624125e-04 -2.05907525e-01 -2.36051695e+01] [ 1.78618545e-03 9.99989057e-01 4.32375981e-03 -1.83551615e+00] [ 2.05901564e-01 -4.59889533e-03 9.78561902e-01 -3.14537358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96463044 meters Centerline goodness : 0.107895 with order 1 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.84, Z:-3.15 [[ 9.78514220e-01 -9.31121342e-04 -2.06177238e-01 -2.36044571e+01] [ 1.91363494e-03 9.99987745e-01 4.56601843e-03 -1.83925927e+00] [ 2.06170460e-01 -4.86246194e-03 9.78504010e-01 -3.14521923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02463044 meters Centerline goodness : 0.308701 with order 3 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.85, Z:-3.14 [[ 9.78605452e-01 -2.36962458e-03 -2.05732239e-01 -2.36067117e+01] [ 3.31588202e-03 9.99985451e-01 4.25480285e-03 -1.84915214e+00] [ 2.05719164e-01 -4.84595710e-03 9.78599071e-01 -3.14418214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08463044 meters Centerline goodness : 0.318022 with order 1 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.86, Z:-3.15 [[ 9.79131861e-01 1.20537847e-03 -2.03222403e-01 -2.36254184e+01] [-8.73885291e-04 9.99998137e-01 1.72090915e-03 -1.86444730e+00] [ 2.03224099e-01 -1.50740391e-03 9.79131091e-01 -3.14868807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14463044 meters Centerline goodness : 0.243997 with order 2 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.87, Z:-3.15 [[ 9.79101736e-01 1.54805421e-03 -2.03365174e-01 -2.36245505e+01] [-1.07794304e-03 9.99996485e-01 2.42240525e-03 -1.87049886e+00] [ 2.03368209e-01 -2.15256511e-03 9.79099963e-01 -3.14902210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20463044 meters Centerline goodness : 0.518400 with order 3 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.88, Z:-3.15 [[ 9.79051147e-01 1.92196735e-03 -2.03605396e-01 -2.36236987e+01] [-1.29783097e-03 9.99994041e-01 3.19889853e-03 -1.87744615e+00] [ 2.03610331e-01 -2.86763988e-03 9.79047808e-01 -3.14906983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26463044 meters Centerline goodness : 0.103992 with order 1 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.89, Z:-3.15 [[ 9.78897062e-01 9.65135147e-04 -2.04351683e-01 -2.36214249e+01] [-2.89083892e-04 9.99994387e-01 3.33810002e-03 -1.88953454e+00] [ 2.04353757e-01 -3.20858153e-03 9.78891846e-01 -3.14907272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32463044 meters Centerline goodness : 0.312959 with order 1 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.90, Z:-3.15 [[ 9.79095783e-01 -1.18143307e-03 -2.03396295e-01 -2.36245734e+01] [ 1.67809533e-03 9.99996017e-01 2.26940069e-03 -1.89825618e+00] [ 2.03392803e-01 -2.56327902e-03 9.79093865e-01 -3.14856764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38463044 meters Centerline goodness : 0.484051 with order 3 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.91, Z:-3.15 [[ 9.79216343e-01 -2.05006939e-03 -2.02808160e-01 -2.36261573e+01] [ 2.63249778e-03 9.99993149e-01 2.60211180e-03 -1.91106464e+00] [ 2.02801437e-01 -3.08192244e-03 9.79215032e-01 -3.14831480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44463044 meters Centerline goodness : 0.095992 with order 1 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.91, Z:-3.15 [[ 9.79173413e-01 -1.75974758e-03 -2.03018055e-01 -2.36254179e+01] [ 2.44747293e-03 9.99992086e-01 3.13650316e-03 -1.91436503e+00] [ 2.03010929e-01 -3.56806170e-03 9.79169971e-01 -3.14839737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50463044 meters Centerline goodness : 0.305662 with order 3 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.92, Z:-3.15 [[ 9.79115266e-01 -1.39130988e-03 -2.03301158e-01 -2.36243299e+01] [ 2.27493264e-03 9.99988955e-01 4.11274962e-03 -1.92487007e+00] [ 2.03293191e-01 -4.48935238e-03 9.79107616e-01 -3.14838777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56463044000003 meters Centerline goodness : 0.133500 with order 3 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.93, Z:-3.15 [[ 9.79172212e-01 -1.00523218e-03 -2.03028983e-01 -2.36253291e+01] [ 2.02449249e-03 9.99986370e-01 4.81265429e-03 -1.92923237e+00] [ 2.03021378e-01 -5.12344800e-03 9.79160901e-01 -3.14801500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62463044000003 meters Centerline goodness : 0.104844 with order 1 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.94, Z:-3.15 [[ 9.79335470e-01 6.33091342e-03 -2.02143407e-01 -2.36439377e+01] [-5.61413820e-03 9.99975757e-01 4.11903253e-03 -1.93913230e+00] [ 2.02164584e-01 -2.89905364e-03 9.79347271e-01 -3.15294646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68463044000003 meters Centerline goodness : 0.308016 with order 1 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.95, Z:-3.15 [[ 9.79250620e-01 6.75556713e-03 -2.02540328e-01 -2.36428998e+01] [-5.87531571e-03 9.99970504e-01 4.94697188e-03 -1.94573445e+00] [ 2.02567774e-01 -3.65433691e-03 9.79261427e-01 -3.15271580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74463044000004 meters Centerline goodness : 0.087988 with order 1 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.95, Z:-3.15 [[ 9.79304169e-01 2.97880052e-03 -2.02372110e-01 -2.36432709e+01] [-2.61703873e-03 9.99994464e-01 2.05516011e-03 -1.94890696e+00] [ 2.02377111e-01 -1.48301122e-03 9.79306543e-01 -3.15268921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80463044000004 meters Centerline goodness : 0.092934 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.96, Z:-3.16 [[ 9.79804025e-01 -9.00028700e-04 -1.99958150e-01 -2.36787398e+01] [ 1.35079267e-03 9.99996845e-01 2.11787432e-03 -1.95761464e+00] [ 1.99955613e-01 -2.34520378e-03 9.79802150e-01 -3.16185104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86463044000004 meters Centerline goodness : 0.307281 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.96, Z:-3.16 [[ 9.79736857e-01 -8.14008997e-04 -2.00287365e-01 -2.36775071e+01] [ 1.34389926e-03 9.99995948e-01 2.50970368e-03 -1.96111613e+00] [ 2.00284511e-01 -2.72801524e-03 9.79733981e-01 -3.16204966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92463044000004 meters Centerline goodness : 0.088337 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.96, Z:-3.16 [[ 9.79665019e-01 -7.69424259e-04 -2.00638628e-01 -2.36765653e+01] [ 1.34766873e-03 9.99995323e-01 2.74544964e-03 -1.96369993e+00] [ 2.00635577e-01 -2.96001538e-03 9.79661474e-01 -3.16194045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98463044 meters Centerline goodness : 0.097907 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.97, Z:-3.16 [[ 9.79611495e-01 -5.30361382e-04 -2.00900568e-01 -2.36755338e+01] [ 1.17123511e-03 9.99994598e-01 3.07115536e-03 -1.96553767e+00] [ 2.00897854e-01 -3.24384089e-03 9.79606824e-01 -3.16213914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04463044 meters Centerline goodness : 0.148081 with order 3 Centerline is valid? [False, False] Translation: X:-23.69, Y:-1.97, Z:-3.17 [[ 9.79274206e-01 6.74859698e-03 -2.02426494e-01 -2.36927573e+01] [-6.53815372e-03 9.99977167e-01 1.70826253e-03 -1.97068779e+00] [ 2.02433400e-01 -3.49361899e-04 9.79295970e-01 -3.16729612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10463044 meters Centerline goodness : 0.232323 with order 3 Centerline is valid? [False, False] Translation: X:-23.69, Y:-1.97, Z:-3.17 [[ 9.79290334e-01 6.83380504e-03 -2.02345599e-01 -2.36935648e+01] [-6.61316696e-03 9.99976573e-01 1.76645531e-03 -1.97076007e+00] [ 2.02352930e-01 -3.91727378e-04 9.79312584e-01 -3.16666293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16463044 meters Centerline goodness : 0.302076 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79458498e-01 6.98654206e-03 -2.01524787e-01 -2.36962842e+01] [-6.74761844e-03 9.99975481e-01 1.87251672e-03 -1.97077301e+00] [ 2.01532929e-01 -4.74240042e-04 9.79481625e-01 -3.16602031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22463044 meters Centerline goodness : 0.088870 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79502365e-01 7.01040148e-03 -2.01310633e-01 -2.36968603e+01] [-6.77831722e-03 9.99975330e-01 1.84218181e-03 -1.97054659e+00] [ 2.01318581e-01 -4.39874113e-04 9.79525720e-01 -3.16598467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28463044 meters Centerline goodness : 0.095669 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79640740e-01 7.68777794e-03 -2.00611364e-01 -2.36988438e+01] [-7.41505392e-03 9.99970280e-01 2.11085028e-03 -1.96898955e+00] [ 2.00621630e-01 -5.80330850e-04 9.79668630e-01 -3.16590485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34463044 meters Centerline goodness : 0.505403 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79601695e-01 7.81842312e-03 -2.00796892e-01 -2.36979934e+01] [-7.59172473e-03 9.99969379e-01 1.89901995e-03 -1.96680830e+00] [ 2.00805591e-01 -3.35888433e-04 9.79631054e-01 -3.16627763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40463044 meters Centerline goodness : 0.475461 with order 3 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79662112e-01 7.88046176e-03 -2.00499489e-01 -2.36981641e+01] [-7.68826640e-03 9.99968936e-01 1.73722968e-03 -1.96510172e+00] [ 2.00506951e-01 -1.60404614e-04 9.79692266e-01 -3.16692110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46463044 meters Centerline goodness : 0.088968 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.96, Z:-3.17 [[ 9.79675774e-01 7.71547943e-03 -2.00439142e-01 -2.36982768e+01] [-7.56695138e-03 9.99970234e-01 1.50714486e-03 -1.96417217e+00] [ 2.00444804e-01 4.01999388e-05 9.79704996e-01 -3.16697077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52463044 meters Centerline goodness : 0.089636 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.96, Z:-3.17 [[ 9.79626547e-01 7.67554438e-03 -2.00681124e-01 -2.36973116e+01] [-7.55623400e-03 9.99970526e-01 1.36052022e-03 -1.96297523e+00] [ 2.00685652e-01 1.83591808e-04 9.79655672e-01 -3.16727056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58463044 meters Centerline goodness : 0.172641 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.96, Z:-3.17 [[ 9.79524978e-01 7.39784815e-03 -2.01186701e-01 -2.36955848e+01] [-7.26685617e-03 9.99972630e-01 1.38964723e-03 -1.96461568e+00] [ 2.01191475e-01 1.00800642e-04 9.79551928e-01 -3.16748115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64463044 meters Centerline goodness : 0.088507 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79616606e-01 5.11320541e-03 -2.00811256e-01 -2.36978692e+01] [-5.26852657e-03 9.99986093e-01 -2.39039485e-04 -1.96785861e+00] [ 2.00807241e-01 1.29214649e-03 9.79629921e-01 -3.16658001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70463044 meters Centerline goodness : 0.522554 with order 3 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79572503e-01 5.18693509e-03 -2.01024396e-01 -2.36966495e+01] [-5.35249504e-03 9.99985636e-01 -2.80047470e-04 -1.96721787e+00] [ 2.01020056e-01 1.35030889e-03 9.79586195e-01 -3.16715927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76463044 meters Centerline goodness : 0.083185 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.97, Z:-3.17 [[ 9.79677572e-01 5.35701321e-03 -2.00507252e-01 -2.36979744e+01] [-5.54310240e-03 9.99984570e-01 -3.66682756e-04 -1.96550691e+00] [ 2.00502194e-01 1.47066310e-03 9.79692149e-01 -3.16723731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82463044 meters Centerline goodness : 0.094651 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.96, Z:-3.17 [[ 9.79770855e-01 5.23130434e-03 -2.00054254e-01 -2.36990980e+01] [-5.48778484e-03 9.99984677e-01 -7.27539964e-04 -1.96347883e+00] [ 2.00047383e-01 1.81067715e-03 9.79784551e-01 -3.16739601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88463044 meters Centerline goodness : 0.095831 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.96, Z:-3.17 [[ 9.80306762e-01 -2.56942056e-03 -1.97464047e-01 -2.37205975e+01] [ 2.59443663e-03 9.99996626e-01 -1.32014524e-04 -1.96169138e+00] [ 1.97463720e-01 -3.82893226e-04 9.80310121e-01 -3.17294680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94463044 meters Centerline goodness : 0.088930 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.96, Z:-3.17 [[ 9.80563997e-01 -3.30192969e-03 -1.96171721e-01 -2.37239245e+01] [ 3.28090873e-03 9.99994524e-01 -4.32124606e-04 -1.96348765e+00] [ 1.96172074e-01 -2.19895681e-04 9.80569462e-01 -3.17291910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00463044 meters Centerline goodness : 0.421040 with order 1 Centerline is valid? [False, False] Translation: X:-23.77, Y:-1.97, Z:-3.18 [[ 9.80246505e-01 -2.93271134e-03 -1.97757903e-01 -2.37669824e+01] [ 3.03283970e-03 9.99995380e-01 2.03444296e-04 -1.96673497e+00] [ 1.97756393e-01 -7.99193580e-04 9.80250871e-01 -3.18232364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06463044000003 meters Centerline goodness : 0.089130 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.97, Z:-3.18 [[ 9.80080928e-01 -2.58716041e-03 -1.98581672e-01 -2.37641702e+01] [ 2.68435179e-03 9.99996373e-01 2.20216539e-04 -1.96501381e+00] [ 1.98580382e-01 -7.48893097e-04 9.80084318e-01 -3.18300185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12463044000003 meters Centerline goodness : 0.175581 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.96, Z:-3.18 [[ 9.80079755e-01 -2.58598514e-03 -1.98587479e-01 -2.37641046e+01] [ 2.63155211e-03 9.99996537e-01 -3.44696094e-05 -1.96298016e+00] [ 1.98586880e-01 -4.88810332e-04 9.80083166e-01 -3.18316151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18463044000003 meters Centerline goodness : 0.095694 with order 1 Centerline is valid? [False, False] Translation: X:-23.78, Y:-1.96, Z:-3.19 [[ 9.80145078e-01 4.96177754e-03 -1.98219592e-01 -2.37827329e+01] [-5.30668977e-03 9.99985189e-01 -1.20887047e-03 -1.96494907e+00] [ 1.98210658e-01 2.23675832e-03 9.80156892e-01 -3.18879513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24463044000004 meters Centerline goodness : 0.118283 with order 3 Centerline is valid? [False, False] Translation: X:-23.78, Y:-1.96, Z:-3.19 [[ 9.80103858e-01 4.79734168e-03 -1.98427352e-01 -2.37817027e+01] [-5.19528304e-03 9.99985402e-01 -1.48490265e-03 -1.96349476e+00] [ 1.98417331e-01 2.48624507e-03 9.80114473e-01 -3.18933615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30463044000004 meters Centerline goodness : 0.309614 with order 1 Centerline is valid? [False, False] Translation: X:-23.78, Y:-1.96, Z:-3.19 [[ 9.80005579e-01 4.48616881e-03 -1.98919432e-01 -2.37802253e+01] [-4.94465613e-03 9.99986140e-01 -1.80818916e-03 -1.96246625e+00] [ 1.98908563e-01 2.75562365e-03 9.80014179e-01 -3.18950638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36463044000004 meters Centerline goodness : 0.311005 with order 1 Centerline is valid? [False, False] Translation: X:-23.80, Y:-1.96, Z:-3.20 [[ 9.80236286e-01 -2.67422105e-03 -1.97812215e-01 -2.37980906e+01] [ 2.59328703e-03 9.99996414e-01 -6.68196411e-04 -1.95841536e+00] [ 1.97813292e-01 1.42006516e-04 9.80239706e-01 -3.19539819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42463044000004 meters Centerline goodness : 0.442373 with order 3 Centerline is valid? [False, False] Translation: X:-23.82, Y:-1.96, Z:-3.20 [[ 9.80312824e-01 4.34184072e-03 -1.97402925e-01 -2.38170020e+01] [-4.84962706e-03 9.99986059e-01 -2.08898329e-03 -1.96293855e+00] [ 1.97391102e-01 3.00518768e-03 9.80320214e-01 -3.20045547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48463044 meters Centerline goodness : 0.165169 with order 1 Centerline is valid? [False, False] Translation: X:-23.82, Y:-1.96, Z:-3.20 [[ 9.80461668e-01 4.17031904e-03 -1.96666027e-01 -2.38191990e+01] [-4.73321764e-03 9.99985937e-01 -2.39226913e-03 -1.96133265e+00] [ 1.96653284e-01 3.27639129e-03 9.80467619e-01 -3.20013837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54463044 meters Centerline goodness : 0.371279 with order 1 Centerline is valid? [False, False] Translation: X:-23.82, Y:-1.96, Z:-3.20 [[ 9.80478885e-01 3.98741333e-03 -1.96583970e-01 -2.38189474e+01] [-4.57105568e-03 9.99986389e-01 -2.51528399e-03 -1.96155570e+00] [ 1.96571265e-01 3.36477911e-03 9.80483766e-01 -3.20057997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60463044 meters Centerline goodness : 0.181775 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.96, Z:-3.21 [[ 9.80517172e-01 -4.07618179e-03 -1.96391092e-01 -2.38390796e+01] [ 3.86545072e-03 9.99991469e-01 -1.45630947e-03 -1.96215605e+00] [ 1.96395352e-01 6.68796360e-04 9.80524563e-01 -3.20565058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66463044 meters Centerline goodness : 0.092613 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.97, Z:-3.21 [[ 9.80634702e-01 -4.14549896e-03 -1.95801929e-01 -2.38403207e+01] [ 3.98957297e-03 9.99991333e-01 -1.19074071e-03 -1.96500397e+00] [ 1.95805169e-01 3.86515580e-04 9.80642742e-01 -3.20585184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72463044 meters Centerline goodness : 0.096291 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.97, Z:-3.21 [[ 9.80663416e-01 -4.21279786e-03 -1.95656630e-01 -2.38405045e+01] [ 4.11858902e-03 9.99991124e-01 -8.88346523e-04 -1.96845007e+00] [ 1.95658636e-01 6.53396869e-05 9.80672062e-01 -3.20598540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78463044 meters Centerline goodness : 0.309224 with order 2 Centerline is valid? [False, False] Translation: X:-23.85, Y:-1.98, Z:-3.21 [[ 9.80469600e-01 2.12004864e-03 -1.96659271e-01 -2.38532667e+01] [-2.60094373e-03 9.99994226e-01 -2.18708154e-03 -1.98091546e+00] [ 1.96653499e-01 2.65586667e-03 9.80469453e-01 -3.21264910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84463044 meters Centerline goodness : 0.308755 with order 2 Centerline is valid? [False, False] Translation: X:-23.85, Y:-1.98, Z:-3.21 [[ 9.80369161e-01 2.31093891e-03 -1.97157215e-01 -2.38513660e+01] [-2.74878887e-03 9.99994326e-01 -1.94718737e-03 -1.98325864e+00] [ 1.97151596e-01 2.45090601e-03 9.80369951e-01 -3.21321750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90463044 meters Centerline goodness : 0.306771 with order 2 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.99, Z:-3.22 [[ 9.80152093e-01 1.07859590e-02 -1.97953372e-01 -2.38688570e+01] [-1.14925937e-02 9.99931027e-01 -2.42114934e-03 -1.98755684e+00] [ 1.97913604e-01 4.64809225e-03 9.80208448e-01 -3.21870309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96463044 meters Centerline goodness : 0.095702 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.99, Z:-3.22 [[ 9.80123315e-01 1.08855208e-02 -1.98090363e-01 -2.38684767e+01] [-1.16293599e-02 9.99929017e-01 -2.59204247e-03 -1.98619313e+00] [ 1.98048086e-01 4.84418538e-03 9.80180335e-01 -3.21879355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02463044 meters Centerline goodness : 0.096266 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.98, Z:-3.22 [[ 9.80101120e-01 1.12316832e-02 -1.98180837e-01 -2.38685329e+01] [-1.20056804e-02 9.99924272e-01 -2.70433899e-03 -1.98395339e+00] [ 1.98135455e-01 5.02982146e-03 9.80161743e-01 -3.21862285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08463044 meters Centerline goodness : 0.116560 with order 3 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.98, Z:-3.22 [[ 9.80085601e-01 1.11177921e-02 -1.98263988e-01 -2.38682448e+01] [-1.19685071e-02 9.99923591e-01 -3.09294136e-03 -1.98169997e+00] [ 1.98214452e-01 5.40427125e-03 9.80143778e-01 -3.21874078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14463044 meters Centerline goodness : 0.094779 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.98, Z:-3.22 [[ 9.80010791e-01 1.48801507e-02 -1.98387072e-01 -2.38679781e+01] [-1.52969347e-02 9.99882834e-01 -5.68352534e-04 -1.97608507e+00] [ 1.98355370e-01 3.59170569e-03 9.80123587e-01 -3.21865651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20463044 meters Centerline goodness : 0.094362 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.97, Z:-3.22 [[ 9.80233272e-01 8.46181952e-03 -1.97664184e-01 -2.38867113e+01] [-8.58746673e-03 9.99963102e-01 2.21520572e-04 -1.96608953e+00] [ 1.97658765e-01 1.48029277e-03 9.80269770e-01 -3.22386477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26463044 meters Centerline goodness : 0.113508 with order 3 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.95, Z:-3.23 [[ 9.80961110e-01 3.16820328e-03 -1.94178431e-01 -2.39075837e+01] [-2.97457014e-03 9.99994746e-01 1.28875800e-03 -1.95439243e+00] [ 1.94181493e-01 -6.86624120e-04 9.80965380e-01 -3.22957960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32463044 meters Centerline goodness : 0.129742 with order 3 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.95, Z:-3.23 [[ 9.81024245e-01 2.81852096e-03 -1.93864609e-01 -2.39089872e+01] [-2.74144855e-03 9.99996021e-01 6.65837094e-04 -1.95059209e+00] [ 1.93865715e-01 -1.21732480e-04 9.81028068e-01 -3.22899626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38463044 meters Centerline goodness : 0.110947 with order 3 Centerline is valid? [False, False] Translation: X:-23.95, Y:-1.95, Z:-3.24 [[ 9.80614892e-01 1.33709323e-03 -1.95940416e-01 -2.39525593e+01] [-1.45232646e-03 9.99998847e-01 -4.44427290e-04 -1.95036334e+00] [ 1.95939596e-01 7.20381470e-04 9.80615702e-01 -3.23684198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44463044 meters Centerline goodness : 0.118298 with order 3 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.94, Z:-3.23 [[ 9.80422096e-01 -6.28637773e-03 -1.96806998e-01 -2.39323428e+01] [ 6.47216375e-03 9.99979010e-01 3.00835720e-04 -1.94171474e+00] [ 1.96800976e-01 -1.56871310e-03 9.80442204e-01 -3.23220501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50463044 meters Centerline goodness : 0.091414 with order 1 Centerline is valid? [False, False] Translation: X:-23.95, Y:-1.94, Z:-3.24 [[ 9.80216286e-01 -2.48452887e-03 -1.97913769e-01 -2.39511601e+01] [ 1.78279151e-03 9.99991478e-01 -3.72377536e-03 -1.94449622e+00] [ 1.97921334e-01 3.29726626e-03 9.80212361e-01 -3.23622937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56463044000003 meters Centerline goodness : 0.116233 with order 3 Centerline is valid? [False, False] Translation: X:-23.95, Y:-1.94, Z:-3.24 [[ 9.80205549e-01 -2.47762093e-03 -1.97967023e-01 -2.39510920e+01] [ 1.75517372e-03 9.99991145e-01 -3.82471771e-03 -1.94299029e+00] [ 1.97974746e-01 3.40154300e-03 9.80201219e-01 -3.23610411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62463044000003 meters Centerline goodness : 0.112468 with order 3 Centerline is valid? [False, False] Translation: X:-23.95, Y:-1.94, Z:-3.24 [[ 9.80166482e-01 -2.73722856e-03 -1.98156946e-01 -2.39505475e+01] [ 1.92828151e-03 9.99989002e-01 -4.27520494e-03 -1.94099184e+00] [ 1.98166469e-01 3.80831021e-03 9.80160980e-01 -3.23616132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68463044000003 meters Centerline goodness : 0.151539 with order 3 Centerline is valid? [False, False] Translation: X:-23.97, Y:-1.94, Z:-3.24 [[ 9.80100797e-01 4.76367395e-03 -1.98443282e-01 -2.39687571e+01] [-5.98582456e-03 9.99966632e-01 -5.55925308e-03 -1.94430011e+00] [ 1.98410177e-01 6.63647504e-03 9.80096607e-01 -3.24099673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74463044000004 meters Centerline goodness : 0.144618 with order 3 Centerline is valid? [False, False] Translation: X:-23.97, Y:-1.94, Z:-3.24 [[ 9.80119894e-01 7.33440979e-04 -1.98404778e-01 -2.39688670e+01] [-2.55619840e-03 9.99956850e-01 -8.93109328e-03 -1.94443862e+00] [ 1.98389666e-01 9.26070417e-03 9.80079476e-01 -3.24100890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80463044000004 meters Centerline goodness : 0.093517 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.95, Z:-3.25 [[ 9.79808522e-01 -7.14435667e-03 -1.99810458e-01 -2.39890712e+01] [ 5.74058757e-03 9.99954612e-01 -7.60398530e-03 -1.94588353e+00] [ 1.99855714e-01 6.30342017e-03 9.79805062e-01 -3.24521483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86463044000004 meters Centerline goodness : 0.090035 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.95, Z:-3.25 [[ 9.79778523e-01 -7.28803715e-03 -1.99952320e-01 -2.39886512e+01] [ 5.95690027e-03 9.99955917e-01 -7.25809494e-03 -1.94972804e+00] [ 1.99996402e-01 5.92022952e-03 9.79778745e-01 -3.24501016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92463044000004 meters Centerline goodness : 0.114650 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.95, Z:-3.24 [[ 9.79787940e-01 -7.09348220e-03 -1.99913169e-01 -2.39890144e+01] [ 5.84380723e-03 9.99959528e-01 -6.84048618e-03 -1.95251897e+00] [ 1.99953601e-01 5.53397185e-03 9.79789739e-01 -3.24466267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98463044 meters Centerline goodness : 0.279917 with order 2 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.96, Z:-3.24 [[ 9.79716191e-01 -6.94960443e-03 -2.00269539e-01 -2.39883253e+01] [ 5.77259122e-03 9.99962469e-01 -6.46050582e-03 -1.95520608e+00] [ 2.00306920e-01 5.17338797e-03 9.79719538e-01 -3.24428812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04463044 meters Centerline goodness : 0.092734 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.96, Z:-3.24 [[ 9.79615221e-01 -7.09773957e-03 -2.00757667e-01 -2.39868474e+01] [ 5.96005504e-03 9.99962577e-01 -6.27081062e-03 -1.95861171e+00] [ 2.00794662e-01 4.94645479e-03 9.79620863e-01 -3.24430920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10463044 meters Centerline goodness : 0.092476 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.96, Z:-3.24 [[ 9.79566686e-01 -6.80245624e-03 -2.01004560e-01 -2.39863015e+01] [ 5.80471360e-03 9.99967735e-01 -5.55277297e-03 -1.96375100e+00] [ 2.01035848e-01 4.27253752e-03 9.79574568e-01 -3.24401284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16463044 meters Centerline goodness : 0.172363 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.97, Z:-3.24 [[ 9.79516231e-01 -6.70569306e-03 -2.01253539e-01 -2.39856717e+01] [ 5.74966621e-03 9.99969242e-01 -5.33454187e-03 -1.96556119e+00] [ 2.01283121e-01 4.06812968e-03 9.79524658e-01 -3.24394065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22463044 meters Centerline goodness : 0.091005 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.97, Z:-3.25 [[ 9.79208860e-01 1.48045767e-03 -2.02849247e-01 -2.40030230e+01] [-2.80084353e-03 9.99976719e-01 -6.22229373e-03 -1.96984591e+00] [ 2.02835312e-01 6.66107415e-03 9.79190209e-01 -3.24881300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28463044 meters Centerline goodness : 0.117077 with order 3 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.97, Z:-3.25 [[ 9.79119660e-01 1.86886192e-03 -2.03276164e-01 -2.40018836e+01] [-3.23967714e-03 9.99974201e-01 -6.41107078e-03 -1.96656484e+00] [ 2.03258938e-01 6.93575458e-03 9.79100454e-01 -3.24892700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34463044 meters Centerline goodness : 0.111603 with order 3 Centerline is valid? [False, False] Translation: X:-24.05, Y:-1.97, Z:-3.26 [[ 9.79209138e-01 3.95602904e-03 -2.02814729e-01 -2.40483925e+01] [-5.17921846e-03 9.99971459e-01 -5.50069473e-03 -1.96570371e+00] [ 2.02787179e-01 6.43675233e-03 9.79201679e-01 -3.25711107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40463044 meters Centerline goodness : 0.095689 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-1.96, Z:-3.26 [[ 9.79314927e-01 3.94730676e-03 -2.02303466e-01 -2.40504376e+01] [-5.26365371e-03 9.99968331e-01 -5.96921506e-03 -1.96123242e+00] [ 2.02273497e-01 6.91059680e-03 9.79304690e-01 -3.25649756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46463044 meters Centerline goodness : 0.094900 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-1.96, Z:-3.26 [[ 9.79189224e-01 3.69362645e-03 -2.02915796e-01 -2.40485483e+01] [-5.11278132e-03 9.99965998e-01 -6.47007054e-03 -1.95833102e+00] [ 2.02884998e-01 7.37288745e-03 9.79174815e-01 -3.25670547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52463044 meters Centerline goodness : 0.171126 with order 2 Centerline is valid? [False, False] Translation: X:-24.05, Y:-1.96, Z:-3.26 [[ 9.79179346e-01 3.56093384e-03 -2.02965830e-01 -2.40487129e+01] [-5.05269003e-03 9.99963896e-01 -6.83210788e-03 -1.95537284e+00] [ 2.02934174e-01 7.71538235e-03 9.79161986e-01 -3.25638608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58463044 meters Centerline goodness : 0.110477 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-1.96, Z:-3.26 [[ 9.78851917e-01 2.63625425e-03 -2.04553110e-01 -2.40919499e+01] [-4.23931429e-03 9.99963640e-01 -7.39906874e-03 -1.95785659e+00] [ 2.04526167e-01 8.10975754e-03 9.78827502e-01 -3.26473211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64463044 meters Centerline goodness : 0.093514 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-1.96, Z:-3.26 [[ 9.78865397e-01 -1.21292064e-03 -2.04501988e-01 -2.40924983e+01] [-9.06535043e-04 9.99946851e-01 -1.02699831e-02 -1.96032249e+00] [ 2.04503576e-01 1.02383193e-02 9.78812272e-01 -3.26421622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70463044 meters Centerline goodness : 0.092562 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-1.96, Z:-3.26 [[ 9.78879731e-01 -1.35141937e-03 -2.04432500e-01 -2.40927686e+01] [-7.12422536e-04 9.99949529e-01 -1.00215335e-02 -1.96315748e+00] [ 2.04435725e-01 9.95551834e-03 9.78829363e-01 -3.26398298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76463044 meters Centerline goodness : 0.261375 with order 2 Centerline is valid? [False, False] Translation: X:-24.09, Y:-1.97, Z:-3.26 [[ 9.78762753e-01 -1.48643302e-03 -2.04990886e-01 -2.40909529e+01] [-5.40230950e-04 9.99951536e-01 -9.83028539e-03 -1.96627618e+00] [ 2.04995563e-01 9.73225962e-03 9.78714515e-01 -3.26412771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82463044 meters Centerline goodness : 0.173680 with order 3 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.98, Z:-3.27 [[ 9.78993108e-01 5.60171584e-03 -2.03816375e-01 -2.41095270e+01] [-7.86341473e-03 9.99916152e-01 -1.02885879e-02 -1.97657427e+00] [ 2.03741652e-01 1.16751493e-02 9.78955071e-01 -3.26900412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88463044 meters Centerline goodness : 0.246714 with order 2 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.98, Z:-3.27 [[ 9.79017438e-01 5.61177600e-03 -2.03699199e-01 -2.41099480e+01] [-7.85889594e-03 9.99916847e-01 -1.02243249e-02 -1.97780226e+00] [ 2.03624885e-01 1.16106432e-02 9.78980132e-01 -3.26887184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94463044 meters Centerline goodness : 0.162248 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.98, Z:-3.27 [[ 9.78355838e-01 -9.48064744e-04 -2.06927416e-01 -2.41267302e+01] [-8.69629850e-04 9.99961836e-01 -8.69307718e-03 -1.97730810e+00] [ 2.06927761e-01 8.68487307e-03 9.78317676e-01 -3.27346767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00463044 meters Centerline goodness : 0.095669 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.98, Z:-3.27 [[ 9.78342540e-01 -7.49586743e-04 -2.06991092e-01 -2.41267928e+01] [-1.03600232e-03 9.99963186e-01 -8.51787521e-03 -1.97786501e+00] [ 2.06989856e-01 8.54784292e-03 9.78305747e-01 -3.27325200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06463044000003 meters Centerline goodness : 0.095112 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.98, Z:-3.27 [[ 9.78461979e-01 -5.89612959e-04 -2.06426277e-01 -2.41285831e+01] [-1.18629200e-03 9.99963347e-01 -8.47921590e-03 -1.97748784e+00] [ 2.06423710e-01 8.54147221e-03 9.78425416e-01 -3.27296556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12463044000003 meters Centerline goodness : 0.113336 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.98, Z:-3.27 [[ 9.78432658e-01 -5.45444977e-04 -2.06565330e-01 -2.41278533e+01] [-1.26001869e-03 9.99962150e-01 -8.60874263e-03 -1.97612012e+00] [ 2.06562208e-01 8.68335111e-03 9.78394938e-01 -3.27331760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18463044000003 meters Centerline goodness : 0.115964 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.98, Z:-3.28 [[ 9.77937935e-01 -4.12199467e-05 -2.08895654e-01 -2.41713390e+01] [-1.76557912e-03 9.99962631e-01 -8.46281469e-03 -1.97679577e+00] [ 2.08888196e-01 8.64492933e-03 9.77901317e-01 -3.28168734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24463044000004 meters Centerline goodness : 0.182252 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.97, Z:-3.28 [[ 9.77846304e-01 -6.39550003e-05 -2.09324155e-01 -2.41706921e+01] [-1.85373484e-03 9.99958094e-01 -8.96513871e-03 -1.97229693e+00] [ 2.09315956e-01 9.15455923e-03 9.77805208e-01 -3.28119664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30463044000004 meters Centerline goodness : 0.101630 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.97, Z:-3.28 [[ 9.77925620e-01 -3.01883632e-04 -2.08953081e-01 -2.41719970e+01] [-1.71546412e-03 9.99953656e-01 -9.47325564e-03 -1.96906026e+00] [ 2.08946258e-01 9.62259091e-03 9.77879782e-01 -3.28093332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36463044000004 meters Centerline goodness : 0.240015 with order 2 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.96, Z:-3.28 [[ 9.77954043e-01 -5.66342867e-04 -2.08819466e-01 -2.41730092e+01] [-1.56900839e-03 9.99948166e-01 -1.00600373e-02 -1.96469225e+00] [ 2.08814339e-01 1.01658936e-02 9.77902463e-01 -3.28030214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42463044000004 meters Centerline goodness : 0.092278 with order 1 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.97, Z:-3.29 [[ 9.77449478e-01 -1.51257089e-03 -2.11163990e-01 -2.42153646e+01] [-8.04459963e-04 9.99940419e-01 -1.08863246e-02 -1.96517729e+00] [ 2.11167875e-01 1.08107053e-02 9.77390023e-01 -3.28907719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48463044 meters Centerline goodness : 0.254147 with order 2 Centerline is valid? [False, False] Translation: X:-24.20, Y:-1.96, Z:-3.28 [[ 9.77583876e-01 -9.70633854e-03 -2.10322496e-01 -2.41970119e+01] [ 7.70691491e-03 9.99917005e-01 -1.03240369e-02 -1.95911742e+00] [ 2.10405249e-01 8.47167446e-03 9.77577548e-01 -3.28336861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54463044 meters Centerline goodness : 0.105570 with order 1 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.96, Z:-3.29 [[ 9.77008634e-01 -1.11973621e-02 -2.12905491e-01 -2.42389299e+01] [ 9.01606422e-03 9.99896478e-01 -1.12135688e-02 -1.96323423e+00] [ 2.13009013e-01 9.03618397e-03 9.77008448e-01 -3.29227544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60463044 meters Centerline goodness : 0.285608 with order 1 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.97, Z:-3.29 [[ 9.76929279e-01 -1.16545267e-02 -2.13244828e-01 -2.42381917e+01] [ 9.46999115e-03 9.99891727e-01 -1.12628906e-02 -1.96591380e+00] [ 2.13353003e-01 8.98362093e-03 9.76933872e-01 -3.29192281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66463044 meters Centerline goodness : 0.296216 with order 1 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.97, Z:-3.29 [[ 9.76985779e-01 -1.40325949e-02 -2.12842371e-01 -2.42404731e+01] [ 1.16275543e-02 9.99853673e-01 -1.25472492e-02 -1.97224984e+00] [ 2.12987297e-01 9.78364784e-03 9.77005983e-01 -3.29080625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72463044 meters Centerline goodness : 0.371781 with order 1 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.98, Z:-3.29 [[ 9.76994483e-01 -1.39956961e-02 -2.12804842e-01 -2.42400928e+01] [ 1.16852613e-02 9.99858379e-01 -1.21109943e-02 -1.97654711e+00] [ 2.12944206e-01 9.34569441e-03 9.77019664e-01 -3.29112044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78463044 meters Centerline goodness : 0.298321 with order 1 Centerline is valid? [False, False] Translation: X:-24.26, Y:-1.99, Z:-3.30 [[ 9.77472083e-01 -8.18215859e-03 -2.10906092e-01 -2.42592005e+01] [ 5.55549419e-03 9.99899494e-01 -1.30436998e-02 -1.99013980e+00] [ 2.10991620e-01 1.15781649e-02 9.77419297e-01 -3.29641587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84463044 meters Centerline goodness : 0.092020 with order 1 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.00, Z:-3.30 [[ 9.78162240e-01 -3.40110996e-03 -2.07814979e-01 -2.42734838e+01] [ 6.19455582e-04 9.99909368e-01 -1.34488556e-02 -2.00118729e+00] [ 2.07841886e-01 1.30264306e-02 9.78075694e-01 -3.30153211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90463044 meters Centerline goodness : 0.089645 with order 1 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.01, Z:-3.30 [[ 9.78169603e-01 -3.08220610e-03 -2.07785292e-01 -2.42735794e+01] [ 4.24334289e-04 9.99917541e-01 -1.28347922e-02 -2.00723866e+00] [ 2.07807717e-01 1.24664331e-02 9.78090252e-01 -3.30142238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96463044 meters Centerline goodness : 0.097999 with order 1 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.01, Z:-3.30 [[ 9.78202409e-01 -2.75348089e-03 -2.07635416e-01 -2.42739657e+01] [ 1.74646497e-04 9.99922638e-01 -1.24373207e-02 -2.00932768e+00] [ 2.07653599e-01 1.21299543e-02 9.78127214e-01 -3.30141585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02463044 meters Centerline goodness : 0.237255 with order 2 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.01, Z:-3.30 [[ 9.78213259e-01 -2.34861632e-03 -2.07589266e-01 -2.42741349e+01] [-1.65546137e-04 9.99926863e-01 -1.20930336e-02 -2.01035945e+00] [ 2.07602485e-01 1.18639315e-02 9.78141327e-01 -3.30137756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08463044 meters Centerline goodness : 0.295686 with order 3 Centerline is valid? [False, False] Translation: X:-24.29, Y:-2.01, Z:-3.31 [[ 9.77995472e-01 6.59060573e-03 -2.08521992e-01 -2.42924720e+01] [-9.39945477e-03 9.99877914e-01 -1.24822473e-02 -2.01335150e+00] [ 2.08414269e-01 1.41675744e-02 9.77938021e-01 -3.30684732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14463044 meters Centerline goodness : 0.278513 with order 1 Centerline is valid? [False, False] Translation: X:-24.29, Y:-2.01, Z:-3.31 [[ 9.77906566e-01 6.70572783e-03 -2.08934874e-01 -2.42912331e+01] [-9.58204067e-03 9.99872708e-01 -1.27574023e-02 -2.01090141e+00] [ 2.08822731e-01 1.44775699e-02 9.77846341e-01 -3.30702425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20463044 meters Centerline goodness : 0.093121 with order 1 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.01, Z:-3.31 [[ 9.78202252e-01 -1.46840978e-04 -2.07654356e-01 -2.43090806e+01] [-2.34338398e-03 9.99928266e-01 -1.17461245e-02 -2.00564742e+00] [ 2.07641185e-01 1.19766994e-02 9.78131738e-01 -3.31270605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26463044 meters Centerline goodness : 0.259528 with order 1 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.00, Z:-3.31 [[ 9.78259483e-01 -1.51914580e-04 -2.07384574e-01 -2.43103687e+01] [-2.36433561e-03 9.99926572e-01 -1.18853447e-02 -2.00422767e+00] [ 2.07371152e-01 1.21172779e-02 9.78187291e-01 -3.31220740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32463044 meters Centerline goodness : 0.229335 with order 3 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.00, Z:-3.31 [[ 9.78260022e-01 -5.23660517e-04 -2.07381426e-01 -2.43105705e+01] [-2.01355625e-03 9.99925691e-01 -1.20232715e-02 -2.00495431e+00] [ 2.07372311e-01 1.21794600e-02 9.78186273e-01 -3.31191935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38463044 meters Centerline goodness : 0.088761 with order 1 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.01, Z:-3.31 [[ 9.78192767e-01 -8.04939810e-04 -2.07697527e-01 -2.43099913e+01] [-1.73568876e-03 9.99925892e-01 -1.20498226e-02 -2.00615207e+00] [ 2.07691834e-01 1.21475476e-02 9.78118878e-01 -3.31155404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44463044 meters Centerline goodness : 0.227504 with order 3 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.01, Z:-3.31 [[ 9.78213521e-01 -9.30397546e-04 -2.07599234e-01 -2.43105539e+01] [-1.56016563e-03 9.99928771e-01 -1.18329260e-02 -2.00863621e+00] [ 2.07595457e-01 1.18990174e-02 9.78142392e-01 -3.31121254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50463044 meters Centerline goodness : 0.163616 with order 3 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.02, Z:-3.32 [[ 9.78232552e-01 -3.47526922e-03 -2.07482522e-01 -2.43542605e+01] [ 8.89864466e-04 9.99920814e-01 -1.25528628e-02 -2.01724021e+00] [ 2.07509717e-01 1.20949877e-02 9.78158182e-01 -3.32007029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56463044000003 meters Centerline goodness : 0.471665 with order 2 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.02, Z:-3.32 [[ 9.78567320e-01 -1.26236466e-02 -2.05539882e-01 -2.43358892e+01] [ 1.04294273e-02 9.99876512e-01 -1.17553387e-02 -2.02486129e+00] [ 2.05662895e-01 9.35972706e-03 9.78578136e-01 -3.31534967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62463044000003 meters Centerline goodness : 0.180042 with order 3 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.04, Z:-3.32 [[ 9.79133905e-01 -8.87916631e-03 -2.03022057e-01 -2.43535108e+01] [ 6.21684076e-03 9.99886173e-01 -1.37474523e-02 -2.03967757e+00] [ 2.03121014e-01 1.21984408e-02 9.79077654e-01 -3.32117213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68463044000003 meters Centerline goodness : 0.445783 with order 1 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.05, Z:-3.32 [[ 9.79084583e-01 -1.01921955e-02 -2.03198173e-01 -2.43526659e+01] [ 7.55493073e-03 9.99876919e-01 -1.37502457e-02 -2.05350245e+00] [ 2.03313308e-01 1.19275054e-02 9.79041078e-01 -3.32133246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74463044000004 meters Centerline goodness : 0.091014 with order 1 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.06, Z:-3.32 [[ 9.79088769e-01 -9.41181306e-03 -2.03215650e-01 -2.43523286e+01] [ 6.98303211e-03 9.99895406e-01 -1.26654632e-02 -2.05923902e+00] [ 2.03313600e-01 1.09815513e-02 9.79052085e-01 -3.32149387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80463044000004 meters Centerline goodness : 0.090297 with order 1 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.06, Z:-3.32 [[ 9.79080550e-01 -8.78107681e-03 -2.03283470e-01 -2.43516182e+01] [ 6.51049454e-03 9.99908762e-01 -1.18355765e-02 -2.06345638e+00] [ 2.03368852e-01 1.02645068e-02 9.79048390e-01 -3.32198502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86463044000004 meters Centerline goodness : 0.102312 with order 1 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.08, Z:-3.33 [[ 9.79495537e-01 -1.52043381e-03 -2.01460124e-01 -2.43703985e+01] [-8.24108872e-04 9.99932918e-01 -1.15533671e-02 -2.07866118e+00] [ 2.01464176e-01 1.14824966e-02 9.79428577e-01 -3.32777058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92463044000004 meters Centerline goodness : 0.102753 with order 1 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.09, Z:-3.33 [[ 9.79442220e-01 -2.75330163e-03 -2.01706116e-01 -2.43689936e+01] [ 3.83384574e-04 9.99930452e-01 -1.17874815e-02 -2.08897741e+00] [ 2.01724542e-01 1.14678260e-02 9.79375157e-01 -3.32833166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98463044 meters Centerline goodness : 0.172328 with order 3 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.09, Z:-3.33 [[ 9.79389620e-01 -2.31315050e-03 -2.01966881e-01 -2.43672822e+01] [ 1.04756009e-04 9.99940102e-01 -1.09444429e-02 -2.09477892e+00] [ 2.01980100e-01 1.06977165e-02 9.79331199e-01 -3.32921875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04463044 meters Centerline goodness : 0.102761 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.11, Z:-3.34 [[ 9.79657965e-01 3.88801201e-03 -2.00636875e-01 -2.43831687e+01] [-6.43578581e-03 9.99906712e-01 -1.20477331e-02 -2.10518849e+00] [ 2.00571317e-01 1.30939136e-02 9.79591597e-01 -3.33598668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10463044 meters Centerline goodness : 0.085080 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.11, Z:-3.34 [[ 9.79686713e-01 4.49396216e-03 -2.00483789e-01 -2.43831132e+01] [-6.87489106e-03 9.99913854e-01 -1.11812752e-02 -2.11018289e+00] [ 2.00416270e-01 1.23324509e-02 9.79633212e-01 -3.33646837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16463044 meters Centerline goodness : 0.098989 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.12, Z:-3.34 [[ 9.79680110e-01 4.35018995e-03 -2.00519219e-01 -2.43826678e+01] [-6.66145536e-03 9.99918914e-01 -1.08531148e-02 -2.11724279e+00] [ 2.00455747e-01 1.19683305e-02 9.79629651e-01 -3.33678641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22463044 meters Centerline goodness : 0.105529 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.13, Z:-3.34 [[ 9.79637210e-01 2.04225456e-03 -2.00765448e-01 -2.43795891e+01] [-4.54332092e-03 9.99917704e-01 -1.19976808e-02 -2.12600772e+00] [ 2.00724423e-01 1.26655164e-02 9.79565868e-01 -3.33868441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28463044 meters Centerline goodness : 0.109096 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.13, Z:-3.34 [[ 9.79541071e-01 1.44170096e-04 -2.01244304e-01 -2.43768970e+01] [-2.81740431e-03 9.99911564e-01 -1.29971673e-02 -2.13319961e+00] [ 2.01224633e-01 1.32982457e-02 9.79454850e-01 -3.33976040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34463044 meters Centerline goodness : 0.168522 with order 3 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.14, Z:-3.34 [[ 9.79400339e-01 -3.51824747e-04 -2.01927841e-01 -2.43750068e+01] [-2.28433233e-03 9.99915189e-01 -1.28217622e-02 -2.14118148e+00] [ 2.01915226e-01 1.30189085e-02 9.79316471e-01 -3.33975148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40463044 meters Centerline goodness : 0.085821 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.15, Z:-3.34 [[ 9.79500630e-01 -1.00302830e-03 -2.01438600e-01 -2.43762398e+01] [-1.52638529e-03 9.99921939e-01 -1.24010262e-02 -2.15245000e+00] [ 2.01435314e-01 1.24542859e-02 9.79422639e-01 -3.33975572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46463044 meters Centerline goodness : 0.130193 with order 3 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.16, Z:-3.34 [[ 9.79721986e-01 -2.50203896e-03 -2.00346124e-01 -2.43786353e+01] [-8.25940344e-05 9.99916899e-01 -1.28914409e-02 -2.16112462e+00] [ 2.00361730e-01 1.26465755e-02 9.79640363e-01 -3.34008377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52463044 meters Centerline goodness : 0.085584 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.17, Z:-3.34 [[ 9.79641016e-01 -3.56580164e-03 -2.00725597e-01 -2.43771682e+01] [ 1.00570405e-03 9.99916869e-01 -1.28547445e-02 -2.17203438e+00] [ 2.00754748e-01 1.23911644e-02 9.79563163e-01 -3.34038214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58463044 meters Centerline goodness : 0.114597 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.18, Z:-3.34 [[ 9.79566771e-01 -3.08497554e-03 -2.01095558e-01 -2.43761727e+01] [ 6.81872544e-04 9.99927546e-01 -1.20182284e-02 -2.17747108e+00] [ 2.01118064e-01 1.16355356e-02 9.79497901e-01 -3.34033460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64463044 meters Centerline goodness : 0.088526 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.18, Z:-3.34 [[ 9.79603454e-01 -2.79755465e-03 -2.00920996e-01 -2.43768594e+01] [ 5.00928943e-04 9.99933972e-01 -1.14804240e-02 -2.18170220e+00] [ 2.00939846e-01 1.11456158e-02 9.79540174e-01 -3.34006287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70463044 meters Centerline goodness : 0.098525 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.19, Z:-3.35 [[ 9.80154663e-01 3.63092071e-03 -1.98201040e-01 -2.43957848e+01] [-5.97578512e-03 9.99919042e-01 -1.12338810e-02 -2.19423910e+00] [ 1.98144204e-01 1.21953477e-02 9.80097009e-01 -3.34549112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76463044 meters Centerline goodness : 0.098411 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.20, Z:-3.35 [[ 9.80176721e-01 3.44892209e-03 -1.98095180e-01 -2.43958634e+01] [-5.72441815e-03 9.99924040e-01 -1.09153655e-02 -2.20094346e+00] [ 1.98042486e-01 1.18329668e-02 9.80122010e-01 -3.34564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82463044 meters Centerline goodness : 0.133145 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.21, Z:-3.35 [[ 9.80143555e-01 -5.96897559e-04 -1.98288313e-01 -2.43947480e+01] [-2.08801895e-03 9.99908957e-01 -1.33311010e-02 -2.21206913e+00] [ 1.98278218e-01 1.34804225e-02 9.80053073e-01 -3.34614228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88463044 meters Centerline goodness : 0.097535 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.22, Z:-3.35 [[ 9.79893883e-01 -2.95732814e-03 -1.99497450e-01 -2.43896996e+01] [ 1.46099154e-05 9.99891205e-01 -1.47505155e-02 -2.21882153e+00] [ 1.99519368e-01 1.44510253e-02 9.79787319e-01 -3.34741968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94463044 meters Centerline goodness : 0.295626 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.22, Z:-3.35 [[ 9.79833416e-01 -2.66705450e-03 -1.99798309e-01 -2.43880468e+01] [-1.57066633e-04 9.99900328e-01 -1.41176761e-02 -2.22346830e+00] [ 1.99816047e-01 1.38643525e-02 9.79735335e-01 -3.34816702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00463044 meters Centerline goodness : 0.097213 with order 2 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.23, Z:-3.35 [[ 9.79923813e-01 -1.93728715e-03 -1.99362907e-01 -2.43890221e+01] [-7.03601094e-04 9.99912959e-01 -1.31749383e-02 -2.22734802e+00] [ 1.99371078e-01 1.30507077e-02 9.79837156e-01 -3.34826695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06463044000003 meters Centerline goodness : 0.098279 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.23, Z:-3.35 [[ 9.79916756e-01 -1.86943107e-03 -1.99398238e-01 -2.43889280e+01] [-7.41269915e-04 9.99914995e-01 -1.30174418e-02 -2.22862139e+00] [ 1.99405623e-01 1.29038173e-02 9.79832072e-01 -3.34826930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12463044000003 meters Centerline goodness : 0.098165 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.23, Z:-3.35 [[ 9.79764000e-01 -1.90050068e-03 -2.00147179e-01 -2.43865840e+01] [-6.43334233e-04 9.99919854e-01 -1.26440157e-02 -2.23300627e+00] [ 2.00155168e-01 1.25169130e-02 9.79684253e-01 -3.34848956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18463044000003 meters Centerline goodness : 0.083656 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.24, Z:-3.35 [[ 9.79743278e-01 -1.75293625e-03 -2.00249936e-01 -2.43864688e+01] [-6.79534062e-04 9.99926830e-01 -1.20777912e-02 -2.23706362e+00] [ 2.00256456e-01 1.19692114e-02 9.79670399e-01 -3.34828489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24463044000004 meters Centerline goodness : 0.107950 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.25, Z:-3.35 [[ 9.79928280e-01 -3.97533480e-03 -1.99310719e-01 -2.43903097e+01] [ 1.38518231e-03 9.99912795e-01 -1.31333067e-02 -2.24514269e+00] [ 1.99345547e-01 1.25936170e-02 9.79848332e-01 -3.34716220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30463044000004 meters Centerline goodness : 0.084883 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.25, Z:-3.35 [[ 9.79851370e-01 -3.91597140e-03 -1.99689652e-01 -2.43895395e+01] [ 1.41854603e-03 9.99919004e-01 -1.26480763e-02 -2.25089184e+00] [ 1.99723008e-01 1.21099659e-02 9.79777561e-01 -3.34686775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36463044000004 meters Centerline goodness : 0.099443 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.26, Z:-3.35 [[ 9.79870352e-01 -3.47323001e-03 -1.99604682e-01 -2.43901619e+01] [ 1.13537350e-03 9.99929429e-01 -1.18257050e-02 -2.25625936e+00] [ 1.99631669e-01 1.13610318e-02 9.79805146e-01 -3.34644254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42463044000004 meters Centerline goodness : 0.097190 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.26, Z:-3.35 [[ 9.80026837e-01 -3.29209044e-03 -1.98838027e-01 -2.43921087e+01] [ 1.09008086e-03 9.99936876e-01 -1.11828414e-02 -2.26398805e+00] [ 1.98862291e-01 1.07427352e-02 9.79968562e-01 -3.34646173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48463044 meters Centerline goodness : 0.171639 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.27, Z:-3.35 [[ 9.80018646e-01 -3.06070299e-03 -1.98882088e-01 -2.43918022e+01] [ 9.53663348e-04 9.99942413e-01 -1.06893431e-02 -2.26748271e+00] [ 1.98903352e-01 1.02860890e-02 9.79965129e-01 -3.34660483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54463044 meters Centerline goodness : 0.093483 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79916805e-01 -3.04298292e-03 -1.99383538e-01 -2.43904876e+01] [ 1.03248823e-03 9.99947581e-01 -1.01867529e-02 -2.27506105e+00] [ 1.99404084e-01 9.77630924e-03 9.79868580e-01 -3.34650951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60463044 meters Centerline goodness : 0.109934 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79850502e-01 -2.98462417e-03 -1.99710005e-01 -2.43893544e+01] [ 1.04592697e-03 9.99951311e-01 -9.81236162e-03 -2.27894327e+00] [ 1.99729567e-01 9.40576538e-03 9.79805915e-01 -3.34668769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66463044 meters Centerline goodness : 0.108306 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79920886e-01 -2.47669939e-03 -1.99371318e-01 -2.43901651e+01] [ 6.86729505e-04 9.99958842e-01 -9.04672188e-03 -2.28279377e+00] [ 1.99385518e-01 8.72815756e-03 9.79882255e-01 -3.34672677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72463044 meters Centerline goodness : 0.106418 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79853306e-01 -2.56446633e-03 -1.99702084e-01 -2.43892037e+01] [ 7.44138709e-04 9.99957497e-01 -9.18974163e-03 -2.28286283e+00] [ 1.99717163e-01 8.85599267e-03 9.79813567e-01 -3.34675524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78463044 meters Centerline goodness : 0.103173 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79813236e-01 -2.22262289e-03 -1.99902685e-01 -2.43885708e+01] [ 4.37315199e-04 9.99959632e-01 -8.97459657e-03 -2.28242164e+00] [ 1.99914562e-01 8.70600802e-03 9.79774654e-01 -3.34690150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84463044 meters Centerline goodness : 0.102237 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79771526e-01 -2.20183068e-03 -2.00107244e-01 -2.43875537e+01] [ 3.95107723e-04 9.99958804e-01 -9.06826082e-03 -2.28159558e+00] [ 2.00118967e-01 8.80575983e-03 9.79732034e-01 -3.34737673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90463044 meters Centerline goodness : 0.103375 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79762692e-01 -2.16802607e-03 -2.00150861e-01 -2.43871229e+01] [ 3.57849539e-04 9.99958714e-01 -9.07979576e-03 -2.28107517e+00] [ 2.00162282e-01 8.82442124e-03 9.79723017e-01 -3.34767341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96463044 meters Centerline goodness : 0.095325 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79807910e-01 -2.18075889e-03 -1.99929246e-01 -2.43879750e+01] [ 3.72307918e-04 9.99958683e-01 -9.08260589e-03 -2.28087552e+00] [ 1.99940792e-01 8.82477386e-03 9.79768239e-01 -3.34739009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02463044 meters Centerline goodness : 0.094222 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79881852e-01 -2.07093025e-03 -1.99567703e-01 -2.43894452e+01] [ 2.78557433e-04 9.99959380e-01 -9.00893645e-03 -2.28034518e+00] [ 1.99578253e-01 8.77210226e-03 9.79842626e-01 -3.34694006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08463044 meters Centerline goodness : 0.097523 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.79861696e-01 -2.21089288e-03 -1.99665140e-01 -2.43888302e+01] [ 4.10837509e-04 9.99958906e-01 -9.05635353e-03 -2.28083303e+00] [ 1.99676957e-01 8.79194400e-03 9.79822338e-01 -3.34721863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14463044 meters Centerline goodness : 0.086791 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.28, Z:-3.35 [[ 9.80066388e-01 -4.75162869e-03 -1.98613435e-01 -2.43926017e+01] [ 2.65087212e-03 9.99937714e-01 -1.08416737e-02 -2.28400171e+00] [ 1.98652580e-01 1.00990612e-02 9.80017939e-01 -3.34661940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20463044 meters Centerline goodness : 0.126994 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.29, Z:-3.35 [[ 9.80222520e-01 -6.78762997e-03 -1.97782050e-01 -2.43950456e+01] [ 4.53348568e-03 9.99919537e-01 -1.18476831e-02 -2.29041469e+00] [ 1.97846553e-01 1.07167237e-02 9.80174420e-01 -3.34630406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26463044 meters Centerline goodness : 0.107913 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.30, Z:-3.35 [[ 9.80226307e-01 -1.06739883e-02 -1.97591630e-01 -2.43948393e+01] [ 7.99375009e-03 9.99864976e-01 -1.43572019e-02 -2.29749485e+00] [ 1.97718199e-01 1.24938089e-02 9.80179279e-01 -3.34676288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32463044 meters Centerline goodness : 0.105541 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.30, Z:-3.35 [[ 9.80119079e-01 -1.03389981e-02 -1.98140597e-01 -2.43930308e+01] [ 7.75842302e-03 9.99874732e-01 -1.37958830e-02 -2.30065570e+00] [ 1.98258412e-01 1.19843496e-02 9.80076516e-01 -3.34695936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38463044 meters Centerline goodness : 0.297985 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.30, Z:-3.35 [[ 9.79992235e-01 -1.00802372e-02 -1.98780300e-01 -2.43910447e+01] [ 7.57929453e-03 9.99882314e-01 -1.33383495e-02 -2.30449449e+00] [ 1.98891360e-01 1.15648645e-02 9.79953305e-01 -3.34722106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44463044 meters Centerline goodness : 0.304072 with order 2 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.32, Z:-3.35 [[ 9.80426635e-01 -4.95733087e-03 -1.96822350e-01 -2.44062999e+01] [ 2.30810654e-03 9.99903664e-01 -1.36870847e-02 -2.31695616e+00] [ 1.96871240e-01 1.29648954e-02 9.80343627e-01 -3.35258260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50463044 meters Centerline goodness : 0.112955 with order 1 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.33, Z:-3.35 [[ 9.80423347e-01 -8.57588055e-03 -1.96714298e-01 -2.44062831e+01] [ 5.56888717e-03 9.99859124e-01 -1.58341587e-02 -2.32679466e+00] [ 1.96822378e-01 1.44286991e-02 9.80332986e-01 -3.35254470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56463044000003 meters Centerline goodness : 0.180259 with order 3 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.36 [[ 9.80674090e-01 1.44658862e-04 -1.95648430e-01 -2.44221418e+01] [-3.23261940e-03 9.99875200e-01 -1.54639895e-02 -2.33782419e+00] [ 1.95621776e-01 1.57975908e-02 9.80552169e-01 -3.35653138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62463044000003 meters Centerline goodness : 0.306251 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.36 [[ 9.80554367e-01 1.32321906e-03 -1.96243174e-01 -2.44208169e+01] [-4.27267578e-03 9.99884183e-01 -1.46070053e-02 -2.33935593e+00] [ 1.96201117e-01 1.51614463e-02 9.80446455e-01 -3.35610661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68463044000003 meters Centerline goodness : 0.103289 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.34, Z:-3.35 [[ 9.80689773e-01 1.06548568e-02 -1.95279397e-01 -2.44018874e+01] [-1.39399869e-02 9.99783370e-01 -1.54560797e-02 -2.34017515e+00] [ 1.95072412e-01 1.78798116e-02 9.80625855e-01 -3.35112947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74463044000004 meters Centerline goodness : 0.096844 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.35 [[ 9.80529071e-01 1.90055789e-02 -1.95452115e-01 -2.44189180e+01] [-2.26871337e-02 9.99604549e-01 -1.66144582e-02 -2.34412202e+00] [ 1.95059056e-01 2.07252075e-02 9.80572501e-01 -3.35428894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80463044000004 meters Centerline goodness : 0.094971 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.35 [[ 9.80475748e-01 1.90474070e-02 -1.95715364e-01 -2.44183716e+01] [-2.27660046e-02 9.99600194e-01 -1.67678390e-02 -2.34299200e+00] [ 1.95317732e-01 2.08961164e-02 9.80517382e-01 -3.35388629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86463044000004 meters Centerline goodness : 0.305472 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.35 [[ 9.80513065e-01 1.90245195e-02 -1.95530553e-01 -2.44186599e+01] [-2.27507854e-02 9.99599517e-01 -1.68287864e-02 -2.34227534e+00] [ 1.95132087e-01 2.09493186e-02 9.80553209e-01 -3.35398006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92463044000004 meters Centerline goodness : 0.094188 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.35 [[ 9.80332515e-01 1.90948322e-02 -1.96426951e-01 -2.44171410e+01] [-2.29009186e-02 9.99591085e-01 -1.71233686e-02 -2.34111200e+00] [ 1.96019662e-01 2.12849526e-02 9.80368932e-01 -3.35278958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98463044 meters Centerline goodness : 0.095638 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.34, Z:-3.35 [[ 9.80261888e-01 1.91728011e-02 -1.96771530e-01 -2.44163431e+01] [-2.29892494e-02 9.99588956e-01 -1.71293316e-02 -2.34102197e+00] [ 1.96362231e-01 2.13148607e-02 9.80299725e-01 -3.35262540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04463044 meters Centerline goodness : 0.089679 with order 2 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.35, Z:-3.35 [[ 9.80087349e-01 2.69575793e-02 -1.96728434e-01 -2.43985318e+01] [-3.10448687e-02 9.99360877e-01 -1.77215509e-02 -2.34580343e+00] [ 1.96124970e-01 2.34760762e-02 9.80297848e-01 -3.34877225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10463044 meters Centerline goodness : 0.201020 with order 3 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.35, Z:-3.35 [[ 9.80174414e-01 2.66463246e-02 -1.96336677e-01 -2.43997050e+01] [-3.07479700e-02 9.99367379e-01 -1.78718819e-02 -2.34628169e+00] [ 1.95736250e-01 2.35545156e-02 9.80373656e-01 -3.34876256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16463044 meters Centerline goodness : 0.198183 with order 3 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.35, Z:-3.35 [[ 9.80057687e-01 2.38519009e-02 -1.97276499e-01 -2.43974118e+01] [-2.83207182e-02 9.99401539e-01 -1.98620262e-02 -2.34936465e+00] [ 1.96684690e-01 2.50529436e-02 9.80146664e-01 -3.34883376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22463044 meters Centerline goodness : 0.105222 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.36, Z:-3.35 [[ 9.80200599e-01 2.13901810e-02 -1.96848280e-01 -2.43992830e+01] [-2.60040619e-02 9.99443676e-01 -2.08836772e-02 -2.35614161e+00] [ 1.96292063e-01 2.55890478e-02 9.80211521e-01 -3.34904993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28463044 meters Centerline goodness : 0.106030 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.36, Z:-3.35 [[ 9.80220534e-01 2.12335358e-02 -1.96765956e-01 -2.43996958e+01] [-2.57869504e-02 9.99455025e-01 -2.06079055e-02 -2.35872702e+00] [ 1.96221145e-01 2.52742861e-02 9.80233887e-01 -3.34917169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34463044 meters Centerline goodness : 0.101606 with order 1 Centerline is valid? [False, False] Translation: X:-24.42, Y:-2.36, Z:-3.35 [[ 9.79977465e-01 1.25514992e-02 -1.98712424e-01 -2.44165304e+01] [-1.66978564e-02 9.99676140e-01 -1.92040771e-02 -2.35902897e+00] [ 1.98407029e-01 2.21376343e-02 9.79869673e-01 -3.35383588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40463044 meters Centerline goodness : 0.102216 with order 1 Centerline is valid? [False, False] Translation: X:-24.40, Y:-2.36, Z:-3.35 [[ 9.80146346e-01 6.18677286e-03 -1.98178872e-01 -2.43986092e+01] [-9.93378444e-03 9.99790100e-01 -1.79186016e-02 -2.35739668e+00] [ 1.98026416e-01 1.95315181e-02 9.80002071e-01 -3.34875021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46463044 meters Centerline goodness : 0.089201 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.36, Z:-3.34 [[ 9.79966827e-01 1.37422063e-02 -1.98686108e-01 -2.43834391e+01] [-1.77016663e-02 9.99678278e-01 -1.81656416e-02 -2.36474020e+00] [ 1.98372551e-01 2.13188014e-02 9.79894811e-01 -3.34483078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52463044 meters Centerline goodness : 0.091732 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.37, Z:-3.35 [[ 9.79872194e-01 1.36516162e-02 -1.99158524e-01 -2.43814751e+01] [-1.76219862e-02 9.99679484e-01 -1.81767448e-02 -2.36542005e+00] [ 1.98846548e-01 2.13204556e-02 9.79798698e-01 -3.34549020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58463044 meters Centerline goodness : 0.290821 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.37, Z:-3.34 [[ 9.79761375e-01 2.18808358e-02 -1.98969538e-01 -2.43643903e+01] [-2.60315177e-02 9.99494180e-01 -1.82686634e-02 -2.37154752e+00] [ 1.98469162e-01 2.30784098e-02 9.79835384e-01 -3.34140914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64463044 meters Centerline goodness : 0.292539 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.37, Z:-3.34 [[ 9.79748512e-01 2.17353330e-02 -1.99048810e-01 -2.43640890e+01] [-2.59219085e-02 9.99493682e-01 -1.84508674e-02 -2.37138460e+00] [ 1.98546992e-01 2.32369350e-02 9.79815869e-01 -3.34138304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70463044 meters Centerline goodness : 0.101028 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.37, Z:-3.34 [[ 9.79583487e-01 2.24556771e-02 -1.99779713e-01 -2.43618010e+01] [-2.64958552e-02 9.99494465e-01 -1.75722412e-02 -2.37378614e+00] [ 1.99284121e-01 2.25068116e-02 9.79683256e-01 -3.34182123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76463044 meters Centerline goodness : 0.102894 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.37, Z:-3.35 [[ 9.79585502e-01 1.32711992e-02 -2.00589432e-01 -2.43806103e+01] [-1.69428411e-02 9.99718674e-01 -1.65985602e-02 -2.37317305e+00] [ 2.00312718e-01 1.96582638e-02 9.79534771e-01 -3.34614718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82463044 meters Centerline goodness : 0.103136 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.38, Z:-3.34 [[ 9.79539489e-01 1.84261906e-02 -2.00406751e-01 -2.43635510e+01] [-2.25939482e-02 9.99573003e-01 -1.85290257e-02 -2.38143529e+00] [ 1.99979758e-01 2.26778921e-02 9.79537549e-01 -3.34303243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88463044 meters Centerline goodness : 0.101036 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.38, Z:-3.34 [[ 9.79594263e-01 1.85350152e-02 -2.00128790e-01 -2.43648763e+01] [-2.26422221e-02 9.99576983e-01 -1.82533271e-02 -2.38314346e+00] [ 1.99705807e-01 2.24122151e-02 9.79599553e-01 -3.34243311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94463044 meters Centerline goodness : 0.102004 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.39, Z:-3.35 [[ 9.79999895e-01 2.55086450e-02 -1.97356314e-01 -2.43808569e+01] [-2.97763416e-02 9.99381898e-01 -1.86866764e-02 -2.39007220e+00] [ 1.96757656e-01 2.41894899e-02 9.80153709e-01 -3.34790420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00463044 meters Centerline goodness : 0.287532 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.39, Z:-3.34 [[ 9.80240906e-01 1.87120893e-02 -1.96920347e-01 -2.43612820e+01] [-2.27118738e-02 9.99578684e-01 -1.80728009e-02 -2.38693919e+00] [ 1.96499201e-01 2.21881288e-02 9.80252901e-01 -3.34317790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06463044000003 meters Centerline goodness : 0.105911 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.38, Z:-3.34 [[ 9.80466740e-01 6.12547282e-03 -1.96589549e-01 -2.43624597e+01] [-9.11933315e-03 9.99855772e-01 -1.43273816e-02 -2.38297555e+00] [ 1.96473433e-01 1.58402867e-02 9.80381189e-01 -3.34272278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12463044000003 meters Centerline goodness : 0.160060 with order 3 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.38, Z:-3.34 [[ 9.80339471e-01 -1.29790518e-03 -1.97314058e-01 -2.43404467e+01] [-1.48943035e-03 9.99901203e-01 -1.39773331e-02 -2.38148526e+00] [ 1.97312705e-01 1.39964169e-02 9.80240683e-01 -3.33859151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18463044000003 meters Centerline goodness : 0.176720 with order 3 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.39, Z:-3.34 [[ 9.80262352e-01 6.23328800e-03 -1.97602800e-01 -2.43529463e+01] [-9.40899181e-03 9.99841168e-01 -1.51363366e-02 -2.39029216e+00] [ 1.97477065e-01 1.66968240e-02 9.80165305e-01 -3.34332018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24463044000004 meters Centerline goodness : 0.125576 with order 1 Centerline is valid? [False, False] Translation: X:-24.33, Y:-2.39, Z:-3.34 [[ 9.80234843e-01 -5.40947873e-04 -1.97836700e-01 -2.43334222e+01] [-2.28324050e-03 9.99898730e-01 -1.40469639e-02 -2.38989473e+00] [ 1.97824264e-01 1.42210322e-02 9.80134339e-01 -3.33785393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30463044000004 meters Centerline goodness : 0.285326 with order 1 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.39, Z:-3.33 [[ 9.80440488e-01 -8.19784434e-03 -1.96644974e-01 -2.43150184e+01] [ 5.68916445e-03 9.99895114e-01 -1.33189132e-02 -2.39217990e+00] [ 1.96733535e-01 1.19396561e-02 9.80384292e-01 -3.33282347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36463044000004 meters Centerline goodness : 0.105759 with order 1 Centerline is valid? [False, False] Translation: X:-24.33, Y:-2.40, Z:-3.34 [[ 9.80699652e-01 -1.24268431e-03 -1.95516364e-01 -2.43293911e+01] [-1.50914365e-03 9.99901903e-01 -1.39250700e-02 -2.40265795e+00] [ 1.95514489e-01 1.39513736e-02 9.80601572e-01 -3.33806220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42463044000004 meters Centerline goodness : 0.183139 with order 3 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.40, Z:-3.33 [[ 9.80854921e-01 -8.58957076e-03 -1.94550360e-01 -2.43104377e+01] [ 6.17322298e-03 9.99896140e-01 -1.30230676e-02 -2.40308786e+00] [ 1.94642017e-01 1.15727372e-02 9.80806075e-01 -3.33303169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48463044 meters Centerline goodness : 0.161717 with order 3 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.41, Z:-3.33 [[ 9.81120279e-01 -1.15302842e-02 -1.93054525e-01 -2.43159620e+01] [ 8.97225113e-03 9.99860061e-01 -1.41193953e-02 -2.40994913e+00] [ 1.93190310e-01 1.21206914e-02 9.81086435e-01 -3.33264699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54463044 meters Centerline goodness : 0.087205 with order 1 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.41, Z:-3.33 [[ 9.81164880e-01 -1.18306457e-02 -1.92809530e-01 -2.43167580e+01] [ 9.30148387e-03 9.99858488e-01 -1.40173685e-02 -2.41109908e+00] [ 1.92948080e-01 1.19599350e-02 9.81136075e-01 -3.33286423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60463044 meters Centerline goodness : 0.278091 with order 3 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.41, Z:-3.33 [[ 9.81111233e-01 -4.58217212e-03 -1.93390157e-01 -2.43022221e+01] [ 1.96912334e-03 9.99904186e-01 -1.37018559e-02 -2.41489689e+00] [ 1.93434412e-01 1.30622356e-02 9.81026252e-01 -3.33099163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66463044 meters Centerline goodness : 0.098746 with order 1 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.41, Z:-3.33 [[ 9.81106014e-01 -4.61964642e-03 -1.93415740e-01 -2.43019915e+01] [ 2.00278003e-03 9.99903828e-01 -1.37230951e-02 -2.41443043e+00] [ 1.93460535e-01 1.30764420e-02 9.81020911e-01 -3.33111613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72463044 meters Centerline goodness : 0.205305 with order 3 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.42, Z:-3.33 [[ 9.81080534e-01 1.17474073e-03 -1.93596502e-01 -2.42791790e+01] [-4.46692500e-03 9.99852734e-01 -1.65697490e-02 -2.41668578e+00] [ 1.93548526e-01 1.71210392e-02 9.80941302e-01 -3.32797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78463044 meters Centerline goodness : 0.097454 with order 1 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.42, Z:-3.33 [[ 9.80890933e-01 -9.73703826e-04 -1.94555981e-01 -2.42741183e+01] [-2.55158046e-03 9.99837095e-01 -1.78682111e-02 -2.42039213e+00] [ 1.94541685e-01 1.80231915e-02 9.80728656e-01 -3.32996037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84463044 meters Centerline goodness : 0.158964 with order 3 Centerline is valid? [False, False] Translation: X:-24.27, Y:-2.42, Z:-3.33 [[ 9.80865762e-01 -9.86416411e-04 -1.94682778e-01 -2.42733929e+01] [-2.50464870e-03 9.99840469e-01 -1.76850939e-02 -2.42152962e+00] [ 1.94669165e-01 1.78343151e-02 9.80706813e-01 -3.33030921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90463044 meters Centerline goodness : 0.253455 with order 3 Centerline is valid? [False, False] Translation: X:-24.25, Y:-2.42, Z:-3.33 [[ 9.80892172e-01 -7.91472936e-03 -1.94391112e-01 -2.42534967e+01] [ 4.72129217e-03 9.99846279e-01 -1.68857214e-02 -2.41926472e+00] [ 1.94494876e-01 1.56452947e-02 9.80778756e-01 -3.32580082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96463044 meters Centerline goodness : 0.092322 with order 1 Centerline is valid? [False, False] Translation: X:-24.25, Y:-2.42, Z:-3.33 [[ 9.80772502e-01 -8.24717876e-03 -1.94980214e-01 -2.42516269e+01] [ 5.02016547e-03 9.99842225e-01 -1.70388433e-02 -2.41997197e+00] [ 1.95089974e-01 1.57323960e-02 9.80659163e-01 -3.32610496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02463044 meters Centerline goodness : 0.097480 with order 1 Centerline is valid? [False, False] Translation: X:-24.25, Y:-2.42, Z:-3.33 [[ 9.80584269e-01 -8.68072716e-03 -1.95905939e-01 -2.42487565e+01] [ 5.41847156e-03 9.99837697e-01 -1.71819716e-02 -2.42079390e+00] [ 1.96023295e-01 1.57868602e-02 9.80472153e-01 -3.32645087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08463044 meters Centerline goodness : 0.098405 with order 1 Centerline is valid? [False, False] Translation: X:-24.25, Y:-2.42, Z:-3.33 [[ 9.80562088e-01 -9.36321932e-03 -1.95985516e-01 -2.42484280e+01] [ 6.11886474e-03 9.99834153e-01 -1.71530006e-02 -2.42381618e+00] [ 1.96113620e-01 1.56203732e-02 9.80456757e-01 -3.32655181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14463044 meters Centerline goodness : 0.095044 with order 1 Centerline is valid? [False, False] Translation: X:-24.21, Y:-2.43, Z:-3.32 [[ 9.81126325e-01 -9.36124881e-03 -1.93141142e-01 -2.42096337e+01] [ 5.88778230e-03 9.99810593e-01 -1.85502554e-02 -2.42525382e+00] [ 1.93278213e-01 1.70629709e-02 9.80995610e-01 -3.31787270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20463044 meters Centerline goodness : 0.198325 with order 3 Centerline is valid? [False, False] Translation: X:-24.21, Y:-2.43, Z:-3.32 [[ 9.81203078e-01 -9.08291971e-03 -1.92764157e-01 -2.42111248e+01] [ 5.67121108e-03 9.99817493e-01 -1.82432891e-02 -2.42544856e+00] [ 1.92894678e-01 1.68071652e-02 9.81075513e-01 -3.31733513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26463044 meters Centerline goodness : 0.155475 with order 2 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.42, Z:-3.31 [[ 9.81386512e-01 3.25875672e-04 -1.92042723e-01 -2.41902568e+01] [-4.03891588e-03 9.99812402e-01 -1.89433007e-02 -2.42472917e+00] [ 1.92000523e-01 1.93663442e-02 9.81203722e-01 -3.31323935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32463044 meters Centerline goodness : 0.193569 with order 1 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.42, Z:-3.31 [[ 9.81408393e-01 4.46955859e-03 -1.91879103e-01 -2.41910683e+01] [-7.71202894e-03 9.99839757e-01 -1.61550033e-02 -2.41872906e+00] [ 1.91776150e-01 1.73344331e-02 9.81285598e-01 -3.31257297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38463044 meters Centerline goodness : 0.183052 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.41, Z:-3.31 [[ 9.81107037e-01 1.64104243e-03 -1.93458750e-01 -2.41710417e+01] [-4.33094264e-03 9.99899732e-01 -1.34821527e-02 -2.41053545e+00] [ 1.93417228e-01 1.40652937e-02 9.81015771e-01 -3.30757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44463044 meters Centerline goodness : 0.112648 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.40, Z:-3.31 [[ 9.81073638e-01 1.52420269e-03 -1.93629013e-01 -2.41701708e+01] [-4.34523684e-03 9.99890507e-01 -1.41454087e-02 -2.40460429e+00] [ 1.93586251e-01 1.47190515e-02 9.80972840e-01 -3.30781228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50463044 meters Centerline goodness : 0.109237 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.40, Z:-3.31 [[ 9.81161151e-01 3.27915386e-03 -1.93163257e-01 -2.41704334e+01] [-5.99160244e-03 9.99891462e-01 -1.34597524e-02 -2.39583281e+00] [ 1.93098155e-01 1.43635436e-02 9.81074305e-01 -3.30860998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56463044000003 meters Centerline goodness : 0.110935 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.39, Z:-3.31 [[ 9.81149750e-01 3.05366482e-03 -1.93224851e-01 -2.41698066e+01] [-5.89087537e-03 9.99883087e-01 -1.41106234e-02 -2.39066493e+00] [ 1.93159171e-01 1.49828981e-02 9.81053030e-01 -3.30892687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62463044000003 meters Centerline goodness : 0.110348 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.38, Z:-3.31 [[ 9.81154644e-01 2.94144972e-03 -1.93201740e-01 -2.41693966e+01] [-5.88246662e-03 9.99875370e-01 -1.46506254e-02 -2.38449593e+00] [ 1.93134567e-01 1.55110319e-02 9.81049666e-01 -3.30916822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68463044000003 meters Centerline goodness : 0.185804 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.37, Z:-3.31 [[ 9.81192889e-01 4.17798172e-03 -1.92984607e-01 -2.41692620e+01] [-7.12164872e-03 9.99868604e-01 -1.45621890e-02 -2.37417741e+00] [ 1.92898409e-01 1.56626849e-02 9.81093718e-01 -3.30969997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74463044000004 meters Centerline goodness : 0.171502 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.37, Z:-3.31 [[ 9.81086759e-01 7.95157770e-03 -1.93405129e-01 -2.41678237e+01] [-1.04378179e-02 9.99875431e-01 -1.18394885e-02 -2.36951813e+00] [ 1.93286894e-01 1.36342929e-02 9.81047544e-01 -3.30985879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80463044000004 meters Centerline goodness : 0.111857 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.36, Z:-3.31 [[ 9.81013587e-01 7.76498396e-03 -1.93783507e-01 -2.41663601e+01] [-1.03853769e-02 9.99867813e-01 -1.25100344e-02 -2.36285003e+00] [ 1.93660751e-01 1.42850285e-02 9.80964552e-01 -3.31004957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86463044000004 meters Centerline goodness : 0.111621 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.35, Z:-3.31 [[ 9.80948098e-01 8.84388963e-03 -1.94068585e-01 -2.41662286e+01] [-1.14954132e-02 9.99855280e-01 -1.25408960e-02 -2.35245307e+00] [ 1.93929589e-01 1.45328666e-02 9.80907799e-01 -3.30933264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92463044000004 meters Centerline goodness : 0.114289 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.35, Z:-3.31 [[ 9.81010612e-01 8.70798978e-03 -1.93758486e-01 -2.41670697e+01] [-1.14612608e-02 9.99848590e-01 -1.30933473e-02 -2.34688912e+00] [ 1.93615132e-01 1.50654292e-02 9.80961882e-01 -3.30915922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98463044 meters Centerline goodness : 0.130370 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.34, Z:-3.30 [[ 9.81058495e-01 2.99096970e-03 -1.93688625e-01 -2.41511327e+01] [-5.48968951e-03 9.99908478e-01 -1.23652618e-02 -2.33525369e+00] [ 1.93633915e-01 1.31943356e-02 9.80985126e-01 -3.30362792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04463044 meters Centerline goodness : 0.178072 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.33, Z:-3.30 [[ 9.81031521e-01 2.91213237e-03 -1.93826404e-01 -2.41503568e+01] [-5.49979157e-03 9.99902777e-01 -1.28136290e-02 -2.33166168e+00] [ 1.93770245e-01 1.36365788e-02 9.80952158e-01 -3.30391182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10463044 meters Centerline goodness : 0.172059 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.33, Z:-3.30 [[ 9.80990868e-01 2.94252941e-03 -1.94031591e-01 -2.41499849e+01] [-5.63369810e-03 9.99895422e-01 -1.33194016e-02 -2.32608650e+00] [ 1.93972107e-01 1.41593268e-02 9.80904855e-01 -3.30366953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16463044 meters Centerline goodness : 0.111646 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.32, Z:-3.30 [[ 9.81283670e-01 -7.21821677e-04 -1.92566451e-01 -2.41308812e+01] [-1.28545826e-03 9.99946141e-01 -1.02986890e-02 -2.32057080e+00] [ 1.92563514e-01 1.03534715e-02 9.81229891e-01 -3.29903725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22463044 meters Centerline goodness : 0.113507 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.32, Z:-3.30 [[ 9.81338546e-01 -8.68418054e-04 -1.92285994e-01 -2.41308464e+01] [-1.19415274e-03 9.99942995e-01 -1.06104279e-02 -2.31861641e+00] [ 1.92284247e-01 1.06420407e-02 9.81281568e-01 -3.29981724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28463044 meters Centerline goodness : 0.113740 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.32, Z:-3.30 [[ 9.81266436e-01 -1.18338961e-03 -1.92651969e-01 -2.41293997e+01] [-8.88395351e-04 9.99942708e-01 -1.06672896e-02 -2.32006020e+00] [ 1.92653556e-01 1.06386043e-02 9.81209166e-01 -3.30021123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34463044 meters Centerline goodness : 0.178793 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.32, Z:-3.30 [[ 9.81182096e-01 -1.19208532e-03 -1.93081002e-01 -2.41281118e+01] [-8.45383016e-04 9.99944834e-01 -1.04696693e-02 -2.32173939e+00] [ 1.93082832e-01 1.04358794e-02 9.81126960e-01 -3.30037325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40463044 meters Centerline goodness : 0.138719 with order 3 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.80937204e-01 6.04447542e-03 -1.94230960e-01 -2.41036741e+01] [-8.62949572e-03 9.99885063e-01 -1.24656374e-02 -2.32251829e+00] [ 1.94133287e-01 1.39041227e-02 9.80876619e-01 -3.29770454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46463044 meters Centerline goodness : 0.164345 with order 3 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.81028267e-01 6.24437946e-03 -1.93764152e-01 -2.41042932e+01] [-8.82331429e-03 9.99883573e-01 -1.24495076e-02 -2.32121430e+00] [ 1.93663853e-01 1.39229608e-02 9.80969145e-01 -3.29821272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52463044 meters Centerline goodness : 0.097357 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.80884759e-01 6.38946167e-03 -1.94484615e-01 -2.41020664e+01] [-8.96179226e-03 9.99883583e-01 -1.23493965e-02 -2.32141611e+00] [ 1.94383067e-01 1.38562655e-02 9.80827827e-01 -3.29849592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58463044 meters Centerline goodness : 0.098497 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.80706845e-01 5.93065492e-03 -1.95394248e-01 -2.40990592e+01] [-8.55661590e-03 9.99884031e-01 -1.25979381e-02 -2.32287469e+00] [ 1.95296874e-01 1.40267976e-02 9.80643860e-01 -3.29900218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64463044 meters Centerline goodness : 0.103567 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.33, Z:-3.30 [[ 9.80835960e-01 6.08082866e-03 -1.94740449e-01 -2.41015393e+01] [-8.62984002e-03 9.99887805e-01 -1.22435324e-02 -2.32559268e+00] [ 1.94644149e-01 1.36894758e-02 9.80778392e-01 -3.29813726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70463044 meters Centerline goodness : 0.108504 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.33, Z:-3.30 [[ 9.80833757e-01 6.39722663e-03 -1.94741408e-01 -2.41015142e+01] [-8.90111883e-03 9.99888557e-01 -1.19851455e-02 -2.32596989e+00] [ 1.94643034e-01 1.34888517e-02 9.80781393e-01 -3.29803135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76463044 meters Centerline goodness : 0.103892 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.33, Z:-3.30 [[ 9.80762722e-01 6.59455133e-03 -1.95092275e-01 -2.41000995e+01] [-9.10869752e-03 9.99886598e-01 -1.19926198e-02 -2.32524804e+00] [ 1.94991065e-01 1.35389509e-02 9.80711569e-01 -3.29844671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82463044 meters Centerline goodness : 0.172073 with order 3 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.80757348e-01 6.69132488e-03 -1.95115994e-01 -2.40998640e+01] [-9.21568571e-03 9.99885135e-01 -1.20328178e-02 -2.32440171e+00] [ 1.95013066e-01 1.35994021e-02 9.80706358e-01 -3.29858832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88463044 meters Centerline goodness : 0.182281 with order 3 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.32, Z:-3.30 [[ 9.80959910e-01 7.85868020e-03 -1.94051274e-01 -2.41028898e+01] [-1.02289863e-02 9.99884780e-01 -1.12158540e-02 -2.32400637e+00] [ 1.93940773e-01 1.29872509e-02 9.80927269e-01 -3.29831088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94463044 meters Centerline goodness : 0.202367 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.29 [[ 9.80912071e-01 1.60590552e-02 -1.93787553e-01 -2.40853998e+01] [-1.85911417e-02 9.99763823e-01 -1.12546593e-02 -2.33074423e+00] [ 1.93561046e-01 1.46425630e-02 9.80978958e-01 -3.29483892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00463044 meters Centerline goodness : 0.276811 with order 2 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.33, Z:-3.30 [[ 9.80890229e-01 1.63025389e-02 -1.93877762e-01 -2.40844502e+01] [-1.87316845e-02 9.99767263e-01 -1.07025250e-02 -2.33430765e+00] [ 1.93658161e-01 1.41296593e-02 9.80967313e-01 -3.29551734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06463044000003 meters Centerline goodness : 0.097091 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.34, Z:-3.30 [[ 9.80872316e-01 1.64576285e-02 -1.93955271e-01 -2.40844731e+01] [-1.88171374e-02 9.99769587e-01 -1.03290449e-02 -2.33701476e+00] [ 1.93740589e-01 1.37811572e-02 9.80955995e-01 -3.29529020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12463044000003 meters Centerline goodness : 0.101431 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.33, Z:-3.29 [[ 9.80642273e-01 1.00775921e-02 -1.95548394e-01 -2.40631486e+01] [-1.21961950e-02 9.99879221e-01 -9.63305994e-03 -2.33482920e+00] [ 1.95427698e-01 1.18315321e-02 9.80646741e-01 -3.29106205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18463044000003 meters Centerline goodness : 0.113051 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.33, Z:-3.29 [[ 9.80555144e-01 1.00648451e-02 -1.95985478e-01 -2.40608330e+01] [-1.21959118e-02 9.99878870e-01 -9.66978851e-03 -2.33489743e+00] [ 1.95864413e-01 1.18719825e-02 9.80559120e-01 -3.29221434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24463044000004 meters Centerline goodness : 0.175531 with order 3 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.34, Z:-3.29 [[ 9.80520221e-01 1.01917572e-02 -1.96153571e-01 -2.40606477e+01] [-1.22810838e-02 9.99880041e-01 -9.43809679e-03 -2.33602841e+00] [ 1.96033850e-01 1.16632232e-02 9.80527765e-01 -3.29195100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30463044000004 meters Centerline goodness : 0.274931 with order 2 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.34, Z:-3.29 [[ 9.80748271e-01 1.58605584e-03 -1.95269846e-01 -2.40406371e+01] [-3.53914617e-03 9.99947141e-01 -9.65351041e-03 -2.33748024e+00] [ 1.95244213e-01 1.01587522e-02 9.80702043e-01 -3.28728684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36463044000004 meters Centerline goodness : 0.165639 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.34, Z:-3.29 [[ 9.80783101e-01 1.64844256e-03 -1.95094314e-01 -2.40412762e+01] [-3.51232509e-03 9.99951435e-01 -9.20819550e-03 -2.34088487e+00] [ 1.95069660e-01 9.71647719e-03 9.80741259e-01 -3.28709947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42463044000004 meters Centerline goodness : 0.108543 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.34, Z:-3.29 [[ 9.80797445e-01 1.80858626e-03 -1.95020769e-01 -2.40411989e+01] [-3.60106727e-03 9.99954468e-01 -8.83707756e-03 -2.34347690e+00] [ 1.94995907e-01 9.36966600e-03 9.80759301e-01 -3.28728275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48463044 meters Centerline goodness : 0.164024 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.34, Z:-3.29 [[ 9.80732847e-01 1.99097784e-03 -1.95343591e-01 -2.40401302e+01] [-3.74450923e-03 9.99955941e-01 -8.60777191e-03 -2.34439792e+00] [ 1.95317847e-01 9.17339053e-03 9.80697093e-01 -3.28743317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54463044 meters Centerline goodness : 0.193010 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.35, Z:-3.29 [[ 9.80687372e-01 2.22209143e-03 -1.95569274e-01 -2.40397830e+01] [-3.92025958e-03 9.99957898e-01 -8.29655477e-03 -2.34578589e+00] [ 1.95542604e-01 8.90300881e-03 9.80654795e-01 -3.28712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60463044 meters Centerline goodness : 0.107775 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.35, Z:-3.29 [[ 9.80769813e-01 2.59271343e-03 -1.95150845e-01 -2.40416824e+01] [-4.14627538e-03 9.99962882e-01 -7.55274484e-03 -2.35038086e+00] [ 1.95124019e-01 8.21665328e-03 9.80744158e-01 -3.28635450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66463044 meters Centerline goodness : 0.270929 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.35, Z:-3.28 [[ 9.80775420e-01 -3.83990337e-03 -1.95102101e-01 -2.40232490e+01] [ 2.69626133e-03 9.99977595e-01 -6.12699959e-03 -2.34968319e+00] [ 1.95121257e-01 5.48316435e-03 9.80763799e-01 -3.28092182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72463044 meters Centerline goodness : 0.186351 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.36, Z:-3.28 [[ 9.80565105e-01 2.57761075e-03 -1.96177037e-01 -2.40363264e+01] [-4.41658108e-03 9.99950309e-01 -8.93714500e-03 -2.35955905e+00] [ 1.96144253e-01 9.62988433e-03 9.80527765e-01 -3.28402410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78463044 meters Centerline goodness : 0.267449 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.36, Z:-3.28 [[ 9.80530304e-01 3.13517522e-03 -1.96342796e-01 -2.40362087e+01] [-4.88146830e-03 9.99952714e-01 -8.41080327e-03 -2.36032484e+00] [ 1.96307143e-01 9.20548862e-03 9.80499243e-01 -3.28357751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84463044 meters Centerline goodness : 0.101016 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.36, Z:-3.28 [[ 9.80427772e-01 3.82372156e-03 -1.96841975e-01 -2.40343267e+01] [-5.53301186e-03 9.99951608e-01 -8.13435229e-03 -2.35892287e+00] [ 1.96801346e-01 9.06427388e-03 9.80401484e-01 -3.28410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90463044 meters Centerline goodness : 0.268585 with order 3 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.36, Z:-3.28 [[ 9.79822017e-01 2.26101053e-02 -1.98589021e-01 -2.40287970e+01] [-2.48896010e-02 9.99649788e-01 -8.98937947e-03 -2.35889116e+00] [ 1.98316222e-01 1.37507934e-02 9.80041628e-01 -3.28379488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96463044 meters Centerline goodness : 0.097586 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.36, Z:-3.28 [[ 9.79879042e-01 2.29117694e-02 -1.98272825e-01 -2.40298104e+01] [-2.52817434e-02 9.99635892e-01 -9.42954986e-03 -2.35507221e+00] [ 1.97984585e-01 1.42525010e-02 9.80101510e-01 -3.28302878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02463044 meters Centerline goodness : 0.106291 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.35, Z:-3.28 [[ 9.79913840e-01 2.26208094e-02 -1.98134210e-01 -2.40303493e+01] [-2.50858771e-02 9.99635883e-01 -9.93985499e-03 -2.35239387e+00] [ 1.97837219e-01 1.47105719e-02 9.80124499e-01 -3.28278616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08463044 meters Centerline goodness : 0.183999 with order 2 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.35, Z:-3.28 [[ 9.80050608e-01 2.25182304e-02 -1.97468316e-01 -2.40322559e+01] [-2.49448349e-02 9.99640700e-01 -9.80947767e-03 -2.35241497e+00] [ 1.97176474e-01 1.45395991e-02 9.80260189e-01 -3.28292240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14463044 meters Centerline goodness : 0.096708 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-2.35, Z:-3.29 [[ 9.79717530e-01 1.31552635e-02 -1.99951245e-01 -2.40492820e+01] [-1.53380525e-02 9.99838448e-01 -9.37138797e-03 -2.34641863e+00] [ 1.99795659e-01 1.22481758e-02 9.79761030e-01 -3.28688767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20463044 meters Centerline goodness : 0.106248 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.35, Z:-3.28 [[ 9.79467935e-01 2.07529579e-02 -2.00528999e-01 -2.40326322e+01] [-2.31296292e-02 9.99687183e-01 -9.51615013e-03 -2.35179119e+00] [ 2.00268781e-01 1.39589253e-02 9.79641549e-01 -3.28350528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26463044 meters Centerline goodness : 0.104399 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.35, Z:-3.28 [[ 9.79846726e-01 1.37473677e-02 -1.99277201e-01 -2.40150421e+01] [-1.58634160e-02 9.99833430e-01 -9.02581145e-03 -2.34540082e+00] [ 1.99119926e-01 1.20051289e-02 9.79901593e-01 -3.27858135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32463044 meters Centerline goodness : 0.118409 with order 3 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.34, Z:-3.28 [[ 9.79878141e-01 1.38722124e-02 -1.99114014e-01 -2.40151887e+01] [-1.60129479e-02 9.99829963e-01 -9.14493157e-03 -2.34351999e+00] [ 1.98953297e-01 1.21493209e-02 9.79933661e-01 -3.27876350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38463044 meters Centerline goodness : 0.100329 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.34, Z:-3.28 [[ 9.79841579e-01 1.38183357e-02 -1.99297599e-01 -2.40141973e+01] [-1.60603768e-02 9.99824577e-01 -9.63741338e-03 -2.34047058e+00] [ 1.99129464e-01 1.26439329e-02 9.79891620e-01 -3.27893144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44463044 meters Centerline goodness : 0.143178 with order 3 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.34, Z:-3.28 [[ 9.79621538e-01 1.39962641e-02 -2.00364035e-01 -2.40108511e+01] [-1.64117988e-02 9.99811232e-01 -1.03997181e-02 -2.33562976e+00] [ 2.00180655e-01 1.34761221e-02 9.79666320e-01 -3.27880170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50463044 meters Centerline goodness : 0.220055 with order 3 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.33, Z:-3.28 [[ 9.79612366e-01 1.41305258e-02 -2.00399451e-01 -2.40104073e+01] [-1.65983018e-02 9.99805631e-01 -1.06393628e-02 -2.33313990e+00] [ 2.00210159e-01 1.37487419e-02 9.79656503e-01 -3.27896266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56463044000003 meters Centerline goodness : 0.102780 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.33, Z:-3.27 [[ 9.79665772e-01 7.45576489e-03 -2.00497847e-01 -2.39934287e+01] [-9.66591933e-03 9.99902813e-01 -1.00466418e-02 -2.32606566e+00] [ 2.00403456e-01 1.17803471e-02 9.79642628e-01 -3.27306459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62463044000003 meters Centerline goodness : 0.108997 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.33, Z:-3.27 [[ 9.79682847e-01 7.27737335e-03 -2.00420957e-01 -2.39936702e+01] [-9.49820695e-03 9.99903665e-01 -1.01214871e-02 -2.32592533e+00] [ 2.00327992e-01 1.18194870e-02 9.79657591e-01 -3.27300645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68463044000003 meters Centerline goodness : 0.102144 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.33, Z:-3.27 [[ 9.79553316e-01 1.41773292e-02 -2.00684588e-01 -2.39787053e+01] [-1.65645488e-02 9.99810555e-01 -1.02210903e-02 -2.33350630e+00] [ 2.00501662e-01 1.33363525e-02 9.79602585e-01 -3.26972637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74463044000004 meters Centerline goodness : 0.101875 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.33, Z:-3.27 [[ 9.79466986e-01 1.38281700e-02 -2.01129820e-01 -2.39772628e+01] [-1.62964987e-02 9.99810785e-01 -1.06216421e-02 -2.33181983e+00] [ 2.00944885e-01 1.36812596e-02 9.79507007e-01 -3.26985946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80463044000004 meters Centerline goodness : 0.102927 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.33, Z:-3.27 [[ 9.79213315e-01 1.48395280e-02 -2.02289577e-01 -2.39728725e+01] [-1.73007377e-02 9.99796200e-01 -1.04039417e-02 -2.32830397e+00] [ 2.02093961e-01 1.36874372e-02 9.79270486e-01 -3.27033576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86463044000004 meters Centerline goodness : 0.102535 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.32, Z:-3.27 [[ 9.79300518e-01 1.68904631e-02 -2.01705746e-01 -2.39753253e+01] [-1.92474521e-02 9.99767409e-01 -9.72954585e-03 -2.32070344e+00] [ 2.01494495e-01 1.34104710e-02 9.79397839e-01 -3.26888106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92463044000004 meters Centerline goodness : 0.166134 with order 3 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.32, Z:-3.27 [[ 9.79245026e-01 1.66573532e-02 -2.01994337e-01 -2.39747844e+01] [-1.91425627e-02 9.99763130e-01 -1.03559921e-02 -2.31805823e+00] [ 2.01773987e-01 1.40077430e-02 9.79331936e-01 -3.26841846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98463044 meters Centerline goodness : 0.109764 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.32, Z:-3.27 [[ 9.79302648e-01 1.63605080e-02 -2.01739081e-01 -2.39755467e+01] [-1.89396991e-02 9.99761635e-01 -1.08610052e-02 -2.31581529e+00] [ 2.01513302e-01 1.44570886e-02 9.79379080e-01 -3.26823798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04463044 meters Centerline goodness : 0.085334 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.31, Z:-3.27 [[ 9.79505385e-01 1.68624780e-02 -2.00710878e-01 -2.39779782e+01] [-1.94016547e-02 9.99754615e-01 -1.06904275e-02 -2.31297212e+00] [ 2.00481360e-01 1.43654544e-02 9.79592190e-01 -3.26851453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10463044 meters Centerline goodness : 0.085315 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.31, Z:-3.27 [[ 9.79320208e-01 1.70855556e-02 -2.01593684e-01 -2.39743826e+01] [-1.97841878e-02 9.99739517e-01 -1.13790756e-02 -2.30583807e+00] [ 2.01346754e-01 1.51321260e-02 9.79403136e-01 -3.26907798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16463044 meters Centerline goodness : 0.085274 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.30, Z:-3.27 [[ 9.79425180e-01 1.69271228e-02 -2.01096469e-01 -2.39756201e+01] [-1.97246924e-02 9.99734439e-01 -1.19158370e-02 -2.30200696e+00] [ 2.00841364e-01 1.56372368e-02 9.79498965e-01 -3.26915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22463044 meters Centerline goodness : 0.061823 with order 2 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.30, Z:-3.27 [[ 9.79468706e-01 1.70678653e-02 -2.00872449e-01 -2.39741623e+01] [-1.99028338e-02 9.99728672e-01 -1.21020508e-02 -2.29669746e+00] [ 2.00611391e-01 1.58515111e-02 9.79542648e-01 -3.27089969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28463044 meters Centerline goodness : 0.085517 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.29, Z:-3.27 [[ 9.79126147e-01 1.80060803e-02 -2.02454364e-01 -2.39687190e+01] [-2.09486538e-02 9.99703641e-01 -1.24009706e-02 -2.28708795e+00] [ 2.02171072e-01 1.63832609e-02 9.79213177e-01 -3.27156924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34463044 meters Centerline goodness : 0.084860 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.28, Z:-3.27 [[ 9.79261778e-01 1.78126511e-02 -2.01814469e-01 -2.39704630e+01] [-2.07711626e-02 9.99705471e-01 -1.25511361e-02 -2.28461086e+00] [ 2.01531460e-01 1.64827690e-02 9.79343346e-01 -3.27188405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40463044 meters Centerline goodness : 0.113238 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.28, Z:-3.28 [[ 9.79943159e-01 8.99698171e-03 -1.99074005e-01 -2.39919659e+01] [-1.18980430e-02 9.99839676e-01 -1.33812879e-02 -2.27694265e+00] [ 1.98921698e-01 1.54814926e-02 9.79893097e-01 -3.27599979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46463044 meters Centerline goodness : 0.096758 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.27, Z:-3.28 [[ 9.79862616e-01 8.10508052e-03 -1.99508299e-01 -2.39903330e+01] [-1.11953124e-02 9.99834128e-01 -1.43659785e-02 -2.27297689e+00] [ 1.99358769e-01 1.63102430e-02 9.79790823e-01 -3.27633815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52463044 meters Centerline goodness : 0.115669 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.27, Z:-3.28 [[ 9.79783958e-01 7.89292775e-03 -1.99902721e-01 -2.39887712e+01] [-1.11102525e-02 9.99826100e-01 -1.49777448e-02 -2.26785033e+00] [ 1.99749740e-01 1.68959238e-02 9.79701265e-01 -3.27675456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58463044 meters Centerline goodness : 0.086126 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.27, Z:-3.28 [[ 9.79720932e-01 7.55551010e-03 -2.00224398e-01 -2.39881734e+01] [-1.08918403e-02 9.99819508e-01 -1.55666220e-02 -2.26500197e+00] [ 2.00070645e-01 1.74317575e-02 9.79626393e-01 -3.27646620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64463044 meters Centerline goodness : 0.166624 with order 3 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.26, Z:-3.28 [[ 9.79566352e-01 -5.27357023e-04 -2.01120573e-01 -2.40053154e+01] [-2.38887487e-03 9.99895511e-01 -1.42569371e-02 -2.26023707e+00] [ 2.01107076e-01 1.44460678e-02 9.79462738e-01 -3.28143437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70463044 meters Centerline goodness : 0.085211 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.26, Z:-3.28 [[ 9.79587602e-01 -1.09374407e-03 -2.01014761e-01 -2.40062579e+01] [-1.92179926e-03 9.99888541e-01 -1.48058425e-02 -2.25948132e+00] [ 2.01008550e-01 1.48899297e-02 9.79476316e-01 -3.28071740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76463044 meters Centerline goodness : 0.443147 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.26, Z:-3.29 [[ 9.79887368e-01 5.84752738e-03 -1.99465668e-01 -2.40269414e+01] [-9.16020585e-03 9.99834960e-01 -1.56889541e-02 -2.26214599e+00] [ 1.99341006e-01 1.72005545e-02 9.79779212e-01 -3.28567732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82463044 meters Centerline goodness : 0.115385 with order 3 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.26, Z:-3.29 [[ 9.79887403e-01 9.96417794e-03 -1.99302265e-01 -2.40266126e+01] [-1.27571445e-02 9.99837531e-01 -1.27344570e-02 -2.25827051e+00] [ 1.99142997e-01 1.50208618e-02 9.79855316e-01 -3.28616168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88463044 meters Centerline goodness : 0.084779 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.25, Z:-3.29 [[ 9.79782740e-01 9.30147998e-03 -1.99848105e-01 -2.40242712e+01] [-1.22919286e-02 9.99830211e-01 -1.37280201e-02 -2.25492823e+00] [ 1.99686482e-01 1.59069958e-02 9.79730716e-01 -3.28700075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94463044 meters Centerline goodness : 0.095616 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.25, Z:-3.29 [[ 9.79737229e-01 9.50634388e-03 -2.00061471e-01 -2.40228231e+01] [-1.25317784e-02 9.99825390e-01 -1.38615688e-02 -2.25177676e+00] [ 1.99894766e-01 1.60878210e-02 9.79685289e-01 -3.28782826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00463044 meters Centerline goodness : 0.096157 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.25, Z:-3.29 [[ 9.79947234e-01 9.12400289e-03 -1.99048163e-01 -2.40255532e+01] [-1.21905575e-02 9.99825059e-01 -1.41859954e-02 -2.25114640e+00] [ 1.98883909e-01 1.63280350e-02 9.79887027e-01 -3.28766957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06463044000003 meters Centerline goodness : 0.097852 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.29 [[ 9.79791954e-01 9.51590508e-04 -2.00017052e-01 -2.40429636e+01] [-3.53645099e-03 9.99914787e-01 -1.25663126e-02 -2.24913239e+00] [ 1.99988050e-01 1.30197225e-02 9.79711828e-01 -3.29356126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12463044000003 meters Centerline goodness : 0.085925 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.29 [[ 9.79814054e-01 8.25918875e-04 -1.99909324e-01 -2.40426160e+01] [-3.40191237e-03 9.99915551e-01 -1.25426487e-02 -2.24991811e+00] [ 1.99882083e-01 1.29695375e-02 9.79734119e-01 -3.29409919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18463044000003 meters Centerline goodness : 0.110052 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.29 [[ 9.79800264e-01 8.45663277e-04 -1.99976817e-01 -2.40424015e+01] [-3.38406279e-03 9.99917985e-01 -1.23519903e-02 -2.25114824e+00] [ 1.99949970e-01 1.27792174e-02 9.79722768e-01 -3.29407281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24463044000004 meters Centerline goodness : 0.124321 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.29 [[ 9.79717539e-01 6.79463331e-04 -2.00382338e-01 -2.40403768e+01] [-3.26427982e-03 9.99915675e-01 -1.25693022e-02 -2.25070923e+00] [ 2.00356900e-01 1.29684698e-02 9.79637143e-01 -3.29496408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30463044000004 meters Centerline goodness : 0.093622 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.30 [[ 9.79698326e-01 7.66045591e-04 -2.00475944e-01 -2.40400087e+01] [-3.37839877e-03 9.99913785e-01 -1.26889642e-02 -2.24914358e+00] [ 2.00448940e-01 1.31086446e-02 9.79616448e-01 -3.29513859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36463044000004 meters Centerline goodness : 0.154792 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.30 [[ 9.79700659e-01 1.00547862e-03 -2.00463482e-01 -2.40398273e+01] [-3.65151260e-03 9.99911021e-01 -1.28302677e-02 -2.24634890e+00] [ 2.00432745e-01 1.33018167e-02 9.79617158e-01 -3.29536862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42463044000004 meters Centerline goodness : 0.165458 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.30 [[ 9.79651996e-01 6.56140421e-04 -2.00702607e-01 -2.40392941e+01] [-3.37430334e-03 9.99907164e-01 -1.32014403e-02 -2.24571461e+00] [ 2.00675313e-01 1.36100489e-02 9.79563263e-01 -3.29528265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48463044 meters Centerline goodness : 0.114132 with order 3 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.24, Z:-3.29 [[ 9.79879909e-01 -6.15855850e-03 -1.99492949e-01 -2.40212251e+01] [ 3.86639826e-03 9.99921985e-01 -1.18774727e-02 -2.24141330e+00] [ 1.99550534e-01 1.08671777e-02 9.79827275e-01 -3.29043338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54463044 meters Centerline goodness : 0.180913 with order 3 Centerline is valid? [False, False] Translation: X:-24.04, Y:-2.25, Z:-3.30 [[ 9.80584285e-01 -3.48035366e-03 -1.96067198e-01 -2.40405509e+01] [ 5.88292075e-04 9.99890202e-01 -1.48066662e-02 -2.24630549e+00] [ 1.96097203e-01 1.44038394e-02 9.80478667e-01 -3.29577095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60463044 meters Centerline goodness : 0.093880 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.25, Z:-3.30 [[ 9.80613129e-01 3.00133748e-03 -1.95930812e-01 -2.40583141e+01] [-6.24143554e-03 9.99853763e-01 -1.59216156e-02 -2.25291209e+00] [ 1.95854373e-01 1.68358348e-02 9.80488460e-01 -3.30086911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66463044 meters Centerline goodness : 0.194403 with order 3 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.25, Z:-3.30 [[ 9.80544377e-01 2.89450487e-03 -1.96276202e-01 -2.40569059e+01] [-6.11918776e-03 9.99856054e-01 -1.58248779e-02 -2.25437430e+00] [ 1.96202144e-01 1.67180459e-02 9.80420943e-01 -3.30125838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72463044 meters Centerline goodness : 0.094380 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.26, Z:-3.31 [[ 9.80646355e-01 9.91600747e-03 -1.95536186e-01 -2.40761142e+01] [-1.35173656e-02 9.99762544e-01 -1.70919894e-02 -2.25691495e+00] [ 1.95320271e-01 1.94043312e-02 9.80547533e-01 -3.30693367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78463044 meters Centerline goodness : 0.097203 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.25, Z:-3.31 [[ 9.80782393e-01 1.05065088e-02 -1.94821741e-01 -2.40776803e+01] [-1.41018384e-02 9.99754733e-01 -1.70766510e-02 -2.25296894e+00] [ 1.94594542e-01 1.94958233e-02 9.80690001e-01 -3.30722611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84463044 meters Centerline goodness : 0.140474 with order 3 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.25, Z:-3.31 [[ 9.80762281e-01 1.09508379e-02 -1.94898507e-01 -2.40771744e+01] [-1.46122194e-02 9.99742554e-01 -1.73582396e-02 -2.24663377e+00] [ 1.94658244e-01 1.98722064e-02 9.80669803e-01 -3.30748847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90463044 meters Centerline goodness : 0.096602 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.24, Z:-3.31 [[ 9.80580990e-01 3.04232355e-03 -1.96090963e-01 -2.40941989e+01] [-6.29463873e-03 9.99852743e-01 -1.59646702e-02 -2.24172910e+00] [ 1.96013517e-01 1.68889738e-02 9.80455743e-01 -3.31262761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96463044 meters Centerline goodness : 0.111164 with order 3 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.24, Z:-3.31 [[ 9.80673633e-01 2.89354344e-03 -1.95629376e-01 -2.40959431e+01] [-6.16175088e-03 9.99851407e-01 -1.60995920e-02 -2.24099979e+00] [ 1.95553722e-01 1.69938649e-02 9.80545741e-01 -3.31195855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02463044 meters Centerline goodness : 0.092913 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.24, Z:-3.31 [[ 9.80670090e-01 2.77922763e-03 -1.95648796e-01 -2.40959293e+01] [-6.07332054e-03 9.99849696e-01 -1.62388625e-02 -2.24015468e+00] [ 1.95574257e-01 1.71132046e-02 9.80539570e-01 -3.31191184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08463044 meters Centerline goodness : 0.082755 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-2.24, Z:-3.31 [[ 9.80744768e-01 3.30933684e-03 -1.95265840e-01 -2.40962611e+01] [-6.55832500e-03 9.99850569e-01 -1.59946082e-02 -2.23771765e+00] [ 1.95183730e-01 1.69672452e-02 9.80619918e-01 -3.31253582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14463044 meters Centerline goodness : 0.098056 with order 1 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.24, Z:-3.32 [[ 9.80240555e-01 2.22063334e-03 -1.97796671e-01 -2.41392082e+01] [-5.48804416e-03 9.99857372e-01 -1.59723964e-02 -2.23889497e+00] [ 1.97732991e-01 1.67423076e-02 9.80112932e-01 -3.32038019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20463044 meters Centerline goodness : 0.117699 with order 3 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.24, Z:-3.32 [[ 9.80129817e-01 2.08930819e-03 -1.98346103e-01 -2.41373841e+01] [-5.42241284e-03 9.99853048e-01 -1.62628218e-02 -2.23739601e+00] [ 1.98282978e-01 1.70151910e-02 9.79997114e-01 -3.32073535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26463044 meters Centerline goodness : 0.170193 with order 3 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.24, Z:-3.32 [[ 9.80072918e-01 1.73672492e-03 -1.98630460e-01 -2.41362860e+01] [-5.14315517e-03 9.99848402e-01 -1.66349384e-02 -2.23700862e+00] [ 1.98571458e-01 1.73250399e-02 9.79933273e-01 -3.32111390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32463044 meters Centerline goodness : 0.113627 with order 3 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.24, Z:-3.32 [[ 9.80037372e-01 1.65735720e-03 -1.98806446e-01 -2.41361014e+01] [-5.02745882e-03 9.99852082e-01 -1.64480858e-02 -2.23900459e+00] [ 1.98749778e-01 1.71192300e-02 9.79900739e-01 -3.32081904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38463044 meters Centerline goodness : 0.330278 with order 3 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.24, Z:-3.32 [[ 9.80094691e-01 -2.36159296e-03 -1.98516549e-01 -2.41371976e+01] [-1.51381977e-03 9.99811280e-01 -1.93678261e-02 -2.24293793e+00] [ 1.98524824e-01 1.92828218e-02 9.79906152e-01 -3.32052693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44463044 meters Centerline goodness : 0.088344 with order 1 Centerline is valid? [False, False] Translation: X:-24.14, Y:-2.25, Z:-3.32 [[ 9.80025096e-01 -2.27473022e-03 -1.98860849e-01 -2.41358923e+01] [-1.52537225e-03 9.99819192e-01 -1.89540678e-02 -2.24572234e+00] [ 1.98868008e-01 1.88787990e-02 9.79844430e-01 -3.32089440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50463044 meters Centerline goodness : 0.088120 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80414490e-01 3.35005267e-03 -1.96916747e-01 -2.41536476e+01] [-7.37159611e-03 9.99778896e-01 -1.96931329e-02 -2.25546396e+00] [ 1.96807235e-01 2.07590236e-02 9.80222411e-01 -3.32638440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56463044000003 meters Centerline goodness : 0.084908 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80419263e-01 3.34117940e-03 -1.96893134e-01 -2.41540692e+01] [-7.34382590e-03 9.99780883e-01 -1.96024159e-02 -2.25675120e+00] [ 1.96784496e-01 2.06645350e-02 9.80228973e-01 -3.32601468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62463044000003 meters Centerline goodness : 0.095493 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.25, Z:-3.33 [[ 9.80385438e-01 3.87795015e-03 -1.97051656e-01 -2.41529624e+01] [-7.88091983e-03 9.99778128e-01 -1.95342144e-02 -2.25463734e+00] [ 1.96932183e-01 2.07040077e-02 9.80198480e-01 -3.32676241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68463044000003 meters Centerline goodness : 0.085196 with order 1 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.25, Z:-3.33 [[ 9.80535833e-01 4.21700181e-03 -1.96294923e-01 -2.41552420e+01] [-8.18983181e-03 9.99777642e-01 -1.94317784e-02 -2.25327045e+00] [ 1.96169331e-01 2.06611774e-02 9.80352339e-01 -3.32639310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74463044000004 meters Centerline goodness : 0.166495 with order 3 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.25, Z:-3.33 [[ 9.80606353e-01 4.35274975e-03 -1.95939361e-01 -2.41564293e+01] [-8.28853613e-03 9.99779935e-01 -1.92712649e-02 -2.25372109e+00] [ 1.95812358e-01 2.05215752e-02 9.80426634e-01 -3.32615902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80463044000004 meters Centerline goodness : 0.150242 with order 3 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.26, Z:-3.33 [[ 9.80544323e-01 4.33312831e-03 -1.96249978e-01 -2.41552800e+01] [-8.22844375e-03 9.99784905e-01 -1.90377475e-02 -2.25638029e+00] [ 1.96125272e-01 2.02821872e-02 9.80369068e-01 -3.32646314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86463044000004 meters Centerline goodness : 0.131450 with order 1 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.26, Z:-3.33 [[ 9.80559273e-01 4.46939326e-03 -1.96172210e-01 -2.41560515e+01] [-8.28548811e-03 9.99791996e-01 -1.86364246e-02 -2.25898667e+00] [ 1.96048112e-01 1.98995014e-02 9.80392344e-01 -3.32585150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92463044000004 meters Centerline goodness : 0.084319 with order 1 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.26, Z:-3.33 [[ 9.80473693e-01 4.45013202e-03 -1.96599935e-01 -2.41550949e+01] [-8.23430421e-03 9.99796155e-01 -1.84348676e-02 -2.26153835e+00] [ 1.96477822e-01 1.96937664e-02 9.80310472e-01 -3.32568073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98463044 meters Centerline goodness : 0.132403 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80464681e-01 4.47043849e-03 -1.96644411e-01 -2.41549003e+01] [-8.24467158e-03 9.99797103e-01 -1.83787467e-02 -2.26223353e+00] [ 1.96522352e-01 1.96409807e-02 9.80302605e-01 -3.32576108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04463044 meters Centerline goodness : 0.094636 with order 1 Centerline is valid? [False, False] Translation: X:-24.16, Y:-2.26, Z:-3.33 [[ 9.80552165e-01 4.66718859e-03 -1.96203133e-01 -2.41562980e+01] [-8.41473286e-03 9.99797660e-01 -1.82710655e-02 -2.26192850e+00] [ 1.96078159e-01 1.95667298e-02 9.80393033e-01 -3.32552493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10463044 meters Centerline goodness : 0.147134 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80458578e-01 4.28291536e-03 -1.96679012e-01 -2.41549293e+01] [-8.16883264e-03 9.99787048e-01 -1.89506684e-02 -2.25919981e+00] [ 1.96555965e-01 2.01869833e-02 9.80284774e-01 -3.32565189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16463044 meters Centerline goodness : 0.148065 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80367207e-01 4.17534339e-03 -1.97136263e-01 -2.41531906e+01] [-8.13402600e-03 9.99781122e-01 -1.92755142e-02 -2.25698209e+00] [ 1.97012633e-01 2.05005935e-02 9.80186588e-01 -3.32619740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22463044 meters Centerline goodness : 0.084042 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.26, Z:-3.33 [[ 9.80336678e-01 4.00311946e-03 -1.97291591e-01 -2.41527677e+01] [-8.01760512e-03 9.99776666e-01 -1.95534282e-02 -2.25543828e+00] [ 1.97169254e-01 2.07507489e-02 9.80149831e-01 -3.32619439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28463044 meters Centerline goodness : 0.086567 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.25, Z:-3.33 [[ 9.80416513e-01 -4.69258168e-03 -1.96879256e-01 -2.41734757e+01] [ 9.22184996e-04 9.99814505e-01 -1.92381154e-02 -2.24951771e+00] [ 1.96933012e-01 1.86798069e-02 9.80238978e-01 -3.33080172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34463044 meters Centerline goodness : 0.083748 with order 1 Centerline is valid? [False, False] Translation: X:-24.18, Y:-2.25, Z:-3.33 [[ 9.80514577e-01 -4.49028162e-03 -1.96395013e-01 -2.41753049e+01] [ 7.69754646e-04 9.99818877e-01 -1.90163315e-02 -2.24898745e+00] [ 1.96444830e-01 1.84946143e-02 9.80340440e-01 -3.33018992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40463044 meters Centerline goodness : 0.083852 with order 1 Centerline is valid? [False, False] Translation: X:-24.18, Y:-2.25, Z:-3.33 [[ 9.80515414e-01 -4.57786166e-03 -1.96388812e-01 -2.41753776e+01] [ 8.94435192e-04 9.99822104e-01 -1.88403796e-02 -2.25077687e+00] [ 1.96440124e-01 1.82976256e-02 9.80345079e-01 -3.33008671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46463044 meters Centerline goodness : 0.097779 with order 3 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.26, Z:-3.33 [[ 9.80804767e-01 -1.64752348e-04 -1.94992262e-01 -2.41976619e+01] [-4.08031588e-03 9.99763340e-01 -2.13685742e-02 -2.25629129e+00] [ 1.94949636e-01 2.17540294e-02 9.80571977e-01 -3.33462531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52463044 meters Centerline goodness : 0.084522 with order 1 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.26, Z:-3.33 [[ 9.80843301e-01 -8.19079952e-05 -1.94798388e-01 -2.41983920e+01] [-4.05645631e-03 9.99774483e-01 -2.08453343e-02 -2.26035013e+00] [ 1.94756165e-01 2.12361977e-02 9.80621772e-01 -3.33429512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58463044 meters Centerline goodness : 0.096749 with order 3 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.26, Z:-3.34 [[ 9.80694838e-01 -2.35155675e-05 -1.95544454e-01 -2.41952822e+01] [-4.08401791e-03 9.99779407e-01 -2.06024031e-02 -2.26365251e+00] [ 1.95501803e-01 2.10032774e-02 9.80478407e-01 -3.33531148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64463044 meters Centerline goodness : 0.084052 with order 1 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.26, Z:-3.34 [[ 9.80641167e-01 6.44645750e-04 -1.95812377e-01 -2.41944844e+01] [-4.69262903e-03 9.99784754e-01 -2.02095408e-02 -2.26337410e+00] [ 1.95757201e-01 2.07371825e-02 9.80433112e-01 -3.33544285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70463044 meters Centerline goodness : 0.084806 with order 1 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.26, Z:-3.34 [[ 9.80757159e-01 1.46063355e-03 -1.95226182e-01 -2.41958618e+01] [-5.39263099e-03 9.99793148e-01 -1.96107407e-02 -2.26346033e+00] [ 1.95157155e-01 2.02861571e-02 9.80562164e-01 -3.33565732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76463044 meters Centerline goodness : 0.201601 with order 3 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.27, Z:-3.34 [[ 9.80676856e-01 1.27790955e-03 -1.95630446e-01 -2.41943718e+01] [-5.18474331e-03 9.99797199e-01 -1.94596877e-02 -2.26680520e+00] [ 1.95565905e-01 2.00979589e-02 9.80484599e-01 -3.33608276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82463044 meters Centerline goodness : 0.084239 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.27, Z:-3.33 [[ 9.80592326e-01 -7.77883636e-03 -1.95903498e-01 -2.41724090e+01] [ 4.05281093e-03 9.99803328e-01 -1.94133909e-02 -2.27067277e+00] [ 1.96015983e-01 1.82426623e-02 9.80430997e-01 -3.33161203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88463044 meters Centerline goodness : 0.155615 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.27, Z:-3.33 [[ 9.80619560e-01 -1.17330156e-02 -1.95569973e-01 -2.41730401e+01] [ 7.52253045e-03 9.99723954e-01 -2.22582034e-02 -2.27485069e+00] [ 1.95777142e-01 2.03556486e-02 9.80437126e-01 -3.33164976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94463044 meters Centerline goodness : 0.103949 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.28, Z:-3.33 [[ 9.80443656e-01 -1.21918843e-02 -1.96421983e-01 -2.41704657e+01] [ 8.00179934e-03 9.99723486e-01 -2.21115763e-02 -2.28007478e+00] [ 1.96637252e-01 2.01074254e-02 9.80270107e-01 -3.33181657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00463044 meters Centerline goodness : 0.098017 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.29, Z:-3.33 [[ 9.80450913e-01 -1.49598224e-02 -1.96194321e-01 -2.41718069e+01] [ 1.07032703e-02 9.99684162e-01 -2.27379998e-02 -2.29138440e+00] [ 1.96472512e-01 2.01935718e-02 9.80301368e-01 -3.33224342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06463044000003 meters Centerline goodness : 0.459233 with order 2 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.30, Z:-3.33 [[ 9.80559631e-01 -1.88232839e-02 -1.95316394e-01 -2.41747279e+01] [ 1.43032550e-02 9.99596843e-01 -2.45268746e-02 -2.30057969e+00] [ 1.95699328e-01 2.12564029e-02 9.80433546e-01 -3.33248197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12463044000003 meters Centerline goodness : 0.331914 with order 3 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.32, Z:-3.34 [[ 9.81049275e-01 -1.39588535e-02 -1.93254936e-01 -2.41910939e+01] [ 9.22010398e-03 9.99634887e-01 -2.53984747e-02 -2.31673558e+00] [ 1.93538909e-01 2.31353246e-02 9.80819783e-01 -3.33865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18463044000003 meters Centerline goodness : 0.414250 with order 3 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.33, Z:-3.34 [[ 9.80972308e-01 -1.67232558e-02 -1.93426120e-01 -2.41910016e+01] [ 1.19609915e-02 9.99596537e-01 -2.57623277e-02 -2.32990862e+00] [ 1.93778910e-01 2.29585618e-02 9.80776549e-01 -3.33966203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24463044000004 meters Centerline goodness : 0.216067 with order 2 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.34, Z:-3.35 [[ 9.81545520e-01 -1.20690863e-02 -1.90847396e-01 -2.42040409e+01] [ 7.14484332e-03 9.99624098e-01 -2.64691090e-02 -2.34397924e+00] [ 1.91095114e-01 2.46170607e-02 9.81262787e-01 -3.34513072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30463044000004 meters Centerline goodness : 0.307324 with order 3 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.35, Z:-3.34 [[ 9.81286565e-01 -1.23589771e-02 -1.92156012e-01 -2.42011968e+01] [ 7.48987962e-03 9.99632710e-01 -2.60450845e-02 -2.35165559e+00] [ 1.92407325e-01 2.41184661e-02 9.81018716e-01 -3.34487343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36463044000004 meters Centerline goodness : 0.206721 with order 3 Centerline is valid? [False, False] Translation: X:-24.22, Y:-2.36, Z:-3.35 [[ 9.81502208e-01 -4.37072006e-03 -1.91400921e-01 -2.42169109e+01] [-8.77432136e-04 9.99626181e-01 -2.73263459e-02 -2.36052392e+00] [ 1.91448808e-01 2.69888102e-02 9.81131468e-01 -3.34855881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42463044000004 meters Centerline goodness : 0.196591 with order 3 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.36, Z:-3.34 [[ 9.81639485e-01 4.67143093e-03 -1.90688488e-01 -2.41978966e+01] [-1.02354399e-02 9.99549783e-01 -2.82040318e-02 -2.36209045e+00] [ 1.90470883e-01 2.96379718e-02 9.81245348e-01 -3.34428232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48463044 meters Centerline goodness : 0.087242 with order 1 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.36, Z:-3.35 [[ 9.81482636e-01 7.68887796e-03 -1.91396753e-01 -2.41944733e+01] [-1.29434000e-02 9.99572438e-01 -2.62184795e-02 -2.35757316e+00] [ 1.91113329e-01 2.82103071e-02 9.81162512e-01 -3.34529375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54463044 meters Centerline goodness : 0.451715 with order 1 Centerline is valid? [False, False] Translation: X:-24.19, Y:-2.36, Z:-3.35 [[ 9.81307515e-01 7.66607210e-03 -1.92293506e-01 -2.41915454e+01] [-1.29968611e-02 9.99564954e-01 -2.64760914e-02 -2.35538875e+00] [ 1.92006882e-01 2.84803995e-02 9.80980236e-01 -3.34574131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60463044 meters Centerline goodness : 0.173833 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.35, Z:-3.34 [[ 9.81227013e-01 9.33952575e-04 -1.92854027e-01 -2.41716077e+01] [-5.97965746e-03 9.99654819e-01 -2.55829308e-02 -2.35154808e+00] [ 1.92763565e-01 2.62558638e-02 9.80893897e-01 -3.34099624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66463044 meters Centerline goodness : 0.090396 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.35, Z:-3.34 [[ 9.81286672e-01 -7.55392954e-03 -1.92404276e-01 -2.41497702e+01] [ 2.65474944e-03 9.99665969e-01 -2.57080360e-02 -2.35286335e+00] [ 1.92534204e-01 2.47161679e-02 9.80978945e-01 -3.33704433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72463044 meters Centerline goodness : 0.184257 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.36, Z:-3.34 [[ 9.81355970e-01 1.83048056e-03 -1.92190297e-01 -2.41671824e+01] [-6.81607695e-03 9.99657097e-01 -2.52829878e-02 -2.36125784e+00] [ 1.92078114e-01 2.61215949e-02 9.81031936e-01 -3.34118575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78463044 meters Centerline goodness : 0.168668 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.36, Z:-3.33 [[ 9.81785686e-01 4.44192716e-03 -1.89939821e-01 -2.41261264e+01] [-9.33745335e-03 9.99646664e-01 -2.48869371e-02 -2.36106649e+00] [ 1.89762163e-01 2.62071928e-02 9.81480262e-01 -3.33313029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84463044 meters Centerline goodness : 0.105993 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.36, Z:-3.33 [[ 9.81855076e-01 5.24882864e-03 -1.89560172e-01 -2.41269219e+01] [-1.00708015e-02 9.99649509e-01 -2.44834058e-02 -2.36032599e+00] [ 1.89365223e-01 2.59481791e-02 9.81563805e-01 -3.33316293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90463044 meters Centerline goodness : 0.111383 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.36, Z:-3.33 [[ 9.81971519e-01 7.54200120e-03 -1.88878411e-01 -2.41307782e+01] [-1.20776568e-02 9.99665395e-01 -2.28741728e-02 -2.35796481e+00] [ 1.88642694e-01 2.47429949e-02 9.81734036e-01 -3.33145957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96463044 meters Centerline goodness : 0.185890 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.35, Z:-3.33 [[ 9.82040830e-01 7.79343436e-03 -1.88507481e-01 -2.41314521e+01] [-1.23510488e-02 9.99658827e-01 -2.30147828e-02 -2.35462647e+00] [ 1.88263803e-01 2.49297215e-02 9.81802042e-01 -3.33165079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02463044 meters Centerline goodness : 0.099788 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.35, Z:-3.33 [[ 9.82069527e-01 7.86337230e-03 -1.88355014e-01 -2.41308868e+01] [-1.24876351e-02 9.99648733e-01 -2.33766845e-02 -2.35008492e+00] [ 1.88105031e-01 2.53096381e-02 9.81822754e-01 -3.33240934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08463044 meters Centerline goodness : 0.106929 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.34, Z:-3.33 [[ 9.82067558e-01 7.36023153e-03 -1.88385610e-01 -2.41306153e+01] [-1.21918751e-02 9.99625442e-01 -2.45017137e-02 -2.34261960e+00] [ 1.88134710e-01 2.63591120e-02 9.81789452e-01 -3.33233840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14463044 meters Centerline goodness : 0.097058 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.34, Z:-3.33 [[ 9.82052232e-01 7.13222900e-03 -1.88474257e-01 -2.41300279e+01] [-1.20835547e-02 9.99611044e-01 -2.51346102e-02 -2.33722613e+00] [ 1.88221683e-01 2.69609390e-02 9.81756439e-01 -3.33251594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20463044 meters Centerline goodness : 0.098422 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.33, Z:-3.33 [[ 9.82065747e-01 6.85694417e-03 -1.88414040e-01 -2.41296135e+01] [-1.19216864e-02 9.99597046e-01 -2.57608123e-02 -2.33264401e+00] [ 1.88161477e-01 2.75450245e-02 9.81751766e-01 -3.33294104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26463044 meters Centerline goodness : 0.109266 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.34, Z:-3.33 [[ 9.81781517e-01 1.34958857e-02 -1.89533411e-01 -2.41112866e+01] [-1.88635341e-02 9.99469628e-01 -2.65448784e-02 -2.33625765e+00] [ 1.89074641e-01 2.96365410e-02 9.81515387e-01 -3.33037524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32463044 meters Centerline goodness : 0.505294 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.33 [[ 9.81632698e-01 7.24996787e-03 -1.90642820e-01 -2.40931375e+01] [-1.23591234e-02 9.99595242e-01 -2.56242864e-02 -2.32935678e+00] [ 1.90379880e-01 2.75098155e-02 9.81324977e-01 -3.32518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38463044 meters Centerline goodness : 0.467377 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.33 [[ 9.81656302e-01 7.08986066e-03 -1.90527266e-01 -2.40928856e+01] [-1.22845772e-02 9.99583913e-01 -2.60976924e-02 -2.32611371e+00] [ 1.90262961e-01 2.79595111e-02 9.81334944e-01 -3.32548670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44463044 meters Centerline goodness : 0.453574 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.33 [[ 9.81641805e-01 7.07597515e-03 -1.90602460e-01 -2.40924830e+01] [-1.22847959e-02 9.99582270e-01 -2.61604697e-02 -2.32544383e+00] [ 1.90337729e-01 2.80217230e-02 9.81318670e-01 -3.32564247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50463044 meters Centerline goodness : 0.120804 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.32, Z:-3.33 [[ 9.81682866e-01 7.16281754e-03 -1.90387616e-01 -2.40933552e+01] [-1.23538786e-02 9.99583185e-01 -2.60928684e-02 -2.32496493e+00] [ 1.90121361e-01 2.79669473e-02 9.81362175e-01 -3.32527191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56463044000003 meters Centerline goodness : 0.092394 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.32, Z:-3.33 [[ 9.81621667e-01 6.80815681e-03 -1.90715894e-01 -2.40925555e+01] [-1.20667181e-02 9.99577968e-01 -2.64250048e-02 -2.32456237e+00] [ 1.90455500e-01 2.82406722e-02 9.81289543e-01 -3.32514344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62463044000003 meters Centerline goodness : 0.130343 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.32, Z:-3.33 [[ 9.81624690e-01 6.97933283e-03 -1.90694144e-01 -2.40923952e+01] [-1.22119583e-02 9.99580066e-01 -2.62785090e-02 -2.32430499e+00] [ 1.90430658e-01 2.81243822e-02 9.81297704e-01 -3.32533969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68463044000003 meters Centerline goodness : 0.118527 with order 3 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.32, Z:-3.32 [[ 9.81561003e-01 2.92838429e-04 -1.91148927e-01 -2.40739268e+01] [-5.22599097e-03 9.99666135e-01 -2.53042921e-02 -2.31965191e+00] [ 1.91077699e-01 2.58366489e-02 9.81234824e-01 -3.32008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74463044000004 meters Centerline goodness : 0.115166 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.32 [[ 9.80945504e-01 6.44285913e-03 -1.94176230e-01 -2.40860059e+01] [-1.21624587e-02 9.99526104e-01 -2.82779374e-02 -2.32747080e+00] [ 1.93902020e-01 3.01007759e-02 9.80558999e-01 -3.32386696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80463044000004 meters Centerline goodness : 0.455435 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.33, Z:-3.32 [[ 9.80914929e-01 6.45516299e-03 -1.94330219e-01 -2.40855504e+01] [-1.21685764e-02 9.99527634e-01 -2.82211615e-02 -2.32769160e+00] [ 1.94056252e-01 3.00472807e-02 9.80530128e-01 -3.32386663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86463044000004 meters Centerline goodness : 0.117513 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-2.32, Z:-3.32 [[ 9.81294429e-01 2.67228969e-03 -1.92494424e-01 -2.40645732e+01] [-7.65102050e-03 9.99655024e-01 -2.51255900e-02 -2.32427879e+00] [ 1.92360875e-01 2.61283802e-02 9.80976351e-01 -3.31995984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92463044000004 meters Centerline goodness : 0.224061 with order 3 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.32, Z:-3.32 [[ 9.81202536e-01 1.24029684e-02 -1.92581802e-01 -2.40822511e+01] [-1.76810170e-02 9.99513010e-01 -2.57123486e-02 -2.32278118e+00] [ 1.92169108e-01 2.86340637e-02 9.80943997e-01 -3.32392418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98463044 meters Centerline goodness : 0.456459 with order 2 Centerline is valid? [False, False] Translation: X:-24.08, Y:-2.32, Z:-3.32 [[ 9.81192719e-01 1.20171201e-02 -1.92656266e-01 -2.40823312e+01] [-1.74233218e-02 9.99499828e-01 -2.63917030e-02 -2.31992710e+00] [ 1.92242753e-01 2.92520589e-02 9.80911332e-01 -3.32349771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04463044 meters Centerline goodness : 0.463483 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.32, Z:-3.32 [[ 9.81472049e-01 1.12354929e-02 -1.91275665e-01 -2.40862983e+01] [-1.66457088e-02 9.99504850e-01 -2.67016101e-02 -2.31970375e+00] [ 1.90880950e-01 2.93908030e-02 9.81173096e-01 -3.32362328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10463044 meters Centerline goodness : 0.365079 with order 3 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.32, Z:-3.32 [[ 9.81990200e-01 6.66821169e-04 -1.88930682e-01 -2.40707272e+01] [-6.05638991e-03 9.99590952e-01 -2.79508182e-02 -2.31705434e+00] [ 1.88834762e-01 2.85916674e-02 9.81592558e-01 -3.31884653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16463044 meters Centerline goodness : 0.460590 with order 3 Centerline is valid? [False, False] Translation: X:-24.05, Y:-2.32, Z:-3.31 [[ 9.81833796e-01 -7.22744485e-03 -1.89605276e-01 -2.40498912e+01] [ 2.09679943e-03 9.99626552e-01 -2.72462736e-02 -2.31547588e+00] [ 1.89731390e-01 2.63537480e-02 9.81482287e-01 -3.31383406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22463044 meters Centerline goodness : 0.227946 with order 2 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.32, Z:-3.32 [[ 9.81698247e-01 -3.21217513e-04 -1.90442768e-01 -2.40655048e+01] [-5.29197263e-03 9.99566414e-01 -2.89651245e-02 -2.32240426e+00] [ 1.90369499e-01 2.94428299e-02 9.81270897e-01 -3.31820338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28463044 meters Centerline goodness : 0.477366 with order 3 Centerline is valid? [False, False] Translation: X:-24.05, Y:-2.32, Z:-3.31 [[ 9.81555548e-01 -6.98027570e-03 -1.91049686e-01 -2.40461868e+01] [ 1.62928887e-03 9.99602351e-01 -2.81511191e-02 -2.31655853e+00] [ 1.91170218e-01 2.73206119e-02 9.81176606e-01 -3.31288059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34463044 meters Centerline goodness : 0.454604 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.32, Z:-3.31 [[ 9.81249142e-01 3.06710255e-03 -1.92719261e-01 -2.40243187e+01] [-8.44209349e-03 9.99597749e-01 -2.70752812e-02 -2.31658308e+00] [ 1.92558697e-01 2.81945504e-02 9.80880327e-01 -3.30928845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40463044 meters Centerline goodness : 0.258588 with order 2 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.31, Z:-3.31 [[ 9.81153973e-01 4.53663392e-03 -1.93174273e-01 -2.40232836e+01] [-9.91408343e-03 9.99589512e-01 -2.68797216e-02 -2.30614623e+00] [ 1.92973033e-01 2.82882915e-02 9.80796197e-01 -3.30884128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46463044 meters Centerline goodness : 0.458050 with order 3 Centerline is valid? [False, False] Translation: X:-24.02, Y:-2.30, Z:-3.31 [[ 9.81239766e-01 4.64494948e-03 -1.92735430e-01 -2.40246061e+01] [-1.00890114e-02 9.99577068e-01 -2.72744570e-02 -2.29859107e+00] [ 1.92527227e-01 2.87072918e-02 9.80871632e-01 -3.30845426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52463044 meters Centerline goodness : 0.116495 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.29, Z:-3.30 [[ 9.81249641e-01 -2.03025324e-03 -1.92730431e-01 -2.40073890e+01] [-3.15486009e-03 9.99641372e-01 -2.65927411e-02 -2.28857881e+00] [ 1.92715303e-01 2.67021552e-02 9.80891333e-01 -3.30281539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58463044 meters Centerline goodness : 0.094429 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.29, Z:-3.30 [[ 9.81401144e-01 -3.96926239e-03 -1.91927174e-01 -2.40099983e+01] [-1.43556014e-03 9.99606513e-01 -2.80135470e-02 -2.28581473e+00] [ 1.91962846e-01 2.77680500e-02 9.81009277e-01 -3.30219024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64463044 meters Centerline goodness : 0.128361 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.28, Z:-3.30 [[ 9.81500960e-01 -1.36522923e-02 -1.90969843e-01 -2.39893377e+01] [ 8.31218761e-03 9.99552467e-01 -2.87362770e-02 -2.28401536e+00] [ 1.91276694e-01 2.66173063e-02 9.81175186e-01 -3.29806438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70463044 meters Centerline goodness : 0.497074 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.28, Z:-3.30 [[ 9.81654848e-01 -1.40556147e-02 -1.90147833e-01 -2.39912789e+01] [ 8.77740067e-03 9.99553191e-01 -2.85722775e-02 -2.28443403e+00] [ 1.90464474e-01 2.63791110e-02 9.81339608e-01 -3.29906743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76463044 meters Centerline goodness : 0.115521 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.28, Z:-3.30 [[ 9.82193191e-01 1.28660857e-03 -1.87869318e-01 -2.39910158e+01] [-7.08342758e-03 9.99519154e-01 -3.01874969e-02 -2.28489269e+00] [ 1.87740142e-01 3.09807126e-02 9.81730021e-01 -3.30056379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82463044 meters Centerline goodness : 0.108867 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-2.28, Z:-3.30 [[ 9.81549188e-01 -2.71593292e-03 -1.91190523e-01 -2.39701974e+01] [-2.79882523e-03 9.99587923e-01 -2.85683532e-02 -2.27529812e+00] [ 1.91189327e-01 2.85763527e-02 9.81137112e-01 -3.29530067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88463044 meters Centerline goodness : 0.090445 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.27, Z:-3.30 [[ 9.81271065e-01 8.85258798e-06 -1.92632027e-01 -2.39647598e+01] [-5.25947604e-03 9.99628428e-01 -2.67459281e-02 -2.26969177e+00] [ 1.92560214e-01 2.72581489e-02 9.80906498e-01 -3.29629489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94463044 meters Centerline goodness : 0.107337 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.26, Z:-3.30 [[ 9.81234841e-01 1.34752828e-04 -1.92816413e-01 -2.39638751e+01] [-5.51789236e-03 9.99609821e-01 -2.73817353e-02 -2.26130870e+00] [ 1.92737490e-01 2.79318529e-02 9.80852727e-01 -3.29637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00463044 meters Centerline goodness : 0.253340 with order 3 Centerline is valid? [False, False] Translation: X:-23.92, Y:-2.26, Z:-3.29 [[ 9.81348660e-01 1.55445994e-03 -1.92230048e-01 -2.39193369e+01] [-7.04769229e-03 9.99585989e-01 -2.78958834e-02 -2.25535140e+00] [ 1.92107100e-01 2.87303660e-02 9.80953326e-01 -3.28865158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06463044000003 meters Centerline goodness : 0.098453 with order 1 Centerline is valid? [False, False] Translation: X:-23.91, Y:-2.25, Z:-3.29 [[ 9.81110693e-01 4.50408600e-03 -1.93394727e-01 -2.39142081e+01] [-9.66408685e-03 9.99621801e-01 -2.57460814e-02 -2.25094982e+00] [ 1.93205623e-01 2.71287393e-02 9.80783166e-01 -3.29010388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12463044000003 meters Centerline goodness : 0.222598 with order 3 Centerline is valid? [False, False] Translation: X:-23.87, Y:-2.25, Z:-3.28 [[ 9.81611704e-01 5.58720312e-03 -1.90806827e-01 -2.38743969e+01] [-1.08125246e-02 9.99594162e-01 -2.63552684e-02 -2.24678184e+00] [ 1.90582138e-01 2.79337434e-02 9.81273741e-01 -3.28118479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18463044000003 meters Centerline goodness : 0.254366 with order 3 Centerline is valid? [False, False] Translation: X:-23.88, Y:-2.25, Z:-3.28 [[ 9.81656423e-01 5.49640316e-03 -1.90579268e-01 -2.38751487e+01] [-1.07567305e-02 9.99588859e-01 -2.65782856e-02 -2.24559549e+00] [ 1.90354828e-01 2.81407545e-02 9.81311947e-01 -3.28094005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24463044000004 meters Centerline goodness : 0.251649 with order 3 Centerline is valid? [False, False] Translation: X:-23.85, Y:-2.24, Z:-3.28 [[ 9.81242790e-01 1.29541814e-03 -1.92771650e-01 -2.38516327e+01] [-6.04483896e-03 9.99692447e-01 -2.40514355e-02 -2.24158092e+00] [ 1.92681206e-01 2.47655713e-02 9.80948836e-01 -3.27638982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30463044000004 meters Centerline goodness : 0.101878 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.24, Z:-3.27 [[ 9.81459098e-01 -1.85343747e-03 -1.91662734e-01 -2.38321375e+01] [-2.06650942e-03 9.99792804e-01 -2.02504047e-02 -2.23802203e+00] [ 1.91660555e-01 2.02710168e-02 9.81251913e-01 -3.27140046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36463044000004 meters Centerline goodness : 0.142216 with order 3 Centerline is valid? [False, False] Translation: X:-23.84, Y:-2.23, Z:-3.27 [[ 9.81556823e-01 5.98950005e-04 -1.91169676e-01 -2.38351576e+01] [-4.23234724e-03 9.99818077e-01 -1.85983904e-02 -2.23439145e+00] [ 1.91123758e-01 1.90644735e-02 9.81380790e-01 -3.26997296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42463044000004 meters Centerline goodness : 0.141125 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.23, Z:-3.27 [[ 9.81371471e-01 3.91209994e-03 -1.92080011e-01 -2.38308628e+01] [-7.18222640e-03 9.99840836e-01 -1.63315006e-02 -2.23012987e+00] [ 1.91985548e-01 1.74068309e-02 9.81243370e-01 -3.27135476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48463044 meters SLAMing on 315.54463044 meters Centerline goodness : 0.087714 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-2.23, Z:-3.27 [[ 9.81743368e-01 5.29693042e-03 -1.90136535e-01 -2.38370564e+01] [-8.40882326e-03 9.99843521e-01 -1.55635786e-02 -2.22653685e+00] [ 1.90024343e-01 1.68782646e-02 9.81634287e-01 -3.27043251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60463044 meters Centerline goodness : 0.271577 with order 3 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.23, Z:-3.27 [[ 9.81621285e-01 5.84572148e-03 -1.90749782e-01 -2.38342943e+01] [-8.90561142e-03 9.99844994e-01 -1.51880770e-02 -2.22559574e+00] [ 1.90631430e-01 1.66076831e-02 9.81521188e-01 -3.27145244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66463044 meters Centerline goodness : 0.114941 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.23, Z:-3.27 [[ 9.81567338e-01 5.64522119e-03 -1.91033224e-01 -2.38335704e+01] [-8.73726907e-03 9.99844045e-01 -1.53474725e-02 -2.22565765e+00] [ 1.90916792e-01 1.67336864e-02 9.81463582e-01 -3.27140228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72463044 meters Centerline goodness : 0.138867 with order 3 Centerline is valid? [False, False] Translation: X:-23.84, Y:-2.23, Z:-3.27 [[ 9.81676568e-01 5.52923312e-03 -1.90474523e-01 -2.38353687e+01] [-8.57506343e-03 9.99848154e-01 -1.51702457e-02 -2.22771627e+00] [ 1.90361720e-01 1.65256059e-02 9.81574918e-01 -3.27121268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78463044 meters Centerline goodness : 0.114844 with order 1 Centerline is valid? [False, False] Translation: X:-23.81, Y:-2.23, Z:-3.27 [[ 9.81922420e-01 -2.27569998e-03 -1.89270132e-01 -2.38149436e+01] [-4.31380919e-04 9.99898224e-01 -1.42603110e-02 -2.22860361e+00] [ 1.89283321e-01 1.40841666e-02 9.81821501e-01 -3.26713944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84463044 meters Centerline goodness : 0.469294 with order 1 Centerline is valid? [False, False] Translation: X:-23.81, Y:-2.23, Z:-3.27 [[ 9.81782113e-01 -2.03456136e-03 -1.89999325e-01 -2.38126931e+01] [-6.58152954e-04 9.99900260e-01 -1.41080566e-02 -2.22892570e+00] [ 1.90009078e-01 1.39760862e-02 9.81682851e-01 -3.26727653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90463044 meters Centerline goodness : 0.151003 with order 3 Centerline is valid? [False, False] Translation: X:-23.81, Y:-2.23, Z:-3.27 [[ 9.81699706e-01 -1.37534760e-03 -1.90430554e-01 -2.38111147e+01] [-1.29252526e-03 9.99902766e-01 -1.38847758e-02 -2.22701708e+00] [ 1.90431134e-01 1.38768166e-02 9.81602474e-01 -3.26769380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96463044 meters Centerline goodness : 0.114759 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.22, Z:-3.27 [[ 9.81512098e-01 8.34171259e-03 -1.91218245e-01 -2.38310513e+01] [-1.11586024e-02 9.99844444e-01 -1.36592002e-02 -2.22455146e+00] [ 1.91074559e-01 1.55403986e-02 9.81452500e-01 -3.27202100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02463044 meters Centerline goodness : 0.119885 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.22, Z:-3.27 [[ 9.81423474e-01 8.46324276e-03 -1.91667257e-01 -2.38293595e+01] [-1.13831244e-02 9.99835255e-01 -1.41381320e-02 -2.21840878e+00] [ 1.91516026e-01 1.60572668e-02 9.81358128e-01 -3.27228541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08463044 meters Centerline goodness : 0.124675 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.21, Z:-3.27 [[ 9.81342998e-01 8.29193199e-03 -1.92086343e-01 -2.38275062e+01] [-1.13480826e-02 9.99825844e-01 -1.48155951e-02 -2.21367862e+00] [ 1.91930040e-01 1.67189922e-02 9.81266190e-01 -3.27293285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14463044 meters Centerline goodness : 0.136129 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-2.21, Z:-3.27 [[ 9.81317455e-01 7.85881094e-03 -1.92234993e-01 -2.38275963e+01] [-1.10454408e-02 9.99818692e-01 -1.55106920e-02 -2.20980466e+00] [ 1.92078244e-01 1.73442331e-02 9.81226338e-01 -3.27246228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20463044 meters Centerline goodness : 0.100296 with order 1 Centerline is valid? [False, False] Translation: X:-23.85, Y:-2.21, Z:-3.28 [[ 9.81357415e-01 -1.00308186e-03 -1.92189014e-01 -2.38476506e+01] [-1.87580964e-03 9.99888760e-01 -1.47969435e-02 -2.20643088e+00] [ 1.92182478e-01 1.48816002e-02 9.81246367e-01 -3.27738961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26463044 meters Centerline goodness : 0.179449 with order 3 Centerline is valid? [False, False] Translation: X:-23.85, Y:-2.21, Z:-3.28 [[ 9.81342017e-01 -1.50857770e-03 -1.92264325e-01 -2.38475050e+01] [-1.38870794e-03 9.99887523e-01 -1.49336361e-02 -2.20771230e+00] [ 1.92265228e-01 1.49220036e-02 9.81229543e-01 -3.27724148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32463044 meters SLAMing on 316.38463044 meters Centerline goodness : 0.100477 with order 2 Centerline is valid? [False, False] Translation: X:-23.87, Y:-2.21, Z:-3.28 [[ 9.81444132e-01 6.56303934e-03 -1.91635963e-01 -2.38689594e+01] [-9.72378547e-03 9.99831689e-01 -1.55577139e-02 -2.20997119e+00] [ 1.91501602e-01 1.71324540e-02 9.81342761e-01 -3.28157368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44463044 meters Centerline goodness : 0.190421 with order 3 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.21, Z:-3.29 [[ 9.81574688e-01 -2.85898198e-04 -1.91078651e-01 -2.38879640e+01] [-2.38471376e-03 9.99902670e-01 -1.37464077e-02 -2.20686800e+00] [ 1.91063984e-01 1.39487937e-02 9.81478469e-01 -3.28665298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50463044 meters Centerline goodness : 0.122598 with order 2 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.21, Z:-3.29 [[ 9.81580318e-01 -1.94403658e-05 -1.91049940e-01 -2.38879938e+01] [-2.57096517e-03 9.99908101e-01 -1.33109038e-02 -2.20902479e+00] [ 1.91032642e-01 1.35569040e-02 9.81490061e-01 -3.28671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56463044000003 meters Centerline goodness : 0.112063 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.22, Z:-3.29 [[ 9.81557782e-01 3.82710411e-04 -1.91165307e-01 -2.38873522e+01] [-2.81581186e-03 9.99918453e-01 -1.24562500e-02 -2.21513985e+00] [ 1.91144951e-01 1.27648146e-02 9.81478817e-01 -3.28701968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62463044000003 meters Centerline goodness : 0.100923 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.22, Z:-3.29 [[ 9.81546587e-01 5.16940839e-04 -1.91222462e-01 -2.38867693e+01] [-2.87085315e-03 9.99923480e-01 -1.20329736e-02 -2.21847260e+00] [ 1.91201609e-01 1.23598957e-02 9.81472963e-01 -3.28736641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68463044000003 meters Centerline goodness : 0.123509 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.22, Z:-3.29 [[ 9.81572264e-01 8.53473410e-04 -1.91089407e-01 -2.38868514e+01] [-3.11762081e-03 9.99928456e-01 -1.15482998e-02 -2.22080899e+00] [ 1.91065880e-01 1.19312351e-02 9.81504700e-01 -3.28762150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74463044000004 meters Centerline goodness : 0.159428 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-2.22, Z:-3.29 [[ 9.81502554e-01 1.66088773e-03 -1.91441840e-01 -2.38850093e+01] [-3.86809262e-03 9.99930286e-01 -1.11562386e-02 -2.22033505e+00] [ 1.91409965e-01 1.16903914e-02 9.81440554e-01 -3.28860757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80463044000004 meters Centerline goodness : 0.102513 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-2.22, Z:-3.29 [[ 9.81387265e-01 2.28024375e-03 -1.92025616e-01 -2.38832074e+01] [-4.48467953e-03 9.99928934e-01 -1.10460559e-02 -2.21788103e+00] [ 1.91986781e-01 1.17016319e-02 9.81327747e-01 -3.28891601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86463044000004 meters Centerline goodness : 0.084160 with order 1 Centerline is valid? [False, False] Translation: X:-23.93, Y:-2.22, Z:-3.30 [[ 9.80894769e-01 2.69851068e-03 -1.94520359e-01 -2.39258388e+01] [-4.70635847e-03 9.99940307e-01 -9.86062754e-03 -2.22032818e+00] [ 1.94482138e-01 1.05877205e-02 9.80848917e-01 -3.29743220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92463044000004 meters Centerline goodness : 0.118658 with order 1 Centerline is valid? [False, False] Translation: X:-23.93, Y:-2.22, Z:-3.30 [[ 9.80993938e-01 -1.52303840e-03 -1.94032403e-01 -2.39267007e+01] [-1.05860717e-03 9.99912305e-01 -1.32008470e-02 -2.22212649e+00] [ 1.94035492e-01 1.31553550e-02 9.80906297e-01 -3.29783605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98463044 meters Centerline goodness : 0.146515 with order 3 Centerline is valid? [False, False] Translation: X:-23.93, Y:-2.22, Z:-3.30 [[ 9.80929344e-01 -5.59630974e-03 -1.94284079e-01 -2.39253992e+01] [ 2.47991926e-03 9.99864398e-01 -1.62798996e-02 -2.22496305e+00] [ 1.94348841e-01 1.54876224e-02 9.80810207e-01 -3.29829843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04463044 meters Centerline goodness : 0.131292 with order 3 Centerline is valid? [False, False] Translation: X:-23.92, Y:-2.23, Z:-3.30 [[ 9.80801437e-01 -5.88697694e-03 -1.94920200e-01 -2.39237280e+01] [ 2.80785903e-03 9.99866937e-01 -1.60693527e-02 -2.22870330e+00] [ 1.94988863e-01 1.52135357e-02 9.80687459e-01 -3.29810776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10463044 meters Centerline goodness : 0.120318 with order 1 Centerline is valid? [False, False] Translation: X:-23.92, Y:-2.23, Z:-3.30 [[ 9.80829462e-01 -5.64953350e-03 -1.94786165e-01 -2.39240783e+01] [ 2.66302350e-03 9.99874911e-01 -1.55907115e-02 -2.23154691e+00] [ 1.94849879e-01 1.47731090e-02 9.80721816e-01 -3.29810831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16463044 meters Centerline goodness : 0.200917 with order 3 Centerline is valid? [False, False] Translation: X:-23.94, Y:-2.24, Z:-3.30 [[ 9.80809550e-01 1.38290236e-03 -1.94963369e-01 -2.39423659e+01] [-4.63269746e-03 9.99857816e-01 -1.62137544e-02 -2.24057148e+00] [ 1.94913226e-01 1.68058115e-02 9.80676501e-01 -3.30284310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22463044 meters Centerline goodness : 0.118356 with order 1 Centerline is valid? [False, False] Translation: X:-23.94, Y:-2.24, Z:-3.30 [[ 9.80818075e-01 1.49137668e-03 -1.94919673e-01 -2.39425128e+01] [-4.70615132e-03 9.99860424e-01 -1.60307562e-02 -2.24162584e+00] [ 1.94868559e-01 1.66405769e-02 9.80688195e-01 -3.30278826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28463044 meters Centerline goodness : 0.082233 with order 1 Centerline is valid? [False, False] Translation: X:-23.94, Y:-2.24, Z:-3.30 [[ 9.80896794e-01 1.64333590e-03 -1.94521923e-01 -2.39439093e+01] [-4.81415749e-03 9.99863125e-01 -1.58289649e-02 -2.24297620e+00] [ 1.94469285e-01 1.64630401e-02 9.80770445e-01 -3.30249898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34463044 meters Centerline goodness : 0.125346 with order 1 Centerline is valid? [False, False] Translation: X:-23.94, Y:-2.24, Z:-3.30 [[ 9.80911778e-01 1.88211878e-03 -1.94444188e-01 -2.39440335e+01] [-5.04110591e-03 9.99863211e-01 -1.57526890e-02 -2.24263308e+00] [ 1.94387942e-01 1.64322120e-02 9.80787087e-01 -3.30259706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40463044 meters Centerline goodness : 0.083488 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.25, Z:-3.31 [[ 9.80825107e-01 9.97600529e-03 -1.94634502e-01 -2.39644935e+01] [-1.33792897e-02 9.99779598e-01 -1.61787176e-02 -2.24626885e+00] [ 1.94430205e-01 1.84725638e-02 9.80742402e-01 -3.30727207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46463044 meters Centerline goodness : 0.114596 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.25, Z:-3.31 [[ 9.80823456e-01 1.01108902e-02 -1.94635862e-01 -2.39644460e+01] [-1.34994623e-02 9.99779394e-01 -1.60912257e-02 -2.24617381e+00] [ 1.94430228e-01 1.84101310e-02 9.80743572e-01 -3.30733348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52463044 meters Centerline goodness : 0.163639 with order 3 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.25, Z:-3.31 [[ 9.80774989e-01 1.00808942e-02 -1.94881494e-01 -2.39632278e+01] [-1.34994773e-02 9.99777286e-01 -1.62216565e-02 -2.24530726e+00] [ 1.94674562e-01 1.85405932e-02 9.80692644e-01 -3.30785672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58463044 meters Centerline goodness : 0.082016 with order 1 Centerline is valid? [False, False] Translation: X:-23.96, Y:-2.25, Z:-3.31 [[ 9.80779290e-01 1.01332261e-02 -1.94857130e-01 -2.39633523e+01] [-1.35254937e-02 9.99779121e-01 -1.60863308e-02 -2.24611661e+00] [ 1.94651084e-01 1.84126790e-02 9.80699714e-01 -3.30778837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64463044 meters Centerline goodness : 0.117146 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.25, Z:-3.31 [[ 9.81013259e-01 9.59642683e-04 -1.93938302e-01 -2.39862030e+01] [-4.07119980e-03 9.99869303e-01 -1.56461291e-02 -2.24586278e+00] [ 1.93897941e-01 1.61386217e-02 9.80888951e-01 -3.31221183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70463044 meters Centerline goodness : 0.129380 with order 3 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.25, Z:-3.31 [[ 9.80982181e-01 -8.94928501e-04 -1.94095748e-01 -2.39861058e+01] [-2.37371301e-03 9.99859275e-01 -1.66071270e-02 -2.25215060e+00] [ 1.94083296e-01 1.67520232e-02 9.80842008e-01 -3.31193127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76463044 meters Centerline goodness : 0.119106 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.26, Z:-3.31 [[ 9.80742701e-01 -4.45377272e-03 -1.95253471e-01 -2.39817562e+01] [ 8.11842435e-04 9.99824279e-01 -1.87283818e-02 -2.26183085e+00] [ 1.95302573e-01 1.82092087e-02 9.80573980e-01 -3.31288810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82463044 meters Centerline goodness : 0.127414 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.27, Z:-3.31 [[ 9.80768509e-01 -3.96752048e-03 -1.95134287e-01 -2.39818737e+01] [ 5.26543764e-04 9.99843512e-01 -1.76826027e-02 -2.26966792e+00] [ 1.95173907e-01 1.72397932e-02 9.80617120e-01 -3.31309197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88463044 meters Centerline goodness : 0.088001 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.28, Z:-3.31 [[ 9.80747145e-01 -4.38895415e-03 -1.95232616e-01 -2.39821190e+01] [ 1.01179961e-03 9.99848193e-01 -1.73944721e-02 -2.27954885e+00] [ 1.95279322e-01 1.68620426e-02 9.80602701e-01 -3.31266381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94463044 meters Centerline goodness : 0.116050 with order 2 Centerline is valid? [False, False] Translation: X:-23.98, Y:-2.28, Z:-3.31 [[ 9.80628681e-01 -3.83777719e-03 -1.95838355e-01 -2.39797226e+01] [ 6.08771453e-04 9.99862926e-01 -1.65456475e-02 -2.28414652e+00] [ 1.95875009e-01 1.61059157e-02 9.80496599e-01 -3.31338218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00463044 meters Centerline goodness : 0.460884 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.30, Z:-3.32 [[ 9.81148274e-01 1.48480584e-03 -1.93250768e-01 -2.39953940e+01] [-4.85680424e-03 9.99844097e-01 -1.69762365e-02 -2.29570896e+00] [ 1.93195433e-01 1.75947863e-02 9.81002522e-01 -3.31905887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06463044000003 meters Centerline goodness : 0.137331 with order 3 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.30, Z:-3.32 [[ 9.81267213e-01 2.49019294e-03 -1.92635553e-01 -2.39977611e+01] [-5.62793193e-03 9.99860233e-01 -1.57429931e-02 -2.30072558e+00] [ 1.92569426e-01 1.65322227e-02 9.81144078e-01 -3.31839613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12463044000003 meters Centerline goodness : 0.164635 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.30, Z:-3.32 [[ 9.81259187e-01 2.96542857e-03 -1.92669703e-01 -2.39971104e+01] [-6.02903644e-03 9.99864519e-01 -1.53164745e-02 -2.30175164e+00] [ 1.92598180e-01 1.61910439e-02 9.81144123e-01 -3.31894767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18463044000003 meters Centerline goodness : 0.123176 with order 3 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.30, Z:-3.32 [[ 9.81234430e-01 3.27661840e-03 -1.92790710e-01 -2.39968260e+01] [-6.29081537e-03 9.99867336e-01 -1.50244839e-02 -2.30321257e+00] [ 1.92715904e-01 1.59553516e-02 9.81124868e-01 -3.31891454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24463044000004 meters Centerline goodness : 0.093628 with order 3 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.30, Z:-3.32 [[ 9.81331655e-01 3.39881408e-03 -1.92293088e-01 -2.39985787e+01] [-6.35403426e-03 9.99870969e-01 -1.47537255e-02 -2.30490269e+00] [ 1.92218131e-01 1.57001347e-02 9.81226628e-01 -3.31848330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30463044000004 meters Centerline goodness : 0.085178 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.31, Z:-3.32 [[ 9.81339241e-01 3.16314578e-03 -1.92258388e-01 -2.39981680e+01] [-6.10969308e-03 9.99872767e-01 -1.47350567e-02 -2.30690458e+00] [ 1.92187317e-01 1.56347291e-02 9.81233708e-01 -3.31894141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36463044000004 meters Centerline goodness : 0.195507 with order 3 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.31, Z:-3.32 [[ 9.81235904e-01 3.11013107e-03 -1.92785962e-01 -2.39965125e+01] [-6.00037627e-03 9.99878167e-01 -1.44099314e-02 -2.30935522e+00] [ 1.92717657e-01 1.52963304e-02 9.81135020e-01 -3.31905544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42463044000004 meters Centerline goodness : 0.098194 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.31, Z:-3.32 [[ 9.81245706e-01 3.13118782e-03 -1.92735724e-01 -2.39971472e+01] [-5.96084938e-03 9.99882774e-01 -1.41034419e-02 -2.31204199e+00] [ 1.92668970e-01 1.49878104e-02 9.81149343e-01 -3.31851500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48463044 meters Centerline goodness : 0.096858 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.32, Z:-3.32 [[ 9.81206156e-01 3.05818174e-03 -1.92938142e-01 -2.39964013e+01] [-5.84926177e-03 9.99886306e-01 -1.38982246e-02 -2.31518583e+00] [ 1.92873702e-01 1.47655692e-02 9.81112487e-01 -3.31865083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54463044 meters Centerline goodness : 0.083703 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.31, Z:-3.32 [[ 9.81242839e-01 3.14165441e-03 -1.92750150e-01 -2.39965790e+01] [-5.93577245e-03 9.99885489e-01 -1.39202981e-02 -2.31457622e+00] [ 1.92684346e-01 1.48033138e-02 9.81149125e-01 -3.31896487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60463044 meters Centerline goodness : 0.097078 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-2.31, Z:-3.32 [[ 9.81286776e-01 3.50074815e-03 -1.92520151e-01 -2.39965689e+01] [-6.28447313e-03 9.99884326e-01 -1.38506393e-02 -2.31289264e+00] [ 1.92449394e-01 1.48013369e-02 9.81195267e-01 -3.31955859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66463044 meters Centerline goodness : 0.082838 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.31, Z:-3.32 [[ 9.81163003e-01 3.20290509e-03 -1.93155127e-01 -2.39940233e+01] [-6.09931664e-03 9.99877676e-01 -1.44024680e-02 -2.31073949e+00] [ 1.93085370e-01 1.53092830e-02 9.81062519e-01 -3.32038513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72463044 meters Centerline goodness : 0.084867 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.31, Z:-3.33 [[ 9.80807297e-01 -4.51849031e-03 -1.94927240e-01 -2.40105365e+01] [ 2.12838158e-03 9.99919991e-01 -1.24692506e-02 -2.30768848e+00] [ 1.94967986e-01 1.18150524e-02 9.80738441e-01 -3.32571351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78463044 meters Centerline goodness : 0.083991 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.31, Z:-3.33 [[ 9.80772141e-01 -4.59283655e-03 -1.95102314e-01 -2.40099231e+01] [ 2.19902123e-03 9.99919649e-01 -1.24843663e-02 -2.30804752e+00] [ 1.95143976e-01 1.18152845e-02 9.80703435e-01 -3.32577517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84463044 meters Centerline goodness : 0.096742 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.31, Z:-3.32 [[ 9.80847266e-01 -4.75179295e-03 -1.94720471e-01 -2.40120203e+01] [ 2.29013371e-03 9.99914617e-01 -1.28651899e-02 -2.30604217e+00] [ 1.94764978e-01 1.21728505e-02 9.80774401e-01 -3.32472953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90463044 meters Centerline goodness : 0.084124 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.32 [[ 9.80791780e-01 -4.29815112e-04 -1.95057170e-01 -2.40109240e+01] [-1.43352923e-03 9.99954683e-01 -9.41154490e-03 -2.30380197e+00] [ 1.95052376e-01 9.51038603e-03 9.80746717e-01 -3.32491721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96463044 meters Centerline goodness : 0.083527 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.33 [[ 9.80856522e-01 -8.26814116e-04 -1.94730069e-01 -2.40116731e+01] [-1.19480848e-03 9.99946610e-01 -1.02639807e-02 -2.29908651e+00] [ 1.94728159e-01 1.03001575e-02 9.80803166e-01 -3.32510143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02463044 meters Centerline goodness : 0.092336 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.32 [[ 9.80801579e-01 -9.63978705e-04 -1.95005981e-01 -2.40112568e+01] [-1.11132143e-03 9.99943914e-01 -1.05325511e-02 -2.29734014e+00] [ 1.95005197e-01 1.05470571e-02 9.80745498e-01 -3.32478756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08463044 meters Centerline goodness : 0.082488 with order 1 Centerline is valid? [False, False] Translation: X:-23.99, Y:-2.29, Z:-3.32 [[ 9.80788944e-01 -8.19280956e-03 -1.94899782e-01 -2.39923771e+01] [ 6.42138360e-03 9.99932151e-01 -9.71900342e-03 -2.29164389e+00] [ 1.94966184e-01 8.28076484e-03 9.80775008e-01 -3.31984991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14463044 meters Centerline goodness : 0.115784 with order 3 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.33 [[ 9.81188810e-01 -2.12554638e-03 -1.93038861e-01 -2.40112743e+01] [ 9.02451171e-05 9.99944326e-01 -1.05516606e-02 -2.29803082e+00] [ 1.93050542e-01 1.03357505e-02 9.81134374e-01 -3.32502564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20463044 meters Centerline goodness : 0.092904 with order 3 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.32 [[ 9.81309628e-01 -2.16871219e-03 -1.92423257e-01 -2.40131788e+01] [ 1.45152264e-04 9.99944551e-01 -1.05296660e-02 -2.29805817e+00] [ 1.92435423e-01 1.03049320e-02 9.81255531e-01 -3.32468118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26463044 meters Centerline goodness : 0.083759 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.30, Z:-3.32 [[ 9.81243537e-01 -2.45257753e-03 -1.92756598e-01 -2.40119409e+01] [ 3.41702849e-04 9.99939622e-01 -1.09834670e-02 -2.29594263e+00] [ 1.92771898e-01 1.07115905e-02 9.81185129e-01 -3.32498862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32463044 meters Centerline goodness : 0.083489 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.29, Z:-3.33 [[ 9.81177277e-01 -2.46859169e-03 -1.93093388e-01 -2.40101766e+01] [ 2.63407289e-04 9.99934468e-01 -1.14451390e-02 -2.29142252e+00] [ 1.93108988e-01 1.11788481e-02 9.81113629e-01 -3.32586141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38463044 meters Centerline goodness : 0.083811 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.29, Z:-3.33 [[ 9.81192651e-01 -2.70910710e-03 -1.93012025e-01 -2.40102213e+01] [ 4.25503046e-04 9.99929436e-01 -1.18718794e-02 -2.28919683e+00] [ 1.93030568e-01 1.15664736e-02 9.81124567e-01 -3.32604100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44463044 meters Centerline goodness : 0.083305 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.29, Z:-3.33 [[ 9.81112372e-01 -3.10431345e-03 -1.93413747e-01 -2.40091176e+01] [ 7.16572382e-04 9.99922687e-01 -1.24139853e-02 -2.28726117e+00] [ 1.93437330e-01 1.20409197e-02 9.81038743e-01 -3.32602981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50463044 meters Centerline goodness : 0.084127 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.29, Z:-3.33 [[ 9.81170826e-01 3.61683666e-03 -1.93108077e-01 -2.40272277e+01] [-6.37153271e-03 9.99886590e-01 -1.36459105e-02 -2.28858462e+00] [ 1.93036822e-01 1.46193637e-02 9.81082596e-01 -3.33121409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56463044000003 meters Centerline goodness : 0.129173 with order 3 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.29, Z:-3.33 [[ 9.81120645e-01 3.31053124e-03 -1.93368353e-01 -2.40263636e+01] [-6.14902040e-03 9.99881953e-01 -1.40808482e-02 -2.28652417e+00] [ 1.93298911e-01 1.50040368e-02 9.81025183e-01 -3.33127406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62463044000003 meters Centerline goodness : 0.084393 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-2.28, Z:-3.34 [[ 9.81154473e-01 -2.08991160e-03 -1.93213694e-01 -2.40478893e+01] [-4.71703602e-05 9.99938885e-01 -1.10554550e-02 -2.28023823e+00] [ 1.93224991e-01 1.08562230e-02 9.81094412e-01 -3.33557001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68463044000003 meters Centerline goodness : 0.164410 with order 3 Centerline is valid? [False, False] Translation: X:-24.05, Y:-2.28, Z:-3.34 [[ 9.81353429e-01 -2.10607940e-03 -1.92200446e-01 -2.40510533e+01] [-1.12368215e-04 9.99933513e-01 -1.15307345e-02 -2.27612411e+00] [ 1.92211951e-01 1.13373230e-02 9.81287945e-01 -3.33510010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74463044000004 meters Centerline goodness : 0.115761 with order 2 Centerline is valid? [False, False] Translation: X:-24.03, Y:-2.27, Z:-3.33 [[ 9.81434611e-01 7.19505338e-03 -1.91662034e-01 -2.40285733e+01] [-9.71880539e-03 9.99877968e-01 -1.22308868e-02 -2.27017176e+00] [ 1.91550643e-01 1.38665416e-02 9.81384772e-01 -3.33169495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80463044000004 meters Centerline goodness : 0.082914 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.26, Z:-3.34 [[ 9.80768051e-01 8.53620114e-03 -1.94990163e-01 -2.40685797e+01] [-1.09027875e-02 9.99879319e-01 -1.10668900e-02 -2.25911647e+00] [ 1.94872162e-01 1.29799884e-02 9.80742760e-01 -3.34066947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86463044000004 meters Centerline goodness : 0.082894 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.25, Z:-3.34 [[ 9.80817872e-01 7.79796784e-03 -1.94770364e-01 -2.40694729e+01] [-1.03915374e-02 9.99870382e-01 -1.22978079e-02 -2.25266354e+00] [ 1.94649220e-01 1.40858732e-02 9.80771772e-01 -3.34037050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92463044000004 meters Centerline goodness : 0.108614 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.24, Z:-3.34 [[ 9.80866797e-01 7.87329408e-03 -1.94520790e-01 -2.40692155e+01] [-1.06197076e-02 9.99858057e-01 -1.30800519e-02 -2.24067458e+00] [ 1.94390196e-01 1.48955425e-02 9.80811182e-01 -3.34113369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98463044 meters Centerline goodness : 0.098912 with order 3 Centerline is valid? [False, False] Translation: X:-24.07, Y:-2.24, Z:-3.34 [[ 9.80906375e-01 7.20398114e-03 -1.94347078e-01 -2.40701333e+01] [-1.01352955e-02 9.99849324e-01 -1.40927271e-02 -2.23544420e+00] [ 1.94216271e-01 1.57934109e-02 9.80831590e-01 -3.34059888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04463044 meters Centerline goodness : 0.083136 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.23, Z:-3.35 [[ 9.81125582e-01 -7.33914983e-04 -1.93370250e-01 -2.40907463e+01] [-1.91486711e-03 9.99906892e-01 -1.35107223e-02 -2.22520142e+00] [ 1.93362162e-01 1.36259936e-02 9.81032827e-01 -3.34547114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10463044 meters Centerline goodness : 0.113594 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.22, Z:-3.35 [[ 9.80973743e-01 -1.33910961e-03 -1.94135833e-01 -2.40885335e+01] [-1.45404995e-03 9.99897486e-01 -1.42444448e-02 -2.22269176e+00] [ 1.94135006e-01 1.42557095e-02 9.80871232e-01 -3.34555634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16463044 meters Centerline goodness : 0.095810 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.22, Z:-3.35 [[ 9.80866616e-01 -1.78117545e-03 -1.94672825e-01 -2.40871096e+01] [-1.15430421e-03 9.99887358e-01 -1.49645606e-02 -2.21949976e+00] [ 1.94677551e-01 1.49029496e-02 9.80754074e-01 -3.34555722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22463044 meters Centerline goodness : 0.084709 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.21, Z:-3.35 [[ 9.80863881e-01 -1.99777605e-03 -1.94684503e-01 -2.40872302e+01] [-1.05565755e-03 9.99878083e-01 -1.55789947e-02 -2.21449348e+00] [ 1.94691891e-01 1.54863934e-02 9.80742188e-01 -3.34533111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28463044 meters Centerline goodness : 0.117966 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.21, Z:-3.35 [[ 9.80867741e-01 -2.35612431e-03 -1.94661045e-01 -2.40872968e+01] [-7.96517483e-04 9.99869817e-01 -1.61156840e-02 -2.21214113e+00] [ 1.94673674e-01 1.59624055e-02 9.80738172e-01 -3.34521077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34463044 meters Centerline goodness : 0.149863 with order 3 Centerline is valid? [False, False] Translation: X:-24.09, Y:-2.21, Z:-3.34 [[ 9.80790613e-01 -2.47908498e-03 -1.95047759e-01 -2.40864689e+01] [-7.27206280e-04 9.99865817e-01 -1.63651684e-02 -2.21030701e+00] [ 1.95062157e-01 1.61926435e-02 9.80657205e-01 -3.34494752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40463044 meters Centerline goodness : 0.242549 with order 3 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.21, Z:-3.35 [[ 9.80753922e-01 2.34934764e-03 -1.95233768e-01 -2.41082604e+01] [-6.22304384e-03 9.99795713e-01 -1.92303155e-02 -2.21301588e+00] [ 1.95148706e-01 2.00751556e-02 9.80568188e-01 -3.34878183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46463044 meters Centerline goodness : 0.113456 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.21, Z:-3.35 [[ 9.80723972e-01 2.23747518e-03 -1.95385476e-01 -2.41083887e+01] [-6.17671097e-03 9.99789715e-01 -1.95543902e-02 -2.21076888e+00] [ 1.95300637e-01 2.03842989e-02 9.80531561e-01 -3.34808236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52463044 meters Centerline goodness : 0.103347 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.21, Z:-3.35 [[ 9.80678958e-01 2.26717449e-03 -1.95610943e-01 -2.41079562e+01] [-6.27825931e-03 9.99782505e-01 -1.98878210e-02 -2.20766889e+00] [ 1.95523309e-01 2.07316638e-02 9.80479900e-01 -3.34787389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58463044 meters Centerline goodness : 0.115971 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.20, Z:-3.35 [[ 9.80668976e-01 2.05614373e-03 -1.95663312e-01 -2.41083709e+01] [-6.16696728e-03 9.99772822e-01 -2.04027870e-02 -2.20498438e+00] [ 1.95576910e-01 2.12150295e-02 9.80458869e-01 -3.34730636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64463044 meters Centerline goodness : 0.479069 with order 3 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.20, Z:-3.35 [[ 9.80812877e-01 2.61322261e-03 -1.94934020e-01 -2.41112503e+01] [-6.70257965e-03 9.99771030e-01 -2.03215024e-02 -2.20156294e+00] [ 1.94836282e-01 2.12381520e-02 9.80605815e-01 -3.34639155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70463044 meters Centerline goodness : 0.144075 with order 3 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.20, Z:-3.35 [[ 9.80696906e-01 2.31868793e-03 -1.95520338e-01 -2.41093894e+01] [-6.52162862e-03 9.99761237e-01 -2.08551537e-02 -2.19906641e+00] [ 1.95425298e-01 2.17276957e-02 9.80477873e-01 -3.34662612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76463044 meters Centerline goodness : 0.106067 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.20, Z:-3.35 [[ 9.80614384e-01 2.07572579e-03 -1.95936524e-01 -2.41079931e+01] [-6.39322386e-03 9.99750439e-01 -2.14052971e-02 -2.19606940e+00] [ 1.95843194e-01 2.22430083e-02 9.80382931e-01 -3.34691563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82463044 meters Centerline goodness : 0.161366 with order 3 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.19, Z:-3.35 [[ 9.80741662e-01 2.38794230e-03 -1.95294878e-01 -2.41103522e+01] [-6.70328413e-03 9.99747694e-01 -2.14386074e-02 -2.19285877e+00] [ 1.95194410e-01 2.23348525e-02 9.80510223e-01 -3.34618826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88463044 meters Centerline goodness : 0.116157 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.19, Z:-3.35 [[ 9.80683492e-01 1.99794259e-03 -1.95591146e-01 -2.41093610e+01] [-6.43236367e-03 9.99736412e-01 -2.20393255e-02 -2.19016663e+00] [ 1.95495557e-01 2.28717161e-02 9.80437847e-01 -3.34633615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94463044 meters Centerline goodness : 0.085264 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.19, Z:-3.35 [[ 9.80702203e-01 1.82834160e-03 -1.95498966e-01 -2.41096288e+01] [-6.35283386e-03 9.99726236e-01 -2.25187743e-02 -2.18607074e+00] [ 1.95404273e-01 2.33261841e-02 9.80445337e-01 -3.34628574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00463044 meters Centerline goodness : 0.098154 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.18, Z:-3.35 [[ 9.80696841e-01 1.47732493e-03 -1.95528829e-01 -2.41100080e+01] [-6.10166803e-03 9.99715688e-01 -2.30502155e-02 -2.18338488e+00] [ 1.95439186e-01 2.37983256e-02 9.80427032e-01 -3.34580419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06463044000003 meters Centerline goodness : 0.097965 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.18, Z:-3.35 [[ 9.80683576e-01 1.33656560e-03 -1.95596363e-01 -2.41099863e+01] [-6.00910124e-03 9.99710524e-01 -2.32972031e-02 -2.18177740e+00] [ 1.95508604e-01 2.40225428e-02 9.80407723e-01 -3.34559990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12463044000003 meters Centerline goodness : 0.105339 with order 3 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.18, Z:-3.35 [[ 9.80635193e-01 -4.88285189e-03 -1.95782471e-01 -2.41329159e+01] [ 7.80469046e-04 9.99778636e-01 -2.10254553e-02 -2.17780436e+00] [ 1.95841796e-01 2.04654992e-02 9.80421927e-01 -3.34894872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18463044000003 meters Centerline goodness : 0.163111 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.18, Z:-3.35 [[ 9.80607599e-01 -5.52727929e-03 -1.95903513e-01 -2.41331510e+01] [ 1.32738980e-03 9.99766602e-01 -2.15633739e-02 -2.17660991e+00] [ 1.95976976e-01 2.08851680e-02 9.80386064e-01 -3.34827450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24463044000004 meters Centerline goodness : 0.183882 with order 1 Centerline is valid? [False, False] Translation: X:-24.13, Y:-2.18, Z:-3.35 [[ 9.80607439e-01 -5.71354450e-03 -1.95898970e-01 -2.41334489e+01] [ 1.53244119e-03 9.99767930e-01 -2.14880932e-02 -2.17754561e+00] [ 1.95976281e-01 2.07711803e-02 9.80388625e-01 -3.34786425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30463044000004 meters Centerline goodness : 0.100666 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80435024e-01 -2.20046948e-03 -1.96830695e-01 -2.41536957e+01] [-2.84256627e-03 9.99674976e-01 -2.53350007e-02 -2.18262359e+00] [ 1.96822469e-01 2.53988263e-02 9.80110104e-01 -3.35183251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36463044000004 meters Centerline goodness : 0.098211 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80355692e-01 -2.06899479e-03 -1.97226864e-01 -2.41533278e+01] [-2.95762317e-03 9.99678344e-01 -2.51885158e-02 -2.18300707e+00] [ 1.97215540e-01 2.52770276e-02 9.80034235e-01 -3.35108027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42463044000004 meters Centerline goodness : 0.103171 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80226087e-01 -2.10746761e-03 -1.97869597e-01 -2.41514564e+01] [-2.96675227e-03 9.99674379e-01 -2.53443147e-02 -2.18300587e+00] [ 1.97858579e-01 2.54301885e-02 9.79900652e-01 -3.35114937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48463044 meters Centerline goodness : 0.107966 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80178549e-01 -2.06462878e-03 -1.98105399e-01 -2.41503171e+01] [-3.00061747e-03 9.99676290e-01 -2.52648405e-02 -2.18392349e+00] [ 1.98093433e-01 2.53584933e-02 9.79855060e-01 -3.35164652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54463044 meters Centerline goodness : 0.102534 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80145148e-01 -1.76875925e-03 -1.98273447e-01 -2.41499978e+01] [-3.22242516e-03 9.99686053e-01 -2.48477464e-02 -2.18580332e+00] [ 1.98255149e-01 2.49933195e-02 9.79831735e-01 -3.35144539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60463044 meters Centerline goodness : 0.113451 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80256906e-01 -1.60003479e-03 -1.97721616e-01 -2.41528290e+01] [-3.31698206e-03 9.99693476e-01 -2.45346918e-02 -2.18795537e+00] [ 1.97700266e-01 2.47061402e-02 9.79951127e-01 -3.35004945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66463044 meters Centerline goodness : 0.175497 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80369343e-01 -1.28549033e-03 -1.97165665e-01 -2.41543813e+01] [-3.55891636e-03 9.99700465e-01 -2.42139410e-02 -2.18874468e+00] [ 1.97137733e-01 2.44403015e-02 9.80071113e-01 -3.34993310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72463044 meters Centerline goodness : 0.104181 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80278973e-01 -4.04860939e-04 -1.97618245e-01 -2.41535724e+01] [-4.36706764e-03 9.99709321e-01 -2.37108059e-02 -2.18761206e+00] [ 1.97570401e-01 2.41062167e-02 9.79992259e-01 -3.34958439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78463044 meters Centerline goodness : 0.103639 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80254230e-01 -3.26254554e-04 -1.97741089e-01 -2.41535947e+01] [-4.46761228e-03 9.99706839e-01 -2.37965452e-02 -2.18645763e+00] [ 1.97690883e-01 2.42100946e-02 9.79965401e-01 -3.34922610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84463044 meters Centerline goodness : 0.109156 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80256685e-01 -3.62054084e-04 -1.97728857e-01 -2.41536509e+01] [-4.48374633e-03 9.99700484e-01 -2.40590475e-02 -2.18463239e+00] [ 1.97678345e-01 2.44706081e-02 9.79961459e-01 -3.34925769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90463044 meters Centerline goodness : 0.176008 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.18, Z:-3.35 [[ 9.80275144e-01 -5.78931214e-04 -1.97636805e-01 -2.41543937e+01] [-4.31203641e-03 9.99695023e-01 -2.43160011e-02 -2.18384855e+00] [ 1.97590607e-01 2.46885886e-02 9.79973686e-01 -3.34874221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96463044 meters Centerline goodness : 0.249762 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80207849e-01 -8.32930183e-04 -1.97969388e-01 -2.41539494e+01] [-4.03661041e-03 9.99699166e-01 -2.41926131e-02 -2.18575619e+00] [ 1.97929983e-01 2.45129146e-02 9.79909607e-01 -3.34822058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02463044 meters Centerline goodness : 0.142622 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.80007344e-01 -3.17881627e-03 -1.98935922e-01 -2.41499932e+01] [-1.98719545e-03 9.99666099e-01 -2.57631751e-02 -2.18954556e+00] [ 1.98951394e-01 2.56434254e-02 9.79673802e-01 -3.34908166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08463044 meters Centerline goodness : 0.259775 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.79883810e-01 -7.17861992e-03 -1.99439683e-01 -2.41483502e+01] [ 1.48825658e-03 9.99587908e-01 -2.86670289e-02 -2.19289764e+00] [ 1.99563285e-01 2.77935401e-02 9.79490691e-01 -3.34925061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14463044 meters Centerline goodness : 0.098682 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.79864490e-01 -7.16994608e-03 -1.99534893e-01 -2.41484263e+01] [ 1.52192312e-03 9.99594202e-01 -2.84449402e-02 -2.19447713e+00] [ 1.99657871e-01 2.75685101e-02 9.79477775e-01 -3.34880136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20463044 meters Centerline goodness : 0.221531 with order 3 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.79914324e-01 -7.25215378e-03 -1.99287039e-01 -2.41500469e+01] [ 1.60040637e-03 9.99592332e-01 -2.85063002e-02 -2.19461762e+00] [ 1.99412529e-01 2.76147917e-02 9.79526450e-01 -3.34786429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26463044 meters Centerline goodness : 0.264261 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.79926659e-01 -7.11052514e-03 -1.99231484e-01 -2.41505146e+01] [ 1.48403874e-03 9.99596217e-01 -2.83760619e-02 -2.19484517e+00] [ 1.99352806e-01 2.75107923e-02 9.79541533e-01 -3.34752130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32463044 meters Centerline goodness : 0.122626 with order 1 Centerline is valid? [False, False] Translation: X:-24.15, Y:-2.19, Z:-3.35 [[ 9.79940077e-01 -7.04523499e-03 -1.99167793e-01 -2.41511543e+01] [ 1.41926120e-03 9.99596311e-01 -2.83760737e-02 -2.19490750e+00] [ 1.99287308e-01 2.75241807e-02 9.79554485e-01 -3.34705715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38463044 meters Centerline goodness : 0.114015 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.20, Z:-3.35 [[ 9.80180190e-01 1.17751046e-03 -1.98104540e-01 -2.41728581e+01] [-6.95447823e-03 9.99570512e-01 -2.84679850e-02 -2.20048786e+00] [ 1.97985935e-01 2.92814686e-02 9.79767404e-01 -3.35140580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44463044 meters Centerline goodness : 0.134424 with order 3 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.20, Z:-3.35 [[ 9.80199094e-01 1.15157956e-03 -1.98011136e-01 -2.41732750e+01] [-6.95551290e-03 9.99566218e-01 -2.86181249e-02 -2.20002931e+00] [ 1.97892286e-01 2.94287291e-02 9.79781911e-01 -3.35124877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50463044 meters Centerline goodness : 0.083934 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.20, Z:-3.35 [[ 9.80240555e-01 1.43939806e-03 -1.97803899e-01 -2.41741102e+01] [-7.21247262e-03 9.99568669e-01 -2.84685033e-02 -2.19962014e+00] [ 1.97677603e-01 2.93326367e-02 9.79828129e-01 -3.35101563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56463044000003 meters Centerline goodness : 0.121746 with order 1 Centerline is valid? [False, False] Translation: X:-24.17, Y:-2.20, Z:-3.35 [[ 9.80266544e-01 1.87882614e-03 -1.97671376e-01 -2.41748934e+01] [-7.62924633e-03 9.99569417e-01 -2.83332766e-02 -2.19843854e+00] [ 1.97533029e-01 2.92822468e-02 9.79858792e-01 -3.35056446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62463044000003 meters Centerline goodness : 0.084510 with order 1 Centerline is valid? [False, False] Translation: X:-24.22, Y:-2.20, Z:-3.36 [[ 9.79800007e-01 1.61748555e-03 -1.99973321e-01 -2.42192570e+01] [-7.42962890e-03 9.99571366e-01 -2.83175684e-02 -2.20044614e+00] [ 1.99841803e-01 2.92312813e-02 9.79392049e-01 -3.35815625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68463044000003 meters Centerline goodness : 0.122441 with order 1 Centerline is valid? [False, False] Translation: X:-24.22, Y:-2.20, Z:-3.36 [[ 9.79773007e-01 1.65900840e-03 -2.00105230e-01 -2.42191204e+01] [-7.51460067e-03 9.99565358e-01 -2.85065791e-02 -2.19866479e+00] [ 1.99970963e-01 2.94336876e-02 9.79359623e-01 -3.35791905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74463044000004 meters Centerline goodness : 0.118200 with order 1 Centerline is valid? [False, False] Translation: X:-24.22, Y:-2.20, Z:-3.36 [[ 9.79914931e-01 2.07336300e-03 -1.99405188e-01 -2.42214556e+01] [-7.89920478e-03 9.99564717e-01 -2.84249786e-02 -2.19643629e+00] [ 1.99259455e-01 2.94292034e-02 9.79504768e-01 -3.35748827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80463044000004 meters Centerline goodness : 0.181934 with order 3 Centerline is valid? [False, False] Translation: X:-24.24, Y:-2.19, Z:-3.36 [[ 9.80112071e-01 -5.26529427e-03 -1.98374909e-01 -2.42408730e+01] [-2.07466149e-04 9.99620210e-01 -2.75570871e-02 -2.19017640e+00] [ 1.98444664e-01 2.70501898e-02 9.79738742e-01 -3.36226750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86463044000004 meters Centerline goodness : 0.133515 with order 3 Centerline is valid? [False, False] Translation: X:-24.24, Y:-2.19, Z:-3.36 [[ 9.80124292e-01 -5.49183993e-03 -1.98308374e-01 -2.42414286e+01] [ 2.01176323e-05 9.99619504e-01 -2.75834672e-02 -2.19116773e+00] [ 1.98384402e-01 2.70312368e-02 9.79751469e-01 -3.36186675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92463044000004 meters Centerline goodness : 0.120914 with order 1 Centerline is valid? [False, False] Translation: X:-24.24, Y:-2.19, Z:-3.36 [[ 9.80110976e-01 -5.49567092e-03 -1.98374069e-01 -2.42417260e+01] [ 5.88543814e-05 9.99624482e-01 -2.74023888e-02 -2.19265858e+00] [ 1.98450171e-01 2.68457069e-02 9.79743251e-01 -3.36141206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98463044 meters Centerline goodness : 0.199115 with order 3 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.20, Z:-3.37 [[ 9.79537789e-01 -8.19977481e-03 -2.01093221e-01 -2.42832339e+01] [ 2.58747071e-03 9.99600194e-01 -2.81559524e-02 -2.20169935e+00] [ 2.01243695e-01 2.70594965e-02 9.79167380e-01 -3.36986626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04463044 meters Centerline goodness : 0.120677 with order 1 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.21, Z:-3.38 [[ 9.79440953e-01 -1.34814567e-03 -2.01726554e-01 -2.42992803e+01] [-4.64444588e-03 9.99561915e-01 -2.92302400e-02 -2.21007870e+00] [ 2.01677587e-01 2.95662022e-02 9.79005613e-01 -3.37526345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10463044 meters Centerline goodness : 0.221272 with order 3 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.21, Z:-3.37 [[ 9.79430579e-01 -1.02323116e-03 -2.01778826e-01 -2.42996474e+01] [-4.90432356e-03 9.99571017e-01 -2.88743710e-02 -2.21152769e+00] [ 2.01721812e-01 2.92700305e-02 9.79005401e-01 -3.37470987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16463044 meters SLAMing on 323.22463044 meters Centerline goodness : 0.105040 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.22, Z:-3.39 [[ 9.79398235e-01 6.88757739e-03 -2.01820856e-01 -2.43639459e+01] [-1.29225236e-02 9.99507398e-01 -2.86001771e-02 -2.21696130e+00] [ 2.01524452e-01 3.06189978e-02 9.79004787e-01 -3.38743875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28463044 meters Centerline goodness : 0.112044 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.22, Z:-3.39 [[ 9.79309633e-01 7.03461117e-03 -2.02245290e-01 -2.43634823e+01] [-1.30937931e-02 9.99504106e-01 -2.86372798e-02 -2.21567682e+00] [ 2.01943546e-01 3.06929220e-02 9.78916109e-01 -3.38675270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34463044 meters Centerline goodness : 0.084333 with order 1 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.22, Z:-3.39 [[ 9.79205420e-01 6.75119337e-03 -2.02758890e-01 -2.43621545e+01] [-1.28237304e-02 9.99507221e-01 -2.86507773e-02 -2.21757237e+00] [ 2.02465548e-01 3.06551218e-02 9.78809463e-01 -3.38668934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40463044 meters Centerline goodness : 0.129495 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.22, Z:-3.39 [[ 9.79476181e-01 -2.98190854e-03 -2.01537887e-01 -2.43870479e+01] [-2.78216765e-03 9.99595287e-01 -2.83111467e-02 -2.22270427e+00] [ 2.01540743e-01 2.82908060e-02 9.79071478e-01 -3.39019462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46463044 meters Centerline goodness : 0.101828 with order 3 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.23, Z:-3.39 [[ 9.79595784e-01 -5.59305949e-03 -2.00900020e-01 -2.43908896e+01] [-4.05166943e-04 9.99555702e-01 -2.98032541e-02 -2.22918048e+00] [ 2.00977452e-01 2.92765401e-02 9.79158285e-01 -3.38848763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52463044 meters Centerline goodness : 0.123974 with order 1 Centerline is valid? [False, False] Translation: X:-24.39, Y:-2.24, Z:-3.39 [[ 9.79566133e-01 -5.41537286e-03 -2.01049410e-01 -2.43909109e+01] [-4.45728436e-04 9.99576527e-01 -2.90958332e-02 -2.23541160e+00] [ 2.01121835e-01 2.85909062e-02 9.79148900e-01 -3.38805493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58463044 meters Centerline goodness : 0.109152 with order 1 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.25, Z:-3.39 [[ 9.79643116e-01 1.86235231e-03 -2.00738380e-01 -2.44096301e+01] [-7.99392245e-03 9.99525738e-01 -2.97388175e-02 -2.24569511e+00] [ 2.00587793e-01 3.07381149e-02 9.79193395e-01 -3.39341976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64463044 meters Centerline goodness : 0.122373 with order 1 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.25, Z:-3.39 [[ 9.79767207e-01 2.35618952e-03 -2.00126630e-01 -2.44112125e+01] [-8.42067636e-03 9.99530565e-01 -2.94574445e-02 -2.24572231e+00] [ 1.99963277e-01 3.05466397e-02 9.79327111e-01 -3.39348585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70463044 meters Centerline goodness : 0.221683 with order 2 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.25, Z:-3.39 [[ 9.79842835e-01 3.05044231e-03 -1.99746623e-01 -2.44125950e+01] [-9.03640317e-03 9.99536737e-01 -2.90629481e-02 -2.24503613e+00] [ 1.99565433e-01 3.02821125e-02 9.79416475e-01 -3.39313067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76463044 meters Centerline goodness : 0.112580 with order 1 Centerline is valid? [False, False] Translation: X:-24.41, Y:-2.24, Z:-3.39 [[ 9.79787071e-01 3.37583541e-03 -2.00014749e-01 -2.44112269e+01] [-9.42283483e-03 9.99526585e-01 -2.92885126e-02 -2.24158486e+00] [ 1.99821186e-01 3.05812119e-02 9.79355034e-01 -3.39376579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82463044 meters Centerline goodness : 0.438283 with order 3 Centerline is valid? [False, False] Translation: X:-24.43, Y:-2.24, Z:-3.40 [[ 9.80349401e-01 -3.29944478e-03 -1.97241389e-01 -2.44304872e+01] [-2.30149984e-03 9.99600767e-01 -2.81604260e-02 -2.23555389e+00] [ 1.97255557e-01 2.80610077e-02 9.79950420e-01 -3.39958761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88463044 meters Centerline goodness : 0.083253 with order 1 Centerline is valid? [False, False] Translation: X:-24.43, Y:-2.23, Z:-3.40 [[ 9.80547058e-01 -4.10238775e-03 -1.96241275e-01 -2.44336941e+01] [-1.57274011e-03 9.99585265e-01 -2.87545626e-02 -2.23479755e+00] [ 1.96277849e-01 2.85038383e-02 9.80133938e-01 -3.39896390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94463044 meters Centerline goodness : 0.134335 with order 3 Centerline is valid? [False, False] Translation: X:-24.43, Y:-2.23, Z:-3.40 [[ 9.80476572e-01 -4.33919080e-03 -1.96588052e-01 -2.44327051e+01] [-1.37372371e-03 9.99580940e-01 -2.89146581e-02 -2.23474235e+00] [ 1.96631136e-01 2.86202026e-02 9.80059733e-01 -3.39898584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00463044 meters Centerline goodness : 0.082816 with order 1 Centerline is valid? [False, False] Translation: X:-24.43, Y:-2.23, Z:-3.40 [[ 9.80313421e-01 -4.53611833e-03 -1.97395595e-01 -2.44301341e+01] [-1.23864156e-03 9.99575113e-01 -2.91214601e-02 -2.23407204e+00] [ 1.97443822e-01 2.87926606e-02 9.79891280e-01 -3.39928866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06463044000003 meters Centerline goodness : 0.112350 with order 3 Centerline is valid? [False, False] Translation: X:-24.45, Y:-2.23, Z:-3.40 [[ 9.79830952e-01 -1.19119150e-02 -1.99472834e-01 -2.44473692e+01] [ 6.58488733e-03 9.99604293e-01 -2.73477087e-02 -2.23115924e+00] [ 1.99719664e-01 2.54826253e-02 9.79521665e-01 -3.40403871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12463044000003 meters Centerline goodness : 0.216349 with order 3 Centerline is valid? [False, False] Translation: X:-24.45, Y:-2.23, Z:-3.40 [[ 9.79815490e-01 -1.20172066e-02 -1.99542455e-01 -2.44476508e+01] [ 6.72558292e-03 9.99608053e-01 -2.71755008e-02 -2.23309293e+00] [ 1.99790819e-01 2.52849373e-02 9.79512277e-01 -3.40351275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18463044000003 meters SLAMing on 324.24463044000004 meters Centerline goodness : 0.089699 with order 1 Centerline is valid? [False, False] Translation: X:-24.45, Y:-2.24, Z:-3.40 [[ 9.80078366e-01 -1.62327243e-02 -1.97946696e-01 -2.44528296e+01] [ 1.05909035e-02 9.99507866e-01 -2.95272433e-02 -2.24304688e+00] [ 1.98328587e-01 2.68425781e-02 9.79767956e-01 -3.40238843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30463044000004 meters Centerline goodness : 0.272636 with order 1 Centerline is valid? [False, False] Translation: X:-24.47, Y:-2.26, Z:-3.41 [[ 9.80433722e-01 -1.07505208e-02 -1.96555698e-01 -2.44708838e+01] [ 4.86493316e-03 9.99525914e-01 -3.04019658e-02 -2.25623644e+00] [ 1.96789351e-01 2.88508821e-02 9.80021213e-01 -3.40757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36463044000004 meters Centerline goodness : 0.110932 with order 1 Centerline is valid? [False, False] Translation: X:-24.47, Y:-2.26, Z:-3.41 [[ 9.80289648e-01 -1.03751111e-02 -1.97293088e-01 -2.44684710e+01] [ 4.57929571e-03 9.99545086e-01 -2.98102441e-02 -2.25941970e+00] [ 1.97512622e-01 2.83192103e-02 9.79891212e-01 -3.40794245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42463044000004 meters Centerline goodness : 0.131081 with order 3 Centerline is valid? [False, False] Translation: X:-24.47, Y:-2.26, Z:-3.41 [[ 9.80332149e-01 -9.96461115e-03 -1.97102978e-01 -2.44691754e+01] [ 4.25601116e-03 9.99559696e-01 -2.93649501e-02 -2.26148079e+00] [ 1.97308804e-01 2.79485321e-02 9.79942914e-01 -3.40774906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48463044 meters Centerline goodness : 0.138291 with order 1 Centerline is valid? [False, False] Translation: X:-24.49, Y:-2.27, Z:-3.41 [[ 9.80417485e-01 -2.24705552e-04 -1.96930204e-01 -2.44914475e+01] [-5.52502184e-03 9.99574324e-01 -2.86468902e-02 -2.26523538e+00] [ 1.96852812e-01 2.91739557e-02 9.79998903e-01 -3.41166242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54463044 meters Centerline goodness : 0.119122 with order 1 Centerline is valid? [False, False] Translation: X:-24.49, Y:-2.26, Z:-3.41 [[ 9.80408341e-01 3.78418829e-03 -1.96939498e-01 -2.44911305e+01] [-9.00838575e-03 9.99630707e-01 -2.56378521e-02 -2.26284597e+00] [ 1.96769751e-01 2.69096710e-02 9.80080372e-01 -3.41189306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60463044 meters Centerline goodness : 0.128387 with order 3 Centerline is valid? [False, False] Translation: X:-24.49, Y:-2.26, Z:-3.41 [[ 9.80379347e-01 7.68125426e-03 -1.96970387e-01 -2.44918181e+01] [-1.24488590e-02 9.99658462e-01 -2.29779386e-02 -2.25806291e+00] [ 1.96726615e-01 2.49791530e-02 9.80140133e-01 -3.41125639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66463044 meters Centerline goodness : 0.133440 with order 3 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80584240e-01 -3.96326494e-05 -1.96098310e-01 -2.45095651e+01] [-4.44621431e-03 9.99738412e-01 -2.24352263e-02 -2.25176880e+00] [ 1.96047902e-01 2.28715244e-02 9.80327554e-01 -3.41649974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72463044 meters Centerline goodness : 0.122925 with order 2 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80568748e-01 -5.89129606e-04 -1.96174879e-01 -2.45098337e+01] [-3.98030694e-03 9.99729892e-01 -2.28976060e-02 -2.25104638e+00] [ 1.96135380e-01 2.32335130e-02 9.80301544e-01 -3.41604869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78463044 meters Centerline goodness : 0.106500 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80838832e-01 -1.40390355e-03 -1.94815850e-01 -2.45134673e+01] [-3.19732334e-03 9.99723362e-01 -2.33018723e-02 -2.25027682e+00] [ 1.94794670e-01 2.34782705e-02 9.80563005e-01 -3.41588541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84463044 meters Centerline goodness : 0.458118 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80845963e-01 -1.72782767e-03 -1.94777336e-01 -2.45136213e+01] [-2.92875310e-03 9.99716797e-01 -2.36166799e-02 -2.24966956e+00] [ 1.94762980e-01 2.37347799e-02 9.80563125e-01 -3.41575244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90463044 meters Centerline goodness : 0.084188 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80809490e-01 -1.79539917e-03 -1.94960305e-01 -2.45130805e+01] [-2.91439088e-03 9.99710867e-01 -2.38681525e-02 -2.24738421e+00] [ 1.94946788e-01 2.39783010e-02 9.80520673e-01 -3.41579297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96463044 meters Centerline goodness : 0.085144 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.25, Z:-3.42 [[ 9.80668746e-01 -2.16869414e-03 -1.95663252e-01 -2.45106430e+01] [-2.64346534e-03 9.99700497e-01 -2.43295989e-02 -2.24536097e+00] [ 1.95657414e-01 2.43765063e-02 9.80369299e-01 -3.41625749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02463044 meters Centerline goodness : 0.106725 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.24, Z:-3.42 [[ 9.80501932e-01 -2.80685508e-03 -1.96489397e-01 -2.45082643e+01] [-2.13603907e-03 9.99686678e-01 -2.49395954e-02 -2.24430344e+00] [ 1.96497834e-01 2.48730305e-02 9.80188723e-01 -3.41643093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08463044 meters Centerline goodness : 0.105099 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.24, Z:-3.42 [[ 9.80694138e-01 -2.47194000e-03 -1.95532341e-01 -2.45117983e+01] [-2.35494601e-03 9.99698292e-01 -2.44495408e-02 -2.24457926e+00] [ 1.95533785e-01 2.44379895e-02 9.80392434e-01 -3.41543915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14463044 meters Centerline goodness : 0.161704 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.24, Z:-3.41 [[ 9.80770865e-01 -2.63773311e-03 -1.95144954e-01 -2.45134359e+01] [-2.19930899e-03 9.99695789e-01 -2.45660919e-02 -2.24455941e+00] [ 1.95150387e-01 2.45228912e-02 9.80466702e-01 -3.41478085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20463044 meters Centerline goodness : 0.481441 with order 2 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.24, Z:-3.42 [[ 9.80704400e-01 -2.77475319e-03 -1.95476805e-01 -2.45118701e+01] [-2.11309579e-03 9.99690403e-01 -2.47917725e-02 -2.24373698e+00] [ 1.95485077e-01 2.47264616e-02 9.80394914e-01 -3.41545699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26463044 meters Centerline goodness : 0.098679 with order 1 Centerline is valid? [False, False] Translation: X:-24.50, Y:-2.24, Z:-3.42 [[ 9.80332678e-01 -5.50275499e-04 -1.97351307e-01 -2.45041650e+01] [-4.12045645e-03 9.99721059e-01 -2.32556864e-02 -2.24155519e+00] [ 1.97309054e-01 2.36114868e-02 9.80056955e-01 -3.41756073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32463044 meters Centerline goodness : 0.099497 with order 1 Centerline is valid? [False, False] Translation: X:-24.50, Y:-2.24, Z:-3.42 [[ 9.80270396e-01 -6.36273570e-04 -1.97660178e-01 -2.45031143e+01] [-4.10708288e-03 9.99713360e-01 -2.35866577e-02 -2.23980335e+00] [ 1.97618528e-01 2.39331090e-02 9.79986798e-01 -3.41781225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38463044 meters Centerline goodness : 0.098959 with order 1 Centerline is valid? [False, False] Translation: X:-24.51, Y:-2.24, Z:-3.42 [[ 9.80505107e-01 1.05571954e-03 -1.96490764e-01 -2.45086941e+01] [-5.54509846e-03 9.99735967e-01 -2.22990460e-02 -2.23829190e+00] [ 1.96415342e-01 2.29538891e-02 9.80252076e-01 -3.41595931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44463044 meters Centerline goodness : 0.088348 with order 1 Centerline is valid? [False, False] Translation: X:-24.53, Y:-2.23, Z:-3.42 [[ 9.80788283e-01 -6.84777679e-03 -1.94955001e-01 -2.45307014e+01] [ 2.68791045e-03 9.99763206e-01 -2.15941329e-02 -2.23432906e+00] [ 1.95056708e-01 2.06552510e-02 9.80574444e-01 -3.42043544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50463044 meters Centerline goodness : 0.087482 with order 1 Centerline is valid? [False, False] Translation: X:-24.53, Y:-2.23, Z:-3.42 [[ 9.80790619e-01 -6.86234959e-03 -1.94942735e-01 -2.45312767e+01] [ 2.70429161e-03 9.99763299e-01 -2.15877828e-02 -2.23430965e+00] [ 1.95044735e-01 2.06459128e-02 9.80577023e-01 -3.41978409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56463044000003 meters Centerline goodness : 0.100348 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.24, Z:-3.43 [[ 9.80376303e-01 -8.12499078e-03 -1.96967734e-01 -2.45749699e+01] [ 3.93309989e-03 9.99757572e-01 -2.16639703e-02 -2.23998299e+00] [ 1.97096003e-01 2.04641493e-02 9.80170589e-01 -3.42802673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62463044000003 meters Centerline goodness : 0.117190 with order 3 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80132249e-01 -8.53965298e-03 -1.98161170e-01 -2.45714286e+01] [ 4.34540524e-03 9.99757442e-01 -2.15910605e-02 -2.24603624e+00] [ 1.98297484e-01 2.03010041e-02 9.79931619e-01 -3.42832229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68463044000003 meters Centerline goodness : 0.087540 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80047826e-01 -8.48445035e-03 -1.98580648e-01 -2.45709446e+01] [ 4.35534347e-03 9.99765330e-01 -2.12206700e-02 -2.24945107e+00] [ 1.98714093e-01 1.99323846e-02 9.79854790e-01 -3.42759532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74463044000004 meters Centerline goodness : 0.088378 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80127755e-01 -7.94873332e-03 -1.98207975e-01 -2.45722451e+01] [ 3.92136731e-03 9.99777977e-01 -2.07031406e-02 -2.25000638e+00] [ 1.98328532e-01 1.95144764e-02 9.79941314e-01 -3.42729654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80463044000004 meters Centerline goodness : 0.149565 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80211093e-01 -3.80976580e-03 -1.97918413e-01 -2.45736123e+01] [ 3.14010444e-04 9.99843453e-01 -1.76909910e-02 -2.24657411e+00] [ 1.97954828e-01 1.72787572e-02 9.80058840e-01 -3.42686005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86463044000004 meters Centerline goodness : 0.087257 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.24, Z:-3.43 [[ 9.80248158e-01 -3.45962110e-03 -1.97741192e-01 -2.45746124e+01] [-5.75480919e-05 9.99841953e-01 -1.77782166e-02 -2.24393946e+00] [ 1.97771445e-01 1.74384437e-02 9.80093034e-01 -3.42643661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92463044000004 meters Centerline goodness : 0.120939 with order 3 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80194423e-01 -3.60982338e-03 -1.98004701e-01 -2.45737367e+01] [ 1.15349363e-04 9.99844094e-01 -1.76571352e-02 -2.24627331e+00] [ 1.98037570e-01 1.72845858e-02 9.80042021e-01 -3.42668953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98463044 meters Centerline goodness : 0.088018 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80264118e-01 -3.74911055e-03 -1.97656782e-01 -2.45743598e+01] [ 3.22340254e-04 9.99849143e-01 -1.73662970e-02 -2.24967743e+00] [ 1.97692072e-01 1.69598451e-02 9.80117446e-01 -3.42690563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04463044 meters Centerline goodness : 0.161147 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80191579e-01 -3.65249942e-03 -1.98017998e-01 -2.45730921e+01] [ 2.59797776e-04 9.99852781e-01 -1.71565723e-02 -2.25073159e+00] [ 1.98051511e-01 1.67652831e-02 9.80048226e-01 -3.42724303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10463044 meters Centerline goodness : 0.164279 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80135291e-01 -3.30225589e-03 -1.98302565e-01 -2.45718054e+01] [-8.15189957e-05 9.99854582e-01 -1.70531093e-02 -2.24929586e+00] [ 1.98330042e-01 1.67305197e-02 9.79992492e-01 -3.42777033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16463044 meters Centerline goodness : 0.084490 with order 1 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.25, Z:-3.43 [[ 9.80291409e-01 -2.82962591e-03 -1.97536699e-01 -2.45743595e+01] [-5.23704739e-04 9.99856685e-01 -1.69214311e-02 -2.24764203e+00] [ 1.97556270e-01 1.66913844e-02 9.80149436e-01 -3.42736529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22463044 meters Centerline goodness : 0.093547 with order 1 Centerline is valid? [False, False] Translation: X:-24.58, Y:-2.25, Z:-3.43 [[ 9.80428587e-01 -2.90933500e-03 -1.96853554e-01 -2.45760530e+01] [-4.81027990e-04 9.99852422e-01 -1.71727620e-02 -2.24621231e+00] [ 1.96874464e-01 1.69313589e-02 9.80282497e-01 -3.42763947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28463044 meters Centerline goodness : 0.097034 with order 1 Centerline is valid? [False, False] Translation: X:-24.58, Y:-2.25, Z:-3.43 [[ 9.80480984e-01 -3.13507750e-03 -1.96588939e-01 -2.45767450e+01] [-2.72352645e-04 9.99850249e-01 -1.73033367e-02 -2.24639753e+00] [ 1.96613747e-01 1.70191342e-02 9.80333302e-01 -3.42763788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34463044 meters Centerline goodness : 0.086901 with order 1 Centerline is valid? [False, False] Translation: X:-24.58, Y:-2.25, Z:-3.43 [[ 9.80511091e-01 -3.27042233e-03 -1.96436517e-01 -2.45771418e+01] [-9.25596490e-05 9.99853638e-01 -1.71083232e-02 -2.24874383e+00] [ 1.96463718e-01 1.67930827e-02 9.80367278e-01 -3.42756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40463044 meters Centerline goodness : 0.095085 with order 1 Centerline is valid? [False, False] Translation: X:-24.58, Y:-2.25, Z:-3.43 [[ 9.80371302e-01 -3.48556738e-03 -1.97129300e-01 -2.45750421e+01] [ 1.35200490e-04 9.99855367e-01 -1.70066884e-02 -2.25125486e+00] [ 1.97160066e-01 1.66462173e-02 9.80229979e-01 -3.42771233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46463044 meters Centerline goodness : 0.089851 with order 1 Centerline is valid? [False, False] Translation: X:-24.59, Y:-2.26, Z:-3.43 [[ 9.80420872e-01 2.94590224e-03 -1.96891432e-01 -2.45905050e+01] [-6.66861241e-03 9.99811268e-01 -1.82471147e-02 -2.25877498e+00] [ 1.96800518e-01 1.92028447e-02 9.80255480e-01 -3.43386991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52463044 meters Centerline goodness : 0.115780 with order 3 Centerline is valid? [False, False] Translation: X:-24.59, Y:-2.26, Z:-3.43 [[ 9.80411032e-01 3.21688850e-03 -1.96936181e-01 -2.45901877e+01] [-6.92206847e-03 9.99811701e-01 -1.81286624e-02 -2.25793090e+00] [ 1.96840780e-01 1.91367463e-02 9.80248689e-01 -3.43402163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58463044 meters Centerline goodness : 0.162475 with order 1 Centerline is valid? [False, False] Translation: X:-24.59, Y:-2.26, Z:-3.43 [[ 9.80414553e-01 3.30377264e-03 -1.96917212e-01 -2.45898156e+01] [-7.01538681e-03 9.99810590e-01 -1.81540274e-02 -2.25746907e+00] [ 1.96819937e-01 1.91799230e-02 9.80252030e-01 -3.43442467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64463044 meters Centerline goodness : 0.093153 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.26, Z:-3.44 [[ 9.79976013e-01 2.13973969e-03 -1.99104083e-01 -2.46335466e+01] [-5.92504323e-03 9.99812822e-01 -1.84178094e-02 -2.26086283e+00] [ 1.99027406e-01 1.92287117e-02 9.79805260e-01 -3.44271068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70463044 meters Centerline goodness : 0.091547 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.26, Z:-3.44 [[ 9.79775665e-01 2.29674143e-03 -2.00085910e-01 -2.46305049e+01] [-6.14266270e-03 9.99808086e-01 -1.86026631e-02 -2.25852784e+00] [ 2.00004786e-01 1.94554969e-02 9.79601740e-01 -3.44316719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76463044 meters Centerline goodness : 0.091117 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.26, Z:-3.44 [[ 9.79745805e-01 2.32452623e-03 -2.00231751e-01 -2.46298646e+01] [-6.19420698e-03 9.99805920e-01 -1.87016954e-02 -2.25739843e+00] [ 2.00149418e-01 1.95631845e-02 9.79570055e-01 -3.44339354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82463044 meters Centerline goodness : 0.090999 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.26, Z:-3.44 [[ 9.79815680e-01 2.45359355e-03 -1.99888003e-01 -2.46309207e+01] [-6.33542853e-03 9.99803517e-01 -1.87827218e-02 -2.25564719e+00] [ 1.99802643e-01 1.96699815e-02 9.79638707e-01 -3.44329032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88463044 meters Centerline goodness : 0.091329 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.25, Z:-3.44 [[ 9.79906409e-01 2.35341478e-03 -1.99443953e-01 -2.46330506e+01] [-6.25618016e-03 9.99801043e-01 -1.89402809e-02 -2.25488547e+00] [ 1.99359698e-01 1.98074600e-02 9.79726174e-01 -3.44233520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94463044 meters Centerline goodness : 0.091495 with order 1 Centerline is valid? [False, False] Translation: X:-24.63, Y:-2.25, Z:-3.44 [[ 9.79970773e-01 2.02096731e-03 -1.99131114e-01 -2.46343122e+01] [-5.97218228e-03 9.99796987e-01 -1.92436380e-02 -2.25425767e+00] [ 1.99051797e-01 2.00474501e-02 9.79783896e-01 -3.44196107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00463044 meters Centerline goodness : 0.113057 with order 3 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.26, Z:-3.45 [[ 9.79472824e-01 4.94819521e-04 -2.01575650e-01 -2.46774198e+01] [-4.54049604e-03 9.99797427e-01 -1.96083862e-02 -2.25705624e+00] [ 2.01525114e-01 2.01211348e-02 9.79276656e-01 -3.45074603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06463044000003 meters Centerline goodness : 0.094678 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.26, Z:-3.45 [[ 9.79425725e-01 4.13205141e-04 -2.01804556e-01 -2.46771639e+01] [-4.45867304e-03 9.99798110e-01 -1.95923097e-02 -2.25760897e+00] [ 2.01755718e-01 2.00889926e-02 9.79229831e-01 -3.45027076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12463044000003 meters Centerline goodness : 0.095622 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.26, Z:-3.45 [[ 9.79383666e-01 3.60817866e-04 -2.02008677e-01 -2.46767889e+01] [-4.41595250e-03 9.99797684e-01 -1.96237456e-02 -2.25760203e+00] [ 2.01960726e-01 2.01112366e-02 9.79187113e-01 -3.45003194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18463044000003 meters Centerline goodness : 0.265880 with order 3 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.26, Z:-3.45 [[ 9.79474340e-01 2.58287937e-04 -2.01568722e-01 -2.46776962e+01] [-4.36104031e-03 9.99792259e-01 -1.99102954e-02 -2.25568933e+00] [ 2.01521705e-01 2.03806728e-02 9.79271990e-01 -3.45035616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24463044000004 meters Centerline goodness : 0.086549 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.25, Z:-3.45 [[ 9.79536750e-01 4.95609985e-04 -2.01264776e-01 -2.46784813e+01] [-4.60978624e-03 9.99789884e-01 -1.99734363e-02 -2.25333713e+00] [ 2.01212587e-01 2.04925025e-02 9.79333218e-01 -3.45042883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30463044000004 meters Centerline goodness : 0.184864 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.25, Z:-3.45 [[ 9.79430694e-01 5.57148257e-04 -2.01780091e-01 -2.46767309e+01] [-4.79338914e-03 9.99778232e-01 -2.05063232e-02 -2.24832458e+00] [ 2.01723918e-01 2.10517328e-02 9.79216159e-01 -3.45080824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36463044000004 meters Centerline goodness : 0.168408 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.25, Z:-3.45 [[ 9.79311370e-01 3.11931832e-04 -2.02358947e-01 -2.46750704e+01] [-4.65498425e-03 9.99768921e-01 -2.09865653e-02 -2.24615540e+00] [ 2.02305639e-01 2.14943597e-02 9.79086524e-01 -3.45086476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42463044000004 meters Centerline goodness : 0.337573 with order 2 Centerline is valid? [False, False] Translation: X:-24.67, Y:-2.25, Z:-3.45 [[ 9.79272053e-01 5.18910835e-04 -2.02548701e-01 -2.46744641e+01] [-4.83475231e-03 9.99771686e-01 -2.08134905e-02 -2.24576509e+00] [ 2.02491656e-01 2.13613424e-02 9.79050980e-01 -3.45091030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48463044 meters Centerline goodness : 0.232718 with order 3 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.25, Z:-3.45 [[ 9.79419618e-01 -2.51589146e-03 -2.01818934e-01 -2.46778945e+01] [-2.18022714e-03 9.99732091e-01 -2.30433021e-02 -2.24902825e+00] [ 2.01822840e-01 2.30090732e-02 9.79151737e-01 -3.44988535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54463044 meters Centerline goodness : 0.087330 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-2.25, Z:-3.45 [[ 9.79354212e-01 -2.37755906e-03 -2.02137762e-01 -2.46775528e+01] [-2.21932341e-03 9.99744117e-01 -2.25116494e-02 -2.25280944e+00] [ 2.02139561e-01 2.24954877e-02 9.79098336e-01 -3.44929685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60463044 meters Centerline goodness : 0.153806 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.26, Z:-3.45 [[ 9.79741181e-01 2.29536094e-03 -2.00254713e-01 -2.46999495e+01] [-7.39868494e-03 9.99666553e-01 -2.47394964e-02 -2.26103025e+00] [ 2.00131153e-01 2.57199249e-02 9.79431471e-01 -3.45393036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66463044 meters Centerline goodness : 0.108517 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.27, Z:-3.45 [[ 9.79797986e-01 2.72169581e-03 -1.99971245e-01 -2.47013004e+01] [-7.65922213e-03 9.99684494e-01 -2.39217059e-02 -2.26530853e+00] [ 1.99843046e-01 2.49700635e-02 9.79509700e-01 -3.45336417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72463044 meters Centerline goodness : 0.087437 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.28, Z:-3.45 [[ 9.79919851e-01 6.27591318e-04 -1.99390802e-01 -2.47029153e+01] [-5.68190136e-03 9.99676842e-01 -2.47775693e-02 -2.27500547e+00] [ 1.99310817e-01 2.54129509e-02 9.79606748e-01 -3.45335494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78463044 meters Centerline goodness : 0.086595 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.28, Z:-3.45 [[ 9.80045575e-01 -2.91140441e-04 -1.98772702e-01 -2.47049684e+01] [-4.76424567e-03 9.99677242e-01 -2.49542533e-02 -2.28282817e+00] [ 1.98715812e-01 2.54033075e-02 9.79727869e-01 -3.45305118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84463044 meters Centerline goodness : 0.086599 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.80038528e-01 5.50057242e-04 -1.98806894e-01 -2.47041616e+01] [-5.36413821e-03 9.99705267e-01 -2.36770813e-02 -2.29070445e+00] [ 1.98735276e-01 2.42708795e-02 9.79752629e-01 -3.45378486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90463044 meters Centerline goodness : 0.179212 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79941885e-01 7.11883630e-04 -1.99282202e-01 -2.47024139e+01] [-5.47180532e-03 9.99712713e-01 -2.33356118e-02 -2.29385990e+00] [ 1.99208338e-01 2.39579769e-02 9.79664255e-01 -3.45422935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96463044 meters Centerline goodness : 0.140449 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.45 [[ 9.79916969e-01 1.14957185e-03 -1.99402638e-01 -2.47019899e+01] [-5.82786958e-03 9.99721319e-01 -2.28762110e-02 -2.29582091e+00] [ 1.99320770e-01 2.35788799e-02 9.79650584e-01 -3.45436976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02463044 meters Centerline goodness : 0.107328 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.46 [[ 9.79870506e-01 1.43697328e-03 -1.99628972e-01 -2.47005994e+01] [-6.02609121e-03 9.99731318e-01 -2.23825320e-02 -2.29964292e+00] [ 1.99543173e-01 2.31349653e-02 9.79615892e-01 -3.45516859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08463044 meters Centerline goodness : 0.090483 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.46 [[ 9.79824902e-01 1.76696142e-03 -1.99850044e-01 -2.46996388e+01] [-6.26414794e-03 9.99741139e-01 -2.18727204e-02 -2.30183957e+00] [ 1.99759662e-01 2.26833263e-02 9.79582331e-01 -3.45553565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14463044 meters Centerline goodness : 0.089884 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.45 [[ 9.79727640e-01 1.53937693e-03 -2.00328184e-01 -2.46989499e+01] [-6.01032055e-03 9.99746204e-01 -2.17118273e-02 -2.30474713e+00] [ 2.00243918e-01 2.24757139e-02 9.79488242e-01 -3.45486843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20463044 meters Centerline goodness : 0.090345 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.31, Z:-3.45 [[ 9.79664200e-01 1.53516915e-03 -2.00638230e-01 -2.46979378e+01] [-5.95495179e-03 9.99752682e-01 -2.14269414e-02 -2.30699781e+00] [ 2.00555715e-01 2.21859984e-02 9.79431053e-01 -3.45497320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26463044 meters Centerline goodness : 0.094353 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.31, Z:-3.45 [[ 9.79443745e-01 1.13159096e-03 -2.01714330e-01 -2.46951646e+01] [-5.54732039e-03 9.99757163e-01 -2.13270524e-02 -2.31035934e+00] [ 2.01641212e-01 2.20076221e-02 9.79212176e-01 -3.45475588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32463044 meters Centerline goodness : 0.090406 with order 1 Centerline is valid? [False, False] Translation: X:-24.69, Y:-2.31, Z:-3.45 [[ 9.79425501e-01 1.04294232e-03 -2.01803368e-01 -2.46949716e+01] [-5.46382469e-03 9.99757109e-01 -2.13510819e-02 -2.31073134e+00] [ 2.01732084e-01 2.20144123e-02 9.79193307e-01 -3.45465389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38463044 meters Centerline goodness : 0.173143 with order 2 Centerline is valid? [False, False] Translation: X:-24.69, Y:-2.31, Z:-3.45 [[ 9.79424823e-01 1.02633921e-03 -2.01806748e-01 -2.46948507e+01] [-5.50888956e-03 9.99750397e-01 -2.16517049e-02 -2.30810504e+00] [ 2.01734155e-01 2.23179483e-02 9.79186009e-01 -3.45474986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44463044 meters Centerline goodness : 0.090335 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.45 [[ 9.79570015e-01 2.10738152e-03 -2.01092376e-01 -2.46980312e+01] [-6.51927982e-03 9.99752301e-01 -2.12799291e-02 -2.30167801e+00] [ 2.00997721e-01 2.21561580e-02 9.79341116e-01 -3.45365438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50463044 meters Centerline goodness : 0.125149 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.30, Z:-3.45 [[ 9.79703143e-01 1.95467023e-03 -2.00444336e-01 -2.47002825e+01] [-6.47418663e-03 9.99739325e-01 -2.18944590e-02 -2.29666551e+00] [ 2.00349288e-01 2.27477843e-02 9.79460413e-01 -3.45308625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56463044000003 meters Centerline goodness : 0.090420 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79794393e-01 1.69283393e-03 -2.00000204e-01 -2.47015760e+01] [-6.27481910e-03 9.99732118e-01 -2.22782379e-02 -2.29481474e+00] [ 1.99908914e-01 2.30830577e-02 9.79542546e-01 -3.45296338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62463044000003 meters Centerline goodness : 0.140333 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79900458e-01 1.35380752e-03 -1.99482480e-01 -2.47036624e+01] [-5.98327791e-03 9.99726538e-01 -2.26063936e-02 -2.29393403e+00] [ 1.99397325e-01 2.33455745e-02 9.79640593e-01 -3.45226684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68463044000003 meters Centerline goodness : 0.089073 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79910114e-01 1.32055701e-03 -1.99435265e-01 -2.47039816e+01] [-5.97380278e-03 9.99723743e-01 -2.27321762e-02 -2.29269123e+00] [ 1.99350150e-01 2.34668763e-02 9.79647295e-01 -3.45199017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74463044000004 meters Centerline goodness : 0.114710 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79884599e-01 1.18731346e-03 -1.99561428e-01 -2.47030946e+01] [-5.91143547e-03 9.99716182e-01 -2.30783480e-02 -2.29050229e+00] [ 1.99477388e-01 2.37938123e-02 9.79613509e-01 -3.45245735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80463044000004 meters Centerline goodness : 0.095231 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79895587e-01 1.15939383e-03 -1.99507630e-01 -2.47032444e+01] [-5.94567253e-03 9.99708666e-01 -2.33930012e-02 -2.28819492e+00] [ 1.99422385e-01 2.41089056e-02 9.79617003e-01 -3.45246819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86463044000004 meters Centerline goodness : 0.117483 with order 3 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79795974e-01 1.15678697e-03 -1.99996279e-01 -2.47012201e+01] [-5.98953766e-03 9.99704463e-01 -2.35608372e-02 -2.28668533e+00] [ 1.99909918e-01 2.42826987e-02 9.79513336e-01 -3.45307856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92463044000004 meters Centerline goodness : 0.093744 with order 1 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.29, Z:-3.45 [[ 9.79625604e-01 7.63134357e-04 -2.00831008e-01 -2.46984614e+01] [-5.67135711e-03 9.99699095e-01 -2.38653481e-02 -2.28693686e+00] [ 2.00752365e-01 2.45180904e-02 9.79335158e-01 -3.45355550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98463044 meters Centerline goodness : 0.088059 with order 1 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.29, Z:-3.46 [[ 9.79689273e-01 -7.49735294e-03 -2.00381430e-01 -2.47204358e+01] [ 3.01555299e-03 9.99738631e-01 -2.26622221e-02 -2.28764094e+00] [ 2.00498963e-01 2.15976750e-02 9.79455822e-01 -3.45770740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04463044 meters Centerline goodness : 0.161404 with order 1 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.29, Z:-3.46 [[ 9.79706421e-01 -7.53622678e-03 -2.00296116e-01 -2.47207853e+01] [ 3.07619856e-03 9.99740553e-01 -2.25690849e-02 -2.28890237e+00] [ 2.00414236e-01 2.14949268e-02 9.79475422e-01 -3.45755908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10463044 meters Centerline goodness : 0.110492 with order 3 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.29, Z:-3.46 [[ 9.79558550e-01 -7.32849780e-03 -2.01025718e-01 -2.47178067e+01] [ 2.88792811e-03 9.99745501e-01 -2.23739434e-02 -2.28942512e+00] [ 2.01138525e-01 2.13360397e-02 9.79330418e-01 -3.45853724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16463044 meters Centerline goodness : 0.177419 with order 2 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.29, Z:-3.46 [[ 9.79387516e-01 -7.15567916e-03 -2.01863542e-01 -2.47151871e+01] [ 2.73536784e-03 9.99750518e-01 -2.21679892e-02 -2.29079717e+00] [ 2.01971808e-01 2.11588809e-02 9.79162750e-01 -3.45887708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22463044 meters Centerline goodness : 0.115217 with order 3 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.30, Z:-3.46 [[ 9.79326330e-01 8.23838220e-05 -2.02286756e-01 -2.47345624e+01] [-4.86036763e-03 9.99720807e-01 -2.31232398e-02 -2.29624166e+00] [ 2.02228374e-01 2.36283856e-02 9.79053310e-01 -3.46363956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28463044 meters Centerline goodness : 0.151554 with order 3 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79358591e-01 4.14064714e-03 -2.02088113e-01 -2.47353301e+01] [-8.37140538e-03 9.99763228e-01 -2.00850064e-02 -2.29336748e+00] [ 2.01957099e-01 2.13621851e-02 9.79161369e-01 -3.46324294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34463044 meters Centerline goodness : 0.109464 with order 3 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79525293e-01 4.31257886e-03 -2.01274942e-01 -2.47377050e+01] [-8.57647841e-03 9.99756798e-01 -2.03172211e-02 -2.29010936e+00] [ 2.01138372e-01 2.16274621e-02 9.79324057e-01 -3.46309579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40463044 meters Centerline goodness : 0.093176 with order 1 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79549214e-01 3.85628795e-03 -2.01167757e-01 -2.47383005e+01] [-8.26247704e-03 9.99743903e-01 -2.10680011e-02 -2.28664687e+00] [ 2.01034994e-01 2.22992879e-02 9.79330216e-01 -3.46279056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46463044 meters Centerline goodness : 0.158353 with order 3 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79479939e-01 3.60467239e-03 -2.01509443e-01 -2.47375471e+01] [-8.05869507e-03 9.99740921e-01 -2.12872984e-02 -2.28621109e+00] [ 2.01380503e-01 2.24743849e-02 9.79255225e-01 -3.46260752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52463044 meters Centerline goodness : 0.094603 with order 1 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79714866e-01 3.14527268e-03 -2.00371877e-01 -2.47407197e+01] [-7.58576234e-03 9.99742272e-01 -2.13973245e-02 -2.28731850e+00] [ 2.00252935e-01 2.24832504e-02 9.79486225e-01 -3.46234441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58463044 meters Centerline goodness : 0.136569 with order 3 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79859074e-01 1.90265444e-04 -1.99690157e-01 -2.47429226e+01] [-4.93054470e-03 9.99717730e-01 -2.32411417e-02 -2.29220629e+00] [ 1.99629368e-01 2.37576248e-02 9.79583427e-01 -3.46209234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64463044 meters Centerline goodness : 0.093473 with order 1 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.29, Z:-3.46 [[ 9.79572153e-01 -3.53693981e-04 -2.01092693e-01 -2.47383732e+01] [-4.46442570e-03 9.99713735e-01 -2.35056767e-02 -2.29355042e+00] [ 2.01043441e-01 2.39232697e-02 9.79290157e-01 -3.46281548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70463044 meters Centerline goodness : 0.200412 with order 1 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.30, Z:-3.47 [[ 9.79496187e-01 6.78312634e-03 -2.01348475e-01 -2.47567685e+01] [-1.19753721e-02 9.99626125e-01 -2.45804743e-02 -2.29860103e+00] [ 2.01106464e-01 2.64877038e-02 9.79211209e-01 -3.46812339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76463044 meters Centerline goodness : 0.092984 with order 1 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.30, Z:-3.47 [[ 9.79523396e-01 6.52226441e-03 -2.01224693e-01 -2.47571126e+01] [-1.17945366e-02 9.99617544e-01 -2.50131062e-02 -2.29672553e+00] [ 2.00984591e-01 2.68742747e-02 9.79225698e-01 -3.46808610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82463044 meters Centerline goodness : 0.095788 with order 1 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.29, Z:-3.47 [[ 9.79346281e-01 1.04287988e-02 -2.01921030e-01 -2.47551399e+01] [-1.52250995e-02 9.99637284e-01 -2.22147661e-02 -2.29166920e+00] [ 2.01616116e-01 2.48302163e-02 9.79149836e-01 -3.46797409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88463044 meters Centerline goodness : 0.084116 with order 1 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.29, Z:-3.47 [[ 9.79412538e-01 9.98985697e-03 -2.01621633e-01 -2.47560640e+01] [-1.49464160e-02 9.99621979e-01 -2.30760288e-02 -2.28703851e+00] [ 2.01314889e-01 2.56144727e-02 9.79191613e-01 -3.46778128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94463044 meters Centerline goodness : 0.096830 with order 1 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.28, Z:-3.47 [[ 9.79475721e-01 2.43987351e-03 -2.01547412e-01 -2.47751186e+01] [-7.09056081e-03 9.99724925e-01 -2.23561779e-02 -2.27772663e+00] [ 2.01437425e-01 2.33264177e-02 9.79223591e-01 -3.47253291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00463044 meters Centerline goodness : 0.193434 with order 1 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.27, Z:-3.47 [[ 9.79432783e-01 2.26045387e-03 -2.01758057e-01 -2.47739353e+01] [-7.05733587e-03 9.99709190e-01 -2.30592507e-02 -2.26966267e+00] [ 2.01647259e-01 2.40088604e-02 9.79163907e-01 -3.47287869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06463044000003 meters Centerline goodness : 0.146166 with order 3 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.27, Z:-3.47 [[ 9.79473651e-01 1.90382641e-03 -2.01563245e-01 -2.47749756e+01] [-6.84116454e-03 9.99693298e-01 -2.38014521e-02 -2.26529132e+00] [ 2.01456111e-01 2.46918225e-02 9.79186269e-01 -3.47238632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12463044000003 meters Centerline goodness : 0.442629 with order 1 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.26, Z:-3.48 [[ 9.79061542e-01 1.88820922e-03 -2.03555723e-01 -2.48192621e+01] [-6.86169767e-03 9.99694854e-01 -2.37300686e-02 -2.26204553e+00] [ 2.03448801e-01 2.46299354e-02 9.78775741e-01 -3.48046837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18463044000003 meters Centerline goodness : 0.150634 with order 3 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.25, Z:-3.47 [[ 9.79076658e-01 -4.15233404e-03 -2.03449395e-01 -2.48049331e+01] [-4.30324242e-04 9.99747304e-01 -2.24753934e-02 -2.25059650e+00] [ 2.03491309e-01 2.20926823e-02 9.78827462e-01 -3.47407042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24463044000004 meters Centerline goodness : 0.088309 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78808508e-01 -5.30342094e-03 -2.04709011e-01 -2.48496210e+01] [ 6.68881070e-04 9.99742048e-01 -2.27022074e-02 -2.25246905e+00] [ 2.04776605e-01 2.20841878e-02 9.78559569e-01 -3.48286834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30463044000004 meters Centerline goodness : 0.086850 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78690844e-01 -5.76424793e-03 -2.05258387e-01 -2.48478149e+01] [ 1.03665606e-03 9.99731871e-01 -2.31324850e-02 -2.25143878e+00] [ 2.05336693e-01 2.24267689e-02 9.78434404e-01 -3.48307954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36463044000004 meters Centerline goodness : 0.088565 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78796314e-01 -5.82951107e-03 -2.04753004e-01 -2.48500063e+01] [ 1.06330760e-03 9.99726082e-01 -2.33801341e-02 -2.24965592e+00] [ 2.04833214e-01 2.26666736e-02 9.78534402e-01 -3.48228931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42463044000004 meters Centerline goodness : 0.236665 with order 2 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78897861e-01 -5.69528390e-03 -2.04270756e-01 -2.48517421e+01] [ 9.22369105e-04 9.99724510e-01 -2.34532337e-02 -2.24758200e+00] [ 2.04348054e-01 2.27699073e-02 9.78633437e-01 -3.48192298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48463044 meters Centerline goodness : 0.088249 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78676276e-01 -5.97332091e-03 -2.05321862e-01 -2.48484619e+01] [ 1.12544383e-03 9.99718013e-01 -2.37197895e-02 -2.24704142e+00] [ 2.05405650e-01 2.29829170e-02 9.78407024e-01 -3.48235023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54463044 meters Centerline goodness : 0.289839 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:-3.48 [[ 9.78676037e-01 -5.96025247e-03 -2.05323381e-01 -2.48483626e+01] [ 1.14278535e-03 9.99721455e-01 -2.35734265e-02 -2.24816739e+00] [ 2.05406693e-01 2.28361071e-02 9.78410243e-01 -3.48243332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60463044 meters SLAMing on 330.66463044 meters Centerline goodness : 0.088668 with order 1 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.26, Z:-3.49 [[ 9.78558827e-01 -9.12136048e-03 -2.05765456e-01 -2.48928421e+01] [ 4.09256030e-03 9.99682767e-01 -2.48518676e-02 -2.25759031e+00] [ 2.05926864e-01 2.34769069e-02 9.78285726e-01 -3.49055065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72463044 meters Centerline goodness : 0.087661 with order 1 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.26, Z:-3.49 [[ 9.78205752e-01 -7.85082817e-03 -2.07489449e-01 -2.48874507e+01] [ 2.94395100e-03 9.99708894e-01 -2.39470150e-02 -2.25828461e+00] [ 2.07617052e-01 2.28142691e-02 9.77944103e-01 -3.49121654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78463044 meters Centerline goodness : 0.086979 with order 1 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.26, Z:-3.49 [[ 9.78094926e-01 -7.56343799e-03 -2.08021899e-01 -2.48859411e+01] [ 2.64194074e-03 9.99710236e-01 -2.39262191e-02 -2.25715812e+00] [ 2.08142587e-01 2.28525320e-02 9.77831491e-01 -3.49130263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84463044 meters Centerline goodness : 0.089319 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.26, Z:-3.50 [[ 9.78024171e-01 6.94587776e-04 -2.08490381e-01 -2.49066901e+01] [-5.91505831e-03 9.99684362e-01 -2.44169608e-02 -2.25978102e+00] [ 2.08407614e-01 2.51136106e-02 9.77719578e-01 -3.49603135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90463044 meters Centerline goodness : 0.088384 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.26, Z:-3.50 [[ 9.78224392e-01 1.00622857e-03 -2.07547648e-01 -2.49096309e+01] [-6.27202436e-03 9.99674862e-01 -2.47150274e-02 -2.25609240e+00] [ 2.07455297e-01 2.54785866e-02 9.77912645e-01 -3.49562508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96463044 meters Centerline goodness : 0.254542 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.25, Z:-3.50 [[ 9.78297816e-01 9.74014070e-04 -2.07201433e-01 -2.49109285e+01] [-6.25651970e-03 9.99671842e-01 -2.48407796e-02 -2.25498245e+00] [ 2.07109242e-01 2.55980403e-02 9.77982874e-01 -3.49533354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02463044 meters Centerline goodness : 0.175949 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.25, Z:-3.49 [[ 9.78419038e-01 7.51721044e-04 -2.06629188e-01 -2.49130229e+01] [-6.05270165e-03 9.99668537e-01 -2.50236025e-02 -2.25458258e+00] [ 2.06541887e-01 2.57342339e-02 9.78099278e-01 -3.49477973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08463044 meters Centerline goodness : 0.175145 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.25, Z:-3.49 [[ 9.78335517e-01 5.26838535e-04 -2.07024973e-01 -2.49123328e+01] [-5.91476344e-03 9.99659682e-01 -2.54073884e-02 -2.25268912e+00] [ 2.06941133e-01 2.60814542e-02 9.78005688e-01 -3.49439861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14463044 meters Centerline goodness : 0.236111 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-2.25, Z:-3.49 [[ 9.78338816e-01 7.50273241e-04 -2.07008689e-01 -2.49119234e+01] [-6.14195243e-03 9.99658393e-01 -2.54042164e-02 -2.25063785e+00] [ 2.06918913e-01 2.61253685e-02 9.78009217e-01 -3.49479431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20463044 meters Centerline goodness : 0.140970 with order 3 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.25, Z:-3.50 [[ 9.78589136e-01 -1.39072418e-03 -2.05818776e-01 -2.49591417e+01] [-4.28859447e-03 9.99622304e-01 -2.71450981e-02 -2.25051204e+00] [ 2.05778791e-01 2.74465714e-02 9.78213563e-01 -3.50369840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26463044 meters Centerline goodness : 0.088995 with order 1 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.25, Z:-3.50 [[ 9.78439474e-01 -1.28325050e-03 -2.06529777e-01 -2.49572619e+01] [-4.42130350e-03 9.99621401e-01 -2.71570648e-02 -2.24922583e+00] [ 2.06486435e-01 2.74846750e-02 9.78063364e-01 -3.50364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32463044 meters Centerline goodness : 0.380491 with order 1 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.25, Z:-3.50 [[ 9.78394487e-01 -1.54560621e-03 -2.06740995e-01 -2.49566450e+01] [-4.22462155e-03 9.99613810e-01 -2.74660366e-02 -2.24830541e+00] [ 2.06703606e-01 2.77460213e-02 9.78010111e-01 -3.50367358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38463044 meters Centerline goodness : 0.469863 with order 2 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.25, Z:-3.50 [[ 9.78447903e-01 -1.61579301e-03 -2.06487506e-01 -2.49577362e+01] [-4.12907168e-03 9.99616354e-01 -2.73878782e-02 -2.24849949e+00] [ 2.06452541e-01 2.76502137e-02 9.78065854e-01 -3.50329547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44463044 meters Centerline goodness : 0.423807 with order 2 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.25, Z:-3.51 [[ 9.77911632e-01 -5.58658061e-03 -2.08944085e-01 -2.50009587e+01] [-6.91182243e-04 9.99550856e-01 -2.99601043e-02 -2.25328418e+00] [ 2.09017614e-01 2.94427530e-02 9.77468548e-01 -3.51181221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50463044 meters Centerline goodness : 0.468476 with order 1 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.25, Z:-3.51 [[ 9.77846462e-01 -5.44939964e-03 -2.09252480e-01 -2.50003743e+01] [-8.05963560e-04 9.99555647e-01 -2.97969553e-02 -2.25375449e+00] [ 2.09321874e-01 2.93054972e-02 9.77407561e-01 -3.51157572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56463044000003 meters Centerline goodness : 0.088562 with order 1 Centerline is valid? [False, False] Translation: X:-25.04, Y:-2.26, Z:-3.52 [[ 9.77263823e-01 -4.02597635e-03 -2.11988705e-01 -2.50432319e+01] [-2.06931533e-03 9.99590989e-01 -2.85232022e-02 -2.25634958e+00] [ 2.12016833e-01 2.83133651e-02 9.76855781e-01 -3.52023469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62463044000003 meters Centerline goodness : 0.093240 with order 1 Centerline is valid? [False, False] Translation: X:-25.06, Y:-2.26, Z:-3.52 [[ 9.77263547e-01 3.48809608e-03 -2.11999510e-01 -2.50631073e+01] [-1.00282819e-02 9.99506093e-01 -2.97826211e-02 -2.25991399e+00] [ 2.11790917e-01 3.12314607e-02 9.76815849e-01 -3.52498830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68463044000003 meters Centerline goodness : 0.354698 with order 1 Centerline is valid? [False, False] Translation: X:-25.05, Y:-2.26, Z:-3.52 [[ 9.77782863e-01 -8.44543632e-04 -2.09618604e-01 -2.50453086e+01] [-4.84734287e-03 9.99633385e-01 -2.66382978e-02 -2.25534527e+00] [ 2.09564252e-01 2.70625644e-02 9.77420300e-01 -3.51997208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74463044000004 meters Centerline goodness : 0.444923 with order 1 Centerline is valid? [False, False] Translation: X:-25.05, Y:-2.25, Z:-3.52 [[ 9.77927464e-01 -1.10705355e-03 -2.08941738e-01 -2.50476226e+01] [-4.66667250e-03 9.99620798e-01 -2.71381918e-02 -2.25294178e+00] [ 2.08892550e-01 2.75142458e-02 9.77551466e-01 -3.51954736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80463044000004 meters Centerline goodness : 0.578231 with order 3 Centerline is valid? [False, False] Translation: X:-25.05, Y:-2.25, Z:-3.52 [[ 9.77935819e-01 -9.36931719e-04 -2.08903463e-01 -2.50479822e+01] [-4.84620708e-03 9.99619087e-01 -2.71697474e-02 -2.25110454e+00] [ 2.08849345e-01 2.75826586e-02 9.77558770e-01 -3.51932738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86463044000004 meters Centerline goodness : 0.354498 with order 1 Centerline is valid? [False, False] Translation: X:-25.05, Y:-2.25, Z:-3.52 [[ 9.77938085e-01 -1.08613695e-03 -2.08892132e-01 -2.50479214e+01] [-4.79114361e-03 9.99606808e-01 -2.76274250e-02 -2.24797748e+00] [ 2.08840004e-01 2.80187433e-02 9.77548363e-01 -3.51937604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92463044000004 meters Centerline goodness : 0.164381 with order 1 Centerline is valid? [False, False] Translation: X:-25.07, Y:-2.24, Z:-3.52 [[ 9.78054182e-01 -5.99162282e-03 -2.08264536e-01 -2.50695198e+01] [ 6.90920721e-04 9.99674195e-01 -2.55152073e-02 -2.23811638e+00] [ 2.08349560e-01 2.48113610e-02 9.77739667e-01 -3.52354147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98463044 meters Centerline goodness : 0.351847 with order 1 Centerline is valid? [False, False] Translation: X:-25.07, Y:-2.23, Z:-3.52 [[ 9.78019213e-01 -2.07871001e-03 -2.08504431e-01 -2.50688249e+01] [-2.69560597e-03 9.99740701e-01 -2.26111522e-02 -2.23398677e+00] [ 2.08497368e-01 2.26761871e-02 9.77760010e-01 -3.52354726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04463044 meters Centerline goodness : 0.468234 with order 3 Centerline is valid? [False, False] Translation: X:-25.07, Y:-2.23, Z:-3.52 [[ 9.78184140e-01 -3.10872335e-03 -2.07716453e-01 -2.50715513e+01] [-1.91136957e-03 9.99711020e-01 -2.39629376e-02 -2.22799217e+00] [ 2.07730921e-01 2.38371884e-02 9.77895522e-01 -3.52308593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10463044 meters Centerline goodness : 0.269441 with order 3 Centerline is valid? [False, False] Translation: X:-25.07, Y:-2.23, Z:-3.52 [[ 9.78233208e-01 -3.27947072e-03 -2.07482618e-01 -2.50724976e+01] [-1.78400978e-03 9.99705242e-01 -2.42125424e-02 -2.22587064e+00] [ 2.07500865e-01 2.40556640e-02 9.77939014e-01 -3.52277435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16463044 meters Centerline goodness : 0.091073 with order 1 Centerline is valid? [False, False] Translation: X:-25.11, Y:-2.22, Z:-3.53 [[ 9.77757225e-01 -4.80166440e-03 -2.09684891e-01 -2.51149343e+01] [-5.70115305e-04 9.99673373e-01 -2.55503884e-02 -2.22388478e+00] [ 2.09739087e-01 2.51016214e-02 9.77435125e-01 -3.53241439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22463044 meters SLAMing on 332.28463044 meters Centerline goodness : 0.474139 with order 3 Centerline is valid? [False, False] Translation: X:-25.16, Y:-2.21, Z:-3.54 [[ 9.77395145e-01 -3.30945978e-03 -2.11394838e-01 -2.51592653e+01] [-2.28067293e-03 9.99654257e-01 -2.61947465e-02 -2.21077518e+00] [ 2.11408440e-01 2.60847406e-02 9.77049670e-01 -3.54156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34463044 meters Centerline goodness : 0.091279 with order 1 Centerline is valid? [False, False] Translation: X:-25.18, Y:-2.20, Z:-3.55 [[ 9.77808217e-01 -1.03930272e-02 -2.09244058e-01 -2.51797987e+01] [ 5.10917459e-03 9.99654666e-01 -2.57768144e-02 -2.20285302e+00] [ 2.09439698e-01 2.41357165e-02 9.77523647e-01 -3.54682166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40463044 meters Centerline goodness : 0.106919 with order 1 Centerline is valid? [False, False] Translation: X:-25.18, Y:-2.20, Z:-3.55 [[ 9.77767652e-01 -1.03909375e-02 -2.09433632e-01 -2.51787685e+01] [ 5.10554384e-03 9.99655081e-01 -2.57614680e-02 -2.20212987e+00] [ 2.09629080e-01 2.41194575e-02 9.77483453e-01 -3.54723783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46463044 meters Centerline goodness : 0.476946 with order 3 Centerline is valid? [False, False] Translation: X:-25.22, Y:-2.21, Z:-3.56 [[ 9.77288629e-01 -1.13659703e-02 -2.11607539e-01 -2.52208641e+01] [ 5.88067018e-03 9.99630631e-01 -2.65333645e-02 -2.20534771e+00] [ 2.11830955e-01 2.46863612e-02 9.76994488e-01 -3.55690032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52463044 meters Centerline goodness : 0.477283 with order 3 Centerline is valid? [False, False] Translation: X:-25.22, Y:-2.21, Z:-3.56 [[ 9.77267977e-01 -1.15165864e-02 -2.11694755e-01 -2.52204306e+01] [ 6.00154068e-03 9.99626117e-01 -2.66759893e-02 -2.20500308e+00] [ 2.11922822e-01 2.47990954e-02 9.76971710e-01 -3.55704779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58463044 meters Centerline goodness : 0.297522 with order 1 Centerline is valid? [False, False] Translation: X:-25.22, Y:-2.20, Z:-3.56 [[ 9.77289230e-01 -1.15899924e-02 -2.11592609e-01 -2.52207638e+01] [ 6.01365420e-03 9.99617921e-01 -2.69786581e-02 -2.20281764e+00] [ 2.11824446e-01 2.50935073e-02 9.76985527e-01 -3.55700794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64463044 meters SLAMing on 332.70463044 meters Centerline goodness : 0.493282 with order 3 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.20, Z:-3.57 [[ 9.77649454e-01 -4.59581744e-03 -2.10191400e-01 -2.52828093e+01] [-1.29740502e-03 9.99610130e-01 -2.78909270e-02 -2.20403778e+00] [ 2.10237634e-01 2.75402529e-02 9.77262335e-01 -3.57203877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76463044 meters Centerline goodness : 0.555901 with order 3 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.21, Z:-3.57 [[ 9.77519867e-01 -5.09808354e-03 -2.10781688e-01 -2.52810963e+01] [-8.64082544e-04 9.99602373e-01 -2.81842048e-02 -2.20515123e+00] [ 2.10841561e-01 2.77327529e-02 9.77126773e-01 -3.57211926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82463044 meters Centerline goodness : 0.294881 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.21, Z:-3.57 [[ 9.77605918e-01 -5.20199286e-03 -2.10379678e-01 -2.52820450e+01] [-7.03333616e-04 9.99608088e-01 -2.79852944e-02 -2.20712347e+00] [ 2.10442807e-01 2.75065566e-02 9.77219123e-01 -3.57224894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88463044 meters Centerline goodness : 0.473902 with order 2 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.21, Z:-3.57 [[ 9.77728681e-01 -5.39536016e-03 -2.09803521e-01 -2.52832748e+01] [-4.42187236e-04 9.99614324e-01 -2.77670195e-02 -2.20991379e+00] [ 2.09872418e-01 2.72413838e-02 9.77349208e-01 -3.57258671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94463044 meters Centerline goodness : 0.470229 with order 3 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.22, Z:-3.57 [[ 9.77561159e-01 -8.58807599e-03 -2.10476664e-01 -2.52801010e+01] [ 2.41879011e-03 9.99560349e-01 -2.95509481e-02 -2.21822519e+00] [ 2.10637913e-01 2.83787602e-02 9.77152145e-01 -3.57360136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00463044 meters Centerline goodness : 0.440236 with order 2 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.23, Z:-3.57 [[ 9.77504979e-01 -1.23733003e-02 -2.10549084e-01 -2.52793762e+01] [ 5.76830837e-03 9.99472644e-01 -3.19556126e-02 -2.22536596e+00] [ 2.10833446e-01 3.00222584e-02 9.77060859e-01 -3.57399735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06463044000003 meters Centerline goodness : 0.493303 with order 3 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.24, Z:-3.57 [[ 9.77596831e-01 -1.53273347e-02 -2.09927392e-01 -2.52812283e+01] [ 8.50148319e-03 9.99406600e-01 -3.33792385e-02 -2.23603108e+00] [ 2.10314435e-01 3.08467436e-02 9.77147029e-01 -3.57398044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12463044000003 meters Centerline goodness : 0.090981 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.24, Z:-3.57 [[ 9.77640558e-01 -1.53960452e-02 -2.09718624e-01 -2.52816977e+01] [ 8.67464327e-03 9.99419952e-01 -3.29318949e-02 -2.24196755e+00] [ 2.10103998e-01 3.03763219e-02 9.77207035e-01 -3.57410351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18463044000003 meters Centerline goodness : 0.087405 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.25, Z:-3.57 [[ 9.77634756e-01 -1.61748084e-02 -2.09687050e-01 -2.52816227e+01] [ 9.51686767e-03 9.99419179e-01 -3.27220646e-02 -2.25093150e+00] [ 2.10094532e-01 2.99946637e-02 9.77220859e-01 -3.57432856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24463044000004 meters Centerline goodness : 0.089553 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.26, Z:-3.57 [[ 9.77555447e-01 -1.99958513e-02 -2.09727236e-01 -2.52811321e+01] [ 1.28479389e-02 9.99291012e-01 -3.53893083e-02 -2.25601525e+00] [ 2.10286181e-01 3.19004484e-02 9.77119278e-01 -3.57449925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30463044000004 meters Centerline goodness : 0.092524 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.26, Z:-3.57 [[ 9.77617209e-01 -2.21047462e-02 -2.09227084e-01 -2.52828556e+01] [ 1.48230914e-02 9.99230739e-01 -3.63071188e-02 -2.26422902e+00] [ 2.09868693e-01 3.23930719e-02 9.77192827e-01 -3.57425436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36463044000004 meters Centerline goodness : 0.259498 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.27, Z:-3.57 [[ 9.77593216e-01 -2.60024410e-02 -2.08890826e-01 -2.52828315e+01] [ 1.82791009e-02 9.99079049e-01 -3.88191724e-02 -2.27170298e+00] [ 2.09707841e-01 3.41310231e-02 9.77168202e-01 -3.57487813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42463044000004 meters Centerline goodness : 0.092042 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.28, Z:-3.57 [[ 9.77525084e-01 -2.56366632e-02 -2.09254563e-01 -2.52819429e+01] [ 1.80541719e-02 9.99112117e-01 -3.80660510e-02 -2.27573123e+00] [ 2.10044656e-01 3.34326018e-02 9.77120005e-01 -3.57486940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48463044 meters Centerline goodness : 0.377958 with order 3 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.28, Z:-3.58 [[ 9.77176730e-01 -2.80950021e-02 -2.10561889e-01 -2.52766643e+01] [ 2.02307067e-02 9.99018266e-01 -3.94109517e-02 -2.28351233e+00] [ 2.11462424e-01 3.42516491e-02 9.76785784e-01 -3.57619887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54463044 meters Centerline goodness : 0.212902 with order 2 Centerline is valid? [False, False] Translation: X:-25.28, Y:-2.29, Z:-3.58 [[ 9.77136448e-01 -2.78699098e-02 -2.10778628e-01 -2.52763707e+01] [ 2.01497616e-02 9.99048213e-01 -3.86866407e-02 -2.28852972e+00] [ 2.11656205e-01 3.35549876e-02 9.76767994e-01 -3.57605032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60463044 meters Centerline goodness : 0.341756 with order 3 Centerline is valid? [False, False] Translation: X:-25.27, Y:-2.30, Z:-3.58 [[ 9.77005612e-01 -2.86949713e-02 -2.11273834e-01 -2.52749797e+01] [ 2.09961775e-02 9.99034370e-01 -3.85938911e-02 -2.29741514e+00] [ 2.12177272e-01 3.32705052e-02 9.76664671e-01 -3.57630431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66463044 meters Centerline goodness : 0.297426 with order 1 Centerline is valid? [False, False] Translation: X:-25.29, Y:-2.31, Z:-3.58 [[ 9.77835306e-01 -2.35285122e-02 -2.08049330e-01 -2.52915596e+01] [ 1.56068696e-02 9.99092301e-01 -3.96358275e-02 -2.30967628e+00] [ 2.08793056e-01 3.55103127e-02 9.77314933e-01 -3.58224771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72463044 meters Centerline goodness : 0.221951 with order 1 Centerline is valid? [False, False] Translation: X:-25.30, Y:-2.33, Z:-3.59 [[ 9.78280771e-01 -1.78437499e-02 -2.06514731e-01 -2.53019032e+01] [ 9.82243775e-03 9.99159317e-01 -3.98017467e-02 -2.32625399e+00] [ 2.07051330e-01 3.69088054e-02 9.77633616e-01 -3.58864737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78463044 meters Centerline goodness : 0.179930 with order 1 Centerline is valid? [False, False] Translation: X:-25.30, Y:-2.33, Z:-3.59 [[ 9.78048116e-01 -1.86778531e-02 -2.07540407e-01 -2.52991471e+01] [ 1.05843551e-02 9.99142036e-01 -4.00395264e-02 -2.33266943e+00] [ 2.08110197e-01 3.69639020e-02 9.77406679e-01 -3.58881171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84463044 meters Centerline goodness : 0.324818 with order 1 Centerline is valid? [False, False] Translation: X:-25.30, Y:-2.34, Z:-3.59 [[ 9.78119997e-01 -1.80336791e-02 -2.07258432e-01 -2.53002716e+01] [ 1.01767983e-02 9.99190795e-01 -3.89125604e-02 -2.33692666e+00] [ 2.07792454e-01 3.59519262e-02 9.77512023e-01 -3.58882462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90463044 meters Centerline goodness : 0.469367 with order 1 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.34, Z:-3.59 [[ 9.78426911e-01 -1.12068252e-02 -2.06289086e-01 -2.53169306e+01] [ 2.82079400e-03 9.99159216e-01 -4.09011553e-02 -2.34492143e+00] [ 2.06574013e-01 3.94368920e-02 9.77635877e-01 -3.59428111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96463044 meters Centerline goodness : 0.099792 with order 1 Centerline is valid? [False, False] Translation: X:-25.30, Y:-2.35, Z:-3.59 [[ 9.78399759e-01 -4.15384182e-03 -2.06680086e-01 -2.53005575e+01] [-4.43361973e-03 9.99146475e-01 -4.10690214e-02 -2.35134413e+00] [ 2.06674274e-01 4.10982616e-02 9.77546253e-01 -3.59048023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02463044 meters Centerline goodness : 0.472787 with order 3 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.35, Z:-3.60 [[ 9.78244835e-01 -1.23499412e-02 -2.07085786e-01 -2.53174685e+01] [ 4.14680774e-03 9.99191089e-01 -3.99996451e-02 -2.34504775e+00] [ 2.07412265e-01 3.82707012e-02 9.77504734e-01 -3.59533280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08463044 meters Centerline goodness : 0.091209 with order 1 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.35, Z:-3.60 [[ 9.78274195e-01 -1.23915527e-02 -2.06944557e-01 -2.53175842e+01] [ 4.23265015e-03 9.99197830e-01 -3.98218743e-02 -2.34526595e+00] [ 2.07272007e-01 3.80807881e-02 9.77541901e-01 -3.59592719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14463044 meters Centerline goodness : 0.107458 with order 1 Centerline is valid? [False, False] Translation: X:-25.30, Y:-2.35, Z:-3.59 [[ 9.78250824e-01 -6.97021557e-03 -2.07308325e-01 -2.53023530e+01] [-1.64039197e-03 9.99144022e-01 -4.13343941e-02 -2.35160901e+00] [ 2.07418984e-01 4.07754720e-02 9.77402029e-01 -3.59167384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20463044 meters Centerline goodness : 0.095624 with order 1 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.35, Z:-3.60 [[ 9.77634864e-01 -1.56431417e-02 -2.09726883e-01 -2.53188444e+01] [ 7.30526841e-03 9.99153976e-01 -4.04717888e-02 -2.34857324e+00] [ 2.10182555e-01 3.80345205e-02 9.76922038e-01 -3.59646660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26463044 meters Centerline goodness : 0.097057 with order 1 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.35, Z:-3.60 [[ 9.77647219e-01 -1.23921581e-02 -2.09886515e-01 -2.53185349e+01] [ 4.58675899e-03 9.99281037e-01 -3.76347019e-02 -2.34752028e+00] [ 2.10201989e-01 3.58307628e-02 9.77001167e-01 -3.59671586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32463044 meters Centerline goodness : 0.324448 with order 3 Centerline is valid? [False, False] Translation: X:-25.32, Y:-2.35, Z:-3.60 [[ 9.77639224e-01 -1.26363007e-02 -2.09909200e-01 -2.53195934e+01] [ 4.75055825e-03 9.99265335e-01 -3.80292297e-02 -2.34531087e+00] [ 2.10235536e-01 3.61816807e-02 9.76981016e-01 -3.59547841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38463044 meters Centerline goodness : 0.097990 with order 1 Centerline is valid? [False, False] Translation: X:-25.36, Y:-2.34, Z:-3.60 [[ 9.77047844e-01 -1.14761104e-02 -2.12710622e-01 -2.53611333e+01] [ 3.72678196e-03 9.99315829e-01 -3.67965380e-02 -2.34288550e+00] [ 2.12987373e-01 3.51592521e-02 9.76422145e-01 -3.60444767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44463044 meters SLAMing on 334.50463044 meters Centerline goodness : 0.090191 with order 1 Centerline is valid? [False, False] Translation: X:-25.36, Y:-2.34, Z:-3.60 [[ 9.77312891e-01 -9.69435732e-03 -2.11578668e-01 -2.53649083e+01] [ 2.26244029e-03 9.99372790e-01 -3.53398806e-02 -2.33727320e+00] [ 2.11788561e-01 3.40594368e-02 9.76721844e-01 -3.60387027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56463044000003 meters Centerline goodness : 0.473838 with order 3 Centerline is valid? [False, False] Translation: X:-25.37, Y:-2.34, Z:-3.60 [[ 9.77458082e-01 -9.46883307e-03 -2.10917140e-01 -2.53669316e+01] [ 2.07910970e-03 9.99377055e-01 -3.52303844e-02 -2.33607811e+00] [ 2.11119341e-01 3.39977041e-02 9.76868865e-01 -3.60349039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62463044000003 meters Centerline goodness : 0.413125 with order 3 Centerline is valid? [False, False] Translation: X:-25.38, Y:-2.34, Z:-3.61 [[ 9.77045008e-01 -2.81112602e-03 -2.13014436e-01 -2.53849193e+01] [-5.26913579e-03 9.99288140e-01 -3.73557203e-02 -2.33506657e+00] [ 2.12967811e-01 3.76206220e-02 9.76334676e-01 -3.60851011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68463044000003 meters Centerline goodness : 0.094507 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.33, Z:-3.61 [[ 9.76720007e-01 -8.13823002e-03 -2.14363702e-01 -2.54029432e+01] [ 7.99102778e-04 9.99411220e-01 -3.43012304e-02 -2.32906782e+00] [ 2.14516640e-01 3.33313994e-02 9.76151438e-01 -3.61284240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74463044000004 meters Centerline goodness : 0.286107 with order 3 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.33, Z:-3.61 [[ 9.76716912e-01 -8.66680668e-03 -2.14357085e-01 -2.54026069e+01] [ 1.26014778e-03 9.99398178e-01 -3.46654423e-02 -2.32889247e+00] [ 2.14528519e-01 3.35882022e-02 9.76140024e-01 -3.61312676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80463044000004 meters Centerline goodness : 0.468171 with order 3 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.33, Z:-3.61 [[ 9.76694200e-01 -8.84318405e-03 -2.14453345e-01 -2.54022886e+01] [ 1.39714759e-03 9.99391656e-01 -3.48477586e-02 -2.32798212e+00] [ 2.14631049e-01 3.37359808e-02 9.76112389e-01 -3.61309110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86463044000004 meters Centerline goodness : 0.471686 with order 3 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.32, Z:-3.62 [[ 9.76470779e-01 -1.34579567e-02 -2.15229414e-01 -2.54217062e+01] [ 6.81585376e-03 9.99478207e-01 -3.15730657e-02 -2.32161709e+00] [ 2.15542018e-01 2.93632038e-02 9.76052991e-01 -3.61792037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92463044000004 meters Centerline goodness : 0.089770 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.32, Z:-3.61 [[ 9.76351746e-01 -4.87218396e-03 -2.16133132e-01 -2.53998813e+01] [-2.09565467e-03 9.99485744e-01 -3.19977527e-02 -2.31866748e+00] [ 2.16177883e-01 3.16940021e-02 9.75839440e-01 -3.61359416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98463044 meters Centerline goodness : 0.465645 with order 2 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.31, Z:-3.61 [[ 9.76559407e-01 -2.59697857e-03 -2.15232385e-01 -2.54022331e+01] [-4.10458368e-03 9.99520720e-01 -3.06835967e-02 -2.31142144e+00] [ 2.15208913e-01 3.08477944e-02 9.76080702e-01 -3.61361170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04463044 meters Centerline goodness : 0.472481 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-2.31, Z:-3.61 [[ 9.76556807e-01 -2.88140546e-03 -2.15240563e-01 -2.54024328e+01] [-3.89447318e-03 9.99510253e-01 -3.10497635e-02 -2.30917094e+00] [ 2.15224617e-01 3.11601065e-02 9.76067319e-01 -3.61327905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10463044 meters Centerline goodness : 0.221851 with order 3 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.30, Z:-3.62 [[ 9.76531636e-01 -1.07443021e-02 -2.15105842e-01 -2.54212445e+01] [ 4.33502768e-03 9.99533098e-01 -3.02455472e-02 -2.30277920e+00] [ 2.15330376e-01 2.86032439e-02 9.76122269e-01 -3.61809502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16463044 meters Centerline goodness : 0.093845 with order 1 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.30, Z:-3.62 [[ 9.76507506e-01 -1.11608862e-02 -2.15194155e-01 -2.54212533e+01] [ 4.65644033e-03 9.99517513e-01 -3.07092555e-02 -2.30039117e+00] [ 2.15433069e-01 2.89857797e-02 9.76088324e-01 -3.61774135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22463044 meters Centerline goodness : 0.384043 with order 3 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.30, Z:-3.62 [[ 9.76512141e-01 -1.14181956e-02 -2.15159624e-01 -2.54218077e+01] [ 4.80531361e-03 9.99500585e-01 -3.12328399e-02 -2.29691381e+00] [ 2.15408793e-01 2.94653379e-02 9.76079324e-01 -3.61721208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28463044 meters Centerline goodness : 0.096731 with order 1 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.29, Z:-3.62 [[ 9.76681285e-01 -8.52252796e-03 -2.14525135e-01 -2.54226829e+01] [ 2.36827966e-03 9.99578679e-01 -2.89284648e-02 -2.29348851e+00] [ 2.14681295e-01 2.77458346e-02 9.76289972e-01 -3.61793843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34463044 meters Centerline goodness : 0.462384 with order 1 Centerline is valid? [False, False] Translation: X:-25.42, Y:-2.29, Z:-3.62 [[ 9.76627272e-01 -8.67370061e-03 -2.14764844e-01 -2.54213655e+01] [ 2.49802128e-03 9.99575992e-01 -2.90102750e-02 -2.29282210e+00] [ 2.14925408e-01 2.77957386e-02 9.76234842e-01 -3.61859742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40463044 meters Centerline goodness : 0.091775 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-2.29, Z:-3.63 [[ 9.77055079e-01 -1.36567252e-02 -2.12548504e-01 -2.54320615e+01] [ 8.04030112e-03 9.99595872e-01 -2.72661955e-02 -2.29044531e+00] [ 2.12834974e-01 2.49316208e-02 9.76770028e-01 -3.62576644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46463044 meters Centerline goodness : 0.093161 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-2.29, Z:-3.63 [[ 9.77023887e-01 -1.36571483e-02 -2.12691809e-01 -2.54317118e+01] [ 8.07458710e-03 9.99600284e-01 -2.70937789e-02 -2.29122875e+00] [ 2.12976817e-01 2.47538706e-02 9.76743631e-01 -3.62577510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52463044 meters Centerline goodness : 0.102192 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-2.29, Z:-3.63 [[ 9.76986738e-01 -1.37575222e-02 -2.12855925e-01 -2.54309229e+01] [ 8.14842952e-03 9.99596623e-01 -2.72065021e-02 -2.29103070e+00] [ 2.13144358e-01 2.48459502e-02 9.76704746e-01 -3.62604329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58463044 meters Centerline goodness : 0.288010 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-2.29, Z:-3.63 [[ 9.76944733e-01 -1.37705178e-02 -2.13047793e-01 -2.54307402e+01] [ 8.11196934e-03 9.99591321e-01 -2.74114286e-02 -2.28958139e+00] [ 2.13338195e-01 2.50512137e-02 9.76657182e-01 -3.62564716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64463044 meters Centerline goodness : 0.361038 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-2.29, Z:-3.63 [[ 9.76965674e-01 -1.00111850e-02 -2.13161555e-01 -2.54311057e+01] [ 4.94799937e-03 9.99693120e-01 -2.42730788e-02 -2.28920655e+00] [ 2.13339143e-01 2.26592416e-02 9.76715398e-01 -3.62515611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70463044 meters Centerline goodness : 0.470152 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-2.29, Z:-3.63 [[ 9.76952299e-01 -3.11538478e-03 -2.13435001e-01 -2.54486753e+01] [-2.48040247e-03 9.99660296e-01 -2.59449544e-02 -2.29223212e+00] [ 2.13443324e-01 2.58763876e-02 9.76612697e-01 -3.63070572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76463044 meters Centerline goodness : 0.094139 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-2.29, Z:-3.63 [[ 9.77012779e-01 -3.22776006e-03 -2.13156307e-01 -2.54503092e+01] [-2.33221595e-03 9.99663696e-01 -2.58274288e-02 -2.29355818e+00] [ 2.13167986e-01 2.57308545e-02 9.76676678e-01 -3.62995364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82463044 meters Centerline goodness : 0.248310 with order 2 Centerline is valid? [False, False] Translation: X:-25.47, Y:-2.29, Z:-3.63 [[ 9.77377391e-01 -1.05659633e-02 -2.11238720e-01 -2.54705605e+01] [ 5.35802032e-03 9.99667781e-01 -2.52115010e-02 -2.28820417e+00] [ 2.11434926e-01 2.35093297e-02 9.77109300e-01 -3.63471292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88463044 meters Centerline goodness : 0.470548 with order 1 Centerline is valid? [False, False] Translation: X:-25.47, Y:-2.29, Z:-3.63 [[ 9.77547401e-01 -1.05731549e-02 -2.10450201e-01 -2.54732657e+01] [ 5.39562880e-03 9.99668847e-01 -2.51611573e-02 -2.28860362e+00] [ 2.10646543e-01 2.34607127e-02 9.77280732e-01 -3.63421076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94463044 meters Centerline goodness : 0.092510 with order 1 Centerline is valid? [False, False] Translation: X:-25.47, Y:-2.29, Z:-3.63 [[ 9.77388772e-01 -1.04104489e-02 -2.11193778e-01 -2.54705744e+01] [ 5.32225006e-03 9.99682056e-01 -2.46467087e-02 -2.29099623e+00] [ 2.11383213e-01 2.29653903e-02 9.77133424e-01 -3.63495559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00463044 meters Centerline goodness : 0.104008 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.30, Z:-3.64 [[ 9.77927677e-01 -4.03156332e-03 -2.08904776e-01 -2.54906130e+01] [-1.38261816e-03 9.99667085e-01 -2.57644742e-02 -2.29630836e+00] [ 2.08939099e-01 2.54846280e-02 9.77596536e-01 -3.64102370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06463044000003 meters Centerline goodness : 0.093473 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.30, Z:-3.64 [[ 9.77938613e-01 -4.05212080e-03 -2.08853179e-01 -2.54908839e+01] [-1.37137564e-03 9.99665754e-01 -2.58166412e-02 -2.29567280e+00] [ 2.08887982e-01 2.55335065e-02 9.77606184e-01 -3.64087538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12463044000003 meters Centerline goodness : 0.097441 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.29, Z:-3.64 [[ 9.77877005e-01 -4.27266551e-03 -2.09137055e-01 -2.54900906e+01] [-1.26119475e-03 9.99652775e-01 -2.63199425e-02 -2.29287266e+00] [ 2.09176894e-01 2.60014291e-02 9.77532072e-01 -3.64067558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18463044000003 meters Centerline goodness : 0.101187 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.28, Z:-3.64 [[ 9.77968688e-01 1.99282056e-04 -2.08751539e-01 -2.54907150e+01] [-5.18769104e-03 9.99713911e-01 -2.33491661e-02 -2.28380485e+00] [ 2.08687165e-01 2.39176918e-02 9.77689936e-01 -3.64073517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24463044000004 meters Centerline goodness : 0.229499 with order 3 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.28, Z:-3.64 [[ 9.78152463e-01 2.54120527e-03 -2.07873281e-01 -2.54934031e+01] [-7.30070576e-03 9.99728396e-01 -2.21321770e-02 -2.27608211e+00] [ 2.07760580e-01 2.31662651e-02 9.77905346e-01 -3.64034229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30463044000004 meters Centerline goodness : 0.222927 with order 3 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.27, Z:-3.64 [[ 9.78135045e-01 2.18676106e-03 -2.07959253e-01 -2.54931627e+01] [-7.06598189e-03 9.99716841e-01 -2.27224448e-02 -2.27323440e+00] [ 2.07850679e-01 2.36950559e-02 9.77873529e-01 -3.64025237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36463044000004 meters Centerline goodness : 0.100103 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-2.27, Z:-3.64 [[ 9.77951038e-01 2.27913304e-03 -2.08821868e-01 -2.54893292e+01] [-7.24496302e-03 9.99708789e-01 -2.30184215e-02 -2.26544064e+00] [ 2.08708595e-01 2.40237959e-02 9.77682760e-01 -3.64126707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42463044000004 meters Centerline goodness : 0.104007 with order 1 Centerline is valid? [False, False] Translation: X:-25.51, Y:-2.26, Z:-3.65 [[ 9.77773514e-01 -6.28083923e-03 -2.09569815e-01 -2.55075767e+01] [ 1.56018478e-03 9.99741486e-01 -2.26831722e-02 -2.25831871e+00] [ 2.09658107e-01 2.18520373e-02 9.77530545e-01 -3.64639641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48463044 meters Centerline goodness : 0.146831 with order 3 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.77899148e-01 -1.43678637e-02 -2.08582885e-01 -2.55281904e+01] [ 1.00156780e-02 9.99709848e-01 -2.19067439e-02 -2.25121663e+00] [ 2.08837118e-01 1.93334872e-02 9.77759313e-01 -3.65189795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54463044 meters Centerline goodness : 0.100470 with order 1 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.77976874e-01 -1.47309119e-02 -2.08192779e-01 -2.55290541e+01] [ 1.03676553e-02 9.99703474e-01 -2.20335050e-02 -2.25178188e+00] [ 2.08455619e-01 1.93897873e-02 9.77839604e-01 -3.65213623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60463044 meters Centerline goodness : 0.084534 with order 1 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.77961601e-01 -1.51885365e-02 -2.08231638e-01 -2.55285060e+01] [ 1.08048773e-02 9.99695756e-01 -2.21731934e-02 -2.25360140e+00] [ 2.08505063e-01 1.94346144e-02 9.77828172e-01 -3.65266747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66463044 meters Centerline goodness : 0.112189 with order 3 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.78032220e-01 -1.13688664e-02 -2.08143519e-01 -2.55288709e+01] [ 7.58977186e-03 9.99791703e-01 -1.89458546e-02 -2.25369452e+00] [ 2.08315556e-01 1.69498944e-02 9.77914787e-01 -3.65267361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72463044 meters Centerline goodness : 0.085457 with order 1 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.78024755e-01 -7.60251308e-03 -2.08350140e-01 -2.55285174e+01] [ 4.36553214e-03 9.99862595e-01 -1.59916857e-02 -2.25271291e+00] [ 2.08443088e-01 1.47307053e-02 9.77923558e-01 -3.65245261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78463044 meters Centerline goodness : 0.186885 with order 3 Centerline is valid? [False, False] Translation: X:-25.53, Y:-2.25, Z:-3.65 [[ 9.78121134e-01 -3.14053356e-03 -2.08012460e-01 -2.55298235e+01] [ 4.86137552e-04 9.99917822e-01 -1.28106464e-02 -2.24895198e+00] [ 2.08035598e-01 1.24292413e-02 9.78042281e-01 -3.65198821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84463044 meters Centerline goodness : 0.205697 with order 3 Centerline is valid? [False, False] Translation: X:-25.55, Y:-2.25, Z:-3.66 [[ 9.78082601e-01 5.75434942e-03 -2.08137728e-01 -2.55505530e+01] [-8.77955149e-03 9.99868784e-01 -1.36137365e-02 -2.24719850e+00] [ 2.08032078e-01 1.51427147e-02 9.78004781e-01 -3.65749246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90463044 meters Centerline goodness : 0.099163 with order 1 Centerline is valid? [False, False] Translation: X:-25.55, Y:-2.25, Z:-3.66 [[ 9.78059121e-01 5.90766249e-03 -2.08243742e-01 -2.55501497e+01] [-8.96506359e-03 9.99865396e-01 -1.37410849e-02 -2.24516569e+00] [ 2.08134533e-01 1.53065118e-02 9.77980433e-01 -3.65752726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96463044 meters Centerline goodness : 0.102584 with order 1 Centerline is valid? [False, False] Translation: X:-25.55, Y:-2.24, Z:-3.66 [[ 9.77946214e-01 5.90415156e-03 -2.08773426e-01 -2.55481752e+01] [-9.07348182e-03 9.99857633e-01 -1.42262655e-02 -2.24082880e+00] [ 2.08659710e-01 1.58068244e-02 9.77860557e-01 -3.65776522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02463044 meters Centerline goodness : 0.102385 with order 1 Centerline is valid? [False, False] Translation: X:-25.57, Y:-2.23, Z:-3.66 [[ 9.77714978e-01 -1.18150928e-03 -2.09933383e-01 -2.55655525e+01] [-1.59367351e-03 9.99913579e-01 -1.30496903e-02 -2.23315868e+00] [ 2.09930659e-01 1.30934429e-02 9.77628600e-01 -3.66273668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08463044 meters Centerline goodness : 0.103830 with order 1 Centerline is valid? [False, False] Translation: X:-25.57, Y:-2.23, Z:-3.66 [[ 9.77721439e-01 -1.21876561e-03 -2.09903078e-01 -2.55654693e+01] [-1.55805076e-03 9.99913459e-01 -1.30631708e-02 -2.23281426e+00] [ 2.09900834e-01 1.30991819e-02 9.77634927e-01 -3.66293474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14463044 meters Centerline goodness : 0.099660 with order 1 Centerline is valid? [False, False] Translation: X:-25.57, Y:-2.23, Z:-3.66 [[ 9.77739215e-01 -1.57464320e-03 -2.09817892e-01 -2.55653885e+01] [-1.21083709e-03 9.99912847e-01 -1.31465856e-02 -2.23365327e+00] [ 2.09820307e-01 1.31079875e-02 9.77652095e-01 -3.66328669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20463044 meters Centerline goodness : 0.102494 with order 1 Centerline is valid? [False, False] Translation: X:-25.61, Y:-2.23, Z:-3.67 [[ 9.77084362e-01 -1.93546422e-03 -2.12843611e-01 -2.56076998e+01] [-9.60763394e-04 9.99908368e-01 -1.35030304e-02 -2.23149886e+00] [ 2.12850243e-01 1.33980922e-02 9.76992971e-01 -3.67228873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26463044 meters Centerline goodness : 0.105548 with order 1 Centerline is valid? [False, False] Translation: X:-25.61, Y:-2.23, Z:-3.67 [[ 9.76994299e-01 -1.91008148e-03 -2.13256867e-01 -2.56063178e+01] [-9.68151855e-04 9.99909864e-01 -1.33913069e-02 -2.23208319e+00] [ 2.13263224e-01 1.32896955e-02 9.76904387e-01 -3.67254749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32463044 meters Centerline goodness : 0.111296 with order 1 Centerline is valid? [False, False] Translation: X:-25.61, Y:-2.23, Z:-3.67 [[ 9.77023777e-01 -1.90035334e-03 -2.13121863e-01 -2.56069325e+01] [-9.69002777e-04 9.99910306e-01 -1.33581867e-02 -2.23214521e+00] [ 2.13128132e-01 1.32577817e-02 9.76934302e-01 -3.67237065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38463044 meters Centerline goodness : 0.107302 with order 1 Centerline is valid? [False, False] Translation: X:-25.63, Y:-2.23, Z:-3.68 [[ 9.77241340e-01 -6.89847048e-03 -2.12018336e-01 -2.56290497e+01] [ 4.76889452e-03 9.99932933e-01 -1.05540256e-02 -2.22872304e+00] [ 2.12076923e-01 9.30273705e-03 9.77208697e-01 -3.67687946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44463044 meters Centerline goodness : 0.215677 with order 3 Centerline is valid? [False, False] Translation: X:-25.63, Y:-2.23, Z:-3.68 [[ 9.77315092e-01 -7.07267321e-03 -2.11672358e-01 -2.56305242e+01] [ 4.93021460e-03 9.99931158e-01 -1.06476499e-02 -2.22930890e+00] [ 2.11733094e-01 9.36251881e-03 9.77282682e-01 -3.67636162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50463044 meters Centerline goodness : 0.104990 with order 1 Centerline is valid? [False, False] Translation: X:-25.63, Y:-2.23, Z:-3.68 [[ 9.77318412e-01 -6.84600058e-03 -2.11664483e-01 -2.56307687e+01] [ 4.77206659e-03 9.99935489e-01 -1.03074940e-02 -2.23079606e+00] [ 2.11721393e-01 9.06362670e-03 9.77288034e-01 -3.67621682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56463044000003 meters Centerline goodness : 0.205142 with order 3 Centerline is valid? [False, False] Translation: X:-25.65, Y:-2.24, Z:-3.68 [[ 9.78080890e-01 -1.68795592e-03 -2.08218450e-01 -2.56471564e+01] [-5.97683067e-04 9.99940265e-01 -1.09137181e-02 -2.23949656e+00] [ 2.08224434e-01 1.07989478e-02 9.78021456e-01 -3.68213840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62463044000003 meters Centerline goodness : 0.103637 with order 1 Centerline is valid? [False, False] Translation: X:-25.65, Y:-2.24, Z:-3.68 [[ 9.78112332e-01 -1.61624815e-03 -2.08071271e-01 -2.56477566e+01] [-5.98808310e-04 9.99943827e-01 -1.05822353e-02 -2.24204634e+00] [ 2.08076687e-01 1.04752096e-02 9.78056421e-01 -3.68202118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68463044000003 meters Centerline goodness : 0.105486 with order 1 Centerline is valid? [False, False] Translation: X:-25.69, Y:-2.24, Z:-3.69 [[ 9.77647978e-01 -1.19912668e-03 -2.10245079e-01 -2.56919437e+01] [-9.71308477e-04 9.99947305e-01 -1.02197934e-02 -2.24303895e+00] [ 2.10246255e-01 1.01955731e-02 9.77595296e-01 -3.69041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74463044000004 meters Centerline goodness : 0.467498 with order 1 Centerline is valid? [False, False] Translation: X:-25.69, Y:-2.24, Z:-3.69 [[ 9.77641304e-01 -1.16468649e-03 -2.10276305e-01 -2.56917892e+01] [-9.71795311e-04 9.99948957e-01 -1.00567407e-02 -2.24461668e+00] [ 2.10277285e-01 1.00362306e-02 9.77590271e-01 -3.69052284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80463044000004 meters Centerline goodness : 0.472492 with order 2 Centerline is valid? [False, False] Translation: X:-25.69, Y:-2.25, Z:-3.69 [[ 9.77661690e-01 -8.36439196e-04 -2.10183065e-01 -2.56917770e+01] [-1.21250515e-03 9.99952998e-01 -9.61932740e-03 -2.24646382e+00] [ 2.10181232e-01 9.65929593e-03 9.77614724e-01 -3.69082031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86463044000004 meters Centerline goodness : 0.096471 with order 1 Centerline is valid? [False, False] Translation: X:-25.69, Y:-2.25, Z:-3.69 [[ 9.77561326e-01 -6.45080814e-04 -2.10650037e-01 -2.56901704e+01] [-1.32421236e-03 9.99956734e-01 -9.20745956e-03 -2.24870861e+00] [ 2.10646862e-01 9.27980176e-03 9.77518176e-01 -3.69118973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92463044 meters Centerline goodness : 0.092094 with order 1 Centerline is valid? [False, False] Translation: X:-25.74, Y:-2.25, Z:-3.70 [[ 9.77546502e-01 -2.06398304e-03 -2.10709696e-01 -2.57358906e+01] [-4.24243338e-05 9.99950081e-01 -9.99171753e-03 -2.24989630e+00] [ 2.10719801e-01 9.77630774e-03 9.77497616e-01 -3.70067941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98463044 meters Centerline goodness : 0.101994 with order 1 Centerline is valid? [False, False] Translation: X:-25.74, Y:-2.25, Z:-3.70 [[ 9.77621326e-01 -1.98067043e-03 -2.10363068e-01 -2.57370353e+01] [-5.63274069e-05 9.99953177e-01 -9.67681534e-03 -2.25208014e+00] [ 2.10372384e-01 9.47211025e-03 9.77575439e-01 -3.70062102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04463044 meters Centerline goodness : 0.082014 with order 1 Centerline is valid? [False, False] Translation: X:-25.74, Y:-2.25, Z:-3.70 [[ 9.77548332e-01 -1.70251778e-03 -2.10704437e-01 -2.57358364e+01] [-2.68643056e-04 9.99956475e-01 -9.32612186e-03 -2.25276169e+00] [ 2.10711144e-01 9.17333915e-03 9.77505327e-01 -3.70082550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10463044 meters Centerline goodness : 0.091779 with order 1 Centerline is valid? [False, False] Translation: X:-25.74, Y:-2.25, Z:-3.70 [[ 9.77548864e-01 -1.68950555e-03 -2.10702076e-01 -2.57351761e+01] [-3.36426459e-04 9.99954064e-01 -9.57893381e-03 -2.25109780e+00] [ 2.10708581e-01 9.43476161e-03 9.77503391e-01 -3.70134364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16463044 meters Centerline goodness : 0.099451 with order 1 Centerline is valid? [False, False] Translation: X:-25.74, Y:-2.25, Z:-3.70 [[ 9.77557118e-01 -1.61522996e-03 -2.10664359e-01 -2.57354009e+01] [-4.26092958e-04 9.99953403e-01 -9.64417956e-03 -2.24999427e+00] [ 2.10670120e-01 9.51749897e-03 9.77510879e-01 -3.70115148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22463044 meters Centerline goodness : 0.091560 with order 1 Centerline is valid? [False, False] Translation: X:-25.76, Y:-2.25, Z:-3.71 [[ 9.77437263e-01 7.35762754e-03 -2.11097755e-01 -2.57568437e+01] [-9.72197284e-03 9.99901077e-01 -1.01645743e-02 -2.24703488e+00] [ 2.11002085e-01 1.19875204e-02 9.77412103e-01 -3.70590530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28463044 meters Centerline goodness : 0.092538 with order 1 Centerline is valid? [False, False] Translation: X:-25.76, Y:-2.24, Z:-3.71 [[ 9.77377165e-01 7.23344113e-03 -2.11380120e-01 -2.57559166e+01] [-9.69253292e-03 9.99896845e-01 -1.05996978e-02 -2.24401011e+00] [ 2.11281643e-01 1.24087113e-02 9.77346454e-01 -3.70591649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34463044 meters Centerline goodness : 0.492535 with order 3 Centerline is valid? [False, False] Translation: X:-25.76, Y:-2.24, Z:-3.71 [[ 9.77317002e-01 1.08569855e-02 -2.11503200e-01 -2.57559245e+01] [-1.28897322e-02 9.99883016e-01 -8.23457512e-03 -2.23763175e+00] [ 2.11389055e-01 1.07740099e-02 9.77342615e-01 -3.70539723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40463044 meters Centerline goodness : 0.089953 with order 1 Centerline is valid? [False, False] Translation: X:-25.75, Y:-2.23, Z:-3.71 [[ 9.77144325e-01 1.25746974e-02 -2.12204724e-01 -2.57534429e+01] [-1.44959026e-02 9.99866799e-01 -7.50014674e-03 -2.22989346e+00] [ 2.12082146e-01 1.04048249e-02 9.77196450e-01 -3.70555348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46463044 meters Centerline goodness : 0.092175 with order 1 Centerline is valid? [False, False] Translation: X:-25.75, Y:-2.22, Z:-3.71 [[ 9.77117128e-01 1.41078959e-02 -2.12233562e-01 -2.57527981e+01] [-1.59526914e-02 9.99848368e-01 -6.98236069e-03 -2.22177706e+00] [ 2.12102874e-01 1.02082807e-02 9.77194025e-01 -3.70569149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52463044 meters Centerline goodness : 0.092615 with order 1 Centerline is valid? [False, False] Translation: X:-25.76, Y:-2.21, Z:-3.70 [[ 9.77166291e-01 1.70751951e-02 -2.11788759e-01 -2.57557728e+01] [-1.86302380e-02 9.99812134e-01 -5.34897757e-03 -2.21340299e+00] [ 2.11657636e-01 9.17251554e-03 9.77300829e-01 -3.70408102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58463044 meters Centerline goodness : 0.094958 with order 1 Centerline is valid? [False, False] Translation: X:-25.77, Y:-2.20, Z:-3.71 [[ 9.77657080e-01 1.16069283e-02 -2.09885475e-01 -2.57705420e+01] [-1.28714554e-02 9.99906301e-01 -4.65982086e-03 -2.20106471e+00] [ 2.09811723e-01 7.25723840e-03 9.77714873e-01 -3.70935572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64463044 meters Centerline goodness : 0.180389 with order 3 Centerline is valid? [False, False] Translation: X:-25.79, Y:-2.19, Z:-3.71 [[ 9.77874073e-01 7.48393884e-03 -2.09060488e-01 -2.57906441e+01] [-8.13381025e-03 9.99964391e-01 -2.24896545e-03 -2.18997521e+00] [ 2.09036212e-01 3.89966335e-03 9.77900125e-01 -3.71348612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70463044 meters Centerline goodness : 0.105760 with order 1 Centerline is valid? [False, False] Translation: X:-25.79, Y:-2.18, Z:-3.71 [[ 9.78125752e-01 9.04861170e-03 -2.07817555e-01 -2.57947661e+01] [-9.57326710e-03 9.99953022e-01 -1.51898848e-03 -2.18390265e+00] [ 2.07794047e-01 3.47525471e-03 9.78166426e-01 -3.71269434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76463044 meters Centerline goodness : 0.109170 with order 1 Centerline is valid? [False, False] Translation: X:-25.80, Y:-2.18, Z:-3.71 [[ 9.78238108e-01 1.01064425e-02 -2.07239146e-01 -2.57968123e+01] [-1.05952668e-02 9.99943089e-01 -1.24892637e-03 -2.17718253e+00] [ 2.07214730e-01 3.41750142e-03 9.78289516e-01 -3.71209178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82463044 meters Centerline goodness : 0.111192 with order 1 Centerline is valid? [False, False] Translation: X:-25.82, Y:-2.17, Z:-3.72 [[ 9.78167703e-01 6.65471493e-03 -2.07710520e-01 -2.58155692e+01] [-6.40974637e-03 9.99977742e-01 1.85238535e-03 -2.16592385e+00] [ 2.07718224e-01 -4.80571771e-04 9.78188585e-01 -3.71642765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88463044 meters Centerline goodness : 0.092380 with order 1 Centerline is valid? [False, False] Translation: X:-25.82, Y:-2.16, Z:-3.72 [[ 9.78105886e-01 6.17287042e-03 -2.08016278e-01 -2.58152238e+01] [-6.07228072e-03 9.99980934e-01 1.12211991e-03 -2.16220016e+00] [ 2.08019239e-01 1.65581143e-04 9.78124721e-01 -3.71584956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94463044 meters Centerline goodness : 0.095300 with order 1 Centerline is valid? [False, False] Translation: X:-25.83, Y:-2.16, Z:-3.72 [[ 9.77623742e-01 -9.91171848e-04 -2.10358827e-01 -2.58325732e+01] [ 1.50474745e-03 9.99996266e-01 2.28138126e-03 -2.15643030e+00] [ 2.10355781e-01 -2.54686940e-03 9.77621583e-01 -3.72048477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00463044 meters Centerline goodness : 0.105314 with order 1 Centerline is valid? [False, False] Translation: X:-25.83, Y:-2.16, Z:-3.72 [[ 9.77525635e-01 -1.15920243e-03 -2.10813401e-01 -2.58312317e+01] [ 1.67562884e-03 9.99996017e-01 2.27107161e-03 -2.15645714e+00] [ 2.10809929e-01 -2.57327573e-03 9.77523684e-01 -3.72041519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06463044000003 meters Centerline goodness : 0.104041 with order 1 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.73 [[ 9.77244175e-01 -1.29191927e-03 -2.12113540e-01 -2.58759360e+01] [ 1.80903445e-03 9.99995846e-01 2.24386655e-03 -2.15717828e+00] [ 2.12109760e-01 -2.57652622e-03 9.77242453e-01 -3.72885602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12463044000003 meters Centerline goodness : 0.218323 with order 3 Centerline is valid? [False, False] Translation: X:-25.92, Y:-2.16, Z:-3.74 [[ 9.76945625e-01 -1.49473288e-03 -2.13483046e-01 -2.59212470e+01] [ 1.82008106e-03 9.99997463e-01 1.32746438e-03 -2.15726062e+00] [ 2.13480520e-01 -1.68541697e-03 9.76945867e-01 -3.73688518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18463044000003 meters Centerline goodness : 0.094734 with order 1 Centerline is valid? [False, False] Translation: X:-25.92, Y:-2.16, Z:-3.74 [[ 9.76858312e-01 -5.72165707e-04 -2.13886677e-01 -2.59206299e+01] [ 9.95230798e-04 9.99997756e-01 1.87031311e-03 -2.15764106e+00] [ 2.13885127e-01 -2.03989751e-03 9.76856689e-01 -3.73623644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24463044000004 meters Centerline goodness : 0.093678 with order 1 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.73 [[ 9.77028657e-01 3.62737804e-04 -2.13107651e-01 -2.58772402e+01] [ 9.52086316e-05 9.99997709e-01 2.13863056e-03 -2.15920539e+00] [ 2.13107938e-01 -2.10979303e-03 9.77026384e-01 -3.72654069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30463044000004 meters Centerline goodness : 0.220411 with order 3 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.73 [[ 9.77168604e-01 1.70662664e-03 -2.12458483e-01 -2.58798036e+01] [-1.12841864e-03 9.99995323e-01 2.84273609e-03 -2.15967818e+00] [ 2.12462340e-01 -2.53809034e-03 9.77165959e-01 -3.72550172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36463044000004 meters Centerline goodness : 0.289356 with order 1 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.73 [[ 9.77227752e-01 1.97473163e-03 -2.12183932e-01 -2.58805033e+01] [-1.41001575e-03 9.99995050e-01 2.81272635e-03 -2.16040950e+00] [ 2.12188436e-01 -2.44949156e-03 9.77225699e-01 -3.72528692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42463044 meters Centerline goodness : 0.493339 with order 3 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.73 [[ 9.77105756e-01 1.94719676e-03 -2.12745272e-01 -2.58791085e+01] [-1.41209898e-03 9.99995446e-01 2.66712320e-03 -2.16190932e+00] [ 2.12749497e-01 -2.30564405e-03 9.77104056e-01 -3.72502660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48463044 meters Centerline goodness : 0.490423 with order 2 Centerline is valid? [False, False] Translation: X:-25.88, Y:-2.16, Z:-3.72 [[ 9.76977299e-01 2.64655219e-03 -2.13326867e-01 -2.58778169e+01] [-2.00246158e-03 9.99992762e-01 3.23528645e-03 -2.16308172e+00] [ 2.13333886e-01 -2.73362256e-03 9.76975527e-01 -3.72468180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54463044 meters Centerline goodness : 0.484037 with order 2 Centerline is valid? [False, False] Translation: X:-25.89, Y:-2.17, Z:-3.73 [[ 9.77499469e-01 7.91640851e-03 -2.10789276e-01 -2.58908188e+01] [-7.65774066e-03 9.99968591e-01 2.04337925e-03 -2.16977006e+00] [ 2.10798832e-01 -3.83232520e-04 9.77529389e-01 -3.73076952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60463044 meters Centerline goodness : 0.449186 with order 1 Centerline is valid? [False, False] Translation: X:-25.89, Y:-2.17, Z:-3.73 [[ 9.77557879e-01 7.90625387e-03 -2.10518608e-01 -2.58913662e+01] [-7.65737050e-03 9.99968687e-01 1.99736943e-03 -2.17028157e+00] [ 2.10527807e-01 -3.40525251e-04 9.77587810e-01 -3.73099566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66463044 meters Centerline goodness : 0.238901 with order 2 Centerline is valid? [False, False] Translation: X:-25.89, Y:-2.17, Z:-3.73 [[ 9.77576305e-01 8.11861456e-03 -2.10424943e-01 -2.58916559e+01] [-7.83255514e-03 9.99966921e-01 2.19282798e-03 -2.17088260e+00] [ 2.10435785e-01 -4.95491706e-04 9.77607557e-01 -3.73093559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72463044 meters Centerline goodness : 0.491630 with order 3 Centerline is valid? [False, False] Translation: X:-25.89, Y:-2.17, Z:-3.73 [[ 9.77328152e-01 5.65903776e-03 -2.11654572e-01 -2.58865333e+01] [-5.76916183e-03 9.99983354e-01 9.72305247e-05 -2.17314359e+00] [ 2.11651599e-01 1.12604335e-03 9.77344531e-01 -3.73215353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78463044 meters Centerline goodness : 0.502534 with order 3 Centerline is valid? [False, False] Translation: X:-25.91, Y:-2.17, Z:-3.74 [[ 9.77012239e-01 -1.73812616e-03 -2.13176132e-01 -2.59050643e+01] [ 2.12366951e-03 9.99996497e-01 1.57959070e-03 -2.17466605e+00] [ 2.13172640e-01 -1.99599510e-03 9.77012508e-01 -3.73696209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84463044 meters Centerline goodness : 0.097831 with order 1 Centerline is valid? [False, False] Translation: X:-25.90, Y:-2.18, Z:-3.74 [[ 9.77002126e-01 -5.44254975e-03 -2.13160090e-01 -2.59047864e+01] [ 5.29752009e-03 9.99985185e-01 -1.25155101e-03 -2.17821178e+00] [ 2.13163744e-01 9.35481324e-05 9.77016484e-01 -3.73702847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90463044 meters Centerline goodness : 0.474186 with order 2 Centerline is valid? [False, False] Translation: X:-25.92, Y:-2.18, Z:-3.74 [[ 9.76852124e-01 2.28370995e-03 -2.13903514e-01 -2.59230550e+01] [-2.88074062e-03 9.99992777e-01 -2.47945498e-03 -2.18336294e+00] [ 2.13896307e-01 3.03826140e-03 9.76851646e-01 -3.74212931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96463044 meters Centerline goodness : 0.096560 with order 1 Centerline is valid? [False, False] Translation: X:-25.97, Y:-2.18, Z:-3.75 [[ 9.76435291e-01 5.99731538e-03 -2.15727036e-01 -2.59656283e+01] [-6.21695426e-03 9.99980617e-01 -3.39569890e-04 -2.18291285e+00] [ 2.15720818e-01 1.67273314e-03 9.76453650e-01 -3.75105967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02463044 meters Centerline goodness : 0.096333 with order 1 Centerline is valid? [False, False] Translation: X:-25.97, Y:-2.18, Z:-3.75 [[ 9.76445293e-01 9.71025963e-03 -2.15546518e-01 -2.59672624e+01] [-9.48178179e-03 9.99952854e-01 2.09402890e-03 -2.17860986e+00] [ 2.15556689e-01 -9.39617280e-07 9.76491328e-01 -3.75010350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08463044 meters Centerline goodness : 0.331078 with order 1 Centerline is valid? [False, False] Translation: X:-25.99, Y:-2.17, Z:-3.76 [[ 9.76637518e-01 2.41880093e-03 -2.14879753e-01 -2.59869606e+01] [-1.89049198e-03 9.99994664e-01 2.66410691e-03 -2.17377616e+00] [ 2.14885050e-01 -2.19563832e-03 9.76636880e-01 -3.75505165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14463044 meters Centerline goodness : 0.261293 with order 1 Centerline is valid? [False, False] Translation: X:-25.99, Y:-2.17, Z:-3.75 [[ 9.76683134e-01 2.51578218e-03 -2.14671207e-01 -2.59883090e+01] [-1.97879583e-03 9.99994353e-01 2.71630031e-03 -2.17365347e+00] [ 2.14676828e-01 -2.22817421e-03 9.76682597e-01 -3.75423935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20463044 meters SLAMing on 340.26463044 meters Centerline goodness : 0.453437 with order 2 Centerline is valid? [False, False] Translation: X:-26.03, Y:-2.18, Z:-3.76 [[ 9.77357023e-01 -3.23351130e-03 -2.11572197e-01 -2.60340990e+01] [ 3.21732021e-03 9.99994736e-01 -4.20772564e-04 -2.18471245e+00] [ 2.11572444e-01 -2.69450486e-04 9.77362281e-01 -3.76243083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32463044 meters Centerline goodness : 0.089537 with order 1 Centerline is valid? [False, False] Translation: X:-26.05, Y:-2.19, Z:-3.77 [[ 9.77547656e-01 4.48490737e-03 -2.10666716e-01 -2.60524642e+01] [-4.74982671e-03 9.99988437e-01 -7.51549452e-04 -2.19310632e+00] [ 2.10660909e-01 1.73530580e-03 9.77557656e-01 -3.76777165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38463044 meters Centerline goodness : 0.469688 with order 2 Centerline is valid? [False, False] Translation: X:-26.05, Y:-2.19, Z:-3.77 [[ 9.77526142e-01 4.53012376e-03 -2.10765555e-01 -2.60520955e+01] [-4.83509643e-03 9.99987877e-01 -9.31671805e-04 -2.19239303e+00] [ 2.10758779e-01 1.92980533e-03 9.77536195e-01 -3.76791009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44463044 meters Centerline goodness : 0.475888 with order 3 Centerline is valid? [False, False] Translation: X:-26.09, Y:-2.20, Z:-3.78 [[ 9.76878123e-01 5.52022596e-03 -2.13725666e-01 -2.60938360e+01] [-5.71430519e-03 9.99983631e-01 -2.90298006e-04 -2.19574077e+00] [ 2.13720565e-01 1.50487945e-03 9.76893677e-01 -3.77691709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50463044 meters Centerline goodness : 0.474039 with order 2 Centerline is valid? [False, False] Translation: X:-26.11, Y:-2.20, Z:-3.78 [[ 9.76846495e-01 -2.23359683e-03 -2.13929746e-01 -2.61139321e+01] [ 2.48131993e-03 9.99996526e-01 8.89449042e-04 -2.19796858e+00] [ 2.13927016e-01 -1.39968332e-03 9.76848644e-01 -3.78200461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56463044000003 meters Centerline goodness : 0.473667 with order 2 Centerline is valid? [False, False] Translation: X:-26.13, Y:-2.21, Z:-3.79 [[ 9.76470991e-01 4.47876814e-03 -2.15602281e-01 -2.61282272e+01] [-4.72768094e-03 9.99988620e-01 -6.38797123e-04 -2.20743410e+00] [ 2.15596967e-01 1.64306565e-03 9.76481054e-01 -3.78769722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62463044000003 meters Centerline goodness : 0.469476 with order 3 Centerline is valid? [False, False] Translation: X:-26.13, Y:-2.21, Z:-3.79 [[ 9.76377365e-01 4.75735072e-03 -2.16019926e-01 -2.61272694e+01] [-4.99533763e-03 9.99987369e-01 -5.55707810e-04 -2.20783326e+00] [ 2.16014554e-01 1.62167299e-03 9.76388797e-01 -3.78747759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68463044000003 meters Centerline goodness : 0.142717 with order 1 Centerline is valid? [False, False] Translation: X:-26.13, Y:-2.21, Z:-3.79 [[ 9.76690233e-01 7.08879881e-03 -2.14536565e-01 -2.61335595e+01] [-7.03030684e-03 9.99974751e-01 1.03566399e-03 -2.20620606e+00] [ 2.14538489e-01 4.96734972e-04 9.76715409e-01 -3.78581547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74463044000004 meters Centerline goodness : 0.456806 with order 3 Centerline is valid? [False, False] Translation: X:-26.13, Y:-2.21, Z:-3.79 [[ 9.76538982e-01 7.14250174e-03 -2.15222215e-01 -2.61318419e+01] [-7.10377897e-03 9.99974313e-01 9.53438701e-04 -2.20562424e+00] [ 2.15223497e-01 5.97820989e-04 9.76564636e-01 -3.78566914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80463044000004 meters Centerline goodness : 0.460268 with order 2 Centerline is valid? [False, False] Translation: X:-26.17, Y:-2.21, Z:-3.79 [[ 9.75798576e-01 6.12075497e-03 -2.18585624e-01 -2.61730637e+01] [-6.19473238e-03 9.99980752e-01 3.46894367e-04 -2.20997826e+00] [ 2.18583540e-01 1.01558042e-03 9.75817711e-01 -3.79441557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86463044000004 meters Centerline goodness : 0.087176 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-2.21, Z:-3.79 [[ 9.75995586e-01 4.10989009e-03 -2.17751520e-01 -2.61772826e+01] [-4.43127731e-03 9.99989694e-01 -9.87636541e-04 -2.21377006e+00] [ 2.17745217e-01 1.92884628e-03 9.76003740e-01 -3.79303517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92463044 meters Centerline goodness : 0.378888 with order 2 Centerline is valid? [False, False] Translation: X:-26.18, Y:-2.21, Z:-3.79 [[ 9.75989527e-01 4.34801063e-03 -2.17774054e-01 -2.61773996e+01] [-4.60423589e-03 9.99989177e-01 -6.69145069e-04 -2.21489983e+00] [ 2.17768787e-01 1.65576169e-03 9.75998982e-01 -3.79276765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98463044 meters Centerline goodness : 0.100730 with order 1 Centerline is valid? [False, False] Translation: X:-26.18, Y:-2.21, Z:-3.79 [[ 9.76107218e-01 4.30483493e-03 -2.17246791e-01 -2.61792979e+01] [-4.57721308e-03 9.99989243e-01 -7.50584616e-04 -2.21447059e+00] [ 2.17241223e-01 1.72703591e-03 9.76116422e-01 -3.79231233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04463044 meters SLAMing on 341.10463044 meters Centerline goodness : 0.463711 with order 3 Centerline is valid? [False, False] Translation: X:-26.22, Y:-2.21, Z:-3.80 [[ 9.75429665e-01 3.90799351e-03 -2.20276407e-01 -2.62214913e+01] [-4.37042808e-03 9.99989150e-01 -1.61203869e-03 -2.21419686e+00] [ 2.20267717e-01 2.53513255e-03 9.75436162e-01 -3.80173369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16463044 meters Centerline goodness : 0.092585 with order 1 Centerline is valid? [False, False] Translation: X:-26.22, Y:-2.21, Z:-3.80 [[ 9.75362139e-01 3.49941690e-03 -2.20582073e-01 -2.62206855e+01] [-4.05581862e-03 9.99989634e-01 -2.06957574e-03 -2.21253680e+00] [ 2.20572544e-01 2.91322671e-03 9.75366221e-01 -3.80166614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22463044 meters Centerline goodness : 0.088546 with order 1 Centerline is valid? [False, False] Translation: X:-26.24, Y:-2.21, Z:-3.81 [[ 9.75325799e-01 -5.29846612e-03 -2.20706848e-01 -2.62423294e+01] [ 5.01275709e-03 9.99985716e-01 -1.85458278e-03 -2.21137700e+00] [ 2.20713522e-01 7.02472610e-04 9.75338427e-01 -3.80627396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28463044 meters Centerline goodness : 0.090104 with order 1 Centerline is valid? [False, False] Translation: X:-26.29, Y:-2.22, Z:-3.82 [[ 9.75255266e-01 -7.68888909e-03 -2.20948066e-01 -2.62863503e+01] [ 7.29033581e-03 9.99969995e-01 -2.61925804e-03 -2.21695940e+00] [ 2.20961576e-01 9.43659599e-04 9.75282057e-01 -3.81589833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34463044 meters Centerline goodness : 0.475932 with order 3 Centerline is valid? [False, False] Translation: X:-26.29, Y:-2.22, Z:-3.82 [[ 9.75326448e-01 -7.74069270e-03 -2.20631823e-01 -2.62871783e+01] [ 7.37543994e-03 9.99969728e-01 -2.47922865e-03 -2.21866622e+00] [ 2.20644335e-01 7.90800515e-04 9.75354014e-01 -3.81580655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40463044 meters Centerline goodness : 0.475697 with order 3 Centerline is valid? [False, False] Translation: X:-26.31, Y:-2.22, Z:-3.82 [[ 9.75179609e-01 -2.76602242e-04 -2.21415115e-01 -2.63051532e+01] [-5.44539757e-04 9.99993199e-01 -3.64755780e-03 -2.22438126e+00] [ 2.21414618e-01 3.67759333e-03 9.75172827e-01 -3.82101676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46463044 meters Centerline goodness : 0.089747 with order 1 Centerline is valid? [False, False] Translation: X:-26.34, Y:-2.23, Z:-3.83 [[ 9.74298654e-01 1.70711184e-03 -2.25253678e-01 -2.63444185e+01] [-2.34322342e-03 9.99993986e-01 -2.55666347e-03 -2.22555841e+00] [ 2.25247958e-01 3.01877347e-03 9.74296795e-01 -3.83038914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52463044 meters Centerline goodness : 0.468589 with order 3 Centerline is valid? [False, False] Translation: X:-26.35, Y:-2.22, Z:-3.83 [[ 9.74335767e-01 2.31168608e-03 -2.25087691e-01 -2.63450798e+01] [-2.96828780e-03 9.99992270e-01 -2.57873168e-03 -2.22269937e+00] [ 2.25079990e-01 3.18067556e-03 9.74335097e-01 -3.83019795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58463044 meters Centerline goodness : 0.222820 with order 1 Centerline is valid? [False, False] Translation: X:-26.37, Y:-2.22, Z:-3.84 [[ 9.74448200e-01 1.12208162e-02 -2.24331893e-01 -2.63673412e+01] [-1.22246364e-02 9.99920513e-01 -3.08627801e-03 -2.22197982e+00] [ 2.24279431e-01 5.74979388e-03 9.74507915e-01 -3.83508504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64463044 meters Centerline goodness : 0.494697 with order 3 Centerline is valid? [False, False] Translation: X:-26.39, Y:-2.22, Z:-3.84 [[ 9.75065714e-01 5.23786959e-03 -2.21854497e-01 -2.63908974e+01] [-5.79841174e-03 9.99981431e-01 -1.87537401e-03 -2.21672158e+00] [ 2.21840554e-01 3.11501662e-03 9.75077979e-01 -3.83979238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70463044 meters Centerline goodness : 0.091188 with order 1 Centerline is valid? [False, False] Translation: X:-26.39, Y:-2.22, Z:-3.84 [[ 9.75226124e-01 5.04257835e-03 -2.21152841e-01 -2.63929543e+01] [-5.59943752e-03 9.99982535e-01 -1.89112412e-03 -2.21703822e+00] [ 2.21139442e-01 3.08260516e-03 9.75237327e-01 -3.83961929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76463044 meters Centerline goodness : 0.092084 with order 1 Centerline is valid? [False, False] Translation: X:-26.40, Y:-2.22, Z:-3.84 [[ 9.75398694e-01 2.25840499e-03 -2.20436585e-01 -2.63964076e+01] [-3.21588209e-03 9.99986890e-01 -3.98478235e-03 -2.21936675e+00] [ 2.20424695e-01 4.59564956e-03 9.75393169e-01 -3.83859246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82463044 meters Centerline goodness : 0.100054 with order 1 Centerline is valid? [False, False] Translation: X:-26.44, Y:-2.22, Z:-3.85 [[ 9.74818087e-01 1.56189141e-03 -2.22996092e-01 -2.64393065e+01] [-2.58421526e-03 9.99987447e-01 -4.29275672e-03 -2.22148334e+00] [ 2.22986588e-01 4.76092680e-03 9.74809887e-01 -3.84818859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88463044 meters Centerline goodness : 0.089371 with order 1 Centerline is valid? [False, False] Translation: X:-26.44, Y:-2.22, Z:-3.85 [[ 9.74806774e-01 1.35093548e-03 -2.23046917e-01 -2.64392125e+01] [-2.42429085e-03 9.99986762e-01 -4.53849600e-03 -2.22123848e+00] [ 2.23037834e-01 4.96488725e-03 9.74797145e-01 -3.84814137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94463044 meters Centerline goodness : 0.090056 with order 1 Centerline is valid? [False, False] Translation: X:-26.44, Y:-2.22, Z:-3.85 [[ 9.74795451e-01 1.36408639e-03 -2.23096318e-01 -2.64388747e+01] [-2.48865168e-03 9.99985576e-01 -4.75964655e-03 -2.21953276e+00] [ 2.23086608e-01 5.19489083e-03 9.74784786e-01 -3.84830764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00463044 meters Centerline goodness : 0.294148 with order 3 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74516113e-01 4.16994685e-04 -2.24317122e-01 -2.64848385e+01] [-1.74379884e-03 9.99982139e-01 -5.71678532e-03 -2.22160968e+00] [ 2.24310731e-01 5.96226335e-03 9.74499434e-01 -3.85751937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06463044000003 meters Centerline goodness : 0.091178 with order 1 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74476466e-01 4.74584320e-04 -2.24489182e-01 -2.64846624e+01] [-1.79117328e-03 9.99982371e-01 -5.66120932e-03 -2.22198415e+00] [ 2.24482538e-01 5.91881427e-03 9.74460137e-01 -3.85724023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12463044000003 meters Centerline goodness : 0.293077 with order 1 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74363240e-01 4.46594336e-04 -2.24980172e-01 -2.64828174e+01] [-1.75816390e-03 9.99982609e-01 -5.62940141e-03 -2.22283710e+00] [ 2.24973746e-01 5.88063382e-03 9.74347080e-01 -3.85766233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18463044000003 meters Centerline goodness : 0.472872 with order 3 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74290780e-01 3.06066358e-04 -2.25293990e-01 -2.64820573e+01] [-1.63517227e-03 9.99982345e-01 -5.71285687e-03 -2.22338178e+00] [ 2.25288264e-01 5.93437826e-03 9.74274079e-01 -3.85757485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24463044000004 meters Centerline goodness : 0.436103 with order 2 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74333471e-01 8.02404710e-04 -2.25108070e-01 -2.64824282e+01] [-2.04226803e-03 9.99984001e-01 -5.27505843e-03 -2.22355805e+00] [ 2.25100236e-01 5.59939701e-03 9.74319522e-01 -3.85769934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30463044000004 meters Centerline goodness : 0.196835 with order 1 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.22, Z:-3.86 [[ 9.74317712e-01 7.83730304e-04 -2.25176335e-01 -2.64828496e+01] [-2.00683247e-03 9.99984451e-01 -5.20291931e-03 -2.22493970e+00] [ 2.25168756e-01 5.52118762e-03 9.74304135e-01 -3.85703501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36463044000004 meters Centerline goodness : 0.221916 with order 3 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.23, Z:-3.86 [[ 9.74121806e-01 7.20233709e-04 -2.26022538e-01 -2.64801658e+01] [-1.87237370e-03 9.99986325e-01 -4.88312451e-03 -2.22888533e+00] [ 2.26015930e-01 5.17995673e-03 9.74109833e-01 -3.85721577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42463044 meters Centerline goodness : 0.421137 with order 2 Centerline is valid? [False, False] Translation: X:-26.48, Y:-2.23, Z:-3.86 [[ 9.74388200e-01 -1.30741773e-03 -2.24868685e-01 -2.64845725e+01] [-1.04447650e-04 9.99980359e-01 -6.26661112e-03 -2.23300829e+00] [ 2.24872462e-01 6.12959894e-03 9.74368926e-01 -3.85654129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48463044 meters Centerline goodness : 0.462534 with order 2 Centerline is valid? [False, False] Translation: X:-26.51, Y:-2.24, Z:-3.86 [[ 9.74736476e-01 6.29121068e-03 -2.23269393e-01 -2.65053693e+01] [-7.98931567e-03 9.99945618e-01 -6.70315279e-03 -2.24050904e+00] [ 2.23215081e-01 8.31757719e-03 9.74733731e-01 -3.86173187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54463044 meters Centerline goodness : 0.088725 with order 1 Centerline is valid? [False, False] Translation: X:-26.55, Y:-2.24, Z:-3.87 [[ 9.74007051e-01 9.17246089e-03 -2.26331904e-01 -2.65457955e+01] [-1.06345241e-02 9.99929715e-01 -5.24135254e-03 -2.24095149e+00] [ 2.26267920e-01 7.51204643e-03 9.74036138e-01 -3.87136899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60463044 meters Centerline goodness : 0.488456 with order 3 Centerline is valid? [False, False] Translation: X:-26.55, Y:-2.24, Z:-3.87 [[ 9.73999271e-01 9.66679344e-03 -2.26344812e-01 -2.65455451e+01] [-1.11310018e-02 9.99924561e-01 -5.19350746e-03 -2.23892792e+00] [ 2.26277532e-01 7.57791699e-03 9.74033395e-01 -3.87166483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66463044 meters Centerline goodness : 0.483981 with order 3 Centerline is valid? [False, False] Translation: X:-26.55, Y:-2.24, Z:-3.87 [[ 9.74167844e-01 9.63859511e-03 -2.25619391e-01 -2.65481365e+01] [-1.11208836e-02 9.99924116e-01 -5.29982581e-03 -2.23849278e+00] [ 2.25551187e-01 7.67200685e-03 9.74201110e-01 -3.87118369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72463044 meters Centerline goodness : 0.472302 with order 3 Centerline is valid? [False, False] Translation: X:-26.57, Y:-2.24, Z:-3.88 [[ 9.74610283e-01 1.41299024e-03 -2.23903549e-01 -2.65701185e+01] [-2.56531016e-03 9.99984921e-01 -4.85570120e-03 -2.23619469e+00] [ 2.23893311e-01 5.30679838e-03 9.74599211e-01 -3.87699049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78463044 meters Centerline goodness : 0.089691 with order 1 Centerline is valid? [False, False] Translation: X:-26.59, Y:-2.23, Z:-3.88 [[ 9.74173685e-01 -6.69663905e-03 -2.25700656e-01 -2.65869292e+01] [ 5.97261137e-03 9.99974595e-01 -3.89058722e-03 -2.23432887e+00] [ 2.25720976e-01 2.44208538e-03 9.74188933e-01 -3.88268841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84463044 meters Centerline goodness : 0.089261 with order 1 Centerline is valid? [False, False] Translation: X:-26.59, Y:-2.23, Z:-3.88 [[ 9.74136714e-01 -6.81202015e-03 -2.25856721e-01 -2.65868550e+01] [ 6.03721049e-03 9.99973284e-01 -4.12106297e-03 -2.23290406e+00] [ 2.25878760e-01 2.65093417e-03 9.74151815e-01 -3.88236665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90463044 meters Centerline goodness : 0.089853 with order 1 Centerline is valid? [False, False] Translation: X:-26.59, Y:-2.23, Z:-3.88 [[ 9.74231187e-01 -6.80588124e-03 -2.25449049e-01 -2.65884791e+01] [ 5.98176765e-03 9.99972698e-01 -4.33832312e-03 -2.23041203e+00] [ 2.25472420e-01 2.87794585e-03 9.74245300e-01 -3.88195312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96463044 meters Centerline goodness : 0.296200 with order 1 Centerline is valid? [False, False] Translation: X:-26.59, Y:-2.23, Z:-3.88 [[ 9.74247305e-01 -7.13816550e-03 -2.25369107e-01 -2.65890602e+01] [ 6.22634102e-03 9.99969304e-01 -4.75642130e-03 -2.22888444e+00] [ 2.25396142e-01 3.23070572e-03 9.74261845e-01 -3.88164692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02463044 meters Centerline goodness : 0.091333 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-2.23, Z:-3.89 [[ 9.74202522e-01 3.12517890e-04 -2.25675316e-01 -2.66077995e+01] [-1.63507663e-03 9.99982568e-01 -5.67356392e-03 -2.23228833e+00] [ 2.25669609e-01 5.89619671e-03 9.74186051e-01 -3.88671334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08463044 meters Centerline goodness : 0.493172 with order 3 Centerline is valid? [False, False] Translation: X:-26.61, Y:-2.23, Z:-3.89 [[ 9.74089128e-01 2.38420255e-05 -2.26164478e-01 -2.66065646e+01] [-1.39686048e-03 9.99981555e-01 -5.91085317e-03 -2.23235715e+00] [ 2.26160165e-01 6.07361803e-03 9.74071194e-01 -3.88653047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14463044 meters Centerline goodness : 0.096988 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-2.23, Z:-3.89 [[ 9.74008321e-01 -2.69719649e-04 -2.26512070e-01 -2.66054438e+01] [-1.15650390e-03 9.99980335e-01 -6.16372789e-03 -2.23245852e+00] [ 2.26509279e-01 6.26548434e-03 9.73988855e-01 -3.88668946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20463044 meters Centerline goodness : 0.480099 with order 3 Centerline is valid? [False, False] Translation: X:-26.61, Y:-2.23, Z:-3.89 [[ 9.74023537e-01 1.47976827e-04 -2.26446742e-01 -2.66055550e+01] [-1.47106466e-03 9.99982820e-01 -5.67408171e-03 -2.23378994e+00] [ 2.26442013e-01 5.85980694e-03 9.74007021e-01 -3.88676307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26463044 meters Centerline goodness : 0.098468 with order 1 Centerline is valid? [False, False] Translation: X:-26.61, Y:-2.24, Z:-3.89 [[ 9.74109041e-01 -1.95467921e-03 -2.26070244e-01 -2.66079117e+01] [ 3.16134261e-04 9.99973422e-01 -7.28392199e-03 -2.23665946e+00] [ 2.26078473e-01 7.02386572e-03 9.74083769e-01 -3.88593752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32463044 meters Centerline goodness : 0.089621 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.25, Z:-3.89 [[ 9.74381630e-01 5.03375413e-03 -2.24844613e-01 -2.66252239e+01] [-6.94941229e-03 9.99945980e-01 -7.72932672e-03 -2.24585250e+00] [ 2.24793559e-01 9.09385188e-03 9.74363976e-01 -3.89141535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38463044 meters Centerline goodness : 0.095953 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.25, Z:-3.89 [[ 9.74504319e-01 5.18175159e-03 -2.24308899e-01 -2.66272196e+01] [-7.00418918e-03 9.99948607e-01 -7.32974630e-03 -2.24876325e+00] [ 2.24259390e-01 8.71397139e-03 9.74490530e-01 -3.89088144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44463044 meters Centerline goodness : 0.089574 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.25, Z:-3.89 [[ 9.74489540e-01 5.60760959e-03 -2.24362857e-01 -2.66268502e+01] [-7.26554931e-03 9.99952058e-01 -6.56463854e-03 -2.25389412e+00] [ 2.24315288e-01 8.02729099e-03 9.74483563e-01 -3.89109624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50463044 meters Centerline goodness : 0.089148 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.26, Z:-3.89 [[ 9.74412925e-01 5.67997590e-03 -2.24693546e-01 -2.66257265e+01] [-7.23919659e-03 9.99955093e-01 -6.11608980e-03 -2.26037335e+00] [ 2.24648716e-01 7.58619770e-03 9.74410285e-01 -3.89123431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56463044000003 meters Centerline goodness : 0.091181 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.27, Z:-3.89 [[ 9.74643189e-01 3.06432124e-03 -2.23743745e-01 -2.66290905e+01] [-4.90862889e-03 9.99958405e-01 -7.68722244e-03 -2.26821178e+00] [ 2.23710882e-01 8.59057400e-03 9.74617691e-01 -3.89085878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62463044000003 meters Centerline goodness : 0.487478 with order 3 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.27, Z:-3.89 [[ 9.74657107e-01 3.56437440e-03 -2.23675702e-01 -2.66290999e+01] [-5.25886440e-03 9.99961808e-01 -6.98042427e-03 -2.27154919e+00] [ 2.23642278e-01 7.97980031e-03 9.74638627e-01 -3.89103455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68463044000003 meters Centerline goodness : 0.093898 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.27, Z:-3.89 [[ 9.74342020e-01 4.19203819e-03 -2.25033454e-01 -2.66251759e+01] [-5.77643849e-03 9.99962946e-01 -6.38280163e-03 -2.27440717e+00] [ 2.24998359e-01 7.51892374e-03 9.74330131e-01 -3.89130605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74463044000004 meters Centerline goodness : 0.493448 with order 2 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.28, Z:-3.89 [[ 9.74430370e-01 4.69184884e-03 -2.24640691e-01 -2.66263096e+01] [-6.20322951e-03 9.99962623e-01 -6.02269232e-03 -2.27513824e+00] [ 2.24604037e-01 7.26219207e-03 9.74423053e-01 -3.89129681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80463044000004 meters Centerline goodness : 0.466318 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.28, Z:-3.89 [[ 9.74548181e-01 4.98927040e-03 -2.24122621e-01 -2.66279505e+01] [-6.44919780e-03 9.99962485e-01 -5.78241833e-03 -2.27583289e+00] [ 2.24085363e-01 7.08065638e-03 9.74543798e-01 -3.89119214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86463044000004 meters Centerline goodness : 0.115697 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.28, Z:-3.89 [[ 9.74580875e-01 5.02476769e-03 -2.23979619e-01 -2.66285843e+01] [-6.47271044e-03 9.99962630e-01 -5.73087812e-03 -2.27609936e+00] [ 2.23942452e-01 7.03495943e-03 9.74576979e-01 -3.89096531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92463044 meters Centerline goodness : 0.507531 with order 2 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.28, Z:-3.89 [[ 9.74636500e-01 4.82550682e-03 -2.23741833e-01 -2.66298717e+01] [-6.31091772e-03 9.99962537e-01 -5.92434906e-03 -2.27594104e+00] [ 2.23704863e-01 7.18610313e-03 9.74630440e-01 -3.89040824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98463044 meters Centerline goodness : 0.097330 with order 1 Centerline is valid? [False, False] Translation: X:-26.63, Y:-2.28, Z:-3.89 [[ 9.74692281e-01 4.78885827e-03 -2.23499494e-01 -2.66311052e+01] [-6.28061704e-03 9.99962491e-01 -5.96417598e-03 -2.27565600e+00] [ 2.23462549e-01 7.21695102e-03 9.74685798e-01 -3.88989715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04463044 meters Centerline goodness : 0.465633 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74917519e-01 -2.19898822e-03 -2.22555601e-01 -2.66517470e+01] [ 1.21806899e-03 9.99988931e-01 -4.54469392e-03 -2.27209108e+00] [ 2.22563131e-01 4.15961365e-03 9.74909406e-01 -3.89549772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10463044 meters Centerline goodness : 0.198140 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74678301e-01 -2.37039665e-03 -2.23599175e-01 -2.66482288e+01] [ 1.35381270e-03 9.99988040e-01 -4.69964365e-03 -2.27200794e+00] [ 2.23607641e-01 4.27792928e-03 9.74669853e-01 -3.89600511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16463044 meters Centerline goodness : 0.159127 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74517663e-01 -2.53190456e-03 -2.24296488e-01 -2.66459418e+01] [ 1.50436040e-03 9.99987578e-01 -4.75195730e-03 -2.27301809e+00] [ 2.24305733e-01 4.29344357e-03 9.74509366e-01 -3.89626203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22463044 meters Centerline goodness : 0.493651 with order 3 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74640778e-01 -2.39935591e-03 -2.23762367e-01 -2.66476911e+01] [ 1.39264463e-03 9.99988188e-01 -4.65672283e-03 -2.27293239e+00] [ 2.23770897e-01 4.22701051e-03 9.74632607e-01 -3.89605109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28463044 meters Centerline goodness : 0.445113 with order 2 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74620523e-01 -2.43067146e-03 -2.23850235e-01 -2.66470230e+01] [ 1.35474059e-03 9.99986782e-01 -4.95992930e-03 -2.27062520e+00] [ 2.23859332e-01 4.53078989e-03 9.74610933e-01 -3.89652062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34463044 meters Centerline goodness : 0.484641 with order 3 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.27, Z:-3.90 [[ 9.74472876e-01 1.43938236e-03 -2.24500651e-01 -2.66457302e+01] [-2.02310852e-03 9.99995145e-01 -2.37010003e-03 -2.26537168e+00] [ 2.24496150e-01 2.76378738e-03 9.74471057e-01 -3.89613768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40463044 meters Centerline goodness : 0.366991 with order 2 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.26, Z:-3.90 [[ 9.74440997e-01 5.22974158e-03 -2.24582709e-01 -2.66454155e+01] [-5.32413491e-03 9.99985810e-01 1.85286037e-04 -2.26005393e+00] [ 2.24580492e-01 1.01515833e-03 9.74455013e-01 -3.89629198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46463044 meters Centerline goodness : 0.057515 with order 2 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.25, Z:-3.90 [[ 9.74436445e-01 8.07290671e-03 -2.24518246e-01 -2.66473728e+01] [-7.92164466e-03 9.99967384e-01 1.57450074e-03 -2.24994849e+00] [ 2.24523634e-01 2.44302856e-04 9.74468613e-01 -3.89519666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52463044 meters Centerline goodness : 0.092201 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.24, Z:-3.90 [[ 9.74405205e-01 7.78712900e-03 -2.24663875e-01 -2.66470692e+01] [-7.78721237e-03 9.99969287e-01 8.85721230e-04 -2.24487946e+00] [ 2.24663872e-01 8.86453931e-04 9.74435918e-01 -3.89523184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58463044 meters Centerline goodness : 0.087405 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.24, Z:-3.89 [[ 9.74394482e-01 6.93502885e-03 -2.24738289e-01 -2.66472008e+01] [-7.18305069e-03 9.99974161e-01 -2.86000695e-04 -2.23946364e+00] [ 2.24730498e-01 1.89298402e-03 9.74419119e-01 -3.89499810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64463044 meters Centerline goodness : 0.490862 with order 3 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.24, Z:-3.89 [[ 9.74272316e-01 6.56991518e-03 -2.25278252e-01 -2.66459085e+01] [-6.95311299e-03 9.99975415e-01 -9.07641247e-04 -2.23587184e+00] [ 2.25266750e-01 2.45067488e-03 9.74294045e-01 -3.89484347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70463044 meters Centerline goodness : 0.492949 with order 3 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.23, Z:-3.89 [[ 9.74309898e-01 6.29181401e-03 -2.25123600e-01 -2.66466560e+01] [-6.85379344e-03 9.99975042e-01 -1.71488823e-03 -2.22750864e+00] [ 2.25107191e-01 3.21378323e-03 9.74328704e-01 -3.89463667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76463044 meters Centerline goodness : 0.087686 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-2.22, Z:-3.89 [[ 9.74344712e-01 5.77899730e-03 -2.24986635e-01 -2.66476513e+01] [-6.53055140e-03 9.99975305e-01 -2.59639263e-03 -2.22247097e+00] [ 2.24966074e-01 3.99906821e-03 9.74358390e-01 -3.89421720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82463044 meters Centerline goodness : 0.518171 with order 3 Centerline is valid? [False, False] Translation: X:-26.67, Y:-2.21, Z:-3.90 [[ 9.74631014e-01 -1.49277450e-03 -2.23812776e-01 -2.66660753e+01] [ 9.48943086e-04 9.99996331e-01 -2.53738712e-03 -2.21129464e+00] [ 2.23815743e-01 2.26063060e-03 9.74628854e-01 -3.90002709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88463044 meters Centerline goodness : 0.298284 with order 1 Centerline is valid? [False, False] Translation: X:-26.67, Y:-2.21, Z:-3.90 [[ 9.74763612e-01 -2.24359781e-03 -2.23228284e-01 -2.66682105e+01] [ 1.56201425e-03 9.99993564e-01 -3.22982690e-03 -2.20970852e+00] [ 2.23234094e-01 2.79963197e-03 9.74760843e-01 -3.89953961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94463044 meters Centerline goodness : 0.290965 with order 1 Centerline is valid? [False, False] Translation: X:-26.69, Y:-2.21, Z:-3.91 [[ 9.74940313e-01 -9.25349831e-03 -2.22274064e-01 -2.66885256e+01] [ 9.08529321e-03 9.99957145e-01 -1.77925911e-03 -2.20544895e+00] [ 2.22281003e-01 -2.84753605e-04 9.74982602e-01 -3.90508539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00463044 meters Centerline goodness : 0.283432 with order 1 Centerline is valid? [False, False] Translation: X:-26.69, Y:-2.21, Z:-3.91 [[ 9.74829007e-01 -9.51274434e-03 -2.22750792e-01 -2.66866785e+01] [ 9.31000087e-03 9.99954740e-01 -1.96028431e-03 -2.20583946e+00] [ 2.22759358e-01 -1.62868054e-04 9.74873449e-01 -3.90549168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06463044000003 meters Centerline goodness : 0.184602 with order 1 Centerline is valid? [False, False] Translation: X:-26.69, Y:-2.21, Z:-3.91 [[ 9.74848972e-01 -9.51337563e-03 -2.22663374e-01 -2.66870389e+01] [ 9.35839405e-03 9.99954676e-01 -1.75117993e-03 -2.20784405e+00] [ 2.22669941e-01 -3.76635635e-04 9.74893817e-01 -3.90529890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12463044000003 meters Centerline goodness : 0.248625 with order 2 Centerline is valid? [False, False] Translation: X:-26.70, Y:-2.22, Z:-3.91 [[ 9.74997016e-01 -3.19275883e-03 -2.22195015e-01 -2.67031394e+01] [ 2.53030356e-03 9.99991465e-01 -3.26601910e-03 -2.21697110e+00] [ 2.22203546e-01 2.62213805e-03 9.74996774e-01 -3.91100941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18463044000003 meters Centerline goodness : 0.538755 with order 3 Centerline is valid? [False, False] Translation: X:-26.72, Y:-2.22, Z:-3.92 [[ 9.74983837e-01 5.00750388e-03 -2.22219359e-01 -2.67211379e+01] [-6.02713153e-03 9.99974191e-01 -3.91046573e-03 -2.22319783e+00] [ 2.22194042e-01 5.15198618e-03 9.74988854e-01 -3.91699270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24463044000004 meters Centerline goodness : 0.088941 with order 1 Centerline is valid? [False, False] Translation: X:-26.72, Y:-2.22, Z:-3.92 [[ 9.75074717e-01 5.13810308e-03 -2.21817259e-01 -2.67225741e+01] [-6.14813776e-03 9.99973638e-01 -3.86320731e-03 -2.22325069e+00] [ 2.21791562e-01 5.13067884e-03 9.75080601e-01 -3.91673736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30463044000004 meters Centerline goodness : 0.175178 with order 1 Centerline is valid? [False, False] Translation: X:-26.72, Y:-2.22, Z:-3.92 [[ 9.74954623e-01 5.22075605e-03 -2.22342587e-01 -2.67212238e+01] [-6.20876286e-03 9.99973713e-01 -3.74486622e-03 -2.22465766e+00] [ 2.22317191e-01 5.03154703e-03 9.74961409e-01 -3.91667284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36463044000004 meters Centerline goodness : 0.458464 with order 2 Centerline is valid? [False, False] Translation: X:-26.72, Y:-2.23, Z:-3.92 [[ 9.74920736e-01 5.38090268e-03 -2.22487313e-01 -2.67214742e+01] [-6.29194454e-03 9.99974472e-01 -3.38617908e-03 -2.22699014e+00] [ 2.22463412e-01 4.70113404e-03 9.74929705e-01 -3.91598713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42463044 meters Centerline goodness : 0.093807 with order 1 Centerline is valid? [False, False] Translation: X:-26.72, Y:-2.23, Z:-3.92 [[ 9.74975190e-01 5.49946694e-03 -2.22245662e-01 -2.67222737e+01] [-6.32614822e-03 9.99975466e-01 -3.00795768e-03 -2.22973914e+00] [ 2.22223668e-01 4.33864311e-03 9.74986060e-01 -3.91580653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48463044 meters SLAMing on 345.54463044 meters Centerline goodness : 0.270187 with order 1 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.24, Z:-3.92 [[ 9.74666319e-01 3.61160215e-03 -2.23634799e-01 -2.67661021e+01] [-4.51697382e-03 9.99983543e-01 -3.53701449e-03 -2.24328232e+00] [ 2.23618344e-01 4.45756143e-03 9.74666592e-01 -3.92447873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60463044 meters Centerline goodness : 0.296542 with order 1 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.25, Z:-3.92 [[ 9.74805043e-01 4.06670799e-03 -2.23021501e-01 -2.67684858e+01] [-4.77399523e-03 9.99985140e-01 -2.63233398e-03 -2.24875996e+00] [ 2.23007481e-01 3.63071602e-03 9.74809972e-01 -3.92376338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66463044 meters Centerline goodness : 0.088513 with order 1 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.25, Z:-3.92 [[ 9.75028809e-01 1.79744475e-03 -2.22071139e-01 -2.67724954e+01] [-2.80287376e-03 9.99987200e-01 -4.21243806e-03 -2.25244344e+00] [ 2.22060725e-01 4.72968583e-03 9.75021366e-01 -3.92290734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72463044 meters Centerline goodness : 0.091585 with order 1 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.26, Z:-3.92 [[ 9.75150539e-01 -2.67992735e-04 -2.21543122e-01 -2.67736910e+01] [-9.09023479e-04 9.99986010e-01 -5.21083080e-03 -2.25924942e+00] [ 2.21541419e-01 5.28273236e-03 9.75136653e-01 -3.92307300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78463044 meters Centerline goodness : 0.089167 with order 1 Centerline is valid? [False, False] Translation: X:-26.78, Y:-2.26, Z:-3.92 [[ 9.75370828e-01 -2.19488297e-03 -2.20560489e-01 -2.67769091e+01] [ 7.89905032e-04 9.99978835e-01 -6.45802971e-03 -2.26334326e+00] [ 2.20569996e-01 6.12475195e-03 9.75351918e-01 -3.92274816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84463044 meters Centerline goodness : 0.098430 with order 1 Centerline is valid? [False, False] Translation: X:-26.78, Y:-2.27, Z:-3.92 [[ 9.75383216e-01 -6.32972851e-03 -2.20425763e-01 -2.67776373e+01] [ 4.38592180e-03 9.99947073e-01 -9.30671152e-03 -2.26871247e+00] [ 2.20473006e-01 8.11084005e-03 9.75359353e-01 -3.92233813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90463044 meters Centerline goodness : 0.301311 with order 1 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.28, Z:-3.92 [[ 9.75023516e-01 -8.29175479e-03 -2.21946820e-01 -2.67724148e+01] [ 6.27725307e-03 9.99932468e-01 -9.78038560e-03 -2.27979732e+00] [ 2.22012928e-01 8.14288960e-03 9.75009720e-01 -3.92287891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96463044 meters Centerline goodness : 0.092849 with order 3 Centerline is valid? [False, False] Translation: X:-26.77, Y:-2.28, Z:-3.92 [[ 9.74963021e-01 -1.23325887e-02 -2.22024805e-01 -2.67715542e+01] [ 9.76113393e-03 9.99872018e-01 -1.26754562e-02 -2.28468938e+00] [ 2.22152712e-01 1.01908873e-02 9.74958624e-01 -3.92323297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02463044 meters Centerline goodness : 0.296359 with order 2 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.30, Z:-3.93 [[ 9.75567734e-01 -7.80651028e-03 -2.19560141e-01 -2.67907145e+01] [ 4.80835303e-03 9.99887807e-01 -1.41863654e-02 -2.29865247e+00] [ 2.19646254e-01 1.27840376e-02 9.75495818e-01 -3.92894869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08463044 meters Centerline goodness : 0.102680 with order 1 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.30, Z:-3.93 [[ 9.75493861e-01 -7.58227878e-03 -2.19895965e-01 -2.67896075e+01] [ 4.69888100e-03 9.99896031e-01 -1.36326325e-02 -2.30319975e+00] [ 2.19976469e-01 1.22652843e-02 9.75428068e-01 -3.92901738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14463044 meters Centerline goodness : 0.282775 with order 3 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.31, Z:-3.93 [[ 9.75485841e-01 -7.85838775e-03 -2.19921848e-01 -2.67901716e+01] [ 5.07991246e-03 9.99900017e-01 -1.31965941e-02 -2.31255284e+00] [ 2.20003564e-01 1.17559070e-02 9.75428229e-01 -3.92838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20463044 meters Centerline goodness : 0.098710 with order 1 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.32, Z:-3.93 [[ 9.75433252e-01 -7.93951829e-03 -2.20152072e-01 -2.67892652e+01] [ 5.22240589e-03 9.99902879e-01 -1.29212449e-02 -2.31914815e+00] [ 2.20233279e-01 1.14540885e-02 9.75379981e-01 -3.92852349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26463044 meters Centerline goodness : 0.101322 with order 1 Centerline is valid? [False, False] Translation: X:-26.81, Y:-2.33, Z:-3.93 [[ 9.76084970e-01 -1.58753452e-03 -2.17383560e-01 -2.68059974e+01] [-1.09871031e-03 9.99924537e-01 -1.22357429e-02 -2.33452595e+00] [ 2.17386580e-01 1.21819662e-02 9.76009567e-01 -3.93375750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32463044 meters Centerline goodness : 0.296470 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.34, Z:-3.93 [[ 9.76060260e-01 -1.39581186e-03 -2.17495793e-01 -2.68048939e+01] [-1.19995270e-03 9.99929631e-01 -1.18022503e-02 -2.34003933e+00] [ 2.17496962e-01 1.17806921e-02 9.75989901e-01 -3.93432328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38463044 meters Centerline goodness : 0.097998 with order 1 Centerline is valid? [False, False] Translation: X:-26.82, Y:-2.35, Z:-3.94 [[ 9.75844116e-01 6.75335597e-03 -2.18363580e-01 -2.68216726e+01] [-9.68029163e-03 9.99877039e-01 -1.23369019e-02 -2.34920364e+00] [ 2.18253415e-01 1.41527162e-02 9.75789500e-01 -3.94071996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44463044 meters Centerline goodness : 0.296172 with order 3 Centerline is valid? [False, False] Translation: X:-26.84, Y:-2.35, Z:-3.95 [[ 9.75899434e-01 2.18190847e-03 -2.18209839e-01 -2.68421192e+01] [-4.22830120e-03 9.99951351e-01 -8.91157992e-03 -2.34730395e+00] [ 2.18179779e-01 9.61946272e-03 9.75861184e-01 -3.94589226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50463044 meters Centerline goodness : 0.088984 with order 1 Centerline is valid? [False, False] Translation: X:-26.84, Y:-2.35, Z:-3.95 [[ 9.75980628e-01 2.24018130e-03 -2.17845808e-01 -2.68435156e+01] [-4.26959883e-03 9.99951762e-01 -8.84557992e-03 -2.34807341e+00] [ 2.17815484e-01 9.56322885e-03 9.75943113e-01 -3.94547865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56463044000003 meters Centerline goodness : 0.091312 with order 1 Centerline is valid? [False, False] Translation: X:-26.88, Y:-2.35, Z:-3.96 [[ 9.76852058e-01 1.63917739e-03 -2.13909722e-01 -2.68824941e+01] [-3.42716334e-03 9.99962222e-01 -7.98802451e-03 -2.35207603e+00] [ 2.13888547e-01 8.53622174e-03 9.76820773e-01 -3.95613647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62463044000003 meters Centerline goodness : 0.085689 with order 1 Centerline is valid? [False, False] Translation: X:-26.88, Y:-2.35, Z:-3.96 [[ 9.76859222e-01 1.45530855e-03 -2.13878338e-01 -2.68826134e+01] [-3.28346425e-03 9.99961049e-01 -8.19265046e-03 -2.35202407e+00] [ 2.13858084e-01 8.70532803e-03 9.76825950e-01 -3.95602721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68463044000003 meters Centerline goodness : 0.161630 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.35, Z:-3.95 [[ 9.77170598e-01 3.43484751e-03 -2.12428397e-01 -2.68890646e+01] [-4.93841013e-03 9.99966369e-01 -6.54779312e-03 -2.35193782e+00] [ 2.12398762e-01 7.44736947e-03 9.77154697e-01 -3.95419933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74463044000004 meters Centerline goodness : 0.091058 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.35, Z:-3.95 [[ 9.77056401e-01 3.24480991e-03 -2.12956006e-01 -2.68874179e+01] [-4.80641063e-03 9.99965222e-01 -6.81566693e-03 -2.35110644e+00] [ 2.12926485e-01 7.68284502e-03 9.77038017e-01 -3.95436196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80463044000004 meters Centerline goodness : 0.163692 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.35, Z:-3.95 [[ 9.76974690e-01 2.97311082e-03 -2.13334517e-01 -2.68863086e+01] [-4.61514695e-03 9.99963434e-01 -7.19939590e-03 -2.35001019e+00] [ 2.13305312e-01 8.01819772e-03 9.76952687e-01 -3.95445663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86463044000004 meters Centerline goodness : 0.086344 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.35, Z:-3.95 [[ 9.77131622e-01 3.01451747e-03 -2.12613982e-01 -2.68881587e+01] [-4.66331557e-03 9.99962817e-01 -7.25383964e-03 -2.34901748e+00] [ 2.12584209e-01 8.07944218e-03 9.77109347e-01 -3.95457305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92463044 meters Centerline goodness : 0.094649 with order 1 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.35, Z:-3.96 [[ 9.77511378e-01 -5.39375408e-03 -2.10813695e-01 -2.69100502e+01] [ 4.09045673e-03 9.99969736e-01 -6.61779992e-03 -2.34840350e+00] [ 2.10843010e-01 5.60665042e-03 9.77503857e-01 -3.95999555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98463044 meters Centerline goodness : 0.116519 with order 3 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.36, Z:-3.96 [[ 9.77466287e-01 -8.77826274e-03 -2.10908983e-01 -2.69108172e+01] [ 7.21601460e-03 9.99940542e-01 -8.17570578e-03 -2.35744025e+00] [ 2.10968212e-01 6.46955447e-03 9.77471513e-01 -3.95885611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04463044 meters Centerline goodness : 0.095425 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.37, Z:-3.95 [[ 9.77708649e-01 -2.21219480e-02 -2.08797549e-01 -2.68926747e+01] [ 2.03557906e-02 9.99736564e-01 -1.06039932e-02 -2.36716103e+00] [ 2.08977125e-01 6.11737667e-03 9.77901395e-01 -3.95370183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10463044 meters Centerline goodness : 0.290230 with order 2 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.38, Z:-3.95 [[ 9.77876188e-01 -2.49470420e-02 -2.07691611e-01 -2.68971104e+01] [ 2.29868074e-02 9.99665576e-01 -1.18466391e-02 -2.37774738e+00] [ 2.07917692e-01 6.81037921e-03 9.78122616e-01 -3.95223670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16463044 meters Centerline goodness : 0.279666 with order 3 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.39, Z:-3.95 [[ 9.77607147e-01 -2.76415373e-02 -2.08614984e-01 -2.68946968e+01] [ 2.54613830e-02 9.99589586e-01 -1.31292719e-02 -2.38792072e+00] [ 2.08892279e-01 7.52364406e-03 9.77909715e-01 -3.95197606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22463044 meters Centerline goodness : 0.099543 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.40, Z:-3.95 [[ 9.77200378e-01 -3.07001636e-02 -2.10087891e-01 -2.68906179e+01] [ 2.83783884e-02 9.99498396e-01 -1.40578898e-02 -2.40346733e+00] [ 2.10414090e-01 7.77541943e-03 9.77581431e-01 -3.95226226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28463044 meters Centerline goodness : 0.097966 with order 1 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.41, Z:-3.95 [[ 9.77171813e-01 -3.31393735e-02 -2.09850015e-01 -2.68919146e+01] [ 3.07308256e-02 9.99419171e-01 -1.47287513e-02 -2.41351846e+00] [ 2.10216230e-01 7.94365638e-03 9.77622645e-01 -3.95226320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34463044 meters Centerline goodness : 0.288541 with order 2 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.43, Z:-3.96 [[ 9.77472631e-01 -2.83390849e-02 -2.09151029e-01 -2.69031315e+01] [ 2.53973829e-02 9.99537303e-01 -1.67377895e-02 -2.43049964e+00] [ 2.09528589e-01 1.10488423e-02 9.77740095e-01 -3.95798119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40463044 meters Centerline goodness : 0.300541 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.44, Z:-3.96 [[ 9.77461323e-01 -1.97524426e-02 -2.10188496e-01 -2.69151942e+01] [ 1.64010433e-02 9.99709238e-01 -1.76761048e-02 -2.44079695e+00] [ 2.10476527e-01 1.38303981e-02 9.77501075e-01 -3.96248020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46463044 meters Centerline goodness : 0.298490 with order 1 Centerline is valid? [False, False] Translation: X:-26.93, Y:-2.45, Z:-3.97 [[ 9.77236424e-01 -1.16356211e-02 -2.11833858e-01 -2.69256282e+01] [ 7.75350109e-03 9.99786601e-01 -1.91477153e-02 -2.45272947e+00] [ 2.12011448e-01 1.70693908e-02 9.77118100e-01 -3.96689929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52463044 meters Centerline goodness : 0.102418 with order 1 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.46, Z:-3.96 [[ 9.77444756e-01 -3.99577746e-03 -2.11153457e-01 -2.69084062e+01] [-9.28774605e-05 9.99812768e-01 -1.93499645e-02 -2.45965682e+00] [ 2.11191241e-01 1.89331327e-02 9.77261376e-01 -3.96291830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58463044 meters Centerline goodness : 0.279603 with order 2 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.46, Z:-3.96 [[ 9.77560749e-01 -3.78196713e-03 -2.10619749e-01 -2.69098839e+01] [-2.72419863e-04 9.99815291e-01 -1.92174549e-02 -2.45944254e+00] [ 2.10653525e-01 1.88436066e-02 9.77379154e-01 -3.96287914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64463044 meters Centerline goodness : 0.301207 with order 1 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.46, Z:-3.96 [[ 9.77244768e-01 -7.90885475e-04 -2.12113267e-01 -2.69038475e+01] [-2.90904723e-03 9.99849029e-01 -1.71305516e-02 -2.45564846e+00] [ 2.12094793e-01 1.73577894e-02 9.77094932e-01 -3.96428682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70463044 meters Centerline goodness : 0.087967 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.45, Z:-3.95 [[ 9.77042482e-01 1.50895624e-03 -2.13039226e-01 -2.68612239e+01] [-5.22530631e-03 9.99843827e-01 -1.68824574e-02 -2.45253469e+00] [ 2.12980480e-01 1.76080733e-02 9.76897779e-01 -3.95479648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76463044 meters Centerline goodness : 0.095522 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.45, Z:-3.95 [[ 9.76943093e-01 5.32796380e-03 -2.13433378e-01 -2.68608062e+01] [-8.52768106e-03 9.99864594e-01 -1.40737910e-02 -2.44949587e+00] [ 2.13329493e-01 1.55693847e-02 9.76856244e-01 -3.95418668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82463044 meters Centerline goodness : 0.298371 with order 1 Centerline is valid? [False, False] Translation: X:-26.82, Y:-2.45, Z:-3.94 [[ 9.77381912e-01 5.77463756e-03 -2.11403056e-01 -2.68210627e+01] [-9.11102171e-03 9.99848794e-01 -1.48114388e-02 -2.44621728e+00] [ 2.11285560e-01 1.64025302e-02 9.77286738e-01 -3.94433624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88463044 meters SLAMing on 347.94463044 meters Centerline goodness : 0.299380 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78363460e-01 3.83556994e-03 -2.06857990e-01 -2.68018391e+01] [-6.20187451e-03 9.99922532e-01 -1.07920154e-02 -2.43861819e+00] [ 2.06800571e-01 1.18414208e-02 9.78311456e-01 -3.93969232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00463044 meters Centerline goodness : 0.296598 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78381315e-01 3.96586710e-03 -2.06771066e-01 -2.68023506e+01] [-6.36531425e-03 9.99919892e-01 -1.09403853e-02 -2.43645006e+00] [ 2.06711114e-01 1.20200314e-02 9.78328183e-01 -3.93935375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06463044000003 meters Centerline goodness : 0.106573 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.43, Z:-3.94 [[ 9.78245529e-01 7.72593195e-03 -2.07306524e-01 -2.68012792e+01] [-9.64539767e-03 9.99919450e-01 -8.24989724e-03 -2.43308952e+00] [ 2.07226087e-01 1.00699790e-02 9.78241251e-01 -3.93872309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12463044000003 meters Centerline goodness : 0.092982 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.43, Z:-3.94 [[ 9.78197460e-01 7.64070015e-03 -2.07536381e-01 -2.68006038e+01] [-9.59323546e-03 9.99918674e-01 -8.40334496e-03 -2.43284956e+00] [ 2.07455295e-01 1.02110761e-02 9.78191205e-01 -3.93869836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18463044000003 meters Centerline goodness : 0.259649 with order 3 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.43, Z:-3.94 [[ 9.78128039e-01 7.90156260e-03 -2.07853565e-01 -2.67993560e+01] [-9.79749381e-03 9.99919248e-01 -8.09357719e-03 -2.43401771e+00] [ 2.07772829e-01 9.95299881e-03 9.78126469e-01 -3.93894004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24463044000004 meters Centerline goodness : 0.301983 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77996531e-01 7.85731441e-03 -2.08473136e-01 -2.67974509e+01] [-9.74754981e-03 9.99920159e-01 -8.04124146e-03 -2.43517717e+00] [ 2.08393309e-01 9.89640853e-03 9.77995036e-01 -3.93914453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30463044000004 meters Centerline goodness : 0.298126 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77933709e-01 7.89096456e-03 -2.08766361e-01 -2.67965682e+01] [-9.77240434e-03 9.99920389e-01 -7.98225956e-03 -2.43585752e+00] [ 2.08686753e-01 9.84626999e-03 9.77932968e-01 -3.93913932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36463044000004 meters Centerline goodness : 0.100828 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77997637e-01 8.20169069e-03 -2.08454683e-01 -2.67974946e+01] [-1.00261012e-02 9.99920114e-01 -7.69696191e-03 -2.43663652e+00] [ 2.08374902e-01 9.61759829e-03 9.78001739e-01 -3.93898457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42463044 meters Centerline goodness : 0.299211 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77900197e-01 8.15962338e-03 -2.08912960e-01 -2.67955143e+01] [-9.97497354e-03 9.99921082e-01 -7.63738712e-03 -2.43776118e+00] [ 2.08834154e-01 9.55250362e-03 9.77904415e-01 -3.93964266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48463044 meters Centerline goodness : 0.297142 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77887540e-01 8.13361799e-03 -2.08973210e-01 -2.67955780e+01] [-9.93390366e-03 9.99922028e-01 -7.56679201e-03 -2.43864302e+00] [ 2.08895371e-01 9.47539136e-03 9.77892091e-01 -3.93940322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54463044 meters Centerline goodness : 0.088821 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.77913155e-01 8.09249848e-03 -2.08854908e-01 -2.67962001e+01] [-9.90357472e-03 9.99921870e-01 -7.62715996e-03 -2.43834606e+00] [ 2.08776867e-01 9.52711025e-03 9.77916895e-01 -3.93908061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60463044 meters Centerline goodness : 0.299691 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78062772e-01 8.37475802e-03 -2.08141964e-01 -2.67984780e+01] [-1.01561440e-02 9.99920363e-01 -7.49130643e-03 -2.43742602e+00] [ 2.08062650e-01 9.44088769e-03 9.78069938e-01 -3.93872972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66463044 meters Centerline goodness : 0.304759 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78084868e-01 8.33942739e-03 -2.08039528e-01 -2.67990972e+01] [-1.01261626e-02 9.99920415e-01 -7.52492906e-03 -2.43741031e+00] [ 2.07960217e-01 9.46666132e-03 9.78091473e-01 -3.93841309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72463044 meters Centerline goodness : 0.301586 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78034235e-01 8.41757148e-03 -2.08274290e-01 -2.67985685e+01] [-1.01977285e-02 9.99920063e-01 -7.47489749e-03 -2.43764572e+00] [ 2.08194720e-01 9.43463030e-03 9.78041894e-01 -3.93824594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78463044 meters Centerline goodness : 0.089265 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78039849e-01 8.36094096e-03 -2.08250208e-01 -2.67988974e+01] [-1.01764817e-02 9.99918969e-01 -7.64820922e-03 -2.43683347e+00] [ 2.08169387e-01 9.59950781e-03 9.78045682e-01 -3.93793031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84463044 meters Centerline goodness : 0.092534 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-2.44, Z:-3.94 [[ 9.78080186e-01 8.38275874e-03 -2.08059795e-01 -2.67995003e+01] [-1.02344302e-02 9.99917011e-01 -7.82481935e-03 -2.43545962e+00] [ 2.07976935e-01 9.78267421e-03 9.78084809e-01 -3.93777122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90463044 meters Centerline goodness : 0.097587 with order 1 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.43, Z:-3.94 [[ 9.77781451e-01 1.10922995e-02 -2.09333215e-01 -2.67944085e+01] [-1.26131770e-02 9.99902856e-01 -5.93173214e-03 -2.43268231e+00] [ 2.09247083e-01 8.44029454e-03 9.77826375e-01 -3.93863457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96463044 meters Centerline goodness : 0.270584 with order 3 Centerline is valid? [False, False] Translation: X:-26.79, Y:-2.43, Z:-3.94 [[ 9.77648201e-01 1.07931224e-02 -2.09970246e-01 -2.67924244e+01] [-1.23979462e-02 9.99903117e-01 -6.32829215e-03 -2.43201043e+00] [ 2.09881602e-01 8.79004324e-03 9.77687296e-01 -3.93870926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02463044 meters Centerline goodness : 0.095449 with order 1 Centerline is valid? [False, False] Translation: X:-26.81, Y:-2.43, Z:-3.94 [[ 9.78203838e-01 5.29986523e-03 -2.07579291e-01 -2.68146178e+01] [-6.27661088e-03 9.99972112e-01 -4.04706762e-03 -2.42839112e+00] [ 2.07552053e-01 5.26175151e-03 9.78209824e-01 -3.94390033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08463044 meters Centerline goodness : 0.088211 with order 1 Centerline is valid? [False, False] Translation: X:-26.82, Y:-2.43, Z:-3.94 [[ 9.78282325e-01 5.16515835e-03 -2.07212483e-01 -2.68152180e+01] [-6.18955656e-03 9.99971618e-01 -4.29569697e-03 -2.42748234e+00] [ 2.07184414e-01 5.48495781e-03 9.78286530e-01 -3.94423674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14463044 meters Centerline goodness : 0.093162 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.43, Z:-3.95 [[ 9.77909066e-01 6.89634289e-03 -2.08916969e-01 -2.68586494e+01] [-7.53025796e-03 9.99969140e-01 -2.23905918e-03 -2.42836399e+00] [ 2.08895081e-01 3.76279495e-03 9.77930819e-01 -3.95362320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20463044 meters Centerline goodness : 0.083838 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.43, Z:-3.95 [[ 9.77827262e-01 6.71608735e-03 -2.09305374e-01 -2.68573097e+01] [-7.42768612e-03 9.99968998e-01 -2.61395505e-03 -2.42682532e+00] [ 2.09281330e-01 4.11065113e-03 9.77846832e-01 -3.95393474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26463044 meters Centerline goodness : 0.083983 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.43, Z:-3.95 [[ 9.77809971e-01 6.65497083e-03 -2.09388090e-01 -2.68565335e+01] [-7.38613807e-03 9.99969050e-01 -2.71015695e-03 -2.42618238e+00] [ 2.09363574e-01 4.19658783e-03 9.77828862e-01 -3.95443160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32463044 meters Centerline goodness : 0.298258 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.43, Z:-3.95 [[ 9.77717029e-01 6.32169855e-03 -2.09831948e-01 -2.68552029e+01] [-7.12103990e-03 9.99969981e-01 -3.05412595e-03 -2.42560471e+00] [ 2.09806342e-01 4.48029263e-03 9.77732696e-01 -3.95454680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38463044 meters Centerline goodness : 0.244125 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.95 [[ 9.77674320e-01 6.37247773e-03 -2.10029319e-01 -2.68545952e+01] [-7.18800005e-03 9.99969299e-01 -3.11975959e-03 -2.42449505e+00] [ 2.10002990e-01 4.55979959e-03 9.77690111e-01 -3.95464303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44463044 meters Centerline goodness : 0.087156 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.95 [[ 9.77650545e-01 6.31335538e-03 -2.10141748e-01 -2.68539974e+01] [-7.18651108e-03 9.99968425e-01 -3.39171272e-03 -2.42214339e+00] [ 2.10113699e-01 4.82609578e-03 9.77665046e-01 -3.95492926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50463044 meters Centerline goodness : 0.151380 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.95 [[ 9.77611459e-01 6.08625089e-03 -2.10330201e-01 -2.68536733e+01] [-7.01531907e-03 9.99968653e-01 -3.67135200e-03 -2.42107879e+00] [ 2.10301263e-01 5.06468925e-03 9.77623510e-01 -3.95471319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56463044000003 meters Centerline goodness : 0.088404 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.77561590e-01 5.78933081e-03 -2.10570231e-01 -2.68525979e+01] [-6.83549780e-03 9.99967645e-01 -4.24075423e-03 -2.41769804e+00] [ 2.10538867e-01 5.58495080e-03 9.77569534e-01 -3.95507595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62463044000003 meters Centerline goodness : 0.085066 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.77532745e-01 5.61966337e-03 -2.10708690e-01 -2.68520994e+01] [-6.72146608e-03 9.99967226e-01 -4.51321680e-03 -2.41649018e+00] [ 2.10676421e-01 5.82808852e-03 9.77538479e-01 -3.95518283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68463044000003 meters Centerline goodness : 0.093193 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.41, Z:-3.96 [[ 9.77532328e-01 5.59727371e-03 -2.10711221e-01 -2.68519583e+01] [-6.73830469e-03 9.99966264e-01 -4.69754666e-03 -2.41467273e+00] [ 2.10677819e-01 6.01184013e-03 9.77537065e-01 -3.95529557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74463044000004 meters Centerline goodness : 0.095532 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-2.41, Z:-3.96 [[ 9.77768800e-01 -2.77426669e-03 -2.09667542e-01 -2.68742142e+01] [ 2.01950445e-03 9.99990688e-01 -3.81381118e-03 -2.41295800e+00] [ 2.09676170e-01 3.30560104e-03 9.77765297e-01 -3.96025978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80463044000004 meters Centerline goodness : 0.090381 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78031907e-01 1.66447447e-03 -2.08448598e-01 -2.68531299e+01] [-3.27179933e-03 9.99967516e-01 -7.36634235e-03 -2.41515967e+00] [ 2.08429565e-01 7.88651984e-03 9.78005582e-01 -3.95595589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86463044000004 meters Centerline goodness : 0.109864 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78080875e-01 1.96860405e-03 -2.08216056e-01 -2.68532818e+01] [-3.48350708e-03 9.99970064e-01 -6.90920075e-03 -2.41700793e+00] [ 2.08196221e-01 7.48307922e-03 9.78058453e-01 -3.95628336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92463044 meters Centerline goodness : 0.088801 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78119604e-01 1.97970687e-03 -2.08033941e-01 -2.68536163e+01] [-3.49435663e-03 9.99969996e-01 -6.91354136e-03 -2.41761288e+00] [ 2.08014012e-01 7.48921512e-03 9.78097174e-01 -3.95643992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98463044 meters Centerline goodness : 0.110158 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78104734e-01 2.51620280e-03 -2.08098050e-01 -2.68532400e+01] [-3.97015229e-03 9.99970539e-01 -6.56948047e-03 -2.41745254e+00] [ 2.08075390e-01 7.25182090e-03 9.78085908e-01 -3.95661161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04463044 meters Centerline goodness : 0.083845 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78161206e-01 2.95684839e-03 -2.07826642e-01 -2.68539454e+01] [-4.36996670e-03 9.99970349e-01 -6.34072306e-03 -2.41741675e+00] [ 2.07801731e-01 7.11044482e-03 9.78145123e-01 -3.95666122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10463044 meters Centerline goodness : 0.097940 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.42, Z:-3.96 [[ 9.78232261e-01 3.33144426e-03 -2.07486253e-01 -2.68545385e+01] [-4.74805754e-03 9.99968694e-01 -6.32988006e-03 -2.41568327e+00] [ 2.07458670e-01 7.17724955e-03 9.78217454e-01 -3.95702368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16463044 meters Centerline goodness : 0.476566 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.41, Z:-3.96 [[ 9.78190075e-01 7.43666153e-03 -2.07578597e-01 -2.68542595e+01] [-8.34246272e-03 9.99959116e-01 -3.48859060e-03 -2.41058681e+00] [ 2.07544167e-01 5.14422140e-03 9.78212122e-01 -3.95710353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22463044 meters Centerline goodness : 0.122077 with order 2 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.41, Z:-3.96 [[ 9.78115241e-01 6.97261755e-03 -2.07947010e-01 -2.68535650e+01] [-8.01605073e-03 9.99959153e-01 -4.17552843e-03 -2.40785218e+00] [ 2.07909401e-01 5.75106178e-03 9.78131180e-01 -3.95688472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28463044 meters Centerline goodness : 0.084393 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.41, Z:-3.96 [[ 9.78006353e-01 6.63358454e-03 -2.08469587e-01 -2.68517933e+01] [-7.73404955e-03 9.99960127e-01 -4.46410226e-03 -2.40648246e+00] [ 2.08431661e-01 5.97823449e-03 9.78018662e-01 -3.95718619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34463044 meters Centerline goodness : 0.085626 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-2.40, Z:-3.96 [[ 9.78154862e-01 -2.42954481e-03 -2.07863328e-01 -2.68735139e+01] [ 1.61546127e-03 9.99990347e-01 -4.08609865e-03 -2.40412801e+00] [ 2.07871249e-01 3.66104210e-03 9.78149345e-01 -3.96267277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40463044 meters Centerline goodness : 0.108522 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-2.40, Z:-3.96 [[ 9.78079731e-01 -2.69191718e-03 -2.08213338e-01 -2.68728595e+01] [ 1.86069118e-03 9.99989499e-01 -4.18793815e-03 -2.40442954e+00] [ 2.08222426e-01 3.70871670e-03 9.78074469e-01 -3.96228150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46463044 meters Centerline goodness : 0.139032 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-2.41, Z:-3.96 [[ 9.77936546e-01 -3.00830808e-03 -2.08880496e-01 -2.68704284e+01] [ 2.17364525e-03 9.99988711e-01 -4.22532026e-03 -2.40518773e+00] [ 2.08890849e-01 3.67806300e-03 9.77932045e-01 -3.96276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52463044 meters Centerline goodness : 0.124027 with order 1 Centerline is valid? [False, False] Translation: X:-26.87, Y:-2.41, Z:-3.96 [[ 9.78159755e-01 -5.67190193e-03 -2.07777101e-01 -2.68746965e+01] [ 4.51108313e-03 9.99971461e-01 -6.06024479e-03 -2.40881030e+00] [ 2.07805545e-01 4.99058778e-03 9.78157426e-01 -3.96185167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58463044 meters Centerline goodness : 0.086037 with order 1 Centerline is valid? [False, False] Translation: X:-26.88, Y:-2.42, Z:-3.96 [[ 9.78319158e-01 -7.33825251e-03 -2.06972887e-01 -2.68773031e+01] [ 6.11871918e-03 9.99959948e-01 -6.53176572e-03 -2.41669687e+00] [ 2.07012529e-01 5.12374257e-03 9.78324875e-01 -3.96120942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64463044 meters Centerline goodness : 0.303941 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.42, Z:-3.97 [[ 9.78122094e-01 -9.58616860e-03 -2.07810669e-01 -2.69211651e+01] [ 8.43312715e-03 9.99943743e-01 -6.43374725e-03 -2.42490837e+00] [ 2.07860653e-01 4.54049654e-03 9.78147910e-01 -3.97031117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70463044 meters Centerline goodness : 0.469836 with order 2 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.43, Z:-3.97 [[ 9.78110878e-01 -9.90515806e-03 -2.07848497e-01 -2.69210701e+01] [ 8.79549340e-03 9.99941710e-01 -6.26231574e-03 -2.43046273e+00] [ 2.07898411e-01 4.29710907e-03 9.78140985e-01 -3.97015113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76463044 meters SLAMing on 350.82463044 meters Centerline goodness : 0.473816 with order 2 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.44, Z:-3.97 [[ 9.78082058e-01 -1.43108745e-02 -2.07727432e-01 -2.69204578e+01] [ 1.28107459e-02 9.99881255e-01 -8.56513918e-03 -2.44410815e+00] [ 2.07825340e-01 5.71626560e-03 9.78149248e-01 -3.97059101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88463044 meters Centerline goodness : 0.472138 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.45, Z:-3.98 [[ 9.78647841e-01 -8.39538585e-03 -2.05372641e-01 -2.69370164e+01] [ 6.50903178e-03 9.99930215e-01 -9.85890855e-03 -2.45372244e+00] [ 2.05441078e-01 8.31162251e-03 9.78634191e-01 -3.97648605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94463044 meters Centerline goodness : 0.473466 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.47, Z:-3.98 [[ 9.79048407e-01 -1.67068046e-03 -2.03620791e-01 -2.69504580e+01] [-3.87738491e-04 9.99949234e-01 -1.00687675e-02 -2.46727133e+00] [ 2.03627276e-01 9.93676236e-03 9.78998056e-01 -3.98318295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00463044 meters Centerline goodness : 0.301369 with order 1 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.47, Z:-3.98 [[ 9.79002983e-01 -5.08512074e-03 -2.03782484e-01 -2.69491367e+01] [ 2.65746608e-03 9.99922231e-01 -1.21848453e-02 -2.47261574e+00] [ 2.03828598e-01 1.13874549e-02 9.78940360e-01 -3.98424533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06463044000003 meters Centerline goodness : 0.097742 with order 1 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.48, Z:-3.98 [[ 9.78916549e-01 -5.18712763e-03 -2.04194721e-01 -2.69477596e+01] [ 2.89350304e-03 9.99929347e-01 -1.15295005e-02 -2.47952239e+00] [ 2.04240099e-01 1.06955808e-02 9.78862394e-01 -3.98494539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12463044000003 meters Centerline goodness : 0.471333 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.49, Z:-3.99 [[ 9.78801489e-01 -7.40766820e-03 -2.04677237e-01 -2.69459995e+01] [ 5.09132167e-03 9.99916927e-01 -1.18413734e-02 -2.49056785e+00] [ 2.04747951e-01 1.05482763e-02 9.78757892e-01 -3.98625735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18463044000003 meters Centerline goodness : 0.471966 with order 2 Centerline is valid? [False, False] Translation: X:-26.96, Y:-2.50, Z:-3.99 [[ 9.79382370e-01 -2.18532603e-05 -2.02015279e-01 -2.69621280e+01] [-2.40852765e-03 9.99927655e-01 -1.17848571e-02 -2.50332106e+00] [ 2.02000922e-01 1.20284407e-02 9.79311464e-01 -3.99194032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24463044000004 meters Centerline goodness : 0.470872 with order 3 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79225531e-01 8.73342635e-03 -2.02586000e-01 -2.69415803e+01] [-1.14582837e-02 9.99858927e-01 -1.22814493e-02 -2.51070980e+00] [ 2.02450161e-01 1.43475966e-02 9.79187458e-01 -3.98679627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30463044000004 meters Centerline goodness : 0.128187 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79257980e-01 9.34756576e-03 -2.02401660e-01 -2.69415634e+01] [-1.20133661e-02 9.99856472e-01 -1.19463472e-02 -2.51023731e+00] [ 2.02260940e-01 1.41300810e-02 9.79229724e-01 -3.98722585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36463044000004 meters Centerline goodness : 0.093268 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79343669e-01 9.63899220e-03 -2.01972938e-01 -2.69420922e+01] [-1.23115558e-02 9.99852439e-01 -1.19801911e-02 -2.50824401e+00] [ 2.01827658e-01 1.42193254e-02 9.79317828e-01 -3.98781922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42463044 meters Centerline goodness : 0.463397 with order 3 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79348147e-01 9.43940057e-03 -2.01960652e-01 -2.69420349e+01] [-1.21481784e-02 9.99852059e-01 -1.21770846e-02 -2.50779590e+00] [ 2.01815829e-01 1.43790593e-02 9.79317933e-01 -3.98790537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48463044 meters Centerline goodness : 0.090203 with order 1 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79348967e-01 9.18151005e-03 -2.01968562e-01 -2.69419723e+01] [-1.19236995e-02 9.99852457e-01 -1.23648325e-02 -2.50744106e+00] [ 2.01825235e-01 1.45176984e-02 9.79313949e-01 -3.98797934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54463044 meters Centerline goodness : 0.506162 with order 3 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.51, Z:-3.99 [[ 9.79296329e-01 8.90133821e-03 -2.02236166e-01 -2.69409752e+01] [-1.16885803e-02 9.99852398e-01 -1.25920077e-02 -2.50657572e+00] [ 2.02094230e-01 1.46951606e-02 9.79255827e-01 -3.98821357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60463044 meters Centerline goodness : 0.471850 with order 2 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.50, Z:-3.98 [[ 9.79397249e-01 1.57588384e-03 -2.01936983e-01 -2.69220609e+01] [-4.05734781e-03 9.99921258e-01 -1.18749696e-02 -2.50284869e+00] [ 2.01902369e-01 1.24496411e-02 9.79326524e-01 -3.98302714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66463044 meters Centerline goodness : 0.093304 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.50, Z:-3.98 [[ 9.79511554e-01 1.61656004e-03 -2.01381484e-01 -2.69233048e+01] [-4.11710915e-03 9.99919536e-01 -1.19987497e-02 -2.50140568e+00] [ 2.01345884e-01 1.25820235e-02 9.79439395e-01 -3.98325061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72463044 meters Centerline goodness : 0.214269 with order 3 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.50, Z:-3.98 [[ 9.79592921e-01 1.84212194e-03 -2.00983372e-01 -2.69239354e+01] [-4.35912610e-03 9.99917513e-01 -1.20815919e-02 -2.49890083e+00] [ 2.00944538e-01 1.27111537e-02 9.79520147e-01 -3.98358849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78463044 meters Centerline goodness : 0.123481 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:-2.49, Z:-3.99 [[ 9.79508848e-01 5.18814037e-03 -2.01334300e-01 -2.69207622e+01] [-7.31888931e-03 9.99924799e-01 -9.84018433e-03 -2.49405596e+00] [ 2.01268107e-01 1.11120911e-02 9.79473160e-01 -3.98532662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84463044 meters Centerline goodness : 0.123113 with order 1 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.49, Z:-3.98 [[ 9.79740529e-01 1.35473117e-02 -1.99812327e-01 -2.69022837e+01] [-1.60597054e-02 9.99810983e-01 -1.09582489e-02 -2.49427472e+00] [ 1.99626105e-01 1.39451677e-02 9.79772908e-01 -3.98093521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90463044 meters Centerline goodness : 0.386044 with order 3 Centerline is valid? [False, False] Translation: X:-26.88, Y:-2.49, Z:-3.98 [[ 9.80040589e-01 6.79820607e-03 -1.98681225e-01 -2.68845807e+01] [-8.83733637e-03 9.99916970e-01 -9.37837345e-03 -2.49285216e+00] [ 1.98600972e-01 1.09469994e-02 9.80019294e-01 -3.97601486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96463044 meters Centerline goodness : 0.095282 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.49, Z:-3.97 [[ 9.80061137e-01 -5.88242868e-04 -1.98695301e-01 -2.68639141e+01] [-1.08766577e-03 9.99964752e-01 -8.32531558e-03 -2.49332039e+00] [ 1.98693194e-01 8.37543233e-03 9.80025952e-01 -3.97180097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02463044 meters Centerline goodness : 0.114133 with order 2 Centerline is valid? [False, False] Translation: X:-26.88, Y:-2.50, Z:-3.98 [[ 9.80188389e-01 6.76798426e-03 -1.97951804e-01 -2.68799115e+01] [-8.80336534e-03 9.99917030e-01 -9.40397479e-03 -2.50272403e+00] [ 1.97871734e-01 1.09603089e-02 9.80166643e-01 -3.97781775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08463044 meters Centerline goodness : 0.225858 with order 3 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.50, Z:-3.97 [[ 9.79973021e-01 2.60137690e-03 -1.99113310e-01 -2.68564704e+01] [-4.01631550e-03 9.99969471e-01 -6.70263252e-03 -2.50118312e+00] [ 1.99089796e-01 7.36810092e-03 9.79953552e-01 -3.97376704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14463044 meters Centerline goodness : 0.094736 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.50, Z:-3.97 [[ 9.79829571e-01 3.08306564e-03 -1.99811178e-01 -2.68537878e+01] [-4.45627100e-03 9.99969442e-01 -6.42313754e-03 -2.50120621e+00] [ 1.99785269e-01 7.18399286e-03 9.79813368e-01 -3.97455868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20463044 meters Centerline goodness : 0.120781 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.50, Z:-3.98 [[ 9.79812009e-01 3.10136546e-03 -1.99896996e-01 -2.68528133e+01] [-4.53655934e-03 9.99967116e-01 -6.72202119e-03 -2.49921233e+00] [ 1.99869575e-01 7.49316167e-03 9.79793859e-01 -3.97505719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26463044 meters Centerline goodness : 0.130634 with order 3 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.50, Z:-3.98 [[ 9.79981616e-01 3.74421432e-03 -1.99052788e-01 -2.68541813e+01] [-5.17686992e-03 9.99964305e-01 -6.67740803e-03 -2.49609760e+00] [ 1.99020681e-01 7.57420751e-03 9.79966020e-01 -3.97601482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32463044 meters Centerline goodness : 0.139560 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-2.49, Z:-3.98 [[ 9.80095830e-01 4.01411137e-03 -1.98484387e-01 -2.68552021e+01] [-5.48598969e-03 9.99961379e-01 -6.86622918e-03 -2.49328283e+00] [ 1.98449159e-01 7.81844588e-03 9.80079998e-01 -3.97657900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38463044 meters Centerline goodness : 0.099751 with order 1 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.49, Z:-3.98 [[ 9.80098216e-01 3.96214060e-03 -1.98473647e-01 -2.68542554e+01] [-5.47455124e-03 9.99960007e-01 -7.07205103e-03 -2.49190771e+00] [ 1.98437689e-01 8.01785874e-03 9.80080710e-01 -3.97755865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44463044 meters Centerline goodness : 0.140487 with order 3 Centerline is valid? [False, False] Translation: X:-26.85, Y:-2.49, Z:-3.98 [[ 9.80120254e-01 3.76022588e-03 -1.98368718e-01 -2.68543000e+01] [-5.30367871e-03 9.99959654e-01 -7.24997760e-03 -2.49175581e+00] [ 1.98333453e-01 8.15793383e-03 9.80100653e-01 -3.97776635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50463044 meters Centerline goodness : 0.184852 with order 3 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.49, Z:-3.99 [[ 9.79956844e-01 4.49747080e-03 -1.99159125e-01 -2.68984003e+01] [-5.68686638e-03 9.99969247e-01 -5.40046125e-03 -2.49272772e+00] [ 1.99128712e-01 6.42481030e-03 9.79952283e-01 -3.98825493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56463044000003 meters Centerline goodness : 0.116938 with order 1 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.49, Z:-3.99 [[ 9.80068065e-01 4.57064207e-03 -1.98609408e-01 -2.68987872e+01] [-5.77768147e-03 9.99968193e-01 -5.49835187e-03 -2.49128362e+00] [ 1.98577959e-01 6.53626098e-03 9.80063300e-01 -3.98926482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62463044000003 meters Centerline goodness : 0.122652 with order 3 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.49, Z:-3.99 [[ 9.80081164e-01 4.60588614e-03 -1.98543943e-01 -2.68978829e+01] [-5.83495785e-03 9.99967264e-01 -5.60579638e-03 -2.49022527e+00] [ 1.98511624e-01 6.65263098e-03 9.80075955e-01 -3.99038258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68463044000003 meters Centerline goodness : 0.117848 with order 1 Centerline is valid? [False, False] Translation: X:-26.90, Y:-2.49, Z:-3.99 [[ 9.80058799e-01 4.47316634e-03 -1.98657349e-01 -2.68963720e+01] [-5.70141988e-03 9.99968004e-01 -5.61118685e-03 -2.49102409e+00] [ 1.98625892e-01 6.63192199e-03 9.80052944e-01 -3.99149131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74463044000004 meters Centerline goodness : 0.125628 with order 3 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.49, Z:-3.99 [[ 9.80029685e-01 4.41935253e-03 -1.98802126e-01 -2.68948316e+01] [-5.60403732e-03 9.99969734e-01 -5.39684449e-03 -2.49329756e+00] [ 1.98772258e-01 6.40316234e-03 9.80024790e-01 -3.99249003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80463044000004 meters Centerline goodness : 0.150371 with order 3 Centerline is valid? [False, False] Translation: X:-26.89, Y:-2.50, Z:-3.99 [[ 9.79921363e-01 2.25550828e-03 -1.99371598e-01 -2.68907860e+01] [-3.69844716e-03 9.99969594e-01 -6.86530930e-03 -2.49788110e+00] [ 1.99350052e-01 7.46482858e-03 9.79899910e-01 -3.99439605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86463044000004 meters Centerline goodness : 0.294735 with order 3 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.51, Z:-4.00 [[ 9.79952621e-01 8.56828336e-03 -1.99046339e-01 -2.69079506e+01] [-1.04152256e-02 9.99911860e-01 -8.23375832e-03 -2.50502134e+00] [ 1.98958246e-01 1.01418056e-02 9.79955489e-01 -4.00105503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92463044 meters Centerline goodness : 0.116205 with order 1 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.51, Z:-4.00 [[ 9.80097628e-01 8.67159778e-03 -1.98326607e-01 -2.69091315e+01] [-1.04918116e-02 9.99911918e-01 -8.12884202e-03 -2.50610673e+00] [ 1.98238648e-01 1.00478642e-02 9.80102280e-01 -4.00184131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98463044 meters Centerline goodness : 0.128855 with order 3 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.50, Z:-4.00 [[ 9.80183413e-01 8.77699897e-03 -1.97897550e-01 -2.69094375e+01] [-1.06156177e-02 9.99909769e-01 -8.23176112e-03 -2.50478951e+00] [ 1.97807444e-01 1.01694404e-02 9.80188144e-01 -4.00263409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04463044 meters Centerline goodness : 0.127538 with order 3 Centerline is valid? [False, False] Translation: X:-26.91, Y:-2.50, Z:-4.00 [[ 9.80124704e-01 9.18939043e-03 -1.98169422e-01 -2.69072689e+01] [-1.11139951e-02 9.99901239e-01 -8.60182279e-03 -2.49920486e+00] [ 1.98070805e-01 1.06333130e-02 9.80130037e-01 -4.00404587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10463044 meters Centerline goodness : 0.128813 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.50, Z:-4.01 [[ 9.79560847e-01 1.09023016e-02 -2.00852401e-01 -2.69495107e+01] [-1.24741323e-02 9.99900664e-01 -6.56179854e-03 -2.49703804e+00] [ 2.00760911e-01 8.93314036e-03 9.79599538e-01 -4.01374722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16463044 meters Centerline goodness : 0.302304 with order 1 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.49, Z:-4.01 [[ 9.79680541e-01 1.08151909e-02 -2.00272488e-01 -2.69504590e+01] [-1.24901290e-02 9.99896776e-01 -7.10163346e-03 -2.49270535e+00] [ 2.00175010e-01 9.45876132e-03 9.79714498e-01 -4.01433298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22463044 meters Centerline goodness : 0.134593 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.48, Z:-4.02 [[ 9.79792430e-01 1.08323070e-02 -1.99723446e-01 -2.69511162e+01] [-1.26390010e-02 9.99889911e-01 -7.77316340e-03 -2.48363262e+00] [ 1.99617257e-01 1.01403915e-02 9.79821475e-01 -4.01519252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28463044 meters Centerline goodness : 0.148895 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.47, Z:-4.02 [[ 9.79819513e-01 1.19432153e-02 -1.99527143e-01 -2.69509347e+01] [-1.37671128e-02 9.99875147e-01 -7.75614592e-03 -2.47266249e+00] [ 1.99409598e-01 1.03465358e-02 9.79861603e-01 -4.01583006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34463044 meters Centerline goodness : 0.130159 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.47, Z:-4.02 [[ 9.79792566e-01 1.12915602e-02 -1.99697343e-01 -2.69501513e+01] [-1.33162143e-02 9.99872626e-01 -8.79834356e-03 -2.46691643e+00] [ 1.99572560e-01 1.12797642e-02 9.79818126e-01 -4.01598624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40463044 meters Centerline goodness : 0.124823 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.46, Z:-4.02 [[ 9.79749240e-01 1.10856240e-02 -1.99921322e-01 -2.69488479e+01] [-1.31915024e-02 9.99870622e-01 -9.20449420e-03 -2.46418015e+00] [ 1.99793419e-01 1.16553588e-02 9.79768719e-01 -4.01659816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46463044 meters Centerline goodness : 0.096823 with order 1 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.46, Z:-4.02 [[ 9.79697375e-01 1.02248580e-02 -2.00221141e-01 -2.69470568e+01] [-1.25535526e-02 9.99867485e-01 -1.03644375e-02 -2.45757579e+00] [ 2.00088634e-01 1.26674988e-02 9.79695909e-01 -4.01736484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52463044 meters Centerline goodness : 0.123421 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.45, Z:-4.02 [[ 9.79619760e-01 9.50760674e-03 -2.00635816e-01 -2.69456798e+01] [-1.20159101e-02 9.99864094e-01 -1.12876577e-02 -2.45364938e+00] [ 2.00501230e-01 1.34684344e-02 9.79600867e-01 -4.01749525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58463044 meters Centerline goodness : 0.128187 with order 2 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.45, Z:-4.02 [[ 9.79563642e-01 8.68251968e-03 -2.00946971e-01 -2.69447368e+01] [-1.14155442e-02 9.99857382e-01 -1.24459238e-02 -2.44734607e+00] [ 2.00810250e-01 1.44854935e-02 9.79523054e-01 -4.01739243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64463044 meters Centerline goodness : 0.138087 with order 3 Centerline is valid? [False, False] Translation: X:-26.96, Y:-2.44, Z:-4.02 [[ 9.79852815e-01 1.08588879e-03 -1.99718004e-01 -2.69628373e+01] [-3.49454861e-03 9.99925350e-01 -1.17081861e-02 -2.43896001e+00] [ 1.99690382e-01 1.21702234e-02 9.79783464e-01 -4.02292128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70463044 meters Centerline goodness : 0.140195 with order 3 Centerline is valid? [False, False] Translation: X:-26.96, Y:-2.44, Z:-4.02 [[ 9.79726905e-01 2.05057564e-04 -2.00337589e-01 -2.69605906e+01] [-2.79951818e-03 9.99915848e-01 -1.26672333e-02 -2.43615555e+00] [ 2.00318133e-01 1.29712780e-02 9.79645033e-01 -4.02330518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76463044 meters Centerline goodness : 0.136406 with order 1 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.44, Z:-4.02 [[ 9.79445488e-01 -2.14047566e-03 -2.01697679e-01 -2.69548511e+01] [-8.00769113e-04 9.99894553e-01 -1.44997189e-02 -2.43691795e+00] [ 2.01707447e-01 1.43631975e-02 9.79340495e-01 -4.02439850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82463044 meters Centerline goodness : 0.150873 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.44, Z:-4.02 [[ 9.79143099e-01 -2.61801520e-03 -2.03154958e-01 -2.69504945e+01] [-3.44938348e-04 9.99894114e-01 -1.45479196e-02 -2.43962360e+00] [ 2.03171533e-01 1.43145710e-02 9.79038519e-01 -4.02451888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88463044 meters Centerline goodness : 0.133399 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.44, Z:-4.02 [[ 9.79133621e-01 -2.64628489e-03 -2.03200268e-01 -2.69512859e+01] [-3.08191591e-04 9.99894725e-01 -1.45067085e-02 -2.44097340e+00] [ 2.03217265e-01 1.42666306e-02 9.79029727e-01 -4.02349286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94463044 meters Centerline goodness : 0.155674 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.44, Z:-4.02 [[ 9.79144830e-01 -1.70501037e-03 -2.03156329e-01 -2.69515102e+01] [-1.19424164e-03 9.99899205e-01 -1.41475978e-02 -2.43827884e+00] [ 2.03159974e-01 1.40951650e-02 9.79044101e-01 -4.02318193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00463044 meters Centerline goodness : 0.237735 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.43, Z:-4.02 [[ 9.78824151e-01 1.98251182e-04 -2.04702812e-01 -2.69476121e+01] [-3.02349387e-03 9.99904448e-01 -1.34890017e-02 -2.43109171e+00] [ 2.04680578e-01 1.38222784e-02 9.78731222e-01 -4.02269008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06463044000003 meters Centerline goodness : 0.148960 with order 3 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.43, Z:-4.02 [[ 9.78761764e-01 9.97063240e-05 -2.05000972e-01 -2.69471324e+01] [-2.99216406e-03 9.99900305e-01 -1.37995414e-02 -2.42890717e+00] [ 2.04979158e-01 1.41198600e-02 9.78664485e-01 -4.02216826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12463044000003 meters Centerline goodness : 0.125502 with order 2 Centerline is valid? [False, False] Translation: X:-26.95, Y:-2.43, Z:-4.02 [[ 9.78715538e-01 -1.22522688e-04 -2.05221540e-01 -2.69473712e+01] [-2.75961338e-03 9.99901550e-01 -1.37577523e-02 -2.43040205e+00] [ 2.05203022e-01 1.40312580e-02 9.78618845e-01 -4.02112598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18463044000003 meters Centerline goodness : 0.204798 with order 3 Centerline is valid? [False, False] Translation: X:-26.94, Y:-2.44, Z:-4.02 [[ 9.78444378e-01 -4.05271984e-03 -2.06470759e-01 -2.69444343e+01] [ 6.90999483e-04 9.99866069e-01 -1.63513347e-02 -2.43529335e+00] [ 2.06509374e-01 1.58562003e-02 9.78316135e-01 -4.02025357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24463044000004 meters SLAMing on 354.30463044000004 meters Centerline goodness : 0.083576 with order 1 Centerline is valid? [False, False] Translation: X:-26.99, Y:-2.45, Z:-4.03 [[ 9.77471272e-01 -7.57097107e-03 -2.10932675e-01 -2.69893560e+01] [ 3.87555927e-03 9.99831782e-01 -1.79272825e-02 -2.44560398e+00] [ 2.11032919e-01 1.67059216e-02 9.77336185e-01 -4.02532158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36463044000004 meters Centerline goodness : 0.138071 with order 3 Centerline is valid? [False, False] Translation: X:-26.99, Y:-2.44, Z:-4.02 [[ 9.77289328e-01 -7.43720518e-03 -2.11778794e-01 -2.69877081e+01] [ 3.71229213e-03 9.99831439e-01 -1.79808753e-02 -2.44421998e+00] [ 2.11876823e-01 1.67863328e-02 9.77152204e-01 -4.02436923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42463044 meters Centerline goodness : 0.119795 with order 2 Centerline is valid? [False, False] Translation: X:-26.99, Y:-2.44, Z:-4.02 [[ 9.77032535e-01 -7.67323637e-03 -2.12951984e-01 -2.69854619e+01] [ 3.82499535e-03 9.99821968e-01 -1.84770543e-02 -2.44231136e+00] [ 2.13055851e-01 1.72381429e-02 9.76887942e-01 -4.02305429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48463044 meters Centerline goodness : 0.136585 with order 1 Centerline is valid? [False, False] Translation: X:-26.99, Y:-2.44, Z:-4.02 [[ 9.76918774e-01 -7.78406542e-03 -2.13469241e-01 -2.69851879e+01] [ 3.88510984e-03 9.99818000e-01 -1.86781569e-02 -2.44175368e+00] [ 2.13575782e-01 1.74176907e-02 9.76771217e-01 -4.02154897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54463044 meters Centerline goodness : 0.130637 with order 1 Centerline is valid? [False, False] Translation: X:-26.99, Y:-2.44, Z:-4.02 [[ 9.76836610e-01 -7.56101989e-03 -2.13852914e-01 -2.69863400e+01] [ 3.68107494e-03 9.99821427e-01 -1.85354544e-02 -2.44167580e+00] [ 2.13954873e-01 1.73189018e-02 9.76690006e-01 -4.01906065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60463044 meters Centerline goodness : 0.096965 with order 1 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.02 [[ 9.76596811e-01 -7.52171006e-03 -2.14946722e-01 -2.69838062e+01] [ 3.59730655e-03 9.99819734e-01 -1.86429270e-02 -2.44101834e+00] [ 2.15048201e-01 1.74333938e-02 9.76447821e-01 -4.01820488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66463044 meters Centerline goodness : 0.084867 with order 1 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.02 [[ 9.76271638e-01 -7.14707016e-03 -2.16431534e-01 -2.69803193e+01] [ 3.21807195e-03 9.99823672e-01 -1.85005276e-02 -2.44032810e+00] [ 2.16525595e-01 1.73650481e-02 9.76122493e-01 -4.01732170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72463044 meters Centerline goodness : 0.113225 with order 2 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.02 [[ 9.76299161e-01 -6.74140735e-03 -2.16320367e-01 -2.69823011e+01] [ 2.86575990e-03 9.99829805e-01 -1.82249183e-02 -2.44035085e+00] [ 2.16406412e-01 1.71730502e-02 9.76152320e-01 -4.01543974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78463044 meters Centerline goodness : 0.113771 with order 3 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.01 [[ 9.76224419e-01 -6.58729855e-03 -2.16662158e-01 -2.69828099e+01] [ 2.75058762e-03 9.99834112e-01 -1.80050593e-02 -2.44143510e+00] [ 2.16744821e-01 1.69810303e-02 9.76080595e-01 -4.01382779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84463044 meters Centerline goodness : 0.127127 with order 3 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.01 [[ 9.75928029e-01 -6.01677607e-03 -2.18009817e-01 -2.69794721e+01] [ 2.19747061e-03 9.99839914e-01 -1.77571806e-02 -2.44038086e+00] [ 2.18081758e-01 1.68506601e-02 9.75785018e-01 -4.01328243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90463044 meters Centerline goodness : 0.147674 with order 3 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.01 [[ 9.76011316e-01 -5.68863846e-03 -2.17645470e-01 -2.69819378e+01] [ 1.89704704e-03 9.99842851e-01 -1.76259360e-02 -2.43956675e+00] [ 2.17711535e-01 1.67902293e-02 9.75868729e-01 -4.01157147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96463044 meters Centerline goodness : 0.124026 with order 2 Centerline is valid? [False, False] Translation: X:-26.98, Y:-2.44, Z:-4.01 [[ 9.75954133e-01 -3.42096397e-03 -2.17949139e-01 -2.69840054e+01] [-8.48091097e-05 9.99870803e-01 -1.60738960e-02 -2.43635467e+00] [ 2.17975969e-01 1.57058693e-02 9.75827753e-01 -4.00893946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02463044 meters Centerline goodness : 0.124349 with order 2 Centerline is valid? [False, False] Translation: X:-27.00, Y:-2.44, Z:-4.01 [[ 9.75489634e-01 4.02850989e-03 -2.20008513e-01 -2.70026079e+01] [-8.04929420e-03 9.99816517e-01 -1.73822015e-02 -2.43764236e+00] [ 2.19898121e-01 1.87270707e-02 9.75343075e-01 -4.01276494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08463044 meters Centerline goodness : 0.174492 with order 1 Centerline is valid? [False, False] Translation: X:-27.00, Y:-2.43, Z:-4.01 [[ 9.75489231e-01 5.07447963e-03 -2.19988659e-01 -2.70045950e+01] [-9.03565757e-03 9.99814596e-01 -1.70038213e-02 -2.43118779e+00] [ 2.19861587e-01 1.85747868e-02 9.75354223e-01 -4.01085009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14463044 meters Centerline goodness : 0.128016 with order 2 Centerline is valid? [False, False] Translation: X:-27.01, Y:-2.43, Z:-4.01 [[ 9.75500130e-01 4.80314110e-03 -2.19946416e-01 -2.70058778e+01] [-8.85223191e-03 9.99808941e-01 -1.74275628e-02 -2.42872114e+00] [ 2.19820686e-01 1.89476064e-02 9.75356270e-01 -4.00946052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20463044 meters Centerline goodness : 0.118904 with order 1 Centerline is valid? [False, False] Translation: X:-27.01, Y:-2.43, Z:-4.01 [[ 9.75426193e-01 4.40454930e-03 -2.20282416e-01 -2.70058137e+01] [-8.55827660e-03 9.99803054e-01 -1.79055841e-02 -2.42663077e+00] [ 2.20160166e-01 1.93508136e-02 9.75271781e-01 -4.00836777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26463044 meters Centerline goodness : 0.101435 with order 1 Centerline is valid? [False, False] Translation: X:-27.03, Y:-2.42, Z:-4.01 [[ 9.75214466e-01 -4.34111024e-03 -2.21219124e-01 -2.70255346e+01] [ 4.27379251e-04 9.99842606e-01 -1.77364437e-02 -2.41922601e+00] [ 2.21261301e-01 1.72022920e-02 9.75062828e-01 -4.01164490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32463044 meters Centerline goodness : 0.119314 with order 1 Centerline is valid? [False, False] Translation: X:-27.03, Y:-2.42, Z:-4.01 [[ 9.75161420e-01 -4.45219529e-03 -2.21450631e-01 -2.70250496e+01] [ 5.05267484e-04 9.99840075e-01 -1.78765167e-02 -2.41828077e+00] [ 2.21494805e-01 1.73205977e-02 9.75007717e-01 -4.01126979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38463044 meters Centerline goodness : 0.085065 with order 1 Centerline is valid? [False, False] Translation: X:-27.02, Y:-2.42, Z:-4.01 [[ 9.75046736e-01 -4.59146665e-03 -2.21952206e-01 -2.70241382e+01] [ 5.98949273e-04 9.99836867e-01 -1.80521481e-02 -2.41687812e+00] [ 2.21998884e-01 1.74687500e-02 9.74890424e-01 -4.01051801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44463044 meters Centerline goodness : 0.107401 with order 1 Centerline is valid? [False, False] Translation: X:-27.02, Y:-2.42, Z:-4.01 [[ 9.74910728e-01 -5.45979083e-03 -2.22529242e-01 -2.70241349e+01] [ 1.29596907e-03 9.99821425e-01 -1.88530804e-02 -2.41538603e+00] [ 2.22592438e-01 1.80916793e-02 9.74743709e-01 -4.00871345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50463044 meters Centerline goodness : 0.081432 with order 1 Centerline is valid? [False, False] Translation: X:-27.03, Y:-2.42, Z:-4.01 [[ 9.74961853e-01 -5.39192278e-03 -2.22306800e-01 -2.70256032e+01] [ 1.26910586e-03 9.99824628e-01 -1.86843020e-02 -2.41572439e+00] [ 2.22368558e-01 1.79343508e-02 9.74797714e-01 -4.00762168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56463044000003 meters Centerline goodness : 0.114166 with order 1 Centerline is valid? [False, False] Translation: X:-27.03, Y:-2.42, Z:-4.01 [[ 9.75147201e-01 -5.79033475e-03 -2.21482300e-01 -2.70293482e+01] [ 1.65553149e-03 9.99820955e-01 -1.88498635e-02 -2.41648307e+00] [ 2.21551792e-01 1.80147207e-02 9.74982191e-01 -4.00577473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62463044000003 meters Centerline goodness : 0.118411 with order 1 Centerline is valid? [False, False] Translation: X:-27.03, Y:-2.42, Z:-4.01 [[ 9.75022532e-01 -5.67047952e-03 -2.22033573e-01 -2.70276639e+01] [ 1.51206583e-03 9.99820344e-01 -1.88942711e-02 -2.41512520e+00] [ 2.22100823e-01 1.80866107e-02 9.74855937e-01 -4.00566127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68463044000003 meters Centerline goodness : 0.090025 with order 1 Centerline is valid? [False, False] Translation: X:-27.05, Y:-2.42, Z:-4.01 [[ 9.75127969e-01 2.68863907e-03 -2.21626295e-01 -2.70484089e+01] [-7.17487888e-03 9.99785285e-01 -1.94397659e-02 -2.41556640e+00] [ 2.21526442e-01 2.05464013e-02 9.74937886e-01 -4.01027832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74463044000004 meters Centerline goodness : 0.192018 with order 3 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.41, Z:-4.02 [[ 9.75433778e-01 -4.23823489e-03 -2.20252086e-01 -2.70672898e+01] [ 1.03588052e-04 9.99823626e-01 -1.87804990e-02 -2.40832680e+00] [ 2.20292836e-01 1.82963176e-02 9.75262176e-01 -4.01526988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80463044000004 meters Centerline goodness : 0.112113 with order 3 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75460159e-01 -4.13897605e-03 -2.20137110e-01 -2.70677944e+01] [-8.96657754e-05 9.99815742e-01 -1.91956677e-02 -2.40332816e+00] [ 2.20175998e-01 1.87443478e-02 9.75280052e-01 -4.01490618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86463044000004 meters Centerline goodness : 0.121961 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75473408e-01 -4.29379508e-03 -2.20075425e-01 -2.70682200e+01] [-4.69205149e-06 9.99809317e-01 -1.95276383e-02 -2.40143648e+00] [ 2.20117308e-01 1.90497245e-02 9.75287383e-01 -4.01446794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92463044 meters Centerline goodness : 0.124249 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75370769e-01 -4.42826399e-03 -2.20527219e-01 -2.70671651e+01] [ 8.24370796e-05 9.99805699e-01 -1.97118382e-02 -2.40065451e+00] [ 2.20571659e-01 1.92081712e-02 9.75181619e-01 -4.01416529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98463044 meters Centerline goodness : 0.157430 with order 3 Centerline is valid? [False, False] Translation: X:-27.06, Y:-2.40, Z:-4.01 [[ 9.75204558e-01 -4.53305235e-03 -2.21258949e-01 -2.70648731e+01] [ 1.31421256e-04 9.99801882e-01 -1.99042420e-02 -2.39984608e+00] [ 2.21305340e-01 1.93816294e-02 9.75011948e-01 -4.01429262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04463044 meters Centerline goodness : 0.158950 with order 3 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75267157e-01 -4.38460419e-03 -2.20985853e-01 -2.70660830e+01] [-3.98643417e-06 9.99802874e-01 -1.98547900e-02 -2.39918894e+00] [ 2.21029346e-01 1.93646056e-02 9.75074890e-01 -4.01368753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10463044 meters Centerline goodness : 0.143632 with order 3 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75328329e-01 -4.05596651e-03 -2.20721997e-01 -2.70674202e+01] [-3.26932271e-04 9.99803572e-01 -1.98169470e-02 -2.39744739e+00] [ 2.20759018e-01 1.94001909e-02 9.75135421e-01 -4.01298898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16463044 meters Centerline goodness : 0.142489 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.40, Z:-4.01 [[ 9.75423015e-01 -3.93804893e-03 -2.20305319e-01 -2.70691481e+01] [-4.62109669e-04 9.99801512e-01 -1.99179017e-02 -2.39569131e+00] [ 2.20340029e-01 1.95301850e-02 9.75227586e-01 -4.01240254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22463044 meters Centerline goodness : 0.132540 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-2.39, Z:-4.01 [[ 9.75712572e-01 -2.35207203e-03 -2.19042106e-01 -2.70739940e+01] [-1.79172046e-03 9.99823212e-01 -1.87172251e-02 -2.39465048e+00] [ 2.19047406e-01 1.86550940e-02 9.75535864e-01 -4.01143884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28463044 meters Centerline goodness : 0.167408 with order 3 Centerline is valid? [False, False] Translation: X:-27.08, Y:-2.39, Z:-4.01 [[ 9.75802404e-01 -2.56451387e-03 -2.18639180e-01 -2.70750257e+01] [-1.70693337e-03 9.99811403e-01 -1.93453886e-02 -2.39099027e+00] [ 2.18647556e-01 1.92504793e-02 9.75613994e-01 -4.01147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34463044 meters Centerline goodness : 0.171952 with order 3 Centerline is valid? [False, False] Translation: X:-27.11, Y:-2.39, Z:-4.02 [[ 9.76732265e-01 -3.35694594e-03 -2.14436037e-01 -2.71090098e+01] [-5.92664590e-04 9.99831419e-01 -1.83516479e-02 -2.39025592e+00] [ 2.14461492e-01 1.80517353e-02 9.76565616e-01 -4.02216965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40463044 meters Centerline goodness : 0.131722 with order 1 Centerline is valid? [False, False] Translation: X:-27.11, Y:-2.39, Z:-4.02 [[ 9.76886280e-01 -3.34500560e-03 -2.13733497e-01 -2.71114759e+01] [-6.01050854e-04 9.99830620e-01 -1.83948581e-02 -2.38902804e+00] [ 2.13758826e-01 1.80981492e-02 9.76718804e-01 -4.02143265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46463044 meters Centerline goodness : 0.151986 with order 3 Centerline is valid? [False, False] Translation: X:-27.11, Y:-2.39, Z:-4.02 [[ 9.76887782e-01 -3.64190455e-03 -2.13721775e-01 -2.71112175e+01] [-4.02220279e-04 9.99821754e-01 -1.88758467e-02 -2.38676970e+00] [ 2.13752424e-01 1.85255473e-02 9.76712192e-01 -4.02168508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52463044 meters Centerline goodness : 0.126513 with order 1 Centerline is valid? [False, False] Translation: X:-27.11, Y:-2.38, Z:-4.02 [[ 9.77050469e-01 -1.69491513e-03 -2.13001195e-01 -2.71131693e+01] [-2.16190636e-03 9.99837931e-01 -1.78728202e-02 -2.37918871e+00] [ 2.12996967e-01 1.79231360e-02 9.76888455e-01 -4.02170445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58463044 meters Centerline goodness : 0.191324 with order 3 Centerline is valid? [False, False] Translation: X:-27.11, Y:-2.38, Z:-4.02 [[ 9.76965851e-01 -2.03887221e-03 -2.13385962e-01 -2.71123978e+01] [-1.97516920e-03 9.99825123e-01 -1.85962960e-02 -2.37516418e+00] [ 2.13386561e-01 1.85894196e-02 9.76790975e-01 -4.02144136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64463044 meters Centerline goodness : 0.128097 with order 1 Centerline is valid? [False, False] Translation: X:-27.16, Y:-2.37, Z:-4.03 [[ 9.76718873e-01 -3.08452927e-03 -2.14501116e-01 -2.71563007e+01] [-1.09970789e-03 9.99811493e-01 -1.93847629e-02 -2.37366040e+00] [ 2.14520474e-01 1.91693523e-02 9.76531363e-01 -4.03046225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70463044 meters Centerline goodness : 0.126291 with order 1 Centerline is valid? [False, False] Translation: X:-27.16, Y:-2.37, Z:-4.03 [[ 9.76718174e-01 -3.46410592e-03 -2.14498507e-01 -2.71563425e+01] [-8.07950969e-04 9.99803127e-01 -1.98256127e-02 -2.37213202e+00] [ 2.14524956e-01 1.95373405e-02 9.76523085e-01 -4.03027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76463044 meters Centerline goodness : 0.129452 with order 1 Centerline is valid? [False, False] Translation: X:-27.16, Y:-2.37, Z:-4.03 [[ 9.76712742e-01 -3.47325612e-03 -2.14523089e-01 -2.71563070e+01] [-8.32580313e-04 9.99800072e-01 -1.99780524e-02 -2.37022253e+00] [ 2.14549589e-01 1.96914261e-02 9.76514578e-01 -4.03014770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82463044 meters Centerline goodness : 0.130841 with order 1 Centerline is valid? [False, False] Translation: X:-27.16, Y:-2.37, Z:-4.03 [[ 9.76641070e-01 -3.66539269e-03 -2.14845959e-01 -2.71557523e+01] [-7.57687616e-04 9.99789540e-01 -2.05012472e-02 -2.36712517e+00] [ 2.14875888e-01 2.01851461e-02 9.76432749e-01 -4.02981070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88463044 meters Centerline goodness : 0.169769 with order 3 Centerline is valid? [False, False] Translation: X:-27.20, Y:-2.37, Z:-4.04 [[ 9.76583598e-01 -2.95889820e-03 -2.15117926e-01 -2.72013582e+01] [-1.34623877e-03 9.99801792e-01 -1.98636465e-02 -2.36866763e+00] [ 2.15134062e-01 1.96881114e-02 9.76386047e-01 -4.03844791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94463044 meters Centerline goodness : 0.129166 with order 1 Centerline is valid? [False, False] Translation: X:-27.20, Y:-2.37, Z:-4.04 [[ 9.76817234e-01 -2.79469325e-03 -2.14056725e-01 -2.72049245e+01] [-1.50797585e-03 9.99800147e-01 -1.99346763e-02 -2.36679131e+00] [ 2.14069657e-01 1.97953277e-02 9.76617800e-01 -4.03755711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00463044 meters Centerline goodness : 0.125627 with order 1 Centerline is valid? [False, False] Translation: X:-27.21, Y:-2.37, Z:-4.04 [[ 9.76821828e-01 -2.94430615e-03 -2.14033753e-01 -2.72051735e+01] [-1.40716251e-03 9.99795462e-01 -2.01755607e-02 -2.36570377e+00] [ 2.14049378e-01 2.00091084e-02 9.76617888e-01 -4.03731145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06463044000003 meters Centerline goodness : 0.131132 with order 1 Centerline is valid? [False, False] Translation: X:-27.21, Y:-2.37, Z:-4.04 [[ 9.76885063e-01 -2.75196145e-03 -2.13747516e-01 -2.72066608e+01] [-1.56920650e-03 9.99797869e-01 -2.00439269e-02 -2.36514558e+00] [ 2.13759472e-01 1.99160267e-02 9.76683286e-01 -4.03662783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12463044000003 meters Centerline goodness : 0.135284 with order 2 Centerline is valid? [False, False] Translation: X:-27.21, Y:-2.37, Z:-4.04 [[ 9.76916581e-01 -2.91033427e-03 -2.13601318e-01 -2.72076661e+01] [-1.42521833e-03 9.99796142e-01 -2.01406079e-02 -2.36562381e+00] [ 2.13616389e-01 1.99801224e-02 9.76713281e-01 -4.03592499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18463044000003 meters Centerline goodness : 0.134277 with order 1 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.37, Z:-4.04 [[ 9.77384108e-01 2.74471952e-03 -2.11453950e-01 -2.72325389e+01] [-7.70739535e-03 9.99713776e-01 -2.26486751e-02 -2.36736444e+00] [ 2.11331262e-01 2.37662143e-02 9.77125511e-01 -4.04003699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24463044000004 meters Centerline goodness : 0.111138 with order 1 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.37, Z:-4.04 [[ 9.77405717e-01 2.86959468e-03 -2.11352385e-01 -2.72327838e+01] [-7.84802995e-03 9.99711061e-01 -2.27200833e-02 -2.36585408e+00] [ 2.11226119e-01 2.38654392e-02 9.77145827e-01 -4.04008564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30463044000004 meters Centerline goodness : 0.121618 with order 1 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.36, Z:-4.04 [[ 9.77501641e-01 3.35432488e-03 -2.10901140e-01 -2.72335960e+01] [-8.33671761e-03 9.99706661e-01 -2.27396316e-02 -2.36276299e+00] [ 2.10762998e-01 2.39862504e-02 9.77242866e-01 -4.04048176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36463044000004 meters Centerline goodness : 0.089300 with order 1 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.36, Z:-4.04 [[ 9.77492452e-01 3.06050236e-03 -2.10948191e-01 -2.72338297e+01] [-8.15361203e-03 9.99695773e-01 -2.32783363e-02 -2.36034612e+00] [ 2.10812772e-01 2.44743878e-02 9.77220026e-01 -4.04019924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42463044 meters Centerline goodness : 0.224419 with order 3 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.36, Z:-4.04 [[ 9.77328587e-01 3.14656643e-03 -2.11704824e-01 -2.72319413e+01] [-8.24808902e-03 9.99696388e-01 -2.32185644e-02 -2.35983196e+00] [ 2.11567489e-01 2.44383270e-02 9.77057811e-01 -4.04014473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48463044 meters Centerline goodness : 0.471009 with order 2 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.36, Z:-4.04 [[ 9.77304387e-01 2.84023805e-03 -2.11820838e-01 -2.72316636e+01] [-8.01324244e-03 9.99690140e-01 -2.35671763e-02 -2.35887057e+00] [ 2.11688266e-01 2.47296765e-02 9.77024320e-01 -4.04010948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54463044 meters Centerline goodness : 0.095902 with order 1 Centerline is valid? [False, False] Translation: X:-27.23, Y:-2.36, Z:-4.04 [[ 9.77358434e-01 2.92497373e-03 -2.11570166e-01 -2.72328377e+01] [-8.10285862e-03 9.99688389e-01 -2.36107720e-02 -2.35732128e+00] [ 2.11435177e-01 2.47905103e-02 9.77077579e-01 -4.03959282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60463044 meters Centerline goodness : 0.279253 with order 3 Centerline is valid? [False, False] Translation: X:-27.25, Y:-2.35, Z:-4.04 [[ 9.77427999e-01 -4.44159877e-03 -2.11222106e-01 -2.72525124e+01] [-3.24156161e-04 9.99746277e-01 -2.25227900e-02 -2.35293414e+00] [ 2.11268551e-01 2.20828746e-02 9.77178564e-01 -4.04466300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66463044 meters Centerline goodness : 0.477230 with order 3 Centerline is valid? [False, False] Translation: X:-27.25, Y:-2.35, Z:-4.04 [[ 9.77354490e-01 -5.11439408e-03 -2.11546788e-01 -2.72516996e+01] [ 1.83358285e-04 9.99727977e-01 -2.33224851e-02 -2.35101475e+00] [ 2.11608522e-01 2.27555467e-02 9.77089565e-01 -4.04449162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72463044 meters Centerline goodness : 0.479558 with order 2 Centerline is valid? [False, False] Translation: X:-27.25, Y:-2.35, Z:-4.04 [[ 9.77390800e-01 -4.85916504e-03 -2.11384986e-01 -2.72523083e+01] [-9.17131278e-05 9.99726060e-01 -2.34050373e-02 -2.34748689e+00] [ 2.11440808e-01 2.28952549e-02 9.77122608e-01 -4.04433081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78463044 meters Centerline goodness : 0.476436 with order 3 Centerline is valid? [False, False] Translation: X:-27.25, Y:-2.34, Z:-4.04 [[ 9.77502442e-01 -3.73079017e-03 -2.10891102e-01 -2.72540699e+01] [-1.17595426e-03 9.99731623e-01 -2.31365242e-02 -2.33905813e+00] [ 2.10920821e-01 2.28640072e-02 9.77235716e-01 -4.04393944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84463044 meters Centerline goodness : 0.480174 with order 2 Centerline is valid? [False, False] Translation: X:-27.29, Y:-2.34, Z:-4.05 [[ 9.78375411e-01 -5.44071674e-03 -2.06765455e-01 -2.72878697e+01] [ 7.16573794e-04 9.99737140e-01 -2.29158610e-02 -2.33678659e+00] [ 2.06835783e-01 2.22721522e-02 9.78122135e-01 -4.05344682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90463044 meters Centerline goodness : 0.239378 with order 1 Centerline is valid? [False, False] Translation: X:-27.29, Y:-2.34, Z:-4.05 [[ 9.78377416e-01 -6.42182625e-03 -2.06727821e-01 -2.72878198e+01] [ 1.59037540e-03 9.99721895e-01 -2.35287776e-02 -2.33651933e+00] [ 2.06821427e-01 2.26912498e-02 9.78115537e-01 -4.05347742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96463044 meters Centerline goodness : 0.094998 with order 1 Centerline is valid? [False, False] Translation: X:-27.29, Y:-2.34, Z:-4.05 [[ 9.78462944e-01 -7.07385062e-03 -2.06301303e-01 -2.72890630e+01] [ 2.22797615e-03 9.99716344e-01 -2.37121720e-02 -2.33849846e+00] [ 2.06410521e-01 2.27418472e-02 9.78201158e-01 -4.05316022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02463044 meters Centerline goodness : 0.519736 with order 3 Centerline is valid? [False, False] Translation: X:-27.29, Y:-2.34, Z:-4.05 [[ 9.78486180e-01 -7.30457718e-03 -2.06183021e-01 -2.72895884e+01] [ 2.48345841e-03 9.99717644e-01 -2.36318438e-02 -2.34058746e+00] [ 2.06297425e-01 2.26113856e-02 9.78228040e-01 -4.05282738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08463044 meters Centerline goodness : 0.294797 with order 3 Centerline is valid? [False, False] Translation: X:-27.30, Y:-2.34, Z:-4.06 [[ 9.77772903e-01 -1.79324897e-04 -2.09666685e-01 -2.73048438e+01] [-5.18057526e-03 9.99673667e-01 -2.50144294e-02 -2.34399395e+00] [ 2.09602749e-01 2.55446253e-02 9.77452894e-01 -4.05877461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14463044 meters Centerline goodness : 0.297543 with order 1 Centerline is valid? [False, False] Translation: X:-27.30, Y:-2.34, Z:-4.06 [[ 9.77583314e-01 1.43313010e-04 -2.10548908e-01 -2.73020478e+01] [-5.54189077e-03 9.99670821e-01 -2.50506837e-02 -2.34254842e+00] [ 2.10476010e-01 2.56559695e-02 9.77262309e-01 -4.05919070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20463044 meters Centerline goodness : 0.298294 with order 1 Centerline is valid? [False, False] Translation: X:-27.30, Y:-2.34, Z:-4.06 [[ 9.77596214e-01 5.82074445e-04 -2.10488252e-01 -2.73029801e+01] [-5.99587470e-03 9.99667393e-01 -2.50829370e-02 -2.34014552e+00] [ 2.10403642e-01 2.57830454e-02 9.77274548e-01 -4.05851303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26463044 meters Centerline goodness : 0.309589 with order 3 Centerline is valid? [False, False] Translation: X:-27.30, Y:-2.34, Z:-4.06 [[ 9.77652705e-01 5.24273815e-04 -2.10225861e-01 -2.73038618e+01] [-6.00206392e-03 9.99658854e-01 -2.54195133e-02 -2.33779998e+00] [ 2.10140816e-01 2.61132450e-02 9.77322329e-01 -4.05837112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32463044 meters Centerline goodness : 0.094589 with order 1 Centerline is valid? [False, False] Translation: X:-27.33, Y:-2.33, Z:-4.06 [[ 9.78376446e-01 -3.71278221e-03 -2.06798803e-01 -2.73283955e+01] [-1.02167324e-03 9.99739923e-01 -2.27825188e-02 -2.33320317e+00] [ 2.06829606e-01 2.25011606e-02 9.78118199e-01 -4.06273567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38463044 meters Centerline goodness : 0.098485 with order 1 Centerline is valid? [False, False] Translation: X:-27.33, Y:-2.33, Z:-4.06 [[ 9.78343067e-01 -4.24182209e-03 -2.06946493e-01 -2.73284001e+01] [-6.98992591e-04 9.99716594e-01 -2.37958828e-02 -2.32741971e+00] [ 2.06988781e-01 2.34251910e-02 9.78062833e-01 -4.06232586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44463044 meters Centerline goodness : 0.092843 with order 1 Centerline is valid? [False, False] Translation: X:-27.33, Y:-2.32, Z:-4.06 [[ 9.78222682e-01 -4.26701584e-03 -2.07514280e-01 -2.73265655e+01] [-7.65344059e-04 9.99707707e-01 -2.41643397e-02 -2.32286445e+00] [ 2.07556734e-01 2.37969250e-02 9.77933489e-01 -4.06252713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50463044 meters Centerline goodness : 0.092842 with order 1 Centerline is valid? [False, False] Translation: X:-27.35, Y:-2.32, Z:-4.07 [[ 9.78878397e-01 -1.25842141e-02 -2.04055683e-01 -2.73497585e+01] [ 7.66845027e-03 9.99661451e-01 -2.48631811e-02 -2.31578606e+00] [ 2.04299484e-01 2.27732400e-02 9.78643500e-01 -4.06686942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56463044000003 meters Centerline goodness : 0.090421 with order 1 Centerline is valid? [False, False] Translation: X:-27.35, Y:-2.32, Z:-4.07 [[ 9.79101948e-01 -1.46626697e-02 -2.02840778e-01 -2.73548539e+01] [ 9.52593537e-03 9.99609307e-01 -2.62771584e-02 -2.31721505e+00] [ 2.03146823e-01 2.37957689e-02 9.78859096e-01 -4.06535957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62463044000003 meters Centerline goodness : 0.301324 with order 1 Centerline is valid? [False, False] Translation: X:-27.35, Y:-2.32, Z:-4.07 [[ 9.78933186e-01 -1.56781524e-02 -2.03578029e-01 -2.73525509e+01] [ 1.04698783e-02 9.99590380e-01 -2.66355806e-02 -2.32193398e+00] [ 2.03912236e-01 2.39430166e-02 9.78696343e-01 -4.06545980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68463044000003 meters Centerline goodness : 0.259196 with order 2 Centerline is valid? [False, False] Translation: X:-27.35, Y:-2.33, Z:-4.07 [[ 9.78993279e-01 -1.59375882e-02 -2.03268671e-01 -2.73537689e+01] [ 1.07833535e-02 9.99592261e-01 -2.64391910e-02 -2.32593373e+00] [ 2.03607167e-01 2.36918723e-02 9.78765966e-01 -4.06500578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74463044000004 meters Centerline goodness : 0.261473 with order 2 Centerline is valid? [False, False] Translation: X:-27.37, Y:-2.34, Z:-4.07 [[ 9.79402354e-01 -9.20010215e-03 -2.01708670e-01 -2.73692824e+01] [ 3.89257947e-03 9.99636081e-01 -2.66937091e-02 -2.33917226e+00] [ 2.01880849e-01 2.53587145e-02 9.79081742e-01 -4.07118556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80463044000004 meters Centerline goodness : 0.251817 with order 2 Centerline is valid? [False, False] Translation: X:-27.37, Y:-2.34, Z:-4.07 [[ 9.79162105e-01 -8.69023309e-03 -2.02894189e-01 -2.73653680e+01] [ 3.44308043e-03 9.99650787e-01 -2.62001810e-02 -2.34137356e+00] [ 2.03051021e-01 2.49556433e-02 9.78850090e-01 -4.07186319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86463044000004 meters Centerline goodness : 0.252914 with order 2 Centerline is valid? [False, False] Translation: X:-27.36, Y:-2.34, Z:-4.07 [[ 9.79060670e-01 -7.98646658e-03 -2.03411950e-01 -2.73639184e+01] [ 2.79355857e-03 9.99663134e-01 -2.58033655e-02 -2.34161264e+00] [ 2.03549505e-01 2.46948171e-02 9.78753169e-01 -4.07195371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92463044 meters Centerline goodness : 0.238079 with order 3 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.35, Z:-4.08 [[ 9.79823498e-01 -2.96350375e-03 -1.99842762e-01 -2.73780320e+01] [-2.28136877e-03 9.99659090e-01 -2.60096094e-02 -2.34864497e+00] [ 1.99851713e-01 2.59407415e-02 9.79482706e-01 -4.07702280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98463044 meters Centerline goodness : 0.232172 with order 2 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.35, Z:-4.08 [[ 9.79818498e-01 -2.61144729e-03 -1.99872186e-01 -2.73780652e+01] [-2.50227924e-03 9.99676061e-01 -2.53280907e-02 -2.35219854e+00] [ 1.99873582e-01 2.53170678e-02 9.79494562e-01 -4.07695401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04463044 meters Centerline goodness : 0.303583 with order 1 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.36, Z:-4.08 [[ 9.79828972e-01 -6.38518399e-03 -1.99735862e-01 -2.73788953e+01] [ 8.55783268e-04 9.99614316e-01 -2.77576597e-02 -2.35995253e+00] [ 1.99836065e-01 2.70268285e-02 9.79456532e-01 -4.07652566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10463044 meters Centerline goodness : 0.304164 with order 1 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.36, Z:-4.08 [[ 9.79879559e-01 -6.32511975e-03 -1.99489455e-01 -2.73798605e+01] [ 8.69000379e-04 9.99623455e-01 -2.74261231e-02 -2.36255783e+00] [ 1.99587812e-01 2.67009410e-02 9.79516087e-01 -4.07621857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16463044 meters Centerline goodness : 0.280279 with order 2 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.37, Z:-4.08 [[ 9.79847722e-01 -5.93315426e-03 -1.99657803e-01 -2.73790544e+01] [ 6.35461562e-04 9.99646288e-01 -2.65874911e-02 -2.36757219e+00] [ 1.99744930e-01 2.59248177e-02 9.79504909e-01 -4.07654123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22463044 meters Centerline goodness : 0.096769 with order 1 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.37, Z:-4.08 [[ 9.79737569e-01 -5.80550858e-03 -2.00201377e-01 -2.73770465e+01] [ 5.33954562e-04 9.99651971e-01 -2.63752070e-02 -2.36890388e+00] [ 2.00284822e-01 2.57338828e-02 9.79399692e-01 -4.07706378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28463044 meters Centerline goodness : 0.097460 with order 1 Centerline is valid? [False, False] Translation: X:-27.38, Y:-2.37, Z:-4.08 [[ 9.79741565e-01 -5.56641168e-03 -2.00188612e-01 -2.73774720e+01] [ 3.57818374e-04 9.99660702e-01 -2.60452052e-02 -2.37024679e+00] [ 2.00265667e-01 2.54459389e-02 9.79411133e-01 -4.07667631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34463044 meters Centerline goodness : 0.305518 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.38, Z:-4.08 [[ 9.80475361e-01 -9.91777231e-04 -1.96639473e-01 -2.74004345e+01] [-4.58919969e-03 9.99599512e-01 -2.79240844e-02 -2.37901209e+00] [ 1.96588416e-01 2.82812946e-02 9.80078141e-01 -4.08176552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40463044 meters Centerline goodness : 0.306395 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.38, Z:-4.08 [[ 9.80477843e-01 -1.03485867e-03 -1.96626876e-01 -2.74000018e+01] [-4.51006267e-03 9.99604710e-01 -2.77503576e-02 -2.38142831e+00] [ 1.96577869e-01 2.80954103e-02 9.80085603e-01 -4.08213640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46463044 meters Centerline goodness : 0.302346 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.38, Z:-4.08 [[ 9.80351089e-01 -9.61835833e-04 -1.97258248e-01 -2.73978738e+01] [-4.53234731e-03 9.99614291e-01 -2.73993941e-02 -2.38474278e+00] [ 1.97208517e-01 2.77550687e-02 9.79968600e-01 -4.08256949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52463044 meters Centerline goodness : 0.303002 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80385291e-01 -6.65153850e-04 -1.97089418e-01 -2.73982678e+01] [-4.70601531e-03 9.99630198e-01 -2.67828487e-02 -2.38905021e+00] [ 1.97034349e-01 2.71850168e-02 9.80019612e-01 -4.08270378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58463044 meters Centerline goodness : 0.304342 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80388542e-01 -3.50026405e-04 -1.97074060e-01 -2.73981700e+01] [-4.92754846e-03 9.99642249e-01 -2.62886614e-02 -2.39169273e+00] [ 1.97012758e-01 2.67441944e-02 9.80036082e-01 -4.08289216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64463044 meters Centerline goodness : 0.480955 with order 2 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80253445e-01 -2.18227063e-04 -1.97745127e-01 -2.73956077e+01] [-5.03012868e-03 9.99648290e-01 -2.60383219e-02 -2.39409653e+00] [ 1.97681261e-01 2.65188382e-02 9.79907583e-01 -4.08360085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70463044 meters Centerline goodness : 0.087381 with order 1 Centerline is valid? [False, False] Translation: X:-27.39, Y:-2.40, Z:-4.08 [[ 9.80190658e-01 4.57341113e-04 -1.98055713e-01 -2.73947181e+01] [-5.57290339e-03 9.99665071e-01 -2.52722824e-02 -2.39684389e+00] [ 1.97977820e-01 2.58754005e-02 9.79864912e-01 -4.08375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76463044 meters Centerline goodness : 0.136876 with order 3 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.40, Z:-4.08 [[ 9.80205295e-01 7.09633757e-04 -1.97982514e-01 -2.73951299e+01] [-5.79184077e-03 9.99668366e-01 -2.50920875e-02 -2.39751974e+00] [ 1.97899050e-01 2.57420802e-02 9.79884336e-01 -4.08353302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82463044 meters Centerline goodness : 0.087813 with order 1 Centerline is valid? [False, False] Translation: X:-27.39, Y:-2.40, Z:-4.08 [[ 9.80162860e-01 1.63654349e-03 -1.98187005e-01 -2.73944659e+01] [-6.66277751e-03 9.99672782e-01 -2.46968719e-02 -2.39562481e+00] [ 1.98081737e-01 2.55274325e-02 9.79853038e-01 -4.08378409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88463044 meters Centerline goodness : 0.092402 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80279698e-01 2.18003525e-03 -1.97603040e-01 -2.73964224e+01] [-7.14168384e-03 9.99676766e-01 -2.44000148e-02 -2.39459625e+00] [ 1.97485975e-01 2.53300575e-02 9.79978407e-01 -4.08342289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94463044 meters Centerline goodness : 0.173883 with order 3 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80413265e-01 1.34009736e-04 -1.96951295e-01 -2.74010117e+01] [-5.44975834e-03 9.99635324e-01 -2.64484400e-02 -2.39206434e+00] [ 1.96875927e-01 2.70037384e-02 9.80056461e-01 -4.08127891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00463044 meters Centerline goodness : 0.116034 with order 3 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80449597e-01 4.00654510e-04 -1.96769983e-01 -2.74018086e+01] [-5.71693392e-03 9.99633778e-01 -2.64504661e-02 -2.38949317e+00] [ 1.96687324e-01 2.70582699e-02 9.80092825e-01 -4.08099691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06463044000003 meters Centerline goodness : 0.446793 with order 1 Centerline is valid? [False, False] Translation: X:-27.40, Y:-2.39, Z:-4.08 [[ 9.80467300e-01 2.62886234e-04 -1.96681989e-01 -2.74018522e+01] [-5.68169380e-03 9.99619628e-01 -2.69873657e-02 -2.38534619e+00] [ 1.96600082e-01 2.75777164e-02 9.80095851e-01 -4.08116177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12463044000003 meters Centerline goodness : 0.301578 with order 1 Centerline is valid? [False, False] Translation: X:-27.44, Y:-2.38, Z:-4.09 [[ 9.79829340e-01 2.14515280e-03 -1.99824578e-01 -2.74431513e+01] [-7.48564546e-03 9.99634586e-01 -2.59742128e-02 -2.37931194e+00] [ 1.99695841e-01 2.69461118e-02 9.79487355e-01 -4.08938860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18463044000003 meters Centerline goodness : 0.095273 with order 1 Centerline is valid? [False, False] Translation: X:-27.44, Y:-2.37, Z:-4.09 [[ 9.79717432e-01 1.84811337e-03 -2.00375493e-01 -2.74419448e+01] [-7.34941593e-03 9.99616085e-01 -2.67145796e-02 -2.37479181e+00] [ 2.00249194e-01 2.76453822e-02 9.79354886e-01 -4.08913314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24463044000004 meters Centerline goodness : 0.310364 with order 1 Centerline is valid? [False, False] Translation: X:-27.45, Y:-2.37, Z:-4.09 [[ 9.80044071e-01 2.83523818e-04 -1.98780127e-01 -2.74488738e+01] [-6.03553833e-03 9.99580368e-01 -2.83312462e-02 -2.36983412e+00] [ 1.98688680e-01 2.89656149e-02 9.79634525e-01 -4.08688788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30463044000004 meters Centerline goodness : 0.311495 with order 1 Centerline is valid? [False, False] Translation: X:-27.47, Y:-2.37, Z:-4.09 [[ 9.79804840e-01 -7.35304270e-03 -1.99820940e-01 -2.74669257e+01] [ 1.95500763e-03 9.99628147e-01 -2.71982631e-02 -2.36517506e+00] [ 1.99946626e-01 2.62583384e-02 9.79454872e-01 -4.09180976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36463044000004 meters Centerline goodness : 0.306619 with order 2 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.79928196e-01 -2.65707805e-03 -1.99333063e-01 -2.74884130e+01] [-3.41397488e-03 9.99540853e-01 -3.01069388e-02 -2.36916438e+00] [ 1.99321536e-01 3.01831563e-02 9.79469194e-01 -4.09602304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42463044 meters Centerline goodness : 0.096306 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.79992222e-01 -2.59103897e-03 -1.99018921e-01 -2.74895552e+01] [-3.41688747e-03 9.99548898e-01 -2.98383353e-02 -2.37073675e+00] [ 1.99006455e-01 2.99213618e-02 9.79541292e-01 -4.09568685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48463044 meters Centerline goodness : 0.314368 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.80013088e-01 -2.52747150e-03 -1.98916968e-01 -2.74892233e+01] [-3.42002331e-03 9.99557449e-01 -2.95501215e-02 -2.37264259e+00] [ 1.98903624e-01 2.96398065e-02 9.79570738e-01 -4.09621903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54463044 meters Centerline goodness : 0.095238 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.80095879e-01 -2.45671247e-03 -1.98509526e-01 -2.74901485e+01] [-3.43910293e-03 9.99563274e-01 -2.93501792e-02 -2.37409095e+00] [ 1.98494937e-01 2.94486843e-02 9.79659397e-01 -4.09636103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60463044 meters Centerline goodness : 0.309661 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.38, Z:-4.10 [[ 9.79996736e-01 -2.32144032e-03 -1.99000019e-01 -2.74877158e+01] [-3.55567573e-03 9.99568118e-01 -2.91707930e-02 -2.37528154e+00] [ 1.98981792e-01 2.92948615e-02 9.79565239e-01 -4.09750703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66463044 meters Centerline goodness : 0.303735 with order 3 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.79967305e-01 -2.21264159e-03 -1.99146141e-01 -2.74865262e+01] [-3.68638598e-03 9.99565448e-01 -2.92459487e-02 -2.37386199e+00] [ 1.99124312e-01 2.93942030e-02 9.79533302e-01 -4.09830059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72463044 meters Centerline goodness : 0.480285 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.80048816e-01 -2.45500564e-03 -1.98741768e-01 -2.74880269e+01] [-3.52466831e-03 9.99551802e-01 -2.97282869e-02 -2.37177037e+00] [ 1.98725676e-01 2.98356712e-02 9.79600908e-01 -4.09792633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78463044 meters Centerline goodness : 0.088945 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.79908279e-01 -2.58170495e-03 -1.99431941e-01 -2.74856158e+01] [-3.49200324e-03 9.99540874e-01 -3.00972977e-02 -2.36931835e+00] [ 1.99418079e-01 3.01890082e-02 9.79449362e-01 -4.09854410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84463044 meters Centerline goodness : 0.303841 with order 3 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.37, Z:-4.10 [[ 9.79876970e-01 -4.53594146e-03 -1.99550867e-01 -2.74852829e+01] [-1.74704955e-03 9.99508561e-01 -3.12983152e-02 -2.37357355e+00] [ 1.99594767e-01 3.10171236e-02 9.79387496e-01 -4.09855503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90463044 meters Centerline goodness : 0.306590 with order 1 Centerline is valid? [False, False] Translation: X:-27.48, Y:-2.38, Z:-4.10 [[ 9.79773796e-01 -9.15950671e-03 -1.99898506e-01 -2.74843835e+01] [ 2.33956126e-03 9.99407929e-01 -3.43266339e-02 -2.38125329e+00] [ 2.00094567e-01 3.31646615e-02 9.79215129e-01 -4.09839081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96463044 meters Centerline goodness : 0.303121 with order 1 Centerline is valid? [False, False] Translation: X:-27.49, Y:-2.39, Z:-4.10 [[ 9.79927883e-01 -9.84615108e-03 -1.99109009e-01 -2.74863223e+01] [ 3.06927801e-03 9.99406318e-01 -3.43160490e-02 -2.38774299e+00] [ 1.99328682e-01 3.30161323e-02 9.79376338e-01 -4.09858248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02463044 meters Centerline goodness : 0.310425 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.39, Z:-4.11 [[ 9.80901703e-01 -7.63806066e-03 -1.94354083e-01 -2.75204171e+01] [ 1.09359800e-03 9.99429441e-01 -3.37579249e-02 -2.39456483e+00] [ 1.94501038e-01 3.29006608e-02 9.80350393e-01 -4.10880697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08463044 meters Centerline goodness : 0.253371 with order 2 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.40, Z:-4.11 [[ 9.80937815e-01 -6.96421410e-03 -1.94197074e-01 -2.75214846e+01] [ 6.47623775e-04 9.99469207e-01 -3.25712369e-02 -2.40122597e+00] [ 1.94320828e-01 3.18245913e-02 9.80421650e-01 -4.10824279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14463044 meters Centerline goodness : 0.310718 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.40, Z:-4.11 [[ 9.80875889e-01 -6.63275800e-03 -1.94521198e-01 -2.75204626e+01] [ 4.13833621e-04 9.99487987e-01 -3.19936469e-02 -2.40474166e+00] [ 1.94633806e-01 3.13012975e-02 9.80376412e-01 -4.10847529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20463044 meters Centerline goodness : 0.094109 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.41, Z:-4.11 [[ 9.81119554e-01 -6.10221882e-03 -1.93305935e-01 -2.75238676e+01] [ 5.94439429e-05 9.99511581e-01 -3.12505499e-02 -2.40846930e+00] [ 1.93402218e-01 3.06490348e-02 9.80640718e-01 -4.10834862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26463044 meters Centerline goodness : 0.306080 with order 2 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.41, Z:-4.11 [[ 9.81211487e-01 -5.63538212e-03 -1.92852949e-01 -2.75248784e+01] [-2.84327952e-04 9.99530014e-01 -3.06540266e-02 -2.41042711e+00] [ 1.92935058e-01 3.01329165e-02 9.80748730e-01 -4.10857164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32463044 meters Centerline goodness : 0.095309 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.41, Z:-4.11 [[ 9.81122153e-01 -5.57981739e-03 -1.93308527e-01 -2.75231623e+01] [-3.12920309e-04 9.99536557e-01 -3.04396532e-02 -2.41260935e+00] [ 1.93388787e-01 2.99255082e-02 9.80665713e-01 -4.10907832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38463044 meters Centerline goodness : 0.095628 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.42, Z:-4.11 [[ 9.80946680e-01 -5.38539948e-03 -1.94202494e-01 -2.75212093e+01] [-3.95420437e-04 9.99558306e-01 -2.97159270e-02 -2.41890603e+00] [ 1.94276749e-01 2.92265316e-02 9.80511272e-01 -4.10873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44463044 meters Centerline goodness : 0.102609 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.43, Z:-4.11 [[ 9.80807791e-01 -7.91723765e-03 -1.94816310e-01 -2.75180203e+01] [ 1.85460652e-03 9.99508863e-01 -3.12824767e-02 -2.42509545e+00] [ 1.94968299e-01 3.03207893e-02 9.80340763e-01 -4.10989439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50463044 meters Centerline goodness : 0.310792 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.44, Z:-4.11 [[ 9.80884480e-01 -1.12905135e-02 -1.94263123e-01 -2.75188632e+01] [ 4.99706262e-03 9.99447599e-01 -3.28561355e-02 -2.43856913e+00] [ 1.94526774e-01 3.12573284e-02 9.80399058e-01 -4.11048729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56463044000003 meters Centerline goodness : 0.307648 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.44, Z:-4.11 [[ 9.80791608e-01 -1.51647548e-02 -1.94468125e-01 -2.75177620e+01] [ 8.40351242e-03 9.99332713e-01 -3.55458824e-02 -2.44471770e+00] [ 1.94877404e-01 3.32288879e-02 9.80264576e-01 -4.11087106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62463044000003 meters Centerline goodness : 0.158385 with order 1 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.45, Z:-4.11 [[ 9.80683596e-01 -1.40285588e-02 -1.95097114e-01 -2.75153753e+01] [ 7.50134749e-03 9.99388398e-01 -3.41549412e-02 -2.45057480e+00] [ 1.95456936e-01 3.20316993e-02 9.80189041e-01 -4.11158891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68463044000003 meters Centerline goodness : 0.089658 with order 1 Centerline is valid? [False, False] Translation: X:-27.53, Y:-2.46, Z:-4.12 [[ 9.80885258e-01 -6.40677358e-03 -1.94481525e-01 -2.75343051e+01] [-3.77802053e-04 9.99393238e-01 -3.48283296e-02 -2.45899540e+00] [ 1.94586659e-01 3.42360706e-02 9.80287674e-01 -4.11718280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74463044000004 meters Centerline goodness : 0.197097 with order 3 Centerline is valid? [False, False] Translation: X:-27.53, Y:-2.46, Z:-4.12 [[ 9.80829595e-01 -5.55550560e-03 -1.94788197e-01 -2.75330971e+01] [-1.02279769e-03 9.99432995e-01 -3.36547386e-02 -2.46412359e+00] [ 1.94864720e-01 3.32087926e-02 9.80267778e-01 -4.11770283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80463044000004 meters Centerline goodness : 0.158511 with order 3 Centerline is valid? [False, False] Translation: X:-27.54, Y:-2.47, Z:-4.12 [[ 9.81051391e-01 -7.39568495e-03 -1.93606485e-01 -2.75363101e+01] [ 7.32108066e-04 9.99405565e-01 -3.44670947e-02 -2.47181235e+00] [ 1.93746306e-01 3.36722504e-02 9.80473635e-01 -4.11773616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86463044000004 meters Centerline goodness : 0.100109 with order 3 Centerline is valid? [False, False] Translation: X:-27.52, Y:-2.48, Z:-4.11 [[ 9.81698171e-01 -1.60731509e-02 -1.89763947e-01 -2.75191656e+01] [ 9.80086112e-03 9.99375629e-01 -3.39454780e-02 -2.48120172e+00] [ 1.90191075e-01 3.14643636e-02 9.81242757e-01 -4.11317833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92463044 meters Centerline goodness : 0.159499 with order 3 Centerline is valid? [False, False] Translation: X:-27.53, Y:-2.49, Z:-4.12 [[ 9.81815557e-01 -1.04276405e-02 -1.89550724e-01 -2.75327986e+01] [ 3.72019599e-03 9.99355361e-01 -3.57074456e-02 -2.49115466e+00] [ 1.89800877e-01 3.43529597e-02 9.81221433e-01 -4.11997878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98463044 meters Centerline goodness : 0.093689 with order 1 Centerline is valid? [False, False] Translation: X:-27.55, Y:-2.50, Z:-4.13 [[ 9.82201056e-01 -1.81016543e-03 -1.87823879e-01 -2.75533357e+01] [-4.87066309e-03 9.99371865e-01 -3.51020269e-02 -2.49778551e+00] [ 1.87769440e-01 3.53920747e-02 9.81575284e-01 -4.12532633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04463044 meters Centerline goodness : 0.099048 with order 1 Centerline is valid? [False, False] Translation: X:-27.56, Y:-2.50, Z:-4.13 [[ 9.82337790e-01 -7.73656475e-04 -1.87114585e-01 -2.75550921e+01] [-5.79509905e-03 9.99385962e-01 -3.45559712e-02 -2.49667103e+00] [ 1.87026424e-01 3.50299840e-02 9.81730114e-01 -4.12549813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10463044 meters Centerline goodness : 0.091462 with order 1 Centerline is valid? [False, False] Translation: X:-27.55, Y:-2.49, Z:-4.13 [[ 9.82271532e-01 -5.07890184e-04 -1.87463007e-01 -2.75535932e+01] [-6.12278266e-03 9.99375894e-01 -3.47898416e-02 -2.49397926e+00] [ 1.87363679e-01 3.53208663e-02 9.81655382e-01 -4.12614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16463044 meters Centerline goodness : 0.173988 with order 2 Centerline is valid? [False, False] Translation: X:-27.55, Y:-2.49, Z:-4.13 [[ 9.82244648e-01 -5.22207918e-04 -1.87603781e-01 -2.75529815e+01] [-6.16174225e-03 9.99366807e-01 -3.50430869e-02 -2.49189757e+00] [ 1.87503291e-01 3.55768507e-02 9.81619480e-01 -4.12640657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22463044 meters Centerline goodness : 0.095562 with order 1 Centerline is valid? [False, False] Translation: X:-27.55, Y:-2.49, Z:-4.13 [[ 9.82231499e-01 -4.38526605e-04 -1.87672828e-01 -2.75523243e+01] [-6.20447797e-03 9.99374764e-01 -3.48078418e-02 -2.49277582e+00] [ 1.87570753e-01 3.53537705e-02 9.81614651e-01 -4.12686333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28463044 meters Centerline goodness : 0.089900 with order 1 Centerline is valid? [False, False] Translation: X:-27.53, Y:-2.49, Z:-4.12 [[ 9.81948252e-01 -9.75988697e-03 -1.88897792e-01 -2.75298275e+01] [ 3.11038586e-03 9.99366041e-01 -3.54660664e-02 -2.49225510e+00] [ 1.89124184e-01 3.42382969e-02 9.81356093e-01 -4.12255912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34463044 meters Centerline goodness : 0.116090 with order 3 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81271175e-01 -1.07326006e-02 -1.92332244e-01 -2.75703213e+01] [ 4.10170274e-03 9.99384439e-01 -3.48413309e-02 -2.49881917e+00] [ 1.92587790e-01 3.33999040e-02 9.80711165e-01 -4.13076990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40463044 meters Centerline goodness : 0.114894 with order 3 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81326468e-01 -1.06884311e-02 -1.92052392e-01 -2.75711874e+01] [ 4.08374794e-03 9.99387589e-01 -3.47529930e-02 -2.49926660e+00] [ 1.92306231e-01 3.33197383e-02 9.80769141e-01 -4.13062863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46463044 meters Centerline goodness : 0.115785 with order 3 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81308457e-01 -1.08326826e-02 -1.92136318e-01 -2.75704901e+01] [ 4.19662164e-03 9.99381590e-01 -3.49116884e-02 -2.49923774e+00] [ 1.92395686e-01 3.34528117e-02 9.80747067e-01 -4.13106947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52463044 meters Centerline goodness : 0.095854 with order 1 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81341394e-01 -1.05416194e-02 -1.91984223e-01 -2.75712381e+01] [ 3.98800877e-03 9.99397063e-01 -3.44906745e-02 -2.50063892e+00] [ 1.92232056e-01 3.30814918e-02 9.80791747e-01 -4.13080348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58463044 meters Centerline goodness : 0.165547 with order 3 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81422606e-01 -1.06411980e-02 -1.91563129e-01 -2.75725881e+01] [ 4.13214775e-03 9.99401456e-01 -3.43460957e-02 -2.50264044e+00] [ 1.91813954e-01 3.29164676e-02 9.80879153e-01 -4.13056521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64463044 meters Centerline goodness : 0.086318 with order 1 Centerline is valid? [False, False] Translation: X:-27.57, Y:-2.50, Z:-4.13 [[ 9.81488344e-01 -1.04886216e-02 -1.91234462e-01 -2.75739204e+01] [ 4.06439824e-03 9.99415105e-01 -3.39547973e-02 -2.50475149e+00] [ 1.91478749e-01 3.25489847e-02 9.80956906e-01 -4.13006882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70463044 meters Centerline goodness : 0.111799 with order 3 Centerline is valid? [False, False] Translation: X:-27.62, Y:-2.51, Z:-4.14 [[ 9.81280969e-01 -1.05779185e-02 -1.92290842e-01 -2.76186209e+01] [ 4.33065928e-03 9.99449927e-01 -3.28799140e-02 -2.50987124e+00] [ 1.92532869e-01 3.14316878e-02 9.80787002e-01 -4.13827902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76463044 meters Centerline goodness : 0.095333 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:-2.51, Z:-4.14 [[ 9.81244123e-01 -1.06605278e-02 -1.92474218e-01 -2.76181788e+01] [ 4.45930784e-03 9.99457782e-01 -3.26229555e-02 -2.51273770e+00] [ 1.92717633e-01 3.11527816e-02 9.80759613e-01 -4.13827731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82463044 meters Centerline goodness : 0.093511 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:-2.52, Z:-4.14 [[ 9.81099791e-01 -1.08161004e-02 -1.93199929e-01 -2.76162372e+01] [ 4.63027926e-03 9.99462939e-01 -3.24406200e-02 -2.51518259e+00] [ 1.93447050e-01 3.09329159e-02 9.80622962e-01 -4.13823855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88463044 meters Centerline goodness : 0.098595 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.52, Z:-4.14 [[ 9.80997998e-01 -1.09074270e-02 -1.93711012e-01 -2.76146908e+01] [ 4.74845633e-03 9.99469181e-01 -3.22305426e-02 -2.51718230e+00] [ 1.93959738e-01 3.06982695e-02 9.80529059e-01 -4.13838969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94463044 meters Centerline goodness : 0.113064 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.52, Z:-4.14 [[ 9.80961630e-01 -1.09151995e-02 -1.93894661e-01 -2.76140514e+01] [ 4.75559903e-03 9.99469975e-01 -3.22048784e-02 -2.51736452e+00] [ 1.94143415e-01 3.06696647e-02 9.80493603e-01 -4.13851892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00463044 meters Centerline goodness : 0.166117 with order 3 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.52, Z:-4.15 [[ 9.80915894e-01 -1.27047049e-02 -1.94017008e-01 -2.76591455e+01] [ 6.53127066e-03 9.99452810e-01 -3.24256411e-02 -2.52006922e+00] [ 1.94322802e-01 3.05396491e-02 9.80462125e-01 -4.14731581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06463044000003 meters Centerline goodness : 0.472412 with order 1 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.52, Z:-4.15 [[ 9.80831945e-01 -1.32433675e-02 -1.94405013e-01 -2.76579144e+01] [ 7.04106211e-03 9.99444966e-01 -3.25604685e-02 -2.52192246e+00] [ 1.94728322e-01 3.05675299e-02 9.80380797e-01 -4.14745315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12463044000003 meters Centerline goodness : 0.311653 with order 1 Centerline is valid? [False, False] Translation: X:-27.67, Y:-2.53, Z:-4.15 [[ 9.80922945e-01 -7.83205899e-03 -1.94239117e-01 -2.76739077e+01] [ 1.22516816e-03 9.99417298e-01 -3.41110472e-02 -2.53037771e+00] [ 1.94393093e-01 3.32223333e-02 9.80360955e-01 -4.15344062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18463044000003 meters Centerline goodness : 0.091661 with order 1 Centerline is valid? [False, False] Translation: X:-27.67, Y:-2.54, Z:-4.15 [[ 9.80945155e-01 -1.19410634e-02 -1.93917544e-01 -2.76748090e+01] [ 4.92273132e-03 9.99316625e-01 -3.66339918e-02 -2.53666934e+00] [ 1.94222475e-01 3.49813328e-02 9.80333584e-01 -4.15334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24463044000004 meters Centerline goodness : 0.160610 with order 2 Centerline is valid? [False, False] Translation: X:-27.67, Y:-2.55, Z:-4.16 [[ 9.80820843e-01 -1.56236772e-02 -1.94284263e-01 -2.76732500e+01] [ 8.38966180e-03 9.99242464e-01 -3.80014648e-02 -2.54647565e+00] [ 1.94730808e-01 3.56426494e-02 9.80208913e-01 -4.15527687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30463044000004 meters Centerline goodness : 0.091494 with order 1 Centerline is valid? [False, False] Translation: X:-27.69, Y:-2.56, Z:-4.16 [[ 9.81509861e-01 -8.64000655e-03 -1.91216480e-01 -2.76921422e+01] [ 1.36871615e-03 9.99272005e-01 -3.81259412e-02 -2.55665262e+00] [ 1.91406683e-01 3.71592662e-02 9.80807153e-01 -4.16032606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36463044000004 meters Centerline goodness : 0.301653 with order 3 Centerline is valid? [False, False] Translation: X:-27.71, Y:-2.56, Z:-4.16 [[ 9.81763317e-01 -5.01822014e-04 -1.90106647e-01 -2.77094976e+01] [-7.18911003e-03 9.99183234e-01 -3.97640839e-02 -2.56148588e+00] [ 1.89971329e-01 4.04056165e-02 9.80957838e-01 -4.16451945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42463044 meters Centerline goodness : 0.098936 with order 1 Centerline is valid? [False, False] Translation: X:-27.69, Y:-2.56, Z:-4.16 [[ 9.81415920e-01 -4.36233589e-03 -1.91843067e-01 -2.76867973e+01] [-2.77476277e-03 9.99314431e-01 -3.69184128e-02 -2.55644939e+00] [ 1.91872596e-01 3.67646371e-02 9.80730987e-01 -4.16019125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48463044 meters Centerline goodness : 0.314192 with order 1 Centerline is valid? [False, False] Translation: X:-27.67, Y:-2.56, Z:-4.16 [[ 9.81395165e-01 4.30619149e-03 -1.91950481e-01 -2.76681315e+01] [-1.16219271e-02 9.99247570e-01 -3.70030416e-02 -2.55828801e+00] [ 1.91646710e-01 3.85454406e-02 9.80706780e-01 -4.15629337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54463044 meters Centerline goodness : 0.095096 with order 1 Centerline is valid? [False, False] Translation: X:-27.67, Y:-2.55, Z:-4.16 [[ 9.81387048e-01 5.46884617e-03 -1.91962376e-01 -2.76683294e+01] [-1.27530827e-02 9.99243805e-01 -3.67311538e-02 -2.55036471e+00] [ 1.91616338e-01 3.84955907e-02 9.80714672e-01 -4.15576135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60463044 meters Centerline goodness : 0.520262 with order 3 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.54, Z:-4.15 [[ 9.80817027e-01 1.17075677e-03 -1.94927138e-01 -2.76487494e+01] [-8.13552660e-03 9.99356530e-01 -3.49333585e-02 -2.54115655e+00] [ 1.94760810e-01 3.58490678e-02 9.80195425e-01 -4.15028481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66463044 meters Centerline goodness : 0.099397 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.54, Z:-4.15 [[ 9.80726962e-01 5.80132010e-04 -1.95382420e-01 -2.76472964e+01] [-7.74342339e-03 9.99325348e-01 -3.59010983e-02 -2.53618340e+00] [ 1.95229778e-01 3.67221038e-02 9.80069804e-01 -4.15036516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72463044 meters Centerline goodness : 0.306977 with order 1 Centerline is valid? [False, False] Translation: X:-27.63, Y:-2.53, Z:-4.14 [[ 9.80614938e-01 -6.22473019e-03 -1.95845849e-01 -2.76288984e+01] [-6.71484853e-04 9.99382653e-01 -3.51263786e-02 -2.52793950e+00] [ 1.95943596e-01 3.45769591e-02 9.80005378e-01 -4.14454621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78463044 meters Centerline goodness : 0.312019 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:-2.52, Z:-4.14 [[ 9.80349865e-01 -4.46591113e-03 -1.97216118e-01 -2.76247286e+01] [-2.35222668e-03 9.99407985e-01 -3.43241335e-02 -2.52160126e+00] [ 1.97252652e-01 3.41135566e-02 9.79758979e-01 -4.14432896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84463044 meters Centerline goodness : 0.472529 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:-2.52, Z:-4.14 [[ 9.80250126e-01 -1.51848119e-03 -1.97755874e-01 -2.76241913e+01] [-4.97698521e-03 9.99464381e-01 -3.23447194e-02 -2.51721549e+00] [ 1.97699067e-01 3.26901433e-02 9.79717527e-01 -4.14327976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90463044 meters Centerline goodness : 0.090647 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.52, Z:-4.14 [[ 9.80578540e-01 6.65174929e-03 -1.96013982e-01 -2.76061683e+01] [-1.34364371e-02 9.99354949e-01 -3.33038656e-02 -2.51687144e+00] [ 1.95666014e-01 3.52907855e-02 9.80035393e-01 -4.13844343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96463044 meters Centerline goodness : 0.306652 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.51, Z:-4.14 [[ 9.80600307e-01 6.61768000e-03 -1.95906211e-01 -2.76066989e+01] [-1.35021702e-02 9.99336489e-01 -3.38271214e-02 -2.51231112e+00] [ 1.95552368e-01 3.58160447e-02 9.80039021e-01 -4.13797221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02463044 meters Centerline goodness : 0.303641 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.51, Z:-4.14 [[ 9.80475151e-01 1.05987405e-02 -1.96357189e-01 -2.76056525e+01] [-1.70334108e-02 9.99370803e-01 -3.11104689e-02 -2.50598140e+00] [ 1.95903910e-01 3.38476743e-02 9.80038771e-01 -4.13746275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08463044 meters Centerline goodness : 0.308525 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.50, Z:-4.14 [[ 9.80487151e-01 1.05204947e-02 -1.96301468e-01 -2.76060314e+01] [-1.70416874e-02 9.99356542e-01 -3.15607949e-02 -2.50228559e+00] [ 1.95843121e-01 3.42902622e-02 9.80035535e-01 -4.13711129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14463044 meters Centerline goodness : 0.303878 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.50, Z:-4.14 [[ 9.80516951e-01 1.03519381e-02 -1.96161529e-01 -2.76070067e+01] [-1.69621309e-02 9.99342399e-01 -3.20477020e-02 -2.49880413e+00] [ 1.95700777e-01 3.47506325e-02 9.80047754e-01 -4.13642991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20463044 meters Centerline goodness : 0.307395 with order 1 Centerline is valid? [False, False] Translation: X:-27.61, Y:-2.50, Z:-4.14 [[ 9.80525720e-01 1.02751470e-02 -1.96121734e-01 -2.76071091e+01] [-1.69204500e-02 9.99336980e-01 -3.22381509e-02 -2.49737022e+00] [ 1.95660449e-01 3.49288041e-02 9.80049472e-01 -4.13634436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26463044 meters Centerline goodness : 0.296844 with order 2 Centerline is valid? [False, False] Translation: X:-27.59, Y:-2.49, Z:-4.13 [[ 9.80536871e-01 3.29950615e-03 -1.96307303e-01 -2.75903858e+01] [-9.63486852e-03 9.99462767e-01 -3.13264468e-02 -2.49059226e+00] [ 1.96098479e-01 3.26081312e-02 9.80041885e-01 -4.13068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32463044 meters Centerline goodness : 0.275601 with order 2 Centerline is valid? [False, False] Translation: X:-27.64, Y:-2.49, Z:-4.14 [[ 9.80538123e-01 3.47517842e-03 -1.96298021e-01 -2.76364602e+01] [-9.78437984e-03 9.99465884e-01 -3.11803204e-02 -2.49013297e+00] [ 1.96084817e-01 3.24941472e-02 9.80048404e-01 -4.13882592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38463044 meters Centerline goodness : 0.101200 with order 1 Centerline is valid? [False, False] Translation: X:-27.64, Y:-2.49, Z:-4.14 [[ 9.80466974e-01 3.23520758e-03 -1.96657180e-01 -2.76356953e+01] [-9.66660470e-03 9.99449015e-01 -3.17525231e-02 -2.48778195e+00] [ 1.96446098e-01 3.30333074e-02 9.79958025e-01 -4.13850249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44463044 meters Centerline goodness : 0.306582 with order 1 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.49, Z:-4.14 [[ 9.80045081e-01 -1.93319504e-03 -1.98765950e-01 -2.76558279e+01] [-3.87846969e-03 9.99576365e-01 -2.88452384e-02 -2.48556337e+00] [ 1.98737509e-01 2.90405417e-02 9.79622401e-01 -4.14207626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50463044 meters Centerline goodness : 0.310694 with order 1 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.49, Z:-4.14 [[ 9.80021810e-01 -1.96782123e-03 -1.98880317e-01 -2.76559443e+01] [-3.83315539e-03 9.99578450e-01 -2.87789544e-02 -2.48687795e+00] [ 1.98853111e-01 2.89663421e-02 9.79601139e-01 -4.14166661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56463044000003 meters Centerline goodness : 0.304655 with order 1 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.49, Z:-4.14 [[ 9.80009350e-01 -1.60244487e-03 -1.98944983e-01 -2.76555418e+01] [-4.12325127e-03 9.99589194e-01 -2.83626724e-02 -2.48788530e+00] [ 1.98908705e-01 2.86159842e-02 9.79600149e-01 -4.14189113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62463044000003 meters Centerline goodness : 0.306089 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.49, Z:-4.14 [[ 9.79768338e-01 -1.32365918e-03 -2.00130586e-01 -2.76519591e+01] [-4.46466740e-03 9.99584715e-01 -2.84686583e-02 -2.48543606e+00] [ 2.00085157e-01 2.87862065e-02 9.79355545e-01 -4.14224743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68463044000003 meters Centerline goodness : 0.088375 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.48, Z:-4.14 [[ 9.79519064e-01 1.10877977e-03 -2.01348387e-01 -2.76471999e+01] [-6.69940279e-03 9.99610641e-01 -2.70866073e-02 -2.47893229e+00] [ 2.01239957e-01 2.78807622e-02 9.79145108e-01 -4.14322177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74463044000004 meters Centerline goodness : 0.307112 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.47, Z:-4.14 [[ 9.79691484e-01 2.86473842e-03 -2.00490372e-01 -2.76494859e+01] [-8.38582766e-03 9.99608475e-01 -2.66940855e-02 -2.46824823e+00] [ 2.00335404e-01 2.78332459e-02 9.79331934e-01 -4.14319632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80463044000004 meters Centerline goodness : 0.088686 with order 1 Centerline is valid? [False, False] Translation: X:-27.63, Y:-2.46, Z:-4.14 [[ 9.80203933e-01 -3.47340866e-03 -1.97960060e-01 -2.76344247e+01] [-1.57636109e-03 9.99677502e-01 -2.53457381e-02 -2.45959442e+00] [ 1.97984254e-01 2.51560487e-02 9.79882344e-01 -4.13697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86463044000004 meters Centerline goodness : 0.091872 with order 1 Centerline is valid? [False, False] Translation: X:-27.64, Y:-2.46, Z:-4.14 [[ 9.80269088e-01 -3.43719421e-03 -1.97637800e-01 -2.76357613e+01] [-1.60862315e-03 9.99676977e-01 -2.53644165e-02 -2.45873306e+00] [ 1.97661141e-01 2.51818782e-02 9.79946910e-01 -4.13652440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92463044 meters Centerline goodness : 0.093484 with order 1 Centerline is valid? [False, False] Translation: X:-27.64, Y:-2.46, Z:-4.14 [[ 9.80394355e-01 -3.76610504e-03 -1.97009456e-01 -2.76376633e+01] [-1.29541467e-03 9.99672538e-01 -2.55565855e-02 -2.45851199e+00] [ 1.97041192e-01 2.53107411e-02 9.80068434e-01 -4.13619802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98463044 meters Centerline goodness : 0.092695 with order 1 Centerline is valid? [False, False] Translation: X:-27.66, Y:-2.46, Z:-4.14 [[ 9.79834405e-01 -1.28905841e-02 -1.99395014e-01 -2.76554239e+01] [ 8.05364115e-03 9.99653753e-01 -2.50502058e-02 -2.45808485e+00] [ 1.99648886e-01 2.29391976e-02 9.79598957e-01 -4.13992067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04463044 meters Centerline goodness : 0.093807 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.46, Z:-4.14 [[ 9.79763737e-01 -1.29507338e-02 -1.99738076e-01 -2.76541188e+01] [ 8.14534259e-03 9.99657721e-01 -2.48615078e-02 -2.46075944e+00] [ 1.99991685e-01 2.27314687e-02 9.79533872e-01 -4.14021987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10463044 meters Centerline goodness : 0.093603 with order 1 Centerline is valid? [False, False] Translation: X:-27.65, Y:-2.46, Z:-4.14 [[ 9.79609342e-01 -1.28117515e-02 -2.00502859e-01 -2.76513997e+01] [ 8.00686627e-03 9.99661438e-01 -2.47568187e-02 -2.46137819e+00] [ 2.00752155e-01 2.26466113e-02 9.79380265e-01 -4.14079478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16463044 meters Centerline goodness : 0.094634 with order 1 Centerline is valid? [False, False] Translation: X:-27.69, Y:-2.46, Z:-4.15 [[ 9.78892115e-01 -9.93501385e-03 -2.04136037e-01 -2.76914582e+01] [ 5.53035059e-03 9.99739666e-01 -2.21362720e-02 -2.46411600e+00] [ 2.04302818e-01 2.05400783e-02 9.78692221e-01 -4.14952332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22463044 meters Centerline goodness : 0.131430 with order 3 Centerline is valid? [False, False] Translation: X:-27.70, Y:-2.46, Z:-4.15 [[ 9.79128444e-01 -7.67013365e-03 -2.03097661e-01 -2.76961007e+01] [ 3.53424125e-03 9.99779093e-01 -2.07189148e-02 -2.46058579e+00] [ 2.03211712e-01 1.95686827e-02 9.78939256e-01 -4.14821746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28463044 meters Centerline goodness : 0.141132 with order 3 Centerline is valid? [False, False] Translation: X:-27.70, Y:-2.46, Z:-4.15 [[ 9.79175803e-01 -7.34781573e-03 -2.02881141e-01 -2.76968339e+01] [ 3.19694401e-03 9.99778966e-01 -2.07797599e-02 -2.45843311e+00] [ 2.02988983e-01 1.96984384e-02 9.78982862e-01 -4.14816357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34463044 meters Centerline goodness : 0.242571 with order 2 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79013288e-01 4.35202177e-04 -2.03795957e-01 -2.77161822e+01] [-4.96650633e-03 9.99751679e-01 -2.17235987e-02 -2.46087376e+00] [ 2.03735896e-01 2.22798457e-02 9.78772340e-01 -4.15286906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40463044 meters Centerline goodness : 0.094666 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79185325e-01 2.89334116e-04 -2.02968014e-01 -2.77188487e+01] [-4.81217950e-03 9.99750980e-01 -2.17903964e-02 -2.46133703e+00] [ 2.02911166e-01 2.23135549e-02 9.78942881e-01 -4.15236300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46463044 meters Centerline goodness : 0.171923 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79160049e-01 1.43293260e-04 -2.03090075e-01 -2.77188580e+01] [-4.67003318e-03 9.99751220e-01 -2.18102845e-02 -2.46229718e+00] [ 2.03036425e-01 2.23041966e-02 9.78917123e-01 -4.15197576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52463044 meters Centerline goodness : 0.089194 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79065875e-01 1.55422373e-04 -2.03543580e-01 -2.77180366e+01] [-4.69275112e-03 9.99751137e-01 -2.18092301e-02 -2.46211521e+00] [ 2.03489536e-01 2.23078523e-02 9.78822950e-01 -4.15153433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58463044 meters Centerline goodness : 0.096808 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79276568e-01 4.96671298e-04 -2.02526929e-01 -2.77209274e+01] [-4.96589635e-03 9.99755228e-01 -2.15597808e-02 -2.46155921e+00] [ 2.02466648e-01 2.21187159e-02 9.79039335e-01 -4.15134458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64463044 meters Centerline goodness : 0.088627 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79261013e-01 3.91102464e-04 -2.02602359e-01 -2.77205817e+01] [-4.89721094e-03 9.99751657e-01 -2.17403313e-02 -2.46042820e+00] [ 2.02543542e-01 2.22816453e-02 9.79019735e-01 -4.15141225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70463044 meters Centerline goodness : 0.088628 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79208700e-01 2.44546255e-04 -2.02855272e-01 -2.77199792e+01] [-4.78510943e-03 9.99748865e-01 -2.18931256e-02 -2.45978506e+00] [ 2.02798974e-01 2.24086237e-02 9.78963957e-01 -4.15131276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76463044 meters Centerline goodness : 0.095344 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79124441e-01 5.35036651e-05 -2.03261716e-01 -2.77182299e+01] [-4.64220701e-03 9.99745017e-01 -2.20986441e-02 -2.45923944e+00] [ 2.03208706e-01 2.25809055e-02 9.78875030e-01 -4.15187063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82463044 meters Centerline goodness : 0.088886 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79076410e-01 -1.50413610e-04 -2.03492900e-01 -2.77172612e+01] [-4.48084382e-03 9.99741330e-01 -2.22978944e-02 -2.45912972e+00] [ 2.03443616e-01 2.27431623e-02 9.78822478e-01 -4.15215292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88463044 meters Centerline goodness : 0.131070 with order 3 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79094626e-01 -1.27306401e-05 -2.03405294e-01 -2.77172036e+01] [-4.58207628e-03 9.99744856e-01 -2.21184688e-02 -2.45988528e+00] [ 2.03353678e-01 2.25880925e-02 9.78844758e-01 -4.15244715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94463044 meters Centerline goodness : 0.087393 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79101149e-01 9.08915953e-05 -2.03373874e-01 -2.77167143e+01] [-4.63371492e-03 9.99750276e-01 -2.18612481e-02 -2.46164055e+00] [ 2.03321099e-01 2.23467496e-02 9.78857065e-01 -4.15292168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00463044 meters Centerline goodness : 0.085759 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79089312e-01 -2.88588066e-05 -2.03430870e-01 -2.77164738e+01] [-4.49975155e-03 9.99752256e-01 -2.17986106e-02 -2.46406587e+00] [ 2.03381100e-01 2.22581750e-02 9.78846618e-01 -4.15303032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06463044000003 meters Centerline goodness : 0.086245 with order 1 Centerline is valid? [False, False] Translation: X:-27.72, Y:-2.46, Z:-4.15 [[ 9.79244147e-01 4.67271640e-04 -2.02683698e-01 -2.77183330e+01] [-4.89986177e-03 9.99759665e-01 -2.13682781e-02 -2.46448685e+00] [ 2.02625001e-01 2.19178834e-02 9.79011090e-01 -4.15316278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12463044000003 meters Centerline goodness : 0.089479 with order 1 Centerline is valid? [False, False] Translation: X:-27.74, Y:-2.47, Z:-4.16 [[ 9.79360610e-01 8.79188794e-03 -2.01929438e-01 -2.77401312e+01] [-1.34830332e-02 9.99669948e-01 -2.18678638e-02 -2.46560940e+00] [ 2.01670531e-01 2.41391457e-02 9.79155911e-01 -4.15766527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18463044000003 meters Centerline goodness : 0.110619 with order 3 Centerline is valid? [False, False] Translation: X:-27.74, Y:-2.46, Z:-4.16 [[ 9.79356767e-01 9.14277114e-03 -2.01932497e-01 -2.77400731e+01] [-1.39104815e-02 9.99656683e-01 -2.22039144e-02 -2.45983775e+00] [ 2.01660165e-01 2.45545321e-02 9.79147718e-01 -4.15774671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24463044000004 meters Centerline goodness : 0.169623 with order 1 Centerline is valid? [False, False] Translation: X:-27.74, Y:-2.45, Z:-4.16 [[ 9.79188599e-01 1.29635392e-02 -2.02537985e-01 -2.77385461e+01] [-1.73183485e-02 9.99655070e-01 -1.97437619e-02 -2.45264199e+00] [ 2.02212174e-01 2.28404899e-02 9.79075354e-01 -4.15753483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30463044000004 meters Centerline goodness : 0.249930 with order 1 Centerline is valid? [False, False] Translation: X:-27.76, Y:-2.44, Z:-4.16 [[ 9.79903298e-01 4.48335874e-03 -1.99422731e-01 -2.77603758e+01] [-8.77497047e-03 9.99748432e-01 -2.06415368e-02 -2.44384631e+00] [ 1.99280019e-01 2.19766386e-02 9.79696127e-01 -4.16233953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36463044000004 meters Centerline goodness : 0.190863 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.44, Z:-4.17 [[ 9.80391232e-01 -2.31152141e-03 -1.97047428e-01 -2.77793555e+01] [-1.56663644e-03 9.99808177e-01 -1.95231914e-02 -2.43712039e+00] [ 1.97054758e-01 1.94490674e-02 9.80199549e-01 -4.16813122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42463044 meters Centerline goodness : 0.088688 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80226520e-01 -2.56570659e-03 -1.97862040e-01 -2.77764409e+01] [-1.41923507e-03 9.99799061e-01 -1.99955630e-02 -2.43402963e+00] [ 1.97873585e-01 1.98809939e-02 9.80025913e-01 -4.16882942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48463044 meters Centerline goodness : 0.181242 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80232846e-01 -2.76883969e-03 -1.97827960e-01 -2.77762963e+01] [-1.22870802e-03 9.99797590e-01 -2.00815861e-02 -2.43432839e+00] [ 1.97843520e-01 1.99277031e-02 9.80031034e-01 -4.16901173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54463044 meters Centerline goodness : 0.148902 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80344529e-01 -3.05545352e-03 -1.97269533e-01 -2.77779728e+01] [-9.48121473e-04 9.99795564e-01 -2.01973134e-02 -2.43478621e+00] [ 1.97290916e-01 1.99873611e-02 9.80141214e-01 -4.16875676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60463044 meters Centerline goodness : 0.292945 with order 3 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80586422e-01 -3.50542649e-03 -1.96056065e-01 -2.77814105e+01] [-5.21505824e-04 9.99790039e-01 -2.04843039e-02 -2.43417879e+00] [ 1.96086707e-01 2.01888747e-02 9.80378709e-01 -4.16845406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66463044 meters Centerline goodness : 0.451521 with order 3 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80589647e-01 -3.57457562e-03 -1.96038687e-01 -2.77811296e+01] [-5.08105560e-04 9.99784117e-01 -2.07716500e-02 -2.43186520e+00] [ 1.96070615e-01 2.04680733e-02 9.80376138e-01 -4.16870522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72463044 meters Centerline goodness : 0.163837 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80552735e-01 -3.70727472e-03 -1.96220770e-01 -2.77802434e+01] [-4.28970246e-04 9.99778693e-01 -2.10328510e-02 -2.43049434e+00] [ 1.96255319e-01 2.07079925e-02 9.80334141e-01 -4.16909512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78463044 meters Centerline goodness : 0.087899 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.43, Z:-4.17 [[ 9.80331464e-01 -3.63088751e-03 -1.97324701e-01 -2.77766517e+01] [-6.15592057e-04 9.99769633e-01 -2.14546649e-02 -2.42586096e+00] [ 1.97357143e-01 2.11541546e-02 9.80103392e-01 -4.16976224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84463044 meters Centerline goodness : 0.363582 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-2.42, Z:-4.17 [[ 9.80348853e-01 -4.11883064e-03 -1.97228706e-01 -2.77774612e+01] [-2.82095415e-04 9.99751718e-01 -2.22805292e-02 -2.42227045e+00] [ 1.97271507e-01 2.18983285e-02 9.80104288e-01 -4.16929405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90463044 meters Centerline goodness : 0.090488 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.42, Z:-4.18 [[ 9.80228022e-01 -3.74650110e-03 -1.97835760e-01 -2.78232910e+01] [-5.99805897e-04 9.99759882e-01 -2.19047762e-02 -2.42212405e+00] [ 1.97870323e-01 2.15903385e-02 9.79990404e-01 -4.17746631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96463044 meters Centerline goodness : 0.433479 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.42, Z:-4.18 [[ 9.80212718e-01 -3.63148137e-03 -1.97913716e-01 -2.78223032e+01] [-7.87691646e-04 9.99752228e-01 -2.22454868e-02 -2.41604179e+00] [ 1.97945463e-01 2.19612040e-02 9.79966989e-01 -4.17813101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02463044 meters Centerline goodness : 0.344743 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.41, Z:-4.18 [[ 9.80111424e-01 -3.93841502e-03 -1.98408885e-01 -2.78208183e+01] [-5.98361967e-04 9.99739852e-01 -2.28006515e-02 -2.41310025e+00] [ 1.98447068e-01 2.24658993e-02 9.79854093e-01 -4.17827816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08463044 meters Centerline goodness : 0.198510 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.41, Z:-4.18 [[ 9.80044278e-01 -4.22821456e-03 -1.98734332e-01 -2.78202039e+01] [-4.11982213e-04 9.99728396e-01 -2.33015952e-02 -2.41008600e+00] [ 1.98778879e-01 2.29184701e-02 9.79776352e-01 -4.17801707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14463044 meters Centerline goodness : 0.087721 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.41, Z:-4.18 [[ 9.80065385e-01 -4.55032921e-03 -1.98623099e-01 -2.78208399e+01] [-1.68534156e-04 9.99718283e-01 -2.37345094e-02 -2.40831536e+00] [ 1.98675143e-01 2.32948458e-02 9.79788517e-01 -4.17762656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20463044 meters Centerline goodness : 0.130876 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.41, Z:-4.18 [[ 9.80134897e-01 -4.48193223e-03 -1.98281354e-01 -2.78216061e+01] [-2.54868823e-04 9.99715341e-01 -2.38573227e-02 -2.40624124e+00] [ 1.98331838e-01 2.34339302e-02 9.79854751e-01 -4.17776454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26463044 meters Centerline goodness : 0.519017 with order 3 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.40, Z:-4.18 [[ 9.80295001e-01 -4.60577071e-03 -1.97485438e-01 -2.78239196e+01] [-2.14274344e-04 9.99702770e-01 -2.43787788e-02 -2.40284515e+00] [ 1.97539023e-01 2.39407110e-02 9.80002641e-01 -4.17759574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32463044 meters Centerline goodness : 0.403072 with order 1 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.40, Z:-4.18 [[ 9.80270571e-01 -4.42948075e-03 -1.97610694e-01 -2.78234768e+01] [-3.98371020e-04 9.99702570e-01 -2.43846857e-02 -2.40123493e+00] [ 1.97659930e-01 2.39823122e-02 9.79977245e-01 -4.17769221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38463044 meters Centerline goodness : 0.187309 with order 3 Centerline is valid? [False, False] Translation: X:-27.82, Y:-2.40, Z:-4.18 [[ 9.80054866e-01 -4.30421537e-03 -1.98680480e-01 -2.78196325e+01] [-6.64609328e-04 9.99688837e-01 -2.49356638e-02 -2.39601111e+00] [ 1.98725987e-01 2.45703635e-02 9.79747049e-01 -4.17868772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44463044 meters Centerline goodness : 0.100900 with order 1 Centerline is valid? [False, False] Translation: X:-27.84, Y:-2.40, Z:-4.18 [[ 9.79961127e-01 3.97579210e-03 -1.99149149e-01 -2.78402016e+01] [-9.29383777e-03 9.99624537e-01 -2.57761603e-02 -2.39615311e+00] [ 1.98971895e-01 2.71104950e-02 9.79630137e-01 -4.18343563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50463044 meters Centerline goodness : 0.288781 with order 2 Centerline is valid? [False, False] Translation: X:-27.84, Y:-2.39, Z:-4.18 [[ 9.79873412e-01 4.37838890e-03 -1.99571857e-01 -2.78387695e+01] [-9.77384734e-03 9.99612652e-01 -2.60579838e-02 -2.39063092e+00] [ 1.99380461e-01 2.74841103e-02 9.79536653e-01 -4.18372212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56463044000003 meters Centerline goodness : 0.481196 with order 2 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.79918202e-01 -3.08798366e-03 -1.99375979e-01 -2.78574673e+01] [-2.00873030e-03 9.99676467e-01 -2.53559932e-02 -2.38403928e+00] [ 1.99389773e-01 2.52472919e-02 9.79594963e-01 -4.18888831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62463044000003 meters Centerline goodness : 0.095671 with order 1 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.79982184e-01 -3.26796646e-03 -1.99058380e-01 -2.78581788e+01] [-1.86401221e-03 9.99670825e-01 -2.55884202e-02 -2.38284762e+00] [ 1.99076477e-01 2.54472432e-02 9.79653507e-01 -4.18892845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68463044000003 meters Centerline goodness : 0.496278 with order 3 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.79950603e-01 -3.63938230e-03 -1.99207356e-01 -2.78572151e+01] [-1.59278938e-03 9.99658110e-01 -2.60983984e-02 -2.38038799e+00] [ 1.99234231e-01 2.58924366e-02 9.79609771e-01 -4.18941721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74463044000004 meters Centerline goodness : 0.479353 with order 2 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.79911929e-01 -3.88648854e-03 -1.99392843e-01 -2.78558490e+01] [-1.44851817e-03 9.99645017e-01 -2.66034079e-02 -2.37725258e+00] [ 1.99425455e-01 2.63578210e-02 9.79558448e-01 -4.19020634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80463044000004 meters Centerline goodness : 0.295761 with order 1 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.80067373e-01 -4.63595889e-03 -1.98611309e-01 -2.78585178e+01] [-7.94020104e-04 9.99628297e-01 -2.72513631e-02 -2.37531702e+00] [ 1.98663821e-01 2.68658732e-02 9.79699398e-01 -4.18960458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86463044000004 meters Centerline goodness : 0.478145 with order 2 Centerline is valid? [False, False] Translation: X:-27.86, Y:-2.38, Z:-4.19 [[ 9.80243925e-01 -6.77636943e-03 -1.97676322e-01 -2.78617723e+01] [ 1.15190600e-03 9.99591587e-01 -2.85540167e-02 -2.37861574e+00] [ 1.97789081e-01 2.77621969e-02 9.79851387e-01 -4.18903813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92463044 meters Centerline goodness : 0.287880 with order 3 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.38, Z:-4.19 [[ 9.79958900e-01 -1.68692391e-02 -1.98484212e-01 -2.78830772e+01] [ 1.13374332e-02 9.99515872e-01 -2.89738598e-02 -2.38224193e+00] [ 1.98876887e-01 2.61428903e-02 9.79675729e-01 -4.19341123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98463044 meters Centerline goodness : 0.513270 with order 1 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.39, Z:-4.19 [[ 9.79880345e-01 -1.81195950e-02 -1.98761643e-01 -2.78810872e+01] [ 1.25399767e-02 9.99492148e-01 -2.92949692e-02 -2.38963963e+00] [ 1.99191514e-01 2.62130981e-02 9.79609930e-01 -4.19432064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04463044 meters Centerline goodness : 0.087914 with order 1 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.39, Z:-4.19 [[ 9.79852342e-01 -1.80336751e-02 -1.98907451e-01 -2.78802311e+01] [ 1.25333079e-02 9.99504381e-01 -2.88774814e-02 -2.39367491e+00] [ 1.99329636e-01 2.58026995e-02 9.79592730e-01 -4.19471640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10463044 meters Centerline goodness : 0.318196 with order 1 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.40, Z:-4.20 [[ 9.79834278e-01 -1.77087235e-02 -1.99025596e-01 -2.78789576e+01] [ 1.23488625e-02 9.99527720e-01 -2.81397035e-02 -2.39983308e+00] [ 1.99429919e-01 2.51145063e-02 9.79590205e-01 -4.19558400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16463044 meters Centerline goodness : 0.087100 with order 1 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.41, Z:-4.20 [[ 9.79950327e-01 -1.71835845e-02 -1.98499575e-01 -2.78800606e+01] [ 1.20325168e-02 9.99559568e-01 -2.71272497e-02 -2.40565927e+00] [ 1.98878293e-01 2.41949077e-02 9.79725488e-01 -4.19586696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22463044 meters Centerline goodness : 0.092564 with order 1 Centerline is valid? [False, False] Translation: X:-27.90, Y:-2.42, Z:-4.20 [[ 9.80384863e-01 -9.92512867e-03 -1.96842610e-01 -2.78988316e+01] [ 4.61669412e-03 9.99613656e-01 -2.74084819e-02 -2.41593107e+00] [ 1.97038594e-01 2.59620987e-02 9.80051918e-01 -4.20153900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28463044 meters Centerline goodness : 0.088546 with order 1 Centerline is valid? [False, False] Translation: X:-27.90, Y:-2.42, Z:-4.20 [[ 9.80315112e-01 -9.62492177e-03 -1.97204568e-01 -2.78978107e+01] [ 4.42394156e-03 9.99631104e-01 -2.67971197e-02 -2.42138861e+00] [ 1.97389740e-01 2.53971999e-02 9.79996058e-01 -4.20161339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34463044 meters Centerline goodness : 0.087782 with order 1 Centerline is valid? [False, False] Translation: X:-27.90, Y:-2.43, Z:-4.20 [[ 9.80288160e-01 -9.19456830e-03 -1.97359022e-01 -2.78968920e+01] [ 4.12250402e-03 9.99650963e-01 -2.60951697e-02 -2.42511842e+00] [ 1.97530070e-01 2.47671725e-02 9.79983907e-01 -4.20205764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40463044 meters Centerline goodness : 0.087543 with order 1 Centerline is valid? [False, False] Translation: X:-27.90, Y:-2.43, Z:-4.20 [[ 9.80229631e-01 -9.96653062e-03 -1.97612094e-01 -2.78952641e+01] [ 4.89613125e-03 9.99646554e-01 -2.61303595e-02 -2.43411719e+00] [ 1.97802678e-01 2.46462179e-02 9.79931969e-01 -4.20289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46463044 meters Centerline goodness : 0.267787 with order 1 Centerline is valid? [False, False] Translation: X:-27.91, Y:-2.44, Z:-4.21 [[ 9.80317076e-01 -2.77256188e-03 -1.97410089e-01 -2.79122997e+01] [-2.56236939e-03 9.99638495e-01 -2.67640528e-02 -2.44459153e+00] [ 1.97412929e-01 2.67430956e-02 9.79955582e-01 -4.20865926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52463044 meters Centerline goodness : 0.444442 with order 2 Centerline is valid? [False, False] Translation: X:-27.95, Y:-2.45, Z:-4.22 [[ 9.79718827e-01 -1.83128683e-03 -2.00368824e-01 -2.79529966e+01] [-3.40084630e-03 9.99662237e-01 -2.57651931e-02 -2.45209535e+00] [ 2.00348331e-01 2.59240683e-02 9.79381687e-01 -4.21754667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58463044 meters Centerline goodness : 0.089529 with order 1 Centerline is valid? [False, False] Translation: X:-27.95, Y:-2.46, Z:-4.22 [[ 9.79801294e-01 -1.45263173e-03 -1.99968285e-01 -2.79546660e+01] [-3.62285222e-03 9.99680557e-01 -2.50131815e-02 -2.45616476e+00] [ 1.99940741e-01 2.52324031e-02 9.79483040e-01 -4.21700243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64463044 meters Centerline goodness : 0.236368 with order 1 Centerline is valid? [False, False] Translation: X:-27.95, Y:-2.46, Z:-4.22 [[ 9.79795140e-01 -1.42102091e-03 -1.99998658e-01 -2.79548256e+01] [-3.60955791e-03 9.99686259e-01 -2.47861781e-02 -2.45790541e+00] [ 1.99971132e-01 2.50072836e-02 9.79482609e-01 -4.21669753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70463044 meters Centerline goodness : 0.338565 with order 2 Centerline is valid? [False, False] Translation: X:-28.00, Y:-2.46, Z:-4.23 [[ 9.79555720e-01 -3.13872251e-03 -2.01148549e-01 -2.79991220e+01] [-2.00940023e-03 9.99675746e-01 -2.53843454e-02 -2.46415973e+00] [ 2.01163001e-01 2.52695687e-02 9.79231789e-01 -4.22573318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76463044 meters Centerline goodness : 0.088497 with order 1 Centerline is valid? [False, False] Translation: X:-28.00, Y:-2.47, Z:-4.23 [[ 9.79565808e-01 -2.85214692e-03 -2.01103688e-01 -2.79988245e+01] [-2.17578396e-03 9.99690655e-01 -2.47762149e-02 -2.46671706e+00] [ 2.01112143e-01 2.47074912e-02 9.79256578e-01 -4.22612689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82463044 meters Centerline goodness : 0.093734 with order 2 Centerline is valid? [False, False] Translation: X:-28.00, Y:-2.47, Z:-4.23 [[ 9.79607938e-01 -2.90530866e-03 -2.00897604e-01 -2.79995826e+01] [-2.07846632e-03 9.99695406e-01 -2.45921590e-02 -2.46862060e+00] [ 2.00907860e-01 2.45082331e-02 9.79303517e-01 -4.22591240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88463044 meters Centerline goodness : 0.307928 with order 3 Centerline is valid? [False, False] Translation: X:-28.00, Y:-2.47, Z:-4.23 [[ 9.79654481e-01 -6.54722982e-03 -2.00584726e-01 -2.80008611e+01] [ 1.14643145e-03 9.99633976e-01 -2.70296088e-02 -2.47353695e+00] [ 2.00688276e-01 2.62497207e-02 9.79303409e-01 -4.22549237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94463044 meters Centerline goodness : 0.204048 with order 3 Centerline is valid? [False, False] Translation: X:-28.02, Y:-2.48, Z:-4.23 [[ 9.79571989e-01 -1.55674304e-02 -2.00490333e-01 -2.80232893e+01] [ 1.04711308e-02 9.99595171e-01 -2.64546513e-02 -2.47627297e+00] [ 2.00821000e-01 2.38148749e-02 9.79338439e-01 -4.22988069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00463044 meters Centerline goodness : 0.231114 with order 3 Centerline is valid? [False, False] Translation: X:-28.02, Y:-2.48, Z:-4.23 [[ 9.79467752e-01 -1.93594659e-02 -2.00669213e-01 -2.80215517e+01] [ 1.38165219e-02 9.99484318e-01 -2.89862347e-02 -2.48225830e+00] [ 2.01126890e-01 2.56185316e-02 9.79230139e-01 -4.23081109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06463044000003 meters Centerline goodness : 0.384313 with order 1 Centerline is valid? [False, False] Translation: X:-28.04, Y:-2.49, Z:-4.24 [[ 9.79670140e-01 -1.24693235e-02 -2.00227201e-01 -2.80384658e+01] [ 6.65451293e-03 9.99537066e-01 -2.96878917e-02 -2.49195703e+00] [ 2.00504697e-01 2.77519266e-02 9.79299595e-01 -4.23651741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12463044000003 meters Centerline goodness : 0.095402 with order 1 Centerline is valid? [False, False] Translation: X:-28.04, Y:-2.50, Z:-4.24 [[ 9.79557642e-01 -1.26574081e-02 -2.00765077e-01 -2.80367303e+01] [ 6.85501963e-03 9.99539196e-01 -2.95703252e-02 -2.49606261e+00] [ 2.01046847e-01 2.75895895e-02 9.79193025e-01 -4.23677733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18463044000003 meters Centerline goodness : 0.350160 with order 1 Centerline is valid? [False, False] Translation: X:-28.05, Y:-2.50, Z:-4.24 [[ 9.79482815e-01 -5.56673513e-03 -2.01450804e-01 -2.80528434e+01] [-5.22061889e-04 9.99544978e-01 -3.01589901e-02 -2.50458982e+00] [ 2.01527026e-01 2.96453823e-02 9.79034223e-01 -4.24261152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24463044000004 meters Centerline goodness : 0.259534 with order 3 Centerline is valid? [False, False] Translation: X:-28.07, Y:-2.51, Z:-4.25 [[ 9.79757111e-01 1.14440781e-03 -2.00186649e-01 -2.80718532e+01] [-7.50510073e-03 9.99490655e-01 -3.10178072e-02 -2.51187421e+00] [ 2.00049188e-01 3.18923381e-02 9.79266665e-01 -4.24760436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30463044000004 meters Centerline goodness : 0.317180 with order 1 Centerline is valid? [False, False] Translation: X:-28.07, Y:-2.51, Z:-4.25 [[ 9.79747023e-01 1.08037178e-03 -2.00236368e-01 -2.80717199e+01] [-7.41734433e-03 9.99494960e-01 -3.08999556e-02 -2.51378522e+00] [ 2.00101857e-01 3.17593616e-02 9.79260226e-01 -4.24762587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36463044000004 meters Centerline goodness : 0.461648 with order 1 Centerline is valid? [False, False] Translation: X:-28.09, Y:-2.51, Z:-4.25 [[ 9.79653448e-01 -6.53594227e-03 -2.00590138e-01 -2.80902911e+01] [ 6.89857576e-04 9.99573336e-01 -2.92004997e-02 -2.51385171e+00] [ 2.00695406e-01 2.84679916e-02 9.79239974e-01 -4.25284653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42463044 meters SLAMing on 369.48463044 meters Centerline goodness : 0.473275 with order 1 Centerline is valid? [False, False] Translation: X:-28.11, Y:-2.53, Z:-4.26 [[ 9.79373301e-01 -2.06797510e-02 -2.00998224e-01 -2.81148726e+01] [ 1.45195529e-02 9.99380020e-01 -3.20742517e-02 -2.53160674e+00] [ 2.01536897e-01 2.84942614e-02 9.79066370e-01 -4.25618904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54463044 meters Centerline goodness : 0.092980 with order 1 Centerline is valid? [False, False] Translation: X:-28.12, Y:-2.54, Z:-4.26 [[ 9.79526336e-01 -2.05244928e-02 -2.00267076e-01 -2.81171413e+01] [ 1.45671075e-02 9.99407761e-01 -3.11757284e-02 -2.53861307e+00] [ 2.00788336e-01 2.76201350e-02 9.79245205e-01 -4.25631100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60463044 meters Centerline goodness : 0.249018 with order 2 Centerline is valid? [False, False] Translation: X:-28.13, Y:-2.55, Z:-4.26 [[ 9.80186667e-01 -1.54157343e-02 -1.97475195e-01 -2.81335023e+01] [ 9.08600451e-03 9.99416709e-01 -3.29193850e-02 -2.54808823e+00] [ 1.97867486e-01 3.04728818e-02 9.79755001e-01 -4.26199459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66463044 meters SLAMing on 369.72463044 meters SLAMing on 369.78463044 meters Centerline goodness : 0.092777 with order 1 Centerline is valid? [False, False] Translation: X:-28.13, Y:-2.56, Z:-4.26 [[ 9.79533247e-01 -2.11016873e-02 -2.00173269e-01 -2.81276435e+01] [ 1.43000208e-02 9.99272174e-01 -3.53642782e-02 -2.56214659e+00] [ 2.00773824e-01 3.17780044e-02 9.79122071e-01 -4.26294134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84463044 meters SLAMing on 369.90463044 meters Centerline goodness : 0.316858 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.56, Z:-4.27 [[ 9.79609813e-01 -1.11393671e-02 -2.00600421e-01 -2.81417649e+01] [ 3.96300685e-03 9.99338860e-01 -3.61405124e-02 -2.56467872e+00] [ 2.00870379e-01 3.46086197e-02 9.79006300e-01 -4.26774172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96463044 meters Centerline goodness : 0.180149 with order 1 Centerline is valid? [False, False] Translation: X:-28.12, Y:-2.57, Z:-4.26 [[ 9.79307864e-01 -3.13652769e-03 -2.02351846e-01 -2.81208630e+01] [-4.19916099e-03 9.99349698e-01 -3.58126675e-02 -2.56723403e+00] [ 2.02332584e-01 3.59213349e-02 9.78657848e-01 -4.26484708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02463044 meters Centerline goodness : 0.163127 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.56, Z:-4.27 [[ 9.79647619e-01 -9.80288389e-03 -2.00485524e-01 -2.81385383e+01] [ 2.89247351e-03 9.99392466e-01 -3.47323008e-02 -2.55799263e+00] [ 2.00704199e-01 3.34455167e-02 9.79080805e-01 -4.26982894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08463044 meters Centerline goodness : 0.177794 with order 3 Centerline is valid? [False, False] Translation: X:-28.12, Y:-2.56, Z:-4.27 [[ 9.79864342e-01 -1.49116462e-03 -1.99658827e-01 -2.81204005e+01] [-5.61066108e-03 9.99371588e-01 -3.49992755e-02 -2.55898583e+00] [ 1.99585549e-01 3.54147600e-02 9.79240217e-01 -4.26580516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14463044 meters Centerline goodness : 0.233807 with order 1 Centerline is valid? [False, False] Translation: X:-28.12, Y:-2.55, Z:-4.27 [[ 9.79782609e-01 -1.87249842e-03 -2.00056326e-01 -2.81186988e+01] [-5.34666104e-03 9.99353978e-01 -3.55392622e-02 -2.55485406e+00] [ 1.99993633e-01 3.58903844e-02 9.79139636e-01 -4.26613647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20463044 meters Centerline goodness : 0.096334 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.55, Z:-4.27 [[ 9.79699436e-01 -9.32744551e-03 -2.00254872e-01 -2.81365113e+01] [ 2.59264884e-03 9.99422983e-01 -3.38670752e-02 -2.54827872e+00] [ 2.00455215e-01 3.26603639e-02 9.79158316e-01 -4.27086337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26463044 meters Centerline goodness : 0.476910 with order 3 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.55, Z:-4.27 [[ 9.79861228e-01 -1.05158993e-02 -1.99402584e-01 -2.81393242e+01] [ 3.63535289e-03 9.99386270e-01 -3.48405919e-02 -2.54639267e+00] [ 1.99646585e-01 3.34140464e-02 9.79298087e-01 -4.27072931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32463044 meters Centerline goodness : 0.095847 with order 1 Centerline is valid? [False, False] Translation: X:-28.12, Y:-2.55, Z:-4.27 [[ 9.79862567e-01 -2.86077269e-03 -1.99652613e-01 -2.81224168e+01] [-4.26825622e-03 9.99368789e-01 -3.52676147e-02 -2.54809735e+00] [ 1.99627483e-01 3.54095840e-02 9.79231857e-01 -4.26641239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38463044 meters Centerline goodness : 0.475562 with order 3 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.53, Z:-4.27 [[ 9.80231994e-01 -9.71838509e-03 -1.97612727e-01 -2.81406455e+01] [ 2.86092593e-03 9.99384707e-01 -3.49574362e-02 -2.53419249e+00] [ 1.97830867e-01 3.37010420e-02 9.79656668e-01 -4.27115487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44463044 meters Centerline goodness : 0.091532 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.53, Z:-4.27 [[ 9.80314769e-01 -6.48218268e-03 -1.97334575e-01 -2.81411679e+01] [-1.53620579e-05 9.99458411e-01 -3.29072168e-02 -2.52585300e+00] [ 1.97441011e-01 3.22624621e-02 9.79783742e-01 -4.27113411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50463044 meters Centerline goodness : 0.372295 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:-2.52, Z:-4.27 [[ 9.80140840e-01 -4.46554124e-03 -1.98252346e-01 -2.81368508e+01] [-1.83370483e-03 9.99499579e-01 -3.15789232e-02 -2.51967034e+00] [ 1.98294153e-01 3.13153286e-02 9.79642169e-01 -4.27228092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56463044000003 meters Centerline goodness : 0.464884 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.51, Z:-4.28 [[ 9.79930574e-01 -1.20799020e-02 -1.98972727e-01 -2.81548136e+01] [ 6.11360656e-03 9.99513851e-01 -3.05726291e-02 -2.51197595e+00] [ 1.99245311e-01 2.87426130e-02 9.79528033e-01 -4.27689969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62463044000003 meters Centerline goodness : 0.260113 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.51, Z:-4.28 [[ 9.79774534e-01 -1.28612124e-02 -1.99690889e-01 -2.81527411e+01] [ 6.68982000e-03 9.99479825e-01 -3.15487956e-02 -2.50672460e+00] [ 1.99992770e-01 2.95748104e-02 9.79350919e-01 -4.27685288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68463044000003 meters Centerline goodness : 0.231547 with order 3 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.50, Z:-4.28 [[ 9.79645050e-01 -1.32859317e-02 -2.00297431e-01 -2.81499563e+01] [ 6.96917703e-03 9.99456855e-01 -3.22090786e-02 -2.50174226e+00] [ 2.00616568e-01 3.01575561e-02 9.79205553e-01 -4.27774552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74463044000004 meters Centerline goodness : 0.101072 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.50, Z:-4.28 [[ 9.79650549e-01 -1.37320422e-02 -2.00240436e-01 -2.81502095e+01] [ 7.27303657e-03 9.99430330e-01 -3.29563067e-02 -2.49795775e+00] [ 2.00578923e-01 3.08293079e-02 9.79192346e-01 -4.27742741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80463044000004 meters Centerline goodness : 0.099985 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.49, Z:-4.28 [[ 9.79615172e-01 -9.78199599e-03 -2.00645029e-01 -2.81491690e+01] [ 3.81924436e-03 9.99540092e-01 -3.00835136e-02 -2.49306658e+00] [ 2.00847027e-01 2.87039540e-02 9.79201999e-01 -4.27727910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86463044000004 meters Centerline goodness : 0.091821 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.49, Z:-4.28 [[ 9.79514548e-01 -1.00555608e-02 -2.01122192e-01 -2.81476749e+01] [ 3.97763412e-03 9.99523753e-01 -3.06014036e-02 -2.49008086e+00] [ 2.01334122e-01 2.91745295e-02 9.79088054e-01 -4.27724830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92463044 meters Centerline goodness : 0.087638 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.49, Z:-4.28 [[ 9.79870885e-01 -8.53698540e-03 -1.99449665e-01 -2.81544460e+01] [ 2.69106903e-03 9.99559298e-01 -2.95629623e-02 -2.48735325e+00] [ 1.99614146e-01 2.84311532e-02 9.79462027e-01 -4.27540588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98463044 meters Centerline goodness : 0.087052 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.48, Z:-4.28 [[ 9.79927292e-01 -4.79719236e-03 -1.99297492e-01 -2.81547428e+01] [-5.03050784e-04 9.99647745e-01 -2.65354856e-02 -2.48487702e+00] [ 1.99354584e-01 2.61031033e-02 9.79579694e-01 -4.27538931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04463044 meters Centerline goodness : 0.098419 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.48, Z:-4.28 [[ 9.79895285e-01 -4.67013571e-03 -1.99457815e-01 -2.81538899e+01] [-7.12173801e-04 9.99637756e-01 -2.69044346e-02 -2.47728745e+00] [ 1.99511210e-01 2.65055772e-02 9.79536998e-01 -4.27545436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10463044 meters Centerline goodness : 0.094806 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.47, Z:-4.28 [[ 9.79869502e-01 -5.05634556e-03 -1.99575028e-01 -2.81534311e+01] [-4.63313032e-04 9.99618921e-01 -2.76006727e-02 -2.47325071e+00] [ 1.99638532e-01 2.71375231e-02 9.79493753e-01 -4.27541723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16463044 meters Centerline goodness : 0.099755 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.47, Z:-4.28 [[ 9.79825108e-01 -5.34300654e-03 -1.99785411e-01 -2.81526926e+01] [-2.27784305e-04 9.99612074e-01 -2.78504952e-02 -2.47249475e+00] [ 1.99856714e-01 2.73341225e-02 9.79443791e-01 -4.27547338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22463044 meters Centerline goodness : 0.099491 with order 1 Centerline is valid? [False, False] Translation: X:-28.15, Y:-2.47, Z:-4.28 [[ 9.79952473e-01 -2.21138671e-03 -1.99219128e-01 -2.81542481e+01] [-2.92378182e-03 9.99671092e-01 -2.54786107e-02 -2.46868085e+00] [ 1.99209946e-01 2.55503008e-02 9.79623693e-01 -4.27536917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28463044 meters SLAMing on 371.34463044 meters Centerline goodness : 0.481441 with order 3 Centerline is valid? [False, False] Translation: X:-28.20, Y:-2.45, Z:-4.28 [[ 9.79745390e-01 9.15185970e-04 -2.00245184e-01 -2.81991199e+01] [-5.88458606e-03 9.99689266e-01 -2.42227771e-02 -2.45178380e+00] [ 2.00160793e-01 2.49105142e-02 9.79446335e-01 -4.28196362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40463044 meters Centerline goodness : 0.465337 with order 1 Centerline is valid? [False, False] Translation: X:-28.20, Y:-2.45, Z:-4.28 [[ 9.79690731e-01 5.43362171e-04 -2.00513781e-01 -2.81982451e+01] [-5.63313840e-03 9.99676214e-01 -2.48139914e-02 -2.44931223e+00] [ 2.00435374e-01 2.54395593e-02 9.79376582e-01 -4.28196843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46463044 meters Centerline goodness : 0.108854 with order 1 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.44, Z:-4.29 [[ 9.79494325e-01 -5.00956630e-03 -2.01409463e-01 -2.82183542e+01] [ 5.11427445e-04 9.99749425e-01 -2.23791409e-02 -2.44340985e+00] [ 2.01471104e-01 2.18172352e-02 9.79251450e-01 -4.28577147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52463044 meters Centerline goodness : 0.108104 with order 1 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.44, Z:-4.29 [[ 9.79341385e-01 -5.57518942e-03 -2.02137006e-01 -2.82159258e+01] [ 1.02634346e-03 9.99744024e-01 -2.26016095e-02 -2.44453698e+00] [ 2.02211272e-01 2.19272296e-02 9.79096419e-01 -4.28630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58463044 meters Centerline goodness : 0.120244 with order 1 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.45, Z:-4.29 [[ 9.79391399e-01 -5.41520397e-03 -2.01898893e-01 -2.82167690e+01] [ 9.79557003e-04 9.99756101e-01 -2.20630902e-02 -2.44720668e+00] [ 2.01969126e-01 2.14106293e-02 9.79157830e-01 -4.28614954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64463044 meters Centerline goodness : 0.105794 with order 1 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.45, Z:-4.29 [[ 9.79391291e-01 -5.43075643e-03 -2.01899002e-01 -2.82168557e+01] [ 1.04345500e-03 9.99761147e-01 -2.18302642e-02 -2.44916946e+00] [ 2.01969332e-01 2.11696981e-02 9.79163027e-01 -4.28610807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70463044 meters Centerline goodness : 0.103393 with order 1 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.45, Z:-4.29 [[ 9.79369796e-01 -5.37840409e-03 -2.02004640e-01 -2.82171383e+01] [ 1.00429124e-03 9.99762941e-01 -2.17497805e-02 -2.44962365e+00] [ 2.02073732e-01 2.10982066e-02 9.79143030e-01 -4.28551943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76463044 meters Centerline goodness : 0.492777 with order 3 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.45, Z:-4.28 [[ 9.79584195e-01 -2.81908888e-03 -2.01014572e-01 -2.82215496e+01] [-1.23199593e-03 9.99798716e-01 -2.00252406e-02 -2.44514825e+00] [ 2.01030564e-01 1.98640583e-02 9.79383547e-01 -4.28402519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82463044 meters Centerline goodness : 0.105019 with order 1 Centerline is valid? [False, False] Translation: X:-28.23, Y:-2.44, Z:-4.28 [[ 9.79749325e-01 1.31298656e-04 -2.00227975e-01 -2.82252247e+01] [-3.83479846e-03 9.99828670e-01 -1.81086835e-02 -2.43955408e+00] [ 2.00191293e-01 1.85098044e-02 9.79581969e-01 -4.28258766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88463044 meters Centerline goodness : 0.473126 with order 1 Centerline is valid? [False, False] Translation: X:-28.23, Y:-2.43, Z:-4.28 [[ 9.79748317e-01 3.50668470e-03 -2.00202245e-01 -2.82255871e+01] [-6.85899161e-03 9.99847609e-01 -1.60534422e-02 -2.43173748e+00] [ 2.00115442e-01 1.71015185e-02 9.79623064e-01 -4.28206700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94463044 meters Centerline goodness : 0.103638 with order 1 Centerline is valid? [False, False] Translation: X:-28.23, Y:-2.43, Z:-4.28 [[ 9.79762087e-01 3.12801663e-03 -2.00141123e-01 -2.82256657e+01] [-6.56743826e-03 9.99841911e-01 -1.65233653e-02 -2.42937227e+00] [ 2.00057798e-01 1.75033813e-02 9.79627740e-01 -4.28205013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00463044 meters Centerline goodness : 0.083371 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-2.42, Z:-4.29 [[ 9.79985653e-01 -5.67318761e-03 -1.98987271e-01 -2.82459428e+01] [ 2.32330054e-03 9.99851698e-01 -1.70641320e-02 -2.42100753e+00] [ 1.99054569e-01 1.62602973e-02 9.79853500e-01 -4.28672455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06463044000003 meters Centerline goodness : 0.082985 with order 1 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.42, Z:-4.29 [[ 9.79744937e-01 -4.42429917e-03 -2.00200609e-01 -2.82401141e+01] [ 1.24633808e-03 9.99871261e-01 -1.59971350e-02 -2.41783665e+00] [ 2.00245611e-01 1.54235943e-02 9.79624320e-01 -4.28853360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12463044000003 meters Centerline goodness : 0.136720 with order 3 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.42, Z:-4.29 [[ 9.79720323e-01 -4.74754618e-03 -2.00313630e-01 -2.82399315e+01] [ 1.47978714e-03 9.99863433e-01 -1.64597901e-02 -2.41545417e+00] [ 2.00364417e-01 1.58295693e-02 9.79593551e-01 -4.28828477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18463044000003 meters Centerline goodness : 0.118181 with order 1 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.41, Z:-4.29 [[ 9.79595076e-01 -4.81910423e-03 -2.00923526e-01 -2.82378670e+01] [ 1.51277813e-03 9.99860967e-01 -1.66059409e-02 -2.41312522e+00] [ 2.00975617e-01 1.59631452e-02 9.79466171e-01 -4.28852221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24463044000004 meters Centerline goodness : 0.300573 with order 1 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.41, Z:-4.29 [[ 9.79573083e-01 -4.90940623e-03 -2.01028537e-01 -2.82370967e+01] [ 1.60153624e-03 9.99860694e-01 -1.66140617e-02 -2.41346873e+00] [ 2.01082098e-01 1.59527332e-02 9.79444485e-01 -4.28900057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30463044000004 meters Centerline goodness : 0.155056 with order 3 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.41, Z:-4.29 [[ 9.79574390e-01 -4.97511746e-03 -2.01020551e-01 -2.82370366e+01] [ 1.69474060e-03 9.99862637e-01 -1.64874166e-02 -2.41495010e+00] [ 2.01074965e-01 1.58099734e-02 9.79448265e-01 -4.28903283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36463044000004 meters Centerline goodness : 0.090093 with order 3 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.42, Z:-4.29 [[ 9.79511898e-01 -4.69257645e-03 -2.01331619e-01 -2.82359645e+01] [ 1.46752129e-03 9.99868263e-01 -1.61648911e-02 -2.41594249e+00] [ 2.01380951e-01 1.55382447e-02 9.79389746e-01 -4.28917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42463044 meters Centerline goodness : 0.098609 with order 1 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.42, Z:-4.29 [[ 9.79611459e-01 -4.48906935e-03 -2.00851282e-01 -2.82380903e+01] [ 1.32169223e-03 9.99872696e-01 -1.59010836e-02 -2.41742023e+00] [ 2.00897094e-01 1.53114201e-02 9.79492684e-01 -4.28830322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48463044 meters Centerline goodness : 0.082860 with order 1 Centerline is valid? [False, False] Translation: X:-28.24, Y:-2.42, Z:-4.29 [[ 9.79774664e-01 -4.51718669e-03 -2.00052999e-01 -2.82405478e+01] [ 1.39152145e-03 9.99874803e-01 -1.57620416e-02 -2.41913198e+00] [ 2.00099153e-01 1.51648710e-02 9.79658285e-01 -4.28802459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54463044 meters Centerline goodness : 0.209191 with order 1 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.42, Z:-4.29 [[ 9.79845188e-01 -1.15090253e-02 -1.99426554e-01 -2.82599286e+01] [ 8.78012424e-03 9.99855407e-01 -1.45627482e-02 -2.41556953e+00] [ 1.99565322e-01 1.25182488e-02 9.79804560e-01 -4.29291521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60463044 meters Centerline goodness : 0.302024 with order 1 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.41, Z:-4.29 [[ 9.79763426e-01 -1.15553152e-02 -1.99825184e-01 -2.82590058e+01] [ 8.78915479e-03 9.99852959e-01 -1.47244887e-02 -2.41454395e+00] [ 1.99965948e-01 1.26702210e-02 9.79720922e-01 -4.29264741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66463044 meters Centerline goodness : 0.111816 with order 2 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.41, Z:-4.29 [[ 9.79817739e-01 -7.37196003e-03 -1.99756981e-01 -2.82584886e+01] [ 5.18293321e-03 9.99920680e-01 -1.14791752e-02 -2.41203289e+00] [ 1.99825761e-01 1.02121724e-02 9.79778228e-01 -4.29325943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72463044 meters Centerline goodness : 0.095363 with order 1 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.41, Z:-4.29 [[ 9.79825249e-01 -7.60554296e-03 -1.99711386e-01 -2.82582008e+01] [ 5.34252727e-03 9.99915302e-01 -1.18679045e-02 -2.41040175e+00] [ 1.99784733e-01 1.05615090e-02 9.79782892e-01 -4.29361737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78463044 meters Centerline goodness : 0.478148 with order 2 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.41, Z:-4.29 [[ 9.79741466e-01 -7.35624673e-03 -2.00131319e-01 -2.82570521e+01] [ 5.18566510e-03 9.99921937e-01 -1.13678427e-02 -2.41227034e+00] [ 2.00199321e-01 1.00997329e-02 9.79703132e-01 -4.29370981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84463044 meters Centerline goodness : 0.477574 with order 2 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.41, Z:-4.29 [[ 9.79674892e-01 -7.55491277e-03 -2.00449568e-01 -2.82558015e+01] [ 5.41376224e-03 9.99922311e-01 -1.12277563e-02 -2.41462753e+00] [ 2.00518820e-01 9.91436465e-03 9.79639683e-01 -4.29414551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90463044 meters Centerline goodness : 0.083437 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-2.42, Z:-4.29 [[ 9.79504361e-01 -7.23767364e-03 -2.01292878e-01 -2.82534135e+01] [ 5.24060570e-03 9.99931640e-01 -1.04523457e-02 -2.41890084e+00] [ 2.01354768e-01 9.18322156e-03 9.79475332e-01 -4.29432417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96463044 meters Centerline goodness : 0.112517 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-2.42, Z:-4.29 [[ 9.79462004e-01 -6.91817952e-03 -2.01510104e-01 -2.82528274e+01] [ 5.00709915e-03 9.99937543e-01 -9.99197572e-03 -2.42094765e+00] [ 2.01566644e-01 8.77777949e-03 9.79435469e-01 -4.29426329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02463044 meters Centerline goodness : 0.104451 with order 1 Centerline is valid? [False, False] Translation: X:-28.25, Y:-2.42, Z:-4.29 [[ 9.79578095e-01 -6.12504802e-03 -2.00970744e-01 -2.82546853e+01] [ 4.30613293e-03 9.99945730e-01 -9.48656548e-03 -2.42157362e+00] [ 2.01017943e-01 8.42742501e-03 9.79551308e-01 -4.29375859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08463044 meters Centerline goodness : 0.104580 with order 1 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.42, Z:-4.29 [[ 9.79642907e-01 -5.88277280e-03 -2.00661825e-01 -2.82557944e+01] [ 4.09141872e-03 9.99948004e-01 -9.34077812e-03 -2.42195901e+00] [ 2.00706341e-01 8.32963548e-03 9.79616038e-01 -4.29348815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14463044 meters Centerline goodness : 0.162400 with order 3 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.42, Z:-4.29 [[ 9.79932485e-01 -3.99332222e-03 -1.99289682e-01 -2.82617788e+01] [ 2.51994727e-03 9.99967592e-01 -7.64622933e-03 -2.42429974e+00] [ 1.99313758e-01 6.99058902e-03 9.79910791e-01 -4.29176155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20463044 meters Centerline goodness : 0.110066 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.42, Z:-4.30 [[ 9.80713703e-01 -9.53934196e-04 -1.95447493e-01 -2.82992409e+01] [-5.26203405e-04 9.99971578e-01 -7.52100704e-03 -2.42141969e+00] [ 1.95449113e-01 7.47879981e-03 9.80685328e-01 -4.30105559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26463044 meters Centerline goodness : 0.108067 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.41, Z:-4.30 [[ 9.80768665e-01 2.21100560e-03 -1.95161313e-01 -2.83007784e+01] [-3.38002154e-03 9.99978286e-01 -5.65717458e-03 -2.41415378e+00] [ 1.95144567e-01 6.20802900e-03 9.80754841e-01 -4.30026259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32463044 meters Centerline goodness : 0.110128 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.41, Z:-4.30 [[ 9.80935385e-01 4.21044421e-03 -1.94288556e-01 -2.83035669e+01] [-5.24687968e-03 9.99974618e-01 -4.82021494e-03 -2.40558481e+00] [ 1.94263329e-01 5.74772807e-03 9.80932578e-01 -4.29971642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38463044 meters Centerline goodness : 0.147277 with order 3 Centerline is valid? [False, False] Translation: X:-28.31, Y:-2.39, Z:-4.30 [[ 9.81137253e-01 7.37927021e-03 -1.93171522e-01 -2.83081893e+01] [-8.23668982e-03 9.99959468e-01 -3.63589883e-03 -2.39042500e+00] [ 1.93136863e-01 5.15840970e-03 9.81158266e-01 -4.29789792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44463044 meters Centerline goodness : 0.094463 with order 1 Centerline is valid? [False, False] Translation: X:-28.31, Y:-2.38, Z:-4.30 [[ 9.81034722e-01 1.02878837e-02 -1.93558863e-01 -2.83054585e+01] [-1.09074721e-02 9.99938231e-01 -2.13558097e-03 -2.38005186e+00] [ 1.93524936e-01 4.20631698e-03 9.81086340e-01 -4.29896507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50463044 meters Centerline goodness : 0.116319 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.37, Z:-4.30 [[ 9.80989510e-01 1.35670726e-02 -1.93585939e-01 -2.83041247e+01] [-1.39379172e-02 9.99902709e-01 -5.53748696e-04 -2.36598237e+00] [ 1.93559592e-01 3.24140645e-03 9.81083166e-01 -4.29964364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56463044000003 meters Centerline goodness : 0.123852 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.36, Z:-4.30 [[ 9.80956727e-01 1.38971106e-02 -1.93728599e-01 -2.83041191e+01] [-1.43487830e-02 9.99896620e-01 -9.28418920e-04 -2.35671252e+00] [ 1.93695669e-01 3.69050841e-03 9.81054722e-01 -4.29909367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62463044000003 meters Centerline goodness : 0.234062 with order 3 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.35, Z:-4.30 [[ 9.80723446e-01 1.66991452e-02 -1.94686058e-01 -2.83008531e+01] [-1.69452312e-02 9.99856339e-01 4.01470039e-04 -2.34581031e+00] [ 1.94664793e-01 2.90526919e-03 9.80865525e-01 -4.29949332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68463044000003 meters Centerline goodness : 0.095320 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.34, Z:-4.30 [[ 9.80768285e-01 1.87791518e-02 -1.94270210e-01 -2.83024810e+01] [-1.89752410e-02 9.99819591e-01 8.51645140e-04 -2.33635842e+00] [ 1.94251155e-01 2.85105751e-03 9.80947685e-01 -4.29952946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74463044000004 meters Centerline goodness : 0.089823 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.32, Z:-4.30 [[ 9.80630682e-01 2.15996069e-02 -1.94671321e-01 -2.83022109e+01] [-2.17146882e-02 9.99763017e-01 1.54310721e-03 -2.32338602e+00] [ 1.94658518e-01 2.71400877e-03 9.80867318e-01 -4.29953928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80463044000004 meters Centerline goodness : 0.254527 with order 3 Centerline is valid? [False, False] Translation: X:-28.31, Y:-2.31, Z:-4.30 [[ 9.80699395e-01 1.35304904e-02 -1.95052873e-01 -2.83143832e+01] [-1.33377088e-02 9.99908399e-01 2.30177593e-03 -2.31095146e+00] [ 1.95066150e-01 3.44208164e-04 9.80790028e-01 -4.30409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86463044000004 meters Centerline goodness : 0.090754 with order 1 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.30, Z:-4.30 [[ 9.80817373e-01 5.86952303e-03 -1.94840526e-01 -2.82985600e+01] [-5.61914104e-03 9.99982524e-01 1.83775577e-03 -2.30080680e+00] [ 1.94847907e-01 -7.07666395e-04 9.80833213e-01 -4.30016840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92463044 meters Centerline goodness : 0.103101 with order 1 Centerline is valid? [False, False] Translation: X:-28.32, Y:-2.29, Z:-4.30 [[ 9.81149361e-01 -2.12089448e-03 -1.93239315e-01 -2.83153116e+01] [ 2.72318181e-03 9.99992227e-01 2.85123192e-03 -2.29392246e+00] [ 1.93231766e-01 -3.32371016e-03 9.81147511e-01 -4.30458285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98463044 meters Centerline goodness : 0.251292 with order 2 Centerline is valid? [False, False] Translation: X:-28.31, Y:-2.29, Z:-4.30 [[ 9.81066366e-01 -2.25293230e-03 -1.93658745e-01 -2.83135885e+01] [ 2.84718682e-03 9.99992054e-01 2.79029396e-03 -2.29452247e+00] [ 1.93650920e-01 -3.28884618e-03 9.81064985e-01 -4.30496983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04463044 meters Centerline goodness : 0.478255 with order 3 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.30, Z:-4.30 [[ 9.80910996e-01 4.30751344e-03 -1.94409526e-01 -2.82954144e+01] [-4.05365764e-03 9.99990333e-01 1.70359165e-03 -2.30040008e+00] [ 1.94414985e-01 -8.83002120e-04 9.80918974e-01 -4.30028556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10463044 meters Centerline goodness : 0.097067 with order 1 Centerline is valid? [False, False] Translation: X:-28.31, Y:-2.30, Z:-4.30 [[ 9.80854717e-01 -2.90674523e-03 -1.94719222e-01 -2.83096420e+01] [ 3.73499465e-03 9.99985472e-01 3.88654037e-03 -2.29560036e+00] [ 1.94705096e-01 -4.53940671e-03 9.80851324e-01 -4.30445370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16463044 meters Centerline goodness : 0.472399 with order 3 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.30, Z:-4.30 [[ 9.80436017e-01 4.87549904e-03 -1.96777657e-01 -2.82870051e+01] [-4.28968928e-03 9.99985009e-01 3.40313067e-03 -2.29827896e+00] [ 1.96791299e-01 -2.49243688e-03 9.80442233e-01 -4.29943580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22463044 meters Centerline goodness : 0.098042 with order 1 Centerline is valid? [False, False] Translation: X:-28.27, Y:-2.30, Z:-4.29 [[ 9.80570506e-01 1.34251950e-02 -1.95707045e-01 -2.82685997e+01] [-1.30861497e-02 9.99909796e-01 3.02539717e-03 -2.30152162e+00] [ 1.95730008e-01 -4.05563548e-04 9.80657738e-01 -4.29430439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28463044 meters Centerline goodness : 0.471399 with order 1 Centerline is valid? [False, False] Translation: X:-28.27, Y:-2.30, Z:-4.29 [[ 9.80725887e-01 1.39714085e-02 -1.94888520e-01 -2.82711114e+01] [-1.35962555e-02 9.99902244e-01 3.26259859e-03 -2.30170609e+00] [ 1.94915051e-01 -5.49960786e-04 9.80819973e-01 -4.29436759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34463044 meters Centerline goodness : 0.233962 with order 3 Centerline is valid? [False, False] Translation: X:-28.27, Y:-2.30, Z:-4.29 [[ 9.80694298e-01 1.37592471e-02 -1.95062497e-01 -2.82708003e+01] [-1.33849922e-02 9.99905178e-01 3.23669033e-03 -2.30319436e+00] [ 1.95088536e-01 -5.63293744e-04 9.80785474e-01 -4.29420974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40463044 meters Centerline goodness : 0.092246 with order 1 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.30, Z:-4.30 [[ 9.80750411e-01 5.40318733e-03 -1.95190772e-01 -2.82865897e+01] [-4.41328802e-03 9.99975103e-01 5.50599166e-03 -2.30377591e+00] [ 1.95215663e-01 -4.53857049e-03 9.80749839e-01 -4.29726554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46463044 meters Centerline goodness : 0.088831 with order 1 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.31, Z:-4.30 [[ 9.80744511e-01 5.65669041e-03 -1.95213230e-01 -2.82873108e+01] [-4.57990353e-03 9.99971710e-01 5.96688621e-03 -2.30865987e+00] [ 1.95241460e-01 -4.95793314e-03 9.80742673e-01 -4.29645841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52463044 meters Centerline goodness : 0.089302 with order 1 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.31, Z:-4.30 [[ 9.80734615e-01 6.19136517e-03 -1.95246722e-01 -2.82873186e+01] [-5.06504447e-03 9.99967532e-01 6.26745331e-03 -2.30980949e+00] [ 1.95279186e-01 -5.15777508e-03 9.80734132e-01 -4.29619193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58463044 meters Centerline goodness : 0.122082 with order 1 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.31, Z:-4.30 [[ 9.80843106e-01 7.12164859e-03 -1.94669165e-01 -2.82893146e+01] [-5.92627119e-03 9.99959844e-01 6.72227865e-03 -2.30975925e+00] [ 1.94709221e-01 -5.43983841e-03 9.80845924e-01 -4.29571207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64463044 meters Centerline goodness : 0.263028 with order 2 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.31, Z:-4.30 [[ 9.80886248e-01 7.58855894e-03 -1.94434007e-01 -2.82899414e+01] [-6.44146511e-03 9.99957924e-01 6.53123971e-03 -2.30885930e+00] [ 1.94475389e-01 -5.15396335e-03 9.80893858e-01 -4.29568553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70463044 meters Centerline goodness : 0.095947 with order 1 Centerline is valid? [False, False] Translation: X:-28.33, Y:-2.31, Z:-4.30 [[ 9.80488942e-01 7.76033992e-03 -1.96421008e-01 -2.83343667e+01] [-6.81781650e-03 9.99961774e-01 5.47420869e-03 -2.31014001e+00] [ 1.96455982e-01 -4.02823870e-03 9.80504370e-01 -4.30333018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76463044 meters Centerline goodness : 0.222726 with order 3 Centerline is valid? [False, False] Translation: X:-28.33, Y:-2.31, Z:-4.30 [[ 9.80236747e-01 8.40038958e-03 -1.97649574e-01 -2.83306373e+01] [-7.43240436e-03 9.99956481e-01 5.63880866e-03 -2.30922744e+00] [ 1.97688341e-01 -4.05835590e-03 9.80256522e-01 -4.30365902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82463044 meters Centerline goodness : 0.093640 with order 1 Centerline is valid? [False, False] Translation: X:-28.33, Y:-2.31, Z:-4.30 [[ 9.80113421e-01 8.62491644e-03 -1.98250580e-01 -2.83287113e+01] [-7.69925261e-03 9.99955565e-01 5.43954210e-03 -2.30761521e+00] [ 1.98288686e-01 -3.80498693e-03 9.80136276e-01 -4.30382075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88463044 meters Centerline goodness : 0.209773 with order 3 Centerline is valid? [False, False] Translation: X:-28.37, Y:-2.31, Z:-4.31 [[ 9.79588977e-01 9.92288375e-03 -2.00765967e-01 -2.83730325e+01] [-9.04749812e-03 9.99945145e-01 5.27733870e-03 -2.30653479e+00] [ 2.00807320e-01 -3.35319311e-03 9.79625018e-01 -4.31181319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94463044 meters Centerline goodness : 0.094838 with order 1 Centerline is valid? [False, False] Translation: X:-28.37, Y:-2.30, Z:-4.31 [[ 9.79504806e-01 9.85897515e-03 -2.01179360e-01 -2.83720859e+01] [-9.04393527e-03 9.99946751e-01 4.97005316e-03 -2.30499906e+00] [ 2.01217647e-01 -3.04873785e-03 9.79541813e-01 -4.31161956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00463044 meters Centerline goodness : 0.098426 with order 1 Centerline is valid? [False, False] Translation: X:-28.37, Y:-2.30, Z:-4.31 [[ 9.79451439e-01 9.72452936e-03 -2.01445555e-01 -2.83715809e+01] [-8.99990266e-03 9.99949317e-01 4.51272742e-03 -2.30228000e+00] [ 2.01479229e-01 -2.60700698e-03 9.79489318e-01 -4.31129013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06463044000003 meters Centerline goodness : 0.297587 with order 1 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.30, Z:-4.32 [[ 9.80004500e-01 2.99497806e-03 -1.98952786e-01 -2.83884800e+01] [-2.18189438e-03 9.99988349e-01 4.30593042e-03 -2.29829008e+00] [ 1.98963364e-01 -3.78573722e-03 9.79999616e-01 -4.31626416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12463044000003 meters Centerline goodness : 0.086797 with order 1 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.30, Z:-4.32 [[ 9.79926971e-01 3.10962667e-03 -1.99332542e-01 -2.83879679e+01] [-2.21137178e-03 9.99986374e-01 4.72878856e-03 -2.30095489e+00] [ 1.99344530e-01 -4.19306909e-03 9.79920495e-01 -4.31550157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18463044000003 meters Centerline goodness : 0.087830 with order 1 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.30, Z:-4.32 [[ 9.79975315e-01 -1.15078321e-03 -1.99115687e-01 -2.83887951e+01] [ 1.48759231e-03 9.99997705e-01 1.54193365e-03 -2.30495239e+00] [ 1.99113455e-01 -1.80725988e-03 9.79974778e-01 -4.31512496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24463044000004 meters Centerline goodness : 0.226815 with order 3 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.32, Z:-4.31 [[ 9.79951537e-01 -5.23486802e-03 -1.99167220e-01 -2.83890769e+01] [ 5.11872835e-03 9.99986296e-01 -1.09802488e-03 -2.31512965e+00] [ 1.99170239e-01 5.65282666e-05 9.79964904e-01 -4.31435376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30463044000004 meters Centerline goodness : 0.095252 with order 1 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.32, Z:-4.31 [[ 9.79840406e-01 -4.96416969e-03 -1.99720145e-01 -2.83873206e+01] [ 4.96142936e-03 9.99987560e-01 -5.14214409e-04 -2.32114139e+00] [ 1.99720213e-01 -4.87049336e-04 9.79852846e-01 -4.31422259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36463044000004 meters Centerline goodness : 0.266459 with order 2 Centerline is valid? [False, False] Translation: X:-28.41, Y:-2.33, Z:-4.32 [[ 9.80320746e-01 2.28467069e-04 -1.97411203e-01 -2.84090702e+01] [-6.68466949e-04 9.99997439e-01 -2.16221535e-03 -2.33483272e+00] [ 1.97410203e-01 2.25162743e-03 9.80318388e-01 -4.31753133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42463044 meters Centerline goodness : 0.089515 with order 1 Centerline is valid? [False, False] Translation: X:-28.41, Y:-2.34, Z:-4.32 [[ 9.80325083e-01 7.84677924e-04 -1.97388235e-01 -2.84091086e+01] [-1.08448690e-03 9.99998417e-01 -1.41078840e-03 -2.33865495e+00] [ 1.97386816e-01 1.59709621e-03 9.80324382e-01 -4.31744085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48463044 meters Centerline goodness : 0.302506 with order 1 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.35, Z:-4.32 [[ 9.80710299e-01 5.56414772e-03 -1.95387689e-01 -2.84295270e+01] [-6.43198040e-03 9.99972066e-01 -3.80738996e-03 -2.34948447e+00] [ 1.95361046e-01 4.99067633e-03 9.80718693e-01 -4.32140857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54463044 meters Centerline goodness : 0.225877 with order 2 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.35, Z:-4.32 [[ 9.80808113e-01 5.99012456e-03 -1.94883461e-01 -2.84316448e+01] [-6.73097732e-03 9.99972418e-01 -3.13950616e-03 -2.35309688e+00] [ 1.94859279e-01 4.39100927e-03 9.80821380e-01 -4.32057192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60463044 meters Centerline goodness : 0.096247 with order 1 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.36, Z:-4.32 [[ 9.80786396e-01 6.14791734e-03 -1.94987816e-01 -2.84318144e+01] [-6.80880537e-03 9.99973122e-01 -2.71930623e-03 -2.35685331e+00] [ 1.94965857e-01 3.99469264e-03 9.80801895e-01 -4.32010654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66463044 meters Centerline goodness : 0.222753 with order 3 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.36, Z:-4.32 [[ 9.80707620e-01 6.49160571e-03 -1.95372526e-01 -2.84312340e+01] [-7.06038353e-03 9.99972622e-01 -2.21496827e-03 -2.35954183e+00] [ 1.95352799e-01 3.55164123e-03 9.80726603e-01 -4.31960588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72463044 meters Centerline goodness : 0.091133 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.36, Z:-4.32 [[ 9.80866391e-01 4.29224789e-03 -1.94634785e-01 -2.84352391e+01] [-5.12926490e-03 9.99979638e-01 -3.79666492e-03 -2.36367645e+00] [ 1.94614525e-01 4.72235439e-03 9.80868435e-01 -4.31802866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78463044 meters Centerline goodness : 0.092997 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.37, Z:-4.32 [[ 9.80978896e-01 1.86545954e-03 -1.94105452e-01 -2.84380477e+01] [-2.94916071e-03 9.99981637e-01 -5.29423113e-03 -2.36998282e+00] [ 1.94092011e-01 5.76597718e-03 9.80966383e-01 -4.31693876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84463044 meters Centerline goodness : 0.105351 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.37, Z:-4.32 [[ 9.81042042e-01 1.99257210e-03 -1.93784783e-01 -2.84396218e+01] [-2.98596024e-03 9.99983857e-01 -4.83429390e-03 -2.37433517e+00] [ 1.93772022e-01 5.32127922e-03 9.81032154e-01 -4.31610272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90463044 meters Centerline goodness : 0.091280 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.38, Z:-4.32 [[ 9.81053843e-01 2.37439109e-03 -1.93720724e-01 -2.84398497e+01] [-3.22405450e-03 9.99986517e-01 -4.07087052e-03 -2.38014563e+00] [ 1.93708446e-01 4.61830934e-03 9.81048271e-01 -4.31586255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96463044 meters Centerline goodness : 0.317527 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.39, Z:-4.32 [[ 9.80965204e-01 -1.05827735e-03 -1.94180709e-01 -2.84382437e+01] [-1.55400984e-04 9.99980551e-01 -6.23491246e-03 -2.39034653e+00] [ 1.94183530e-01 6.14640805e-03 9.80945961e-01 -4.31606891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02463044 meters Centerline goodness : 0.090788 with order 1 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.40, Z:-4.32 [[ 9.81062120e-01 -1.49772155e-03 -1.93687567e-01 -2.84399986e+01] [ 3.79203125e-04 9.99983039e-01 -5.81180478e-03 -2.40003332e+00] [ 1.93692987e-01 5.62829459e-03 9.81046048e-01 -4.31557682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08463044 meters Centerline goodness : 0.255890 with order 3 Centerline is valid? [False, False] Translation: X:-28.45, Y:-2.42, Z:-4.32 [[ 9.81790365e-01 5.23192256e-04 -1.89966856e-01 -2.84539470e+01] [-1.90246053e-03 9.99973139e-01 -7.07828324e-03 -2.41890850e+00] [ 1.89958050e-01 7.31079473e-03 9.81764988e-01 -4.32016898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14463044 meters Centerline goodness : 0.091767 with order 1 Centerline is valid? [False, False] Translation: X:-28.45, Y:-2.43, Z:-4.32 [[ 9.81690980e-01 -1.37026909e-04 -1.90480446e-01 -2.84518667e+01] [-1.19434960e-03 9.99975655e-01 -6.87475185e-03 -2.42990823e+00] [ 1.90476751e-01 6.97638213e-03 9.81666918e-01 -4.32068757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20463044 meters Centerline goodness : 0.325796 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.45, Z:-4.33 [[ 9.81785462e-01 7.08080086e-03 -1.89860918e-01 -2.84681924e+01] [-8.55967254e-03 9.99939071e-01 -6.97032670e-03 -2.44596920e+00] [ 1.89799994e-01 8.46851270e-03 9.81786253e-01 -4.32614675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26463044 meters Centerline goodness : 0.329198 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.45, Z:-4.33 [[ 9.81929909e-01 4.60709917e-03 -1.89188870e-01 -2.84699478e+01] [-6.32020542e-03 9.99944302e-01 -8.45269688e-03 -2.45484601e+00] [ 1.89139390e-01 9.49566840e-03 9.81904335e-01 -4.32611683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32463044 meters Centerline goodness : 0.316102 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.47, Z:-4.33 [[ 9.81927301e-01 4.83441081e-03 -1.89196734e-01 -2.84697576e+01] [-6.37836456e-03 9.99951137e-01 -7.55253900e-03 -2.46522262e+00] [ 1.89150977e-01 8.62280998e-03 9.81910156e-01 -4.32620634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38463044 meters Centerline goodness : 0.248527 with order 2 Centerline is valid? [False, False] Translation: X:-28.46, Y:-2.48, Z:-4.33 [[ 9.81580863e-01 3.29351156e-03 -1.91018746e-01 -2.84623665e+01] [-4.89755435e-03 9.99956597e-01 -7.92580333e-03 -2.47858971e+00] [ 1.90984351e-01 8.71534156e-03 9.81554390e-01 -4.32817276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44463044 meters Centerline goodness : 0.093197 with order 1 Centerline is valid? [False, False] Translation: X:-28.46, Y:-2.49, Z:-4.33 [[ 9.81576468e-01 -1.31655347e-05 -1.91069718e-01 -2.84631971e+01] [-1.93560106e-03 9.99947999e-01 -1.00126034e-02 -2.48653446e+00] [ 1.91059914e-01 1.01979706e-02 9.81525400e-01 -4.32731829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50463044 meters Centerline goodness : 0.087044 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.50, Z:-4.33 [[ 9.81892227e-01 -1.14504602e-03 -1.89436909e-01 -2.84684974e+01] [-7.62670267e-04 9.99949735e-01 -9.99725175e-03 -2.49687917e+00] [ 1.89438835e-01 9.96070168e-03 9.81842000e-01 -4.32640781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56463044000003 meters Centerline goodness : 0.322748 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.51, Z:-4.33 [[ 9.81934995e-01 -4.58575016e-03 -1.89162988e-01 -2.84692763e+01] [ 2.41998920e-03 9.99928875e-01 -1.16785632e-02 -2.51231254e+00] [ 1.89203089e-01 1.10098175e-02 9.81876252e-01 -4.32630087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62463044000003 meters Centerline goodness : 0.462342 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.52, Z:-4.33 [[ 9.81953796e-01 -5.15262483e-03 -1.89050770e-01 -2.84691594e+01] [ 3.10146592e-03 9.99933094e-01 -1.11440109e-02 -2.52421654e+00] [ 1.89095543e-01 1.03565693e-02 9.81904077e-01 -4.32658306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68463044000003 meters Centerline goodness : 0.321620 with order 1 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.54, Z:-4.33 [[ 9.82047696e-01 -5.79026364e-03 -1.88543885e-01 -2.84698428e+01] [ 3.83723158e-03 9.99935156e-01 -1.07218739e-02 -2.53809931e+00] [ 1.88593742e-01 9.80590496e-03 9.82006235e-01 -4.32702633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74463044000004 meters Centerline goodness : 0.085280 with order 1 Centerline is valid? [False, False] Translation: X:-28.48, Y:-2.55, Z:-4.33 [[ 9.81728908e-01 5.34057230e-03 -1.90209963e-01 -2.84840101e+01] [-7.15047012e-03 9.99935447e-01 -8.83021922e-03 -2.54903524e+00] [ 1.90150526e-01 1.00289721e-02 9.81703722e-01 -4.33288301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80463044000004 meters Centerline goodness : 0.323418 with order 1 Centerline is valid? [False, False] Translation: X:-28.49, Y:-2.55, Z:-4.33 [[ 9.81991404e-01 6.27056776e-03 -1.88821510e-01 -2.84872752e+01] [-7.97359087e-03 9.99934087e-01 -8.26094037e-03 -2.54925823e+00] [ 1.88757264e-01 9.61775790e-03 9.81976677e-01 -4.33324846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86463044000004 meters Centerline goodness : 0.084727 with order 1 Centerline is valid? [False, False] Translation: X:-28.49, Y:-2.55, Z:-4.33 [[ 9.82066093e-01 6.38540404e-03 -1.88428809e-01 -2.84879495e+01] [-8.09157566e-03 9.99932925e-01 -8.28687698e-03 -2.54925259e+00] [ 1.88363255e-01 9.66294686e-03 9.82051889e-01 -4.33360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92463044 meters Centerline goodness : 0.109751 with order 2 Centerline is valid? [False, False] Translation: X:-28.48, Y:-2.55, Z:-4.34 [[ 9.81862193e-01 6.28992468e-03 -1.89491611e-01 -2.84834668e+01] [-8.04572428e-03 9.99931523e-01 -8.49799375e-03 -2.54905328e+00] [ 1.89425184e-01 9.86845603e-03 9.81845565e-01 -4.33519195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98463044 meters Centerline goodness : 0.114045 with order 3 Centerline is valid? [False, False] Translation: X:-28.48, Y:-2.55, Z:-4.33 [[ 9.81878582e-01 6.22932638e-03 -1.89408672e-01 -2.84838474e+01] [-8.01478856e-03 9.99930364e-01 -8.66199326e-03 -2.54814302e+00] [ 1.89341524e-01 1.00230961e-02 9.81860135e-01 -4.33498563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04463044 meters Centerline goodness : 0.088561 with order 1 Centerline is valid? [False, False] Translation: X:-28.50, Y:-2.54, Z:-4.34 [[ 9.82052252e-01 -9.00392888e-04 -1.88606904e-01 -2.85030250e+01] [-4.61199098e-04 9.99974152e-01 -7.17519453e-03 -2.54265864e+00] [ 1.88608489e-01 7.13340128e-03 9.82026452e-01 -4.34062447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10463044 meters Centerline goodness : 0.101098 with order 1 Centerline is valid? [False, False] Translation: X:-28.50, Y:-2.54, Z:-4.34 [[ 9.81952670e-01 -8.63341706e-04 -1.89124850e-01 -2.85010260e+01] [-5.07860632e-04 9.99973939e-01 -7.20166764e-03 -2.54186807e+00] [ 1.89126138e-01 7.16774583e-03 9.81926640e-01 -4.34115545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16463044 meters Centerline goodness : 0.089583 with order 1 Centerline is valid? [False, False] Translation: X:-28.50, Y:-2.54, Z:-4.34 [[ 9.81810225e-01 -1.32529597e-03 -1.89860278e-01 -2.84993217e+01] [-7.31250974e-05 9.99972924e-01 -7.35833252e-03 -2.54213220e+00] [ 1.89864889e-01 7.23836966e-03 9.81783545e-01 -4.34076413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22463044 meters Centerline goodness : 0.101444 with order 1 Centerline is valid? [False, False] Translation: X:-28.50, Y:-2.54, Z:-4.34 [[ 9.81948551e-01 -4.07387295e-03 -1.89104326e-01 -2.85026272e+01] [ 2.35423151e-03 9.99953821e-01 -9.31734688e-03 -2.54483383e+00] [ 1.89133551e-01 8.70395990e-03 9.81912797e-01 -4.33974407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28463044 meters SLAMing on 377.34463044 meters Centerline goodness : 0.094830 with order 1 Centerline is valid? [False, False] Translation: X:-28.54, Y:-2.55, Z:-4.35 [[ 9.83125269e-01 -3.44670231e-03 -1.82901135e-01 -2.85358117e+01] [ 1.66771005e-03 9.99949806e-01 -9.87944346e-03 -2.55303633e+00] [ 1.82926006e-01 9.40770445e-03 9.83081671e-01 -4.34871282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40463044 meters Centerline goodness : 0.092799 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.55, Z:-4.35 [[ 9.82862897e-01 4.70266645e-03 -1.84278077e-01 -2.85532021e+01] [-6.84825412e-03 9.99915954e-01 -1.10084917e-02 -2.55351490e+00] [ 1.84210820e-01 1.20818211e-02 9.82812497e-01 -4.35395040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46463044 meters Centerline goodness : 0.088410 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.55, Z:-4.35 [[ 9.82825659e-01 4.89195405e-03 -1.84471656e-01 -2.85520978e+01] [-7.09822159e-03 9.99910942e-01 -1.13014432e-02 -2.55008660e+00] [ 1.84399942e-01 1.24167690e-02 9.82772855e-01 -4.35454929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52463044 meters Centerline goodness : 0.094447 with order 1 Centerline is valid? [False, False] Translation: X:-28.56, Y:-2.55, Z:-4.35 [[ 9.83094797e-01 4.69859167e-03 -1.83036998e-01 -2.85559385e+01] [-6.96874999e-03 9.99906547e-01 -1.17614980e-02 -2.54736597e+00] [ 1.82964630e-01 1.28382066e-02 9.83035668e-01 -4.35427652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58463044 meters Centerline goodness : 0.094243 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.55, Z:-4.35 [[ 9.83030786e-01 4.51043536e-03 -1.83385194e-01 -2.85544732e+01] [-6.81206835e-03 9.99905717e-01 -1.19227881e-02 -2.54691397e+00] [ 1.83314127e-01 1.29697002e-02 9.82968828e-01 -4.35471362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64463044 meters Centerline goodness : 0.322098 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.55, Z:-4.35 [[ 9.82952638e-01 2.70928802e-04 -1.83858746e-01 -2.85531494e+01] [-3.11457722e-03 9.99879959e-01 -1.51778780e-02 -2.54891590e+00] [ 1.83832563e-01 1.54917775e-02 9.82835487e-01 -4.35473451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70463044 meters Centerline goodness : 0.251745 with order 3 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.55, Z:-4.35 [[ 9.82947915e-01 -1.31607555e-03 -1.83879485e-01 -2.85528752e+01] [-1.63980667e-03 9.99871890e-01 -1.59221214e-02 -2.55497529e+00] [ 1.83876883e-01 1.59521429e-02 9.82819831e-01 -4.35485774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76463044 meters Centerline goodness : 0.095895 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.56, Z:-4.35 [[ 9.83041716e-01 -2.91565044e-03 -1.83358895e-01 -2.85543016e+01] [-1.13650234e-04 9.99863719e-01 -1.65084765e-02 -2.56337232e+00] [ 1.83382039e-01 1.62493599e-02 9.82907415e-01 -4.35478665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82463044 meters Centerline goodness : 0.102409 with order 1 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.57, Z:-4.35 [[ 9.82993642e-01 -2.50529363e-03 -1.83622501e-01 -2.85533976e+01] [-4.01239946e-04 9.99875250e-01 -1.57899898e-02 -2.56744563e+00] [ 1.83639152e-01 1.55951362e-02 9.82870008e-01 -4.35491375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88463044 meters Centerline goodness : 0.123085 with order 3 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.57, Z:-4.35 [[ 9.83011650e-01 -2.03883301e-03 -1.83531847e-01 -2.85536818e+01] [-7.37844840e-04 9.99886326e-01 -1.50595734e-02 -2.57143362e+00] [ 1.83541688e-01 1.49391541e-02 9.82898403e-01 -4.35481981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94463044 meters Centerline goodness : 0.083462 with order 1 Centerline is valid? [False, False] Translation: X:-28.57, Y:-2.58, Z:-4.36 [[ 9.83629107e-01 3.00049058e-03 -1.80179849e-01 -2.85675580e+01] [-5.76112502e-03 9.99873874e-01 -1.48002018e-02 -2.58000203e+00] [ 1.80112715e-01 1.55959479e-02 9.83522331e-01 -4.35950038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00463044 meters Centerline goodness : 0.082861 with order 1 Centerline is valid? [False, False] Translation: X:-28.57, Y:-2.58, Z:-4.36 [[ 9.83718716e-01 3.61400630e-03 -1.79678677e-01 -2.85682540e+01] [-6.27580690e-03 9.99878797e-01 -1.42479924e-02 -2.58241364e+00] [ 1.79605408e-01 1.51436455e-02 9.83622167e-01 -4.36012258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06463044000003 meters Centerline goodness : 0.082512 with order 1 Centerline is valid? [False, False] Translation: X:-28.57, Y:-2.58, Z:-4.36 [[ 9.83746313e-01 3.87100922e-03 -1.79522165e-01 -2.85683323e+01] [-6.47499166e-03 9.99882128e-01 -1.39213798e-02 -2.58396243e+00] [ 1.79447114e-01 1.48575106e-02 9.83655421e-01 -4.36047273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12463044000003 meters Centerline goodness : 0.083984 with order 1 Centerline is valid? [False, False] Translation: X:-28.61, Y:-2.59, Z:-4.37 [[ 9.83211885e-01 2.37835790e-03 -1.82452002e-01 -2.86102954e+01] [-5.04860610e-03 9.99886823e-01 -1.41722796e-02 -2.59144128e+00] [ 1.82397646e-01 1.48554820e-02 9.83112615e-01 -4.36857913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18463044000003 meters Centerline goodness : 0.486950 with order 2 Centerline is valid? [False, False] Translation: X:-28.61, Y:-2.59, Z:-4.37 [[ 9.83191713e-01 2.38384896e-03 -1.82560603e-01 -2.86098496e+01] [-5.02305048e-03 9.99889441e-01 -1.39955508e-02 -2.59321783e+00] [ 1.82507056e-01 1.46773207e-02 9.83094986e-01 -4.36871380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24463044000004 meters Centerline goodness : 0.082556 with order 1 Centerline is valid? [False, False] Translation: X:-28.61, Y:-2.60, Z:-4.37 [[ 9.83197714e-01 2.62307404e-03 -1.82524997e-01 -2.86095880e+01] [-5.17079497e-03 9.99895721e-01 -1.34837054e-02 -2.59666574e+00] [ 1.82470595e-01 1.42009477e-02 9.83108750e-01 -4.36901475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30463044000004 meters Centerline goodness : 0.093205 with order 1 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.61, Z:-4.37 [[ 9.83593371e-01 8.73517810e-03 -1.80188171e-01 -2.86281778e+01] [-1.14366053e-02 9.99837165e-01 -1.39588157e-02 -2.60793707e+00] [ 1.80036898e-01 1.57905396e-02 9.83533108e-01 -4.37450033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36463044000004 meters Centerline goodness : 0.092365 with order 1 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.61, Z:-4.37 [[ 9.83554832e-01 9.20866800e-03 -1.80374867e-01 -2.86271422e+01] [-1.18124719e-02 9.99840886e-01 -1.33666683e-02 -2.60996454e+00] [ 1.80223078e-01 1.52775242e-02 9.83507112e-01 -4.37490437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42463044 meters Centerline goodness : 0.113913 with order 1 Centerline is valid? [False, False] Translation: X:-28.62, Y:-2.61, Z:-4.38 [[ 9.83440250e-01 9.17142801e-03 -1.81000442e-01 -2.86248552e+01] [-1.18060620e-02 9.99839387e-01 -1.34839541e-02 -2.61052976e+00] [ 1.80847703e-01 1.53975656e-02 9.83390575e-01 -4.37556019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48463044 meters Centerline goodness : 0.087124 with order 1 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.61, Z:-4.38 [[ 9.83477148e-01 9.63884282e-03 -1.80775527e-01 -2.86257012e+01] [-1.22174809e-02 9.99838810e-01 -1.31562283e-02 -2.61016618e+00] [ 1.80619577e-01 1.51474714e-02 9.83436385e-01 -4.37529806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54463044 meters Centerline goodness : 0.092006 with order 1 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.61, Z:-4.38 [[ 9.83504518e-01 9.92626860e-03 -1.80610998e-01 -2.86254412e+01] [-1.24974269e-02 9.99836043e-01 -1.31034918e-02 -2.60875173e+00] [ 1.80451317e-01 1.51445161e-02 9.83467318e-01 -4.37596371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60463044 meters Centerline goodness : 0.092251 with order 1 Centerline is valid? [False, False] Translation: X:-28.62, Y:-2.61, Z:-4.38 [[ 9.83467461e-01 9.75519602e-03 -1.80821982e-01 -2.86248500e+01] [-1.23851376e-02 9.99833229e-01 -1.34209938e-02 -2.60730089e+00] [ 1.80660902e-01 1.54386158e-02 9.83424266e-01 -4.37597435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66463044 meters Centerline goodness : 0.094365 with order 1 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.61, Z:-4.38 [[ 9.83592963e-01 9.47263430e-03 -1.80153138e-01 -2.86269558e+01] [-1.21369998e-02 9.99832585e-01 -1.36929015e-02 -2.60622029e+00] [ 1.79993269e-01 1.56547602e-02 9.83543264e-01 -4.37557765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72463044 meters Centerline goodness : 0.290593 with order 2 Centerline is valid? [False, False] Translation: X:-28.65, Y:-2.60, Z:-4.38 [[ 9.83980152e-01 1.41950193e-03 -1.78272391e-01 -2.86481375e+01] [-3.74584455e-03 9.99912164e-01 -1.27134630e-02 -2.60316956e+00] [ 1.78238685e-01 1.31775759e-02 9.83899041e-01 -4.38044397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78463044 meters Centerline goodness : 0.333076 with order 1 Centerline is valid? [False, False] Translation: X:-28.65, Y:-2.60, Z:-4.38 [[ 9.83989667e-01 1.22377895e-03 -1.78221318e-01 -2.86477729e+01] [-3.62128974e-03 9.99907270e-01 -1.31277573e-02 -2.60066011e+00] [ 1.78188727e-01 1.35629686e-02 9.83902853e-01 -4.38088095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84463044 meters Centerline goodness : 0.084959 with order 1 Centerline is valid? [False, False] Translation: X:-28.65, Y:-2.60, Z:-4.38 [[ 9.84028116e-01 1.09707375e-03 -1.78009729e-01 -2.86482331e+01] [-3.57127984e-03 9.99901417e-01 -1.35794498e-02 -2.59743222e+00] [ 1.77977283e-01 1.39982830e-02 9.83935026e-01 -4.38095811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90463044 meters Centerline goodness : 0.084834 with order 1 Centerline is valid? [False, False] Translation: X:-28.67, Y:-2.59, Z:-4.39 [[ 9.83917278e-01 -6.52899615e-03 -1.78505354e-01 -2.86659293e+01] [ 4.35079909e-03 9.99911263e-01 -1.25911651e-02 -2.58962701e+00] [ 1.78571722e-01 1.16120239e-02 9.83858374e-01 -4.38663204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96463044 meters Centerline goodness : 0.084954 with order 1 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.59, Z:-4.39 [[ 9.83779754e-01 -6.85241246e-03 -1.79249661e-01 -2.86629638e+01] [ 4.56824830e-03 9.99903065e-01 -1.31525941e-02 -2.58657154e+00] [ 1.79322412e-01 1.21203989e-02 9.83715695e-01 -4.38769117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02463044 meters Centerline goodness : 0.096384 with order 1 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.59, Z:-4.39 [[ 9.83763934e-01 -7.15560786e-03 -1.79324620e-01 -2.86626349e+01] [ 4.81308108e-03 9.99897358e-01 -1.34947327e-02 -2.58557325e+00] [ 1.79402777e-01 1.24125274e-02 9.83697399e-01 -4.38774654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08463044 meters Centerline goodness : 0.084184 with order 1 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.59, Z:-4.39 [[ 9.83768134e-01 -7.36419701e-03 -1.79293133e-01 -2.86630077e+01] [ 5.02602017e-03 9.99896349e-01 -1.34918453e-02 -2.58649923e+00] [ 1.79373906e-01 1.23717166e-02 9.83703178e-01 -4.38733533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14463044 meters Centerline goodness : 0.110928 with order 1 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.59, Z:-4.39 [[ 9.83650581e-01 -7.37230078e-03 -1.79936611e-01 -2.86609142e+01] [ 5.05787243e-03 9.99898521e-01 -1.33178761e-02 -2.58773861e+00] [ 1.80016535e-01 1.21900401e-02 9.83588049e-01 -4.38761962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20463044 meters Centerline goodness : 0.089426 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.59, Z:-4.39 [[ 9.83828279e-01 -4.55175019e-04 -1.79113680e-01 -2.86796225e+01] [-2.13862460e-03 9.99895635e-01 -1.42879476e-02 -2.59352122e+00] [ 1.79101491e-01 1.44399438e-02 9.83724628e-01 -4.39215463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26463044 meters Centerline goodness : 0.093053 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.59, Z:-4.39 [[ 9.83896746e-01 7.41004761e-05 -1.78737761e-01 -2.86802378e+01] [-2.66045577e-03 9.99895202e-01 -1.42304628e-02 -2.59063954e+00] [ 1.78717975e-01 1.44768300e-02 9.83793834e-01 -4.39246478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32463044 meters Centerline goodness : 0.124859 with order 3 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.59, Z:-4.39 [[ 9.83976050e-01 8.38098838e-03 -1.78103600e-01 -2.86595219e+01] [-1.13897598e-02 9.99809069e-01 -1.58776276e-02 -2.58541376e+00] [ 1.77936524e-01 1.76517625e-02 9.83883636e-01 -4.38815916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38463044 meters Centerline goodness : 0.083243 with order 1 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.58, Z:-4.39 [[ 9.84004341e-01 8.42432813e-03 -1.77945179e-01 -2.86602168e+01] [-1.14359355e-02 9.99808100e-01 -1.59054533e-02 -2.58423842e+00] [ 1.77777038e-01 1.76860047e-02 9.83911851e-01 -4.38785283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44463044 meters Centerline goodness : 0.091648 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83844677e-01 -3.69353182e-03 -1.78986058e-01 -2.86778524e+01] [ 5.09087357e-04 9.99840828e-01 -1.78342439e-02 -2.58230489e+00] [ 1.79023440e-01 1.74550064e-02 9.83689957e-01 -4.39260893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50463044 meters Centerline goodness : 0.094160 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83741906e-01 -3.70279793e-03 -1.79549857e-01 -2.86760116e+01] [ 5.29524709e-04 9.99842880e-01 -1.77182012e-02 -2.58315023e+00] [ 1.79587253e-01 1.73350610e-02 9.83589302e-01 -4.39287720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56463044000003 meters Centerline goodness : 0.083476 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83755630e-01 -3.05904241e-03 -1.79486774e-01 -2.86766511e+01] [-8.67096062e-05 9.99846581e-01 -1.75159098e-02 -2.58059904e+00] [ 1.79512819e-01 1.72469382e-02 9.83604438e-01 -4.39238395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62463044000003 meters Centerline goodness : 0.086730 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83716533e-01 1.02709885e-03 -1.79724035e-01 -2.86762039e+01] [-3.65249111e-03 9.99891399e-01 -1.42776039e-02 -2.57869567e+00] [ 1.79689852e-01 1.47015555e-02 9.83613451e-01 -4.39212122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68463044000003 meters Centerline goodness : 0.090267 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.57, Z:-4.39 [[ 9.83761504e-01 1.41927480e-03 -1.79475035e-01 -2.86773229e+01] [-4.09638881e-03 9.99885801e-01 -1.45466298e-02 -2.57474360e+00] [ 1.79433894e-01 1.50456140e-02 9.83654974e-01 -4.39177483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74463044000004 meters Centerline goodness : 0.083455 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.57, Z:-4.39 [[ 9.83784260e-01 1.37990792e-03 -1.79350568e-01 -2.86775690e+01] [-4.07820036e-03 9.99883971e-01 -1.46769622e-02 -2.57372075e+00] [ 1.79309505e-01 1.51703920e-02 9.83675739e-01 -4.39184793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80463044000004 meters Centerline goodness : 0.082734 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.57, Z:-4.39 [[ 9.83792735e-01 9.56440267e-04 -1.79306834e-01 -2.86777774e+01] [-3.66882308e-03 9.99883802e-01 -1.47960471e-02 -2.57475137e+00] [ 1.79271847e-01 1.52140887e-02 9.83681928e-01 -4.39158720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86463044000004 meters Centerline goodness : 0.091861 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83769945e-01 7.70113592e-04 -1.79432723e-01 -2.86773883e+01] [-3.45934097e-03 9.99886333e-01 -1.46749689e-02 -2.57676263e+00] [ 1.79401026e-01 1.50575123e-02 9.83660787e-01 -4.39155694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92463044 meters Centerline goodness : 0.092129 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.58, Z:-4.39 [[ 9.83892192e-01 -1.75509106e-03 -1.78754226e-01 -2.86806399e+01] [-1.18434936e-03 9.99865857e-01 -1.63359926e-02 -2.58162018e+00] [ 1.78758919e-01 1.62845630e-02 9.83758132e-01 -4.39037409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98463044 meters Centerline goodness : 0.317238 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.59, Z:-4.39 [[ 9.83930590e-01 -1.51359962e-03 -1.78544962e-01 -2.86813162e+01] [-1.32124727e-03 9.99874970e-01 -1.57575210e-02 -2.58548776e+00] [ 1.78546489e-01 1.57402089e-02 9.83805569e-01 -4.39014541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04463044 meters Centerline goodness : 0.088957 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.59, Z:-4.39 [[ 9.83917340e-01 -1.43843630e-03 -1.78618585e-01 -2.86806860e+01] [-1.37094135e-03 9.99877311e-01 -1.56039349e-02 -2.58660606e+00] [ 1.78619116e-01 1.55978577e-02 9.83794652e-01 -4.39053375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10463044 meters Centerline goodness : 0.085663 with order 1 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.59, Z:-4.39 [[ 9.83839358e-01 -1.25386646e-03 -1.79049001e-01 -2.86786475e+01] [-1.45744978e-03 9.99886273e-01 -1.50105296e-02 -2.59233266e+00] [ 1.79047459e-01 1.50289047e-02 9.83725642e-01 -4.39135956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16463044 meters Centerline goodness : 0.086412 with order 1 Centerline is valid? [False, False] Translation: X:-28.67, Y:-2.60, Z:-4.39 [[ 9.83598665e-01 -2.97020816e-03 -1.80346455e-01 -2.86742281e+01] [ 7.78628207e-05 9.99871305e-01 -1.60426782e-02 -2.59854761e+00] [ 1.80370895e-01 1.57655146e-02 9.83472312e-01 -4.39203437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22463044 meters Centerline goodness : 0.089078 with order 1 Centerline is valid? [False, False] Translation: X:-28.67, Y:-2.61, Z:-4.39 [[ 9.83583970e-01 -3.18848623e-03 -1.80422859e-01 -2.86737863e+01] [ 4.12328136e-04 9.99880983e-01 -1.54223662e-02 -2.60858824e+00] [ 1.80450560e-01 1.50947987e-02 9.83468221e-01 -4.39222395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28463044 meters Centerline goodness : 0.094075 with order 1 Centerline is valid? [False, False] Translation: X:-28.67, Y:-2.61, Z:-4.39 [[ 9.83610357e-01 -2.86650690e-03 -1.80284357e-01 -2.86735868e+01] [ 2.19081278e-04 9.99891882e-01 -1.47029194e-02 -2.61377758e+00] [ 1.80307011e-01 1.44224468e-02 9.83504639e-01 -4.39269229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34463044 meters Centerline goodness : 0.132798 with order 3 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.62, Z:-4.40 [[ 9.83367886e-01 3.86749173e-03 -1.81583709e-01 -2.86894058e+01] [-6.94718674e-03 9.99842567e-01 -1.63272217e-02 -2.62273445e+00] [ 1.81491976e-01 1.73171614e-02 9.83239939e-01 -4.39827379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40463044 meters Centerline goodness : 0.171995 with order 3 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.62, Z:-4.40 [[ 9.83313467e-01 8.35046130e-03 -1.81727529e-01 -2.86886665e+01] [-1.08267179e-02 9.99861516e-01 -1.26384405e-02 -2.62231095e+00] [ 1.81596826e-01 1.43950615e-02 9.83267703e-01 -4.39842843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46463044 meters Centerline goodness : 0.092246 with order 1 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.62, Z:-4.40 [[ 9.83444457e-01 8.99344019e-03 -1.80986511e-01 -2.86909960e+01] [-1.14626882e-02 9.99854888e-01 -1.26019449e-02 -2.61972244e+00] [ 1.80846913e-01 1.44679048e-02 9.83404837e-01 -4.39812949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52463044 meters Centerline goodness : 0.090961 with order 1 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.62, Z:-4.40 [[ 9.83331124e-01 8.97574274e-03 -1.81602139e-01 -2.86889762e+01] [-1.15205067e-02 9.99849610e-01 -1.29628424e-02 -2.61716803e+00] [ 1.81458476e-01 1.48389150e-02 9.83286646e-01 -4.39853665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58463044 meters Centerline goodness : 0.180425 with order 3 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.61, Z:-4.40 [[ 9.83354158e-01 8.71376247e-03 -1.81490141e-01 -2.86894597e+01] [-1.13671466e-02 9.99843106e-01 -1.35849560e-02 -2.61324931e+00] [ 1.81343290e-01 1.54218480e-02 9.83298926e-01 -4.39838102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64463044 meters Centerline goodness : 0.092872 with order 1 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.61, Z:-4.40 [[ 9.83393567e-01 8.57744420e-03 -1.81282983e-01 -2.86900211e+01] [-1.12755330e-02 9.99840397e-01 -1.38579547e-02 -2.61118184e+00] [ 1.81135184e-01 1.56718857e-02 9.83333330e-01 -4.39830911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70463044 meters Centerline goodness : 0.124968 with order 3 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.60, Z:-4.40 [[ 9.83330079e-01 6.70905121e-04 -1.81828232e-01 -2.87077297e+01] [-3.08347185e-03 9.99910924e-01 -1.29860211e-02 -2.60259173e+00] [ 1.81803323e-01 1.33302074e-02 9.83244556e-01 -4.40285293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76463044 meters Centerline goodness : 0.083861 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.60, Z:-4.40 [[ 9.83413195e-01 5.39391098e-04 -1.81378600e-01 -2.87096545e+01] [-3.04956263e-03 9.99903398e-01 -1.35608123e-02 -2.59675319e+00] [ 1.81353763e-01 1.38890071e-02 9.83319840e-01 -4.40217805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82463044 meters Centerline goodness : 0.084410 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.59, Z:-4.40 [[ 9.83502178e-01 4.90571172e-04 -1.80895618e-01 -2.87113198e+01] [-3.05957329e-03 9.99898392e-01 -1.39228119e-02 -2.59317830e+00] [ 1.80870407e-01 1.42465793e-02 9.83403748e-01 -4.40178365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88463044 meters Centerline goodness : 0.090504 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.59, Z:-4.40 [[ 9.83328461e-01 -3.06706404e-04 -1.81837962e-01 -2.87090083e+01] [-2.41951918e-03 9.99887982e-01 -1.47705907e-02 -2.59067782e+00] [ 1.81822124e-01 1.49643027e-02 9.83217568e-01 -4.40157378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94463044 meters Centerline goodness : 0.083122 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.59, Z:-4.40 [[ 9.83109539e-01 -9.15825433e-04 -1.83015836e-01 -2.87050089e+01] [-1.90782212e-03 9.99881865e-01 -1.52517696e-02 -2.58989338e+00] [ 1.83008184e-01 1.53433218e-02 9.82991652e-01 -4.40238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00463044 meters Centerline goodness : 0.095592 with order 3 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.59, Z:-4.40 [[ 9.83105475e-01 -1.61800627e-03 -1.83032802e-01 -2.87050929e+01] [-1.29189256e-03 9.99874687e-01 -1.57778831e-02 -2.58905368e+00] [ 1.83035394e-01 1.57477820e-02 9.82980189e-01 -4.40208946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06463044000003 meters Centerline goodness : 0.127565 with order 2 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.59, Z:-4.40 [[ 9.83123790e-01 -1.85460348e-03 -1.82932158e-01 -2.87055035e+01] [-1.12919246e-03 9.99868046e-01 -1.62054325e-02 -2.58651250e+00] [ 1.82938074e-01 1.61385118e-02 9.82991968e-01 -4.40192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12463044000003 meters Centerline goodness : 0.083004 with order 1 Centerline is valid? [False, False] Translation: X:-28.70, Y:-2.58, Z:-4.40 [[ 9.82764859e-01 2.28664134e-04 -1.84859890e-01 -2.86992874e+01] [-3.09996341e-03 9.99879007e-01 -1.52434292e-02 -2.57791866e+00] [ 1.84834038e-01 1.55537654e-02 9.82646660e-01 -4.40271966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18463044000003 meters Centerline goodness : 0.124880 with order 1 Centerline is valid? [False, False] Translation: X:-28.70, Y:-2.57, Z:-4.40 [[ 9.82741136e-01 1.15275993e-04 -1.84986071e-01 -2.86991176e+01] [-3.10029993e-03 9.99869617e-01 -1.58473084e-02 -2.57192206e+00] [ 1.84960125e-01 1.61473141e-02 9.82613361e-01 -4.40260114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24463044000004 meters Centerline goodness : 0.086453 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.57, Z:-4.40 [[ 9.83015952e-01 -1.96119240e-03 -1.83509649e-01 -2.87054556e+01] [-1.35926029e-03 9.99837663e-01 -1.79666224e-02 -2.56632576e+00] [ 1.83515095e-01 1.79109138e-02 9.82853707e-01 -4.40054520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30463044000004 meters Centerline goodness : 0.266026 with order 3 Centerline is valid? [False, False] Translation: X:-28.71, Y:-2.57, Z:-4.40 [[ 9.83054018e-01 -2.70417904e-03 -1.83296166e-01 -2.87063319e+01] [-6.83478018e-04 9.99830174e-01 -1.84161823e-02 -2.56593322e+00] [ 1.83314838e-01 1.82293809e-02 9.82885222e-01 -4.40012756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36463044000004 meters Centerline goodness : 0.093756 with order 1 Centerline is valid? [False, False] Translation: X:-28.73, Y:-2.56, Z:-4.40 [[ 9.83071961e-01 -1.03313119e-02 -1.82928356e-01 -2.87265906e+01] [ 7.35952692e-03 9.99829811e-01 -1.69170547e-02 -2.56343790e+00] [ 1.83071999e-01 1.52844160e-02 9.82980686e-01 -4.40481241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42463044 meters Centerline goodness : 0.100876 with order 1 Centerline is valid? [False, False] Translation: X:-28.73, Y:-2.57, Z:-4.40 [[ 9.83132866e-01 -1.04668409e-02 -1.82593024e-01 -2.87282296e+01] [ 7.53992886e-03 9.99831839e-01 -1.67165694e-02 -2.56639117e+00] [ 1.82737288e-01 1.50578704e-02 9.83046461e-01 -4.40398220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48463044 meters Centerline goodness : 0.244516 with order 3 Centerline is valid? [False, False] Translation: X:-28.73, Y:-2.57, Z:-4.40 [[ 9.83136953e-01 -1.01733683e-02 -1.82587606e-01 -2.87281211e+01] [ 7.33404264e-03 9.99841565e-01 -1.62189987e-02 -2.56873188e+00] [ 1.82723680e-01 1.46063917e-02 9.83055802e-01 -4.40404994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54463044 meters Centerline goodness : 0.147355 with order 1 Centerline is valid? [False, False] Translation: X:-28.74, Y:-2.58, Z:-4.41 [[ 9.83942730e-01 -6.23800293e-03 -1.78375423e-01 -2.87437157e+01] [ 3.31663943e-03 9.99855526e-01 -1.66711221e-02 -2.57876265e+00] [ 1.78453647e-01 1.58118224e-02 9.83821265e-01 -4.40915069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60463044 meters Centerline goodness : 0.086259 with order 1 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.59, Z:-4.41 [[ 9.84210705e-01 6.87213578e-04 -1.76999482e-01 -2.87618933e+01] [-3.78869641e-03 9.99845146e-01 -1.71851825e-02 -2.58724553e+00] [ 1.76960263e-01 1.75844379e-02 9.84060899e-01 -4.41432563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66463044 meters Centerline goodness : 0.235665 with order 1 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.59, Z:-4.42 [[ 9.84037058e-01 8.43244477e-04 -1.77961676e-01 -2.87582922e+01] [-3.94309673e-03 9.99846595e-01 -1.70656865e-02 -2.58854732e+00] [ 1.77919986e-01 1.74949881e-02 9.83889427e-01 -4.41547677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72463044 meters Centerline goodness : 0.083435 with order 1 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.59, Z:-4.42 [[ 9.84006124e-01 9.81404621e-04 -1.78131933e-01 -2.87574557e+01] [-4.07937205e-03 9.99846725e-01 -1.70259920e-02 -2.58839645e+00] [ 1.78087921e-01 1.74803468e-02 9.83859304e-01 -4.41594141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78463044 meters Centerline goodness : 0.084430 with order 1 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.59, Z:-4.42 [[ 9.84055458e-01 1.02175124e-03 -1.77858964e-01 -2.87579424e+01] [-4.15669294e-03 9.99842494e-01 -1.72542671e-02 -2.58662134e+00] [ 1.77813320e-01 1.77184608e-02 9.83904710e-01 -4.41623156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84463044 meters Centerline goodness : 0.193344 with order 1 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.58, Z:-4.42 [[ 9.83926363e-01 1.21902238e-03 -1.78570507e-01 -2.87557289e+01] [-4.39339107e-03 9.99839266e-01 -1.73821921e-02 -2.58373884e+00] [ 1.78520615e-01 1.78873272e-02 9.83773568e-01 -4.41660789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90463044 meters Centerline goodness : 0.148684 with order 3 Centerline is valid? [False, False] Translation: X:-28.76, Y:-2.58, Z:-4.42 [[ 9.83879170e-01 8.57740570e-04 -1.78832446e-01 -2.87552422e+01] [-4.10908530e-03 9.99832922e-01 -1.78113438e-02 -2.58227212e+00] [ 1.78787290e-01 1.82590479e-02 9.83718309e-01 -4.41635502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96463044 meters Centerline goodness : 0.102301 with order 1 Centerline is valid? [False, False] Translation: X:-28.80, Y:-2.58, Z:-4.42 [[ 9.83689177e-01 -1.77533205e-04 -1.79876547e-01 -2.88013587e+01] [-3.08916232e-03 9.99835359e-01 -1.78804828e-02 -2.58388081e+00] [ 1.79850107e-01 1.81445053e-02 9.83526673e-01 -4.42340645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02463044 meters Centerline goodness : 0.085189 with order 1 Centerline is valid? [False, False] Translation: X:-28.80, Y:-2.58, Z:-4.42 [[ 9.83826963e-01 -1.65105709e-05 -1.79121486e-01 -2.88040596e+01] [-3.30277016e-03 9.99828316e-01 -1.82326651e-02 -2.57700920e+00] [ 1.79091035e-01 1.85293846e-02 9.83658001e-01 -4.42266229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08463044 meters Centerline goodness : 0.111085 with order 3 Centerline is valid? [False, False] Translation: X:-28.81, Y:-2.57, Z:-4.42 [[ 9.83910184e-01 3.79587685e-04 -1.78663387e-01 -2.88050182e+01] [-3.72500733e-03 9.99823958e-01 -1.83896200e-02 -2.57123743e+00] [ 1.78624954e-01 1.87592568e-02 9.83738388e-01 -4.42290612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14463044 meters Centerline goodness : 0.167883 with order 3 Centerline is valid? [False, False] Translation: X:-28.80, Y:-2.56, Z:-4.42 [[ 9.83864573e-01 8.07714434e-04 -1.78912965e-01 -2.88043524e+01] [-4.22796509e-03 9.99815519e-01 -1.87363708e-02 -2.56294775e+00] [ 1.78864825e-01 1.91904892e-02 9.83686484e-01 -4.42295957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20463044 meters Centerline goodness : 0.148085 with order 1 Centerline is valid? [False, False] Translation: X:-28.80, Y:-2.56, Z:-4.42 [[ 9.83842505e-01 5.01705675e-04 -1.79035397e-01 -2.88045421e+01] [-3.99473940e-03 9.99808635e-01 -1.91503178e-02 -2.56123377e+00] [ 1.78991528e-01 1.95560964e-02 9.83656237e-01 -4.42247229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26463044 meters Centerline goodness : 0.085478 with order 1 Centerline is valid? [False, False] Translation: X:-28.79, Y:-2.56, Z:-4.42 [[ 9.83936570e-01 -7.51952580e-03 -1.78359984e-01 -2.87866013e+01] [ 4.32717737e-03 9.99823532e-01 -1.82806183e-02 -2.55670334e+00] [ 1.78465971e-01 1.72151736e-02 9.83795474e-01 -4.41732305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32463044 meters Centerline goodness : 0.082738 with order 1 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.56, Z:-4.43 [[ 9.83505182e-01 -9.68769019e-03 -1.80620335e-01 -2.88294219e+01] [ 6.38068916e-03 9.99801374e-01 -1.88811803e-02 -2.56058433e+00] [ 1.80767374e-01 1.74172565e-02 9.83371647e-01 -4.42525888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38463044 meters Centerline goodness : 0.461100 with order 1 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.56, Z:-4.42 [[ 9.83484433e-01 -1.00506082e-02 -1.80713462e-01 -2.88299400e+01] [ 6.75962621e-03 9.99800081e-01 -1.88176999e-02 -2.56259551e+00] [ 1.80866464e-01 1.72853595e-02 9.83355754e-01 -4.42438908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44463044 meters Centerline goodness : 0.116140 with order 1 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.57, Z:-4.42 [[ 9.83430259e-01 -1.03330586e-02 -1.80992138e-01 -2.88295637e+01] [ 7.06987942e-03 9.99800792e-01 -1.86652682e-02 -2.56570008e+00] [ 1.81148952e-01 1.70763970e-02 9.83307406e-01 -4.42393385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50463044 meters Centerline goodness : 0.189736 with order 1 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.57, Z:-4.42 [[ 9.83354875e-01 -1.39911162e-02 -1.81155840e-01 -2.88284723e+01] [ 1.03812921e-02 9.99728518e-01 -2.08595189e-02 -2.57477485e+00] [ 1.81398507e-01 1.86316780e-02 9.83233158e-01 -4.42428915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56463044000003 meters SLAMing on 382.62463044000003 meters Centerline goodness : 0.105112 with order 1 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.59, Z:-4.42 [[ 9.83462554e-01 -1.82192844e-02 -1.80192847e-01 -2.88307775e+01] [ 1.43217889e-02 9.99635009e-01 -2.29070769e-02 -2.59392066e+00] [ 1.80544429e-01 1.99475685e-02 9.83364533e-01 -4.42422518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68463044000003 meters Centerline goodness : 0.101497 with order 1 Centerline is valid? [False, False] Translation: X:-28.84, Y:-2.61, Z:-4.43 [[ 9.83286470e-01 -1.12961773e-02 -1.81714373e-01 -2.88446787e+01] [ 7.19106021e-03 9.99704190e-01 -2.32340651e-02 -2.61012041e+00] [ 1.81923076e-01 2.15390229e-02 9.83076836e-01 -4.43037231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74463044000004 meters Centerline goodness : 0.305738 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.62, Z:-4.44 [[ 9.83838100e-01 -5.18957981e-03 -1.78985089e-01 -2.88625229e+01] [ 1.06490870e-03 9.99731826e-01 -2.31331581e-02 -2.62299861e+00] [ 1.79057141e-01 2.25686795e-02 9.83579786e-01 -4.43529348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80463044000004 meters Centerline goodness : 0.093560 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83908521e-01 -4.54680329e-03 -1.78615083e-01 -2.88633367e+01] [ 5.88093669e-04 9.99753153e-01 -2.22100535e-02 -2.62841105e+00] [ 1.78671978e-01 2.17476185e-02 9.83668321e-01 -4.43553238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86463044000004 meters Centerline goodness : 0.083762 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83915587e-01 -3.86207041e-03 -1.78592278e-01 -2.88631131e+01] [-9.95619872e-06 9.99765073e-01 -2.16748406e-02 -2.62928578e+00] [ 1.78634032e-01 2.13279916e-02 9.83684400e-01 -4.43585838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92463044 meters Centerline goodness : 0.085333 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83958128e-01 -2.54676582e-03 -1.78381381e-01 -2.88634224e+01] [-1.20946569e-03 9.99779890e-01 -2.09453970e-02 -2.62841783e+00] [ 1.78395461e-01 2.08251397e-02 9.83738468e-01 -4.43623917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98463044 meters Centerline goodness : 0.094472 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83981737e-01 -1.91382774e-03 -1.78259022e-01 -2.88635132e+01] [-1.79555771e-03 9.99785251e-01 -2.06453098e-02 -2.62730689e+00] [ 1.78260252e-01 2.06346822e-02 9.83766991e-01 -4.43655498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04463044 meters Centerline goodness : 0.083772 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83924890e-01 -1.94455480e-03 -1.78572198e-01 -2.88620262e+01] [-1.77900807e-03 9.99784369e-01 -2.06893674e-02 -2.62723333e+00] [ 1.78573924e-01 2.06744650e-02 9.83709266e-01 -4.43723871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10463044 meters Centerline goodness : 0.123349 with order 3 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.63, Z:-4.44 [[ 9.83928187e-01 -1.97424927e-03 -1.78553707e-01 -2.88620566e+01] [-1.77512391e-03 9.99781323e-01 -2.08363751e-02 -2.62606615e+00] [ 1.78555797e-01 2.08184517e-02 9.83709520e-01 -4.43728795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16463044 meters Centerline goodness : 0.082912 with order 1 Centerline is valid? [False, False] Translation: X:-28.86, Y:-2.62, Z:-4.44 [[ 9.83905118e-01 -1.97521734e-03 -1.78680769e-01 -2.88617687e+01] [-1.83996530e-03 9.99773907e-01 -2.11837124e-02 -2.62284392e+00] [ 1.78682213e-01 2.11715295e-02 9.83679029e-01 -4.43724843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22463044 meters Centerline goodness : 0.090950 with order 1 Centerline is valid? [False, False] Translation: X:-28.90, Y:-2.62, Z:-4.45 [[ 9.83547880e-01 6.60355938e-05 -1.80647621e-01 -2.89046056e+01] [-3.72582009e-03 9.99794635e-01 -1.99199989e-02 -2.61532409e+00] [ 1.80609207e-01 2.02653332e-02 9.83346140e-01 -4.44551873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28463044 meters Centerline goodness : 0.093168 with order 1 Centerline is valid? [False, False] Translation: X:-28.91, Y:-2.61, Z:-4.45 [[ 9.83595649e-01 -4.70014721e-04 -1.80386749e-01 -2.89057179e+01] [-3.34626198e-03 9.99776990e-01 -2.08511914e-02 -2.61074187e+00] [ 1.80356321e-01 2.11127625e-02 9.83374724e-01 -4.44514191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34463044 meters Centerline goodness : 0.120314 with order 3 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.60, Z:-4.45 [[ 9.83839949e-01 -7.24801279e-03 -1.78903387e-01 -2.89274758e+01] [ 3.92471408e-03 9.99813243e-01 -1.89228876e-02 -2.60408368e+00] [ 1.79007129e-01 1.79149481e-02 9.83684656e-01 -4.44922361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40463044 meters Centerline goodness : 0.088526 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.60, Z:-4.45 [[ 9.83759301e-01 -7.66368611e-03 -1.79329043e-01 -2.89263704e+01] [ 4.26569890e-03 9.99804130e-01 -1.93262842e-02 -2.60309069e+00] [ 1.79442029e-01 1.82474481e-02 9.83599303e-01 -4.44914888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46463044 meters Centerline goodness : 0.110942 with order 3 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.60, Z:-4.45 [[ 9.83696390e-01 -8.07621329e-03 -1.79655748e-01 -2.89256759e+01] [ 4.55871006e-03 9.99789919e-01 -1.99833852e-02 -2.60025700e+00] [ 1.79779396e-01 1.88385854e-02 9.83526551e-01 -4.44896937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52463044 meters Centerline goodness : 0.141977 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.60, Z:-4.45 [[ 9.83825583e-01 -5.28219294e-03 -1.79051166e-01 -2.89290470e+01] [ 2.07675665e-03 9.99834295e-01 -1.80850614e-02 -2.59545866e+00] [ 1.79117025e-01 1.74207004e-02 9.83673528e-01 -4.44759372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58463044 meters Centerline goodness : 0.083598 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.59, Z:-4.45 [[ 9.83776539e-01 -4.97773236e-03 -1.79329147e-01 -2.89281435e+01] [ 1.73908973e-03 9.99832627e-01 -1.82124524e-02 -2.59199931e+00] [ 1.79389789e-01 1.76051139e-02 9.83620538e-01 -4.44781585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64463044 meters Centerline goodness : 0.084446 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.59, Z:-4.45 [[ 9.83764501e-01 -5.22917208e-03 -1.79388024e-01 -2.89287565e+01] [ 1.93997034e-03 9.99826863e-01 -1.85062117e-02 -2.59070158e+00] [ 1.79453738e-01 1.78577467e-02 9.83604319e-01 -4.44710071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70463044 meters Centerline goodness : 0.234597 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.59, Z:-4.45 [[ 9.83813397e-01 -8.71230252e-03 -1.78984066e-01 -2.89313203e+01] [ 5.05317687e-03 9.99769018e-01 -2.08896083e-02 -2.59405063e+00] [ 1.79124721e-01 1.96470383e-02 9.83630179e-01 -4.44577741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76463044 meters Centerline goodness : 0.096106 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.60, Z:-4.45 [[ 9.83778090e-01 -1.05871118e-02 -1.79077029e-01 -2.89312194e+01] [ 6.79947281e-03 9.99740286e-01 -2.17514767e-02 -2.59981033e+00] [ 1.79260806e-01 2.01809968e-02 9.83594576e-01 -4.44547185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82463044 meters Centerline goodness : 0.094001 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.61, Z:-4.44 [[ 9.83746608e-01 -1.54977706e-02 -1.78892230e-01 -2.89332429e+01] [ 1.12328837e-02 9.99628604e-01 -2.48289347e-02 -2.60853484e+00] [ 1.79210583e-01 2.24159047e-02 9.83555334e-01 -4.44374549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88463044 meters Centerline goodness : 0.095319 with order 1 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.62, Z:-4.45 [[ 9.84275759e-01 -1.04098502e-02 -1.76331691e-01 -2.89530997e+01] [ 5.89010516e-03 9.99641041e-01 -2.61361170e-02 -2.61755657e+00] [ 1.76540468e-01 2.46865342e-02 9.83983759e-01 -4.44846604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94463044 meters Centerline goodness : 0.304289 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.63, Z:-4.45 [[ 9.84466717e-01 -1.33474491e-02 -1.75063215e-01 -2.89564174e+01] [ 8.64590981e-03 9.99581891e-01 -2.75915075e-02 -2.62579217e+00] [ 1.75358295e-01 2.56493400e-02 9.84170503e-01 -4.44846018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00463044 meters Centerline goodness : 0.087640 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.63, Z:-4.45 [[ 9.84486776e-01 -1.32026414e-02 -1.74961361e-01 -2.89566135e+01] [ 8.62171225e-03 9.99600495e-01 -2.69168300e-02 -2.63128761e+00] [ 1.75246836e-01 2.49907966e-02 9.84207298e-01 -4.44847691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06463044000003 meters Centerline goodness : 0.308337 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.63, Z:-4.45 [[ 9.84418443e-01 -1.31986446e-02 -1.75345731e-01 -2.89555995e+01] [ 8.63691536e-03 9.99604752e-01 -2.67533695e-02 -2.63285724e+00] [ 1.75629534e-01 2.48220641e-02 9.84143349e-01 -4.44848470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12463044000003 meters Centerline goodness : 0.088145 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.64, Z:-4.45 [[ 9.84481867e-01 -1.28560451e-02 -1.75014788e-01 -2.89562778e+01] [ 8.51481393e-03 9.99637708e-01 -2.55333138e-02 -2.63896823e+00] [ 1.75279639e-01 2.36468661e-02 9.84234664e-01 -4.44923965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18463044000003 meters Centerline goodness : 0.093272 with order 1 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.64, Z:-4.45 [[ 9.84347330e-01 -1.62720812e-02 -1.75486621e-01 -2.89545340e+01] [ 1.15689321e-02 9.99546821e-01 -2.77904924e-02 -2.64430370e+00] [ 1.75859303e-01 2.53253042e-02 9.84089495e-01 -4.44985422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24463044000004 meters Centerline goodness : 0.443039 with order 3 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.66, Z:-4.45 [[ 9.84500590e-01 -1.01814849e-02 -1.75085483e-01 -2.89652892e+01] [ 5.27181225e-03 9.99580351e-01 -2.84838575e-02 -2.66238491e+00] [ 1.75302016e-01 2.71193567e-02 9.84141120e-01 -4.45495971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30463044000004 meters Centerline goodness : 0.273375 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.67, Z:-4.45 [[ 9.84344427e-01 -1.00492115e-02 -1.75968925e-01 -2.89632940e+01] [ 5.23104386e-03 9.99599170e-01 -2.78232910e-02 -2.66743473e+00] [ 1.76177993e-01 2.64672002e-02 9.84002440e-01 -4.45496977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36463044000004 meters Centerline goodness : 0.307451 with order 1 Centerline is valid? [False, False] Translation: X:-28.98, Y:-2.68, Z:-4.46 [[ 9.84725364e-01 -2.96325973e-03 -1.74089564e-01 -2.89780203e+01] [-1.95276486e-03 9.99604322e-01 -2.80604087e-02 -2.68211404e+00] [ 1.74103831e-01 2.79717522e-02 9.84329943e-01 -4.45960546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42463044 meters Centerline goodness : 0.314886 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.69, Z:-4.46 [[ 9.84830086e-01 -1.08337777e-02 -1.73182943e-01 -2.89575837e+01] [ 6.23682800e-03 9.99614190e-01 -2.70660726e-02 -2.68656590e+00] [ 1.73409355e-01 2.55753704e-02 9.84517697e-01 -4.45550590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48463044 meters Centerline goodness : 0.118414 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.69, Z:-4.46 [[ 9.84943928e-01 -1.15786648e-02 -1.72485922e-01 -2.89599561e+01] [ 7.02689377e-03 9.99611370e-01 -2.69765125e-02 -2.69190127e+00] [ 1.72731241e-01 2.53583119e-02 9.84642511e-01 -4.45571025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54463044 meters Centerline goodness : 0.091099 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.70, Z:-4.46 [[ 9.85031456e-01 -4.00928383e-03 -1.72328046e-01 -2.89729099e+01] [-7.64987195e-04 9.99617948e-01 -2.76292144e-02 -2.70328516e+00] [ 1.72372981e-01 2.73474740e-02 9.84652056e-01 -4.46079818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60463044 meters Centerline goodness : 0.090716 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.70, Z:-4.46 [[ 9.85068226e-01 -3.82456899e-03 -1.72121941e-01 -2.89739468e+01] [-8.71078006e-04 9.99629710e-01 -2.71971372e-02 -2.70484858e+00] [ 1.72162223e-01 2.69409674e-02 9.84700134e-01 -4.46015568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66463044 meters Centerline goodness : 0.095938 with order 1 Centerline is valid? [False, False] Translation: X:-28.96, Y:-2.70, Z:-4.46 [[ 9.85509753e-01 -1.04100169e-02 -1.69299022e-01 -2.89565365e+01] [ 6.07709962e-03 9.99641091e-01 -2.60913478e-02 -2.70057485e+00] [ 1.69509871e-01 2.46844306e-02 9.85219307e-01 -4.45559996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72463044 meters Centerline goodness : 0.304764 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.70, Z:-4.46 [[ 9.85465993e-01 2.90957438e-04 -1.69872579e-01 -2.89707001e+01] [-4.79309904e-03 9.99648014e-01 -2.60935644e-02 -2.70249785e+00] [ 1.69805194e-01 2.65285365e-02 9.85120517e-01 -4.45984889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78463044 meters Centerline goodness : 0.303170 with order 1 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.69, Z:-4.46 [[ 9.84946634e-01 -5.37625208e-03 -1.72775068e-01 -2.89517816e+01] [ 9.53451469e-04 9.99669980e-01 -2.56714065e-02 -2.69229470e+00] [ 1.72856064e-01 2.51202328e-02 9.84626708e-01 -4.45543945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84463044 meters Centerline goodness : 0.263196 with order 2 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.69, Z:-4.46 [[ 9.84940524e-01 -6.19655527e-03 -1.72782424e-01 -2.89517725e+01] [ 1.63626783e-03 9.99646859e-01 -2.65231868e-02 -2.68735662e+00] [ 1.72885760e-01 2.58410432e-02 9.84602841e-01 -4.45518032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90463044 meters Centerline goodness : 0.094102 with order 1 Centerline is valid? [False, False] Translation: X:-28.93, Y:-2.68, Z:-4.45 [[ 9.84363306e-01 -1.07569553e-02 -1.75821413e-01 -2.89316129e+01] [ 6.50259071e-03 9.99672391e-01 -2.47553441e-02 -2.67557069e+00] [ 1.76030104e-01 2.32249577e-02 9.84110768e-01 -4.45038132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96463044 meters Centerline goodness : 0.308646 with order 1 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.67, Z:-4.45 [[ 9.84775173e-01 -3.27796906e-03 -1.73801938e-01 -2.89516330e+01] [-1.46232175e-03 9.99630599e-01 -2.71390318e-02 -2.67397859e+00] [ 1.73826697e-01 2.69799991e-02 9.84406603e-01 -4.45426585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02463044 meters Centerline goodness : 0.301540 with order 2 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.66, Z:-4.46 [[ 9.84881191e-01 -1.03819905e-02 -1.72919788e-01 -2.89689520e+01] [ 5.97823649e-03 9.99644888e-01 -2.59684048e-02 -2.66034283e+00] [ 1.73127986e-01 2.45420381e-02 9.84593514e-01 -4.45918136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08463044 meters Centerline goodness : 0.338983 with order 1 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.66, Z:-4.46 [[ 9.84802904e-01 -2.99206009e-03 -1.73649898e-01 -2.89493394e+01] [-1.66847197e-03 9.99642460e-01 -2.66864905e-02 -2.65960790e+00] [ 1.73667658e-01 2.65706634e-02 9.84445806e-01 -4.45627800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14463044 meters Centerline goodness : 0.262601 with order 3 Centerline is valid? [False, False] Translation: X:-28.95, Y:-2.65, Z:-4.46 [[ 9.84820039e-01 7.00124327e-05 -1.73578472e-01 -2.89496359e+01] [-4.44832495e-03 9.99681669e-01 -2.48349311e-02 -2.64996678e+00] [ 1.73521478e-01 2.52300713e-02 9.84506851e-01 -4.45584653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20463044 meters Centerline goodness : 0.477092 with order 3 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.64, Z:-4.46 [[ 9.85396654e-01 -4.93306962e-03 -1.70203114e-01 -2.89702721e+01] [ 9.97514668e-04 9.99730335e-01 -2.32004670e-02 -2.63718958e+00] [ 1.70271666e-01 2.26918824e-02 9.85135848e-01 -4.46027537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26463044 meters Centerline goodness : 0.096278 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.63, Z:-4.46 [[ 9.85322984e-01 -5.67745457e-03 -1.70605931e-01 -2.89690990e+01] [ 1.56233565e-03 9.99704821e-01 -2.42451916e-02 -2.62854350e+00] [ 1.70693222e-01 2.36228008e-02 9.85041008e-01 -4.46008506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32463044 meters Centerline goodness : 0.091543 with order 1 Centerline is valid? [False, False] Translation: X:-28.99, Y:-2.62, Z:-4.46 [[ 9.84854761e-01 -1.61533383e-02 -1.72627258e-01 -2.89869378e+01] [ 1.20094058e-02 9.99614746e-01 -2.50226692e-02 -2.62240461e+00] [ 1.72964952e-01 2.25705441e-02 9.84669333e-01 -4.46403609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38463044 meters Centerline goodness : 0.478988 with order 1 Centerline is valid? [False, False] Translation: X:-28.99, Y:-2.62, Z:-4.46 [[ 9.84940159e-01 -1.65354455e-02 -1.72103055e-01 -2.89884074e+01] [ 1.23812806e-02 9.99606177e-01 -2.51832424e-02 -2.62144944e+00] [ 1.72451693e-01 2.26731305e-02 9.84756997e-01 -4.46383898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44463044 meters Centerline goodness : 0.090919 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.62, Z:-4.46 [[ 9.84810517e-01 -1.00833720e-02 -1.73339468e-01 -2.89708332e+01] [ 5.58915155e-03 9.99635943e-01 -2.63958687e-02 -2.62472374e+00] [ 1.73542522e-01 2.50261086e-02 9.84508348e-01 -4.45998718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50463044 meters Centerline goodness : 0.530866 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.62, Z:-4.46 [[ 9.84878828e-01 -6.24916669e-03 -1.73131866e-01 -2.89719156e+01] [ 2.20008489e-03 9.99719784e-01 -2.35693096e-02 -2.62002645e+00] [ 1.73230640e-01 2.28320092e-02 9.84616598e-01 -4.45932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56463044000003 meters Centerline goodness : 0.368744 with order 1 Centerline is valid? [False, False] Translation: X:-28.97, Y:-2.61, Z:-4.46 [[ 9.84758351e-01 -6.68192819e-03 -1.73799718e-01 -2.89690814e+01] [ 2.48026822e-03 9.99699656e-01 -2.43812621e-02 -2.61471946e+00] [ 1.73910432e-01 2.35785815e-02 9.84479158e-01 -4.46013189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62463044000003 meters SLAMing on 385.68463044000003 meters Centerline goodness : 0.091368 with order 1 Centerline is valid? [False, False] Translation: X:-29.01, Y:-2.60, Z:-4.47 [[ 9.84038931e-01 -5.70623049e-03 -1.77861801e-01 -2.90137568e+01] [ 1.56372627e-03 9.99724443e-01 -2.34220644e-02 -2.60102158e+00] [ 1.77946442e-01 2.27700960e-02 9.83776695e-01 -4.46528706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74463044000004 meters Centerline goodness : 0.508800 with order 1 Centerline is valid? [False, False] Translation: X:-29.02, Y:-2.60, Z:-4.46 [[ 9.84163354e-01 -1.86666037e-03 -1.77254076e-01 -2.90154929e+01] [-1.83008588e-03 9.99784267e-01 -2.06898549e-02 -2.59633002e+00] [ 1.77254458e-01 2.06865872e-02 9.83947622e-01 -4.46482363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80463044000004 meters Centerline goodness : 0.094730 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.59, Z:-4.47 [[ 9.84185124e-01 6.09702030e-03 -1.77038040e-01 -2.90380330e+01] [-1.01953978e-02 9.99700467e-01 -2.22492569e-02 -2.59078356e+00] [ 1.76849357e-01 2.37023609e-02 9.83952490e-01 -4.46863270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86463044000004 meters Centerline goodness : 0.090899 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.58, Z:-4.47 [[ 9.84114290e-01 1.01018929e-02 -1.77248456e-01 -2.90376436e+01] [-1.37893943e-02 9.99713106e-01 -1.95846290e-02 -2.58196758e+00] [ 1.76999762e-01 2.17176621e-02 9.83971253e-01 -4.46796962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92463044 meters Centerline goodness : 0.090913 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.57, Z:-4.47 [[ 9.84277068e-01 1.06922878e-02 -1.76307483e-01 -2.90404367e+01] [-1.44290948e-02 9.99697324e-01 -1.99264127e-02 -2.57284463e+00] [ 1.76041060e-01 2.21570684e-02 9.84133431e-01 -4.46713670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98463044 meters Centerline goodness : 0.089360 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.56, Z:-4.47 [[ 9.84364539e-01 1.37835844e-02 -1.75603153e-01 -2.90427560e+01] [-1.72551139e-02 9.99684411e-01 -1.82575756e-02 -2.56095506e+00] [ 1.75296080e-01 2.10021624e-02 9.84291722e-01 -4.46625191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04463044 meters Centerline goodness : 0.090008 with order 1 Centerline is valid? [False, False] Translation: X:-29.02, Y:-2.55, Z:-4.46 [[ 9.83916195e-01 7.48127479e-03 -1.78473950e-01 -2.90243201e+01] [-1.08574149e-02 9.99779978e-01 -1.79474798e-02 -2.54950553e+00] [ 1.78300412e-01 1.95965818e-02 9.83780940e-01 -4.46086768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10463044 meters Centerline goodness : 0.300843 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.54, Z:-4.47 [[ 9.83809585e-01 -4.76186343e-04 -1.79216276e-01 -2.90408501e+01] [-2.69427674e-03 9.99844161e-01 -1.74468943e-02 -2.53706299e+00] [ 1.79196655e-01 1.76472801e-02 9.83654986e-01 -4.46571137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16463044 meters Centerline goodness : 0.107738 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.53, Z:-4.47 [[ 9.83683677e-01 -1.44473226e-03 -1.79900908e-01 -2.90385465e+01] [-1.84972734e-03 9.99833681e-01 -1.81435358e-02 -2.53494391e+00] [ 1.79897199e-01 1.81802677e-02 9.83517400e-01 -4.46613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22463044 meters Centerline goodness : 0.299936 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.53, Z:-4.47 [[ 9.83703965e-01 -1.92745716e-03 -1.79785411e-01 -2.90390324e+01] [-1.45425670e-03 9.99824530e-01 -1.86760261e-02 -2.53309894e+00] [ 1.79789861e-01 1.86331351e-02 9.83528552e-01 -4.46581784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28463044 meters Centerline goodness : 0.094856 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.53, Z:-4.46 [[ 9.83877573e-01 2.92547395e-04 -1.78843050e-01 -2.90426203e+01] [-3.41827565e-03 9.99846749e-01 -1.71695920e-02 -2.52788236e+00] [ 1.78810619e-01 1.75041113e-02 9.83727792e-01 -4.46484189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34463044 meters Centerline goodness : 0.098811 with order 1 Centerline is valid? [False, False] Translation: X:-29.04, Y:-2.52, Z:-4.46 [[ 9.83864890e-01 2.48231330e-04 -1.78912874e-01 -2.90423955e+01] [-3.43666194e-03 9.99840757e-01 -1.75114242e-02 -2.52483553e+00] [ 1.78880036e-01 1.78437385e-02 9.83709070e-01 -4.46471531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40463044 meters Centerline goodness : 0.291864 with order 2 Centerline is valid? [False, False] Translation: X:-29.05, Y:-2.52, Z:-4.46 [[ 9.84082958e-01 1.95249245e-03 -1.77698956e-01 -2.90470052e+01] [-4.99493746e-03 9.99848476e-01 -1.66755973e-02 -2.51858502e+00] [ 1.77639471e-01 1.72977663e-02 9.83943599e-01 -4.46340031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46463044 meters Centerline goodness : 0.094663 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.51, Z:-4.47 [[ 9.84561566e-01 -3.30072653e-03 -1.75007510e-01 -2.90625640e+01] [ 4.73659830e-04 9.99868768e-01 -1.61932828e-02 -2.50822167e+00] [ 1.75037993e-01 1.58603898e-02 9.84433923e-01 -4.46746966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52463044 meters Centerline goodness : 0.303495 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.51, Z:-4.47 [[ 9.84513437e-01 -3.45863214e-03 -1.75275015e-01 -2.90619034e+01] [ 5.71844381e-04 9.99863407e-01 -1.65178775e-02 -2.50613377e+00] [ 1.75308203e-01 1.61618423e-02 9.84380937e-01 -4.46729418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58463044 meters Centerline goodness : 0.101696 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.50, Z:-4.47 [[ 9.84596984e-01 -3.85122150e-03 -1.74796877e-01 -2.90637935e+01] [ 8.46870906e-04 9.99850694e-01 -1.72590038e-02 -2.50200523e+00] [ 1.74837247e-01 1.68451327e-02 9.84453238e-01 -4.46651311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64463044 meters Centerline goodness : 0.299741 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.50, Z:-4.47 [[ 9.84505040e-01 -3.77433549e-03 -1.75315661e-01 -2.90620015e+01] [ 7.56108997e-04 9.99850411e-01 -1.72795616e-02 -2.50073936e+00] [ 1.75354655e-01 1.68792578e-02 9.84360623e-01 -4.46684063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70463044 meters Centerline goodness : 0.298857 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.50, Z:-4.47 [[ 9.84333403e-01 -3.96638327e-03 -1.76272573e-01 -2.90584383e+01] [ 8.94403177e-04 9.99846402e-01 -1.75034781e-02 -2.49986210e+00] [ 1.76314923e-01 1.70715994e-02 9.84185759e-01 -4.46779822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76463044 meters Centerline goodness : 0.095717 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.50, Z:-4.47 [[ 9.84372471e-01 -2.17894059e-04 -1.76098810e-01 -2.90587438e+01] [-2.34750250e-03 9.99894142e-01 -1.43594827e-02 -2.49850826e+00] [ 1.76083298e-01 1.45484719e-02 9.84267755e-01 -4.46792205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82463044 meters Centerline goodness : 0.304821 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.50, Z:-4.47 [[ 9.84316556e-01 -2.52069473e-04 -1.76411039e-01 -2.90576551e+01] [-2.35487204e-03 9.99891106e-01 -1.45681448e-02 -2.49718247e+00] [ 1.76395501e-01 1.47550915e-02 9.84208776e-01 -4.46806900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88463044 meters Centerline goodness : 0.482084 with order 2 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.49, Z:-4.47 [[ 9.84396525e-01 -2.06751997e-04 -1.75964310e-01 -2.90589646e+01] [-2.48140794e-03 9.99883565e-01 -1.50565605e-02 -2.49267518e+00] [ 1.75946935e-01 1.52582651e-02 9.84281393e-01 -4.46776247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94463044 meters Centerline goodness : 0.305785 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.49, Z:-4.47 [[ 9.84649658e-01 1.90024250e-03 -1.74532059e-01 -2.90646277e+01] [-4.33921115e-03 9.99898185e-01 -1.35937991e-02 -2.48912524e+00] [ 1.74488458e-01 1.41424611e-02 9.84557651e-01 -4.46620095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00463044 meters Centerline goodness : 0.091905 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.48, Z:-4.47 [[ 9.84554564e-01 2.32885019e-03 -1.75062521e-01 -2.90627218e+01] [-4.80311972e-03 9.99894460e-01 -1.37112675e-02 -2.48217894e+00] [ 1.75012113e-01 1.43403372e-02 9.84461840e-01 -4.46646560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06463044000003 meters Centerline goodness : 0.090716 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.47, Z:-4.47 [[ 9.84575027e-01 5.79200658e-03 -1.74867002e-01 -2.90634012e+01] [-7.92379801e-03 9.99902532e-01 -1.14952025e-02 -2.47446615e+00] [ 1.74783377e-01 1.27035001e-02 9.84524958e-01 -4.46602981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12463044000003 meters Centerline goodness : 0.089411 with order 1 Centerline is valid? [False, False] Translation: X:-29.06, Y:-2.47, Z:-4.47 [[ 9.84623119e-01 5.78834051e-03 -1.74596128e-01 -2.90640947e+01] [-8.01697195e-03 9.99895114e-01 -1.20619086e-02 -2.46652310e+00] [ 1.74507997e-01 1.32761663e-02 9.84566251e-01 -4.46575461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18463044000003 meters Centerline goodness : 0.299654 with order 2 Centerline is valid? [False, False] Translation: X:-29.08, Y:-2.45, Z:-4.47 [[ 9.84516199e-01 -1.13572572e-03 -1.75289943e-01 -2.90804367e+01] [-8.23925406e-04 9.99937984e-01 -1.11063029e-02 -2.45333920e+00] [ 1.75291686e-01 1.10787609e-02 9.84454207e-01 -4.47086277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24463044000004 meters Centerline goodness : 0.303257 with order 1 Centerline is valid? [False, False] Translation: X:-29.10, Y:-2.45, Z:-4.48 [[ 9.84206095e-01 -9.51112760e-03 -1.76770761e-01 -2.90976028e+01] [ 7.71427842e-03 9.99911387e-01 -1.08493336e-02 -2.44627275e+00] [ 1.76858286e-01 9.31432140e-03 9.84192253e-01 -4.47542948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30463044000004 meters Centerline goodness : 0.305204 with order 1 Centerline is valid? [False, False] Translation: X:-29.10, Y:-2.45, Z:-4.48 [[ 9.84199158e-01 -1.04111116e-02 -1.76758665e-01 -2.90975468e+01] [ 8.56932928e-03 9.99900783e-01 -1.11799439e-02 -2.44721050e+00] [ 1.76857523e-01 9.48858815e-03 9.84190725e-01 -4.47543701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36463044000004 meters Centerline goodness : 0.121245 with order 3 Centerline is valid? [False, False] Translation: X:-29.08, Y:-2.45, Z:-4.47 [[ 9.84273802e-01 -1.91670804e-02 -1.75606677e-01 -2.90777075e+01] [ 1.76396141e-02 9.99791816e-01 -1.02551912e-02 -2.44707614e+00] [ 1.75766681e-01 6.99628197e-03 9.84406992e-01 -4.47114970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42463044 meters Centerline goodness : 0.307297 with order 1 Centerline is valid? [False, False] Translation: X:-29.10, Y:-2.45, Z:-4.48 [[ 9.84719216e-01 -1.49384319e-02 -1.73507662e-01 -2.90963668e+01] [ 1.28709475e-02 9.99832201e-01 -1.30349052e-02 -2.45488856e+00] [ 1.73673269e-01 1.06025137e-02 9.84746253e-01 -4.47612893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48463044 meters Centerline goodness : 0.091401 with order 1 Centerline is valid? [False, False] Translation: X:-29.10, Y:-2.46, Z:-4.48 [[ 9.84674132e-01 -1.48857534e-02 -1.73767858e-01 -2.90956078e+01] [ 1.28732937e-02 9.99836447e-01 -1.27026914e-02 -2.45732326e+00] [ 1.73928526e-01 1.02710469e-02 9.84704714e-01 -4.47623259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54463044 meters Centerline goodness : 0.090500 with order 1 Centerline is valid? [False, False] Translation: X:-29.10, Y:-2.46, Z:-4.48 [[ 9.84678376e-01 -1.46286112e-02 -1.73765643e-01 -2.90955932e+01] [ 1.26943465e-02 9.99844534e-01 -1.22376806e-02 -2.46011169e+00] [ 1.73917649e-01 9.84433822e-03 9.84710993e-01 -4.47624045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60463044 meters Centerline goodness : 0.090653 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.46, Z:-4.48 [[ 9.84845645e-01 -4.86500052e-03 -1.73364896e-01 -2.91166512e+01] [ 2.77038414e-03 9.99920243e-01 -1.23220547e-02 -2.46209328e+00] [ 1.73411016e-01 1.16550346e-02 9.84780574e-01 -4.48032772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66463044 meters Centerline goodness : 0.497719 with order 3 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.46, Z:-4.48 [[ 9.84860760e-01 -1.42291419e-03 -1.73341451e-01 -2.91164008e+01] [-2.24648680e-04 9.99954994e-01 -9.48473552e-03 -2.46180548e+00] [ 1.73347146e-01 9.38008476e-03 9.84816115e-01 -4.48055222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72463044 meters Centerline goodness : 0.090055 with order 1 Centerline is valid? [False, False] Translation: X:-29.14, Y:-2.46, Z:-4.48 [[ 9.84645931e-01 8.22835649e-03 -1.74369393e-01 -2.91370967e+01] [-1.00798931e-02 9.99901803e-01 -9.73552288e-03 -2.46097885e+00] [ 1.74272163e-01 1.13436678e-02 9.84632182e-01 -4.48394194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78463044 meters Centerline goodness : 0.092338 with order 1 Centerline is valid? [False, False] Translation: X:-29.14, Y:-2.46, Z:-4.48 [[ 9.84741956e-01 1.21155449e-02 -1.73598656e-01 -2.91388246e+01] [-1.34919737e-02 9.99886190e-01 -6.75089644e-03 -2.45889433e+00] [ 1.73497108e-01 8.99007947e-03 9.84793345e-01 -4.48403620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84463044 meters Centerline goodness : 0.089287 with order 1 Centerline is valid? [False, False] Translation: X:-29.16, Y:-2.45, Z:-4.49 [[ 9.85107111e-01 5.33952045e-03 -1.71858867e-01 -2.91580971e+01] [-6.47795924e-03 9.99960630e-01 -6.06412398e-03 -2.45344060e+00] [ 1.71819722e-01 7.08710638e-03 9.85102917e-01 -4.48868455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90463044 meters Centerline goodness : 0.300666 with order 1 Centerline is valid? [False, False] Translation: X:-29.15, Y:-2.45, Z:-4.49 [[ 9.84906996e-01 5.52277287e-03 -1.72996266e-01 -2.91548002e+01] [-6.61312183e-03 9.99961733e-01 -5.72699313e-03 -2.45480893e+00] [ 1.72958017e-01 6.78460099e-03 9.84905830e-01 -4.48905273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96463044 meters Centerline goodness : 0.087618 with order 1 Centerline is valid? [False, False] Translation: X:-29.16, Y:-2.46, Z:-4.49 [[ 9.84946174e-01 5.53063620e-03 -1.72772819e-01 -2.91554972e+01] [-6.61583814e-03 9.99961836e-01 -5.70587050e-03 -2.45506239e+00] [ 1.72734668e-01 6.76301232e-03 9.84945174e-01 -4.48893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02463044 meters Centerline goodness : 0.100743 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.45, Z:-4.49 [[ 9.85260054e-01 7.81686489e-04 -1.71061438e-01 -2.91764382e+01] [-1.32795735e-03 9.99994378e-01 -3.07901795e-03 -2.44975458e+00] [ 1.71058070e-01 3.26079568e-03 9.85255553e-01 -4.49344686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08463044 meters Centerline goodness : 0.464763 with order 2 Centerline is valid? [False, False] Translation: X:-29.17, Y:-2.45, Z:-4.49 [[ 9.85154352e-01 6.96370729e-04 -1.71669500e-01 -2.91743293e+01] [-1.30920708e-03 9.99993169e-01 -3.45667157e-03 -2.44675600e+00] [ 1.71665920e-01 3.63010597e-03 9.85148534e-01 -4.49389436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14463044 meters Centerline goodness : 0.091926 with order 1 Centerline is valid? [False, False] Translation: X:-29.17, Y:-2.44, Z:-4.49 [[ 9.85057639e-01 6.07145210e-04 -1.72223921e-01 -2.91729145e+01] [-1.29314669e-03 9.99991671e-01 -3.87102947e-03 -2.44326017e+00] [ 1.72220136e-01 4.03589794e-03 9.85050220e-01 -4.49379270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20463044 meters Centerline goodness : 0.099299 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.43, Z:-4.49 [[ 9.85203658e-01 3.52095602e-03 -1.71351552e-01 -2.91769020e+01] [-3.95322956e-03 9.99989806e-01 -2.18157400e-03 -2.43496079e+00] [ 1.71342124e-01 2.82668670e-03 9.85207535e-01 -4.49216405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26463044 meters Centerline goodness : 0.259996 with order 3 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.43, Z:-4.49 [[ 9.85461847e-01 4.95456607e-03 -1.69824617e-01 -2.91815100e+01] [-5.31758809e-03 9.99984445e-01 -1.68286070e-03 -2.42751062e+00] [ 1.69813638e-01 2.56145238e-03 9.85472865e-01 -4.49143107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32463044 meters Centerline goodness : 0.311229 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.42, Z:-4.49 [[ 9.85426297e-01 8.21561532e-03 -1.69904434e-01 -2.91814302e+01] [-8.29172124e-03 9.99965589e-01 2.61632101e-04 -2.41866962e+00] [ 1.69900737e-01 1.15098105e-03 9.85460509e-01 -4.49101758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38463044 meters Centerline goodness : 0.313770 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.41, Z:-4.49 [[ 9.85440093e-01 8.31580352e-03 -1.69819522e-01 -2.91815579e+01] [-8.48435735e-03 9.99963972e-01 -2.66883256e-04 -2.41119536e+00] [ 1.69811184e-01 1.70380697e-03 9.85475144e-01 -4.49088691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44463044 meters Centerline goodness : 0.309486 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.40, Z:-4.49 [[ 9.85466859e-01 1.13748931e-02 -1.69486522e-01 -2.91829617e+01] [-1.13107337e-02 9.99935128e-01 1.34407111e-03 -2.40162575e+00] [ 1.69490815e-01 5.92479381e-04 9.85531589e-01 -4.49015005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50463044 meters Centerline goodness : 0.307793 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.39, Z:-4.49 [[ 9.85484569e-01 1.27876868e-02 -1.69282720e-01 -2.91836339e+01] [-1.26733962e-02 9.99918148e-01 1.75566476e-03 -2.39359403e+00] [ 1.69291314e-01 4.15206443e-04 9.85565969e-01 -4.48976007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56463044000003 meters Centerline goodness : 0.306945 with order 1 Centerline is valid? [False, False] Translation: X:-29.19, Y:-2.38, Z:-4.49 [[ 9.85472304e-01 1.56780119e-02 -1.69111022e-01 -2.91851513e+01] [-1.54560148e-02 9.99877092e-01 2.62910374e-03 -2.38299193e+00] [ 1.69131456e-01 2.28735402e-05 9.85593501e-01 -4.48972860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62463044000003 meters Centerline goodness : 0.304970 with order 1 Centerline is valid? [False, False] Translation: X:-29.20, Y:-2.37, Z:-4.49 [[ 9.85832471e-01 9.25058594e-03 -1.67477660e-01 -2.91989740e+01] [-8.78054355e-03 9.99955160e-01 3.54689811e-03 -2.37169004e+00] [ 1.67502962e-01 -2.02610244e-03 9.85869491e-01 -4.49460686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68463044000003 meters Centerline goodness : 0.313649 with order 1 Centerline is valid? [False, False] Translation: X:-29.21, Y:-2.36, Z:-4.50 [[ 9.85372781e-01 2.38279776e-03 -1.70396023e-01 -2.92102419e+01] [-1.39340151e-03 9.99981471e-01 5.92580547e-03 -2.36206778e+00] [ 1.70406986e-01 -5.60169734e-03 9.85357844e-01 -4.49882080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74463044000004 meters Centerline goodness : 0.315071 with order 1 Centerline is valid? [False, False] Translation: X:-29.21, Y:-2.36, Z:-4.50 [[ 9.85302274e-01 2.17455236e-03 -1.70806029e-01 -2.92095270e+01] [-1.21999921e-03 9.99983049e-01 5.69328558e-03 -2.36143417e+00] [ 1.70815514e-01 -5.40122401e-03 9.85288225e-01 -4.49844487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80463044000004 meters Centerline goodness : 0.263245 with order 3 Centerline is valid? [False, False] Translation: X:-29.17, Y:-2.36, Z:-4.49 [[ 9.85643049e-01 8.59179770e-04 -1.68840284e-01 -2.91654648e+01] [ 5.91310473e-05 9.99985235e-01 5.43382877e-03 -2.36171594e+00] [ 1.68842459e-01 -5.36579926e-03 9.85628445e-01 -4.49131892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86463044000004 meters Centerline goodness : 0.239990 with order 2 Centerline is valid? [False, False] Translation: X:-29.17, Y:-2.36, Z:-4.49 [[ 9.85637108e-01 9.60420768e-04 -1.68874419e-01 -2.91651232e+01] [-4.05864853e-06 9.99983963e-01 5.66340964e-03 -2.36286208e+00] [ 1.68877150e-01 -5.58138129e-03 9.85621305e-01 -4.49148238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92463044 meters Centerline goodness : 0.305220 with order 1 Centerline is valid? [False, False] Translation: X:-29.14, Y:-2.37, Z:-4.49 [[ 9.85490780e-01 6.00335406e-03 -1.69622763e-01 -2.91422413e+01] [-5.53831907e-03 9.99979496e-01 3.21459561e-03 -2.36591381e+00] [ 1.69638584e-01 -2.22852935e-03 9.85503823e-01 -4.48757577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98463044 meters Centerline goodness : 0.308245 with order 1 Centerline is valid? [False, False] Translation: X:-29.16, Y:-2.36, Z:-4.49 [[ 9.85248394e-01 -3.23938869e-03 -1.71099702e-01 -2.91577508e+01] [ 4.04486179e-03 9.99982318e-01 4.35922542e-03 -2.36454320e+00] [ 1.71082555e-01 -4.98699449e-03 9.85244076e-01 -4.49048456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04463044 meters Centerline goodness : 0.261122 with order 2 Centerline is valid? [False, False] Translation: X:-29.14, Y:-2.37, Z:-4.49 [[ 9.85728194e-01 1.37806002e-03 -1.68339027e-01 -2.91382283e+01] [-1.13085411e-03 9.99998137e-01 1.56435897e-03 -2.37032081e+00] [ 1.68340869e-01 -1.35166586e-03 9.85727916e-01 -4.48674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10463044 meters Centerline goodness : 0.093193 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.38, Z:-4.48 [[ 9.85319337e-01 7.55116902e-03 -1.70554346e-01 -2.91195631e+01] [-7.43939474e-03 9.99971489e-01 1.29445095e-03 -2.38331835e+00] [ 1.70559258e-01 -6.62645421e-06 9.85347421e-01 -4.48194722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16463044 meters Centerline goodness : 0.306905 with order 3 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.39, Z:-4.48 [[ 9.85408120e-01 7.07488770e-03 -1.70061118e-01 -2.91208266e+01] [-6.90428203e-03 9.99974894e-01 1.59457087e-03 -2.39422146e+00] [ 1.70068130e-01 -3.97153165e-04 9.85432227e-01 -4.48198648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22463044 meters Centerline goodness : 0.312798 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.40, Z:-4.48 [[ 9.85462338e-01 7.14620409e-03 -1.69743668e-01 -2.91220368e+01] [-6.91728261e-03 9.99974194e-01 1.93997328e-03 -2.40189817e+00] [ 1.69753151e-01 -7.37605676e-04 9.85486339e-01 -4.48141357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28463044 meters Centerline goodness : 0.095906 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.41, Z:-4.48 [[ 9.85388136e-01 7.42022381e-03 -1.70162162e-01 -2.91203139e+01] [-7.11861324e-03 9.99971824e-01 2.38253731e-03 -2.40908529e+00] [ 1.70175047e-01 -1.13640538e-03 9.85413194e-01 -4.48175489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34463044 meters Centerline goodness : 0.312204 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.42, Z:-4.48 [[ 9.85453808e-01 8.08926053e-03 -1.69750865e-01 -2.91208582e+01] [-7.63342601e-03 9.99965294e-01 3.33778012e-03 -2.41729264e+00] [ 1.69771974e-01 -1.99344746e-03 9.85481356e-01 -4.48209646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40463044 meters Centerline goodness : 0.309042 with order 1 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.42, Z:-4.48 [[ 9.85526437e-01 8.63501905e-03 -1.69301741e-01 -2.91224409e+01] [-8.06841437e-03 9.99959311e-01 4.03440648e-03 -2.42110526e+00] [ 1.69329689e-01 -2.61001765e-03 9.85556008e-01 -4.48168575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46463044 meters Centerline goodness : 0.290118 with order 3 Centerline is valid? [False, False] Translation: X:-29.12, Y:-2.42, Z:-4.48 [[ 9.85479407e-01 8.86021250e-03 -1.69563659e-01 -2.91215190e+01] [-8.25563446e-03 9.99956804e-01 4.27020756e-03 -2.42322589e+00] [ 1.69594169e-01 -2.80834603e-03 9.85509985e-01 -4.48176961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52463044 meters Centerline goodness : 0.308381 with order 1 Centerline is valid? [False, False] Translation: X:-29.17, Y:-2.43, Z:-4.49 [[ 9.85222301e-01 9.97196830e-03 -1.70989992e-01 -2.91650951e+01] [-9.32491454e-03 9.99946002e-01 4.58691211e-03 -2.43025747e+00] [ 1.71026499e-01 -2.92466104e-03 9.85262088e-01 -4.48907925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58463044 meters Centerline goodness : 0.087820 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.43, Z:-4.49 [[ 9.84961758e-01 2.44641104e-03 -1.72755176e-01 -2.91839965e+01] [-1.51029266e-03 9.99983458e-01 5.54999319e-03 -2.43265866e+00] [ 1.72765896e-01 -5.20562017e-03 9.84949159e-01 -4.49274451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64463044 meters Centerline goodness : 0.314149 with order 1 Centerline is valid? [False, False] Translation: X:-29.18, Y:-2.44, Z:-4.49 [[ 9.84914147e-01 2.47315818e-03 -1.73026030e-01 -2.91831513e+01] [-1.49583789e-03 9.99982185e-01 5.77856539e-03 -2.43504466e+00] [ 1.73037238e-01 -5.43257191e-03 9.84900300e-01 -4.49282138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70463044 meters Centerline goodness : 0.314816 with order 1 Centerline is valid? [False, False] Translation: X:-29.20, Y:-2.44, Z:-4.50 [[ 9.84636847e-01 1.01277376e-02 -1.74320704e-01 -2.91988266e+01] [-9.44914631e-03 9.99944205e-01 4.72230113e-03 -2.44414766e+00] [ 1.74358804e-01 -3.00256986e-03 9.84677608e-01 -4.49875806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76463044 meters Centerline goodness : 0.306008 with order 1 Centerline is valid? [False, False] Translation: X:-29.20, Y:-2.45, Z:-4.50 [[ 9.84599790e-01 1.03764713e-02 -1.74515276e-01 -2.91981125e+01] [-9.66912689e-03 9.99941233e-01 4.90295867e-03 -2.44514245e+00] [ 1.74555895e-01 -3.14004173e-03 9.84642260e-01 -4.49886951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82463044 meters Centerline goodness : 0.531633 with order 1 Centerline is valid? [False, False] Translation: X:-29.20, Y:-2.45, Z:-4.50 [[ 9.84486745e-01 1.05370502e-02 -1.75142286e-01 -2.91964747e+01] [-9.81639787e-03 9.99939415e-01 4.98051175e-03 -2.44535859e+00] [ 1.75184155e-01 -3.18398143e-03 9.84530535e-01 -4.49883866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88463044 meters Centerline goodness : 0.095471 with order 1 Centerline is valid? [False, False] Translation: X:-29.21, Y:-2.44, Z:-4.50 [[ 9.84322558e-01 2.93079861e-03 -1.76353376e-01 -2.92148919e+01] [-1.87292153e-03 9.99979244e-01 6.16477493e-03 -2.44416206e+00] [ 1.76367783e-01 -5.73783099e-03 9.84307616e-01 -4.50335425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94463044 meters Centerline goodness : 0.272340 with order 3 Centerline is valid? [False, False] Translation: X:-29.23, Y:-2.45, Z:-4.51 [[ 9.84850835e-01 5.85505434e-03 -1.73304790e-01 -2.92334593e+01] [-5.34564963e-03 9.99979912e-01 3.40596022e-03 -2.45164915e+00] [ 1.73321251e-01 -2.42793608e-03 9.84862350e-01 -4.50686110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00463044 meters Centerline goodness : 0.094379 with order 1 Centerline is valid? [False, False] Translation: X:-29.23, Y:-2.46, Z:-4.51 [[ 9.84912583e-01 1.97994586e-03 -1.73041279e-01 -2.92347041e+01] [-1.89750587e-03 9.99997994e-01 6.41838066e-04 -2.45608228e+00] [ 1.73042202e-01 -3.03807545e-04 9.84914364e-01 -4.50621980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06463044000003 meters Centerline goodness : 0.310635 with order 1 Centerline is valid? [False, False] Translation: X:-29.23, Y:-2.46, Z:-4.51 [[ 9.84903744e-01 -1.70865348e-03 -1.73094468e-01 -2.92347307e+01] [ 1.41606708e-03 9.99997352e-01 -1.81380253e-03 -2.46276764e+00] [ 1.73097109e-01 1.54130753e-03 9.84903556e-01 -4.50577624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12463044000003 meters Centerline goodness : 0.309865 with order 1 Centerline is valid? [False, False] Translation: X:-29.23, Y:-2.47, Z:-4.51 [[ 9.84897214e-01 -1.28933494e-03 -1.73135251e-01 -2.92347845e+01] [ 1.11411995e-03 9.99998764e-01 -1.10918896e-03 -2.46662200e+00] [ 1.73136467e-01 8.99543679e-04 9.84897434e-01 -4.50531774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18463044000003 meters Centerline goodness : 0.240359 with order 2 Centerline is valid? [False, False] Translation: X:-29.24, Y:-2.47, Z:-4.50 [[ 9.84971797e-01 -1.38247067e-03 -1.72709723e-01 -2.92367645e+01] [ 1.23931920e-03 9.99998793e-01 -9.36684628e-04 -2.47201588e+00] [ 1.72710810e-01 7.08565464e-04 9.84972322e-01 -4.50448286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24463044000004 meters Centerline goodness : 0.093489 with order 1 Centerline is valid? [False, False] Translation: X:-29.24, Y:-2.47, Z:-4.50 [[ 9.84962636e-01 -1.07813219e-03 -1.72764124e-01 -2.92365011e+01] [ 1.01187947e-03 9.99999377e-01 -4.71556475e-04 -2.47445838e+00] [ 1.72764525e-01 2.89649038e-04 9.84963113e-01 -4.50456718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30463044000004 meters Centerline goodness : 0.097994 with order 1 Centerline is valid? [False, False] Translation: X:-29.24, Y:-2.48, Z:-4.50 [[ 9.84890297e-01 -4.74500716e-04 -1.73178743e-01 -2.92356463e+01] [ 4.93709984e-04 9.99999876e-01 6.78461761e-05 -2.47671302e+00] [ 1.73178690e-01 -1.52321115e-04 9.84890409e-01 -4.50417692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36463044000004 meters Centerline goodness : 0.455060 with order 1 Centerline is valid? [False, False] Translation: X:-29.25, Y:-2.48, Z:-4.51 [[ 9.84985454e-01 7.21364654e-03 -1.72486573e-01 -2.92538483e+01] [-7.47464199e-03 9.99971692e-01 -8.63669023e-04 -2.48384132e+00] [ 1.72475460e-01 2.13997681e-03 9.85011490e-01 -4.50923789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42463044 meters Centerline goodness : 0.290586 with order 2 Centerline is valid? [False, False] Translation: X:-29.25, Y:-2.49, Z:-4.51 [[ 9.84957673e-01 7.45874104e-03 -1.72634727e-01 -2.92537328e+01] [-7.68272409e-03 9.99970289e-01 -6.29297523e-04 -2.48585588e+00] [ 1.72624904e-01 1.94613640e-03 9.84985713e-01 -4.50890265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48463044 meters Centerline goodness : 0.313272 with order 1 Centerline is valid? [False, False] Translation: X:-29.25, Y:-2.49, Z:-4.51 [[ 9.84990031e-01 7.88192346e-03 -1.72431187e-01 -2.92548016e+01] [-8.07862428e-03 9.99967271e-01 -4.39009269e-04 -2.48577537e+00] [ 1.72422083e-01 1.82542652e-03 9.85021468e-01 -4.50831750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54463044 meters Centerline goodness : 0.088909 with order 1 Centerline is valid? [False, False] Translation: X:-29.27, Y:-2.48, Z:-4.51 [[ 9.85022421e-01 1.14188095e-03 -1.72422521e-01 -2.92719941e+01] [-9.93831705e-04 9.99999060e-01 9.44965672e-04 -2.48219627e+00] [ 1.72423438e-01 -7.59453406e-04 9.85022630e-01 -4.51313564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60463044 meters Centerline goodness : 0.097007 with order 1 Centerline is valid? [False, False] Translation: X:-29.27, Y:-2.48, Z:-4.51 [[ 9.84932456e-01 1.03845761e-03 -1.72936344e-01 -2.92705072e+01] [-9.22980815e-04 9.99999294e-01 7.48154570e-04 -2.48198558e+00] [ 1.72936998e-01 -5.77264791e-04 9.84932719e-01 -4.51327795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66463044 meters Centerline goodness : 0.091776 with order 1 Centerline is valid? [False, False] Translation: X:-29.27, Y:-2.48, Z:-4.51 [[ 9.84849275e-01 9.47686044e-04 -1.73409939e-01 -2.92693371e+01] [-8.26913334e-04 9.99999363e-01 7.68701280e-04 -2.48262352e+00] [ 1.73410557e-01 -6.13659907e-04 9.84849431e-01 -4.51318583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72463044 meters Centerline goodness : 0.097076 with order 1 Centerline is valid? [False, False] Translation: X:-29.31, Y:-2.49, Z:-4.52 [[ 9.84617732e-01 1.65402258e-04 -1.74722335e-01 -2.93139906e+01] [-7.02545516e-05 9.99999846e-01 5.50750170e-04 -2.48629501e+00] [ 1.74722399e-01 -5.30003344e-04 9.84617592e-01 -4.51989597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78463044 meters Centerline goodness : 0.307380 with order 2 Centerline is valid? [False, False] Translation: X:-29.31, Y:-2.49, Z:-4.52 [[ 9.84639949e-01 1.23644853e-04 -1.74597126e-01 -2.93149234e+01] [ 7.06199948e-06 9.99999720e-01 7.47998255e-04 -2.48837135e+00] [ 1.74597169e-01 -7.37741968e-04 9.84639672e-01 -4.51910896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84463044 meters Centerline goodness : 0.313702 with order 1 Centerline is valid? [False, False] Translation: X:-29.31, Y:-2.49, Z:-4.52 [[ 9.84617105e-01 1.64662576e-04 -1.74725869e-01 -2.93147267e+01] [ 1.30193568e-05 9.99999484e-01 1.01577158e-03 -2.49107855e+00] [ 1.74725946e-01 -1.00242089e-03 9.84616595e-01 -4.51881870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90463044 meters Centerline goodness : 0.088946 with order 1 Centerline is valid? [False, False] Translation: X:-29.31, Y:-2.50, Z:-4.52 [[ 9.84410739e-01 -1.47609018e-03 -1.75878705e-01 -2.93117176e+01] [ 1.51057592e-03 9.99998857e-01 6.21943937e-05 -2.49765961e+00] [ 1.75878412e-01 -3.26902965e-04 9.84411843e-01 -4.51861272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96463044 meters Centerline goodness : 0.104202 with order 3 Centerline is valid? [False, False] Translation: X:-29.31, Y:-2.50, Z:-4.52 [[ 9.84525069e-01 -1.00871067e-03 -1.75240892e-01 -2.93134615e+01] [ 1.17498087e-03 9.99998953e-01 8.45056812e-04 -2.50223055e+00] [ 1.75239856e-01 -1.03788431e-03 9.84525224e-01 -4.51844349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02463044 meters Centerline goodness : 0.322234 with order 1 Centerline is valid? [False, False] Translation: X:-29.33, Y:-2.51, Z:-4.52 [[ 9.84776471e-01 6.17109501e-03 -1.73715918e-01 -2.93331987e+01] [-6.26621470e-03 9.99980367e-01 8.81054681e-07 -2.51118960e+00] [ 1.73712513e-01 1.08767360e-03 9.84795806e-01 -4.52276726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08463044 meters SLAMing on 391.14463044 meters SLAMing on 391.20463044 meters Centerline goodness : 0.324673 with order 1 Centerline is valid? [False, False] Translation: X:-29.40, Y:-2.53, Z:-4.53 [[ 9.84677310e-01 1.59582255e-02 -1.73654630e-01 -2.93968047e+01] [-1.61894161e-02 9.99868939e-01 8.51305844e-05 -2.53133189e+00] [ 1.73633229e-01 2.72754091e-03 9.84806612e-01 -4.53235189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26463044 meters Centerline goodness : 0.089287 with order 1 Centerline is valid? [False, False] Translation: X:-29.40, Y:-2.53, Z:-4.53 [[ 9.84720244e-01 1.27057771e-02 -1.73679601e-01 -2.93966455e+01] [-1.33522876e-02 9.99907591e-01 -2.55450182e-03 -2.53309755e+00] [ 1.73631094e-01 4.83448963e-03 9.84798899e-01 -4.53247977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32463044 meters Centerline goodness : 0.094794 with order 1 Centerline is valid? [False, False] Translation: X:-29.42, Y:-2.53, Z:-4.54 [[ 9.84789076e-01 3.68622781e-03 -1.73714962e-01 -2.94188442e+01] [-4.15778272e-03 9.99988593e-01 -2.35070851e-03 -2.53433130e+00] [ 1.73704315e-01 3.03722113e-03 9.84793169e-01 -4.53644493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38463044 meters Centerline goodness : 0.087555 with order 1 Centerline is valid? [False, False] Translation: X:-29.42, Y:-2.53, Z:-4.54 [[ 9.84712946e-01 3.96090602e-03 -1.74139959e-01 -2.94174306e+01] [-4.38255112e-03 9.99988322e-01 -2.03683896e-03 -2.53496312e+00] [ 1.74129858e-01 2.76887897e-03 9.84718805e-01 -4.53668155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44463044 meters Centerline goodness : 0.094278 with order 1 Centerline is valid? [False, False] Translation: X:-29.42, Y:-2.54, Z:-4.54 [[ 9.84578867e-01 3.77287859e-03 -1.74900599e-01 -2.94151227e+01] [-4.19331028e-03 9.99989139e-01 -2.03433880e-03 -2.53678707e+00] [ 1.74891024e-01 2.73637947e-03 9.84583994e-01 -4.53690638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50463044 meters Centerline goodness : 0.096727 with order 1 Centerline is valid? [False, False] Translation: X:-29.43, Y:-2.54, Z:-4.54 [[ 9.84446931e-01 -3.98125054e-03 -1.75637096e-01 -2.94343758e+01] [ 3.89049206e-03 9.99992061e-01 -8.61070781e-04 -2.53507220e+00] [ 1.75639130e-01 1.64363759e-04 9.84454605e-01 -4.54096563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56463044000003 meters Centerline goodness : 0.327660 with order 1 Centerline is valid? [False, False] Translation: X:-29.43, Y:-2.54, Z:-4.54 [[ 9.84420152e-01 -4.02857436e-03 -1.75786051e-01 -2.94338275e+01] [ 3.97287789e-03 9.99991884e-01 -6.68771024e-04 -2.53713125e+00] [ 1.75787318e-01 -4.00248402e-05 9.84428168e-01 -4.54096317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62463044000003 meters Centerline goodness : 0.470102 with order 1 Centerline is valid? [False, False] Translation: X:-29.43, Y:-2.54, Z:-4.54 [[ 9.84376832e-01 -4.31908515e-03 -1.76021584e-01 -2.94332579e+01] [ 4.30941326e-03 9.99990619e-01 -4.37208091e-04 -2.54170553e+00] [ 1.76021821e-01 -3.28172232e-04 9.84386210e-01 -4.54081025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68463044000003 meters Centerline goodness : 0.099507 with order 1 Centerline is valid? [False, False] Translation: X:-29.43, Y:-2.55, Z:-4.54 [[ 9.84313641e-01 -4.41893153e-03 -1.76372130e-01 -2.94321560e+01] [ 4.47109150e-03 9.99989999e-01 -1.01665636e-04 -2.54570931e+00] [ 1.76370816e-01 -6.88505060e-04 9.84323555e-01 -4.54081186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74463044000004 meters Centerline goodness : 0.324627 with order 1 Centerline is valid? [False, False] Translation: X:-29.43, Y:-2.55, Z:-4.54 [[ 9.84210289e-01 -4.29850599e-03 -1.76950926e-01 -2.94307129e+01] [ 4.39563055e-03 9.99990327e-01 1.56881889e-04 -2.54779946e+00] [ 1.76948540e-01 -9.32215667e-04 9.84219663e-01 -4.54065615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80463044000004 meters Centerline goodness : 0.321745 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-2.55, Z:-4.55 [[ 9.84166803e-01 4.05781852e-03 -1.77198299e-01 -2.94490673e+01] [-4.19881877e-03 9.99991096e-01 -4.20746992e-04 -2.55154558e+00] [ 1.77195014e-01 1.15810876e-03 9.84175079e-01 -4.54530979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86463044000004 meters Centerline goodness : 0.325740 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-2.55, Z:-4.54 [[ 9.84307496e-01 4.20820564e-03 -1.76411576e-01 -2.94514584e+01] [-4.39986101e-03 9.99990079e-01 -6.95262088e-04 -2.54927449e+00] [ 1.76406900e-01 1.46053810e-03 9.84316246e-01 -4.54498050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92463044 meters Centerline goodness : 0.314734 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-2.55, Z:-4.55 [[ 9.84244755e-01 4.24696728e-03 -1.76760359e-01 -2.94502859e+01] [-4.44943538e-03 9.99989821e-01 -7.49089844e-04 -2.54864022e+00] [ 1.76755379e-01 1.52377155e-03 9.84253633e-01 -4.54518917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98463044 meters Centerline goodness : 0.088508 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-2.55, Z:-4.54 [[ 9.84188298e-01 4.27046046e-03 -1.77073877e-01 -2.94504148e+01] [-4.39010839e-03 9.99990323e-01 -2.83916368e-04 -2.55228165e+00] [ 1.77070951e-01 1.05680068e-03 9.84197522e-01 -4.54412247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04463044 meters Centerline goodness : 0.319296 with order 1 Centerline is valid? [False, False] Translation: X:-29.45, Y:-2.56, Z:-4.54 [[ 9.84194519e-01 4.62295072e-04 -1.77090186e-01 -2.94508199e+01] [-1.04656121e-03 9.99994314e-01 -3.20586576e-03 -2.55522977e+00] [ 1.77087697e-01 3.34053123e-03 9.84189407e-01 -4.54359330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10463044 meters Centerline goodness : 0.321135 with order 1 Centerline is valid? [False, False] Translation: X:-29.46, Y:-2.56, Z:-4.54 [[ 9.84411511e-01 -1.81628061e-03 -1.75871199e-01 -2.94554940e+01] [ 1.02978121e-03 9.99989058e-01 -4.56318185e-03 -2.56187194e+00] [ 1.75877563e-01 4.31093989e-03 9.84402610e-01 -4.54234793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16463044 meters Centerline goodness : 0.328687 with order 1 Centerline is valid? [False, False] Translation: X:-29.46, Y:-2.56, Z:-4.54 [[ 9.84425140e-01 -1.47803164e-03 -1.75798061e-01 -2.94564189e+01] [ 7.84276347e-04 9.99991629e-01 -4.01573209e-03 -2.56457397e+00] [ 1.75802525e-01 3.81531336e-03 9.84418059e-01 -4.54151375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22463044 meters Centerline goodness : 0.091052 with order 1 Centerline is valid? [False, False] Translation: X:-29.47, Y:-2.57, Z:-4.55 [[ 9.84267665e-01 5.96259614e-03 -1.76583155e-01 -2.94730129e+01] [-6.94474701e-03 9.99963661e-01 -4.94447196e-03 -2.57359127e+00] [ 1.76547256e-01 6.09300921e-03 9.84273306e-01 -4.54671934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28463044 meters Centerline goodness : 0.088044 with order 1 Centerline is valid? [False, False] Translation: X:-29.47, Y:-2.57, Z:-4.55 [[ 9.84229720e-01 5.97247521e-03 -1.76794195e-01 -2.94726648e+01] [-6.93496272e-03 9.99964304e-01 -4.82671059e-03 -2.57497815e+00] [ 1.76759056e-01 5.97665316e-03 9.84236006e-01 -4.54642684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34463044 meters Centerline goodness : 0.094085 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.57, Z:-4.55 [[ 9.84212514e-01 -7.96562098e-04 -1.76988962e-01 -2.94915423e+01] [ 2.44315092e-04 9.99995034e-01 -3.14200482e-03 -2.57079617e+00] [ 1.76990586e-01 3.04915938e-03 9.84207821e-01 -4.55084664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40463044 meters Centerline goodness : 0.093696 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.57, Z:-4.55 [[ 9.84152973e-01 -8.19735721e-04 -1.77319636e-01 -2.94904901e+01] [ 2.18950989e-04 9.99994170e-01 -3.40768620e-03 -2.56864565e+00] [ 1.77321395e-01 3.31486020e-03 9.84147415e-01 -4.55105427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46463044 meters Centerline goodness : 0.094411 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.57, Z:-4.55 [[ 9.84153693e-01 -9.94712397e-04 -1.77314747e-01 -2.94907205e+01] [ 2.96673999e-04 9.99992103e-01 -3.96318829e-03 -2.56500922e+00] [ 1.77317289e-01 3.84778172e-03 9.84146216e-01 -4.55084667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52463044 meters Centerline goodness : 0.093453 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.56, Z:-4.55 [[ 9.84212974e-01 9.80985593e-04 -1.76985476e-01 -2.94917208e+01] [-1.57502379e-03 9.99993588e-01 -3.21596752e-03 -2.55595911e+00] [ 1.76981186e-01 3.44395329e-03 9.84208209e-01 -4.55079007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58463044 meters Centerline goodness : 0.093398 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.55, Z:-4.55 [[ 9.84196453e-01 8.79375883e-04 -1.77077858e-01 -2.94915972e+01] [-1.57835351e-03 9.99991510e-01 -3.80646975e-03 -2.55067419e+00] [ 1.77073008e-01 4.02580549e-03 9.84189485e-01 -4.55076240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64463044 meters Centerline goodness : 0.091064 with order 1 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.54, Z:-4.55 [[ 9.84180808e-01 3.97773561e-04 -1.77166530e-01 -2.94918683e+01] [-1.24948446e-03 9.99988194e-01 -4.69586306e-03 -2.54468999e+00] [ 1.77162571e-01 4.84294513e-03 9.84169685e-01 -4.55032661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70463044 meters Centerline goodness : 0.120238 with order 3 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.54, Z:-4.55 [[ 9.84132367e-01 2.92845564e-05 -1.77435859e-01 -2.94917784e+01] [-9.86624887e-04 9.99985430e-01 -5.30718739e-03 -2.54144218e+00] [ 1.77433119e-01 5.39803752e-03 9.84118057e-01 -4.54965206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76463044 meters Centerline goodness : 0.299765 with order 2 Centerline is valid? [False, False] Translation: X:-29.49, Y:-2.53, Z:-4.55 [[ 9.84242717e-01 1.14108777e-03 -1.76819036e-01 -2.94941958e+01] [-2.06953540e-03 9.99985024e-01 -5.06650462e-03 -2.53210960e+00] [ 1.76810607e-01 5.35260353e-03 9.84230338e-01 -4.54899219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82463044 meters Centerline goodness : 0.090847 with order 1 Centerline is valid? [False, False] Translation: X:-29.54, Y:-2.53, Z:-4.56 [[ 9.84131401e-01 1.95753626e-03 -1.77430420e-01 -2.95398030e+01] [-2.95209741e-03 9.99981376e-01 -5.34154151e-03 -2.52681385e+00] [ 1.77416659e-01 5.78057061e-03 9.84118852e-01 -4.55599452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88463044 meters Centerline goodness : 0.092077 with order 1 Centerline is valid? [False, False] Translation: X:-29.59, Y:-2.52, Z:-4.56 [[ 9.84138147e-01 2.05894660e-03 -1.77391849e-01 -2.95860787e+01] [-3.22565351e-03 9.99975022e-01 -6.28886560e-03 -2.51890825e+00] [ 1.77374469e-01 6.76131718e-03 9.84120207e-01 -4.56286154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94463044 meters Centerline goodness : 0.104364 with order 1 Centerline is valid? [False, False] Translation: X:-29.59, Y:-2.52, Z:-4.56 [[ 9.84192346e-01 1.62760898e-03 -1.77095390e-01 -2.95873650e+01] [-2.88098360e-03 9.99972590e-01 -6.82049168e-03 -2.51629038e+00] [ 1.77079435e-01 7.22288462e-03 9.84170058e-01 -4.56228132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00463044 meters Centerline goodness : 0.104706 with order 1 Centerline is valid? [False, False] Translation: X:-29.61, Y:-2.51, Z:-4.57 [[ 9.84283940e-01 -7.69778212e-03 -1.76425253e-01 -2.96085373e+01] [ 6.59711397e-03 9.99954952e-01 -6.82443128e-03 -2.51423332e+00] [ 1.76469838e-01 5.55328061e-03 9.84290383e-01 -4.56640796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06463044000003 meters Centerline goodness : 0.094313 with order 1 Centerline is valid? [False, False] Translation: X:-29.61, Y:-2.52, Z:-4.57 [[ 9.84182085e-01 -8.45671231e-03 -1.76957926e-01 -2.96065196e+01] [ 7.31700046e-03 9.99948080e-01 -7.09215183e-03 -2.51682664e+00] [ 1.77008715e-01 5.68516755e-03 9.84192864e-01 -4.56677051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12463044000003 meters Centerline goodness : 0.092432 with order 1 Centerline is valid? [False, False] Translation: X:-29.60, Y:-2.52, Z:-4.57 [[ 9.84002119e-01 -8.88295541e-03 -1.77935166e-01 -2.96042019e+01] [ 7.74406861e-03 9.99944850e-01 -7.09407602e-03 -2.52049372e+00] [ 1.77988369e-01 5.60264370e-03 9.84016641e-01 -4.56634549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18463044000003 meters Centerline goodness : 0.284102 with order 3 Centerline is valid? [False, False] Translation: X:-29.60, Y:-2.52, Z:-4.57 [[ 9.83985742e-01 -8.67243061e-03 -1.78036085e-01 -2.96037942e+01] [ 7.56691183e-03 9.99947650e-01 -6.88761075e-03 -2.52119403e+00] [ 1.78086497e-01 5.43012742e-03 9.83999854e-01 -4.56639481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24463044000004 meters Centerline goodness : 0.092757 with order 1 Centerline is valid? [False, False] Translation: X:-29.62, Y:-2.53, Z:-4.57 [[ 9.84209765e-01 -1.13494281e-03 -1.77002401e-01 -2.96235449e+01] [-2.55081242e-04 9.99969311e-01 -7.83018438e-03 -2.52728804e+00] [ 1.77005855e-01 7.75169392e-03 9.84179271e-01 -4.57185447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30463044000004 meters Centerline goodness : 0.096786 with order 1 Centerline is valid? [False, False] Translation: X:-29.64, Y:-2.53, Z:-4.58 [[ 9.84014145e-01 7.24526106e-03 -1.77942882e-01 -2.96429926e+01] [-8.88776184e-03 9.99924926e-01 -8.43510137e-03 -2.53045031e+00] [ 1.77868408e-01 9.88177301e-03 9.84004665e-01 -4.57574438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36463044000004 meters Centerline goodness : 0.243548 with order 2 Centerline is valid? [False, False] Translation: X:-29.64, Y:-2.53, Z:-4.58 [[ 9.83807208e-01 7.29120379e-03 -1.79081588e-01 -2.96398519e+01] [-8.99970070e-03 9.99921395e-01 -8.72976267e-03 -2.52820024e+00] [ 1.79003861e-01 1.02000841e-02 9.83795495e-01 -4.57593994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42463044 meters Centerline goodness : 0.095905 with order 1 Centerline is valid? [False, False] Translation: X:-29.64, Y:-2.53, Z:-4.58 [[ 9.83903746e-01 7.58785097e-03 -1.78538074e-01 -2.96412338e+01] [-9.32704574e-03 9.99916859e-01 -8.90395587e-03 -2.52523964e+00] [ 1.78455668e-01 1.04258683e-02 9.83892716e-01 -4.57591625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48463044 meters Centerline goodness : 0.098332 with order 1 Centerline is valid? [False, False] Translation: X:-29.66, Y:-2.52, Z:-4.58 [[ 9.84600498e-01 3.14744859e-03 -1.74791169e-01 -2.96644197e+01] [-4.41416666e-03 9.99966736e-01 -6.85873776e-03 -2.51897891e+00] [ 1.74763767e-01 7.52467397e-03 9.84581640e-01 -4.58039140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54463044 meters Centerline goodness : 0.091314 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-2.51, Z:-4.58 [[ 9.84693507e-01 2.97122968e-03 -1.74269527e-01 -2.96657721e+01] [-4.35748852e-03 9.99961833e-01 -7.57260551e-03 -2.51417931e+00] [ 1.74240376e-01 8.21607295e-03 9.84668872e-01 -4.58049024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60463044 meters Centerline goodness : 0.250813 with order 1 Centerline is valid? [False, False] Translation: X:-29.67, Y:-2.51, Z:-4.58 [[ 9.84678586e-01 2.79036664e-03 -1.74356806e-01 -2.96652687e+01] [-4.26758514e-03 9.99958104e-01 -8.09804904e-03 -2.51059425e+00] [ 1.74326905e-01 8.71805800e-03 9.84649240e-01 -4.58079444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66463044 meters Centerline goodness : 0.273326 with order 2 Centerline is valid? [False, False] Translation: X:-29.67, Y:-2.51, Z:-4.58 [[ 9.84703324e-01 2.82535902e-03 -1.74216479e-01 -2.96651725e+01] [-4.32642198e-03 9.99956717e-01 -8.23690955e-03 -2.50859457e+00] [ 1.74185666e-01 8.86464622e-03 9.84672926e-01 -4.58122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72463044 meters Centerline goodness : 0.247291 with order 2 Centerline is valid? [False, False] Translation: X:-29.66, Y:-2.51, Z:-4.58 [[ 9.84649698e-01 2.62595251e-03 -1.74522425e-01 -2.96638204e+01] [-4.13292408e-03 9.99957246e-01 -8.27195824e-03 -2.50997844e+00] [ 1.74493241e-01 8.86626911e-03 9.84618453e-01 -4.58167711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78463044 meters Centerline goodness : 0.305293 with order 2 Centerline is valid? [False, False] Translation: X:-29.66, Y:-2.51, Z:-4.58 [[ 9.84399149e-01 8.53359562e-04 -1.75947681e-01 -2.96583554e+01] [-2.60826841e-03 9.99949134e-01 -9.74301588e-03 -2.51146061e+00] [ 1.75930417e-01 1.00499353e-02 9.84351303e-01 -4.58291694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84463044 meters Centerline goodness : 0.306095 with order 1 Centerline is valid? [False, False] Translation: X:-29.66, Y:-2.51, Z:-4.58 [[ 9.84333812e-01 9.12273570e-04 -1.76312546e-01 -2.96572186e+01] [-2.70175200e-03 9.99947248e-01 -9.90967712e-03 -2.51014338e+00] [ 1.76294205e-01 1.02307830e-02 9.84284351e-01 -4.58302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90463044 meters Centerline goodness : 0.308318 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-2.51, Z:-4.59 [[ 9.84209833e-01 1.04323177e-02 -1.76697966e-01 -2.96784549e+01] [-1.24068250e-02 9.99872291e-01 -1.00733119e-02 -2.50694464e+00] [ 1.76570312e-01 1.21065134e-02 9.84213573e-01 -4.58673843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96463044 meters Centerline goodness : 0.308956 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-2.50, Z:-4.59 [[ 9.84190113e-01 1.41864851e-02 -1.76546214e-01 -2.96792490e+01] [-1.57531933e-02 9.99847964e-01 -7.47571289e-03 -2.50201703e+00] [ 1.76413318e-01 1.01386894e-02 9.84263963e-01 -4.58625666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02463044 meters Centerline goodness : 0.306740 with order 1 Centerline is valid? [False, False] Translation: X:-29.68, Y:-2.50, Z:-4.59 [[ 9.84296861e-01 1.40187617e-02 -1.75963527e-01 -2.96814688e+01] [-1.57118059e-02 9.99842675e-01 -8.23196192e-03 -2.49562476e+00] [ 1.75820442e-01 1.08673991e-02 9.84362267e-01 -4.58565785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08463044 meters Centerline goodness : 0.301533 with order 2 Centerline is valid? [False, False] Translation: X:-29.70, Y:-2.48, Z:-4.59 [[ 9.84983784e-01 9.95895346e-03 -1.72359407e-01 -2.97021015e+01] [-1.12426943e-02 9.99915845e-01 -6.47342827e-03 -2.48297846e+00] [ 1.72280433e-01 8.31400600e-03 9.85012858e-01 -4.59043099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14463044 meters Centerline goodness : 0.296777 with order 3 Centerline is valid? [False, False] Translation: X:-29.72, Y:-2.47, Z:-4.60 [[ 9.85659671e-01 4.56182325e-03 -1.68683738e-01 -2.97182946e+01] [-5.69054636e-03 9.99964535e-01 -6.20854501e-03 -2.47405454e+00] [ 1.68649433e-01 7.07941507e-03 9.85650674e-01 -4.59553348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20463044 meters Centerline goodness : 0.095738 with order 1 Centerline is valid? [False, False] Translation: X:-29.76, Y:-2.47, Z:-4.60 [[ 9.85452127e-01 4.93678758e-03 -1.69881530e-01 -2.97637381e+01] [-6.18778966e-03 9.99957494e-01 -6.83530895e-03 -2.46733297e+00] [ 1.69840565e-01 7.78706092e-03 9.85440787e-01 -4.60198031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26463044 meters Centerline goodness : 0.307362 with order 1 Centerline is valid? [False, False] Translation: X:-29.76, Y:-2.46, Z:-4.60 [[ 9.85399141e-01 4.68966712e-03 -1.70195593e-01 -2.97629075e+01] [-6.07717059e-03 9.99952406e-01 -7.63236427e-03 -2.46212299e+00] [ 1.70151699e-01 8.55523285e-03 9.85380742e-01 -4.60202183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32463044 meters Centerline goodness : 0.095091 with order 1 Centerline is valid? [False, False] Translation: X:-29.77, Y:-2.45, Z:-4.60 [[ 9.85573136e-01 5.52291485e-03 -1.69159956e-01 -2.97663426e+01] [-6.90464148e-03 9.99947426e-01 -7.58101800e-03 -2.45424079e+00] [ 1.69109193e-01 8.63963654e-03 9.85559454e-01 -4.60138838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38463044 meters Centerline goodness : 0.100069 with order 1 Centerline is valid? [False, False] Translation: X:-29.77, Y:-2.45, Z:-4.60 [[ 9.85484227e-01 5.05635890e-03 -1.69691695e-01 -2.97651903e+01] [-6.50583154e-03 9.99946941e-01 -7.98685970e-03 -2.45334609e+00] [ 1.69642307e-01 8.97490984e-03 9.85464834e-01 -4.60106441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44463044 meters Centerline goodness : 0.563254 with order 2 Centerline is valid? [False, False] Translation: X:-29.79, Y:-2.45, Z:-4.61 [[ 9.85436489e-01 -3.77022220e-03 -1.70002094e-01 -2.97865458e+01] [ 2.50559606e-03 9.99967578e-01 -7.65281264e-03 -2.45407902e+00] [ 1.70025435e-01 7.11540424e-03 9.85413985e-01 -4.60545198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50463044 meters Centerline goodness : 0.478269 with order 1 Centerline is valid? [False, False] Translation: X:-29.79, Y:-2.46, Z:-4.61 [[ 9.85449320e-01 -4.08188213e-03 -1.69920501e-01 -2.97866298e+01] [ 2.86012375e-03 9.99968275e-01 -7.43433323e-03 -2.45740080e+00] [ 1.69945456e-01 6.84016497e-03 9.85429731e-01 -4.60532743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56463044000003 meters Centerline goodness : 0.300438 with order 1 Centerline is valid? [False, False] Translation: X:-29.78, Y:-2.46, Z:-4.61 [[ 9.85333334e-01 -4.24322554e-03 -1.70587856e-01 -2.97841516e+01] [ 3.06696236e-03 9.99969676e-01 -7.15828575e-03 -2.46236727e+00] [ 1.70613057e-01 6.53011103e-03 9.85316468e-01 -4.60582973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62463044000003 meters Centerline goodness : 0.107263 with order 1 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.61 [[ 9.84960248e-01 -3.88938844e-03 -1.72737325e-01 -2.98263463e+01] [ 2.66157702e-03 9.99969527e-01 -7.33901812e-03 -2.46733265e+00] [ 1.72760605e-01 6.76888741e-03 9.84940585e-01 -4.61390677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68463044000003 meters Centerline goodness : 0.237489 with order 2 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.61 [[ 9.85021178e-01 -3.40283692e-03 -1.72399827e-01 -2.98263009e+01] [ 2.25645527e-03 9.99974026e-01 -6.84508990e-03 -2.46913068e+00] [ 1.72418641e-01 6.35354602e-03 9.85003271e-01 -4.61484796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74463044000004 meters Centerline goodness : 0.096977 with order 1 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.61 [[ 9.85114160e-01 -3.32903605e-03 -1.71869163e-01 -2.98276282e+01] [ 2.18806692e-03 9.99974298e-01 -6.82760508e-03 -2.46973355e+00] [ 1.71887475e-01 6.34990921e-03 9.85096124e-01 -4.61493994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80463044000004 meters Centerline goodness : 0.096175 with order 1 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.62 [[ 9.85160427e-01 -2.96442105e-03 -1.71610448e-01 -2.98275754e+01] [ 1.85836148e-03 9.99976457e-01 -6.60546651e-03 -2.46995452e+00] [ 1.71625989e-01 6.18852996e-03 9.85142742e-01 -4.61578030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86463044000004 meters Centerline goodness : 0.256273 with order 2 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.62 [[ 9.85206224e-01 -2.88821719e-03 -1.71348635e-01 -2.98280946e+01] [ 1.78263831e-03 9.99976593e-01 -6.60573240e-03 -2.46980719e+00] [ 1.71363703e-01 6.20255603e-03 9.85188312e-01 -4.61597904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92463044 meters Centerline goodness : 0.301251 with order 2 Centerline is valid? [False, False] Translation: X:-29.83, Y:-2.47, Z:-4.62 [[ 9.85226684e-01 -2.62217445e-03 -1.71235235e-01 -2.98289663e+01] [ 1.57031694e-03 9.99979061e-01 -6.27792164e-03 -2.47099048e+00] [ 1.71248111e-01 5.91628232e-03 9.85210172e-01 -4.61542614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98463044 meters Centerline goodness : 0.093469 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.48, Z:-4.62 [[ 9.85019433e-01 -3.34433100e-03 -1.72410941e-01 -2.98725056e+01] [ 2.22702690e-03 9.99975252e-01 -6.67349446e-03 -2.47733979e+00] [ 1.72428992e-01 6.18955792e-03 9.85002504e-01 -4.62347310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04463044 meters Centerline goodness : 0.090625 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.48, Z:-4.62 [[ 9.84937758e-01 -3.79311105e-03 -1.72867651e-01 -2.98713256e+01] [ 2.70916699e-03 9.99975167e-01 -6.50587888e-03 -2.48402939e+00] [ 1.72888035e-01 5.93955843e-03 9.84923575e-01 -4.62325795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10463044 meters Centerline goodness : 0.093729 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.49, Z:-4.62 [[ 9.84702672e-01 -4.91297738e-03 -1.74173791e-01 -2.98672692e+01] [ 3.72520117e-03 9.99967530e-01 -7.14574966e-03 -2.48922686e+00] [ 1.74203243e-01 6.38760638e-03 9.84689001e-01 -4.62373437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16463044 meters Centerline goodness : 0.104088 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.49, Z:-4.62 [[ 9.84691550e-01 -4.77989946e-03 -1.74240363e-01 -2.98667459e+01] [ 3.67601124e-03 9.99971081e-01 -6.65760793e-03 -2.49346729e+00] [ 1.74267147e-01 5.91518074e-03 9.84680645e-01 -4.62394749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22463044 meters Centerline goodness : 0.558357 with order 3 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.50, Z:-4.62 [[ 9.84743912e-01 -4.58846057e-03 -1.73949344e-01 -2.98674020e+01] [ 3.59880355e-03 9.99975498e-01 -6.00432418e-03 -2.49990000e+00] [ 1.73972633e-01 5.28671216e-03 9.84736297e-01 -4.62384074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28463044 meters Centerline goodness : 0.545618 with order 3 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.50, Z:-4.62 [[ 9.84730440e-01 -4.50400750e-03 -1.74027796e-01 -2.98670368e+01] [ 3.55381542e-03 9.99977031e-01 -5.77122648e-03 -2.50179312e+00] [ 1.74049792e-01 5.06463973e-03 9.84723829e-01 -4.62393717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34463044 meters Centerline goodness : 0.092069 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.51, Z:-4.62 [[ 9.84681104e-01 -4.06958077e-03 -1.74317417e-01 -2.98655637e+01] [ 3.24520085e-03 9.99982164e-01 -5.01395816e-03 -2.50701752e+00] [ 1.74334713e-01 4.37145483e-03 9.84676748e-01 -4.62449633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40463044 meters Centerline goodness : 0.093131 with order 1 Centerline is valid? [False, False] Translation: X:-29.87, Y:-2.51, Z:-4.62 [[ 9.84661774e-01 -3.97800947e-03 -1.74428687e-01 -2.98652743e+01] [ 3.19989060e-03 9.99983637e-01 -4.74196323e-03 -2.50943767e+00] [ 1.74444696e-01 4.11107721e-03 9.84658391e-01 -4.62439718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46463044 meters Centerline goodness : 0.289868 with order 2 Centerline is valid? [False, False] Translation: X:-29.88, Y:-2.52, Z:-4.63 [[ 9.84875693e-01 3.52704920e-03 -1.73226527e-01 -2.98837893e+01] [-4.44975554e-03 9.99977905e-01 -4.93853230e-03 -2.51855294e+00] [ 1.73205281e-01 5.63465612e-03 9.84869627e-01 -4.62883477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52463044 meters Centerline goodness : 0.095472 with order 1 Centerline is valid? [False, False] Translation: X:-29.86, Y:-2.52, Z:-4.63 [[ 9.85160961e-01 -4.33741757e-03 -1.71578169e-01 -2.98633383e+01] [ 3.73208421e-03 9.99985623e-01 -3.85044062e-03 -2.52128910e+00] [ 1.71592403e-01 3.15295960e-03 9.85162985e-01 -4.62500152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58463044 meters Centerline goodness : 0.093678 with order 1 Centerline is valid? [False, False] Translation: X:-29.91, Y:-2.53, Z:-4.63 [[ 9.85167439e-01 -5.27796307e-03 -1.71514609e-01 -2.99087842e+01] [ 4.69752636e-03 9.99981785e-01 -3.78986325e-03 -2.52984239e+00] [ 1.71531488e-01 2.92795547e-03 9.85174287e-01 -4.63208674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64463044 meters Centerline goodness : 0.529831 with order 3 Centerline is valid? [False, False] Translation: X:-29.90, Y:-2.54, Z:-4.63 [[ 9.84947905e-01 -5.74954255e-03 -1.72755804e-01 -2.99043789e+01] [ 5.19957682e-03 9.99979872e-01 -3.63585200e-03 -2.53695983e+00] [ 1.72773231e-01 2.68286773e-03 9.84957975e-01 -4.63283091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70463044 meters Centerline goodness : 0.098717 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:-2.55, Z:-4.64 [[ 9.85236811e-01 -2.13487564e-03 -1.71183728e-01 -2.99224612e+01] [ 1.03546714e-03 9.99978264e-01 -6.51141855e-03 -2.54818909e+00] [ 1.71193908e-01 6.23803413e-03 9.85217607e-01 -4.63758384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76463044 meters Centerline goodness : 0.313661 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:-2.56, Z:-4.64 [[ 9.85172823e-01 -5.44242758e-03 -1.71478536e-01 -2.99210273e+01] [ 4.06632932e-03 9.99956660e-01 -8.37512732e-03 -2.55832965e+00] [ 1.71516685e-01 7.55365963e-03 9.85152257e-01 -4.63787471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82463044 meters Centerline goodness : 0.302463 with order 2 Centerline is valid? [False, False] Translation: X:-29.92, Y:-2.57, Z:-4.64 [[ 9.85130959e-01 -5.65320635e-03 -1.71712072e-01 -2.99199578e+01] [ 4.34911169e-03 9.99958782e-01 -7.96990423e-03 -2.56675975e+00] [ 1.71750050e-01 7.10460441e-03 9.85114940e-01 -4.63814189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88463044 meters Centerline goodness : 0.255344 with order 2 Centerline is valid? [False, False] Translation: X:-29.92, Y:-2.58, Z:-4.64 [[ 9.85227298e-01 -6.08563138e-03 -1.71143615e-01 -2.99211306e+01] [ 4.87775255e-03 9.99960148e-01 -7.47731020e-03 -2.57818438e+00] [ 1.71182298e-01 6.53205392e-03 9.85217719e-01 -4.63820421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94463044 meters Centerline goodness : 0.088762 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-2.59, Z:-4.64 [[ 9.85265003e-01 9.15850386e-04 -1.71032264e-01 -2.99377039e+01] [-2.39359249e-03 9.99961567e-01 -8.43412636e-03 -2.59042669e+00] [ 1.71017966e-01 8.71923107e-03 9.85229329e-01 -4.64354167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00463044 meters Centerline goodness : 0.088699 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-2.60, Z:-4.64 [[ 9.85204953e-01 9.98339881e-04 -1.71377371e-01 -2.99364731e+01] [-2.34374022e-03 9.99968004e-01 -7.64836414e-03 -2.60167519e+00] [ 1.71364252e-01 7.93687027e-03 9.85175771e-01 -4.64384056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06463044000003 meters Centerline goodness : 0.311615 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-2.61, Z:-4.64 [[ 9.85283959e-01 1.14034955e-03 -1.70921675e-01 -2.99375741e+01] [-2.33193505e-03 9.99974358e-01 -6.77092527e-03 -2.61181473e+00] [ 1.70909571e-01 7.06986230e-03 9.85261354e-01 -4.64380534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12463044000003 meters Centerline goodness : 0.101283 with order 1 Centerline is valid? [False, False] Translation: X:-29.94, Y:-2.63, Z:-4.64 [[ 9.85518734e-01 7.98832031e-04 -1.69564698e-01 -2.99416199e+01] [-1.82648675e-03 9.99980899e-01 -5.90464969e-03 -2.62626701e+00] [ 1.69556742e-01 6.12885056e-03 9.85501369e-01 -4.64327846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18463044000003 meters Centerline goodness : 0.132671 with order 3 Centerline is valid? [False, False] Translation: X:-29.94, Y:-2.63, Z:-4.64 [[ 9.85532214e-01 1.34626180e-03 -1.69482868e-01 -2.99408643e+01] [-2.22444752e-03 9.99985067e-01 -4.99179061e-03 -2.63364272e+00] [ 1.69473617e-01 5.29657620e-03 9.85520492e-01 -4.64405941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24463044000004 meters Centerline goodness : 0.087642 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-2.65, Z:-4.65 [[ 9.85445267e-01 8.10301122e-03 -1.69799787e-01 -2.99575692e+01] [-9.23334644e-03 9.99940153e-01 -5.86827160e-03 -2.64790377e+00] [ 1.69742075e-01 7.35068073e-03 9.85461108e-01 -4.64961994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30463044000004 meters Centerline goodness : 0.112733 with order 3 Centerline is valid? [False, False] Translation: X:-29.96, Y:-2.65, Z:-4.65 [[ 9.85464902e-01 8.63505292e-03 -1.69659550e-01 -2.99576524e+01] [-9.61529550e-03 9.99941486e-01 -4.95691865e-03 -2.65274792e+00] [ 1.69606820e-01 6.51619606e-03 9.85490267e-01 -4.64974779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36463044000004 meters Centerline goodness : 0.173385 with order 2 Centerline is valid? [False, False] Translation: X:-29.96, Y:-2.66, Z:-4.65 [[ 9.85517791e-01 4.85083656e-03 -1.69502662e-01 -2.99574206e+01] [-6.19841189e-03 9.99953246e-01 -7.42192136e-03 -2.66190414e+00] [ 1.69458735e-01 8.36508287e-03 9.85501782e-01 -4.65035003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42463044 meters Centerline goodness : 0.108721 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.67, Z:-4.65 [[ 9.85388779e-01 2.39906706e-03 -1.70303255e-01 -2.99531282e+01] [-3.95520151e-03 9.99953468e-01 -8.79874997e-03 -2.66922617e+00] [ 1.70274222e-01 9.34377318e-03 9.85352416e-01 -4.65206508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48463044 meters Centerline goodness : 0.093056 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.68, Z:-4.65 [[ 9.85308352e-01 -4.25742141e-04 -1.70784279e-01 -2.99490984e+01] [-1.37309674e-03 9.99944824e-01 -1.04145554e-02 -2.67764061e+00] [ 1.70779290e-01 1.04960518e-02 9.85253402e-01 -4.65441171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54463044 meters Centerline goodness : 0.126564 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.68, Z:-4.65 [[ 9.85237650e-01 -8.49155744e-05 -1.71192188e-01 -2.99474074e+01] [-1.58506697e-03 9.99952487e-01 -9.61830799e-03 -2.68265262e+00] [ 1.71184871e-01 9.74767025e-03 9.85190704e-01 -4.65488559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60463044 meters Centerline goodness : 0.104736 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.69, Z:-4.65 [[ 9.85235445e-01 6.40963498e-05 -1.71204888e-01 -2.99477540e+01] [-1.62596279e-03 9.99958334e-01 -8.98258523e-03 -2.68816470e+00] [ 1.71197179e-01 9.12833413e-03 9.85194498e-01 -4.65442485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66463044 meters Centerline goodness : 0.092575 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.70, Z:-4.65 [[ 9.85252358e-01 -3.77068888e-03 -1.71065990e-01 -2.99475411e+01] [ 1.83322479e-03 9.99932395e-01 -1.14823812e-02 -2.69567923e+00] [ 1.71097722e-01 1.09994408e-02 9.85192662e-01 -4.65487122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72463044 meters Centerline goodness : 0.142885 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.70, Z:-4.65 [[ 9.85356878e-01 -4.69911600e-03 -1.70439846e-01 -2.99490232e+01] [ 2.78489463e-03 9.99930358e-01 -1.14684079e-02 -2.70385498e+00] [ 1.70481867e-01 1.08258176e-02 9.85301342e-01 -4.65484169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78463044 meters Centerline goodness : 0.088214 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.71, Z:-4.65 [[ 9.85369119e-01 -8.32326620e-03 -1.70230501e-01 -2.99493857e+01] [ 6.08349801e-03 9.99887991e-01 -1.36746519e-02 -2.71254961e+00] [ 1.70325251e-01 1.24389828e-02 9.85309383e-01 -4.65480071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84463044 meters Centerline goodness : 0.088519 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.72, Z:-4.66 [[ 9.85269178e-01 -8.20716313e-03 -1.70813610e-01 -2.99473319e+01] [ 6.07344584e-03 9.99896917e-01 -1.30103106e-02 -2.71939622e+00] [ 1.70902780e-01 1.17812309e-02 9.85217459e-01 -4.65509711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90463044 meters Centerline goodness : 0.301606 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.73, Z:-4.65 [[ 9.85303907e-01 -9.51149509e-03 -1.70545427e-01 -2.99480750e+01] [ 7.36123452e-03 9.99885303e-01 -1.32360689e-02 -2.72899500e+00] [ 1.70651761e-01 1.17861255e-02 9.85260911e-01 -4.65493237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96463044 meters Centerline goodness : 0.087670 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.73, Z:-4.65 [[ 9.85281540e-01 -9.25687786e-03 -1.70688596e-01 -2.99481110e+01] [ 7.21357723e-03 9.99894757e-01 -1.25872448e-02 -2.73393789e+00] [ 1.70787151e-01 1.11707046e-02 9.85244622e-01 -4.65443128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02463044 meters Centerline goodness : 0.090440 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.74, Z:-4.66 [[ 9.85471149e-01 -2.40880329e-03 -1.69825828e-01 -2.99667328e+01] [ 1.93914451e-04 9.99914728e-01 -1.30575002e-02 -2.74349378e+00] [ 1.69842800e-01 1.28348581e-02 9.85387584e-01 -4.65936198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08463044 meters Centerline goodness : 0.297393 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85443227e-01 -2.20537122e-03 -1.69990536e-01 -2.99667762e+01] [ 8.68293978e-05 9.99922254e-01 -1.24691313e-02 -2.74760627e+00] [ 1.70004819e-01 1.22728608e-02 9.85366804e-01 -4.65883406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14463044 meters Centerline goodness : 0.096177 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85363578e-01 -2.45511838e-03 -1.70448210e-01 -2.99660895e+01] [ 3.60384830e-04 9.99924048e-01 -1.23194126e-02 -2.75103613e+00] [ 1.70465510e-01 1.20776735e-02 9.85289622e-01 -4.65834193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20463044 meters Centerline goodness : 0.088812 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85380696e-01 -2.61022956e-03 -1.70346912e-01 -2.99663756e+01] [ 5.27113419e-04 9.99924548e-01 -1.22727509e-02 -2.75243386e+00] [ 1.70366094e-01 1.20035397e-02 9.85307723e-01 -4.65829089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26463044 meters Centerline goodness : 0.274726 with order 2 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85405318e-01 -2.58382397e-03 -1.70204829e-01 -2.99666896e+01] [ 5.07808334e-04 9.99924965e-01 -1.22395649e-02 -2.75234737e+00] [ 1.70223683e-01 1.19745010e-02 9.85332690e-01 -4.65833353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32463044 meters Centerline goodness : 0.298430 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85505814e-01 -2.39665671e-03 -1.69624724e-01 -2.99688831e+01] [ 3.15268438e-04 9.99924346e-01 -1.22964180e-02 -2.74994011e+00] [ 1.69641361e-01 1.20647141e-02 9.85432012e-01 -4.65763747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38463044 meters Centerline goodness : 0.098960 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.75, Z:-4.66 [[ 9.85521772e-01 -2.60800723e-03 -1.69528861e-01 -2.99691012e+01] [ 4.40429954e-04 9.99917695e-01 -1.28222372e-02 -2.74654358e+00] [ 1.69548349e-01 1.25619283e-02 9.85441807e-01 -4.65761899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44463044 meters Centerline goodness : 0.301945 with order 1 Centerline is valid? [False, False] Translation: X:-29.99, Y:-2.75, Z:-4.66 [[ 9.85363766e-01 6.98946486e-03 -1.70321448e-01 -2.99851631e+01] [-9.39207611e-03 9.99867378e-01 -1.33046872e-02 -2.74803643e+00] [ 1.70205867e-01 1.47096287e-02 9.85298731e-01 -4.66182662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50463044 meters Centerline goodness : 0.301328 with order 1 Centerline is valid? [False, False] Translation: X:-29.99, Y:-2.74, Z:-4.66 [[ 9.85375352e-01 6.54139049e-03 -1.70272211e-01 -2.99854912e+01] [-9.03929402e-03 9.99862546e-01 -1.38989572e-02 -2.74477023e+00] [ 1.70157888e-01 1.52348304e-02 9.85299037e-01 -4.66163821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56463044000003 meters Centerline goodness : 0.478345 with order 2 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.73, Z:-4.66 [[ 9.85101170e-01 -4.59398898e-04 -1.71975211e-01 -2.99660402e+01] [-1.95517667e-03 9.99901887e-01 -1.38706075e-02 -2.73465812e+00] [ 1.71964710e-01 1.40001936e-02 9.85003621e-01 -4.65673746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62463044000003 meters Centerline goodness : 0.153790 with order 3 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.74, Z:-4.65 [[ 9.84894777e-01 7.15566035e-03 -1.73005998e-01 -2.99491708e+01] [-9.75296859e-03 9.99852071e-01 -1.41674047e-02 -2.73608220e+00] [ 1.72879028e-01 1.56407250e-02 9.84818871e-01 -4.65312640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68463044000003 meters Centerline goodness : 0.086450 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.73, Z:-4.65 [[ 9.84901969e-01 7.05537556e-03 -1.72969166e-01 -2.99488031e+01] [-9.73727562e-03 9.99845102e-01 -1.46614527e-02 -2.73117267e+00] [ 1.72838931e-01 1.61243421e-02 9.84818110e-01 -4.65363474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74463044000004 meters Centerline goodness : 0.090860 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.73, Z:-4.65 [[ 9.84897410e-01 6.69424010e-03 -1.73009474e-01 -2.99493213e+01] [-9.47616197e-03 9.99838675e-01 -1.52586281e-02 -2.72813310e+00] [ 1.72879419e-01 1.66676491e-02 9.84801958e-01 -4.65296381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80463044000004 meters Centerline goodness : 0.100349 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.72, Z:-4.65 [[ 9.84895017e-01 -1.40915872e-04 -1.73152494e-01 -2.99307901e+01] [-2.38002498e-03 9.99894181e-01 -1.43513712e-02 -2.72030440e+00] [ 1.73136193e-01 1.45467012e-02 9.84790461e-01 -4.64792136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86463044000004 meters Centerline goodness : 0.115346 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.72, Z:-4.65 [[ 9.84957754e-01 -3.65731463e-04 -1.72794933e-01 -2.99315073e+01] [-2.24446289e-03 9.99886319e-01 -1.49101075e-02 -2.71655134e+00] [ 1.72780743e-01 1.50736578e-02 9.84844962e-01 -4.64807366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92463044 meters Centerline goodness : 0.477486 with order 2 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.71, Z:-4.65 [[ 9.84956561e-01 -4.94102188e-04 -1.72801416e-01 -2.99315276e+01] [-2.18175771e-03 9.99880646e-01 -1.52948966e-02 -2.71401504e+00] [ 1.72788349e-01 1.54418195e-02 9.84837924e-01 -4.64796927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98463044 meters Centerline goodness : 0.099991 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.71, Z:-4.65 [[ 9.85032550e-01 6.63677896e-05 -1.72368419e-01 -2.99327419e+01] [-2.75481148e-03 9.99878265e-01 -1.53579135e-02 -2.71046314e+00] [ 1.72346417e-01 1.56028872e-02 9.84912820e-01 -4.64785949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04463044 meters Centerline goodness : 0.141932 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.71, Z:-4.65 [[ 9.85144211e-01 5.24887190e-04 -1.71728297e-01 -2.99347851e+01] [-3.22022919e-03 9.99875962e-01 -1.54171916e-02 -2.70753756e+00] [ 1.71698904e-01 1.57411616e-02 9.85023706e-01 -4.64738111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10463044 meters Centerline goodness : 0.101590 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.70, Z:-4.65 [[ 9.85002672e-01 3.53510541e-03 -1.72502865e-01 -2.99306222e+01] [-5.93982663e-03 9.99892225e-01 -1.34259839e-02 -2.70312405e+00] [ 1.72436811e-01 1.42492672e-02 9.84917512e-01 -4.64908148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16463044 meters Centerline goodness : 0.306879 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.70, Z:-4.65 [[ 9.85061987e-01 3.59751439e-03 -1.72162540e-01 -2.99315580e+01] [-6.02180767e-03 9.99889909e-01 -1.35612281e-02 -2.70193308e+00] [ 1.72094800e-01 1.43953800e-02 9.84975204e-01 -4.64902310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22463044 meters Centerline goodness : 0.086218 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.70, Z:-4.65 [[ 9.85011384e-01 3.57545824e-03 -1.72452284e-01 -2.99303522e+01] [-6.07461667e-03 9.99884014e-01 -1.39663157e-02 -2.69872528e+00] [ 1.72382346e-01 1.48045614e-02 9.84918855e-01 -4.64944663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28463044 meters Centerline goodness : 0.093368 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.69, Z:-4.65 [[ 9.84791817e-01 3.72574731e-03 -1.73698576e-01 -2.99263416e+01] [-6.31168803e-03 9.99877291e-01 -1.43375304e-02 -2.69481786e+00] [ 1.73623843e-01 1.52158138e-02 9.84694491e-01 -4.65020977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34463044 meters Centerline goodness : 0.162219 with order 1 Centerline is valid? [False, False] Translation: X:-29.93, Y:-2.69, Z:-4.65 [[ 9.84781104e-01 7.59332393e-03 -1.73633290e-01 -2.99271490e+01] [-9.76135214e-03 9.99884656e-01 -1.16357125e-02 -2.68902833e+00] [ 1.73524909e-01 1.31535255e-02 9.84741637e-01 -4.64957858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40463044 meters Centerline goodness : 0.307823 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.68, Z:-4.65 [[ 9.84988343e-01 2.73098171e-05 -1.72620864e-01 -2.99470614e+01] [-1.93884820e-03 9.99938659e-01 -1.09050244e-02 -2.68166447e+00] [ 1.72609978e-01 1.10760076e-02 9.84927976e-01 -4.65404724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46463044 meters Centerline goodness : 0.301739 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.68, Z:-4.65 [[ 9.84925839e-01 -4.55504533e-04 -1.72976540e-01 -2.99461783e+01] [-1.53345751e-03 9.99934245e-01 -1.13646423e-02 -2.68086672e+00] [ 1.72970342e-01 1.14585821e-02 9.84860377e-01 -4.65395960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52463044 meters Centerline goodness : 0.164344 with order 1 Centerline is valid? [False, False] Translation: X:-29.95, Y:-2.68, Z:-4.65 [[ 9.84948239e-01 -6.59098715e-04 -1.72848291e-01 -2.99468405e+01] [-1.33668849e-03 9.99933784e-01 -1.14298153e-02 -2.68164522e+00] [ 1.72844379e-01 1.14888208e-02 9.84882139e-01 -4.65358578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58463044 meters Centerline goodness : 0.087796 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.69, Z:-4.66 [[ 9.84992457e-01 5.89716907e-03 -1.72496617e-01 -2.99650859e+01] [-8.21304875e-03 9.99885431e-01 -1.27150183e-02 -2.68751814e+00] [ 1.72401871e-01 1.39409202e-02 9.84928041e-01 -4.65820328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64463044 meters Centerline goodness : 0.181439 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.69, Z:-4.66 [[ 9.85018698e-01 5.92389412e-03 -1.72345793e-01 -2.99660319e+01] [-8.20487108e-03 9.99887889e-01 -1.25255244e-02 -2.68894417e+00] [ 1.72252272e-01 1.37519507e-02 9.84956872e-01 -4.65755841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70463044 meters Centerline goodness : 0.086564 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.69, Z:-4.66 [[ 9.85039829e-01 5.85500232e-03 -1.72227331e-01 -2.99669293e+01] [-8.11764785e-03 9.99889717e-01 -1.24361785e-02 -2.69060594e+00] [ 1.72135523e-01 1.36482120e-02 9.84978725e-01 -4.65692415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76463044 meters Centerline goodness : 0.154936 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.69, Z:-4.66 [[ 9.85044080e-01 6.12149305e-03 -1.72193752e-01 -2.99660060e+01] [-8.31375804e-03 9.99893278e-01 -1.20130862e-02 -2.69289989e+00] [ 1.72101837e-01 1.32649966e-02 9.84989846e-01 -4.65795248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82463044 meters Centerline goodness : 0.086085 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.70, Z:-4.66 [[ 9.85078570e-01 6.37445232e-03 -1.71987144e-01 -2.99668694e+01] [-8.49214439e-03 9.99896887e-01 -1.15801354e-02 -2.69524058e+00] [ 1.71895593e-01 1.28678829e-02 9.85031128e-01 -4.65761086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88463044 meters Centerline goodness : 0.093855 with order 1 Centerline is valid? [False, False] Translation: X:-29.97, Y:-2.70, Z:-4.66 [[ 9.85075323e-01 6.77525253e-03 -1.71990418e-01 -2.99667310e+01] [-8.76966557e-03 9.99902801e-01 -1.08389013e-02 -2.69975540e+00] [ 1.71900264e-01 1.21854327e-02 9.85038991e-01 -4.65774320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94463044 meters Centerline goodness : 0.093936 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-2.70, Z:-4.66 [[ 9.84985560e-01 6.86208835e-03 -1.72500315e-01 -2.99646696e+01] [-8.83403561e-03 9.99904089e-01 -1.06664577e-02 -2.70120621e+00] [ 1.72410576e-01 1.20301807e-02 9.84951708e-01 -4.65845809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00463044 meters Centerline goodness : 0.093880 with order 1 Centerline is valid? [False, False] Translation: X:-29.96, Y:-2.70, Z:-4.66 [[ 9.84820924e-01 7.37544955e-03 -1.73416695e-01 -2.99617700e+01] [-9.34845664e-03 9.99900507e-01 -1.05632272e-02 -2.69930087e+00] [ 1.73321533e-01 1.20240657e-02 9.84791891e-01 -4.65906833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06463044000003 meters Centerline goodness : 0.249930 with order 2 Centerline is valid? [False, False] Translation: X:-29.98, Y:-2.69, Z:-4.66 [[ 9.84577490e-01 -2.55920472e-04 -1.74948853e-01 -2.99784647e+01] [-1.39771431e-03 9.99955509e-01 -9.32882442e-03 -2.69331665e+00] [ 1.74943457e-01 9.42947905e-03 9.84533327e-01 -4.66343138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12463044000003 meters Centerline goodness : 0.144361 with order 1 Centerline is valid? [False, False] Translation: X:-29.98, Y:-2.69, Z:-4.66 [[ 9.84529748e-01 -3.17606445e-04 -1.75217219e-01 -2.99778605e+01] [-1.36419385e-03 9.99954154e-01 -9.47784311e-03 -2.69233728e+00] [ 1.75212196e-01 9.57024875e-03 9.84484178e-01 -4.66328949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18463044000003 meters Centerline goodness : 0.101703 with order 1 Centerline is valid? [False, False] Translation: X:-29.98, Y:-2.69, Z:-4.66 [[ 9.84450370e-01 -7.39638963e-04 -1.75661386e-01 -2.99774624e+01] [-1.02418938e-03 9.99949971e-01 -9.95019801e-03 -2.69096112e+00] [ 1.75659958e-01 9.97538664e-03 9.84400361e-01 -4.66248096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24463044000004 meters Centerline goodness : 0.134026 with order 3 Centerline is valid? [False, False] Translation: X:-29.98, Y:-2.69, Z:-4.66 [[ 9.84501789e-01 -9.35334584e-04 -1.75372042e-01 -2.99790880e+01] [-8.41304580e-04 9.99949083e-01 -1.00560659e-02 -2.69096831e+00] [ 1.75372519e-01 1.00477562e-02 9.84450873e-01 -4.66154479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30463044000004 meters Centerline goodness : 0.308931 with order 1 Centerline is valid? [False, False] Translation: X:-30.00, Y:-2.69, Z:-4.67 [[ 9.84731531e-01 6.45051675e-03 -1.73960348e-01 -3.00000914e+01] [-8.48668023e-03 9.99903885e-01 -1.09634459e-02 -2.69328513e+00] [ 1.73872908e-01 1.22723967e-02 9.84691627e-01 -4.66554669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36463044000004 meters Centerline goodness : 0.084733 with order 1 Centerline is valid? [False, False] Translation: X:-30.00, Y:-2.69, Z:-4.67 [[ 9.84722526e-01 6.52817303e-03 -1.74008421e-01 -3.00001154e+01] [-8.66385757e-03 9.99896146e-01 -1.15166877e-02 -2.68846447e+00] [ 1.73915167e-01 1.28483260e-02 9.84676818e-01 -4.66542722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42463044 meters Centerline goodness : 0.088806 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84803043e-01 2.61078394e-03 -1.73655260e-01 -3.00210454e+01] [-4.09791416e-03 9.99957936e-01 -8.20570720e-03 -2.67963973e+00] [ 1.73626532e-01 8.79262977e-03 9.84772317e-01 -4.66866999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48463044 meters Centerline goodness : 0.095785 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84805364e-01 2.43773568e-03 -1.73644617e-01 -3.00216288e+01] [-3.98249017e-03 9.99955533e-01 -8.54820857e-03 -2.67793738e+00] [ 1.73616057e-01 9.10985964e-03 9.84771281e-01 -4.66805254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54463044 meters Centerline goodness : 0.100719 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84723193e-01 2.25347646e-03 -1.74112478e-01 -3.00203665e+01] [-3.87152574e-03 9.99952417e-01 -8.95405071e-03 -2.67534888e+00] [ 1.74084016e-01 9.49134235e-03 9.84685061e-01 -4.66806525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60463044 meters Centerline goodness : 0.085620 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.67, Z:-4.67 [[ 9.84754541e-01 2.21255088e-03 -1.73935616e-01 -3.00208497e+01] [-3.86028260e-03 9.99950819e-01 -9.13549960e-03 -2.67374803e+00] [ 1.73906849e-01 9.66766535e-03 9.84714651e-01 -4.66801930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66463044 meters Centerline goodness : 0.084743 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.67, Z:-4.67 [[ 9.84796625e-01 2.21066386e-03 -1.73697209e-01 -3.00219984e+01] [-3.85596705e-03 9.99950837e-01 -9.13536931e-03 -2.67352334e+00] [ 1.73668474e-01 9.66625158e-03 9.84756734e-01 -4.66742132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72463044 meters Centerline goodness : 0.101808 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84672010e-01 -1.77346114e-03 -1.74407245e-01 -3.00198973e+01] [-3.84395558e-04 9.99923811e-01 -1.23379597e-02 -2.67541891e+00] [ 1.74415838e-01 1.22158850e-02 9.84596307e-01 -4.66753223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78463044 meters Centerline goodness : 0.106730 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84458239e-01 -2.14207107e-03 -1.75605771e-01 -3.00156515e+01] [-5.05058057e-05 9.99922116e-01 -1.24803706e-02 -2.67695581e+00] [ 1.75618828e-01 1.22952727e-02 9.84381457e-01 -4.66857317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84463044 meters Centerline goodness : 0.099245 with order 3 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84494408e-01 -2.01077533e-03 -1.75404440e-01 -3.00172089e+01] [-1.44503883e-04 9.99924663e-01 -1.22738461e-02 -2.67830445e+00] [ 1.75415905e-01 1.21088795e-02 9.84419949e-01 -4.66749385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90463044 meters Centerline goodness : 0.086718 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84525158e-01 -1.85770656e-03 -1.75233448e-01 -3.00179211e+01] [-2.43854863e-04 9.99928320e-01 -1.19706293e-02 -2.68009728e+00] [ 1.75243125e-01 1.18281172e-02 9.84454134e-01 -4.66719058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96463044 meters Centerline goodness : 0.162679 with order 3 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84506782e-01 -2.00976599e-03 -1.75334984e-01 -3.00173991e+01] [-1.01479299e-04 9.99927615e-01 -1.20314128e-02 -2.68135070e+00] [ 1.75346473e-01 1.18628004e-02 9.84435315e-01 -4.66735947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02463044 meters Centerline goodness : 0.094184 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84628841e-01 -1.64626969e-03 -1.74652040e-01 -3.00195081e+01] [-4.11411807e-04 9.99930943e-01 -1.17447465e-02 -2.68128769e+00] [ 1.74659314e-01 1.16360700e-02 9.84560169e-01 -4.66700247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08463044 meters Centerline goodness : 0.152742 with order 3 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84698735e-01 -1.35948092e-03 -1.74260015e-01 -3.00206261e+01] [-6.29840041e-04 9.99935275e-01 -1.13600106e-02 -2.68247121e+00] [ 1.74264180e-01 1.12959440e-02 9.84634144e-01 -4.66680401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14463044 meters Centerline goodness : 0.092078 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.68, Z:-4.67 [[ 9.84659992e-01 -1.21508826e-03 -1.74479869e-01 -3.00196211e+01] [-7.23823165e-04 9.99938702e-01 -1.10484579e-02 -2.68424247e+00] [ 1.74482598e-01 1.10052671e-02 9.84598754e-01 -4.66717974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20463044 meters Centerline goodness : 0.084774 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.69, Z:-4.67 [[ 9.84721922e-01 -5.06975468e-03 -1.74060432e-01 -3.00196855e+01] [ 2.67541265e-03 9.99898588e-01 -1.39876883e-02 -2.68765923e+00] [ 1.74113694e-01 1.33082998e-02 9.84635623e-01 -4.66805233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26463044 meters Centerline goodness : 0.090623 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.69, Z:-4.67 [[ 9.84685238e-01 -5.12672492e-03 -1.74266175e-01 -3.00185953e+01] [ 2.77063669e-03 9.99901479e-01 -1.37606440e-02 -2.69067230e+00] [ 1.74319553e-01 1.30670747e-02 9.84602430e-01 -4.66850648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32463044 meters Centerline goodness : 0.090929 with order 1 Centerline is valid? [False, False] Translation: X:-30.02, Y:-2.69, Z:-4.67 [[ 9.84619366e-01 -4.90591953e-03 -1.74644311e-01 -3.00170282e+01] [ 2.58224655e-03 9.99905132e-01 -1.35299234e-02 -2.69148430e+00] [ 1.74694120e-01 1.28708500e-02 9.84538626e-01 -4.66909596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38463044 meters Centerline goodness : 0.161211 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.69, Z:-4.67 [[ 9.84459059e-01 -4.76970102e-03 -1.75549455e-01 -3.00134023e+01] [ 2.45075267e-03 9.99906890e-01 -1.34240875e-02 -2.69252184e+00] [ 1.75597138e-01 1.27852362e-02 9.84379085e-01 -4.67033315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44463044 meters Centerline goodness : 0.092645 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.70, Z:-4.67 [[ 9.84438882e-01 -4.81741032e-03 -1.75661266e-01 -3.00131483e+01] [ 2.54395444e-03 9.99910099e-01 -1.31651650e-02 -2.69572844e+00] [ 1.75708896e-01 1.25134261e-02 9.84362635e-01 -4.67023179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50463044 meters Centerline goodness : 0.088043 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.70, Z:-4.67 [[ 9.84458313e-01 -6.56147103e-03 -1.75495802e-01 -3.00137683e+01] [ 4.20779887e-03 9.99896193e-01 -1.37803144e-02 -2.70418190e+00] [ 1.75568004e-01 1.28276940e-02 9.84383729e-01 -4.66981192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56463044000003 meters Centerline goodness : 0.088950 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.71, Z:-4.67 [[ 9.84497450e-01 -6.48538680e-03 -1.75278953e-01 -3.00145633e+01] [ 4.23377567e-03 9.99903691e-01 -1.32167656e-02 -2.71022705e+00] [ 1.75347788e-01 1.22697803e-02 9.84430092e-01 -4.66948460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62463044000003 meters Centerline goodness : 0.096167 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.71, Z:-4.67 [[ 9.84488692e-01 -6.19187680e-03 -1.75338749e-01 -3.00146960e+01] [ 4.02111114e-03 9.99910847e-01 -1.27329888e-02 -2.71280955e+00] [ 1.75401958e-01 1.18304269e-02 9.84425820e-01 -4.66909996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68463044000003 meters Centerline goodness : 0.156694 with order 3 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.72, Z:-4.67 [[ 9.84406106e-01 -5.95336898e-03 -1.75810054e-01 -3.00133370e+01] [ 3.84817092e-03 9.99916790e-01 -1.23127807e-02 -2.71517004e+00] [ 1.75868728e-01 1.14442294e-02 9.84347104e-01 -4.66918562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74463044000004 meters Centerline goodness : 0.092546 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.72, Z:-4.67 [[ 9.84364621e-01 -5.65549935e-03 -1.76052003e-01 -3.00128901e+01] [ 3.65598151e-03 9.99925105e-01 -1.16798269e-02 -2.71962479e+00] [ 1.76104873e-01 1.08535655e-02 9.84311573e-01 -4.66892459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80463044000004 meters Centerline goodness : 0.089735 with order 1 Centerline is valid? [False, False] Translation: X:-30.00, Y:-2.72, Z:-4.66 [[ 9.84877702e-01 1.32417232e-03 -1.73245950e-01 -2.99963634e+01] [-3.73216524e-03 9.99900900e-01 -1.35742580e-02 -2.72480971e+00] [ 1.73210807e-01 1.40155666e-02 9.84785043e-01 -4.66437240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86463044 meters Centerline goodness : 0.160082 with order 3 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.73, Z:-4.67 [[ 9.85090018e-01 8.28906515e-03 -1.71839887e-01 -3.00141829e+01] [-1.08509974e-02 9.99843467e-01 -1.39748786e-02 -2.73127529e+00] [ 1.71697150e-01 1.56311476e-02 9.85025764e-01 -4.66949469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92463044 meters Centerline goodness : 0.166983 with order 3 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.73, Z:-4.67 [[ 9.85018670e-01 8.09484455e-03 -1.72257637e-01 -3.00130859e+01] [-1.07415681e-02 9.99838064e-01 -1.44383231e-02 -2.72906032e+00] [ 1.72112866e-01 1.60723349e-02 9.84946111e-01 -4.66950072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98463044 meters Centerline goodness : 0.095545 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.72, Z:-4.67 [[ 9.85044780e-01 8.23671348e-03 -1.72101533e-01 -3.00138330e+01] [-1.09580630e-02 9.99829411e-01 -1.48683999e-02 -2.72440463e+00] [ 1.71949707e-01 1.65319391e-02 9.84967001e-01 -4.66918006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04463044 meters Centerline goodness : 0.123350 with order 3 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.72, Z:-4.67 [[ 9.85047734e-01 8.22471201e-03 -1.72085198e-01 -3.00138198e+01] [-1.09741741e-02 9.99826787e-01 -1.50320770e-02 -2.72284784e+00] [ 1.71931756e-01 1.66958063e-02 9.84967371e-01 -4.66923387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10463044 meters Centerline goodness : 0.113094 with order 1 Centerline is valid? [False, False] Translation: X:-30.01, Y:-2.72, Z:-4.67 [[ 9.85076841e-01 7.94960006e-03 -1.71931441e-01 -3.00146051e+01] [-1.07988084e-02 9.99819328e-01 -1.56428181e-02 -2.71928923e+00] [ 1.71776023e-01 1.72660326e-02 9.84984712e-01 -4.66873158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16463044 meters Centerline goodness : 0.087174 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.71, Z:-4.68 [[ 9.85591153e-01 4.23610356e-03 -1.69092088e-01 -3.00474100e+01] [-7.01881686e-03 9.99849548e-01 -1.58624665e-02 -2.71073874e+00] [ 1.68999452e-01 1.68207330e-02 9.85472601e-01 -4.67597058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22463044 meters Centerline goodness : 0.083859 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.71, Z:-4.68 [[ 9.85525985e-01 4.11362974e-03 -1.69474513e-01 -3.00457710e+01] [-7.01055808e-03 9.99839309e-01 -1.64987549e-02 -2.70501642e+00] [ 1.69379410e-01 1.74480625e-02 9.85396459e-01 -4.67654683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28463044 meters Centerline goodness : 0.226294 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.70, Z:-4.68 [[ 9.85668115e-01 4.80612179e-03 -1.68627600e-01 -3.00494561e+01] [-7.68709146e-03 9.99835367e-01 -1.64361612e-02 -2.69791190e+00] [ 1.68520844e-01 1.74968558e-02 9.85542787e-01 -4.67513439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34463044 meters Centerline goodness : 0.136227 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.69, Z:-4.67 [[ 9.85722813e-01 4.55642337e-03 -1.68314512e-01 -3.00504010e+01] [-7.51384507e-03 9.99828307e-01 -1.69380965e-02 -2.69431029e+00] [ 1.68208436e-01 1.79609573e-02 9.85587807e-01 -4.67490384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40463044 meters Centerline goodness : 0.142778 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.68, Z:-4.68 [[ 9.85676520e-01 4.35324621e-03 -1.68590770e-01 -3.00486133e+01] [-7.46179890e-03 9.99813558e-01 -1.78093107e-02 -2.68412813e+00] [ 1.68481809e-01 1.88122098e-02 9.85525231e-01 -4.67575961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46463044 meters Centerline goodness : 0.087172 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.68, Z:-4.68 [[ 9.85735536e-01 4.11976616e-03 -1.68251240e-01 -3.00499514e+01] [-7.32118887e-03 9.99803685e-01 -1.84117433e-02 -2.67802683e+00] [ 1.68142358e-01 1.93809088e-02 9.85572183e-01 -4.67528403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52463044 meters Centerline goodness : 0.085197 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:-2.68, Z:-4.67 [[ 9.85895065e-01 3.44498603e-03 -1.67329173e-01 -3.00534409e+01] [-6.72861676e-03 9.99795685e-01 -1.90607999e-02 -2.67556048e+00] [ 1.67229321e-01 1.99178425e-02 9.85716812e-01 -4.67404013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58463044 meters Centerline goodness : 0.312204 with order 1 Centerline is valid? [False, False] Translation: X:-30.07, Y:-2.67, Z:-4.68 [[ 9.85735245e-01 -7.00232627e-03 -1.68157648e-01 -3.00732461e+01] [ 3.80628240e-03 9.99806086e-01 -1.93210463e-02 -2.67424743e+00] [ 1.68260333e-01 1.84053808e-02 9.85570750e-01 -4.67805926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64463044 meters SLAMing on 401.70463044 meters Centerline goodness : 0.171836 with order 1 Centerline is valid? [False, False] Translation: X:-30.11, Y:-2.68, Z:-4.69 [[ 9.85353177e-01 -1.04951089e-02 -1.70202728e-01 -3.01130206e+01] [ 7.09078071e-03 9.99762710e-01 -2.05971741e-02 -2.68110520e+00] [ 1.70378511e-01 1.90886207e-02 9.85193782e-01 -4.68627257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76463044 meters Centerline goodness : 0.101913 with order 1 Centerline is valid? [False, False] Translation: X:-30.11, Y:-2.68, Z:-4.69 [[ 9.85272258e-01 -1.04606429e-02 -1.70672650e-01 -3.01107496e+01] [ 7.07395974e-03 9.99766071e-01 -2.04392421e-02 -2.68279070e+00] [ 1.70846532e-01 1.89308868e-02 9.85115772e-01 -4.68724433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82463044 meters Centerline goodness : 0.170362 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85654416e-01 -5.01068776e-03 -1.68701703e-01 -3.01288882e+01] [ 1.30983091e-03 9.99756200e-01 -2.20414227e-02 -2.69237229e+00] [ 1.68771016e-01 2.15042549e-02 9.85420677e-01 -4.69295272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88463044 meters Centerline goodness : 0.086099 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85618330e-01 -4.77613696e-03 -1.68919200e-01 -3.01277514e+01] [ 1.11788931e-03 9.99762919e-01 -2.17452630e-02 -2.69348119e+00] [ 1.68983011e-01 2.12436969e-02 9.85389998e-01 -4.69344272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94463044 meters Centerline goodness : 0.148455 with order 3 Centerline is valid? [False, False] Translation: X:-30.12, Y:-2.69, Z:-4.69 [[ 9.85430783e-01 -4.50050573e-03 -1.70017404e-01 -3.01242643e+01] [ 8.19196370e-04 9.99763834e-01 -2.17164917e-02 -2.69296839e+00] [ 1.70074987e-01 2.12608218e-02 9.85201744e-01 -4.69406676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00463044 meters Centerline goodness : 0.298943 with order 3 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85525546e-01 -4.09569538e-03 -1.69477504e-01 -3.01255512e+01] [ 4.37223400e-04 9.99766198e-01 -2.16184620e-02 -2.69165991e+00] [ 1.69526422e-01 2.12314470e-02 9.85296919e-01 -4.69418586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06463044000003 meters Centerline goodness : 0.133743 with order 2 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85590793e-01 -3.78728396e-03 -1.69104833e-01 -3.01265368e+01] [ 1.18369930e-04 9.99764501e-01 -2.17009040e-02 -2.68944356e+00] [ 1.69147196e-01 2.13681943e-02 9.85359136e-01 -4.69417205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12463044000003 meters Centerline goodness : 0.140869 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85549363e-01 -3.57636588e-03 -1.69350710e-01 -3.01257483e+01] [-7.45190493e-05 9.99767836e-01 -2.15468702e-02 -2.68924150e+00] [ 1.69388453e-01 2.12481241e-02 9.85320288e-01 -4.69426524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18463044000003 meters Centerline goodness : 0.086735 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85539405e-01 -3.82653241e-03 -1.69403186e-01 -3.01262913e+01] [ 1.44998576e-04 9.99763660e-01 -2.17394155e-02 -2.68964704e+00] [ 1.69446335e-01 2.14004874e-02 9.85307038e-01 -4.69355453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24463044000004 meters Centerline goodness : 0.170945 with order 3 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.69, Z:-4.69 [[ 9.85596409e-01 -3.53449058e-03 -1.69077576e-01 -3.01274864e+01] [-1.32065352e-04 9.99765180e-01 -2.16694835e-02 -2.68782372e+00] [ 1.69114464e-01 2.13796944e-02 9.85364505e-01 -4.69314514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30463044000004 meters Centerline goodness : 0.091435 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.68, Z:-4.69 [[ 9.85801169e-01 -2.09070036e-03 -1.67903794e-01 -3.01314640e+01] [-1.42737216e-03 9.99782024e-01 -2.08294863e-02 -2.68338447e+00] [ 1.67910743e-01 2.07733932e-02 9.85583304e-01 -4.69235553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36463044 meters Centerline goodness : 0.093107 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.67, Z:-4.69 [[ 9.85696442e-01 5.45044325e-04 -1.68529601e-01 -3.01294182e+01] [-3.93860331e-03 9.99796150e-01 -1.98026580e-02 -2.67299835e+00] [ 1.68484453e-01 2.01831808e-02 9.85497655e-01 -4.69270170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42463044 meters Centerline goodness : 0.139215 with order 3 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.66, Z:-4.69 [[ 9.85839198e-01 1.50642634e-03 -1.67686632e-01 -3.01315396e+01] [-4.90901660e-03 9.99790348e-01 -1.98786894e-02 -2.66312156e+00] [ 1.67621530e-01 2.04203677e-02 9.85639910e-01 -4.69278769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48463044 meters Centerline goodness : 0.086304 with order 1 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.66, Z:-4.69 [[ 9.85956262e-01 1.11537717e-03 -1.67000016e-01 -3.01339966e+01] [-4.59854721e-03 9.99779850e-01 -2.04720627e-02 -2.65950820e+00] [ 1.66940417e-01 2.09525159e-02 9.85744333e-01 -4.69208744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54463044 meters Centerline goodness : 0.125457 with order 3 Centerline is valid? [False, False] Translation: X:-30.13, Y:-2.66, Z:-4.69 [[ 9.85920582e-01 7.26996701e-04 -1.67212671e-01 -3.01334494e+01] [-4.29933507e-03 9.99770168e-01 -2.10030335e-02 -2.65654025e+00] [ 1.67158971e-01 2.14262263e-02 9.85697111e-01 -4.69201079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60463044 meters Centerline goodness : 0.135790 with order 3 Centerline is valid? [False, False] Translation: X:-30.15, Y:-2.65, Z:-4.70 [[ 9.85796691e-01 -8.35507923e-03 -1.67735139e-01 -3.01528798e+01] [ 4.95098997e-03 9.99773424e-01 -2.07023803e-02 -2.65169351e+00] [ 1.67870104e-01 1.95778830e-02 9.85614699e-01 -4.69653255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66463044 meters Centerline goodness : 0.088567 with order 1 Centerline is valid? [False, False] Translation: X:-30.15, Y:-2.65, Z:-4.70 [[ 9.85745591e-01 -8.81178995e-03 -1.68011849e-01 -3.01522739e+01] [ 5.36020983e-03 9.99765398e-01 -2.09861358e-02 -2.65161134e+00] [ 1.68157358e-01 1.97864121e-02 9.85561566e-01 -4.69625745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72463044 meters Centerline goodness : 0.156104 with order 3 Centerline is valid? [False, False] Translation: X:-30.15, Y:-2.65, Z:-4.70 [[ 9.85728263e-01 -9.35558123e-03 -1.68084100e-01 -3.01518803e+01] [ 5.91767498e-03 9.99763163e-01 -2.09427661e-02 -2.65423678e+00] [ 1.68240223e-01 1.96492094e-02 9.85550169e-01 -4.69632296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78463044 meters Centerline goodness : 0.088477 with order 1 Centerline is valid? [False, False] Translation: X:-30.15, Y:-2.66, Z:-4.70 [[ 9.85724475e-01 -9.69461285e-03 -1.68087104e-01 -3.01513719e+01] [ 6.28962076e-03 9.99764332e-01 -2.07778880e-02 -2.65770066e+00] [ 1.68248925e-01 1.94240686e-02 9.85553147e-01 -4.69665493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84463044 meters Centerline goodness : 0.091363 with order 1 Centerline is valid? [False, False] Translation: X:-30.15, Y:-2.66, Z:-4.70 [[ 9.85595439e-01 -9.93809310e-03 -1.68827917e-01 -3.01488472e+01] [ 6.55699085e-03 9.99766859e-01 -2.05726393e-02 -2.66373703e+00] [ 1.68993009e-01 1.91692964e-02 9.85430820e-01 -4.69709084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90463044 meters SLAMing on 402.96463044 meters Centerline goodness : 0.300301 with order 3 Centerline is valid? [False, False] Translation: X:-30.21, Y:-2.68, Z:-4.71 [[ 9.85626584e-01 -4.87190394e-03 -1.68868297e-01 -3.02116147e+01] [ 1.30202875e-03 9.99773467e-01 -2.12442845e-02 -2.67603320e+00] [ 1.68933543e-01 2.07190601e-02 9.85409650e-01 -4.70889468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02463044 meters Centerline goodness : 0.111984 with order 1 Centerline is valid? [False, False] Translation: X:-30.21, Y:-2.68, Z:-4.71 [[ 9.85539614e-01 -4.51643451e-03 -1.69384978e-01 -3.02094267e+01] [ 9.97244713e-04 9.99782001e-01 -2.08556024e-02 -2.67828787e+00] [ 1.69442245e-01 2.03851041e-02 9.85329271e-01 -4.70964018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08463044 meters Centerline goodness : 0.099710 with order 1 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.69, Z:-4.71 [[ 9.85714635e-01 2.94526366e-03 -1.68398291e-01 -3.02284989e+01] [-6.66727035e-03 9.99745729e-01 -2.15412590e-02 -2.68554034e+00] [ 1.68292027e-01 2.23562912e-02 9.85483632e-01 -4.71478040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14463044 meters Centerline goodness : 0.084350 with order 1 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.69, Z:-4.71 [[ 9.85880288e-01 4.05004484e-03 -1.67402674e-01 -3.02315121e+01] [-7.66427638e-03 9.99751155e-01 -2.09496176e-02 -2.68526616e+00] [ 1.67276170e-01 2.19368354e-02 9.85665997e-01 -4.71440354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20463044 meters Centerline goodness : 0.145836 with order 3 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.68, Z:-4.71 [[ 9.85946374e-01 4.58971408e-03 -1.66999046e-01 -3.02323857e+01] [-8.16864698e-03 9.99751319e-01 -2.07502692e-02 -2.68442086e+00] [ 1.66862279e-01 2.18228089e-02 9.85738680e-01 -4.71461420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26463044 meters Centerline goodness : 0.101797 with order 1 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.68, Z:-4.71 [[ 9.86021213e-01 5.05464448e-03 -1.66543140e-01 -3.02341341e+01] [-8.59095782e-03 9.99752531e-01 -2.05200470e-02 -2.68409636e+00] [ 1.66398204e-01 2.16639667e-02 9.85820628e-01 -4.71408734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32463044 meters Centerline goodness : 0.496387 with order 3 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.68, Z:-4.71 [[ 9.86007258e-01 5.07890665e-03 -1.66625005e-01 -3.02339658e+01] [-8.62976797e-03 9.99750689e-01 -2.05933883e-02 -2.68339233e+00] [ 1.66478872e-01 2.17431655e-02 9.85805265e-01 -4.71402619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38463044 meters Centerline goodness : 0.175433 with order 3 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.68, Z:-4.72 [[ 9.85795476e-01 7.59481745e-03 -1.67778421e-01 -3.02292484e+01] [-1.09625842e-02 9.99756412e-01 -1.91556126e-02 -2.67683537e+00] [ 1.67592069e-01 2.07228013e-02 9.85638607e-01 -4.71535749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44463044 meters Centerline goodness : 0.122847 with order 1 Centerline is valid? [False, False] Translation: X:-30.23, Y:-2.67, Z:-4.72 [[ 9.85740249e-01 1.16275639e-02 -1.67871861e-01 -3.02288569e+01] [-1.45385212e-02 9.99764333e-01 -1.61217124e-02 -2.67242879e+00] [ 1.67644843e-01 1.83324294e-02 9.85676990e-01 -4.71529443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50463044 meters Centerline goodness : 0.098635 with order 1 Centerline is valid? [False, False] Translation: X:-30.25, Y:-2.66, Z:-4.72 [[ 9.86165480e-01 2.90462189e-03 -1.65738378e-01 -3.02508843e+01] [-5.79186785e-03 9.99839735e-01 -1.69398530e-02 -2.66270296e+00] [ 1.65662612e-01 1.76654330e-02 9.86024255e-01 -4.71911908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56463044000003 meters Centerline goodness : 0.103822 with order 1 Centerline is valid? [False, False] Translation: X:-30.27, Y:-2.66, Z:-4.72 [[ 9.85949235e-01 -6.05508925e-03 -1.66935440e-01 -3.02685292e+01] [ 3.37830316e-03 9.99861208e-01 -1.63141717e-02 -2.65935890e+00] [ 1.67011054e-01 1.55209866e-02 9.85832849e-01 -4.72349071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62463044000003 meters Centerline goodness : 0.237133 with order 3 Centerline is valid? [False, False] Translation: X:-30.25, Y:-2.66, Z:-4.72 [[ 9.85932789e-01 -1.50046855e-02 -1.66467397e-01 -3.02492463e+01] [ 1.25034724e-02 9.99792798e-01 -1.60631638e-02 -2.65553662e+00] [ 1.66673927e-01 1.37557794e-02 9.85916112e-01 -4.71889736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68463044000003 meters Centerline goodness : 0.436162 with order 1 Centerline is valid? [False, False] Translation: X:-30.25, Y:-2.66, Z:-4.72 [[ 9.85962457e-01 -1.95718812e-02 -1.65816087e-01 -3.02517425e+01] [ 1.65969202e-02 9.99675817e-01 -1.93081152e-02 -2.65897779e+00] [ 1.66140228e-01 1.62850404e-02 9.85967658e-01 -4.71772417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74463044000004 meters Centerline goodness : 0.448573 with order 1 Centerline is valid? [False, False] Translation: X:-30.27, Y:-2.67, Z:-4.72 [[ 9.86302942e-01 -1.35099822e-02 -1.64389742e-01 -3.02669825e+01] [ 1.03718276e-02 9.99747515e-01 -1.99331600e-02 -2.66763023e+00] [ 1.64617533e-01 1.79551123e-02 9.86194039e-01 -4.72237372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80463044000004 meters Centerline goodness : 0.096147 with order 1 Centerline is valid? [False, False] Translation: X:-30.28, Y:-2.68, Z:-4.73 [[ 9.86220785e-01 -6.49704749e-03 -1.65306841e-01 -3.02837196e+01] [ 3.06089661e-03 9.99774101e-01 -2.10327652e-02 -2.67625855e+00] [ 1.65406149e-01 2.02369630e-02 9.86017886e-01 -4.72662100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86463044 meters Centerline goodness : 0.092682 with order 1 Centerline is valid? [False, False] Translation: X:-30.29, Y:-2.68, Z:-4.73 [[ 9.86357466e-01 -6.07879184e-03 -1.64505314e-01 -3.02866954e+01] [ 2.69312519e-03 9.99780110e-01 -2.07961127e-02 -2.67678898e+00] [ 1.64595556e-01 2.00693676e-02 9.86156947e-01 -4.72551685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92463044 meters Centerline goodness : 0.107686 with order 1 Centerline is valid? [False, False] Translation: X:-30.29, Y:-2.67, Z:-4.73 [[ 9.86469190e-01 -5.35310845e-03 -1.63859334e-01 -3.02883502e+01] [ 2.00929544e-03 9.99786488e-01 -2.05655509e-02 -2.67459260e+00] [ 1.63934437e-01 1.99580405e-02 9.86269323e-01 -4.72546670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98463044 meters Centerline goodness : 0.099989 with order 3 Centerline is valid? [False, False] Translation: X:-30.31, Y:-2.67, Z:-4.73 [[ 9.86311353e-01 4.12843826e-03 -1.64841960e-01 -3.03082381e+01] [-7.62907096e-03 9.99758508e-01 -2.06088184e-02 -2.67366330e+00] [ 1.64717069e-01 2.15843026e-02 9.86104662e-01 -4.72947668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04463044 meters Centerline goodness : 0.218506 with order 3 Centerline is valid? [False, False] Translation: X:-30.31, Y:-2.66, Z:-4.73 [[ 9.86203624e-01 6.08465807e-03 -1.65424872e-01 -3.03067738e+01] [-9.53439155e-03 9.99753161e-01 -2.00676919e-02 -2.66472399e+00] [ 1.65261934e-01 2.13680560e-02 9.86018204e-01 -4.72944702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10463044 meters Centerline goodness : 0.107445 with order 1 Centerline is valid? [False, False] Translation: X:-30.33, Y:-2.66, Z:-4.73 [[ 9.86538978e-01 -1.11672795e-03 -1.63522470e-01 -3.03274261e+01] [-2.07509585e-03 9.99810675e-01 -1.93470626e-02 -2.65786079e+00] [ 1.63513116e-01 1.94259562e-02 9.86349884e-01 -4.73394794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16463044 meters Centerline goodness : 0.101448 with order 1 Centerline is valid? [False, False] Translation: X:-30.35, Y:-2.65, Z:-4.74 [[ 9.86848569e-01 -9.65054369e-03 -1.61359130e-01 -3.03507375e+01] [ 6.66342972e-03 9.99796458e-01 -1.90431326e-02 -2.65416139e+00] [ 1.61510063e-01 1.77174829e-02 9.86712010e-01 -4.73789333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22463044 meters Centerline goodness : 0.289801 with order 1 Centerline is valid? [False, False] Translation: X:-30.35, Y:-2.65, Z:-4.74 [[ 9.86827792e-01 -9.68725451e-03 -1.61483947e-01 -3.03501365e+01] [ 6.68737876e-03 9.99795020e-01 -1.91101200e-02 -2.65309722e+00] [ 1.61635970e-01 1.77784932e-02 9.86690295e-01 -4.73798962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28463044 meters Centerline goodness : 0.249892 with order 3 Centerline is valid? [False, False] Translation: X:-30.37, Y:-2.66, Z:-4.74 [[ 9.86609203e-01 -2.96985192e-03 -1.63075018e-01 -3.03678196e+01] [-4.66369230e-04 9.99778755e-01 -2.10290888e-02 -2.65547005e+00] [ 1.63101392e-01 2.08235457e-02 9.86389536e-01 -4.74244252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34463044 meters Centerline goodness : 0.121510 with order 1 Centerline is valid? [False, False] Translation: X:-30.37, Y:-2.65, Z:-4.74 [[ 9.86557169e-01 -3.00592483e-03 -1.63388849e-01 -3.03665317e+01] [-4.74360576e-04 9.99773923e-01 -2.12574427e-02 -2.65377612e+00] [ 1.63415808e-01 2.10491877e-02 9.86332705e-01 -4.74288686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40463044 meters Centerline goodness : 0.101534 with order 1 Centerline is valid? [False, False] Translation: X:-30.37, Y:-2.65, Z:-4.74 [[ 9.86580121e-01 -3.29555480e-03 -1.63244613e-01 -3.03668038e+01] [-2.03407907e-04 9.99770705e-01 -2.14125126e-02 -2.65436248e+00] [ 1.63277748e-01 2.11583645e-02 9.86353233e-01 -4.74284585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46463044 meters Centerline goodness : 0.431292 with order 1 Centerline is valid? [False, False] Translation: X:-30.37, Y:-2.66, Z:-4.74 [[ 9.86635903e-01 -3.67678980e-03 -1.62898978e-01 -3.03674262e+01] [ 1.94587340e-04 9.99771248e-01 -2.13872543e-02 -2.65699108e+00] [ 1.62940351e-01 2.10697349e-02 9.86410923e-01 -4.74296270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52463044 meters Centerline goodness : 0.094304 with order 1 Centerline is valid? [False, False] Translation: X:-30.36, Y:-2.66, Z:-4.74 [[ 9.86515395e-01 -3.70170986e-03 -1.63626628e-01 -3.03647490e+01] [ 2.94533295e-04 9.99782734e-01 -2.08422309e-02 -2.66215173e+00] [ 1.63668230e-01 2.05129881e-02 9.86302148e-01 -4.74353197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58463044 meters Centerline goodness : 0.216373 with order 3 Centerline is valid? [False, False] Translation: X:-30.36, Y:-2.67, Z:-4.74 [[ 9.86456417e-01 -3.79678945e-03 -1.63979637e-01 -3.03634772e+01] [ 4.14291876e-04 9.99786539e-01 -2.06568216e-02 -2.66530946e+00] [ 1.64023063e-01 2.03091188e-02 9.86247420e-01 -4.74377862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64463044 meters Centerline goodness : 0.107236 with order 1 Centerline is valid? [False, False] Translation: X:-30.36, Y:-2.67, Z:-4.74 [[ 9.86437777e-01 -3.67216397e-03 -1.64094571e-01 -3.03631682e+01] [ 3.20232763e-04 9.99790854e-01 -2.04486122e-02 -2.66700076e+00] [ 1.64135342e-01 2.01187351e-02 9.86232643e-01 -4.74365018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70463044 meters Centerline goodness : 0.119051 with order 1 Centerline is valid? [False, False] Translation: X:-30.36, Y:-2.67, Z:-4.74 [[ 9.86414523e-01 -2.88878727e-03 -1.64249946e-01 -3.03621724e+01] [-4.28316619e-04 9.99796746e-01 -2.01564623e-02 -2.66527510e+00] [ 1.64274789e-01 1.99529781e-02 9.86212793e-01 -4.74422909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76463044 meters Centerline goodness : 0.161575 with order 3 Centerline is valid? [False, False] Translation: X:-30.38, Y:-2.67, Z:-4.75 [[ 9.86317858e-01 5.17026612e-03 -1.64773640e-01 -3.03822875e+01] [-8.77597307e-03 9.99737535e-01 -2.11623040e-02 -2.66713583e+00] [ 1.64620978e-01 2.23188073e-02 9.86104358e-01 -4.74837851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82463044 meters Centerline goodness : 0.116557 with order 1 Centerline is valid? [False, False] Translation: X:-30.38, Y:-2.66, Z:-4.75 [[ 9.86367434e-01 5.53381295e-03 -1.64464777e-01 -3.03838559e+01] [-9.15066188e-03 9.99732483e-01 -2.12421309e-02 -2.66415130e+00] [ 1.64303229e-01 2.24575077e-02 9.86154201e-01 -4.74737967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88463044 meters Centerline goodness : 0.226244 with order 3 Centerline is valid? [False, False] Translation: X:-30.38, Y:-2.66, Z:-4.75 [[ 9.86364898e-01 5.52908580e-03 -1.64480141e-01 -3.03841230e+01] [-9.14776193e-03 9.99732313e-01 -2.12513529e-02 -2.66416085e+00] [ 1.64318612e-01 2.24662137e-02 9.86151440e-01 -4.74697409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94463044 meters Centerline goodness : 0.083727 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-2.66, Z:-4.75 [[ 9.86351619e-01 -2.24913654e-03 -1.64637253e-01 -3.04027631e+01] [-1.06963155e-03 9.99798073e-01 -2.00666321e-02 -2.66183701e+00] [ 1.64649141e-01 1.99688562e-02 9.86150042e-01 -4.75115230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00463044 meters Centerline goodness : 0.444724 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-2.66, Z:-4.75 [[ 9.86451190e-01 -2.31380763e-03 -1.64038704e-01 -3.04046810e+01] [-9.59009974e-04 9.99802122e-01 -1.98694956e-02 -2.66389343e+00] [ 1.64052218e-01 1.97576023e-02 9.86253774e-01 -4.75054531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06463044000003 meters Centerline goodness : 0.234397 with order 3 Centerline is valid? [False, False] Translation: X:-30.40, Y:-2.67, Z:-4.75 [[ 9.86436720e-01 -2.13552005e-03 -1.64128112e-01 -3.04043396e+01] [-1.08076936e-03 9.99809187e-01 -1.95044171e-02 -2.66604821e+00] [ 1.64138446e-01 1.94172578e-02 9.86246187e-01 -4.75045522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12463044000003 meters Centerline goodness : 0.084222 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-2.67, Z:-4.75 [[ 9.86437836e-01 -3.91027567e-03 -1.64088709e-01 -3.04046840e+01] [ 5.24862857e-04 9.99786217e-01 -2.06698874e-02 -2.67158740e+00] [ 1.64134455e-01 2.03034349e-02 9.86229005e-01 -4.75019382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18463044000003 meters Centerline goodness : 0.119811 with order 1 Centerline is valid? [False, False] Translation: X:-30.40, Y:-2.68, Z:-4.75 [[ 9.86403081e-01 -3.45361472e-03 -1.64307743e-01 -3.04034932e+01] [ 1.87848105e-04 9.99802210e-01 -1.98873018e-02 -2.67502423e+00] [ 1.64343928e-01 1.95860309e-02 9.86208629e-01 -4.75067402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24463044000004 meters Centerline goodness : 0.219562 with order 2 Centerline is valid? [False, False] Translation: X:-30.42, Y:-2.69, Z:-4.76 [[ 9.86751947e-01 -5.30496044e-04 -1.62235367e-01 -3.04214513e+01] [-3.23957572e-03 9.99730840e-01 -2.29728632e-02 -2.68616476e+00] [ 1.62203887e-01 2.31940913e-02 9.86484634e-01 -4.75519217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30463044000004 meters SLAMing on 405.36463044 meters Centerline goodness : 0.102838 with order 1 Centerline is valid? [False, False] Translation: X:-30.46, Y:-2.69, Z:-4.76 [[ 9.86231336e-01 -1.88224320e-04 -1.65371452e-01 -3.04631729e+01] [-3.59155680e-03 9.99739108e-01 -2.25569832e-02 -2.69484389e+00] [ 1.65332554e-01 2.28403447e-02 9.85973359e-01 -4.76247773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42463044 meters Centerline goodness : 0.102200 with order 1 Centerline is valid? [False, False] Translation: X:-30.46, Y:-2.70, Z:-4.76 [[ 9.86234267e-01 -1.06295599e-04 -1.65354040e-01 -3.04635121e+01] [-3.66419631e-03 9.99740188e-01 -2.24973273e-02 -2.69570083e+00] [ 1.65313470e-01 2.27935247e-02 9.85977643e-01 -4.76203240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48463044 meters Centerline goodness : 0.102598 with order 1 Centerline is valid? [False, False] Translation: X:-30.46, Y:-2.70, Z:-4.76 [[ 9.86250683e-01 -1.31155912e-04 -1.65256080e-01 -3.04648186e+01] [-3.56821445e-03 9.99749649e-01 -2.20886094e-02 -2.70170350e+00] [ 1.65217605e-01 2.23745753e-02 9.86003307e-01 -4.76100598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54463044 meters Centerline goodness : 0.087718 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.71, Z:-4.76 [[ 9.86196063e-01 -9.46569224e-03 -1.65311000e-01 -3.04880176e+01] [ 5.97318077e-03 9.99748605e-01 -2.16112979e-02 -2.70721456e+00] [ 1.65474007e-01 2.03255444e-02 9.86004678e-01 -4.76397170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60463044 meters Centerline goodness : 0.088067 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.72, Z:-4.76 [[ 9.86236304e-01 -1.29640925e-02 -1.64832901e-01 -3.04891143e+01] [ 9.16182717e-03 9.99674595e-01 -2.38068209e-02 -2.71557735e+00] [ 1.65087897e-01 2.19689805e-02 9.86034153e-01 -4.76381560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66463044 meters Centerline goodness : 0.085885 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.72, Z:-4.76 [[ 9.86118455e-01 -1.25816511e-02 -1.65565981e-01 -3.04865858e+01] [ 8.87748563e-03 9.99693887e-01 -2.30937976e-02 -2.71973726e+00] [ 1.65805857e-01 2.13034104e-02 9.85928285e-01 -4.76434200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72463044 meters Centerline goodness : 0.121413 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.73, Z:-4.76 [[ 9.86129989e-01 -1.30662210e-02 -1.65459722e-01 -3.04871490e+01] [ 9.44004830e-03 9.99698133e-01 -2.26832364e-02 -2.72905001e+00] [ 1.65706159e-01 2.08066719e-02 9.85955654e-01 -4.76396049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78463044 meters Centerline goodness : 0.127980 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.74, Z:-4.76 [[ 9.86226378e-01 -1.60688018e-02 -1.64618724e-01 -3.04902838e+01] [ 1.21737739e-02 9.99622199e-01 -2.46426045e-02 -2.73509058e+00] [ 1.64952508e-01 2.22991554e-02 9.86049399e-01 -4.76297511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84463044 meters Centerline goodness : 0.473707 with order 2 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.74, Z:-4.76 [[ 9.86194409e-01 -1.78721267e-02 -1.64624343e-01 -3.04897997e+01] [ 1.39148553e-02 9.99586584e-01 -2.51602251e-02 -2.74487606e+00] [ 1.65005951e-01 2.25221494e-02 9.86035389e-01 -4.76323640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90463044 meters Centerline goodness : 0.150109 with order 1 Centerline is valid? [False, False] Translation: X:-30.49, Y:-2.75, Z:-4.76 [[ 9.86210178e-01 -1.77128021e-02 -1.64547080e-01 -3.04902528e+01] [ 1.38595077e-02 9.99602863e-01 -2.45363222e-02 -2.75012990e+00] [ 1.64916339e-01 2.19174291e-02 9.86064008e-01 -4.76282435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96463044 meters Centerline goodness : 0.307511 with order 1 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.76, Z:-4.77 [[ 9.86703553e-01 -1.13837743e-02 -1.62131147e-01 -3.05063426e+01] [ 7.46744238e-03 9.99665923e-01 -2.47442853e-02 -2.76003924e+00] [ 1.62358666e-01 2.32045692e-02 9.86458925e-01 -4.76862853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02463044 meters Centerline goodness : 0.286976 with order 3 Centerline is valid? [False, False] Translation: X:-30.50, Y:-2.76, Z:-4.77 [[ 9.86565834e-01 -1.11729071e-02 -1.62981661e-01 -3.05040399e+01] [ 7.28339713e-03 9.99674699e-01 -2.44427609e-02 -2.76266632e+00] [ 1.63201739e-01 2.29273326e-02 9.86326280e-01 -4.76869217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08463044 meters Centerline goodness : 0.304477 with order 1 Centerline is valid? [False, False] Translation: X:-30.50, Y:-2.76, Z:-4.77 [[ 9.86487558e-01 -1.09092584e-02 -1.63472584e-01 -3.05024786e+01] [ 7.04298064e-03 9.99682040e-01 -2.42118701e-02 -2.76342820e+00] [ 1.63684740e-01 2.27333743e-02 9.86250729e-01 -4.76893617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14463044 meters Centerline goodness : 0.311920 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.77, Z:-4.77 [[ 9.87106293e-01 -4.87276626e-03 -1.59991948e-01 -3.05205420e+01] [ 1.00349222e-03 9.99705274e-01 -2.42560748e-02 -2.77140358e+00] [ 1.60062988e-01 2.37827734e-02 9.86820257e-01 -4.77359144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20463044 meters Centerline goodness : 0.107043 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.77, Z:-4.77 [[ 9.87154485e-01 -4.68421721e-03 -1.59699974e-01 -3.05215398e+01] [ 8.78258131e-04 9.99714107e-01 -2.38941903e-02 -2.77343163e+00] [ 1.59766243e-01 2.34469993e-02 9.86876378e-01 -4.77324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26463044 meters Centerline goodness : 0.307892 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.78, Z:-4.77 [[ 9.87103158e-01 -4.78483351e-03 -1.60013938e-01 -3.05199081e+01] [ 1.03694310e-03 9.99723356e-01 -2.34975781e-02 -2.77947403e+00] [ 1.60082103e-01 2.30286082e-02 9.86835044e-01 -4.77404195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32463044 meters Centerline goodness : 0.098305 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.78, Z:-4.77 [[ 9.87043628e-01 -4.46911654e-03 -1.60389851e-01 -3.05188758e+01] [ 8.18184015e-04 9.99739216e-01 -2.28216918e-02 -2.78358627e+00] [ 1.60450017e-01 2.23947771e-02 9.86789879e-01 -4.77405937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38463044 meters Centerline goodness : 0.094029 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.77 [[ 9.86996529e-01 -3.90196280e-03 -1.60694201e-01 -3.05179380e+01] [ 3.28073266e-04 9.99752143e-01 -2.22608438e-02 -2.78645247e+00] [ 1.60741232e-01 2.19186561e-02 9.86753175e-01 -4.77408411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44463044 meters Centerline goodness : 0.304097 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.77 [[ 9.87005337e-01 -3.27402565e-03 -1.60654116e-01 -3.05179780e+01] [-2.34362117e-04 9.99762012e-01 -2.18143377e-02 -2.78715717e+00] [ 1.60687303e-01 2.15685189e-02 9.86769674e-01 -4.77414672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50463044 meters Centerline goodness : 0.089772 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.77 [[ 9.86999514e-01 -2.55861243e-03 -1.60702870e-01 -3.05175966e+01] [-8.47303753e-04 9.99776551e-01 -2.11217703e-02 -2.78916728e+00] [ 1.60721004e-01 2.09833411e-02 9.86776803e-01 -4.77441229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56463044000003 meters Centerline goodness : 0.090094 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.78 [[ 9.86980751e-01 -2.36513607e-03 -1.60821031e-01 -3.05166885e+01] [-9.79305265e-04 9.99784971e-01 -2.07136027e-02 -2.79199277e+00] [ 1.60835440e-01 2.06014200e-02 9.86766205e-01 -4.77501220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62463044000003 meters Centerline goodness : 0.091192 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.78 [[ 9.87031104e-01 -2.19664109e-03 -1.60514092e-01 -3.05174285e+01] [-1.07780705e-03 9.99793153e-01 -2.03098417e-02 -2.79491499e+00] [ 1.60525503e-01 2.02194487e-02 9.86824572e-01 -4.77504476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68463044000003 meters Centerline goodness : 0.094003 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.79, Z:-4.78 [[ 9.87077906e-01 -1.89007218e-03 -1.60229946e-01 -3.05175368e+01] [-1.33634088e-03 9.99798567e-01 -2.00259944e-02 -2.79493283e+00] [ 1.60235521e-01 1.99813385e-02 9.86876549e-01 -4.77567033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74463044000004 meters Centerline goodness : 0.090396 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.80, Z:-4.78 [[ 9.87054876e-01 -1.61990801e-03 -1.60374711e-01 -3.05161424e+01] [-1.57643330e-03 9.99802694e-01 -1.98012178e-02 -2.79509553e+00] [ 1.60375144e-01 1.97977086e-02 9.86857570e-01 -4.77662273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80463044000004 meters Centerline goodness : 0.305105 with order 1 Centerline is valid? [False, False] Translation: X:-30.52, Y:-2.80, Z:-4.78 [[ 9.87025084e-01 -1.60219243e-03 -1.60558144e-01 -3.05152505e+01] [-1.56791668e-03 9.99806365e-01 -1.96156682e-02 -2.79693436e+00] [ 1.60558482e-01 1.96128984e-02 9.86831449e-01 -4.77703145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86463044 meters Centerline goodness : 0.130365 with order 3 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86895681e-01 -2.20703361e-03 -1.61344489e-01 -3.05124627e+01] [-1.00423462e-03 9.99803082e-01 -1.98189217e-02 -2.80225354e+00] [ 1.61356459e-01 1.97212360e-02 9.86699126e-01 -4.77766593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92463044 meters Centerline goodness : 0.088837 with order 1 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86926272e-01 -1.97671808e-03 -1.61160248e-01 -3.05124409e+01] [-1.16423625e-03 9.99811263e-01 -1.93928738e-02 -2.80458090e+00] [ 1.61168165e-01 1.93269653e-02 9.86737701e-01 -4.77812367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98463044 meters Centerline goodness : 0.087022 with order 1 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.81, Z:-4.78 [[ 9.86894603e-01 -1.91243937e-03 -1.61354843e-01 -3.05116597e+01] [-1.22250775e-03 9.99812461e-01 -1.93273840e-02 -2.80503566e+00] [ 1.61361545e-01 1.92713485e-02 9.86707184e-01 -4.77837929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04463044 meters Centerline goodness : 0.144540 with order 3 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86776384e-01 -1.75388885e-03 -1.62078045e-01 -3.05094526e+01] [-1.42951175e-03 9.99808397e-01 -1.95224543e-02 -2.80262331e+00] [ 1.62081231e-01 1.94959893e-02 9.86584807e-01 -4.77872110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10463044 meters Centerline goodness : 0.292518 with order 2 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86844701e-01 -1.78216412e-03 -1.61661253e-01 -3.05106356e+01] [-1.42674830e-03 9.99804300e-01 -1.97313475e-02 -2.80071324e+00] [ 1.61664780e-01 1.97024256e-02 9.86649032e-01 -4.77849671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16463044 meters Centerline goodness : 0.089315 with order 1 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86800434e-01 -2.06149985e-03 -1.61927929e-01 -3.05099645e+01] [-1.21273622e-03 9.99796859e-01 -2.01188869e-02 -2.79902930e+00] [ 1.61936510e-01 2.00497022e-02 9.86597474e-01 -4.77844016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22463044 meters Centerline goodness : 0.092258 with order 1 Centerline is valid? [False, False] Translation: X:-30.51, Y:-2.80, Z:-4.78 [[ 9.86833186e-01 -2.60877088e-03 -1.61720307e-01 -3.05107699e+01] [-7.30350093e-04 9.99787847e-01 -2.05846204e-02 -2.79792373e+00] [ 1.61739698e-01 2.04316990e-02 9.86621921e-01 -4.77807844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28463044 meters Centerline goodness : 0.089904 with order 1 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.80, Z:-4.79 [[ 9.86709972e-01 -5.46244125e-03 -1.62399488e-01 -3.05548881e+01] [ 2.07878566e-03 9.99777356e-01 -2.09980128e-02 -2.80300717e+00] [ 1.62478031e-01 2.03813549e-02 9.86501642e-01 -4.78507580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34463044 meters Centerline goodness : 0.090672 with order 1 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.81, Z:-4.79 [[ 9.86491042e-01 -7.32350149e-03 -1.63651431e-01 -3.05498371e+01] [ 3.75256928e-03 9.99748306e-01 -2.21188547e-02 -2.80660798e+00] [ 1.63772228e-01 2.12059386e-02 9.86270229e-01 -4.78635614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40463044 meters Centerline goodness : 0.087794 with order 1 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.81, Z:-4.79 [[ 9.86475399e-01 -7.23023023e-03 -1.63749843e-01 -3.05496387e+01] [ 3.71268644e-03 9.99755958e-01 -2.17770707e-02 -2.80885458e+00] [ 1.63867334e-01 2.08745927e-02 9.86261501e-01 -4.78619507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46463044 meters Centerline goodness : 0.110379 with order 3 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.81, Z:-4.79 [[ 9.86456806e-01 -6.98864924e-03 -1.63872293e-01 -3.05495069e+01] [ 3.51146745e-03 9.99762705e-01 -2.14989357e-02 -2.80966080e+00] [ 1.63983655e-01 2.06323393e-02 9.86247265e-01 -4.78596313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52463044 meters Centerline goodness : 0.181581 with order 2 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.81, Z:-4.79 [[ 9.86486468e-01 -6.73829741e-03 -1.63704137e-01 -3.05501248e+01] [ 3.25451026e-03 9.99762693e-01 -2.15398835e-02 -2.80827618e+00] [ 1.63810431e-01 2.07160268e-02 9.86274297e-01 -4.78571442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58463044 meters Centerline goodness : 0.112870 with order 3 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.81, Z:-4.79 [[ 9.86576102e-01 -6.27679963e-03 -1.63181481e-01 -3.05514772e+01] [ 2.81483093e-03 9.99766217e-01 -2.14380165e-02 -2.80645209e+00] [ 1.63277894e-01 2.06909065e-02 9.86363126e-01 -4.78562150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64463044 meters Centerline goodness : 0.113542 with order 3 Centerline is valid? [False, False] Translation: X:-30.53, Y:-2.80, Z:-4.78 [[ 9.86815060e-01 2.03125763e-03 -1.61839150e-01 -3.05331094e+01] [-5.85885588e-03 9.99714212e-01 -2.31769019e-02 -2.80424076e+00] [ 1.61745820e-01 2.38195081e-02 9.86544941e-01 -4.78142106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70463044 meters Centerline goodness : 0.176780 with order 3 Centerline is valid? [False, False] Translation: X:-30.53, Y:-2.80, Z:-4.78 [[ 9.86845592e-01 2.16685964e-03 -1.61651113e-01 -3.05333715e+01] [-6.03538917e-03 9.99706930e-01 -2.34441479e-02 -2.80057823e+00] [ 1.61552938e-01 2.41113814e-02 9.86569455e-01 -4.78158693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76463044 meters Centerline goodness : 0.107574 with order 3 Centerline is valid? [False, False] Translation: X:-30.53, Y:-2.79, Z:-4.78 [[ 9.86758023e-01 5.98717580e-03 -1.62088736e-01 -3.05322832e+01] [-9.49583879e-03 9.99736882e-01 -2.08805049e-02 -2.79402313e+00] [ 1.61921072e-01 2.21431743e-02 9.86555242e-01 -4.78140624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82463044 meters Centerline goodness : 0.170286 with order 2 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.78, Z:-4.79 [[ 9.87431163e-01 2.93687034e-03 -1.58022384e-01 -3.05524157e+01] [-5.91942043e-03 9.99813056e-01 -1.84068789e-02 -2.77902619e+00] [ 1.57938784e-01 1.91109267e-02 9.87263953e-01 -4.78582170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88463044 meters Centerline goodness : 0.089218 with order 1 Centerline is valid? [False, False] Translation: X:-30.55, Y:-2.77, Z:-4.79 [[ 9.87495206e-01 2.60324859e-03 -1.57627539e-01 -3.05532303e+01] [-5.73030017e-03 9.99795633e-01 -1.93870144e-02 -2.77146465e+00] [ 1.57544856e-01 2.00478369e-02 9.87308312e-01 -4.78593126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94463044 meters Centerline goodness : 0.130302 with order 3 Centerline is valid? [False, False] Translation: X:-30.57, Y:-2.76, Z:-4.79 [[ 9.87186715e-01 -5.05804211e-03 -1.59489201e-01 -3.05690565e+01] [ 2.22279023e-03 9.99836407e-01 -1.79504671e-02 -2.76181955e+00] [ 1.59553904e-01 1.73659516e-02 9.87036461e-01 -4.79085808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00463044 meters Centerline goodness : 0.092895 with order 1 Centerline is valid? [False, False] Translation: X:-30.57, Y:-2.76, Z:-4.79 [[ 9.87161306e-01 -5.85430211e-03 -1.59619183e-01 -3.05684274e+01] [ 2.95152899e-03 9.99826043e-01 -1.84166366e-02 -2.76211599e+00] [ 1.59699233e-01 1.77090704e-02 9.87006861e-01 -4.79095918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06463044000003 meters Centerline goodness : 0.093225 with order 1 Centerline is valid? [False, False] Translation: X:-30.57, Y:-2.76, Z:-4.79 [[ 9.87073662e-01 -1.01101612e-02 -1.59948024e-01 -3.05663134e+01] [ 6.70282417e-03 9.99739271e-01 -2.18279909e-02 -2.76344127e+00] [ 1.60127005e-01 2.04737314e-02 9.86884070e-01 -4.79197320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12463044000003 meters Centerline goodness : 0.245868 with order 3 Centerline is valid? [False, False] Translation: X:-30.56, Y:-2.76, Z:-4.79 [[ 9.87011837e-01 -9.98343572e-03 -1.60337037e-01 -3.05643942e+01] [ 6.57990576e-03 9.99741912e-01 -2.17442851e-02 -2.76276088e+00] [ 1.60512739e-01 2.04068642e-02 9.86822791e-01 -4.79282142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18463044000003 meters Centerline goodness : 0.081981 with order 1 Centerline is valid? [False, False] Translation: X:-30.56, Y:-2.76, Z:-4.79 [[ 9.87044836e-01 -6.42720573e-03 -1.60315884e-01 -3.05643763e+01] [ 3.40005628e-03 9.99810849e-01 -1.91495812e-02 -2.75977048e+00] [ 1.60408638e-01 1.83564122e-02 9.86879988e-01 -4.79279297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24463044000004 meters Centerline goodness : 0.117846 with order 2 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87044250e-01 1.50126058e-03 -1.60441252e-01 -3.05853012e+01] [-4.76583103e-03 9.99789329e-01 -1.99645775e-02 -2.76108486e+00] [ 1.60377480e-01 2.04705573e-02 9.86843463e-01 -4.79674082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30463044000004 meters Centerline goodness : 0.102783 with order 3 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87045348e-01 1.40855766e-03 -1.60435335e-01 -3.05850505e+01] [-4.71651352e-03 9.99784032e-01 -2.02396765e-02 -2.75983423e+00] [ 1.60372177e-01 2.07341739e-02 9.86838821e-01 -4.79694286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36463044 meters Centerline goodness : 0.119621 with order 3 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87141168e-01 1.15341507e-03 -1.59846753e-01 -3.05870080e+01] [-4.42562631e-03 9.99787849e-01 -2.01164396e-02 -2.76179502e+00] [ 1.59789639e-01 2.05651876e-02 9.86936849e-01 -4.79633700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42463044 meters Centerline goodness : 0.108455 with order 1 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87149052e-01 8.26813054e-04 -1.59800077e-01 -3.05871692e+01] [-4.06291157e-03 9.99793217e-01 -1.99252546e-02 -2.76655970e+00] [ 1.59750559e-01 2.03184498e-02 9.86948286e-01 -4.79613105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48463044 meters Centerline goodness : 0.096404 with order 1 Centerline is valid? [False, False] Translation: X:-30.58, Y:-2.77, Z:-4.80 [[ 9.87011050e-01 8.49586101e-04 -1.60650134e-01 -3.05841223e+01] [-4.07451188e-03 9.99796729e-01 -1.97458587e-02 -2.76821584e+00] [ 1.60600702e-01 2.01439516e-02 9.86813881e-01 -4.79697935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54463044 meters Centerline goodness : 0.089920 with order 1 Centerline is valid? [False, False] Translation: X:-30.58, Y:-2.77, Z:-4.80 [[ 9.86969376e-01 9.96102923e-04 -1.60905124e-01 -3.05840231e+01] [-4.20493929e-03 9.99798998e-01 -1.96031271e-02 -2.76925283e+00] [ 1.60853255e-01 2.00242824e-02 9.86775181e-01 -4.79632890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60463044 meters Centerline goodness : 0.128278 with order 2 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87044144e-01 1.31529644e-03 -1.60443532e-01 -3.05859107e+01] [-4.48630451e-03 9.99801672e-01 -1.94033688e-02 -2.76936904e+00] [ 1.60386190e-01 1.98717801e-02 9.86854286e-01 -4.79554466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66463044 meters Centerline goodness : 0.089001 with order 1 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87042693e-01 1.37547678e-03 -1.60451958e-01 -3.05859136e+01] [-4.55736813e-03 9.99800162e-01 -1.94644867e-02 -2.76859637e+00] [ 1.60393121e-01 1.99435180e-02 9.86851713e-01 -4.79545622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72463044 meters Centerline goodness : 0.093718 with order 1 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87154683e-01 1.89127779e-03 -1.59756237e-01 -3.05872741e+01] [-5.03720587e-03 9.99801253e-01 -1.92893844e-02 -2.76749987e+00] [ 1.59688004e-01 1.98463312e-02 9.86968016e-01 -4.79588465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78463044 meters Centerline goodness : 0.118940 with order 3 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87161964e-01 2.18558958e-03 -1.59707484e-01 -3.05872516e+01] [-5.31524965e-03 9.99802078e-01 -1.91716456e-02 -2.76703217e+00] [ 1.59633973e-01 1.97744045e-02 9.86978200e-01 -4.79605233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84463044 meters Centerline goodness : 0.108502 with order 3 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.77, Z:-4.80 [[ 9.87223676e-01 2.39337870e-03 -1.59322580e-01 -3.05889335e+01] [-5.48359681e-03 9.99805221e-01 -1.89591713e-02 -2.76749496e+00] [ 1.59246170e-01 1.95906036e-02 9.87044510e-01 -4.79522209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90463044 meters Centerline goodness : 0.111696 with order 3 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87307520e-01 2.67938846e-03 -1.58797613e-01 -3.05903320e+01] [-5.77676247e-03 9.99801905e-01 -1.90467809e-02 -2.76490126e+00] [ 1.58715123e-01 1.97223661e-02 9.87127417e-01 -4.79517370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96463044 meters Centerline goodness : 0.089342 with order 1 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87282246e-01 2.78679927e-03 -1.58952828e-01 -3.05889959e+01] [-5.95039451e-03 9.99793508e-01 -1.94302617e-02 -2.76061660e+00] [ 1.58865857e-01 2.01289844e-02 9.87094962e-01 -4.79610358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02463044 meters Centerline goodness : 0.088811 with order 1 Centerline is valid? [False, False] Translation: X:-30.59, Y:-2.76, Z:-4.80 [[ 9.87326730e-01 2.44718288e-03 -1.58681882e-01 -3.05897008e+01] [-5.71433836e-03 9.99780913e-01 -2.01363396e-02 -2.75663087e+00] [ 1.58597840e-01 2.07879083e-02 9.87124404e-01 -4.79605655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08463044 meters Centerline goodness : 0.108431 with order 3 Centerline is valid? [False, False] Translation: X:-30.61, Y:-2.75, Z:-4.80 [[ 9.86933684e-01 -5.76613612e-03 -1.61023771e-01 -3.06078084e+01] [ 2.71014081e-03 9.99812149e-01 -1.91917235e-02 -2.75299610e+00] [ 1.61104185e-01 1.85045613e-02 9.86763914e-01 -4.79986455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14463044 meters Centerline goodness : 0.115270 with order 3 Centerline is valid? [False, False] Translation: X:-30.61, Y:-2.75, Z:-4.80 [[ 9.86802088e-01 -6.28112995e-03 -1.61809105e-01 -3.06051750e+01] [ 3.12100278e-03 9.99799550e-01 -1.97767538e-02 -2.74977186e+00] [ 1.61900891e-01 1.90107352e-02 9.86623887e-01 -4.80039309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20463044 meters Centerline goodness : 0.110064 with order 3 Centerline is valid? [False, False] Translation: X:-30.61, Y:-2.75, Z:-4.80 [[ 9.86877933e-01 -6.61247526e-03 -1.61332639e-01 -3.06068397e+01] [ 3.41612819e-03 9.99792510e-01 -2.00815021e-02 -2.74843340e+00] [ 1.61431952e-01 1.92668583e-02 9.86695755e-01 -4.79986702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26463044 meters Centerline goodness : 0.094576 with order 1 Centerline is valid? [False, False] Translation: X:-30.61, Y:-2.75, Z:-4.80 [[ 9.86872580e-01 -7.46878792e-03 -1.61328014e-01 -3.06067453e+01] [ 4.17646260e-03 9.99776239e-01 -2.07371317e-02 -2.74655464e+00] [ 1.61446797e-01 1.97911262e-02 9.86682950e-01 -4.79986272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32463044 meters Centerline goodness : 0.088682 with order 1 Centerline is valid? [False, False] Translation: X:-30.64, Y:-2.75, Z:-4.81 [[ 9.87422930e-01 -6.35440454e-03 -1.57973347e-01 -3.06374938e+01] [ 2.87622287e-03 9.99748603e-01 -2.22364007e-02 -2.74960020e+00] [ 1.58074932e-01 2.15023654e-02 9.87192972e-01 -4.80764347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38463044 meters Centerline goodness : 0.152141 with order 3 Centerline is valid? [False, False] Translation: X:-30.64, Y:-2.75, Z:-4.81 [[ 9.87487064e-01 -6.54150420e-03 -1.57564295e-01 -3.06386904e+01] [ 3.00206950e-03 9.99738020e-01 -2.26909634e-02 -2.74626962e+00] [ 1.57671450e-01 2.19340139e-02 9.87248000e-01 -4.80731827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44463044 meters Centerline goodness : 0.273412 with order 2 Centerline is valid? [False, False] Translation: X:-30.66, Y:-2.75, Z:-4.81 [[ 9.87589417e-01 1.15608088e-03 -1.57053519e-01 -3.06589641e+01] [-4.98991575e-03 9.99699051e-01 -2.40189144e-02 -2.74560631e+00] [ 1.56978486e-01 2.45045095e-02 9.87297971e-01 -4.81184453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50463044 meters Centerline goodness : 0.084211 with order 1 Centerline is valid? [False, False] Translation: X:-30.66, Y:-2.74, Z:-4.81 [[ 9.87531193e-01 4.86721393e-03 -1.57348192e-01 -3.06584729e+01] [-8.42434331e-03 9.99723626e-01 -2.19477134e-02 -2.73526904e+00] [ 1.57197881e-01 2.29996068e-02 9.87299268e-01 -4.81148349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56463044000003 meters Centerline goodness : 0.084605 with order 1 Centerline is valid? [False, False] Translation: X:-30.66, Y:-2.73, Z:-4.81 [[ 9.87385002e-01 7.27039847e-03 -1.58170791e-01 -3.06554180e+01] [-1.06876175e-02 9.99727263e-01 -2.07647546e-02 -2.72695364e+00] [ 1.57976684e-01 2.21932762e-02 9.87193408e-01 -4.81204132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62463044000003 meters Centerline goodness : 0.084502 with order 1 Centerline is valid? [False, False] Translation: X:-30.65, Y:-2.72, Z:-4.81 [[ 9.87325432e-01 7.20945339e-03 -1.58544994e-01 -3.06543097e+01] [-1.08005050e-02 9.99704009e-01 -2.18000819e-02 -2.71589618e+00] [ 1.58340899e-01 2.32361412e-02 9.87111058e-01 -4.81200618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68463044000003 meters Centerline goodness : 0.168545 with order 1 Centerline is valid? [False, False] Translation: X:-30.65, Y:-2.71, Z:-4.81 [[ 9.87309468e-01 6.96648780e-03 -1.58655230e-01 -3.06544365e+01] [-1.06561179e-02 9.99691919e-01 -2.24168127e-02 -2.71001310e+00] [ 1.58450185e-01 2.38229803e-02 9.87079533e-01 -4.81150124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74463044000004 meters Centerline goodness : 0.084831 with order 1 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.70, Z:-4.82 [[ 9.87722193e-01 7.78692764e-04 -1.56218637e-01 -3.06698092e+01] [-4.37838058e-03 9.99732738e-01 -2.26998461e-02 -2.69601025e+00] [ 1.56159210e-01 2.31051264e-02 9.87461622e-01 -4.81607940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80463044000004 meters Centerline goodness : 0.466711 with order 2 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.69, Z:-4.82 [[ 9.87711809e-01 4.49857680e-03 -1.56221461e-01 -3.06701451e+01] [-7.73884877e-03 9.99767228e-01 -2.01395035e-02 -2.68927309e+00] [ 1.56094498e-01 2.11009997e-02 9.87516711e-01 -4.81566527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86463044 meters Centerline goodness : 0.087813 with order 1 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.69, Z:-4.81 [[ 9.87751238e-01 4.09439707e-03 -1.55983099e-01 -3.06713708e+01] [-7.41406968e-03 9.99758109e-01 -2.07064089e-02 -2.68705956e+00] [ 1.55860588e-01 2.16092506e-02 9.87542666e-01 -4.81494591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92463044 meters Centerline goodness : 0.088249 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.69, Z:-4.82 [[ 9.87725692e-01 -5.61485002e-03 -1.56097505e-01 -3.06922425e+01] [ 2.40976682e-03 9.99782533e-01 -2.07142348e-02 -2.68681748e+00] [ 1.56179866e-01 2.00838233e-02 9.87524425e-01 -4.81866716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98463044 meters Centerline goodness : 0.097792 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.69, Z:-4.82 [[ 9.87697990e-01 -5.75973454e-03 -1.56267417e-01 -3.06912909e+01] [ 2.61472902e-03 9.99790029e-01 -2.03238949e-02 -2.69038408e+00] [ 1.56351666e-01 1.96652732e-02 9.87505663e-01 -4.81900820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04463044 meters Centerline goodness : 0.096071 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.69, Z:-4.82 [[ 9.87731907e-01 -5.62234927e-03 -1.56057901e-01 -3.06918016e+01] [ 2.55692579e-03 9.99799965e-01 -1.98366593e-02 -2.69400386e+00] [ 1.56138213e-01 1.91942728e-02 9.87548702e-01 -4.81896052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10463044 meters Centerline goodness : 0.088497 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.69, Z:-4.82 [[ 9.87603639e-01 -5.36352143e-03 -1.56876655e-01 -3.06891749e+01] [ 2.29954805e-03 9.99803172e-01 -1.97060787e-02 -2.69398569e+00] [ 1.56951472e-01 1.91010496e-02 9.87421584e-01 -4.81946262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16463044 meters Centerline goodness : 0.280712 with order 2 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.69, Z:-4.82 [[ 9.87535562e-01 -5.04501491e-03 -1.57315166e-01 -3.06874338e+01] [ 1.97748053e-03 9.99804970e-01 -1.96497178e-02 -2.69300084e+00] [ 1.57383618e-01 1.90937075e-02 9.87352939e-01 -4.82020146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22463044 meters Centerline goodness : 0.165126 with order 1 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.69, Z:-4.82 [[ 9.87964836e-01 3.06036694e-03 -1.54648364e-01 -3.06703254e+01] [-6.38753545e-03 9.99758606e-01 -2.10220926e-02 -2.69253828e+00] [ 1.54546698e-01 2.17569102e-02 9.87745896e-01 -4.81609518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28463044 meters Centerline goodness : 0.142615 with order 1 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.69, Z:-4.82 [[ 9.88011018e-01 3.03100675e-03 -1.54353625e-01 -3.06710860e+01] [-6.37363890e-03 9.99755671e-01 -2.11654198e-02 -2.69151946e+00] [ 1.54251760e-01 2.18954622e-02 9.87788937e-01 -4.81609920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34463044 meters Centerline goodness : 0.094126 with order 1 Centerline is valid? [False, False] Translation: X:-30.67, Y:-2.69, Z:-4.82 [[ 9.87813231e-01 2.93331583e-03 -1.55616246e-01 -3.06671145e+01] [-6.36364130e-03 9.99747521e-01 -2.15498955e-02 -2.68898835e+00] [ 1.55513744e-01 2.22775578e-02 9.87582496e-01 -4.81685705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40463044 meters Centerline goodness : 0.096250 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.68, Z:-4.82 [[ 9.87783254e-01 -3.51416368e-03 -1.55794398e-01 -3.06851845e+01] [ 4.33843498e-04 9.99803841e-01 -1.98012960e-02 -2.68187133e+00] [ 1.55833423e-01 1.94917982e-02 9.87591016e-01 -4.82116494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46463044 meters Centerline goodness : 0.094741 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.68, Z:-4.82 [[ 9.87949129e-01 -3.35271676e-03 -1.54742617e-01 -3.06882059e+01] [ 2.61082535e-04 9.99800042e-01 -1.99952033e-02 -2.67878072e+00] [ 1.54778713e-01 1.97138431e-02 9.87752456e-01 -4.82069654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52463044 meters Centerline goodness : 0.095089 with order 1 Centerline is valid? [False, False] Translation: X:-30.69, Y:-2.68, Z:-4.82 [[ 9.87974192e-01 -3.37296883e-03 -1.54582082e-01 -3.06886337e+01] [ 2.50706453e-04 9.99795662e-01 -2.02131325e-02 -2.67690570e+00] [ 1.54618673e-01 1.99312985e-02 9.87773157e-01 -4.82064034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58463044 meters Centerline goodness : 0.096520 with order 1 Centerline is valid? [False, False] Translation: X:-30.68, Y:-2.67, Z:-4.82 [[ 9.87716365e-01 -1.41728497e-03 -1.56250996e-01 -3.06824251e+01] [-1.61830117e-03 9.99812453e-01 -1.92987039e-02 -2.66875030e+00] [ 1.56249044e-01 1.93145068e-02 9.87528828e-01 -4.82223719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64463044 meters Centerline goodness : 0.302075 with order 1 Centerline is valid? [False, False] Translation: X:-30.68, Y:-2.66, Z:-4.82 [[ 9.87641320e-01 -1.66049510e-03 -1.56722258e-01 -3.06810418e+01] [-1.47937918e-03 9.99800565e-01 -1.99158689e-02 -2.66464860e+00] [ 1.56724072e-01 1.99015867e-02 9.87441893e-01 -4.82235012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70463044 meters Centerline goodness : 0.189333 with order 3 Centerline is valid? [False, False] Translation: X:-30.70, Y:-2.66, Z:-4.83 [[ 9.88040536e-01 -6.31439598e-03 -1.54065014e-01 -3.07025953e+01] [ 3.63035287e-03 9.99836812e-01 -1.76966183e-02 -2.65608522e+00] [ 1.54151616e-01 1.69256659e-02 9.87902222e-01 -4.82595062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76463044 meters Centerline goodness : 0.094396 with order 1 Centerline is valid? [False, False] Translation: X:-30.70, Y:-2.65, Z:-4.83 [[ 9.88009369e-01 -6.61527562e-03 -1.54252145e-01 -3.07022048e+01] [ 3.84067978e-03 9.99825558e-01 -1.82784754e-02 -2.65303869e+00] [ 1.54346154e-01 1.74668719e-02 9.87862426e-01 -4.82562802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82463044 meters Centerline goodness : 0.187355 with order 3 Centerline is valid? [False, False] Translation: X:-30.70, Y:-2.65, Z:-4.83 [[ 9.87899886e-01 -6.92788525e-03 -1.54938118e-01 -3.07003397e+01] [ 4.06423015e-03 9.99815160e-01 -1.87917100e-02 -2.65027902e+00] [ 1.55039666e-01 1.79346240e-02 9.87745438e-01 -4.82561580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88463044 meters Centerline goodness : 0.255552 with order 3 Centerline is valid? [False, False] Translation: X:-30.70, Y:-2.65, Z:-4.83 [[ 9.87843967e-01 -7.09948445e-03 -1.55286489e-01 -3.06996385e+01] [ 4.22794053e-03 9.99814055e-01 -1.88143785e-02 -2.65100053e+00] [ 1.55391187e-01 1.79291283e-02 9.87690298e-01 -4.82522655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94463044 meters Centerline goodness : 0.086089 with order 1 Centerline is valid? [False, False] Translation: X:-30.70, Y:-2.65, Z:-4.83 [[ 9.87733608e-01 -7.37339573e-03 -1.55974203e-01 -3.06975842e+01] [ 4.49648013e-03 9.99813349e-01 -1.87896131e-02 -2.65312893e+00] [ 1.56083633e-01 1.78577975e-02 9.87582401e-01 -4.82523446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00463044 meters Centerline goodness : 0.093575 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.66, Z:-4.83 [[ 9.87891702e-01 -2.19641738e-03 -1.55129497e-01 -3.07190045e+01] [-1.08634618e-03 9.99777339e-01 -2.10734950e-02 -2.66075614e+00] [ 1.55141242e-01 2.09868552e-02 9.87669351e-01 -4.82837778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06463044000003 meters Centerline goodness : 0.087026 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.66, Z:-4.83 [[ 9.87931442e-01 -1.88523796e-03 -1.54880317e-01 -3.07201535e+01] [-1.38141896e-03 9.99778917e-01 -2.09811579e-02 -2.65998650e+00] [ 1.54885630e-01 2.09419002e-02 9.87710422e-01 -4.82770915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12463044000003 meters Centerline goodness : 0.490548 with order 3 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.66, Z:-4.83 [[ 9.87977079e-01 -1.23130858e-03 -1.54595521e-01 -3.07218644e+01] [-2.01185137e-03 9.99781213e-01 -2.08201519e-02 -2.65786685e+00] [ 1.54587333e-01 2.08808561e-02 9.87758445e-01 -4.82671127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18463044000003 meters Centerline goodness : 0.315517 with order 3 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.83 [[ 9.87900947e-01 -1.10013092e-03 -1.55082261e-01 -3.07209520e+01] [-2.20177187e-03 9.99774567e-01 -2.11179242e-02 -2.65489158e+00] [ 1.55070533e-01 2.12038731e-02 9.87675820e-01 -4.82631343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24463044000004 meters Centerline goodness : 0.476127 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.83 [[ 9.87898108e-01 -1.31923431e-03 -1.55098638e-01 -3.07215189e+01] [-2.03891945e-03 9.99766970e-01 -2.14906566e-02 -2.65367078e+00] [ 1.55090847e-01 2.15468126e-02 9.87665209e-01 -4.82553598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30463044000004 meters Centerline goodness : 0.087113 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.83 [[ 9.87867346e-01 -1.17285072e-03 -1.55295627e-01 -3.07212629e+01] [-2.17471125e-03 9.99768962e-01 -2.13844140e-02 -2.65321628e+00] [ 1.55284828e-01 2.14626874e-02 9.87636560e-01 -4.82508675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36463044 meters Centerline goodness : 0.483863 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87824945e-01 -1.17583546e-03 -1.55565084e-01 -3.07212975e+01] [-2.17235351e-03 9.99769681e-01 -2.13509969e-02 -2.65345632e+00] [ 1.55554360e-01 2.14289897e-02 9.87594876e-01 -4.82413918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42463044 meters Centerline goodness : 0.091150 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87866526e-01 -1.09557544e-03 -1.55301403e-01 -3.07223960e+01] [-2.24871788e-03 9.99769387e-01 -2.13568959e-02 -2.65263960e+00] [ 1.55288986e-01 2.14469916e-02 9.87636247e-01 -4.82360575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48463044 meters Centerline goodness : 0.095518 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87805924e-01 -9.05189627e-04 -1.55687624e-01 -3.07212977e+01] [-2.48706903e-03 9.99763757e-01 -2.15927073e-02 -2.64891079e+00] [ 1.55670390e-01 2.17166101e-02 9.87570311e-01 -4.82361510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54463044 meters Centerline goodness : 0.094873 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87784974e-01 -1.05603566e-03 -1.55819545e-01 -3.07210049e+01] [-2.41333113e-03 9.99753417e-01 -2.20744291e-02 -2.64582852e+00] [ 1.55804434e-01 2.21808335e-02 9.87538854e-01 -4.82346665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60463044 meters Centerline goodness : 0.088069 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87770247e-01 -1.47357206e-03 -1.55909487e-01 -3.07210715e+01] [-2.09107313e-03 9.99740201e-01 -2.26970732e-02 -2.64279774e+00] [ 1.55902428e-01 2.27455118e-02 9.87510544e-01 -4.82304061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66463044 meters Centerline goodness : 0.096101 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87694578e-01 -1.89039206e-03 -1.56383656e-01 -3.07197295e+01] [-1.74770585e-03 9.99731096e-01 -2.31231538e-02 -2.64135162e+00] [ 1.56385315e-01 2.31119263e-02 9.87425679e-01 -4.82301197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72463044 meters Centerline goodness : 0.089903 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87640671e-01 -2.30794010e-03 -1.56718150e-01 -3.07191222e+01] [-1.42226302e-03 9.99718443e-01 -2.36856745e-02 -2.63894535e+00] [ 1.56728690e-01 2.36158299e-02 9.87359312e-01 -4.82247309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78463044 meters Centerline goodness : 0.299823 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87610194e-01 -2.41157597e-03 -1.56908534e-01 -3.07185198e+01] [-1.37590076e-03 9.99710411e-01 -2.40250234e-02 -2.63651386e+00] [ 1.56921033e-01 2.39432486e-02 9.87320875e-01 -4.82241956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84463044 meters Centerline goodness : 0.096188 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.63, Z:-4.82 [[ 9.87548944e-01 -2.64029898e-03 -1.57289899e-01 -3.07182489e+01] [-1.26778482e-03 9.99693094e-01 -2.47408653e-02 -2.63201322e+00] [ 1.57306950e-01 2.46322251e-02 9.87242512e-01 -4.82161687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90463044 meters Centerline goodness : 0.506124 with order 3 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.63, Z:-4.82 [[ 9.87547929e-01 -2.64993157e-03 -1.57296106e-01 -3.07187817e+01] [-1.29114636e-03 9.99687924e-01 -2.49476836e-02 -2.62988857e+00] [ 1.57313128e-01 2.48401256e-02 9.87236318e-01 -4.82090958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96463044 meters Centerline goodness : 0.256484 with order 2 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.63, Z:-4.82 [[ 9.87588299e-01 -2.69506840e-03 -1.57041676e-01 -3.07196670e+01] [-1.24050324e-03 9.99687749e-01 -2.49572818e-02 -2.62954637e+00] [ 1.57059901e-01 2.48423302e-02 9.87276580e-01 -4.82048071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02463044 meters Centerline goodness : 0.477195 with order 2 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.63, Z:-4.82 [[ 9.87639485e-01 -2.90518204e-03 -1.56715692e-01 -3.07210039e+01] [-9.80681795e-04 9.99694116e-01 -2.47126080e-02 -2.63221620e+00] [ 1.56739549e-01 2.45608357e-02 9.87334532e-01 -4.81964139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08463044 meters Centerline goodness : 0.473494 with order 3 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87625953e-01 -6.73112389e-03 -1.56683341e-01 -3.07207831e+01] [ 2.41930792e-03 9.99613527e-01 -2.76937622e-02 -2.63540276e+00] [ 1.56809198e-01 2.69720131e-02 9.87260546e-01 -4.81970932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14463044 meters Centerline goodness : 0.268228 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.64, Z:-4.82 [[ 9.87591120e-01 -6.63187821e-03 -1.56906975e-01 -3.07201524e+01] [ 2.39185816e-03 9.99627261e-01 -2.71959125e-02 -2.63943671e+00] [ 1.57028850e-01 2.64831425e-02 9.87238869e-01 -4.81968104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20463044 meters Centerline goodness : 0.091505 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87528977e-01 -6.33441086e-03 -1.57309870e-01 -3.07187488e+01] [ 2.20126994e-03 9.99648131e-01 -2.64342227e-02 -2.64525827e+00] [ 1.57421963e-01 2.57582794e-02 9.87195440e-01 -4.81991546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26463044 meters Centerline goodness : 0.295494 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.65, Z:-4.82 [[ 9.87523396e-01 -6.05198756e-03 -1.57356015e-01 -3.07183938e+01] [ 1.98685309e-03 9.99660528e-01 -2.59784741e-02 -2.64773277e+00] [ 1.57459819e-01 2.53417076e-02 9.87200184e-01 -4.82001724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32463044 meters Centerline goodness : 0.241172 with order 2 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.66, Z:-4.82 [[ 9.87948350e-01 -7.39123411e-04 -1.54782145e-01 -3.07406880e+01] [-3.60104591e-03 9.99608179e-01 -2.77582480e-02 -2.65683208e+00] [ 1.54742015e-01 2.79810929e-02 9.87558589e-01 -4.82378581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38463044 meters Centerline goodness : 0.222776 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.66, Z:-4.82 [[ 9.87924613e-01 -4.62475934e-04 -1.54934646e-01 -3.07405981e+01] [-3.80455731e-03 9.99621595e-01 -2.72432076e-02 -2.65935107e+00] [ 1.54888618e-01 2.75036931e-02 9.87549018e-01 -4.82332732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44463044 meters Centerline goodness : 0.092886 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.67, Z:-4.82 [[ 9.87932561e-01 -7.56306046e-04 -1.54882804e-01 -3.07413106e+01] [-3.48753469e-03 9.99625917e-01 -2.71267828e-02 -2.66583493e+00] [ 1.54845382e-01 2.73395912e-02 9.87560355e-01 -4.82271312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50463044 meters Centerline goodness : 0.091740 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.67, Z:-4.82 [[ 9.87963634e-01 -6.35270130e-04 -1.54685015e-01 -3.07419359e+01] [-3.56563143e-03 9.99632340e-01 -2.68788205e-02 -2.66739148e+00] [ 1.54645219e-01 2.71068470e-02 9.87598134e-01 -4.82253357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56463044000003 meters Centerline goodness : 0.299461 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.67, Z:-4.82 [[ 9.88036628e-01 -3.35907887e-04 -1.54219028e-01 -3.07429965e+01] [-3.77267241e-03 9.99645718e-01 -2.63477695e-02 -2.67012076e+00] [ 1.54173242e-01 2.66143792e-02 9.87685317e-01 -4.82262949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62463044000003 meters Centerline goodness : 0.088405 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.68, Z:-4.82 [[ 9.88040331e-01 1.57331154e-05 -1.54195667e-01 -3.07432282e+01] [-4.01474353e-03 9.99663608e-01 -2.56232927e-02 -2.67582198e+00] [ 1.54143393e-01 2.59359027e-02 9.87708025e-01 -4.82247271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68463044000003 meters Centerline goodness : 0.290833 with order 3 Centerline is valid? [False, False] Translation: X:-30.79, Y:-2.68, Z:-4.83 [[ 9.87641392e-01 -2.03744843e-04 -1.56730469e-01 -3.07854236e+01] [-3.79956560e-03 9.99674134e-01 -2.52426139e-02 -2.68453527e+00] [ 1.56684539e-01 2.55261580e-02 9.87318779e-01 -4.82967929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74463044000004 meters Centerline goodness : 0.089473 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.69, Z:-4.83 [[ 9.87814143e-01 -7.84691110e-03 -1.55440164e-01 -3.07644584e+01] [ 4.16523086e-03 9.99703352e-01 -2.39970755e-02 -2.68909741e+00] [ 1.55582356e-01 2.30572064e-02 9.87553794e-01 -4.82667724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80463044000004 meters Centerline goodness : 0.087481 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.69, Z:-4.83 [[ 9.87850517e-01 -7.48016554e-03 -1.55226942e-01 -3.07649921e+01] [ 3.93807263e-03 9.99725084e-01 -2.31137841e-02 -2.69489347e+00] [ 1.55357163e-01 2.22216686e-02 9.87608399e-01 -4.82657184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86463044 meters Centerline goodness : 0.293200 with order 1 Centerline is valid? [False, False] Translation: X:-30.81, Y:-2.71, Z:-4.83 [[ 9.87425971e-01 -9.96034126e-03 -1.57768005e-01 -3.08052339e+01] [ 6.26877393e-03 9.99695200e-01 -2.38790822e-02 -2.71085532e+00] [ 1.57957761e-01 2.25898140e-02 9.87187442e-01 -4.83415027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92463044 meters Centerline goodness : 0.101940 with order 2 Centerline is valid? [False, False] Translation: X:-30.80, Y:-2.72, Z:-4.83 [[ 9.87403090e-01 -9.68136905e-03 -1.57928496e-01 -3.08043651e+01] [ 6.10568167e-03 9.99714268e-01 -2.31106730e-02 -2.71772064e+00] [ 1.58107114e-01 2.18552888e-02 9.87180068e-01 -4.83444978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98463044 meters Centerline goodness : 0.090023 with order 1 Centerline is valid? [False, False] Translation: X:-30.81, Y:-2.73, Z:-4.83 [[ 9.87432178e-01 -8.90398605e-03 -1.57792308e-01 -3.08051413e+01] [ 5.51160389e-03 9.99744456e-01 -2.19236013e-02 -2.72531430e+00] [ 1.57947193e-01 2.07783807e-02 9.87228921e-01 -4.83397246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04463044 meters Centerline goodness : 0.128722 with order 3 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.73, Z:-4.84 [[ 9.87667366e-01 -1.69332882e-03 -1.56557676e-01 -3.08226295e+01] [-1.85975155e-03 9.99744082e-01 -2.25457574e-02 -2.73435806e+00] [ 1.56555788e-01 2.25588673e-02 9.87411456e-01 -4.83940724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10463044 meters Centerline goodness : 0.135681 with order 3 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.74, Z:-4.84 [[ 9.87566541e-01 -1.01913578e-03 -1.57198247e-01 -3.08198680e+01] [-2.49028345e-03 9.99752084e-01 -2.21262246e-02 -2.73536045e+00] [ 1.57181825e-01 2.22425873e-02 9.87319169e-01 -4.84055549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16463044 meters Centerline goodness : 0.086498 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.74, Z:-4.84 [[ 9.87598862e-01 -7.70664902e-04 -1.56996479e-01 -3.08201786e+01] [-2.71139543e-03 9.99755089e-01 -2.19638505e-02 -2.73538008e+00] [ 1.56974956e-01 2.21171533e-02 9.87354898e-01 -4.84074122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22463044 meters Centerline goodness : 0.099493 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.74, Z:-4.84 [[ 9.87663870e-01 -6.13039743e-04 -1.56587690e-01 -3.08209956e+01] [-2.79907829e-03 9.99763443e-01 -2.15690213e-02 -2.73822222e+00] [ 1.56563871e-01 2.17412442e-02 9.87428515e-01 -4.84093930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28463044 meters Centerline goodness : 0.103569 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.74, Z:-4.84 [[ 9.87644136e-01 -7.16333544e-04 -1.56711668e-01 -3.08207006e+01] [-2.64618028e-03 9.99770755e-01 -2.12470061e-02 -2.74196881e+00] [ 1.56690963e-01 2.13991683e-02 9.87415828e-01 -4.84079372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34463044 meters Centerline goodness : 0.112412 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-2.75, Z:-4.84 [[ 9.87882735e-01 -2.31973186e-03 -1.55184798e-01 -3.08253710e+01] [-1.10186295e-03 9.99758268e-01 -2.19588679e-02 -2.74892937e+00] [ 1.55198224e-01 2.18637788e-02 9.87641375e-01 -4.84009878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40463044 meters Centerline goodness : 0.087852 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-2.75, Z:-4.84 [[ 9.87921488e-01 -2.21105576e-03 -1.54939487e-01 -3.08260869e+01] [-1.14571917e-03 9.99766632e-01 -2.15724243e-02 -2.75205066e+00] [ 1.54951027e-01 2.14893787e-02 9.87688405e-01 -4.83992304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46463044 meters Centerline goodness : 0.111643 with order 3 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.75, Z:-4.84 [[ 9.87856484e-01 -1.83032258e-03 -1.55358349e-01 -3.08248476e+01] [-1.44979816e-03 9.99778481e-01 -2.09973243e-02 -2.75490419e+00] [ 1.55362366e-01 2.09675812e-02 9.87635001e-01 -4.84004640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52463044 meters Centerline goodness : 0.092265 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.76, Z:-4.85 [[ 9.88656161e-01 -2.01367332e-03 -1.50183020e-01 -3.08618321e+01] [-1.04854694e-03 9.99793222e-01 -2.03079504e-02 -2.76134913e+00] [ 1.50192859e-01 2.02350543e-02 9.88449618e-01 -4.84910674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58463044 meters Centerline goodness : 0.093604 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.77, Z:-4.85 [[ 9.88849439e-01 -3.91200030e-03 -1.48867335e-01 -3.08653879e+01] [ 7.30998789e-04 9.99770368e-01 -2.14167482e-02 -2.76680642e+00] [ 1.48916933e-01 2.10691176e-02 9.88625227e-01 -4.84896655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64463044 meters Centerline goodness : 0.093679 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.77, Z:-4.85 [[ 9.88808937e-01 -4.34554070e-03 -1.49124119e-01 -3.08641214e+01] [ 1.16024503e-03 9.99769455e-01 -2.14403828e-02 -2.77082098e+00] [ 1.49182910e-01 2.10274216e-02 9.88586014e-01 -4.84947525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70463044 meters Centerline goodness : 0.097070 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.78, Z:-4.85 [[ 9.88678396e-01 -5.13519929e-03 -1.49962190e-01 -3.08610505e+01] [ 1.91906469e-03 9.99765215e-01 -2.15831459e-02 -2.77747489e+00] [ 1.50037814e-01 2.10510029e-02 9.88456124e-01 -4.85031150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76463044 meters Centerline goodness : 0.089071 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.78, Z:-4.85 [[ 9.88606538e-01 -5.08502638e-03 -1.50436884e-01 -3.08591321e+01] [ 1.91449958e-03 9.99773150e-01 -2.12127901e-02 -2.78083315e+00] [ 1.50510625e-01 2.06830916e-02 9.88392008e-01 -4.85096635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82463044 meters Centerline goodness : 0.196878 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.79, Z:-4.85 [[ 9.88631976e-01 -4.78819710e-03 -1.50279369e-01 -3.08592085e+01] [ 1.74966810e-03 9.99791490e-01 -2.03449142e-02 -2.78821633e+00] [ 1.50345450e-01 1.98506937e-02 9.88434214e-01 -4.85130705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88463044 meters Centerline goodness : 0.101682 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.80, Z:-4.85 [[ 9.88634915e-01 -5.52838793e-03 -1.50234621e-01 -3.08592002e+01] [ 2.49674435e-03 9.99789585e-01 -2.03605270e-02 -2.79597038e+00] [ 1.50315570e-01 1.97540304e-02 9.88440695e-01 -4.85135469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94463044 meters Centerline goodness : 0.098294 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.81, Z:-4.85 [[ 9.88523957e-01 -5.60965304e-03 -1.50959991e-01 -3.08567220e+01] [ 2.65755638e-03 9.99801415e-01 -1.97501396e-02 -2.80536664e+00] [ 1.51040804e-01 1.91223015e-02 9.88342559e-01 -4.85188056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00463044 meters Centerline goodness : 0.092215 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.81, Z:-4.85 [[ 9.88546511e-01 -5.17728170e-03 -1.50827688e-01 -3.08569383e+01] [ 2.31576684e-03 9.99814102e-01 -1.91415519e-02 -2.80847655e+00] [ 1.50898751e-01 1.85730326e-02 9.88374731e-01 -4.85192320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06463044000003 meters Centerline goodness : 0.191437 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.81, Z:-4.85 [[ 9.88609302e-01 -4.24748631e-03 -1.50444694e-01 -3.08584479e+01] [ 1.55691357e-03 9.99836821e-01 -1.79974042e-02 -2.81368680e+00] [ 1.50496588e-01 1.75581718e-02 9.88454596e-01 -4.85132649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12463044000003 meters Centerline goodness : 0.170760 with order 2 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.82, Z:-4.85 [[ 9.88628578e-01 -3.80174829e-03 -1.50329907e-01 -3.08586739e+01] [ 1.21253145e-03 9.99849410e-01 -1.73114758e-02 -2.81746056e+00] [ 1.50373083e-01 1.69323400e-02 9.88484310e-01 -4.85131848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18463044000003 meters Centerline goodness : 0.174614 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.83, Z:-4.85 [[ 9.88678023e-01 -3.52994701e-03 -1.50011019e-01 -3.08597865e+01] [ 1.06459872e-03 9.99863108e-01 -1.65115766e-02 -2.82646640e+00] [ 1.50048769e-01 1.61649314e-02 9.88546439e-01 -4.85090401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24463044000004 meters Centerline goodness : 0.088947 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.84, Z:-4.85 [[ 9.88675566e-01 -4.46065654e-03 -1.50002428e-01 -3.08594903e+01] [ 1.98886790e-03 9.99859829e-01 -1.66243055e-02 -2.83500882e+00] [ 1.50055557e-01 1.61377097e-02 9.88545853e-01 -4.85110694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30463044000004 meters Centerline goodness : 0.196829 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.85, Z:-4.85 [[ 9.88639729e-01 -7.48437521e-03 -1.50118189e-01 -3.08585486e+01] [ 4.81175242e-03 9.99823537e-01 -1.81587915e-02 -2.84694722e+00] [ 1.50227606e-01 1.72301711e-02 9.88501284e-01 -4.85137959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36463044 meters Centerline goodness : 0.092113 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.85, Z:-4.85 [[ 9.88597970e-01 -7.33670540e-03 -1.50400218e-01 -3.08579791e+01] [ 4.73774198e-03 9.99833331e-01 -1.76313606e-02 -2.85086361e+00] [ 1.50504507e-01 1.67177699e-02 9.88467961e-01 -4.85115204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42463044 meters Centerline goodness : 0.092358 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.86, Z:-4.85 [[ 9.88563948e-01 -6.90100429e-03 -1.50644274e-01 -3.08567356e+01] [ 4.43602918e-03 9.99850825e-01 -1.66928104e-02 -2.85762200e+00] [ 1.50736999e-01 1.58336481e-02 9.88447092e-01 -4.85161383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48463044 meters Centerline goodness : 0.115768 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.87, Z:-4.86 [[ 9.88488907e-01 2.42520971e-04 -1.51293164e-01 -3.08739135e+01] [-2.90852478e-03 9.99844371e-01 -1.74003978e-02 -2.86749720e+00] [ 1.51265399e-01 1.76401402e-02 9.88335775e-01 -4.85607652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54463044 meters Centerline goodness : 0.122422 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.87, Z:-4.85 [[ 9.88469641e-01 7.89719028e-04 -1.51417121e-01 -3.08745638e+01] [-3.38461153e-03 9.99851787e-01 -1.68804145e-02 -2.86912627e+00] [ 1.51381349e-01 1.71982654e-02 9.88325810e-01 -4.85498066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60463044 meters Centerline goodness : 0.086767 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.87, Z:-4.85 [[ 9.88504572e-01 8.48352458e-04 -1.51188599e-01 -3.08754035e+01] [-3.39195187e-03 9.99857006e-01 -1.65669158e-02 -2.87188226e+00] [ 1.51152925e-01 1.68892964e-02 9.88366099e-01 -4.85463109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66463044 meters Centerline goodness : 0.168354 with order 3 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.88, Z:-4.85 [[ 9.88557942e-01 -7.70552017e-04 -1.50839653e-01 -3.08762493e+01] [-1.85905728e-03 9.99848765e-01 -1.72913507e-02 -2.87907890e+00] [ 1.50830164e-01 1.73739216e-02 9.88407005e-01 -4.85463482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72463044 meters Centerline goodness : 0.087554 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.88, Z:-4.85 [[ 9.88499632e-01 -4.97327262e-04 -1.51222454e-01 -3.08751130e+01] [-2.03627242e-03 9.99860157e-01 -1.65988065e-02 -2.88336986e+00] [ 1.51209562e-01 1.67158442e-02 9.88360384e-01 -4.85463856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78463044 meters Centerline goodness : 0.190724 with order 3 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.89, Z:-4.85 [[ 9.88540669e-01 -5.20843650e-04 -1.50953884e-01 -3.08755774e+01] [-1.92845525e-03 9.99868871e-01 -1.60786309e-02 -2.89032939e+00] [ 1.50942464e-01 1.61854884e-02 9.88410038e-01 -4.85478089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84463044 meters Centerline goodness : 0.086917 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.89, Z:-4.86 [[ 9.88503852e-01 -3.96946732e-04 -1.51195162e-01 -3.08746914e+01] [-2.01029768e-03 9.99873652e-01 -1.57682531e-02 -2.89252960e+00] [ 1.51182318e-01 1.58909262e-02 9.88378159e-01 -4.85500087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90463044 meters Centerline goodness : 0.316552 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.89, Z:-4.86 [[ 9.88455377e-01 -3.08948829e-04 -1.51511951e-01 -3.08735623e+01] [-2.11318971e-03 9.99872541e-01 -1.58251753e-02 -2.89226477e+00] [ 1.51497529e-01 1.59626531e-02 9.88328737e-01 -4.85528771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96463044 meters Centerline goodness : 0.317109 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.89, Z:-4.86 [[ 9.88506039e-01 -1.58559113e-06 -1.51181386e-01 -3.08743585e+01] [-2.42192032e-03 9.99871506e-01 -1.58463176e-02 -2.89050260e+00] [ 1.51161985e-01 1.60303299e-02 9.88379018e-01 -4.85529156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02463044 meters Centerline goodness : 0.086428 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.89, Z:-4.86 [[ 9.88447473e-01 3.70623181e-03 -1.51518503e-01 -3.08732474e+01] [-5.78622233e-03 9.99894955e-01 -1.32890328e-02 -2.88515645e+00] [ 1.51453334e-01 1.40122306e-02 9.88365087e-01 -4.85544881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08463044 meters Centerline goodness : 0.087163 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.88, Z:-4.86 [[ 9.88452800e-01 3.52645042e-03 -1.51488038e-01 -3.08730900e+01] [-5.71053213e-03 9.99885900e-01 -1.39848892e-02 -2.88065930e+00] [ 1.51421436e-01 1.46884802e-02 9.88360156e-01 -4.85575844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14463044 meters Centerline goodness : 0.087583 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.88, Z:-4.86 [[ 9.88431692e-01 3.39767205e-03 -1.51628646e-01 -3.08725148e+01] [-5.66416893e-03 9.99878561e-01 -1.45182635e-02 -2.87591459e+00] [ 1.51560904e-01 1.52091621e-02 9.88330903e-01 -4.85599398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20463044 meters Centerline goodness : 0.086673 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.87, Z:-4.86 [[ 9.88399085e-01 2.94413927e-03 -1.51850518e-01 -3.08713559e+01] [-5.34178464e-03 9.99867390e-01 -1.53839857e-02 -2.86996610e+00] [ 1.51785089e-01 1.60166702e-02 9.88283741e-01 -4.85654220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26463044 meters Centerline goodness : 0.260548 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.86 [[ 9.88472839e-01 2.32656993e-03 -1.51380427e-01 -3.08732830e+01] [-4.86365098e-03 9.99853821e-01 -1.63915317e-02 -2.86375121e+00] [ 1.51320162e-01 1.69388454e-02 9.88339660e-01 -4.85581086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32463044 meters Centerline goodness : 0.171045 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.86 [[ 9.88501910e-01 2.08955084e-03 -1.51193944e-01 -3.08740644e+01] [-4.68810779e-03 9.99847333e-01 -1.68324974e-02 -2.86071870e+00] [ 1.51135689e-01 1.73477694e-02 9.88360794e-01 -4.85545751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38463044 meters Centerline goodness : 0.088211 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.86 [[ 9.88426730e-01 1.45998350e-03 -1.51692019e-01 -3.08724517e+01] [-4.18312219e-03 9.99835755e-01 -1.76341913e-02 -2.85727791e+00] [ 1.51641359e-01 1.80646523e-02 9.88270493e-01 -4.85567907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44463044 meters Centerline goodness : 0.089182 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.85 [[ 9.88464084e-01 1.02686347e-03 -1.51451975e-01 -3.08738878e+01] [-3.81070083e-03 9.99829066e-01 -1.80918932e-02 -2.85586472e+00] [ 1.51407509e-01 1.84603248e-02 9.88299035e-01 -4.85473083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50463044 meters Centerline goodness : 0.088647 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.85, Z:-4.85 [[ 9.88547514e-01 9.17480703e-04 -1.50907157e-01 -3.08758349e+01] [-3.69909643e-03 9.99828379e-01 -1.81529451e-02 -2.85498668e+00] [ 1.50864603e-01 1.85032689e-02 9.88381253e-01 -4.85405082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56463044000003 meters Centerline goodness : 0.189388 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.85 [[ 9.88474815e-01 5.48673451e-04 -1.51384408e-01 -3.08747027e+01] [-3.36448884e-03 9.99826057e-01 -1.83449175e-02 -2.85598561e+00] [ 1.51348010e-01 1.86428201e-02 9.88304723e-01 -4.85394281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62463044000003 meters Centerline goodness : 0.089608 with order 1 Centerline is valid? [False, False] Translation: X:-30.85, Y:-2.86, Z:-4.85 [[ 9.88380998e-01 -7.19021991e-03 -1.51826560e-01 -3.08533319e+01] [ 4.59313190e-03 9.99837197e-01 -1.74494175e-02 -2.85619751e+00] [ 1.51927307e-01 1.65493133e-02 9.88253112e-01 -4.84999857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68463044000003 meters Centerline goodness : 0.179844 with order 2 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.86, Z:-4.85 [[ 9.88589052e-01 -3.05835380e-03 -1.50606547e-01 -3.08740622e+01] [ 5.07125383e-05 9.99800579e-01 -1.99699821e-02 -2.86389330e+00] [ 1.50637588e-01 1.97344680e-02 9.88392062e-01 -4.85418374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74463044000004 meters Centerline goodness : 0.091205 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.87, Z:-4.85 [[ 9.88592488e-01 -3.03053241e-03 -1.50584557e-01 -3.08743045e+01] [ 6.51184741e-05 9.99806058e-01 -1.96937129e-02 -2.86654242e+00] [ 1.50615035e-01 1.94592508e-02 9.88400956e-01 -4.85391842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80463044000004 meters Centerline goodness : 0.092807 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88520242e-01 4.60298378e-03 -1.51018357e-01 -3.08941036e+01] [-7.75370203e-03 9.99764254e-01 -2.02809303e-02 -2.87052664e+00] [ 1.50889402e-01 2.12190614e-02 9.88322892e-01 -4.85806843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86463044 meters Centerline goodness : 0.089678 with order 1 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.87, Z:-4.86 [[ 9.88577688e-01 4.57916147e-03 -1.50642575e-01 -3.08951288e+01] [-7.73461191e-03 9.99762645e-01 -2.03673509e-02 -2.86989653e+00] [ 1.50513554e-01 2.12998705e-02 9.88378463e-01 -4.85795623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92463044 meters Centerline goodness : 0.175523 with order 3 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.87, Z:-4.86 [[ 9.88586301e-01 4.45384217e-03 -1.50589801e-01 -3.08951924e+01] [-7.63375741e-03 9.99759787e-01 -2.05449219e-02 -2.86923232e+00] [ 1.50462123e-01 2.14599944e-02 9.88382830e-01 -4.85792697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98463044 meters Centerline goodness : 0.090539 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88534667e-01 4.05161979e-03 -1.50939709e-01 -3.08940552e+01] [-7.30422034e-03 9.99752777e-01 -2.10008148e-02 -2.86778954e+00] [ 1.50817306e-01 2.18625304e-02 9.88319872e-01 -4.85817935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04463044 meters Centerline goodness : 0.111973 with order 3 Centerline is valid? [False, False] Translation: X:-30.93, Y:-2.87, Z:-4.87 [[ 9.89105270e-01 2.26857415e-03 -1.47192451e-01 -3.09289722e+01] [-5.45693482e-03 9.99759067e-01 -2.12609777e-02 -2.86883476e+00] [ 1.47108755e-01 2.18325647e-02 9.88879342e-01 -4.86642955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10463044 meters Centerline goodness : 0.091862 with order 1 Centerline is valid? [False, False] Translation: X:-30.93, Y:-2.87, Z:-4.87 [[ 9.89134196e-01 1.84748262e-03 -1.47003840e-01 -3.09296783e+01] [-5.05919269e-03 9.99756544e-01 -2.14769060e-02 -2.86895474e+00] [ 1.46928373e-01 2.19872629e-02 9.88902732e-01 -4.86644602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16463044 meters Centerline goodness : 0.086284 with order 1 Centerline is valid? [False, False] Translation: X:-30.91, Y:-2.86, Z:-4.86 [[ 9.89019785e-01 -5.37451679e-03 -1.47685405e-01 -3.09103673e+01] [ 2.33708173e-03 9.99782322e-01 -2.07327651e-02 -2.86405562e+00] [ 1.47764686e-01 2.01599620e-02 9.88817058e-01 -4.86232611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22463044 meters Centerline goodness : 0.089051 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88985368e-01 1.75238119e-03 -1.48002945e-01 -3.08947968e+01] [-4.90615869e-03 9.99768560e-01 -2.09464990e-02 -2.87015871e+00] [ 1.47931985e-01 2.14419069e-02 9.88765074e-01 -4.85959816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28463044 meters Centerline goodness : 0.096904 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88973671e-01 1.71173393e-03 -1.48081561e-01 -3.08945129e+01] [-4.87218696e-03 9.99767970e-01 -2.09825440e-02 -2.87005486e+00] [ 1.48011285e-01 2.14726646e-02 9.88752539e-01 -4.85970419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34463044 meters Centerline goodness : 0.312465 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88894165e-01 1.57350945e-03 -1.48613103e-01 -3.08928693e+01] [-4.74915658e-03 9.99767857e-01 -2.10161082e-02 -2.87009205e+00] [ 1.48545535e-01 2.14884937e-02 9.88672073e-01 -4.86003838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40463044 meters Centerline goodness : 0.086771 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.87, Z:-4.86 [[ 9.88884133e-01 1.00080068e-03 -1.48684803e-01 -3.08930597e+01] [-4.16235045e-03 9.99771781e-01 -2.09537894e-02 -2.87362378e+00] [ 1.48629899e-01 2.13397481e-02 9.88662616e-01 -4.85966001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46463044 meters Centerline goodness : 0.092918 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.88, Z:-4.86 [[ 9.89036627e-01 -8.97222176e-03 -1.47397591e-01 -3.08726431e+01] [ 5.89552191e-03 9.99755808e-01 -2.12971169e-02 -2.87922657e+00] [ 1.47552680e-01 2.01946429e-02 9.88848008e-01 -4.85631522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52463044 meters Centerline goodness : 0.309572 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.89, Z:-4.86 [[ 9.89231017e-01 -2.97836454e-03 -1.46332242e-01 -3.08851669e+01] [-4.32663632e-04 9.99729058e-01 -2.32728059e-02 -2.88777302e+00] [ 1.46361909e-01 2.30854941e-02 9.88961704e-01 -4.86135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58463044 meters Centerline goodness : 0.272686 with order 2 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.89, Z:-4.86 [[ 9.89244232e-01 -1.03855281e-02 -1.45904046e-01 -3.08652945e+01] [ 7.24488209e-03 9.99730831e-01 -2.20403405e-02 -2.88798696e+00] [ 1.46093674e-01 2.07462221e-02 9.89053200e-01 -4.85678048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64463044 meters Centerline goodness : 0.309307 with order 1 Centerline is valid? [False, False] Translation: X:-30.89, Y:-2.90, Z:-4.86 [[ 9.89911521e-01 -4.87715668e-03 -1.41602947e-01 -3.08862726e+01] [ 1.58891547e-03 9.99726664e-01 -2.33253468e-02 -2.89632392e+00] [ 1.41678004e-01 2.28650344e-02 9.89648692e-01 -4.86104639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70463044 meters Centerline goodness : 0.298053 with order 3 Centerline is valid? [False, False] Translation: X:-30.87, Y:-2.90, Z:-4.86 [[ 9.89936213e-01 -1.28112618e-02 -1.40933198e-01 -3.08671243e+01] [ 9.73693984e-03 9.99699830e-01 -2.24820478e-02 -2.89645095e+00] [ 1.41178917e-01 2.08835352e-02 9.89763806e-01 -4.85692983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76463044 meters Centerline goodness : 0.310891 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.90, Z:-4.86 [[ 9.90385499e-01 -6.97716706e-03 -1.38158905e-01 -3.08797106e+01] [ 3.79543875e-03 9.99721790e-01 -2.32795595e-02 -2.90419045e+00] [ 1.38282893e-01 2.25313645e-02 9.90136445e-01 -4.86179371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82463044 meters Centerline goodness : 0.308453 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.91, Z:-4.86 [[ 9.90357196e-01 -6.73444169e-03 -1.38373669e-01 -3.08792088e+01] [ 3.60079732e-03 9.99731640e-01 -2.28841145e-02 -2.90649523e+00] [ 1.38490647e-01 2.21651919e-02 9.90115672e-01 -4.86176948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88463044 meters Centerline goodness : 0.313303 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.91, Z:-4.86 [[ 9.90270793e-01 -6.36601644e-03 -1.39008022e-01 -3.08772349e+01] [ 3.26357880e-03 9.99740729e-01 -2.25349523e-02 -2.90755274e+00] [ 1.39115439e-01 2.18620415e-02 9.90034820e-01 -4.86212266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94463044 meters Centerline goodness : 0.488881 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.91, Z:-4.86 [[ 9.90335972e-01 2.32229612e-03 -1.38669645e-01 -3.08577265e+01] [-5.59512033e-03 9.99714805e-01 -2.32164373e-02 -2.91402657e+00] [ 1.38576182e-01 2.37679463e-02 9.90066526e-01 -4.85817081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00463044 meters Centerline goodness : 0.312566 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.91, Z:-4.86 [[ 9.90360461e-01 3.14671232e-03 -1.38478357e-01 -3.08586082e+01] [-6.34448381e-03 9.99723169e-01 -2.26568596e-02 -2.91477264e+00] [ 1.38368727e-01 2.33170317e-02 9.90106263e-01 -4.85770151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06463044000003 meters Centerline goodness : 0.313176 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.91, Z:-4.86 [[ 9.90275485e-01 3.54642936e-03 -1.39075113e-01 -3.08570165e+01] [-6.75935175e-03 9.99720910e-01 -2.26365499e-02 -2.91301304e+00] [ 1.38956020e-01 2.33564781e-02 9.90023080e-01 -4.85768417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12463044000003 meters Centerline goodness : 0.217416 with order 3 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.91, Z:-4.85 [[ 9.90034484e-01 6.56921359e-04 -1.40823610e-01 -3.08378816e+01] [-3.45208608e-03 9.99801837e-01 -1.96053282e-02 -2.90523287e+00] [ 1.40782824e-01 1.98960862e-02 9.89840564e-01 -4.85288997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18463044000003 meters Centerline goodness : 0.216958 with order 3 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.90, Z:-4.85 [[ 9.90053454e-01 7.02225166e-04 -1.40689961e-01 -3.08383866e+01] [-3.54886884e-03 9.99794010e-01 -1.99835818e-02 -2.90191237e+00] [ 1.40646947e-01 2.02841044e-02 9.89852005e-01 -4.85260745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24463044000004 meters Centerline goodness : 0.119133 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.90, Z:-4.85 [[ 9.89886014e-01 2.75646281e-03 -1.41838220e-01 -3.08352591e+01] [-5.47276348e-03 9.99808959e-01 -1.87641654e-02 -2.89536472e+00] [ 1.41759400e-01 1.93506320e-02 9.89711991e-01 -4.85260581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30463044000004 meters Centerline goodness : 0.313687 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-2.89, Z:-4.85 [[ 9.89755255e-01 -3.28736784e-03 -1.42736567e-01 -3.08189613e+01] [ 7.73343183e-04 9.99843664e-01 -1.76649437e-02 -2.88640889e+00] [ 1.42772323e-01 1.73735866e-02 9.89603063e-01 -4.84733591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36463044 meters Centerline goodness : 0.477021 with order 2 Centerline is valid? [False, False] Translation: X:-30.80, Y:-2.89, Z:-4.84 [[ 9.89693562e-01 4.78105612e-03 -1.43121607e-01 -3.08025544e+01] [-7.34453731e-03 9.99821837e-01 -1.73882689e-02 -2.88976101e+00] [ 1.43012973e-01 1.82602197e-02 9.89552350e-01 -4.84447023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42463044 meters Centerline goodness : 0.118967 with order 1 Centerline is valid? [False, False] Translation: X:-30.80, Y:-2.89, Z:-4.84 [[ 9.89700203e-01 4.26560812e-03 -1.43091973e-01 -3.08030219e+01] [-6.88904578e-03 9.99817058e-01 -1.78435044e-02 -2.88894557e+00] [ 1.42989682e-01 1.86454871e-02 9.89548532e-01 -4.84390945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48463044 meters Centerline goodness : 0.121730 with order 1 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.89, Z:-4.84 [[ 9.89794102e-01 -3.42659164e-04 -1.42504453e-01 -3.07818528e+01] [-1.80499340e-03 9.99886744e-01 -1.49412326e-02 -2.88538656e+00] [ 1.42493433e-01 1.50459635e-02 9.89681383e-01 -4.84030896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54463044 meters Centerline goodness : 0.479210 with order 3 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.88, Z:-4.84 [[ 9.89546795e-01 1.38042086e-03 -1.44205529e-01 -3.07761726e+01] [-3.40473096e-03 9.99899091e-01 -1.37918364e-02 -2.88254387e+00] [ 1.44171938e-01 1.41386485e-02 9.89451641e-01 -4.84120148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60463044 meters Centerline goodness : 0.117428 with order 1 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.88, Z:-4.84 [[ 9.89500713e-01 1.26033032e-03 -1.44522490e-01 -3.07754765e+01] [-3.32738042e-03 9.99895592e-01 -1.40618015e-02 -2.88095450e+00] [ 1.44489678e-01 1.43950439e-02 9.89401595e-01 -4.84094160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66463044 meters Centerline goodness : 0.312474 with order 1 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.88, Z:-4.84 [[ 9.89519563e-01 1.47472339e-03 -1.44391341e-01 -3.07768939e+01] [-3.48995609e-03 9.99899999e-01 -1.37044500e-02 -2.88229476e+00] [ 1.44356691e-01 1.40647408e-02 9.89425757e-01 -4.83971081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72463044 meters Centerline goodness : 0.308983 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.89, Z:-4.84 [[ 9.89440970e-01 7.74606816e-03 -1.44729284e-01 -3.07612816e+01] [-1.00246633e-02 9.99836922e-01 -1.50212005e-02 -2.89053232e+00] [ 1.44589327e-01 1.63134535e-02 9.89357265e-01 -4.83569666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78463044 meters Centerline goodness : 0.094742 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.89, Z:-4.83 [[ 9.89523647e-01 1.02359975e-02 -1.44007554e-01 -3.07646910e+01] [-1.22307256e-02 9.99841042e-01 -1.29730818e-02 -2.88894492e+00] [ 1.43851871e-01 1.45984881e-02 9.89491548e-01 -4.83405086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84463044 meters Centerline goodness : 0.123252 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.88, Z:-4.83 [[ 9.89407987e-01 1.18611478e-02 -1.44676014e-01 -3.07624196e+01] [-1.37652626e-02 9.99831223e-01 -1.21672893e-02 -2.88402964e+00] [ 1.44507278e-01 1.40299165e-02 9.89404269e-01 -4.83394383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90463044 meters Centerline goodness : 0.311983 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.88, Z:-4.83 [[ 9.89380940e-01 1.24474663e-02 -1.44811657e-01 -3.07625998e+01] [-1.43843670e-02 9.99820441e-01 -1.23359356e-02 -2.87850601e+00] [ 1.44632103e-01 1.42879636e-02 9.89382337e-01 -4.83289233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96463044 meters Centerline goodness : 0.311662 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.88, Z:-4.83 [[ 9.89350187e-01 1.23977033e-02 -1.45025872e-01 -3.07614859e+01] [-1.43796108e-02 9.99816894e-01 -1.26255915e-02 -2.87660171e+00] [ 1.44842789e-01 1.45765469e-02 9.89347305e-01 -4.83332746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02463044 meters Centerline goodness : 0.482624 with order 3 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.88, Z:-4.83 [[ 9.89260797e-01 1.20967353e-02 -1.45659687e-01 -3.07596350e+01] [-1.41370609e-02 9.99815808e-01 -1.29804815e-02 -2.87573130e+00] [ 1.45475837e-01 1.49002814e-02 9.89249596e-01 -4.83348153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08463044 meters Centerline goodness : 0.188038 with order 3 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.88, Z:-4.83 [[ 9.89313465e-01 1.22017640e-02 -1.45292754e-01 -3.07603378e+01] [-1.42096990e-02 9.99817232e-01 -1.27901266e-02 -2.87579879e+00] [ 1.45110137e-01 1.47180108e-02 9.89306034e-01 -4.83376490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14463044 meters Centerline goodness : 0.119459 with order 1 Centerline is valid? [False, False] Translation: X:-30.76, Y:-2.87, Z:-4.83 [[ 9.89335354e-01 1.18530719e-02 -1.45172526e-01 -3.07601511e+01] [-1.39574538e-02 9.99811644e-01 -1.34857697e-02 -2.87220350e+00] [ 1.44985334e-01 1.53681876e-02 9.89314445e-01 -4.83410653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20463044 meters Centerline goodness : 0.113694 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.86, Z:-4.83 [[ 9.89048811e-01 6.09133425e-03 -1.47463027e-01 -3.07418501e+01] [-8.02747207e-03 9.99889172e-01 -1.25380754e-02 -2.86202951e+00] [ 1.47370310e-01 1.35845239e-02 9.88988095e-01 -4.83002260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26463044 meters Centerline goodness : 0.088674 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.86, Z:-4.83 [[ 9.89008747e-01 9.66342496e-03 -1.47540896e-01 -3.07417577e+01] [-1.12691907e-02 9.99885980e-01 -1.00514848e-02 -2.85616525e+00] [ 1.47426942e-01 1.16036729e-02 9.89004879e-01 -4.82975220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32463044 meters Centerline goodness : 0.091223 with order 1 Centerline is valid? [False, False] Translation: X:-30.74, Y:-2.85, Z:-4.83 [[ 9.89002905e-01 9.26426188e-03 -1.47605645e-01 -3.07418256e+01] [-1.09804719e-02 9.99881211e-01 -1.08163697e-02 -2.85213152e+00] [ 1.47487905e-01 1.23182006e-02 9.88987148e-01 -4.82943789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38463044 meters Centerline goodness : 0.089780 with order 1 Centerline is valid? [False, False] Translation: X:-30.72, Y:-2.84, Z:-4.83 [[ 9.88699210e-01 3.58789000e-03 -1.49869939e-01 -3.07247329e+01] [-5.14337285e-03 9.99936845e-01 -9.99256616e-03 -2.84051236e+00] [ 1.49824621e-01 1.06504792e-02 9.88655223e-01 -4.82502084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44463044 meters Centerline goodness : 0.096229 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.84, Z:-4.82 [[ 9.88778738e-01 3.18017810e-03 -1.49353587e-01 -3.07269649e+01] [-4.78541632e-03 9.99934574e-01 -1.03897596e-02 -2.83958247e+00] [ 1.49310774e-01 1.09878925e-02 9.88729265e-01 -4.82401493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50463044 meters Centerline goodness : 0.230999 with order 3 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.84, Z:-4.82 [[ 9.88695371e-01 2.87906379e-03 -1.49910555e-01 -3.07255460e+01] [-4.49276577e-03 9.99935546e-01 -1.04268742e-02 -2.84026971e+00] [ 1.49870873e-01 1.09825153e-02 9.88644580e-01 -4.82390475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56463044000003 meters Centerline goodness : 0.301381 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.84, Z:-4.82 [[ 9.88696294e-01 -1.09936193e-03 -1.49928082e-01 -3.07250323e+01] [-9.71201785e-04 9.99905179e-01 -1.37364613e-02 -2.84126101e+00] [ 1.49928966e-01 1.37267988e-02 9.88601477e-01 -4.82428268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62463044000003 meters Centerline goodness : 0.098390 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.85, Z:-4.82 [[ 9.88757982e-01 -1.22815897e-03 -1.49519711e-01 -3.07266895e+01] [-7.77860166e-04 9.99910486e-01 -1.33571987e-02 -2.84564734e+00] [ 1.49522731e-01 1.33233422e-02 9.88668519e-01 -4.82354723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68463044000003 meters Centerline goodness : 0.303129 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.85, Z:-4.82 [[ 9.88743904e-01 -1.15775646e-03 -1.49613342e-01 -3.07266232e+01] [-8.32933044e-04 9.99911971e-01 -1.32422148e-02 -2.84648847e+00] [ 1.49615503e-01 1.32177771e-02 9.88655902e-01 -4.82330347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74463044000004 meters Centerline goodness : 0.279902 with order 2 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.85, Z:-4.82 [[ 9.88714495e-01 -1.03131045e-03 -1.49808489e-01 -3.07255075e+01] [-9.57540770e-04 9.99912375e-01 -1.32032205e-02 -2.84653870e+00] [ 1.49808979e-01 1.31976633e-02 9.88626872e-01 -4.82391787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80463044000004 meters Centerline goodness : 0.090394 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.85, Z:-4.82 [[ 9.88771462e-01 -8.75144981e-04 -1.49433028e-01 -3.07263352e+01] [-1.11940835e-03 9.99911418e-01 -1.32628410e-02 -2.84501046e+00] [ 1.49431398e-01 1.32811953e-02 9.88682895e-01 -4.82404600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86463044 meters Centerline goodness : 0.090269 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.84, Z:-4.82 [[ 9.88765584e-01 -7.79284300e-04 -1.49472449e-01 -3.07263070e+01] [-1.26635360e-03 9.99906849e-01 -1.35900534e-02 -2.84171361e+00] [ 1.49469116e-01 1.36266620e-02 9.88672493e-01 -4.82396124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92463044 meters Centerline goodness : 0.090204 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.84, Z:-4.82 [[ 9.88712622e-01 2.86622258e-03 -1.49796984e-01 -3.07260289e+01] [-4.57756488e-03 9.99928128e-01 -1.10808613e-02 -2.83580253e+00] [ 1.49754457e-01 1.16414928e-02 9.88654681e-01 -4.82337789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98463044 meters Centerline goodness : 0.218107 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.83, Z:-4.82 [[ 9.88696260e-01 2.80747601e-03 -1.49906047e-01 -3.07260631e+01] [-4.60045806e-03 9.99921958e-01 -1.16152671e-02 -2.83152624e+00] [ 1.49861739e-01 1.21736076e-02 9.88632016e-01 -4.82312299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04463044 meters Centerline goodness : 0.088960 with order 3 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.82, Z:-4.82 [[ 9.88808960e-01 4.95484934e-03 -1.49104965e-01 -3.07306831e+01] [-6.59684022e-03 9.99922905e-01 -1.05197528e-02 -2.82351439e+00] [ 1.49041346e-01 1.13856474e-02 9.88765414e-01 -4.82079585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10463044 meters Centerline goodness : 0.151465 with order 3 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.82, Z:-4.82 [[ 9.88856302e-01 5.13093718e-03 -1.48784699e-01 -3.07317078e+01] [-6.84920276e-03 9.99915615e-01 -1.10385887e-02 -2.81560810e+00] [ 1.48715506e-01 1.19346346e-02 9.88808001e-01 -4.82060303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16463044 meters Centerline goodness : 0.112972 with order 1 Centerline is valid? [False, False] Translation: X:-30.73, Y:-2.81, Z:-4.82 [[ 9.88750663e-01 8.28381290e-03 -1.49343579e-01 -3.07307296e+01] [-9.77061808e-03 9.99909716e-01 -9.22463559e-03 -2.80637320e+00] [ 1.49253681e-01 1.05800436e-02 9.88742333e-01 -4.82016082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22463044 meters Centerline goodness : 0.134285 with order 1 Centerline is valid? [False, False] Translation: X:-30.75, Y:-2.79, Z:-4.82 [[ 9.89087246e-01 2.08277842e-03 -1.47316263e-01 -3.07512753e+01] [-3.37540583e-03 9.99957964e-01 -8.52506007e-03 -2.79318593e+00] [ 1.47292315e-01 8.92928036e-03 9.89052699e-01 -4.82361180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28463044 meters Centerline goodness : 0.138857 with order 1 Centerline is valid? [False, False] Translation: X:-30.75, Y:-2.79, Z:-4.82 [[ 9.89102171e-01 1.64928278e-03 -1.47221521e-01 -3.07521132e+01] [-3.04453653e-03 9.99952561e-01 -9.25240507e-03 -2.78950907e+00] [ 1.47199277e-01 9.59979523e-03 9.89060270e-01 -4.82287804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34463044 meters Centerline goodness : 0.124904 with order 2 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.78, Z:-4.83 [[ 9.89480293e-01 -6.42303568e-03 -1.44525063e-01 -3.07750081e+01] [ 5.18783247e-03 9.99946742e-01 -8.92188230e-03 -2.78342946e+00] [ 1.44574672e-01 8.07825490e-03 9.89460917e-01 -4.82601271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40463044 meters Centerline goodness : 0.085002 with order 1 Centerline is valid? [False, False] Translation: X:-30.78, Y:-2.78, Z:-4.83 [[ 9.89494603e-01 -6.77660861e-03 -1.44410898e-01 -3.07756548e+01] [ 5.51450045e-03 9.99943040e-01 -9.13818970e-03 -2.78318460e+00] [ 1.44464599e-01 8.24583542e-03 9.89475612e-01 -4.82553684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46463044 meters Centerline goodness : 0.158287 with order 1 Centerline is valid? [False, False] Translation: X:-30.79, Y:-2.79, Z:-4.83 [[ 9.89826471e-01 -7.85119954e-04 -1.42277687e-01 -3.07942192e+01] [-6.63330462e-04 9.99948443e-01 -1.01327309e-02 -2.78776680e+00] [ 1.42278307e-01 1.01240224e-02 9.89774918e-01 -4.82957970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52463044 meters Centerline goodness : 0.095913 with order 1 Centerline is valid? [False, False] Translation: X:-30.79, Y:-2.79, Z:-4.83 [[ 9.89794474e-01 -1.00749201e-03 -1.42498714e-01 -3.07937466e+01] [-5.00006038e-04 9.99944298e-01 -1.05428257e-02 -2.78571678e+00] [ 1.42501399e-01 1.05064808e-02 9.89738837e-01 -4.82947640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58463044 meters Centerline goodness : 0.085948 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-2.78, Z:-4.84 [[ 9.89319671e-01 -1.35807042e-03 -1.45755766e-01 -3.08349589e+01] [-1.94460894e-04 9.99943409e-01 -1.06368180e-02 -2.78396708e+00] [ 1.45761963e-01 1.05515571e-02 9.89263420e-01 -4.83602326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64463044 meters Centerline goodness : 0.085658 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.78, Z:-4.84 [[ 9.89337941e-01 -1.45587238e-03 -1.45630762e-01 -3.08355050e+01] [-1.21087099e-04 9.99941465e-01 -1.08190276e-02 -2.78268998e+00] [ 1.45637989e-01 1.07213085e-02 9.89279854e-01 -4.83579622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70463044 meters Centerline goodness : 0.108164 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-2.78, Z:-4.84 [[ 9.89279342e-01 -1.70542596e-03 -1.46025597e-01 -3.08340802e+01] [ 8.52932246e-05 9.99938385e-01 -1.11003967e-02 -2.78196501e+00] [ 1.46035531e-01 1.09689381e-02 9.89218533e-01 -4.83629577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76463044 meters Centerline goodness : 0.088275 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-2.78, Z:-4.84 [[ 9.89289495e-01 -1.64314519e-03 -1.45957509e-01 -3.08341509e+01] [-1.29990134e-06 9.99936539e-01 -1.12657917e-02 -2.78020594e+00] [ 1.45966757e-01 1.11453192e-02 9.89226712e-01 -4.83644552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82463044 meters Centerline goodness : 0.119603 with order 2 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.78, Z:-4.84 [[ 9.89430441e-01 -1.10720976e-03 -1.45004054e-01 -3.08368041e+01] [-4.95198342e-04 9.99939219e-01 -1.10142215e-02 -2.77868884e+00] [ 1.45007436e-01 1.09696118e-02 9.89369754e-01 -4.83613472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88463044 meters Centerline goodness : 0.107158 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.78, Z:-4.84 [[ 9.89370221e-01 -1.16675200e-03 -1.45413907e-01 -3.08354651e+01] [-5.17907567e-04 9.99933198e-01 -1.15468762e-02 -2.77544597e+00] [ 1.45417665e-01 1.14994465e-02 9.89303525e-01 -4.83658518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94463044 meters Centerline goodness : 0.113959 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-2.77, Z:-4.84 [[ 9.89361028e-01 -8.71195927e-04 -1.45478512e-01 -3.08352700e+01] [-8.24540204e-04 9.99932429e-01 -1.15955613e-02 -2.77306225e+00] [ 1.45478783e-01 1.15921494e-02 9.89293458e-01 -4.83662827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00463044 meters Centerline goodness : 0.288163 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.77, Z:-4.84 [[ 9.89486609e-01 6.74441934e-03 -1.44467173e-01 -3.08575271e+01] [-8.69705642e-03 9.99879112e-01 -1.28888577e-02 -2.77252807e+00] [ 1.44362781e-01 1.40097913e-02 9.89425648e-01 -4.84041265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06463044000003 meters Centerline goodness : 0.088750 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.77, Z:-4.84 [[ 9.89534043e-01 6.87719861e-03 -1.44135639e-01 -3.08581886e+01] [-8.88534939e-03 9.99872161e-01 -1.32932859e-02 -2.76801469e+00] [ 1.44025792e-01 1.44348545e-02 9.89468648e-01 -4.84061355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12463044000003 meters Centerline goodness : 0.308787 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.76, Z:-4.84 [[ 9.89429029e-01 7.09510265e-03 -1.44844250e-01 -3.08563851e+01] [-9.17612967e-03 9.99863986e-01 -1.37043165e-02 -2.76183548e+00] [ 1.44727316e-01 1.48885582e-02 9.89359558e-01 -4.84071503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18463044000003 meters Centerline goodness : 0.149481 with order 3 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.76, Z:-4.84 [[ 9.89470655e-01 7.02426427e-03 -1.44563078e-01 -3.08575510e+01] [-9.18620604e-03 9.99855652e-01 -1.42929370e-02 -2.75702271e+00] [ 1.44441813e-01 1.54704280e-02 9.89392353e-01 -4.84029566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24463044000004 meters Centerline goodness : 0.094471 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.75, Z:-4.84 [[ 9.89733027e-01 8.74145136e-03 -1.42660862e-01 -3.08642132e+01] [-1.07549848e-02 9.99853055e-01 -1.33491191e-02 -2.75009002e+00] [ 1.42523208e-01 1.47463795e-02 9.89681605e-01 -4.83849476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30463044000004 meters Centerline goodness : 0.096384 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.75, Z:-4.84 [[ 9.89676249e-01 8.41031220e-03 -1.43074069e-01 -3.08626998e+01] [-1.05320736e-02 9.99845418e-01 -1.40789381e-02 -2.74575533e+00] [ 1.42933544e-01 1.54404573e-02 9.89611840e-01 -4.83900423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36463044 meters Centerline goodness : 0.094725 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-2.74, Z:-4.84 [[ 9.89641345e-01 8.42154784e-03 -1.43314640e-01 -3.08620369e+01] [-1.06033690e-02 9.99839124e-01 -1.44670447e-02 -2.74109647e+00] [ 1.43169750e-01 1.58368036e-02 9.89571432e-01 -4.83910743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42463044 meters Centerline goodness : 0.097175 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.74, Z:-4.84 [[ 9.89649595e-01 3.22244271e-04 -1.43504615e-01 -3.08816359e+01] [-2.32611672e-03 9.99902121e-01 -1.37962653e-02 -2.73598127e+00] [ 1.43486123e-01 1.39872768e-02 9.89553479e-01 -4.84309432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48463044 meters Centerline goodness : 0.094199 with order 1 Centerline is valid? [False, False] Translation: X:-30.88, Y:-2.73, Z:-4.84 [[ 9.89643885e-01 -2.18003531e-04 -1.43544186e-01 -3.08815337e+01] [-1.89133687e-03 9.99892237e-01 -1.45580957e-02 -2.73306297e+00] [ 1.43531891e-01 1.46788208e-02 9.89536825e-01 -4.84305128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54463044 meters Centerline goodness : 0.101623 with order 1 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.73, Z:-4.85 [[ 9.89816432e-01 -7.46596397e-03 -1.42153755e-01 -3.09016333e+01] [ 5.58689996e-03 9.99891729e-01 -1.36130786e-02 -2.72575939e+00] [ 1.42239999e-01 1.26802501e-02 9.89750976e-01 -4.84761153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60463044 meters Centerline goodness : 0.470326 with order 3 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.73, Z:-4.85 [[ 9.89826620e-01 -7.70825028e-03 -1.42069863e-01 -3.09020238e+01] [ 5.81736741e-03 9.99888953e-01 -1.37200751e-02 -2.72566372e+00] [ 1.42159844e-01 1.27540229e-02 9.89761544e-01 -4.84724981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66463044 meters Centerline goodness : 0.087457 with order 1 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.73, Z:-4.85 [[ 9.89811737e-01 -1.16113679e-02 -1.41908073e-01 -3.09024926e+01] [ 9.37979441e-03 9.99821771e-01 -1.63843238e-02 -2.73050453e+00] [ 1.42073025e-01 1.48863275e-02 9.89744236e-01 -4.84691541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72463044 meters Centerline goodness : 0.154585 with order 3 Centerline is valid? [False, False] Translation: X:-30.90, Y:-2.74, Z:-4.85 [[ 9.89785438e-01 -1.55379143e-02 -1.41715770e-01 -3.09025804e+01] [ 1.29486274e-02 9.99732291e-01 -1.91749427e-02 -2.73571452e+00] [ 1.41975770e-01 1.71440543e-02 9.89721659e-01 -4.84711558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78463044 meters SLAMing on 420.84463044 meters SLAMing on 420.90463044 meters Centerline goodness : 0.088272 with order 1 Centerline is valid? [False, False] Translation: X:-30.97, Y:-2.77, Z:-4.86 [[ 9.89441518e-01 -8.32961903e-04 -1.44930287e-01 -3.09733653e+01] [-1.96550640e-03 9.99814406e-01 -1.91648068e-02 -2.76677131e+00] [ 1.44919352e-01 1.92473170e-02 9.89256247e-01 -4.86170817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96463044 meters Centerline goodness : 0.144520 with order 3 Centerline is valid? [False, False] Translation: X:-30.98, Y:-2.77, Z:-4.86 [[ 9.89560624e-01 -6.91436086e-04 -1.44115553e-01 -3.09760057e+01] [-2.06053710e-03 9.99818395e-01 -1.89454701e-02 -2.76890090e+00] [ 1.44102480e-01 1.90446466e-02 9.89379491e-01 -4.86115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02463044 meters Centerline goodness : 0.157210 with order 1 Centerline is valid? [False, False] Translation: X:-30.98, Y:-2.78, Z:-4.86 [[ 9.89499587e-01 -1.61430905e-03 -1.44526678e-01 -3.09751832e+01] [-1.12375557e-03 9.99821476e-01 -1.88614073e-02 -2.77827153e+00] [ 1.44531324e-01 1.88257674e-02 9.89321124e-01 -4.86105635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08463044 meters Centerline goodness : 0.145422 with order 3 Centerline is valid? [False, False] Translation: X:-30.98, Y:-2.79, Z:-4.86 [[ 9.89543716e-01 -2.86014869e-03 -1.44204905e-01 -3.09760361e+01] [ 1.30084919e-04 9.99820657e-01 -1.89377125e-02 -2.78778358e+00] [ 1.44233208e-01 1.87209355e-02 9.89366620e-01 -4.86096095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14463044 meters Centerline goodness : 0.089719 with order 1 Centerline is valid? [False, False] Translation: X:-31.02, Y:-2.79, Z:-4.87 [[ 9.89564639e-01 -3.46514582e-03 -1.44047970e-01 -3.10218873e+01] [ 8.15059559e-04 9.99829412e-01 -1.84521905e-02 -2.79342051e+00] [ 1.44087337e-01 1.81422276e-02 9.89398655e-01 -4.86748990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20463044 meters Centerline goodness : 0.103786 with order 1 Centerline is valid? [False, False] Translation: X:-31.02, Y:-2.80, Z:-4.87 [[ 9.89549788e-01 -3.33414582e-03 -1.44153042e-01 -3.10215146e+01] [ 7.36086418e-04 9.99836408e-01 -1.80725025e-02 -2.79616489e+00] [ 1.44189716e-01 1.77775319e-02 9.89390360e-01 -4.86761956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26463044 meters Centerline goodness : 0.103868 with order 1 Centerline is valid? [False, False] Translation: X:-31.02, Y:-2.80, Z:-4.87 [[ 9.89544660e-01 -3.50144693e-03 -1.44184279e-01 -3.10213007e+01] [ 9.41920729e-04 9.99840835e-01 -1.78162072e-02 -2.79934730e+00] [ 1.44223713e-01 1.74941226e-02 9.89390457e-01 -4.86765065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32463044 meters Centerline goodness : 0.236433 with order 2 Centerline is valid? [False, False] Translation: X:-31.04, Y:-2.80, Z:-4.87 [[ 9.89290982e-01 -1.39406045e-02 -1.45289409e-01 -3.10425580e+01] [ 1.14178372e-02 9.99769475e-01 -1.81832078e-02 -2.80331023e+00] [ 1.45509402e-01 1.63295927e-02 9.89222098e-01 -4.87064615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38463044 meters Centerline goodness : 0.087996 with order 1 Centerline is valid? [False, False] Translation: X:-31.04, Y:-2.81, Z:-4.87 [[ 9.89246299e-01 -1.43688886e-02 -1.45551694e-01 -3.10415484e+01] [ 1.18639077e-02 9.99766447e-01 -1.80637261e-02 -2.80731387e+00] [ 1.45777256e-01 1.61426623e-02 9.89185729e-01 -4.87088047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44463044 meters Centerline goodness : 0.308235 with order 1 Centerline is valid? [False, False] Translation: X:-31.08, Y:-2.82, Z:-4.88 [[ 9.88981269e-01 -1.71067749e-02 -1.47049001e-01 -3.10840705e+01] [ 1.45530126e-02 9.99724324e-01 -1.84251655e-02 -2.81719603e+00] [ 1.47323658e-01 1.60821376e-02 9.88957585e-01 -4.87780480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50463044 meters Centerline goodness : 0.307983 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-2.83, Z:-4.88 [[ 9.89236241e-01 -1.20903407e-02 -1.45826898e-01 -3.10964101e+01] [ 9.37388588e-03 9.99769779e-01 -1.93007580e-02 -2.82698099e+00] [ 1.46026678e-01 1.77260445e-02 9.89121831e-01 -4.88234292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56463044000003 meters Centerline goodness : 0.436376 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-2.83, Z:-4.88 [[ 9.89250196e-01 -1.19422122e-02 -1.45744412e-01 -3.10973220e+01] [ 9.32268633e-03 9.99782735e-01 -1.86432415e-02 -2.83095282e+00] [ 1.45935388e-01 1.70841008e-02 9.89146600e-01 -4.88154010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62463044000003 meters Centerline goodness : 0.092156 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-2.83, Z:-4.88 [[ 9.89318343e-01 -1.20625358e-02 -1.45271162e-01 -3.10995371e+01] [ 9.46303745e-03 9.99782744e-01 -1.85718800e-02 -2.83224549e+00] [ 1.45463625e-01 1.69987951e-02 9.89217557e-01 -4.88037438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68463044000003 meters Centerline goodness : 0.097800 with order 1 Centerline is valid? [False, False] Translation: X:-31.12, Y:-2.84, Z:-4.88 [[ 9.89884062e-01 -6.33392139e-03 -1.41737168e-01 -3.11239172e+01] [ 3.61812570e-03 9.99805056e-01 -1.94103049e-02 -2.83769414e+00] [ 1.41832481e-01 1.87011286e-02 9.89714007e-01 -4.88334629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74463044000004 meters Centerline goodness : 0.105401 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.84, Z:-4.88 [[ 9.90017169e-01 -8.80794184e-03 -1.40671337e-01 -3.11280207e+01] [ 5.90767577e-03 9.99761567e-01 -2.10216334e-02 -2.84087279e+00] [ 1.40822954e-01 1.99807374e-02 9.89833150e-01 -4.88251843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80463044000004 meters Centerline goodness : 0.314051 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.85, Z:-4.88 [[ 9.90001441e-01 -1.09522400e-02 -1.40631414e-01 -3.11293470e+01] [ 7.96124702e-03 9.99730362e-01 -2.18133398e-02 -2.84638131e+00] [ 1.40832400e-01 2.04756364e-02 9.89821693e-01 -4.88224772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86463044 meters Centerline goodness : 0.316343 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.85, Z:-4.88 [[ 9.90043491e-01 -1.11138471e-02 -1.40322369e-01 -3.11298966e+01] [ 8.17161917e-03 9.99734883e-01 -2.15264488e-02 -2.84784837e+00] [ 1.40524409e-01 2.01654596e-02 9.89871832e-01 -4.88293155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92463044 meters Centerline goodness : 0.313521 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.85, Z:-4.88 [[ 9.90047665e-01 -1.14719162e-02 -1.40264091e-01 -3.11294275e+01] [ 8.54177450e-03 9.99732908e-01 -2.14744074e-02 -2.84864850e+00] [ 1.40472980e-01 2.00625827e-02 9.89881222e-01 -4.88402389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98463044 meters Centerline goodness : 0.091696 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.85, Z:-4.89 [[ 9.90138941e-01 -2.49868507e-03 -1.40066538e-01 -3.11465894e+01] [-6.18651242e-04 9.99753177e-01 -2.22081525e-02 -2.85268243e+00] [ 1.40087457e-01 2.20758089e-02 9.89893006e-01 -4.88790033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04463044 meters Centerline goodness : 0.234878 with order 3 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.85, Z:-4.89 [[ 9.90094646e-01 -2.63582599e-03 -1.40376792e-01 -3.11448770e+01] [-5.16010260e-04 9.99748696e-01 -2.24115578e-02 -2.84797309e+00] [ 1.40400588e-01 2.22619992e-02 9.89844472e-01 -4.88852658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10463044 meters Centerline goodness : 0.267444 with order 2 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.85, Z:-4.89 [[ 9.90066114e-01 -2.91205816e-03 -1.40572436e-01 -3.11440740e+01] [-2.77818308e-04 9.99743030e-01 -2.26670920e-02 -2.84564546e+00] [ 1.40602321e-01 2.24809732e-02 9.89810888e-01 -4.88872970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16463044 meters Centerline goodness : 0.228205 with order 3 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.84, Z:-4.89 [[ 9.89915353e-01 -3.86493658e-03 -1.41607398e-01 -3.11410421e+01] [ 5.74950364e-04 9.99729128e-01 -2.32667045e-02 -2.84477591e+00] [ 1.41658965e-01 2.29506508e-02 9.89649436e-01 -4.88924119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22463044 meters Centerline goodness : 0.090023 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.85, Z:-4.89 [[ 9.89882101e-01 -4.57963499e-03 -1.41818378e-01 -3.11402014e+01] [ 1.24891386e-03 9.99721505e-01 -2.35659310e-02 -2.84507399e+00] [ 1.41886806e-01 2.31503743e-02 9.89612143e-01 -4.88949488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28463044 meters Centerline goodness : 0.295167 with order 2 Centerline is valid? [False, False] Translation: X:-31.16, Y:-2.84, Z:-4.89 [[ 9.89585196e-01 -1.27259211e-02 -1.43384764e-01 -3.11584861e+01] [ 9.61765914e-03 9.99703944e-01 -2.23500760e-02 -2.84117824e+00] [ 1.43626739e-01 2.07382786e-02 9.89414617e-01 -4.89292484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34463044 meters Centerline goodness : 0.102898 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-2.84, Z:-4.90 [[ 9.89394678e-01 -1.22911722e-02 -1.44731124e-01 -3.12030827e+01] [ 9.19662743e-03 9.99714987e-01 -2.20310235e-02 -2.83727098e+00] [ 1.44960661e-01 2.04663391e-02 9.89225725e-01 -4.89890305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40463044 meters Centerline goodness : 0.269778 with order 3 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.84, Z:-4.90 [[ 9.89583682e-01 -4.46542626e-03 -1.43889527e-01 -3.11848328e+01] [ 1.15936882e-03 9.99733595e-01 -2.30520195e-02 -2.83815549e+00] [ 1.43954131e-01 2.26450813e-02 9.89325229e-01 -4.89517890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46463044 meters Centerline goodness : 0.093215 with order 1 Centerline is valid? [False, False] Translation: X:-31.21, Y:-2.83, Z:-4.90 [[ 9.89901070e-01 -8.37442201e-03 -1.41512336e-01 -3.12055909e+01] [ 5.61353446e-03 9.99786259e-01 -1.98978292e-02 -2.82840734e+00] [ 1.41648722e-01 1.89024981e-02 9.89736498e-01 -4.89899614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52463044 meters Centerline goodness : 0.473778 with order 3 Centerline is valid? [False, False] Translation: X:-31.20, Y:-2.82, Z:-4.90 [[ 9.89856240e-01 -8.69089673e-03 -1.41806532e-01 -3.12048526e+01] [ 5.83685635e-03 9.99772202e-01 -2.05298602e-02 -2.82428573e+00] [ 1.41952652e-01 1.94939059e-02 9.89681480e-01 -4.89888256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58463044 meters Centerline goodness : 0.478786 with order 3 Centerline is valid? [False, False] Translation: X:-31.20, Y:-2.82, Z:-4.90 [[ 9.89825851e-01 -8.79590861e-03 -1.42012031e-01 -3.12040458e+01] [ 5.90150544e-03 9.99766452e-01 -2.07897294e-02 -2.82187374e+00] [ 1.42161729e-01 1.97401269e-02 9.89646589e-01 -4.89911339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64463044 meters Centerline goodness : 0.173144 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-2.82, Z:-4.90 [[ 9.89739481e-01 -9.09319909e-03 -1.42594084e-01 -3.12025691e+01] [ 6.10116360e-03 9.99752247e-01 -2.14061034e-02 -2.81686714e+00] [ 1.42753406e-01 2.03164759e-02 9.89549749e-01 -4.89900587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70463044 meters Centerline goodness : 0.315369 with order 1 Centerline is valid? [False, False] Translation: X:-31.22, Y:-2.81, Z:-4.90 [[ 9.89506331e-01 -1.66738878e-02 -1.43524224e-01 -3.12210133e+01] [ 1.39021945e-02 9.99697416e-01 -2.02929724e-02 -2.80859483e+00] [ 1.43819159e-01 1.80847230e-02 9.89438726e-01 -4.90241413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76463044 meters Centerline goodness : 0.494121 with order 1 Centerline is valid? [False, False] Translation: X:-31.22, Y:-2.81, Z:-4.90 [[ 9.89505275e-01 -1.71718002e-02 -1.43472788e-01 -3.12208348e+01] [ 1.43443487e-02 9.99682442e-01 -2.07184821e-02 -2.80640495e+00] [ 1.43783000e-01 1.84430236e-02 9.89437367e-01 -4.90291030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82463044 meters Centerline goodness : 0.457966 with order 1 Centerline is valid? [False, False] Translation: X:-31.22, Y:-2.81, Z:-4.90 [[ 9.89485005e-01 -1.75211826e-02 -1.43570304e-01 -3.12204945e+01] [ 1.46502236e-02 9.99671506e-01 -2.10297692e-02 -2.80554458e+00] [ 1.43891609e-01 1.87053042e-02 9.89416655e-01 -4.90306045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88463044 meters Centerline goodness : 0.095647 with order 1 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.81, Z:-4.91 [[ 9.89578815e-01 -9.47118961e-03 -1.43680428e-01 -3.12403363e+01] [ 6.36572437e-03 9.99736426e-01 -2.20580306e-02 -2.80664135e+00] [ 1.43851473e-01 2.09135298e-02 9.89378278e-01 -4.90683675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94463044 meters Centerline goodness : 0.092954 with order 1 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.81, Z:-4.91 [[ 9.89630984e-01 -6.04618872e-03 -1.43505953e-01 -3.12409578e+01] [ 3.32722505e-03 9.99810527e-01 -1.91791217e-02 -2.80516448e+00] [ 1.43594723e-01 1.85027764e-02 9.89463593e-01 -4.90658916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00463044 meters Centerline goodness : 0.462643 with order 2 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.80, Z:-4.91 [[ 9.89530828e-01 -3.89472772e-03 -1.44269094e-01 -3.12382671e+01] [ 1.34776936e-03 9.99841588e-01 -1.77477472e-02 -2.80042318e+00] [ 1.44315363e-01 1.73675015e-02 9.89379324e-01 -4.90689043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06463044000003 meters Centerline goodness : 0.250494 with order 2 Centerline is valid? [False, False] Translation: X:-31.26, Y:-2.79, Z:-4.91 [[ 9.89526444e-01 -8.68293216e-03 -1.44090330e-01 -3.12595926e+01] [ 6.60440812e-03 9.99867219e-01 -1.48972019e-02 -2.79291857e+00] [ 1.44200549e-01 1.37895439e-02 9.89452399e-01 -4.90970917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12463044000003 meters Centerline goodness : 0.091687 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-2.79, Z:-4.91 [[ 9.89514371e-01 -8.93085348e-03 -1.44158068e-01 -3.12598431e+01] [ 6.76918910e-03 9.99857285e-01 -1.54786273e-02 -2.78720138e+00] [ 1.44275732e-01 1.43404909e-02 9.89433607e-01 -4.90906566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18463044000003 meters Centerline goodness : 0.102536 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-2.78, Z:-4.91 [[ 9.89494833e-01 -9.09638691e-03 -1.44281777e-01 -3.12597440e+01] [ 6.88229331e-03 9.99850896e-01 -1.58373217e-02 -2.78431682e+00] [ 1.44404327e-01 1.46779585e-02 9.89409899e-01 -4.90873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24463044000004 meters Centerline goodness : 0.091432 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-2.78, Z:-4.91 [[ 9.89492040e-01 -9.38771155e-03 -1.44282271e-01 -3.12599953e+01] [ 7.08906181e-03 9.99839764e-01 -1.64374809e-02 -2.77900812e+00] [ 1.44413462e-01 1.52419305e-02 9.89400038e-01 -4.90831928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30463044000004 meters Centerline goodness : 0.091720 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.78, Z:-4.91 [[ 9.89487953e-01 -1.36288094e-03 -1.44608900e-01 -3.12810541e+01] [-1.17227682e-03 9.99847146e-01 -1.74444755e-02 -2.77672514e+00] [ 1.44610570e-01 1.74306201e-02 9.89335108e-01 -4.91150193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36463044 meters Centerline goodness : 0.096418 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.77, Z:-4.91 [[ 9.89589791e-01 1.40948210e-03 -1.43909896e-01 -3.12828467e+01] [-3.69844319e-03 9.99870859e-01 -1.56392410e-02 -2.76957775e+00] [ 1.43869268e-01 1.60086758e-02 9.89467208e-01 -4.91127939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42463044 meters Centerline goodness : 0.101842 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.76, Z:-4.91 [[ 9.89554364e-01 1.20586796e-03 -1.44155148e-01 -3.12820073e+01] [-3.58313313e-03 9.99861823e-01 -1.62325363e-02 -2.76454191e+00] [ 1.44115655e-01 1.65795043e-02 9.89421951e-01 -4.91127862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48463044 meters Centerline goodness : 0.114340 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.76, Z:-4.91 [[ 9.89501993e-01 8.13845994e-04 -1.44516935e-01 -3.12805343e+01] [-3.30177681e-03 9.99850437e-01 -1.69764911e-02 -2.75920479e+00] [ 1.44481504e-01 1.72754344e-02 9.89356687e-01 -4.91164236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54463044 meters Centerline goodness : 0.482078 with order 2 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.76, Z:-4.91 [[ 9.89451119e-01 7.11434234e-04 -1.44865378e-01 -3.12793585e+01] [-3.23922805e-03 9.99846579e-01 -1.72141389e-02 -2.75701644e+00] [ 1.44830906e-01 1.75018010e-02 9.89301620e-01 -4.91185653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60463044 meters Centerline goodness : 0.103876 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.75, Z:-4.91 [[ 9.89398928e-01 4.65282214e-04 -1.45222400e-01 -3.12785983e+01] [-3.07660885e-03 9.99837590e-01 -1.77575006e-02 -2.75289433e+00] [ 1.45190552e-01 1.80160445e-02 9.89239671e-01 -4.91149034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66463044 meters Centerline goodness : 0.130067 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.75, Z:-4.91 [[ 9.89385312e-01 2.67459854e-04 -1.45315629e-01 -3.12786303e+01] [-2.95566042e-03 9.99828475e-01 -1.82834638e-02 -2.74922255e+00] [ 1.45285813e-01 1.85188942e-02 9.89216398e-01 -4.91100511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72463044 meters Centerline goodness : 0.120845 with order 2 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.74, Z:-4.91 [[ 9.89481211e-01 -1.94988642e-05 -1.44661439e-01 -3.12811154e+01] [-2.76751598e-03 9.99814425e-01 -1.90645159e-02 -2.74209537e+00] [ 1.44634965e-01 1.92643332e-02 9.89297535e-01 -4.90993227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78463044 meters Centerline goodness : 0.110042 with order 1 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89415782e-01 -7.52823302e-03 -1.44912858e-01 -3.12994611e+01] [ 4.92999219e-03 9.99820744e-01 -1.82804445e-02 -2.73351990e+00] [ 1.45024501e-01 1.73725411e-02 9.89275537e-01 -4.91379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84463044 meters Centerline goodness : 0.482256 with order 2 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89350883e-01 -8.26263406e-03 -1.45315380e-01 -3.12982047e+01] [ 5.59876197e-03 9.99808882e-01 -1.87310857e-02 -2.73279580e+00] [ 1.45442375e-01 1.77180299e-02 9.89208060e-01 -4.91403768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90463044 meters Centerline goodness : 0.278858 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89330153e-01 -8.34462855e-03 -1.45451762e-01 -3.12977742e+01] [ 5.68300048e-03 9.99808896e-01 -1.87049650e-02 -2.73333349e+00] [ 1.45580052e-01 1.76787835e-02 9.89188510e-01 -4.91413378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96463044 meters Centerline goodness : 0.082789 with order 1 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89239600e-01 -8.40298191e-03 -1.46063015e-01 -3.12957230e+01] [ 5.75827792e-03 9.99811909e-01 -1.85199850e-02 -2.73436833e+00] [ 1.46191164e-01 1.74796311e-02 9.89101919e-01 -4.91463833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02463044 meters Centerline goodness : 0.521925 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89219020e-01 -8.26515363e-03 -1.46210183e-01 -3.12956453e+01] [ 5.63529530e-03 9.99814974e-01 -1.83919000e-02 -2.73450197e+00] [ 1.46335142e-01 1.73696797e-02 9.89082565e-01 -4.91425679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08463044 meters Centerline goodness : 0.139406 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89188032e-01 -8.14639865e-03 -1.46426341e-01 -3.12953676e+01] [ 5.52561382e-03 9.99817342e-01 -1.82961588e-02 -2.73459977e+00] [ 1.46548643e-01 1.72892459e-02 9.89052363e-01 -4.91389859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14463044 meters Centerline goodness : 0.486343 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-2.74, Z:-4.91 [[ 9.89103445e-01 -7.73350274e-03 -1.47018938e-01 -3.12944100e+01] [ 5.14475488e-03 9.99825104e-01 -1.79803734e-02 -2.73506154e+00] [ 1.47132276e-01 1.70280729e-02 9.88970241e-01 -4.91325056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20463044 meters Centerline goodness : 0.149059 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89133354e-01 -7.39430046e-03 -1.46835053e-01 -3.12956340e+01] [ 4.81912318e-03 9.99828421e-01 -1.78858946e-02 -2.73411312e+00] [ 1.46942113e-01 1.69839187e-02 9.88999273e-01 -4.91232814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26463044 meters Centerline goodness : 0.500150 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89244143e-01 -3.87641958e-03 -1.46222431e-01 -3.12981380e+01] [ 1.69762676e-03 9.99885717e-01 -1.50223821e-02 -2.73253710e+00] [ 1.46263953e-01 1.46125724e-02 9.89137669e-01 -4.91145317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32463044 meters Centerline goodness : 0.299196 with order 3 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89231571e-01 -3.95836607e-03 -1.46305261e-01 -3.12985510e+01] [ 1.76779643e-03 9.99884432e-01 -1.50995840e-02 -2.73224379e+00] [ 1.46348123e-01 1.46783472e-02 9.89124246e-01 -4.91082781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38463044 meters Centerline goodness : 0.097369 with order 1 Centerline is valid? [False, False] Translation: X:-31.30, Y:-2.73, Z:-4.91 [[ 9.89301240e-01 -4.20492639e-03 -1.45826525e-01 -3.13001521e+01] [ 2.02535251e-03 9.99884064e-01 -1.50915970e-02 -2.73353876e+00] [ 1.45873078e-01 1.46347855e-02 9.89195061e-01 -4.91043821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44463044 meters Centerline goodness : 0.091171 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.73, Z:-4.91 [[ 9.89174005e-01 -1.21362473e-02 -1.46244654e-01 -3.13199061e+01] [ 1.01760919e-02 9.99848186e-01 -1.41439653e-02 -2.73058024e+00] [ 1.46394106e-01 1.25026438e-02 9.89147335e-01 -4.91382837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50463044 meters Centerline goodness : 0.299370 with order 3 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.73, Z:-4.91 [[ 9.89176927e-01 -1.20432942e-02 -1.46232578e-01 -3.13201711e+01] [ 1.00906531e-02 9.99849850e-01 -1.40874536e-02 -2.73006901e+00] [ 1.46380281e-01 1.24594018e-02 9.89149926e-01 -4.91345609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56463044000003 meters Centerline goodness : 0.483929 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.73, Z:-4.91 [[ 9.89249924e-01 -9.75445097e-03 -1.45909011e-01 -3.13228791e+01] [ 8.02694856e-03 9.99890604e-01 -1.24236716e-02 -2.72629322e+00] [ 1.46014235e-01 1.11189120e-02 9.89220002e-01 -4.91174252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62463044000003 meters Centerline goodness : 0.324057 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.72, Z:-4.91 [[ 9.89292564e-01 -6.10134138e-03 -1.45818371e-01 -3.13230122e+01] [ 4.75939626e-03 9.99943072e-01 -9.54995384e-03 -2.72340613e+00] [ 1.45868337e-01 8.75369091e-03 9.89265283e-01 -4.91171963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68463044000003 meters Centerline goodness : 0.327244 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.71, Z:-4.91 [[ 9.89312261e-01 -2.34687163e-03 -1.45793494e-01 -3.13233637e+01] [ 1.31185138e-03 9.99973255e-01 -7.19495899e-03 -2.71430441e+00] [ 1.45806480e-01 6.92680175e-03 9.89288881e-01 -4.91113635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74463044000004 meters Centerline goodness : 0.325208 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.71, Z:-4.91 [[ 9.89260291e-01 1.09825063e-03 -1.46160430e-01 -3.13227384e+01] [-1.84485025e-03 9.99985935e-01 -4.97263116e-03 -2.70684456e+00] [ 1.46152913e-01 5.18887065e-03 9.89248402e-01 -4.91058419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80463044000004 meters Centerline goodness : 0.323947 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.70, Z:-4.91 [[ 9.89217561e-01 3.61642785e-03 -1.46408803e-01 -3.13219838e+01] [-4.18314722e-03 9.99984903e-01 -3.56310155e-03 -2.69886106e+00] [ 1.46393707e-01 4.13713221e-03 9.89217755e-01 -4.91041290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86463044 meters Centerline goodness : 0.124244 with order 1 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.69, Z:-4.91 [[ 9.89204648e-01 3.23886558e-03 -1.46504863e-01 -3.13218350e+01] [-3.94217448e-03 9.99982057e-01 -4.51049773e-03 -2.68953238e+00] [ 1.46487625e-01 5.03935305e-03 9.89199667e-01 -4.91014052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92463044 meters Centerline goodness : 0.322315 with order 3 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.68, Z:-4.91 [[ 9.89281807e-01 2.80078326e-03 -1.45991995e-01 -3.13237390e+01] [-3.59446276e-03 9.99980160e-01 -5.17294748e-03 -2.68462998e+00] [ 1.45974610e-01 5.64226561e-03 9.89272247e-01 -4.90932547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98463044 meters Centerline goodness : 0.231768 with order 2 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.68, Z:-4.91 [[ 9.89483068e-01 -4.15276409e-03 -1.44589120e-01 -3.13417849e+01] [ 3.57497333e-03 9.99984554e-01 -4.25567545e-03 -2.67737249e+00] [ 1.44604560e-01 3.69401656e-03 9.89482630e-01 -4.91372413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04463044 meters Centerline goodness : 0.325544 with order 1 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.68, Z:-4.91 [[ 9.89537341e-01 -4.63272285e-03 -1.44202599e-01 -3.13431285e+01] [ 4.02134714e-03 9.99981650e-01 -4.53088011e-03 -2.67704138e+00] [ 1.44220943e-01 3.90358635e-03 9.89537812e-01 -4.91323167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10463044 meters Centerline goodness : 0.338663 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.67, Z:-4.92 [[ 9.89201519e-01 -4.94562106e-03 -1.46478314e-01 -3.13868846e+01] [ 4.20420052e-03 9.99976739e-01 -5.37079150e-03 -2.67363233e+00] [ 1.46501468e-01 4.69697091e-03 9.89199302e-01 -4.91922863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16463044 meters Centerline goodness : 0.331896 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.67, Z:-4.92 [[ 9.89049986e-01 -4.94871583e-03 -1.47497918e-01 -3.13842544e+01] [ 4.21628313e-03 9.99977183e-01 -5.27796021e-03 -2.67358075e+00] [ 1.47520672e-01 4.59827348e-03 9.89048284e-01 -4.91934172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22463044 meters Centerline goodness : 0.327564 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.67, Z:-4.92 [[ 9.88995586e-01 -4.85203334e-03 -1.47865442e-01 -3.13839013e+01] [ 4.11288829e-03 9.99977475e-01 -5.30411755e-03 -2.67247668e+00] [ 1.47887847e-01 4.63759480e-03 9.88993265e-01 -4.91860591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28463044 meters Centerline goodness : 0.111555 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.67, Z:-4.92 [[ 9.89141040e-01 -2.49475735e-03 -1.46948223e-01 -3.13884839e+01] [ 1.98051379e-03 9.99991393e-01 -3.64569511e-03 -2.66940996e+00] [ 1.46956053e-01 3.31507367e-03 9.89137467e-01 -4.91645607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34463044 meters Centerline goodness : 0.106939 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.66, Z:-4.91 [[ 9.89362880e-01 1.24771435e-03 -1.45463176e-01 -3.13935796e+01] [-1.44559460e-03 9.99998168e-01 -1.25465134e-03 -2.66412461e+00] [ 1.45461345e-01 1.45158624e-03 9.89362871e-01 -4.91479636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40463044 meters Centerline goodness : 0.096403 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-2.66, Z:-4.91 [[ 9.89465254e-01 3.95598528e-03 -1.44716488e-01 -3.13967383e+01] [-3.92010109e-03 9.99992174e-01 5.33114800e-04 -2.66006526e+00] [ 1.44717464e-01 3.98046896e-05 9.89473018e-01 -4.91360264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46463044 meters Centerline goodness : 0.100013 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-2.66, Z:-4.91 [[ 9.89417587e-01 7.66531726e-03 -1.44893348e-01 -3.13966204e+01] [-7.27316497e-03 9.99968314e-01 3.23601494e-03 -2.65603401e+00] [ 1.44913562e-01 -2.14793687e-03 9.89441987e-01 -4.91316416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52463044 meters Centerline goodness : 0.264496 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.65, Z:-4.92 [[ 9.89709914e-01 4.08721183e-03 -1.43029997e-01 -3.14158378e+01] [-3.31483728e-03 9.99978612e-01 5.63795787e-03 -2.64713261e+00] [ 1.43049982e-01 -5.10582164e-03 9.89702295e-01 -4.91659255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58463044 meters Centerline goodness : 0.262490 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.64, Z:-4.92 [[ 9.89724611e-01 7.10633986e-03 -1.42809990e-01 -3.14167609e+01] [-6.16190235e-03 9.99956132e-01 7.05442035e-03 -2.63869536e+00] [ 1.42853857e-01 -6.10195223e-03 9.89724983e-01 -4.91662431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64463044 meters Centerline goodness : 0.333262 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.63, Z:-4.92 [[ 9.89808599e-01 9.99061627e-03 -1.42053250e-01 -3.14184689e+01] [-8.90663026e-03 9.99926181e-01 8.26464411e-03 -2.63106204e+00] [ 1.42125333e-01 -6.91520003e-03 9.89824515e-01 -4.91755726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70463044 meters Centerline goodness : 0.326690 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.63, Z:-4.92 [[ 9.89718056e-01 9.95232262e-03 -1.42685390e-01 -3.14165534e+01] [-8.91195275e-03 9.99928855e-01 7.92859035e-03 -2.62898181e+00] [ 1.42754146e-01 -6.57546357e-03 9.89736337e-01 -4.91801180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76463044 meters Centerline goodness : 0.094754 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.62, Z:-4.92 [[ 9.89271610e-01 2.80187624e-03 -1.46061054e-01 -3.14325653e+01] [-1.42544275e-03 9.99953596e-01 9.52749642e-03 -2.62322525e+00] [ 1.46080971e-01 -9.21708005e-03 9.89229698e-01 -4.92102697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82463044 meters Centerline goodness : 0.092549 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.62, Z:-4.92 [[ 9.89279443e-01 2.78666165e-03 -1.46008279e-01 -3.14327046e+01] [-1.43435921e-03 9.99955107e-01 9.36628033e-03 -2.62246222e+00] [ 1.46027825e-01 -9.05644027e-03 9.89239028e-01 -4.92115293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88463044 meters Centerline goodness : 0.325484 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.62, Z:-4.91 [[ 9.89512988e-01 2.48333962e-03 -1.44422573e-01 -3.13912643e+01] [-1.11836604e-03 9.99953947e-01 9.53166468e-03 -2.62321154e+00] [ 1.44439592e-01 -9.27018870e-03 9.89470196e-01 -4.91440668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94463044 meters Centerline goodness : 0.098495 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.62, Z:-4.91 [[ 9.89918551e-01 2.87817708e-03 -1.41608536e-01 -3.13495162e+01] [-1.43238345e-03 9.99945818e-01 1.03106651e-02 -2.62458215e+00] [ 1.41630539e-01 -1.00038809e-02 9.89869038e-01 -4.90852707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00463044 meters Centerline goodness : 0.259993 with order 2 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.63, Z:-4.91 [[ 9.89970584e-01 3.83598273e-04 -1.41273128e-01 -3.13507395e+01] [ 7.88227205e-04 9.99965751e-01 8.23869973e-03 -2.62747737e+00] [ 1.41271450e-01 -8.26742570e-03 9.89936375e-01 -4.90820784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06463044000003 meters Centerline goodness : 0.328299 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.63, Z:-4.91 [[ 9.89951896e-01 3.37889051e-04 -1.41404136e-01 -3.13503203e+01] [ 9.00091518e-04 9.99961829e-01 8.69085934e-03 -2.63336132e+00] [ 1.41401675e-01 -8.73080934e-03 9.89913804e-01 -4.90821736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12463044000003 meters Centerline goodness : 0.090942 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89929751e-01 7.27646744e-03 -1.41372349e-01 -3.13320828e+01] [-6.23822772e-03 9.99950232e-01 7.78580888e-03 -2.64132231e+00] [ 1.41421966e-01 -6.82549094e-03 9.89925876e-01 -4.90398201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18463044000003 meters Centerline goodness : 0.318574 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89939902e-01 7.90054958e-03 -1.41267729e-01 -3.13323902e+01] [-6.88038339e-03 9.99946618e-01 7.70849631e-03 -2.64033018e+00] [ 1.41321090e-01 -6.65897195e-03 9.89941416e-01 -4.90466172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24463044000004 meters Centerline goodness : 0.087893 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.63, Z:-4.91 [[ 9.89912640e-01 6.39235551e-04 -1.41677648e-01 -3.13482013e+01] [ 7.16530083e-04 9.99954445e-01 9.51814657e-03 -2.63463883e+00] [ 1.41677278e-01 -9.52364990e-03 9.89867087e-01 -4.90824594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30463044000004 meters Centerline goodness : 0.319478 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89885178e-01 8.18861918e-03 -1.41634323e-01 -3.13294614e+01] [-7.07766210e-03 9.99940125e-01 8.34583072e-03 -2.63982642e+00] [ 1.41694184e-01 -7.25897425e-03 9.89883865e-01 -4.90432859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36463044 meters Centerline goodness : 0.095485 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89776799e-01 8.48166654e-03 -1.42372573e-01 -3.13271485e+01] [-7.36594142e-03 9.99937909e-01 8.36187729e-03 -2.64081018e+00] [ 1.42434656e-01 -7.22768411e-03 9.89777818e-01 -4.90477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42463044 meters Centerline goodness : 0.282492 with order 3 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89683335e-01 8.73749756e-03 -1.43005429e-01 -3.13255319e+01] [-7.63101057e-03 9.99936569e-01 8.28401656e-03 -2.64166214e+00] [ 1.43068740e-01 -7.10727719e-03 9.89687235e-01 -4.90469104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48463044 meters Centerline goodness : 0.317772 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.64, Z:-4.90 [[ 9.89693907e-01 8.91868910e-03 -1.42921054e-01 -3.13259951e+01] [-7.78954348e-03 9.99933890e-01 8.45806641e-03 -2.64333964e+00] [ 1.42987040e-01 -7.25760703e-03 9.89697951e-01 -4.90420830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54463044 meters Centerline goodness : 0.327202 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.65, Z:-4.90 [[ 9.89707783e-01 5.08451363e-03 -1.43012769e-01 -3.13257514e+01] [-4.36315111e-03 9.99976131e-01 5.35719756e-03 -2.64676931e+00] [ 1.43036594e-01 -4.67807380e-03 9.89706345e-01 -4.90417784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60463044 meters Centerline goodness : 0.107058 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.65, Z:-4.90 [[ 9.89697968e-01 4.56794085e-03 -1.43098100e-01 -3.13259265e+01] [-3.85678338e-03 9.99978798e-01 5.24670369e-03 -2.65301639e+00] [ 1.43119033e-01 -4.64075360e-03 9.89694602e-01 -4.90364080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66463044 meters Centerline goodness : 0.095451 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.66, Z:-4.90 [[ 9.89869822e-01 2.32890211e-03 -1.41958841e-01 -3.13306074e+01] [-1.79506881e-03 9.99990829e-01 3.88842507e-03 -2.66064530e+00] [ 1.41966595e-01 -3.59420874e-03 9.89864924e-01 -4.90160683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72463044 meters Centerline goodness : 0.303694 with order 2 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.67, Z:-4.90 [[ 9.89929478e-01 1.65789411e-03 -1.41551689e-01 -3.13316875e+01] [-1.17004391e-03 9.99993086e-01 3.52960598e-03 -2.66746816e+00] [ 1.41556563e-01 -3.32843932e-03 9.89924573e-01 -4.90132552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78463044 meters Centerline goodness : 0.092542 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.68, Z:-4.90 [[ 9.89920912e-01 1.63621253e-03 -1.41611829e-01 -3.13317070e+01] [-1.09298398e-03 9.99991744e-01 3.91373610e-03 -2.67661463e+00] [ 1.41617063e-01 -3.71950975e-03 9.89914528e-01 -4.90088399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84463044 meters Centerline goodness : 0.337405 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.68, Z:-4.90 [[ 9.90018729e-01 1.21655732e-04 -1.40935806e-01 -3.13342856e+01] [ 3.36887698e-04 9.99994728e-01 3.22969892e-03 -2.68480610e+00] [ 1.40935456e-01 -3.24494195e-03 9.90013468e-01 -4.89996831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90463044 meters Centerline goodness : 0.333055 with order 1 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.70, Z:-4.90 [[ 9.90190749e-01 -1.29552135e-03 -1.39716146e-01 -3.13370258e+01] [ 1.74978339e-03 9.99993575e-01 3.12853104e-03 -2.69911089e+00] [ 1.39711195e-01 -3.34231549e-03 9.90186655e-01 -4.90010770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96463044 meters Centerline goodness : 0.094990 with order 1 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.71, Z:-4.90 [[ 9.90163068e-01 -1.36728509e-03 -1.39911502e-01 -3.13358978e+01] [ 1.90651815e-03 9.99991263e-01 3.72014244e-03 -2.70948173e+00] [ 1.39905194e-01 -3.95029147e-03 9.90157024e-01 -4.90052510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02463044 meters Centerline goodness : 0.324702 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.72, Z:-4.91 [[ 9.90085200e-01 6.43434579e-03 -1.40320692e-01 -3.13516063e+01] [-6.03335291e-03 9.99976410e-01 3.28291273e-03 -2.72495290e+00] [ 1.40338505e-01 -2.40375905e-03 9.90100665e-01 -4.90590056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08463044 meters Centerline goodness : 0.313436 with order 2 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.73, Z:-4.91 [[ 9.89952673e-01 7.20629800e-03 -1.41215348e-01 -3.13478094e+01] [-6.68854161e-03 9.99969058e-01 4.14073536e-03 -2.73138788e+00] [ 1.41240818e-01 -3.15460730e-03 9.89970242e-01 -4.90735330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14463044 meters Centerline goodness : 0.322519 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.74, Z:-4.91 [[ 9.89663395e-01 8.68892960e-03 -1.43146314e-01 -3.13916119e+01] [-8.05966057e-03 9.99955143e-01 4.97525074e-03 -2.73713980e+00] [ 1.43183122e-01 -3.77011284e-03 9.89689032e-01 -4.91359496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20463044 meters Centerline goodness : 0.335626 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-2.75, Z:-4.92 [[ 9.89619750e-01 1.65735424e-02 -1.42751773e-01 -3.14109130e+01] [-1.61180217e-02 9.99860647e-01 4.34684770e-03 -2.74579074e+00] [ 1.42803923e-01 -2.00085016e-03 9.89748976e-01 -4.91789316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26463044 meters Centerline goodness : 0.325780 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.75, Z:-4.91 [[ 9.89501011e-01 8.91472605e-03 -1.44250740e-01 -3.13901393e+01] [-8.26358236e-03 9.99952787e-01 5.11250103e-03 -2.74532336e+00] [ 1.44289506e-01 -3.86679707e-03 9.89527961e-01 -4.91437503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32463044 meters Centerline goodness : 0.319523 with order 2 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.75, Z:-4.91 [[ 9.89603479e-01 5.24882940e-03 -1.43726837e-01 -3.13911484e+01] [-4.92162426e-03 9.99984425e-01 2.63201474e-03 -2.75213152e+00] [ 1.43738414e-01 -1.89728146e-03 9.89613899e-01 -4.91459466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38463044 meters Centerline goodness : 0.107219 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.76, Z:-4.92 [[ 9.89450953e-01 3.74699229e-03 -1.44819793e-01 -3.14352899e+01] [-3.46315037e-03 9.99991557e-01 2.21201272e-03 -2.75998449e+00] [ 1.44826858e-01 -1.68714538e-03 9.89455575e-01 -4.92094596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44463044 meters Centerline goodness : 0.091566 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.76, Z:-4.92 [[ 9.89373239e-01 4.09906782e-03 -1.45340260e-01 -3.14335384e+01] [-3.72004930e-03 9.99988935e-01 2.87948595e-03 -2.76375421e+00] [ 1.45350455e-01 -2.30821341e-03 9.89377540e-01 -4.92125241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50463044 meters Centerline goodness : 0.090302 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.77, Z:-4.92 [[ 9.89407638e-01 4.52150832e-03 -1.45093358e-01 -3.14341804e+01] [-4.07215296e-03 9.99985950e-01 3.39385313e-03 -2.76641481e+00] [ 1.45106665e-01 -2.76706186e-03 9.89412148e-01 -4.92124381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56463044000003 meters Centerline goodness : 0.325786 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.77, Z:-4.92 [[ 9.89450198e-01 4.76336166e-03 -1.44795085e-01 -3.14351430e+01] [-4.26482651e-03 9.99983862e-01 3.75324446e-03 -2.76835917e+00] [ 1.44810627e-01 -3.09612255e-03 9.89454545e-01 -4.92099703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62463044000003 meters Centerline goodness : 0.330059 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.77, Z:-4.92 [[ 9.89420755e-01 4.61131301e-03 -1.45001054e-01 -3.14338735e+01] [-4.07639250e-03 9.99983747e-01 3.98597595e-03 -2.77480579e+00] [ 1.45017077e-01 -3.35272613e-03 9.89423472e-01 -4.92161130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68463044000003 meters Centerline goodness : 0.323351 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.78, Z:-4.92 [[ 9.89356083e-01 4.80311203e-03 -1.45435456e-01 -3.14324074e+01] [-4.18932921e-03 9.99980981e-01 4.52628519e-03 -2.77871772e+00] [ 1.45454430e-01 -3.86883078e-03 9.89357388e-01 -4.92189488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74463044000004 meters Centerline goodness : 0.093667 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.78, Z:-4.92 [[ 9.89315069e-01 4.91999969e-03 -1.45710288e-01 -3.14319695e+01] [-4.24465764e-03 9.99978763e-01 4.94537105e-03 -2.78207125e+00] [ 1.45731525e-01 -4.27403982e-03 9.89314942e-01 -4.92155735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80463044000004 meters Centerline goodness : 0.099045 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.78, Z:-4.92 [[ 9.89282893e-01 5.14831237e-03 -1.45920708e-01 -3.14312728e+01] [-4.40893035e-03 9.99975754e-01 5.38996957e-03 -2.78460053e+00] [ 1.45944919e-01 -4.68885045e-03 9.89281606e-01 -4.92163853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86463044 meters Centerline goodness : 0.303461 with order 3 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89282942e-01 5.29886026e-03 -1.45914987e-01 -3.14317496e+01] [-4.52139176e-03 9.99973764e-01 5.65936041e-03 -2.78678681e+00] [ 1.45941147e-01 -4.93896990e-03 9.89280945e-01 -4.92104468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92463044 meters Centerline goodness : 0.093264 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89314827e-01 5.48994170e-03 -1.45691571e-01 -3.14325151e+01] [-4.69749454e-03 9.99972247e-01 5.78268413e-03 -2.78710190e+00] [ 1.45719275e-01 -5.03650978e-03 9.89313159e-01 -4.92073994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98463044 meters Centerline goodness : 0.091154 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89378552e-01 5.73841966e-03 -1.45248582e-01 -3.14339743e+01] [-4.94338396e-03 9.99970764e-01 5.83395589e-03 -2.78684252e+00] [ 1.45277814e-01 -5.05397132e-03 9.89377994e-01 -4.92027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04463044 meters Centerline goodness : 0.092535 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89378883e-01 5.73954899e-03 -1.45246284e-01 -3.14346709e+01] [-4.92433446e-03 9.99970045e-01 5.97154372e-03 -2.78812305e+00] [ 1.45276208e-01 -5.19287798e-03 9.89377510e-01 -4.91951348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10463044 meters Centerline goodness : 0.092537 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.79, Z:-4.92 [[ 9.89401691e-01 5.76007191e-03 -1.45090028e-01 -3.14351851e+01] [-4.92230565e-03 9.99969082e-01 6.13244271e-03 -2.78930463e+00] [ 1.45120865e-01 -5.35327172e-03 9.89399453e-01 -4.91925796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16463044 meters Centerline goodness : 0.110013 with order 3 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89370447e-01 5.72596954e-03 -1.45304276e-01 -3.14344776e+01] [-4.88244449e-03 9.99969100e-01 6.16118364e-03 -2.78981400e+00] [ 1.45335065e-01 -5.38625295e-03 9.89367832e-01 -4.91936986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22463044 meters Centerline goodness : 0.092008 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89303434e-01 5.66193645e-03 -1.45762332e-01 -3.14331592e+01] [-4.81756343e-03 9.99969514e-01 6.14515272e-03 -2.79020106e+00] [ 1.45792682e-01 -5.37720141e-03 9.89300551e-01 -4.91948571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28463044 meters Centerline goodness : 0.091512 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89254492e-01 5.53071112e-03 -1.46099151e-01 -3.14323575e+01] [-4.66703240e-03 9.99969555e-01 6.25369805e-03 -2.79236101e+00] [ 1.46129290e-01 -5.50464942e-03 9.89250185e-01 -4.91938010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34463044 meters Centerline goodness : 0.326190 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.79, Z:-4.92 [[ 9.89305802e-01 5.63006489e-03 -1.45747497e-01 -3.14338264e+01] [-4.71607871e-03 9.99966994e-01 6.61579138e-03 -2.79483873e+00] [ 1.45779934e-01 -5.85768413e-03 9.89299701e-01 -4.91856851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40463044 meters Centerline goodness : 0.091906 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.80, Z:-4.92 [[ 9.89378124e-01 3.08944003e-03 -1.45331978e-01 -3.14357675e+01] [-2.43651996e-03 9.99986125e-01 4.67039415e-03 -2.79818179e+00] [ 1.45344390e-01 -4.26668153e-03 9.89371924e-01 -4.91786774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46463044 meters Centerline goodness : 0.090178 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.80, Z:-4.92 [[ 9.89344247e-01 3.30226308e-03 -1.45557743e-01 -3.14352732e+01] [-2.60727345e-03 9.99984274e-01 4.96517847e-03 -2.79945900e+00] [ 1.45571850e-01 -4.53276191e-03 9.89337299e-01 -4.91773553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52463044 meters Centerline goodness : 0.089836 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.80, Z:-4.92 [[ 9.89373107e-01 3.66030834e-03 -1.45352874e-01 -3.14357486e+01] [-2.94690542e-03 9.99982535e-01 5.12308716e-03 -2.79944851e+00] [ 1.45369087e-01 -4.64030349e-03 9.89366614e-01 -4.91772394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58463044 meters Centerline goodness : 0.087838 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.80, Z:-4.92 [[ 9.89341808e-01 3.90071322e-03 -1.45559513e-01 -3.14352666e+01] [-3.18708293e-03 9.99981734e-01 5.13554606e-03 -2.79850521e+00] [ 1.45576887e-01 -4.61690019e-03 9.89336168e-01 -4.91763970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64463044 meters Centerline goodness : 0.326011 with order 1 Centerline is valid? [False, False] Translation: X:-31.45, Y:-2.80, Z:-4.92 [[ 9.89207990e-01 1.15824816e-02 -1.46059569e-01 -3.14545568e+01] [-1.10827224e-02 9.99929617e-01 4.23490731e-03 -2.80296896e+00] [ 1.46098340e-01 -2.57046649e-03 9.89266732e-01 -4.92140989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70463044 meters Centerline goodness : 0.151104 with order 3 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.80, Z:-4.92 [[ 9.89456461e-01 3.98553957e-03 -1.44775786e-01 -3.14358514e+01] [-3.30578694e-03 9.99982356e-01 4.93547313e-03 -2.80022096e+00] [ 1.44792902e-01 -4.40483787e-03 9.89452178e-01 -4.91748541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76463044 meters Centerline goodness : 0.331899 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.80, Z:-4.92 [[ 9.89155115e-01 3.59169976e-03 -1.46830711e-01 -3.14801601e+01] [-2.87656090e-03 9.99982946e-01 5.08254419e-03 -2.80423387e+00] [ 1.46846462e-01 -4.60505710e-03 9.89148578e-01 -4.92343324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82463044 meters Centerline goodness : 0.090620 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.80, Z:-4.92 [[ 9.89087737e-01 3.61100104e-03 -1.47283432e-01 -3.14782350e+01] [-2.89479887e-03 9.99982923e-01 5.07680530e-03 -2.80433947e+00] [ 1.47299249e-01 -4.59504995e-03 9.89081299e-01 -4.92429793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88463044 meters Centerline goodness : 0.091909 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.80, Z:-4.92 [[ 9.89074058e-01 3.52141957e-03 -1.47377431e-01 -3.14781106e+01] [-2.82164139e-03 9.99983733e-01 4.95700043e-03 -2.80471059e+00] [ 1.47392489e-01 -4.48699428e-03 9.89067905e-01 -4.92413276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94463044 meters Centerline goodness : 0.092807 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.92 [[ 9.89110568e-01 3.60556597e-03 -1.47130158e-01 -3.14786920e+01] [-2.87930651e-03 9.99982599e-01 5.14884745e-03 -2.80603859e+00] [ 1.47146162e-01 -4.66914661e-03 9.89103739e-01 -4.92411294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00463044 meters Centerline goodness : 0.116122 with order 3 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.93 [[ 9.89098800e-01 3.65326979e-03 -1.47208074e-01 -3.14776034e+01] [-2.89327528e-03 9.99981361e-01 5.37651618e-03 -2.80824417e+00] [ 1.47224972e-01 -4.89199222e-03 9.89090934e-01 -4.92500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06463044000003 meters Centerline goodness : 0.094582 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.92 [[ 9.89125251e-01 3.76243325e-03 -1.47027488e-01 -3.14780259e+01] [-2.96932268e-03 9.99979836e-01 5.61340846e-03 -2.80957117e+00] [ 1.47045644e-01 -5.11579200e-03 9.89116478e-01 -4.92496014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12463044000003 meters Centerline goodness : 0.326091 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.93 [[ 9.89021291e-01 3.50673425e-03 -1.47731477e-01 -3.14753649e+01] [-2.72451883e-03 9.99981181e-01 5.49687269e-03 -2.81085181e+00] [ 1.47747973e-01 -5.03402693e-03 9.89012232e-01 -4.92581277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18463044000003 meters Centerline goodness : 0.095196 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.93 [[ 9.89021963e-01 3.65617319e-03 -1.47723354e-01 -3.14752439e+01] [-2.84404186e-03 9.99979662e-01 5.70850136e-03 -2.81159049e+00] [ 1.47741221e-01 -5.22570182e-03 9.89012246e-01 -4.92588493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24463044000004 meters Centerline goodness : 0.286858 with order 3 Centerline is valid? [False, False] Translation: X:-31.48, Y:-2.81, Z:-4.93 [[ 9.89029773e-01 3.64605796e-03 -1.47671304e-01 -3.14755290e+01] [-2.83714735e-03 9.99979798e-01 5.68804557e-03 -2.81170350e+00] [ 1.47689060e-01 -5.20668117e-03 9.89020137e-01 -4.92567903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30463044000004 meters Centerline goodness : 0.319825 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.81, Z:-4.93 [[ 9.88928937e-01 3.38142369e-03 -1.48351351e-01 -3.14731442e+01] [-2.62215993e-03 9.99982446e-01 5.31329502e-03 -2.81089734e+00] [ 1.48366714e-01 -4.86547023e-03 9.88920444e-01 -4.92640821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36463044 meters Centerline goodness : 0.323591 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.81, Z:-4.93 [[ 9.88935626e-01 3.52638104e-03 -1.48303376e-01 -3.14729097e+01] [-2.74813233e-03 9.99981360e-01 5.45226525e-03 -2.81092632e+00] [ 1.48319838e-01 -4.98438205e-03 9.88926884e-01 -4.92677307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42463044 meters Centerline goodness : 0.327059 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.81, Z:-4.93 [[ 9.88984812e-01 3.28350890e-03 -1.47980610e-01 -3.14741917e+01] [-2.55166376e-03 9.99983560e-01 5.13512018e-03 -2.81020502e+00] [ 1.47995038e-01 -4.70095910e-03 9.88976931e-01 -4.92624862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48463044 meters Centerline goodness : 0.121849 with order 3 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.81, Z:-4.93 [[ 9.88950299e-01 3.37414965e-03 -1.48209049e-01 -3.14730973e+01] [-2.67037340e-03 9.99984197e-01 4.94726714e-03 -2.80803662e+00] [ 1.48223399e-01 -4.49682782e-03 9.88943680e-01 -4.92685738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54463044 meters Centerline goodness : 0.087693 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.80, Z:-4.93 [[ 9.88987139e-01 3.57116680e-03 -1.47958390e-01 -3.14735667e+01] [-2.90522616e-03 9.99984656e-01 4.71673617e-03 -2.80491166e+00] [ 1.47972964e-01 -4.23493883e-03 9.88982339e-01 -4.92715835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60463044 meters Centerline goodness : 0.096187 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.80, Z:-4.93 [[ 9.88995018e-01 3.52606610e-03 -1.47906802e-01 -3.14737980e+01] [-2.88623848e-03 9.99985528e-01 4.54028877e-03 -2.80369834e+00] [ 1.47920670e-01 -4.06342867e-03 9.88990882e-01 -4.92708318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66463044 meters Centerline goodness : 0.084546 with order 1 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.80, Z:-4.93 [[ 9.89025125e-01 3.31428430e-03 -1.47710252e-01 -3.14746591e+01] [-2.74029085e-03 9.99987884e-01 4.08927371e-03 -2.80146700e+00] [ 1.47722015e-01 -3.63962539e-03 9.89022224e-01 -4.92678244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72463044 meters Centerline goodness : 0.225553 with order 1 Centerline is valid? [False, False] Translation: X:-31.49, Y:-2.81, Z:-4.93 [[ 9.89042361e-01 9.61728114e-03 -1.47318414e-01 -3.14920956e+01] [-9.36125713e-03 9.99953227e-01 2.43113839e-03 -2.80676211e+00] [ 1.47334905e-01 -1.02541329e-03 9.89086131e-01 -4.93137030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78463044 meters Centerline goodness : 0.088336 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.94 [[ 9.88833586e-01 1.65785997e-03 -1.49014732e-01 -3.15095824e+01] [-1.12050651e-03 9.99992564e-01 3.68992493e-03 -2.80374079e+00] [ 1.49019741e-01 -3.48174973e-03 9.88828091e-01 -4.93555128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84463044 meters Centerline goodness : 0.163883 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.94 [[ 9.88783875e-01 1.27115609e-03 -1.49348023e-01 -3.15091647e+01] [-7.74251150e-04 9.99993970e-01 3.38525657e-03 -2.80321611e+00] [ 1.49351426e-01 -3.23165424e-03 9.88778897e-01 -4.93506636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90463044 meters Centerline goodness : 0.088022 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.93 [[ 9.88822124e-01 1.08119255e-03 -1.49096072e-01 -3.15103721e+01] [-5.95064779e-04 9.99994361e-01 3.30507186e-03 -2.80326560e+00] [ 1.49098804e-01 -3.17940635e-03 9.88817191e-01 -4.93436630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96463044 meters Centerline goodness : 0.089466 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.93 [[ 9.88863557e-01 7.05133289e-04 -1.48823282e-01 -3.15108570e+01] [-2.64948706e-04 9.99995532e-01 2.97757187e-03 -2.80263892e+00] [ 1.48824717e-01 -2.90498177e-03 9.88859325e-01 -4.93459505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02463044 meters Centerline goodness : 0.089593 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.93 [[ 9.88853667e-01 5.31552907e-04 -1.48889701e-01 -3.15109138e+01] [-1.16129984e-04 9.99996077e-01 2.79881857e-03 -2.80189689e+00] [ 1.48890605e-01 -2.75033145e-03 9.88849849e-01 -4.93432308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08463044 meters Centerline goodness : 0.092900 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.93 [[ 9.88857823e-01 3.28524819e-04 -1.48862679e-01 -3.15110342e+01] [ 7.35565652e-05 9.99996364e-01 2.69550846e-03 -2.80188459e+00] [ 1.48863023e-01 -2.67642446e-03 9.88854204e-01 -4.93419919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14463044 meters Centerline goodness : 0.405041 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.80, Z:-4.93 [[ 9.88891246e-01 8.57401409e-05 -1.48640829e-01 -3.15115740e+01] [ 3.00806413e-04 9.99996632e-01 2.57805802e-03 -2.80258964e+00] [ 1.48640549e-01 -2.59413113e-03 9.88887889e-01 -4.93414607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20463044 meters Centerline goodness : 0.088741 with order 1 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.81, Z:-4.93 [[ 9.88893600e-01 1.62950457e-04 -1.48625104e-01 -3.15116303e+01] [ 2.71034027e-04 9.99995759e-01 2.89973611e-03 -2.80500520e+00] [ 1.48624946e-01 -2.90781295e-03 9.88889362e-01 -4.93404589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26463044 meters Centerline goodness : 0.484545 with order 2 Centerline is valid? [False, False] Translation: X:-31.51, Y:-2.81, Z:-4.93 [[ 9.88827793e-01 -9.32999087e-05 -1.49062361e-01 -3.15103680e+01] [ 5.45009114e-04 9.99995383e-01 2.98949165e-03 -2.80831408e+00] [ 1.49061393e-01 -3.03733277e-03 9.88823278e-01 -4.93409089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32463044 meters SLAMing on 430.38463044 meters Centerline goodness : 0.092025 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.83, Z:-4.94 [[ 9.88493355e-01 -2.79899143e-03 -1.51238397e-01 -3.15526958e+01] [ 3.24370462e-03 9.99991111e-01 2.69385233e-03 -2.82732238e+00] [ 1.51229513e-01 -3.15342782e-03 9.88493647e-01 -4.94044181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44463044 meters Centerline goodness : 0.297067 with order 2 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.84, Z:-4.94 [[ 9.88432615e-01 -3.02956049e-03 -1.51630429e-01 -3.15516139e+01] [ 3.53884329e-03 9.99988967e-01 3.08896479e-03 -2.83659552e+00] [ 1.51619398e-01 -3.58982987e-03 9.88432431e-01 -4.94033838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50463044 meters Centerline goodness : 0.087758 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.84, Z:-4.94 [[ 9.88389959e-01 -2.71509876e-03 -1.51914180e-01 -3.15507484e+01] [ 3.31072398e-03 9.99987792e-01 3.66799676e-03 -2.84059076e+00] [ 1.51902367e-01 -4.12835708e-03 9.88386882e-01 -4.94034389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56463044000003 meters Centerline goodness : 0.181482 with order 3 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.85, Z:-4.94 [[ 9.88573248e-01 4.44793534e-03 -1.50675643e-01 -3.15704315e+01] [-3.97476924e-03 9.99986179e-01 3.44132146e-03 -2.85150675e+00] [ 1.50688867e-01 -2.80309742e-03 9.88577265e-01 -4.94395534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62463044000003 meters Centerline goodness : 0.121733 with order 3 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.86, Z:-4.94 [[ 9.88542178e-01 4.65316844e-03 -1.50873162e-01 -3.15704944e+01] [-4.07093002e-03 9.99983028e-01 4.16776209e-03 -2.86045042e+00] [ 1.50889994e-01 -3.50581453e-03 9.88544343e-01 -4.94328227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68463044000003 meters Centerline goodness : 0.090467 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.87, Z:-4.95 [[ 9.88624094e-01 1.15148553e-02 -1.49966026e-01 -3.15889341e+01] [-1.10911483e-02 9.99931788e-01 3.66145188e-03 -2.87132965e+00] [ 1.49997957e-01 -1.95650411e-03 9.88684371e-01 -4.94757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74463044000004 meters Centerline goodness : 0.150899 with order 3 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.87, Z:-4.95 [[ 9.88622523e-01 1.20657052e-02 -1.49933072e-01 -3.15894289e+01] [-1.15487986e-02 9.99923988e-01 4.31783046e-03 -2.87420825e+00] [ 1.49973773e-01 -2.53715758e-03 9.88686720e-01 -4.94702924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80463044000004 meters Centerline goodness : 0.281852 with order 3 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.87, Z:-4.95 [[ 9.88536016e-01 4.65506449e-03 -1.50913470e-01 -3.16086240e+01] [-3.83923405e-03 9.99976403e-01 5.69686401e-03 -2.87204248e+00] [ 1.50936428e-01 -5.05216312e-03 9.88530561e-01 -4.95022650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86463044 meters Centerline goodness : 0.090586 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.87, Z:-4.95 [[ 9.88585882e-01 4.77709533e-03 -1.50582649e-01 -3.16096117e+01] [-3.94927667e-03 9.99975404e-01 5.79601087e-03 -2.87283569e+00] [ 1.50606634e-01 -5.13516197e-03 9.88580433e-01 -4.95002893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92463044 meters Centerline goodness : 0.088382 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.87, Z:-4.95 [[ 9.88573664e-01 4.78271336e-03 -1.50662655e-01 -3.16096475e+01] [-3.93981946e-03 9.99974877e-01 5.89257799e-03 -2.87373887e+00] [ 1.50687053e-01 -5.23166375e-03 9.88567672e-01 -4.94969460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98463044 meters Centerline goodness : 0.309639 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88550140e-01 4.71498700e-03 -1.50819063e-01 -3.16090260e+01] [-3.85318622e-03 9.99974541e-01 6.00586663e-03 -2.87529904e+00] [ 1.50843541e-01 -5.35596636e-03 9.88543140e-01 -4.94982409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04463044 meters Centerline goodness : 0.336843 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88535885e-01 7.99996775e-04 -1.50983986e-01 -3.16084272e+01] [-3.60433869e-04 9.99995617e-01 2.93866567e-03 -2.87824599e+00] [ 1.50985675e-01 -2.85055672e-03 9.88531841e-01 -4.94996033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10463044 meters Centerline goodness : 0.088699 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88526322e-01 9.15299521e-04 -1.51045929e-01 -3.16082282e+01] [-3.94241673e-04 9.99993869e-01 3.47957500e-03 -2.88184104e+00] [ 1.51048188e-01 -3.38010287e-03 9.88520622e-01 -4.94982679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16463044 meters Centerline goodness : 0.335308 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88478165e-01 5.50243605e-04 -1.51362528e-01 -3.16077096e+01] [-1.97194127e-05 9.99993852e-01 3.50646900e-03 -2.88614070e+00] [ 1.51363527e-01 -3.46308326e-03 9.88472099e-01 -4.94929479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22463044 meters Centerline goodness : 0.340841 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88464318e-01 6.71161448e-04 -1.51452439e-01 -3.16069986e+01] [-1.22088065e-04 9.99993387e-01 3.63465467e-03 -2.88640706e+00] [ 1.51453877e-01 -3.57423592e-03 9.88457864e-01 -4.94971812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28463044 meters Centerline goodness : 0.338413 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88447601e-01 8.97661627e-04 -1.51560331e-01 -3.16063729e+01] [-3.74278555e-04 9.99993869e-01 3.48179091e-03 -2.88399705e+00] [ 1.51562528e-01 -3.38484209e-03 9.88441876e-01 -4.95016452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34463044 meters Centerline goodness : 0.335234 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88453581e-01 8.51841060e-04 -1.51521594e-01 -3.16066826e+01] [-3.53695094e-04 9.99994444e-01 3.31454503e-03 -2.88288848e+00] [ 1.51523575e-01 -3.22268146e-03 9.88448390e-01 -4.94988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40463044 meters Centerline goodness : 0.341933 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.88, Z:-4.95 [[ 9.88544022e-01 4.81996709e-04 -1.50932054e-01 -3.16082508e+01] [ 1.51498961e-05 9.99994579e-01 3.29267655e-03 -2.88439904e+00] [ 1.50932823e-01 -3.25724233e-03 9.88538655e-01 -4.94972024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46463044 meters Centerline goodness : 0.088549 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88512845e-01 2.01385178e-04 -1.51136740e-01 -3.16073719e+01] [ 3.08712826e-04 9.99994336e-01 3.35160484e-03 -2.88700480e+00] [ 1.51136559e-01 -3.35976228e-03 9.88507184e-01 -4.94990486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52463044 meters Centerline goodness : 0.087680 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88514913e-01 2.13756510e-04 -1.51123197e-01 -3.16071203e+01] [ 3.15058504e-04 9.99993912e-01 3.47527878e-03 -2.88805832e+00] [ 1.51123019e-01 -3.48297755e-03 9.88508827e-01 -4.95008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58463044 meters Centerline goodness : 0.087853 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88525126e-01 3.76341146e-04 -1.51056062e-01 -3.16069110e+01] [ 1.76973880e-04 9.99993325e-01 3.64951762e-03 -2.88880040e+00] [ 1.51056427e-01 -3.63437285e-03 9.88518461e-01 -4.95045948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64463044 meters Centerline goodness : 0.087094 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.89, Z:-4.95 [[ 9.88446096e-01 4.60067789e-04 -1.51572105e-01 -3.16051646e+01] [ 6.32636180e-05 9.99994054e-01 3.44784899e-03 -2.88692459e+00] [ 1.51572790e-01 -3.41760187e-03 9.88440190e-01 -4.95088589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70463044 meters Centerline goodness : 0.087848 with order 1 Centerline is valid? [False, False] Translation: X:-31.60, Y:-2.88, Z:-4.95 [[ 9.88449751e-01 7.61269272e-04 -1.51547056e-01 -3.16048839e+01] [-2.84432996e-04 9.99994941e-01 3.16810969e-03 -2.88226512e+00] [ 1.51548701e-01 -3.08841225e-03 9.88444967e-01 -4.95136088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76463044 meters Centerline goodness : 0.172348 with order 3 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.88, Z:-4.96 [[ 9.88536858e-01 7.98142561e-03 -1.50768621e-01 -3.16254558e+01] [-7.75202637e-03 9.99967728e-01 2.10922035e-03 -2.88433880e+00] [ 1.50780590e-01 -9.16279735e-04 9.88566828e-01 -4.95537993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82463044 meters Centerline goodness : 0.125788 with order 3 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.88, Z:-4.95 [[ 9.88532582e-01 7.55113937e-03 -1.50818815e-01 -3.16258456e+01] [-7.38653061e-03 9.99971355e-01 1.65163010e-03 -2.88305827e+00] [ 1.50826966e-01 -5.18662373e-04 9.88560042e-01 -4.95474165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88463044 meters Centerline goodness : 0.087960 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.88, Z:-4.95 [[ 9.88556800e-01 4.45669007e-03 -1.50783260e-01 -3.16263174e+01] [-4.65430349e-03 9.99988710e-01 -9.57689909e-04 -2.88376810e+00] [ 1.50777289e-01 1.64852192e-03 9.88566382e-01 -4.95441296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94463044 meters Centerline goodness : 0.333162 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.89, Z:-4.95 [[ 9.88584927e-01 4.33022874e-03 -1.50602429e-01 -3.16270862e+01] [-4.49122042e-03 9.99989649e-01 -7.28865348e-04 -2.88609708e+00] [ 1.50597713e-01 1.39693400e-03 9.88594142e-01 -4.95394230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00463044 meters Centerline goodness : 0.087674 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.89, Z:-4.95 [[ 9.88628801e-01 4.32945318e-03 -1.50314172e-01 -3.16281540e+01] [-4.45575949e-03 9.99989946e-01 -5.03495497e-04 -2.88800777e+00] [ 1.50310481e-01 1.16753395e-03 9.88638152e-01 -4.95345594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06463044000003 meters Centerline goodness : 0.287156 with order 2 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.89, Z:-4.95 [[ 9.88544958e-01 4.45966798e-03 -1.50860790e-01 -3.16265732e+01] [-4.54433645e-03 9.99989651e-01 -2.16484711e-04 -2.89022464e+00] [ 1.50858263e-01 8.99567055e-04 9.88554994e-01 -4.95344921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12463044000003 meters Centerline goodness : 0.087577 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.90, Z:-4.96 [[ 9.88411978e-01 3.27880405e-03 -1.51759715e-01 -3.16714511e+01] [-3.33857640e-03 9.99994417e-01 -1.39056384e-04 -2.89507773e+00] [ 1.51758412e-01 6.44106400e-04 9.88417407e-01 -4.96001564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18463044000003 meters Centerline goodness : 0.336091 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.90, Z:-4.96 [[ 9.88447060e-01 3.21021156e-03 -1.51532515e-01 -3.16719435e+01] [-3.21029857e-03 9.99994817e-01 2.44071301e-04 -2.90011117e+00] [ 1.51532513e-01 2.45213058e-04 9.88452243e-01 -4.95989295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24463044000004 meters Centerline goodness : 0.092449 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.90, Z:-4.96 [[ 9.88371753e-01 3.27099092e-03 -1.52021639e-01 -3.16705484e+01] [-3.20615547e-03 9.99994635e-01 6.71614010e-04 -2.90412131e+00] [ 1.52023020e-01 -1.76399306e-04 9.88376937e-01 -4.95988840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30463044000004 meters Centerline goodness : 0.330412 with order 2 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.91, Z:-4.96 [[ 9.88347494e-01 3.39555398e-03 -1.52176546e-01 -3.16701932e+01] [-3.25087054e-03 9.99993996e-01 1.19955304e-03 -2.90929212e+00] [ 1.52179706e-01 -6.90868992e-04 9.88352599e-01 -4.95970626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36463044 meters Centerline goodness : 0.296341 with order 2 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.91, Z:-4.96 [[ 9.88268275e-01 3.57267786e-03 -1.52686126e-01 -3.16684634e+01] [-3.37818268e-03 9.99993119e-01 1.53322711e-03 -2.91171363e+00] [ 1.52690553e-01 -9.99438086e-04 9.88273543e-01 -4.95994492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42463044 meters Centerline goodness : 0.334127 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88225679e-01 3.89605892e-03 -1.52953679e-01 -3.16681241e+01] [-3.62444979e-03 9.99991321e-01 2.05454850e-03 -2.91511607e+00] [ 1.52960356e-01 -1.47598466e-03 9.88231223e-01 -4.95942670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48463044 meters Centerline goodness : 0.335919 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88217572e-01 4.00715737e-03 -1.53003178e-01 -3.16680290e+01] [-3.70204452e-03 9.99990550e-01 2.27899879e-03 -2.91693300e+00] [ 1.53010864e-01 -1.68572207e-03 9.88223069e-01 -4.95930429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54463044 meters Centerline goodness : 0.101036 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88180122e-01 3.97198341e-03 -1.53245780e-01 -3.16673652e+01] [-3.66337328e-03 9.99990654e-01 2.29613910e-03 -2.91788806e+00] [ 1.53253468e-01 -1.70760252e-03 9.88185437e-01 -4.95919229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60463044 meters Centerline goodness : 0.322428 with order 2 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88198906e-01 4.62935171e-03 -1.53106146e-01 -3.16679109e+01] [-4.26748368e-03 9.99987271e-01 2.69205443e-03 -2.91683545e+00] [ 1.53116660e-01 -2.00690727e-03 9.88206082e-01 -4.95894328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66463044 meters Centerline goodness : 0.334736 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88180362e-01 4.59972522e-03 -1.53226680e-01 -3.16678602e+01] [-4.26952511e-03 9.99987800e-01 2.48395541e-03 -2.91533686e+00] [ 1.53236236e-01 -1.80039079e-03 9.88187945e-01 -4.95854354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72463044 meters Centerline goodness : 0.097155 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88101052e-01 4.35349459e-03 -1.53744458e-01 -3.16667678e+01] [-4.04498647e-03 9.99989129e-01 2.31938033e-03 -2.91536155e+00] [ 1.53752884e-01 -1.66988789e-03 9.88107920e-01 -4.95824296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78463044 meters Centerline goodness : 0.090706 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88174231e-01 1.63565841e-03 -1.53326497e-01 -3.16684625e+01] [-1.60977537e-03 9.99998661e-01 2.92954458e-04 -2.91788219e+00] [ 1.53326771e-01 -4.26688270e-05 9.88175541e-01 -4.95764408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84463044 meters Centerline goodness : 0.304313 with order 2 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.92, Z:-4.96 [[ 9.88228344e-01 -2.32895915e-03 -1.52968350e-01 -3.16694700e+01] [ 1.98981306e-03 9.99995211e-01 -2.37015261e-03 -2.92346776e+00] [ 1.52973138e-01 2.03787356e-03 9.88228246e-01 -4.95706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90463044 meters Centerline goodness : 0.087310 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.93, Z:-4.96 [[ 9.88108240e-01 -4.30657194e-03 -1.53699577e-01 -3.16668024e+01] [ 3.81723884e-03 9.99986664e-01 -3.47866511e-03 -2.92945027e+00] [ 1.53712508e-01 2.85058967e-03 9.88111501e-01 -4.95745376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96463044 meters Centerline goodness : 0.087484 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.94, Z:-4.96 [[ 9.87848781e-01 -5.33343526e-03 -1.55326562e-01 -3.16618355e+01] [ 4.80286965e-03 9.99981281e-01 -3.79089375e-03 -2.93614210e+00] [ 1.55343873e-01 2.99881653e-03 9.87855905e-01 -4.95792051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02463044 meters Centerline goodness : 0.088022 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.94, Z:-4.96 [[ 9.87802331e-01 -5.08304980e-03 -1.55630063e-01 -3.16611649e+01] [ 4.61770817e-03 9.99983722e-01 -3.35143575e-03 -2.93847777e+00] [ 1.55644565e-01 2.59190183e-03 9.87809724e-01 -4.95768917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08463044 meters Centerline goodness : 0.087538 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.94, Z:-4.96 [[ 9.87829107e-01 -4.89668143e-03 -1.55466003e-01 -3.16622761e+01] [ 4.46462236e-03 9.99985141e-01 -3.12817429e-03 -2.93967471e+00] [ 1.55479011e-01 2.39600462e-03 9.87836290e-01 -4.95679273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14463044 meters Centerline goodness : 0.091474 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.94, Z:-4.96 [[ 9.87821321e-01 -4.81419237e-03 -1.55518040e-01 -3.16625804e+01] [ 4.37609695e-03 9.99985434e-01 -3.15925002e-03 -2.93923518e+00] [ 1.55530984e-01 2.44021251e-03 9.87828000e-01 -4.95626845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20463044 meters Centerline goodness : 0.314746 with order 2 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87876181e-01 2.58112391e-03 -1.55222388e-01 -3.16813868e+01] [-3.26778939e-03 9.99985971e-01 -4.16875178e-03 -2.94241635e+00] [ 1.55209450e-01 4.62544466e-03 9.87870757e-01 -4.96041689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26463044 meters Centerline goodness : 0.323306 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87850490e-01 2.56220317e-03 -1.55386114e-01 -3.16811316e+01] [-3.27331706e-03 9.99985308e-01 -4.32073573e-03 -2.94132435e+00] [ 1.55372761e-01 4.77686893e-03 9.87844364e-01 -4.96012436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32463044 meters Centerline goodness : 0.335649 with order 1 Centerline is valid? [False, False] Translation: X:-31.70, Y:-2.95, Z:-4.96 [[ 9.88043931e-01 1.03000277e-02 -1.53828147e-01 -3.17032974e+01] [-1.11287438e-02 9.99927825e-01 -4.52715243e-03 -2.94515704e+00] [ 1.53770415e-01 6.18493952e-03 9.88087246e-01 -4.96321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38463044 meters Centerline goodness : 0.327921 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87992679e-01 3.89857455e-03 -1.54451503e-01 -3.16845846e+01] [-4.52837531e-03 9.99982805e-01 -3.72605080e-03 -2.93597388e+00] [ 1.54434321e-01 4.38072529e-03 9.87993345e-01 -4.95909047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44463044 meters Centerline goodness : 0.093441 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.93, Z:-4.96 [[ 9.87975942e-01 3.84768178e-03 -1.54559808e-01 -3.16841569e+01] [-4.50623423e-03 9.99982200e-01 -3.91070439e-03 -2.93464615e+00] [ 1.54542010e-01 4.56016455e-03 9.87975694e-01 -4.95923369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50463044 meters Centerline goodness : 0.169103 with order 2 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.93, Z:-4.96 [[ 9.87934240e-01 4.02108941e-03 -1.54821729e-01 -3.16830258e+01] [-4.69691631e-03 9.99980971e-01 -3.99964240e-03 -2.93176463e+00] [ 1.54802700e-01 4.67856838e-03 9.87934327e-01 -4.95970093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56463044000003 meters Centerline goodness : 0.154344 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.93, Z:-4.96 [[ 9.87854100e-01 3.56970837e-03 -1.55343279e-01 -3.16817289e+01] [-4.29712406e-03 9.99981319e-01 -4.34708176e-03 -2.93151083e+00] [ 1.55324859e-01 4.96181188e-03 9.87850985e-01 -4.95954533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62463044000003 meters Centerline goodness : 0.088230 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.93, Z:-4.96 [[ 9.87819730e-01 -1.74950413e-04 -1.55602541e-01 -3.16807876e+01] [-9.68752755e-04 9.99973073e-01 -7.27429500e-03 -2.93274607e+00] [ 1.55599624e-01 7.33643251e-03 9.87792961e-01 -4.95966293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68463044000003 meters Centerline goodness : 0.090489 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.93, Z:-4.96 [[ 9.87799679e-01 -5.94717655e-04 -1.55728738e-01 -3.16803065e+01] [-5.57147868e-04 9.99972812e-01 -7.35286233e-03 -2.93420636e+00] [ 1.55728877e-01 7.34991899e-03 9.87772492e-01 -4.95962126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74463044000004 meters Centerline goodness : 0.319186 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87710317e-01 -8.05469459e-04 -1.56293572e-01 -3.16790473e+01] [-3.33240045e-04 9.99973595e-01 -7.25936972e-03 -2.93608211e+00] [ 1.56295292e-01 7.22223764e-03 9.87683968e-01 -4.95933855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80463044000004 meters Centerline goodness : 0.178198 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87669248e-01 -8.97406322e-04 -1.56552393e-01 -3.16786214e+01] [-2.26580648e-04 9.99974330e-01 -7.16162816e-03 -2.93768329e+00] [ 1.56554801e-01 7.10879164e-03 9.87643691e-01 -4.95901641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86463044 meters Centerline goodness : 0.111775 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87700775e-01 -1.01720268e-03 -1.56352629e-01 -3.16797657e+01] [-8.33563625e-05 9.99975270e-01 -7.03223654e-03 -2.94000862e+00] [ 1.56355916e-01 6.95877847e-03 9.87676264e-01 -4.95828298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92463044 meters Centerline goodness : 0.088435 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.94, Z:-4.96 [[ 9.87768969e-01 -5.89653188e-04 -1.55923429e-01 -3.16810257e+01] [-4.03453225e-04 9.99979837e-01 -6.33746885e-03 -2.94325176e+00] [ 1.55924022e-01 6.32286289e-03 9.87748815e-01 -4.95796429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98463044 meters Centerline goodness : 0.109785 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.95, Z:-4.96 [[ 9.87749063e-01 -2.25414022e-04 -1.56050435e-01 -3.16810346e+01] [-7.05279003e-04 9.99982295e-01 -5.90865835e-03 -2.94524530e+00] [ 1.56049004e-01 5.94633084e-03 9.87731416e-01 -4.95760437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04463044 meters Centerline goodness : 0.169071 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.95, Z:-4.96 [[ 9.87776883e-01 2.56647037e-04 -1.55874189e-01 -3.16811345e+01] [-1.13099079e-03 9.99984122e-01 -5.52062921e-03 -2.94578731e+00] [ 1.55870297e-01 5.62944219e-03 9.87761489e-01 -4.95792092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10463044 meters Centerline goodness : 0.087096 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.95, Z:-4.96 [[ 9.87847459e-01 7.07903799e-04 -1.55424893e-01 -3.16825350e+01] [-1.54707386e-03 9.99984873e-01 -5.27830436e-03 -2.94639454e+00] [ 1.55418805e-01 5.45461333e-03 9.87833611e-01 -4.95751545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16463044 meters Centerline goodness : 0.090158 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.95, Z:-4.96 [[ 9.87857594e-01 9.40298334e-04 -1.55359226e-01 -3.16827065e+01] [-1.74731383e-03 9.99985681e-01 -5.05803478e-03 -2.94692609e+00] [ 1.55352246e-01 5.26807940e-03 9.87845093e-01 -4.95750786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22463044 meters Centerline goodness : 0.092155 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.95, Z:-4.96 [[ 9.87837880e-01 7.11343256e-04 -1.55485746e-01 -3.16820188e+01] [-1.48728431e-03 9.99987015e-01 -4.87415585e-03 -2.95089453e+00] [ 1.55480260e-01 5.04612729e-03 9.87826111e-01 -4.95783511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28463044 meters Centerline goodness : 0.174103 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.96, Z:-4.96 [[ 9.87855786e-01 7.24181853e-04 -1.55371882e-01 -3.16825091e+01] [-1.41340721e-03 9.99989646e-01 -4.32554545e-03 -2.95607486e+00] [ 1.55367140e-01 4.49261884e-03 9.87846581e-01 -4.95752244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34463044 meters Centerline goodness : 0.136804 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.97, Z:-4.96 [[ 9.87738905e-01 -2.54510801e-03 -1.56094130e-01 -3.16783151e+01] [ 1.60269350e-03 9.99979724e-01 -6.16303559e-03 -2.96630195e+00] [ 1.56106651e-01 5.83729898e-03 9.87722957e-01 -4.95952632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40463044 meters Centerline goodness : 0.171089 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.97, Z:-4.96 [[ 9.87692228e-01 -2.28782349e-03 -1.56393184e-01 -3.16771651e+01] [ 1.46577047e-03 9.99984499e-01 -5.37144844e-03 -2.97236035e+00] [ 1.56403049e-01 5.07610136e-03 9.87680272e-01 -4.95973795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46463044 meters Centerline goodness : 0.316105 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.98, Z:-4.96 [[ 9.87729568e-01 -1.98523001e-03 -1.56161325e-01 -3.16778687e+01] [ 1.26294913e-03 9.99988043e-01 -4.72430724e-03 -2.97647482e+00] [ 1.56168837e-01 4.46911414e-03 9.87720265e-01 -4.95953089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52463044 meters Centerline goodness : 0.097126 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.98, Z:-4.96 [[ 9.87738101e-01 -1.65052700e-03 -1.56111241e-01 -3.16777042e+01] [ 1.03749594e-03 9.99991429e-01 -4.00828654e-03 -2.98086309e+00] [ 1.56116519e-01 3.79717255e-03 9.87731347e-01 -4.95989366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58463044 meters Centerline goodness : 0.313702 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.98, Z:-4.96 [[ 9.87939946e-01 -3.19210228e-03 -1.54804629e-01 -3.16825274e+01] [ 2.43504531e-03 9.99984133e-01 -5.07977771e-03 -2.98391682e+00] [ 1.54818388e-01 4.64155903e-03 9.87932044e-01 -4.95857043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64463044 meters Centerline goodness : 0.318750 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.99, Z:-4.96 [[ 9.87937132e-01 -3.21249151e-03 -1.54822164e-01 -3.16823368e+01] [ 2.48933248e-03 9.99985070e-01 -4.86454611e-03 -2.98515417e+00] [ 1.54835480e-01 4.42046189e-03 9.87930379e-01 -4.95887950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70463044 meters Centerline goodness : 0.088049 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.99, Z:-4.96 [[ 9.87881041e-01 4.27299831e-03 -1.55154087e-01 -3.16661763e+01] [-5.09046454e-03 9.99975176e-01 -4.87180954e-03 -2.99252691e+00] [ 1.55129419e-01 5.60257466e-03 9.87878269e-01 -4.95594085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76463044 meters Centerline goodness : 0.093280 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.99, Z:-4.96 [[ 9.87916095e-01 4.11571951e-03 -1.54934987e-01 -3.16671570e+01] [-4.94028557e-03 9.99975608e-01 -4.93735160e-03 -2.99278997e+00] [ 1.54910887e-01 5.64311220e-03 9.87912330e-01 -4.95549236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82463044 meters Centerline goodness : 0.094240 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-3.00, Z:-4.96 [[ 9.87826924e-01 4.40121408e-03 -1.55494685e-01 -3.17128081e+01] [-4.94068456e-03 9.99983042e-01 -3.08307510e-03 -2.99593406e+00] [ 1.55478479e-01 3.81379478e-03 9.87831918e-01 -4.96223029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88463044 meters Centerline goodness : 0.092653 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-3.00, Z:-4.96 [[ 9.87899373e-01 4.29405316e-03 -1.55036735e-01 -3.17139650e+01] [-4.83872917e-03 9.99983376e-01 -3.13600344e-03 -2.99573395e+00] [ 1.55020691e-01 3.84823660e-03 9.87903728e-01 -4.96230025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94463044 meters Centerline goodness : 0.090161 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-3.00, Z:-4.96 [[ 9.87896802e-01 4.33145675e-03 -1.55052078e-01 -3.17130958e+01] [-4.85368433e-03 9.99983752e-01 -2.98965914e-03 -2.99664273e+00] [ 1.55036609e-01 3.70604854e-03 9.87901774e-01 -4.96317611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00463044 meters Centerline goodness : 0.309180 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-3.00, Z:-4.96 [[ 9.87840468e-01 4.09021221e-03 -1.55417114e-01 -3.17115147e+01] [-4.63869756e-03 9.99984227e-01 -3.16661054e-03 -2.99685275e+00] [ 1.55401710e-01 3.84903902e-03 9.87843861e-01 -4.96390549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06463044000003 meters Centerline goodness : 0.093692 with order 1 Centerline is valid? [False, False] Translation: X:-31.71, Y:-3.00, Z:-4.96 [[ 9.87887813e-01 4.18036371e-03 -1.55113485e-01 -3.17119140e+01] [-4.69961068e-03 9.99984514e-01 -2.98097325e-03 -2.99738368e+00] [ 1.55098621e-01 3.67384013e-03 9.87892160e-01 -4.96431328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12463044000003 meters Centerline goodness : 0.093717 with order 1 Centerline is valid? [False, False] Translation: X:-31.69, Y:-3.00, Z:-4.96 [[ 9.87752232e-01 1.10926204e-02 -1.55635735e-01 -3.16943323e+01] [-1.17919413e-02 9.99924097e-01 -3.57075995e-03 -3.00372437e+00] [ 1.55584313e-01 5.36227355e-03 9.87808062e-01 -4.96158838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18463044000003 meters Centerline goodness : 0.095990 with order 1 Centerline is valid? [False, False] Translation: X:-31.69, Y:-3.00, Z:-4.96 [[ 9.87766349e-01 1.11551411e-02 -1.55541643e-01 -3.16943882e+01] [-1.18714672e-02 9.99922770e-01 -3.67718981e-03 -3.00221522e+00] [ 1.55488611e-01 5.47871186e-03 9.87822492e-01 -4.96176018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24463044000004 meters Centerline goodness : 0.313019 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-3.00, Z:-4.96 [[ 9.87919283e-01 1.93120116e-02 -1.53761298e-01 -3.16760082e+01] [-2.02878838e-02 9.99782753e-01 -4.77997745e-03 -3.00298939e+00] [ 1.53635583e-01 7.84172324e-03 9.88096460e-01 -4.95856439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30463044000004 meters Centerline goodness : 0.096467 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-3.00, Z:-4.96 [[ 9.87883997e-01 1.93901991e-02 -1.53978015e-01 -3.16745526e+01] [-2.04208554e-02 9.99778390e-01 -5.11458846e-03 -3.00028924e+00] [ 1.53844719e-01 8.19698286e-03 9.88061037e-01 -4.95930859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36463044 meters Centerline goodness : 0.312639 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-3.00, Z:-4.96 [[ 9.87866440e-01 1.94019472e-02 -1.54089132e-01 -3.16738524e+01] [-2.04557860e-02 9.99776940e-01 -5.25647134e-03 -2.99876949e+00] [ 1.53952776e-01 8.34470594e-03 9.88042969e-01 -4.95967626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42463044 meters Centerline goodness : 0.092730 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-3.00, Z:-4.96 [[ 9.87968887e-01 1.92476453e-02 -1.53450340e-01 -3.16753608e+01] [-2.03100864e-02 9.99779367e-01 -5.35896413e-03 -2.99768367e+00] [ 1.53313336e-01 8.41107949e-03 9.88141829e-01 -4.96000081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48463044 meters Centerline goodness : 0.173423 with order 3 Centerline is valid? [False, False] Translation: X:-31.68, Y:-3.00, Z:-4.96 [[ 9.88004351e-01 1.89338914e-02 -1.53260925e-01 -3.16753863e+01] [-2.00003150e-02 9.99785286e-01 -5.41933462e-03 -2.99851263e+00] [ 1.53125408e-01 8.41959296e-03 9.88170896e-01 -4.96059161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54463044 meters Centerline goodness : 0.098483 with order 1 Centerline is valid? [False, False] Translation: X:-31.69, Y:-2.99, Z:-4.97 [[ 9.88137468e-01 1.13220621e-02 -1.53154022e-01 -3.16926423e+01] [-1.20414511e-02 9.99920391e-01 -3.77037600e-03 -2.99298932e+00] [ 1.53099141e-01 5.56984646e-03 9.88195138e-01 -4.96597112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60463044 meters Centerline goodness : 0.087671 with order 1 Centerline is valid? [False, False] Translation: X:-31.69, Y:-2.99, Z:-4.97 [[ 9.88100441e-01 1.13305845e-02 -1.53392101e-01 -3.16911798e+01] [-1.20928214e-02 9.99918729e-01 -4.03709519e-03 -2.99089611e+00] [ 1.53333892e-01 5.84399882e-03 9.88157156e-01 -4.96669047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66463044 meters Centerline goodness : 0.313026 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.98, Z:-4.96 [[ 9.87870707e-01 5.31528028e-03 -1.55187677e-01 -3.16734683e+01] [-5.88932985e-03 9.99977410e-01 -3.23953705e-03 -2.98404530e+00] [ 1.55166952e-01 4.11419517e-03 9.87879694e-01 -4.96238323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72463044 meters Centerline goodness : 0.091199 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.99, Z:-4.96 [[ 9.87834812e-01 5.07417025e-03 -1.55424054e-01 -3.16727925e+01] [-5.65312852e-03 9.99978631e-01 -3.28324554e-03 -2.98502919e+00] [ 1.55404073e-01 4.12193639e-03 9.87842388e-01 -4.96246346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78463044 meters Centerline goodness : 0.091137 with order 1 Centerline is valid? [False, False] Translation: X:-31.65, Y:-2.98, Z:-4.96 [[ 9.87775382e-01 -2.27564074e-03 -1.55867301e-01 -3.16532693e+01] [ 1.88872588e-03 9.99994757e-01 -2.63039053e-03 -2.98169803e+00] [ 1.55872470e-01 2.30384441e-03 9.87774501e-01 -4.95823192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84463044 meters Centerline goodness : 0.090362 with order 1 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.99, Z:-4.96 [[ 9.87667359e-01 5.86008096e-03 -1.56457174e-01 -3.16358322e+01] [-6.25474248e-03 9.99978378e-01 -2.03027272e-03 -2.98702163e+00] [ 1.56441894e-01 2.98383342e-03 9.87682657e-01 -4.95611101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90463044 meters Centerline goodness : 0.320074 with order 1 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.99, Z:-4.96 [[ 9.87719596e-01 5.91364294e-03 -1.56125044e-01 -3.16364625e+01] [-6.32339704e-03 9.99977743e-01 -2.12798564e-03 -2.98585386e+00] [ 1.56108985e-01 3.08909376e-03 9.87735006e-01 -4.95631848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96463044 meters Centerline goodness : 0.090258 with order 1 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.98, Z:-4.96 [[ 9.87674723e-01 5.88277126e-03 -1.56409831e-01 -3.16356425e+01] [-6.34317605e-03 9.99976894e-01 -2.44459897e-03 -2.98375024e+00] [ 1.56391836e-01 3.40660371e-03 9.87689217e-01 -4.95643007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02463044 meters Centerline goodness : 0.090985 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.98, Z:-4.96 [[ 9.87580131e-01 5.90851451e-03 -1.57005016e-01 -3.16332418e+01] [-6.41321428e-03 9.99975768e-01 -2.70814062e-03 -2.98125373e+00] [ 1.56985210e-01 3.68141268e-03 9.87594092e-01 -4.95732714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08463044 meters Centerline goodness : 0.302044 with order 2 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.98, Z:-4.96 [[ 9.87527968e-01 9.58632592e-03 -1.57151567e-01 -3.16326980e+01] [-9.69719912e-03 9.99952979e-01 6.12136255e-05 -2.97777397e+00] [ 1.57144764e-01 1.46347987e-03 9.87574494e-01 -4.95741416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14463044 meters Centerline goodness : 0.302263 with order 2 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.98, Z:-4.96 [[ 9.87521000e-01 9.58084638e-03 -1.57195682e-01 -3.16324640e+01] [-9.70384070e-03 9.99952917e-01 -1.49571135e-05 -2.97696339e+00] [ 1.57188138e-01 1.54017232e-03 9.87567475e-01 -4.95747030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20463044 meters Centerline goodness : 0.321336 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.98, Z:-4.96 [[ 9.87421846e-01 9.23498667e-03 -1.57837930e-01 -3.16306836e+01] [-9.40305095e-03 9.99955740e-01 -3.18047817e-04 -2.97717808e+00] [ 1.57828007e-01 1.79820546e-03 9.87464980e-01 -4.95753577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26463044 meters Centerline goodness : 0.300551 with order 2 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.98, Z:-4.96 [[ 9.87673659e-01 7.43360139e-03 -1.56350518e-01 -3.16350364e+01] [-7.68382449e-03 9.99969983e-01 -9.96049127e-04 -2.98280045e+00] [ 1.56338420e-01 2.18514142e-03 9.87701131e-01 -4.95760155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32463044 meters Centerline goodness : 0.330743 with order 1 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.98, Z:-4.96 [[ 9.87682872e-01 7.12482435e-03 -1.56306692e-01 -3.16353684e+01] [-7.36994964e-03 9.99972353e-01 -9.88733417e-04 -2.98473788e+00] [ 1.56295326e-01 2.12852751e-03 9.87708074e-01 -4.95743718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38463044 meters Centerline goodness : 0.102298 with order 1 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.99, Z:-4.96 [[ 9.87579677e-01 7.10831932e-03 -1.56958126e-01 -3.16336391e+01] [-7.33112122e-03 9.99972774e-01 -8.40609804e-04 -2.98644129e+00] [ 1.56947877e-01 1.98084821e-03 9.87604901e-01 -4.95745330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44463044 meters Centerline goodness : 0.087899 with order 1 Centerline is valid? [False, False] Translation: X:-31.62, Y:-2.98, Z:-4.95 [[ 9.87829414e-01 5.23539651e-04 -1.55540267e-01 -3.16155097e+01] [-4.73331816e-04 9.99999823e-01 3.59832655e-04 -2.98178002e+00] [ 1.55540428e-01 -2.81831124e-04 9.87829487e-01 -4.95335401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50463044 meters Centerline goodness : 0.308651 with order 2 Centerline is valid? [False, False] Translation: X:-31.62, Y:-2.98, Z:-4.95 [[ 9.87885635e-01 7.01442630e-04 -1.55182086e-01 -3.16164309e+01] [-6.46977414e-04 9.99999710e-01 4.01481476e-04 -2.98103692e+00] [ 1.55182323e-01 -2.96218478e-04 9.87885803e-01 -4.95328765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56463044000003 meters Centerline goodness : 0.087163 with order 1 Centerline is valid? [False, False] Translation: X:-31.60, Y:-2.98, Z:-4.95 [[ 9.87560190e-01 9.84912388e-03 -1.56932679e-01 -3.15953590e+01] [-9.81711673e-03 9.99951332e-01 9.79087840e-04 -2.98297962e+00] [ 1.56934685e-01 5.73718258e-04 9.87608817e-01 -4.94985851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62463044000003 meters Centerline goodness : 0.091430 with order 1 Centerline is valid? [False, False] Translation: X:-31.60, Y:-2.98, Z:-4.95 [[ 9.87533711e-01 9.83778197e-03 -1.57099926e-01 -3.15952542e+01] [-9.83296785e-03 9.99951329e-01 8.07867423e-04 -2.98187605e+00] [ 1.57100227e-01 7.46962206e-04 9.87582382e-01 -4.94949687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68463044000003 meters Centerline goodness : 0.338563 with order 1 Centerline is valid? [False, False] Translation: X:-31.58, Y:-2.98, Z:-4.94 [[ 9.87495491e-01 3.25237829e-03 -1.57613694e-01 -3.15774887e+01] [-3.00993069e-03 9.99993891e-01 1.77691056e-03 -2.97636316e+00] [ 1.57618511e-01 -1.28028487e-03 9.87499249e-01 -4.94469036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74463044000004 meters Centerline goodness : 0.090860 with order 1 Centerline is valid? [False, False] Translation: X:-31.58, Y:-2.98, Z:-4.94 [[ 9.87491387e-01 3.39608560e-03 -1.57636376e-01 -3.15774190e+01] [-3.13598838e-03 9.99993280e-01 1.89868147e-03 -2.97644080e+00] [ 1.57641765e-01 -1.38058576e-03 9.87495402e-01 -4.94469768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80463044000004 meters Centerline goodness : 0.092443 with order 1 Centerline is valid? [False, False] Translation: X:-31.58, Y:-2.98, Z:-4.94 [[ 9.87477065e-01 3.37514841e-03 -1.57726515e-01 -3.15770864e+01] [-3.12992815e-03 9.99993476e-01 1.80308383e-03 -2.97575707e+00] [ 1.57731572e-01 -1.28683127e-03 9.87481187e-01 -4.94474544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86463044 meters Centerline goodness : 0.091450 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.98, Z:-4.94 [[ 9.87350896e-01 1.11267181e-02 -1.58159429e-01 -3.15597118e+01] [-1.10923952e-02 9.99937873e-01 1.09977971e-03 -2.98082754e+00] [ 1.58161840e-01 6.68498407e-04 9.87412976e-01 -4.94065168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92463044 meters Centerline goodness : 0.092503 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.98, Z:-4.94 [[ 9.87297561e-01 1.10971868e-02 -1.58494095e-01 -3.15590937e+01] [-1.10800094e-02 9.99938123e-01 9.92049116e-04 -2.98061788e+00] [ 1.58495296e-01 7.76668377e-04 9.87359427e-01 -4.94030561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98463044 meters Centerline goodness : 0.090789 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.98, Z:-4.94 [[ 9.87283734e-01 1.09319387e-02 -1.58591681e-01 -3.15590312e+01] [-1.09498058e-02 9.99939759e-01 7.61168187e-04 -2.98020248e+00] [ 1.58590449e-01 9.85059150e-04 9.87343962e-01 -4.94002556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04463044 meters Centerline goodness : 0.328766 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.98, Z:-4.94 [[ 9.87317828e-01 1.06430075e-02 -1.58398969e-01 -3.15596811e+01] [-1.06932504e-02 9.99942682e-01 5.35109447e-04 -2.98025738e+00] [ 1.58395585e-01 1.16547673e-03 9.87375045e-01 -4.93981136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10463044 meters Centerline goodness : 0.091145 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.98, Z:-4.94 [[ 9.87392707e-01 1.06310987e-02 -1.57932336e-01 -3.15614318e+01] [-1.06414880e-02 9.99943074e-01 7.79865064e-04 -2.98178620e+00] [ 1.57931636e-01 9.10601973e-04 9.87449629e-01 -4.93931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16463044 meters Centerline goodness : 0.092448 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.98, Z:-4.93 [[ 9.87554032e-01 2.65486493e-03 -1.57257707e-01 -3.15426128e+01] [-2.44678484e-03 9.99995856e-01 1.51675676e-03 -2.98158203e+00] [ 1.57261083e-01 -1.11310347e-03 9.87556435e-01 -4.93477920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22463044 meters Centerline goodness : 0.091052 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.98, Z:-4.93 [[ 9.87507771e-01 2.65108600e-03 -1.57548008e-01 -3.15419146e+01] [-2.40938224e-03 9.99995609e-01 1.72512923e-03 -2.98324183e+00] [ 1.57551890e-01 -1.32398515e-03 9.87509822e-01 -4.93462926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28463044 meters Centerline goodness : 0.087790 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.99, Z:-4.94 [[ 9.87461913e-01 3.19110368e-04 -1.57857117e-01 -3.15400935e+01] [-2.69398393e-04 9.99999907e-01 3.36314806e-04 -2.98935617e+00] [ 1.57857210e-01 -2.89571608e-04 9.87461907e-01 -4.93510567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34463044 meters Centerline goodness : 0.337820 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-2.99, Z:-4.93 [[ 9.87735106e-01 8.32414034e-04 -1.56136695e-01 -3.14982346e+01] [-8.74897141e-04 9.99999597e-01 -2.03366175e-04 -2.98982246e+00] [ 1.56136463e-01 3.37475459e-04 9.87735436e-01 -4.92772138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40463044 meters Centerline goodness : 0.327713 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-2.99, Z:-4.93 [[ 9.87667363e-01 9.77843329e-04 -1.56563800e-01 -3.14968075e+01] [-9.27799447e-04 9.99999492e-01 3.92719128e-04 -2.99489936e+00] [ 1.56564104e-01 -2.42616059e-04 9.87667769e-01 -4.92784468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46463044 meters Centerline goodness : 0.090499 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-3.00, Z:-4.92 [[ 9.87633918e-01 6.25173910e-03 -1.56652994e-01 -3.14753514e+01] [-6.77113522e-03 9.99973205e-01 -2.78214418e-03 -3.00049877e+00] [ 1.56631403e-01 3.80845856e-03 9.87649786e-01 -4.92441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52463044 meters Centerline goodness : 0.087363 with order 1 Centerline is valid? [False, False] Translation: X:-31.48, Y:-3.00, Z:-4.92 [[ 9.87617710e-01 6.47472810e-03 -1.56746093e-01 -3.14752229e+01] [-6.91685856e-03 9.99973490e-01 -2.27537130e-03 -3.00331148e+00] [ 1.56727205e-01 3.33138755e-03 9.87636312e-01 -4.92416819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58463044 meters Centerline goodness : 0.089428 with order 1 Centerline is valid? [False, False] Translation: X:-31.46, Y:-3.00, Z:-4.92 [[ 9.87850135e-01 3.50853074e-04 -1.55409097e-01 -3.14567880e+01] [-4.52560413e-04 9.99999706e-01 -6.19068619e-04 -3.00114263e+00] [ 1.55408834e-01 6.81879024e-04 9.87850004e-01 -4.92043097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64463044 meters Centerline goodness : 0.091230 with order 1 Centerline is valid? [False, False] Translation: X:-31.46, Y:-3.00, Z:-4.92 [[ 9.87840332e-01 5.41550642e-04 -1.55470847e-01 -3.14559424e+01] [-6.37350029e-04 9.99999637e-01 -5.66341670e-04 -3.00060354e+00] [ 1.55470484e-01 6.58544492e-04 9.87840319e-01 -4.92106557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70463044 meters Centerline goodness : 0.093678 with order 1 Centerline is valid? [False, False] Translation: X:-31.46, Y:-3.00, Z:-4.92 [[ 9.87827300e-01 7.17532067e-04 -1.55552921e-01 -3.14556233e+01] [-8.01256690e-04 9.99999566e-01 -4.75538979e-04 -3.00027362e+00] [ 1.55552512e-01 5.94388204e-04 9.87827446e-01 -4.92108463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76463044 meters Centerline goodness : 0.090443 with order 1 Centerline is valid? [False, False] Translation: X:-31.46, Y:-3.00, Z:-4.92 [[ 9.87917154e-01 8.70428850e-04 -1.54980446e-01 -3.14571001e+01] [-9.31346150e-04 9.99999515e-01 -3.20455978e-04 -3.00083419e+00] [ 1.54980092e-01 4.60924400e-04 9.87917486e-01 -4.92094538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82463044 meters Centerline goodness : 0.088703 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-3.00, Z:-4.92 [[ 9.88002465e-01 8.94461152e-03 -1.54178864e-01 -3.14369630e+01] [-9.30416211e-03 9.99955418e-01 -1.61061215e-03 -3.00274785e+00] [ 1.54157584e-01 3.02579393e-03 9.88041641e-01 -4.91758783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88463044 meters Centerline goodness : 0.091295 with order 1 Centerline is valid? [False, False] Translation: X:-31.44, Y:-3.00, Z:-4.92 [[ 9.87963809e-01 8.74514442e-03 -1.54437804e-01 -3.14356415e+01] [-9.11684732e-03 9.99956998e-01 -1.69872161e-03 -3.00377080e+00] [ 1.54416308e-01 3.08626135e-03 9.88001052e-01 -4.91818219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94463044 meters Centerline goodness : 0.089773 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-3.00, Z:-4.91 [[ 9.87930784e-01 2.41704119e-03 -1.54877123e-01 -3.14173229e+01] [-2.48259404e-03 9.99996892e-01 -2.29842909e-04 -3.00002990e+00] [ 1.54876086e-01 6.11565909e-04 9.87933714e-01 -4.91356073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00463044 meters Centerline goodness : 0.089860 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-3.00, Z:-4.91 [[ 9.87907627e-01 2.52173313e-03 -1.55023100e-01 -3.14162557e+01] [-2.57938408e-03 9.99996659e-01 -1.70739095e-04 -2.99992811e+00] [ 1.55022152e-01 5.68538571e-04 9.87910831e-01 -4.91419999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06463044000003 meters Centerline goodness : 0.095319 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-3.00, Z:-4.91 [[ 9.87929616e-01 2.66240676e-03 -1.54880553e-01 -3.14165718e+01] [-2.70399729e-03 9.99996343e-01 -5.78638906e-05 -2.99987355e+00] [ 1.54879832e-01 4.75962046e-04 9.87933202e-01 -4.91418709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12463044000003 meters Centerline goodness : 0.092300 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-3.00, Z:-4.91 [[ 9.87956801e-01 2.54622926e-03 -1.54709006e-01 -3.14168190e+01] [-2.59118346e-03 9.99996639e-01 -8.89193365e-05 -3.00060728e+00] [ 1.54708259e-01 4.88727880e-04 9.87960078e-01 -4.91433365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18463044000003 meters Centerline goodness : 0.087975 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-3.00, Z:-4.91 [[ 9.87869736e-01 2.96138269e-03 -1.55256610e-01 -3.13713152e+01] [-3.17126188e-03 9.99994362e-01 -1.10415679e-03 -2.99900866e+00] [ 1.55252465e-01 1.58312245e-03 9.87873558e-01 -4.90768000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24463044000004 meters Centerline goodness : 0.091963 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-3.00, Z:-4.91 [[ 9.87799827e-01 2.98156460e-03 -1.55700392e-01 -3.13697489e+01] [-3.14826626e-03 9.99994705e-01 -8.24070194e-04 -3.00109889e+00] [ 1.55697111e-01 1.30420269e-03 9.87803983e-01 -4.90805795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30463044000004 meters Centerline goodness : 0.093578 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-3.01, Z:-4.91 [[ 9.87755278e-01 2.01059444e-03 -1.55998297e-01 -3.13688827e+01] [-2.21470055e-03 9.99996904e-01 -1.13458892e-03 -3.00789721e+00] [ 1.55995533e-01 1.46618571e-03 9.87756673e-01 -4.90805285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36463044 meters Centerline goodness : 0.093305 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-3.01, Z:-4.91 [[ 9.87775646e-01 2.38848734e-03 -1.55863940e-01 -3.13692113e+01] [-2.50691447e-03 9.99996699e-01 -5.63245086e-04 -3.01058987e+00] [ 1.55862080e-01 9.47097345e-04 9.87778373e-01 -4.90790380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42463044 meters Centerline goodness : 0.321022 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.01, Z:-4.90 [[ 9.87772797e-01 1.13443190e-02 -1.55487001e-01 -3.13512154e+01] [-1.15977838e-02 9.99932482e-01 -7.23033744e-04 -3.01498753e+00] [ 1.55468301e-01 2.51749770e-03 9.87837674e-01 -4.90426803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48463044 meters Centerline goodness : 0.090060 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.01, Z:-4.91 [[ 9.87909047e-01 1.20457962e-02 -1.54565886e-01 -3.13524865e+01] [-1.22560515e-02 9.99924809e-01 -4.07422807e-04 -3.01343649e+00] [ 1.54549356e-01 2.29686412e-03 9.87982399e-01 -4.90500831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54463044 meters Centerline goodness : 0.088970 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.01, Z:-4.91 [[ 9.87926007e-01 1.18831297e-02 -1.54470046e-01 -3.13526117e+01] [-1.21381150e-02 9.99926080e-01 -7.07633640e-04 -3.01211048e+00] [ 1.54450219e-01 2.57406486e-03 9.87997219e-01 -4.90505010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60463044 meters Centerline goodness : 0.090126 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.01, Z:-4.91 [[ 9.87883511e-01 1.15187652e-02 -1.54769139e-01 -3.13514459e+01] [-1.17688990e-02 9.99930499e-01 -6.99988868e-04 -3.01328359e+00] [ 1.54750320e-01 2.51296983e-03 9.87950416e-01 -4.90578958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66463044 meters Centerline goodness : 0.090378 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.02, Z:-4.91 [[ 9.87947156e-01 1.12845418e-02 -1.54379652e-01 -3.13521351e+01] [-1.14789970e-02 9.99934046e-01 -3.68214909e-04 -3.01512926e+00] [ 1.54365315e-01 2.13590043e-03 9.88011532e-01 -4.90649002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72463044 meters Centerline goodness : 0.094404 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-3.02, Z:-4.91 [[ 9.87920916e-01 1.11897159e-02 -1.54554371e-01 -3.13515857e+01] [-1.13655972e-02 9.99935377e-01 -2.54398397e-04 -3.01634393e+00] [ 1.54541536e-01 2.00792822e-03 9.87984252e-01 -4.90657345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78463044 meters Centerline goodness : 0.094790 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-3.01, Z:-4.90 [[ 9.87702194e-01 3.82977257e-03 -1.56300059e-01 -3.13298722e+01] [-3.85735531e-03 9.99992552e-01 1.26844069e-04 -3.01381774e+00] [ 1.56299380e-01 4.77620697e-04 9.87709611e-01 -4.90305574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84463044 meters Centerline goodness : 0.092839 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-3.01, Z:-4.90 [[ 9.87747049e-01 3.93125114e-03 -1.56013819e-01 -3.13300832e+01] [-3.93390649e-03 9.99992220e-01 2.91743554e-04 -3.01421493e+00] [ 1.56013752e-01 3.25574943e-04 9.87754829e-01 -4.90344552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90463044 meters Centerline goodness : 0.324122 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-3.01, Z:-4.90 [[ 9.87777427e-01 4.41804952e-03 -1.55808328e-01 -3.13294707e+01] [-4.41596554e-03 9.99990185e-01 3.59512765e-04 -3.01132875e+00] [ 1.55808387e-01 3.32925612e-04 9.87787242e-01 -4.90459361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96463044 meters Centerline goodness : 0.096342 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-3.00, Z:-4.91 [[ 9.87697555e-01 5.09987479e-03 -1.56293094e-01 -3.13270137e+01] [-5.10583231e-03 9.99986899e-01 3.63355074e-04 -3.00485116e+00] [ 1.56292899e-01 4.39121409e-04 9.87710654e-01 -4.90571512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02463044 meters Centerline goodness : 0.096321 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-3.00, Z:-4.91 [[ 9.87716614e-01 8.19381617e-03 -1.56040867e-01 -3.13277311e+01] [-7.93499648e-03 9.99965915e-01 2.28151149e-03 -2.99845716e+00] [ 1.56054242e-01 -1.01530308e-03 9.87747965e-01 -4.90543839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08463044 meters Centerline goodness : 0.329328 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.99, Z:-4.91 [[ 9.87869875e-01 1.08607517e-02 -1.54903692e-01 -3.13299695e+01] [-1.03987046e-02 9.99938739e-01 3.79280365e-03 -2.98896842e+00] [ 1.54935395e-01 -2.13599873e-03 9.87922295e-01 -4.90623371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14463044 meters Centerline goodness : 0.096163 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.99, Z:-4.91 [[ 9.87923562e-01 1.04767582e-02 -1.54587432e-01 -3.13305347e+01] [-1.00973304e-02 9.99943773e-01 3.23945140e-03 -2.98632012e+00] [ 1.54612679e-01 -1.63940999e-03 9.87973801e-01 -4.90657401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20463044 meters Centerline goodness : 0.084886 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.98, Z:-4.91 [[ 9.88065523e-01 9.63931341e-03 -1.53732253e-01 -3.13318815e+01] [-9.42391938e-03 9.99953326e-01 2.12976566e-03 -2.97886389e+00] [ 1.53745608e-01 -6.55587658e-04 9.88110246e-01 -4.90785688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26463044 meters Centerline goodness : 0.331860 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.97, Z:-4.91 [[ 9.88149052e-01 9.25480271e-03 -1.53218142e-01 -3.13322859e+01] [-9.14186041e-03 9.99957173e-01 1.44164162e-03 -2.97169570e+00] [ 1.53224923e-01 -2.38579319e-05 9.88191339e-01 -4.90895458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32463044 meters Centerline goodness : 0.091172 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.96, Z:-4.91 [[ 9.88187046e-01 9.02340987e-03 -1.52986735e-01 -3.13316068e+01] [-9.01566574e-03 9.99959081e-01 7.44355734e-04 -2.96299748e+00] [ 1.52987192e-01 6.43714574e-04 9.88227962e-01 -4.91032620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38463044 meters Centerline goodness : 0.086670 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.95, Z:-4.91 [[ 9.88155475e-01 1.15343094e-02 -1.53021950e-01 -3.13294538e+01] [-1.13510773e-02 9.99933430e-01 2.07102563e-03 -2.95081301e+00] [ 1.53035652e-01 -3.09531324e-04 9.88220620e-01 -4.91248435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44463044 meters Centerline goodness : 0.087855 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.94, Z:-4.91 [[ 9.88217527e-01 1.08246391e-02 -1.52672680e-01 -3.13290045e+01] [-1.08192006e-02 9.99941095e-01 8.66414583e-04 -2.93982533e+00] [ 1.52673066e-01 7.95590280e-04 9.88276430e-01 -4.91409889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50463044 meters Centerline goodness : 0.158100 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.93, Z:-4.92 [[ 9.88247385e-01 1.06332760e-02 -1.52492754e-01 -3.13277984e+01] [-1.07223798e-02 9.99942485e-01 2.38047805e-04 -2.93140109e+00] [ 1.52486515e-01 1.39983511e-03 9.88304560e-01 -4.91575263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56463044000003 meters Centerline goodness : 0.159238 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.92, Z:-4.92 [[ 9.88377311e-01 1.03057280e-02 -1.51670968e-01 -3.13292535e+01] [-1.05054246e-02 9.99944684e-01 -5.15361627e-04 -2.92292314e+00] [ 1.51657267e-01 2.10273966e-03 9.88430904e-01 -4.91651207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62463044000003 meters Centerline goodness : 0.086904 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.91, Z:-4.92 [[ 9.88298760e-01 1.05802981e-02 -1.52163131e-01 -3.13266989e+01] [-1.08930961e-02 9.99939922e-01 -1.22218115e-03 -2.91035285e+00] [ 1.52141059e-01 2.86540774e-03 9.88354637e-01 -4.91776339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68463044000003 meters Centerline goodness : 0.319065 with order 1 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.90, Z:-4.92 [[ 9.88454445e-01 2.97507471e-03 -1.51489139e-01 -3.13448309e+01] [-3.16208197e-03 9.99994507e-01 -9.93573557e-04 -2.89722959e+00] [ 1.51485351e-01 1.46112327e-03 9.88458423e-01 -4.92258783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74463044000004 meters Centerline goodness : 0.288001 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.88, Z:-4.92 [[ 9.88536835e-01 6.14334238e-03 -1.50854846e-01 -3.13474915e+01] [-6.12357235e-03 9.99981073e-01 5.95600861e-04 -2.88362690e+00] [ 1.50855649e-01 3.34997172e-04 9.88555745e-01 -4.92166354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80463044000004 meters Centerline goodness : 0.294628 with order 3 Centerline is valid? [False, False] Translation: X:-31.35, Y:-2.87, Z:-4.92 [[ 9.88522461e-01 8.90557509e-03 -1.50811257e-01 -3.13462731e+01] [-8.69890934e-03 9.99960103e-01 2.03003764e-03 -2.87346773e+00] [ 1.50823319e-01 -6.94844348e-04 9.88560491e-01 -4.92274359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86463044 meters Centerline goodness : 0.300114 with order 2 Centerline is valid? [False, False] Translation: X:-31.37, Y:-2.86, Z:-4.93 [[ 9.88721539e-01 4.28196617e-03 -1.49704319e-01 -3.13660001e+01] [-3.66557515e-03 9.99983632e-01 4.39307954e-03 -2.85840760e+00] [ 1.49720679e-01 -3.79477993e-03 9.88721052e-01 -4.92747366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92463044 meters Centerline goodness : 0.320579 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-2.84, Z:-4.93 [[ 9.88721607e-01 6.87309005e-03 -1.49607300e-01 -3.13658009e+01] [-6.12989651e-03 9.99966479e-01 5.42820119e-03 -2.84382816e+00] [ 1.49639593e-01 -4.44990254e-03 9.88730596e-01 -4.92796178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98463044 meters Centerline goodness : 0.299799 with order 2 Centerline is valid? [False, False] Translation: X:-31.36, Y:-2.83, Z:-4.93 [[ 9.88697333e-01 6.49432909e-03 -1.49784540e-01 -3.13646910e+01] [-5.92281887e-03 9.99973380e-01 4.26132758e-03 -2.83323130e+00] [ 1.49808227e-01 -3.32601651e-03 9.88709478e-01 -4.92865667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04463044 meters Centerline goodness : 0.088058 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.81, Z:-4.93 [[ 9.88439144e-01 1.77890665e-03 -1.51607697e-01 -3.13823150e+01] [-8.19976399e-04 9.99979264e-01 6.38736036e-03 -2.81423819e+00] [ 1.51615916e-01 -6.18920227e-03 9.88420107e-01 -4.93399566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10463044 meters Centerline goodness : 0.306238 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.80, Z:-4.93 [[ 9.88428783e-01 2.42726337e-03 -1.51666240e-01 -3.13817203e+01] [-1.54195300e-03 9.99981083e-01 5.95456657e-03 -2.80284689e+00] [ 1.51677824e-01 -5.65180278e-03 9.88413828e-01 -4.93461263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16463044 meters Centerline goodness : 0.306518 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.79, Z:-4.94 [[ 9.88446214e-01 4.61620973e-03 -1.51501724e-01 -3.13807250e+01] [-3.68187123e-03 9.99972439e-01 6.44712677e-03 -2.78630996e+00] [ 1.51527310e-01 -5.81482821e-03 9.88435968e-01 -4.93613537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22463044 meters Centerline goodness : 0.521653 with order 3 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.78, Z:-4.94 [[ 9.88458162e-01 7.81342208e-03 -1.51292472e-01 -3.13800158e+01] [-6.64213695e-03 9.99943944e-01 8.24568198e-03 -2.77518824e+00] [ 1.51348418e-01 -7.14560634e-03 9.88454651e-01 -4.93732704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28463044 meters Centerline goodness : 0.423297 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.76, Z:-4.94 [[ 9.88477800e-01 9.85351231e-03 -1.51044849e-01 -3.13794285e+01] [-8.61299923e-03 9.99923612e-01 8.86492384e-03 -2.76254342e+00] [ 1.51120661e-01 -7.46183125e-03 9.88487161e-01 -4.93855743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34463044 meters Centerline goodness : 0.093139 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.74, Z:-4.94 [[ 9.88389766e-01 1.30953422e-02 -1.51374314e-01 -3.13770038e+01] [-1.17551843e-02 9.99883421e-01 9.74479517e-03 -2.74110234e+00] [ 1.51484278e-01 -7.85222286e-03 9.88428478e-01 -4.94017476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40463044 meters Centerline goodness : 0.091449 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-2.72, Z:-4.94 [[ 9.88191890e-01 1.63976317e-02 -1.52341416e-01 -3.13719676e+01] [-1.49477426e-02 9.99831474e-01 1.06578388e-02 -2.71843673e+00] [ 1.52490506e-01 -8.25482960e-03 9.88270461e-01 -4.94253165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46463044 meters Centerline goodness : 0.096051 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.70, Z:-4.95 [[ 9.88394707e-01 1.04096821e-02 -1.51550457e-01 -3.13872068e+01] [-8.82005700e-03 9.99898853e-01 1.11575485e-02 -2.69894859e+00] [ 1.51651275e-01 -9.69137824e-03 9.88386548e-01 -4.94932512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52463044 meters Centerline goodness : 0.222198 with order 3 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.68, Z:-4.95 [[ 9.88234991e-01 1.16706713e-02 -1.52497208e-01 -3.13832739e+01] [-1.01089967e-02 9.99888266e-01 1.10120244e-02 -2.68447832e+00] [ 1.52608686e-01 -9.34087410e-03 9.88242550e-01 -4.95074996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58463044 meters Centerline goodness : 0.237626 with order 2 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.66, Z:-4.95 [[ 9.88072308e-01 1.27000642e-02 -1.53466032e-01 -3.13785240e+01] [-1.12232298e-02 9.99882037e-01 1.04857308e-02 -2.66277949e+00] [ 1.53581098e-01 -8.63827570e-03 9.88098288e-01 -4.95277187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64463044 meters Centerline goodness : 0.216474 with order 3 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.64, Z:-4.96 [[ 9.88178478e-01 6.19571513e-03 -1.53182599e-01 -3.13934139e+01] [-4.62220655e-03 9.99932858e-01 1.06261032e-02 -2.64397996e+00] [ 1.53238150e-01 -9.79244487e-03 9.88140768e-01 -4.95919543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70463044 meters Centerline goodness : 0.271181 with order 2 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.62, Z:-4.96 [[ 9.88018255e-01 7.42261315e-03 -1.54158463e-01 -3.13889381e+01] [-5.95490236e-03 9.99932463e-01 9.98037719e-03 -2.62330084e+00] [ 1.54222133e-01 -8.94279626e-03 9.87995729e-01 -4.96112681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76463044 meters Centerline goodness : 0.226181 with order 3 Centerline is valid? [False, False] Translation: X:-31.39, Y:-2.61, Z:-4.96 [[ 9.87932148e-01 9.17689045e-03 -1.54615187e-01 -3.13861840e+01] [-7.67588419e-03 9.99917469e-01 1.03022242e-02 -2.60949978e+00] [ 1.54696969e-01 -8.99109016e-03 9.87921054e-01 -4.96259705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82463044 meters Centerline goodness : 0.097482 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.60, Z:-4.96 [[ 9.87734615e-01 1.03094275e-02 -1.55801304e-01 -3.13815333e+01] [-8.86966167e-03 9.99911324e-01 9.93343045e-03 -2.59508858e+00] [ 1.55889896e-01 -8.42968825e-03 9.87738468e-01 -4.96410954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88463044 meters Centerline goodness : 0.259851 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.57, Z:-4.97 [[ 9.87545259e-01 1.24786434e-02 -1.56839551e-01 -3.14214508e+01] [-1.12100877e-02 9.99896929e-01 8.97023893e-03 -2.56723441e+00] [ 1.56935322e-01 -7.10033181e-03 9.87583358e-01 -4.97205795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94463044 meters Centerline goodness : 0.251895 with order 2 Centerline is valid? [False, False] Translation: X:-31.44, Y:-2.54, Z:-4.98 [[ 9.88142442e-01 1.10680747e-02 -1.53140500e-01 -3.14353775e+01] [-9.63725206e-03 9.99902730e-01 1.00823777e-02 -2.53976533e+00] [ 1.53237197e-01 -8.48697176e-03 9.88152991e-01 -4.97677300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00463044 meters Centerline goodness : 0.277145 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.52, Z:-4.98 [[ 9.87914372e-01 1.26932654e-02 -1.54480014e-01 -3.14298905e+01] [-1.12720189e-02 9.99885735e-01 1.00726657e-02 -2.52429520e+00] [ 1.54590217e-01 -8.20962956e-03 9.87944567e-01 -4.97868107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06463044000003 meters Centerline goodness : 0.271706 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.52, Z:-4.98 [[ 9.87785370e-01 1.26504283e-02 -1.55306241e-01 -3.14270481e+01] [-1.13424625e-02 9.99892376e-01 9.30515258e-03 -2.51678648e+00] [ 1.55407241e-01 -7.42993837e-03 9.87822548e-01 -4.97950507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12463044000003 meters Centerline goodness : 0.262332 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.49, Z:-4.98 [[ 9.87442945e-01 1.62045692e-02 -1.57142747e-01 -3.14201740e+01] [-1.48496140e-02 9.99841783e-01 9.79274497e-03 -2.49180547e+00] [ 1.57276572e-01 -7.33626779e-03 9.87527346e-01 -4.98142339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18463044000003 meters Centerline goodness : 0.247170 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.47, Z:-4.98 [[ 9.87216318e-01 2.08414311e-02 -1.58017646e-01 -3.14173180e+01] [-1.92042504e-02 9.99744990e-01 1.18807423e-02 -2.47285797e+00] [ 1.58224962e-01 -8.69425223e-03 9.87364812e-01 -4.98181460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24463044000004 meters Centerline goodness : 0.262768 with order 2 Centerline is valid? [False, False] Translation: X:-31.45, Y:-2.44, Z:-4.99 [[ 9.86739717e-01 2.64736669e-02 -1.60137051e-01 -3.14519602e+01] [-2.49431778e-02 9.99622027e-01 1.15603250e-02 -2.43608595e+00] [ 1.60382568e-01 -7.41270491e-03 9.87027094e-01 -4.98940553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30463044000004 meters Centerline goodness : 0.098897 with order 1 Centerline is valid? [False, False] Translation: X:-31.45, Y:-2.42, Z:-4.99 [[ 9.86346242e-01 3.01106598e-02 -1.61908737e-01 -3.14457402e+01] [-2.84519273e-02 9.99516322e-01 1.25542600e-02 -2.41515437e+00] [ 1.62208442e-01 -7.77623155e-03 9.86725875e-01 -4.99049831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36463044 meters Centerline goodness : 0.253416 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.38, Z:-4.99 [[ 9.85731414e-01 3.16245401e-02 -1.65328367e-01 -3.14339991e+01] [-2.99578775e-02 9.99472178e-01 1.25654605e-02 -2.38260113e+00] [ 1.65638480e-01 -7.43328215e-03 9.86158527e-01 -4.98932521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42463044 meters Centerline goodness : 0.238746 with order 2 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.36, Z:-4.99 [[ 9.85575914e-01 3.29346582e-02 -1.65998269e-01 -3.14336467e+01] [-3.14653799e-02 9.99438981e-01 1.14739788e-02 -2.36407311e+00] [ 1.66283033e-01 -6.08527855e-03 9.86059290e-01 -4.98852406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48463044 meters Centerline goodness : 0.231528 with order 3 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.35, Z:-4.99 [[ 9.85112542e-01 3.73542401e-02 -1.67803277e-01 -3.14283217e+01] [-3.56553370e-02 9.99277929e-01 1.31269664e-02 -2.34507918e+00] [ 1.68172459e-01 -6.94845683e-03 9.85733099e-01 -4.98894952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54463044 meters Centerline goodness : 0.229510 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.31, Z:-4.99 [[ 9.84527851e-01 4.29735044e-02 -1.69876981e-01 -3.14233705e+01] [-4.15954728e-02 9.99066445e-01 1.16642338e-02 -2.31051933e+00] [ 1.70219645e-01 -4.41764964e-03 9.85396244e-01 -4.98756401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60463044 meters Centerline goodness : 0.230292 with order 2 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.28, Z:-4.99 [[ 9.83935979e-01 4.91310657e-02 -1.71627874e-01 -3.14189877e+01] [-4.77992840e-02 9.98786237e-01 1.18861635e-02 -2.27712634e+00] [ 1.72003538e-01 -3.49153442e-03 9.85090144e-01 -4.98607745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66463044 meters Centerline goodness : 0.239594 with order 3 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.26, Z:-4.99 [[ 9.83720971e-01 5.03307207e-02 -1.72510494e-01 -3.14172497e+01] [-4.91683687e-02 9.98729851e-01 1.10070859e-02 -2.25993548e+00] [ 1.72845375e-01 -2.34584161e-03 9.84946178e-01 -4.98538746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72463044 meters Centerline goodness : 0.314539 with order 3 Centerline is valid? [False, False] Translation: X:-31.41, Y:-2.24, Z:-4.98 [[ 9.83395955e-01 5.05851281e-02 -1.74280064e-01 -3.14129062e+01] [-4.96967958e-02 9.98719547e-01 9.46022299e-03 -2.24434223e+00] [ 1.74535453e-01 -6.41984281e-04 9.84650681e-01 -4.98494551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78463044 meters Centerline goodness : 0.133198 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.22, Z:-4.98 [[ 9.83633680e-01 4.77032060e-02 -1.73750362e-01 -3.14195566e+01] [-4.65409378e-02 9.98858433e-01 1.07597801e-02 -2.21581748e+00] [ 1.74065290e-01 -2.49717728e-03 9.84730947e-01 -4.98404408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84463044 meters Centerline goodness : 0.088399 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.20, Z:-4.98 [[ 9.83636398e-01 4.72145001e-02 -1.73868419e-01 -3.14216962e+01] [-4.63022864e-02 9.98884169e-01 9.30130089e-03 -2.20306569e+00] [ 1.74113567e-01 -1.09859279e-03 9.84724966e-01 -4.98124294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90463044 meters Centerline goodness : 0.091457 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.18, Z:-4.98 [[ 9.84252829e-01 4.19486614e-02 -1.71716854e-01 -3.14327728e+01] [-4.09700728e-02 9.99117645e-01 9.24043089e-03 -2.18282817e+00] [ 1.71952963e-01 -2.05966824e-03 9.85103008e-01 -4.98171129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96463044 meters Centerline goodness : 0.158022 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.17, Z:-4.98 [[ 9.84162412e-01 4.08070192e-02 -1.72508359e-01 -3.14330411e+01] [-4.00369506e-02 9.99166632e-01 7.94251410e-03 -2.17497715e+00] [ 1.72688706e-01 -9.10015196e-04 9.84976031e-01 -4.97885741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02463044 meters Centerline goodness : 0.131463 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.17, Z:-4.98 [[ 9.84052065e-01 3.97837668e-02 -1.73374694e-01 -3.14324090e+01] [-3.92512498e-02 9.99208229e-01 6.50033540e-03 -2.16868519e+00] [ 1.73496029e-01 4.08504975e-04 9.84834484e-01 -4.97708304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08463044 meters Centerline goodness : 0.130099 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.16, Z:-4.98 [[ 9.83723474e-01 4.28383731e-02 -1.74507880e-01 -3.14305405e+01] [-4.20745737e-02 9.99081834e-01 8.07582186e-03 -2.15658560e+00] [ 1.74693608e-01 -6.02030871e-04 9.84622659e-01 -4.97545571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14463044 meters Centerline goodness : 0.136140 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.15, Z:-4.97 [[ 9.83692131e-01 4.26450772e-02 -1.74731761e-01 -3.14316869e+01] [-4.21519469e-02 9.99089845e-01 6.53415897e-03 -2.14901265e+00] [ 1.74851377e-01 9.37683126e-04 9.84594392e-01 -4.97435250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20463044 meters Centerline goodness : 0.136474 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.14, Z:-4.97 [[ 9.83541607e-01 4.61285972e-02 -1.74694188e-01 -3.14345329e+01] [-4.54062817e-02 9.98935508e-01 8.13150295e-03 -2.13604053e+00] [ 1.74883322e-01 -6.54579672e-05 9.84589163e-01 -4.97134961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26463044 meters Centerline goodness : 0.088563 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.13, Z:-4.97 [[ 9.83436865e-01 4.53708688e-02 -1.75480534e-01 -3.14332112e+01] [-4.49413331e-02 9.98968979e-01 6.42308697e-03 -2.12774517e+00] [ 1.75591030e-01 1.56962860e-03 9.84461948e-01 -4.97077291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32463044 meters Centerline goodness : 0.133300 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.12, Z:-4.97 [[ 9.83158919e-01 4.81317838e-02 -1.76300514e-01 -3.14327672e+01] [-4.75003632e-02 9.98840746e-01 7.80247954e-03 -2.11788659e+00] [ 1.76471685e-01 7.03261113e-04 9.84305466e-01 -4.96865634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38463044 meters Centerline goodness : 0.124732 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.11, Z:-4.97 [[ 9.83033630e-01 4.76182105e-02 -1.77136635e-01 -3.14310905e+01] [-4.72314299e-02 9.98863458e-01 6.40187411e-03 -2.11095293e+00] [ 1.77240158e-01 2.07315901e-03 9.84165448e-01 -4.96835848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44463044 meters Centerline goodness : 0.131965 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.10, Z:-4.97 [[ 9.82766847e-01 5.00148347e-02 -1.77954603e-01 -3.14283488e+01] [-4.95837398e-02 9.98746329e-01 6.87184817e-03 -2.10022427e+00] [ 1.78075201e-01 2.07023018e-03 9.84014704e-01 -4.96888146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50463044 meters Centerline goodness : 0.107468 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.09, Z:-4.97 [[ 9.82527642e-01 5.28833384e-02 -1.78445471e-01 -3.14271401e+01] [-5.22254702e-02 9.98600113e-01 8.38541664e-03 -2.09247368e+00] [ 1.78639116e-01 1.08049500e-03 9.83914071e-01 -4.96841212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56463044000003 meters Centerline goodness : 0.108463 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.08, Z:-4.97 [[ 9.82234159e-01 5.49323991e-02 -1.79439373e-01 -3.14242542e+01] [-5.43394003e-02 9.98488672e-01 8.22206950e-03 -2.07959766e+00] [ 1.79619839e-01 1.67463041e-03 9.83734674e-01 -4.96877272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62463044000003 meters Centerline goodness : 0.134607 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.07, Z:-4.97 [[ 9.81915413e-01 5.75447205e-02 -1.80362767e-01 -3.14205363e+01] [-5.68038939e-02 9.98342280e-01 9.27413417e-03 -2.07065590e+00] [ 1.80597453e-01 1.13889218e-03 9.83556436e-01 -4.96968235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68463044000003 meters Centerline goodness : 0.109844 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.06, Z:-4.97 [[ 9.81638374e-01 5.95077368e-02 -1.81231710e-01 -3.14186110e+01] [-5.88195275e-02 9.98226474e-01 9.17440437e-03 -2.05773607e+00] [ 1.81456239e-01 1.65401618e-03 9.83397629e-01 -4.96920081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74463044000004 meters Centerline goodness : 0.088913 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.05, Z:-4.97 [[ 9.81460419e-01 6.17823471e-02 -1.81434253e-01 -3.14187239e+01] [-6.09474474e-02 9.98089075e-01 1.01787746e-02 -2.04950239e+00] [ 1.81716414e-01 1.06789023e-03 9.83350398e-01 -4.96817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80463044000004 meters Centerline goodness : 0.093121 with order 3 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.04, Z:-4.97 [[ 9.81387628e-01 6.07294425e-02 -1.82181938e-01 -3.14167390e+01] [-6.01971689e-02 9.98150696e-01 8.45516601e-03 -2.04053585e+00] [ 1.82358506e-01 2.66904160e-03 9.83228484e-01 -4.96801783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86463044 meters Centerline goodness : 0.132027 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.03, Z:-4.97 [[ 9.81644140e-01 5.96217363e-02 -1.81162995e-01 -3.14181013e+01] [-5.91643150e-02 9.98216738e-01 7.93270144e-03 -2.02962121e+00] [ 1.81312896e-01 2.93129464e-03 9.83421091e-01 -4.96885066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92463044 meters Centerline goodness : 0.113820 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.03, Z:-4.97 [[ 9.81583396e-01 5.87981254e-02 -1.81760329e-01 -3.14169389e+01] [-5.84249249e-02 9.98264292e-01 7.41158927e-03 -2.02763739e+00] [ 1.81880634e-01 3.34424059e-03 9.83314930e-01 -4.96795045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98463044 meters Centerline goodness : 0.112389 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.02, Z:-4.97 [[ 9.81533448e-01 5.66124524e-02 -1.82721429e-01 -3.14151000e+01] [-5.64629720e-02 9.98386517e-01 6.02454549e-03 -2.02283621e+00] [ 1.82767676e-01 4.40370204e-03 9.83146268e-01 -4.96624826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04463044 meters Centerline goodness : 0.134016 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.02, Z:-4.97 [[ 9.81503927e-01 5.61211858e-02 -1.83031294e-01 -3.14150146e+01] [-5.60617210e-02 9.98412138e-01 5.50328738e-03 -2.01962979e+00] [ 1.83049517e-01 4.85955117e-03 9.83091684e-01 -4.96512219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10463044 meters Centerline goodness : 0.111596 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.01, Z:-4.96 [[ 9.81622437e-01 5.85054484e-02 -1.81643890e-01 -3.14206735e+01] [-5.82515630e-02 9.98279204e-01 6.73697978e-03 -2.01460477e+00] [ 1.81725468e-01 3.96786999e-03 9.83341299e-01 -4.96294402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16463044 meters Centerline goodness : 0.110666 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.01, Z:-4.96 [[ 9.81330104e-01 6.13177018e-02 -1.82294723e-01 -3.14178938e+01] [-6.08191396e-02 9.98114048e-01 8.32940751e-03 -2.00851556e+00] [ 1.82461664e-01 2.91310987e-03 9.83208653e-01 -4.96352986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22463044 meters Centerline goodness : 0.088730 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-2.00, Z:-4.96 [[ 9.81021217e-01 6.37713236e-02 -1.83113597e-01 -3.14144800e+01] [-6.31277745e-02 9.97961677e-01 9.34748107e-03 -2.00104496e+00] [ 1.83336454e-01 2.38947661e-03 9.83047321e-01 -4.96438573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28463044 meters Centerline goodness : 0.112688 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-1.99, Z:-4.96 [[ 9.80862029e-01 6.59708374e-02 -1.83187141e-01 -3.14154821e+01] [-6.52778589e-02 9.97818834e-01 9.81712425e-03 -1.98964785e+00] [ 1.83435223e-01 2.32881993e-03 9.83029041e-01 -4.96286417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34463044 meters Centerline goodness : 0.099673 with order 2 Centerline is valid? [False, False] Translation: X:-31.41, Y:-1.98, Z:-4.96 [[ 9.80806236e-01 6.46440261e-02 -1.83957271e-01 -3.14139973e+01] [-6.42477038e-02 9.97900944e-01 8.12028851e-03 -1.98339339e+00] [ 1.84096062e-01 3.85440263e-03 9.82900699e-01 -4.96207088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40463044 meters Centerline goodness : 0.113365 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-1.97, Z:-4.96 [[ 9.81388365e-01 5.50645200e-02 -1.83969497e-01 -3.14239283e+01] [-5.45004071e-02 9.98480689e-01 8.12522988e-03 -1.97155842e+00] [ 1.84137402e-01 2.05240641e-03 9.82898370e-01 -4.96373661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46463044 meters Centerline goodness : 0.087866 with order 1 Centerline is valid? [False, False] Translation: X:-31.42, Y:-1.97, Z:-4.96 [[ 9.81333276e-01 5.40846416e-02 -1.84553114e-01 -3.14230456e+01] [-5.36527538e-02 9.98532699e-01 7.33691521e-03 -1.96850919e+00] [ 1.84679134e-01 2.70182376e-03 9.82795155e-01 -4.96266193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52463044 meters Centerline goodness : 0.200404 with order 2 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.96, Z:-4.96 [[ 9.81385699e-01 5.36300155e-02 -1.84406971e-01 -3.14255782e+01] [-5.33310600e-02 9.98555179e-01 6.58429640e-03 -1.96394052e+00] [ 1.84493652e-01 3.37288491e-03 9.82827918e-01 -4.96045545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58463044 meters Centerline goodness : 0.089021 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.96, Z:-4.96 [[ 9.81444903e-01 5.36369001e-02 -1.84089610e-01 -3.14276870e+01] [-5.34550854e-02 9.98552505e-01 5.95383879e-03 -1.96103381e+00] [ 1.84142487e-01 3.99716109e-03 9.82891432e-01 -4.95947418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64463044 meters Centerline goodness : 0.200056 with order 2 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.96, Z:-4.96 [[ 9.81598473e-01 5.40443102e-02 -1.83149259e-01 -3.14312176e+01] [-5.40739678e-02 9.98525223e-01 4.83585196e-03 -1.95569891e+00] [ 1.83140505e-01 5.15674224e-03 9.83073224e-01 -4.95918567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70463044 meters Centerline goodness : 0.089431 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.95, Z:-4.96 [[ 9.81589246e-01 5.39622199e-02 -1.83222897e-01 -3.14313334e+01] [-5.41639662e-02 9.98524412e-01 3.90686501e-03 -1.95175470e+00] [ 1.83163359e-01 6.08914212e-03 9.83063633e-01 -4.95919331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76463044 meters Centerline goodness : 0.088531 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.95, Z:-4.96 [[ 9.81423262e-01 5.70276026e-02 -1.83183605e-01 -3.14312735e+01] [-5.69529370e-02 9.98360747e-01 5.67290273e-03 -1.94604155e+00] [ 1.83206833e-01 4.86532561e-03 9.83062351e-01 -4.95912011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82463044 meters Centerline goodness : 0.088749 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.94, Z:-4.96 [[ 9.81467498e-01 5.67371286e-02 -1.83036743e-01 -3.14317357e+01] [-5.68280414e-02 9.98372669e-01 4.75272293e-03 -1.94305382e+00] [ 1.83008537e-01 5.73697652e-03 9.83094585e-01 -4.95933281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88463044 meters Centerline goodness : 0.090537 with order 2 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.94, Z:-4.96 [[ 9.81315493e-01 5.63276236e-02 -1.83975817e-01 -3.14279280e+01] [-5.66922820e-02 9.98386307e-01 3.28148232e-03 -1.93634808e+00] [ 1.83863774e-01 7.20983943e-03 9.82925293e-01 -4.96080973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94463044 meters Centerline goodness : 0.090527 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.93, Z:-4.96 [[ 9.81466362e-01 5.61193241e-02 -1.83233189e-01 -3.14298695e+01] [-5.67075250e-02 9.98388765e-01 2.03224338e-03 -1.93199959e+00] [ 1.83052006e-01 8.39612214e-03 9.83067377e-01 -4.96030096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00463044 meters Centerline goodness : 0.090617 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.93, Z:-4.96 [[ 9.81492280e-01 5.59767995e-02 -1.83137932e-01 -3.14303658e+01] [-5.67192958e-02 9.98389461e-01 1.18542229e-03 -1.92789635e+00] [ 1.82909338e-01 9.22397173e-03 9.83086513e-01 -4.95976450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06463044000003 meters Centerline goodness : 0.091316 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.92, Z:-4.96 [[ 9.81448537e-01 5.58151784e-02 -1.83421469e-01 -3.14288391e+01] [-5.67342820e-02 9.98389285e-01 2.37147669e-04 -1.92457567e+00] [ 1.83139266e-01 1.01735371e-02 9.83034337e-01 -4.96022103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12463044000003 meters Centerline goodness : 0.091635 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.92, Z:-4.96 [[ 9.81428143e-01 5.56300773e-02 -1.83586751e-01 -3.14271921e+01] [-5.67622783e-02 9.98387304e-01 -9.13652227e-04 -1.91992995e+00] [ 1.83239854e-01 1.13174862e-02 9.83003088e-01 -4.96102191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18463044000003 meters Centerline goodness : 0.091605 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-1.92, Z:-4.96 [[ 9.81403301e-01 5.50674866e-02 -1.83888913e-01 -3.14263059e+01] [-5.64149906e-02 9.98405197e-01 -2.10014391e-03 -1.91650965e+00] [ 1.83479997e-01 1.24351795e-02 9.82944788e-01 -4.96084334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24463044000004 meters Centerline goodness : 0.090828 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-1.90, Z:-4.96 [[ 9.81664145e-01 4.74417432e-02 -1.84620656e-01 -3.14105252e+01] [-4.82796278e-02 9.98833858e-01 -4.31162328e-05 -1.90491585e+00] [ 1.84403317e-01 8.95574223e-03 9.82809855e-01 -4.95676871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30463044000004 meters Centerline goodness : 0.091690 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-1.90, Z:-4.96 [[ 9.81849850e-01 4.66731674e-02 -1.83827328e-01 -3.14129390e+01] [-4.77242419e-02 9.98859709e-01 -1.29520125e-03 -1.90136841e+00] [ 1.83557261e-01 1.00447131e-02 9.82957698e-01 -4.95625910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36463044 meters Centerline goodness : 0.091848 with order 1 Centerline is valid? [False, False] Translation: X:-31.41, Y:-1.90, Z:-4.96 [[ 9.81868235e-01 4.59756328e-02 -1.83904895e-01 -3.14129463e+01] [-4.72527341e-02 9.98879671e-01 -2.56563963e-03 -1.89748882e+00] [ 1.83580904e-01 1.12091291e-02 9.82940694e-01 -4.95590342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42463044 meters Centerline goodness : 0.091343 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-1.89, Z:-4.95 [[ 9.82172568e-01 3.57752407e-02 -1.84545870e-01 -3.13968007e+01] [-3.68419537e-02 9.99318334e-01 -2.35335708e-03 -1.89112655e+00] [ 1.84335879e-01 9.11043315e-03 9.82821084e-01 -4.95260098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48463044 meters Centerline goodness : 0.091149 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-1.89, Z:-4.95 [[ 9.82206624e-01 3.57164208e-02 -1.84375936e-01 -3.13978372e+01] [-3.69489144e-02 9.99311864e-01 -3.25218939e-03 -1.88693808e+00] [ 1.84132904e-01 1.00068127e-02 9.82850415e-01 -4.95172943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54463044 meters Centerline goodness : 0.090565 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-1.89, Z:-4.95 [[ 9.82392548e-01 3.47048651e-02 -1.83576833e-01 -3.14014289e+01] [-3.61622274e-02 9.99335365e-01 -4.59591561e-03 -1.88603539e+00] [ 1.83295321e-01 1.11535404e-02 9.82994620e-01 -4.95013851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60463044 meters Centerline goodness : 0.092375 with order 1 Centerline is valid? [False, False] Translation: X:-31.40, Y:-1.88, Z:-4.95 [[ 9.83224929e-01 2.26376116e-02 -1.80986954e-01 -3.13973029e+01] [-2.35813295e-02 9.99717226e-01 -3.06398184e-03 -1.88382061e+00] [ 1.80866415e-01 7.28049633e-03 9.83480724e-01 -4.94909947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66463044 meters Centerline goodness : 0.090262 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.88, Z:-4.95 [[ 9.83236934e-01 1.51023816e-02 -1.81705941e-01 -3.13783260e+01] [-1.52028390e-02 9.99884077e-01 8.40027724e-04 -1.88319434e+00] [ 1.81697563e-01 1.93649989e-03 9.83352554e-01 -4.94717298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72463044 meters Centerline goodness : 0.091332 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.88, Z:-4.95 [[ 9.83402737e-01 1.48077582e-02 -1.80830827e-01 -3.13811231e+01] [-1.50202268e-02 9.99887171e-01 1.94410018e-04 -1.88212079e+00] [ 1.80813303e-01 2.52493669e-03 9.83514196e-01 -4.94669737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78463044 meters Centerline goodness : 0.091751 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.88, Z:-4.95 [[ 9.83455158e-01 1.49288867e-02 -1.80535539e-01 -3.13827518e+01] [-1.52134766e-02 9.99884250e-01 -1.91726246e-04 -1.88094065e+00] [ 1.80511780e-01 2.93512737e-03 9.83568443e-01 -4.94570423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84463044 meters Centerline goodness : 0.089772 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.88, Z:-4.94 [[ 9.83441378e-01 4.59418627e-03 -1.81168291e-01 -3.13666604e+01] [-4.61385104e-03 9.99989307e-01 3.12886558e-04 -1.87579467e+00] [ 1.81167791e-01 5.28177919e-04 9.83452059e-01 -4.94279943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90463044 meters Centerline goodness : 0.090058 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.87, Z:-4.95 [[ 9.83666254e-01 -5.27802803e-03 -1.79924546e-01 -3.13846262e+01] [ 4.83798476e-03 9.99984137e-01 -2.88444217e-03 -1.87483666e+00] [ 1.79936916e-01 1.96685621e-03 9.83676185e-01 -4.94712080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96463044 meters Centerline goodness : 0.090556 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-1.88, Z:-4.95 [[ 9.83716328e-01 -5.54351220e-03 -1.79642578e-01 -3.13854571e+01] [ 5.03788157e-03 9.99981961e-01 -3.27074934e-03 -1.87500882e+00] [ 1.79657468e-01 2.31247150e-03 9.83726510e-01 -4.94662541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02463044 meters Centerline goodness : 0.090228 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.88, Z:-4.95 [[ 9.83738647e-01 -5.67231478e-03 -1.79516290e-01 -3.13849850e+01] [ 5.16789588e-03 9.99981276e-01 -3.27741655e-03 -1.87712358e+00] [ 1.79531519e-01 2.29639983e-03 9.83749541e-01 -4.94696116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08463044 meters Centerline goodness : 0.090457 with order 1 Centerline is valid? [False, False] Translation: X:-31.38, Y:-1.88, Z:-4.95 [[ 9.83657127e-01 -5.18233110e-03 -1.79977222e-01 -3.13830160e+01] [ 4.69878779e-03 9.99984115e-01 -3.11290885e-03 -1.87605008e+00] [ 1.79990495e-01 2.21636021e-03 9.83665853e-01 -4.94760270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14463044 meters Centerline goodness : 0.089132 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-1.88, Z:-4.95 [[ 9.83872245e-01 -7.46874935e-03 -1.78716603e-01 -3.13871494e+01] [ 6.68368444e-03 9.99965191e-01 -4.99448705e-03 -1.87920670e+00] [ 1.78747684e-01 3.71945181e-03 9.83887916e-01 -4.94644023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20463044 meters Centerline goodness : 0.089469 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-1.88, Z:-4.95 [[ 9.84042395e-01 -8.67373451e-03 -1.77722622e-01 -3.13902717e+01] [ 7.74386543e-03 9.99952462e-01 -5.92513368e-03 -1.88244262e+00] [ 1.77765566e-01 4.45432268e-03 9.84062784e-01 -4.94556857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26463044 meters Centerline goodness : 0.089682 with order 1 Centerline is valid? [False, False] Translation: X:-31.39, Y:-1.88, Z:-4.95 [[ 9.84099933e-01 -9.03871507e-03 -1.77385524e-01 -3.13893222e+01] [ 8.04590069e-03 9.99947688e-01 -6.31546409e-03 -1.88306858e+00] [ 1.77433328e-01 4.78782148e-03 9.84121177e-01 -4.94694324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32463044 meters Centerline goodness : 0.230197 with order 2 Centerline is valid? [False, False] Translation: X:-31.39, Y:-1.88, Z:-4.95 [[ 9.84121440e-01 -9.19950173e-03 -1.77257892e-01 -3.13892403e+01] [ 8.18768710e-03 9.99945750e-01 -6.43877813e-03 -1.88326461e+00] [ 1.77307509e-01 4.88520746e-03 9.84143375e-01 -4.94710078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38463044 meters Centerline goodness : 0.212773 with order 2 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.88, Z:-4.95 [[ 9.84260003e-01 -1.99542120e-02 -1.75596345e-01 -3.13718020e+01] [ 1.93052271e-02 9.99799035e-01 -5.40352377e-03 -1.88132740e+00] [ 1.75668879e-01 1.92854500e-03 9.84447421e-01 -4.94535310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44463044 meters Centerline goodness : 0.090773 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.88, Z:-4.95 [[ 9.84228399e-01 -2.01488103e-02 -1.75751198e-01 -3.13684239e+01] [ 1.95454599e-02 9.99795636e-01 -5.16352600e-03 -1.88297205e+00] [ 1.75819320e-01 1.64695095e-03 9.84421076e-01 -4.94787737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50463044 meters Centerline goodness : 0.089088 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.89, Z:-4.95 [[ 9.84320802e-01 -2.04314689e-02 -1.75200210e-01 -3.13693742e+01] [ 1.98668300e-02 9.99790251e-01 -4.97630340e-03 -1.88502590e+00] [ 1.75265135e-01 1.41760617e-03 9.84520250e-01 -4.94808924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56463044000003 meters Centerline goodness : 0.089738 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.89, Z:-4.95 [[ 9.84317178e-01 -2.06468044e-02 -1.75195326e-01 -3.13676192e+01] [ 2.00742621e-02 9.99785790e-01 -5.03974969e-03 -1.88507892e+00] [ 1.75261852e-01 1.44379529e-03 9.84520796e-01 -4.94966489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62463044000003 meters Centerline goodness : 0.090625 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.89, Z:-4.95 [[ 9.84263462e-01 -2.04952115e-02 -1.75514626e-01 -3.13653339e+01] [ 1.99870515e-02 9.99789366e-01 -4.66268857e-03 -1.88628469e+00] [ 1.75573219e-01 1.08129413e-03 9.84465782e-01 -4.95089224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68463044000003 meters Centerline goodness : 0.090102 with order 1 Centerline is valid? [False, False] Translation: X:-31.37, Y:-1.89, Z:-4.95 [[ 9.84331032e-01 -2.11078106e-02 -1.75062503e-01 -3.13653975e+01] [ 2.05794101e-02 9.99776538e-01 -4.83336972e-03 -1.88789732e+00] [ 1.75125405e-01 1.15495277e-03 9.84545458e-01 -4.95173947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74463044000004 meters Centerline goodness : 0.088867 with order 1 Centerline is valid? [False, False] Translation: X:-31.36, Y:-1.89, Z:-4.95 [[ 9.84279380e-01 -2.12381745e-02 -1.75336940e-01 -3.13622209e+01] [ 2.07893689e-02 9.99774212e-01 -4.39629029e-03 -1.89008099e+00] [ 1.75390721e-01 6.82033553e-04 9.84498669e-01 -4.95390588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80463044000004 meters Centerline goodness : 0.236766 with order 2 Centerline is valid? [False, False] Translation: X:-31.36, Y:-1.89, Z:-4.96 [[ 9.84252673e-01 -2.14413918e-02 -1.75462081e-01 -3.13598707e+01] [ 2.10297746e-02 9.99770006e-01 -4.20517334e-03 -1.89231502e+00] [ 1.75511890e-01 4.49025087e-04 9.84477209e-01 -4.95567817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86463044 meters Centerline goodness : 0.089116 with order 1 Centerline is valid? [False, False] Translation: X:-31.36, Y:-1.89, Z:-4.96 [[ 9.84125198e-01 -2.12612066e-02 -1.76197492e-01 -3.13560261e+01] [ 2.09309565e-02 9.99773955e-01 -3.73285062e-03 -1.89416120e+00] [ 1.76237028e-01 -1.43896833e-05 9.84347758e-01 -4.95743508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92463044 meters Centerline goodness : 0.088644 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-1.90, Z:-4.96 [[ 9.84009490e-01 -2.11949973e-02 -1.76850492e-01 -3.13518239e+01] [ 2.09084749e-02 9.99775324e-01 -3.48372018e-03 -1.89646404e+00] [ 1.76884595e-01 -2.69660354e-04 9.84231562e-01 -4.95956660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98463044 meters Centerline goodness : 0.089299 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-1.90, Z:-4.96 [[ 9.83993648e-01 -2.08683606e-02 -1.76977436e-01 -3.13506504e+01] [ 2.06264254e-02 9.99782110e-01 -3.20686077e-03 -1.89670930e+00] [ 1.77005796e-01 -4.94881258e-04 9.84209685e-01 -4.96043896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04463044 meters Centerline goodness : 0.089392 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-1.90, Z:-4.96 [[ 9.84002788e-01 -2.10355839e-02 -1.76906804e-01 -3.13481669e+01] [ 2.08482770e-02 9.99778394e-01 -2.91769214e-03 -1.90125504e+00] [ 1.76928975e-01 -8.17184836e-04 9.84223283e-01 -4.96265714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10463044 meters Centerline goodness : 0.090538 with order 1 Centerline is valid? [False, False] Translation: X:-31.35, Y:-1.90, Z:-4.96 [[ 9.84223388e-01 -1.61162260e-02 -1.76194752e-01 -3.13488704e+01] [ 1.65921984e-02 9.99861585e-01 1.22838208e-03 -1.90063966e+00] [ 1.76150568e-01 -4.13246067e-03 9.84354560e-01 -4.96399223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16463044 meters Centerline goodness : 0.089156 with order 1 Centerline is valid? [False, False] Translation: X:-31.34, Y:-1.90, Z:-4.96 [[ 9.85445439e-01 -1.14955130e-02 -1.69602891e-01 -3.13370363e+01] [ 1.17470348e-02 9.99930886e-01 4.79610799e-04 -1.90047928e+00] [ 1.69585656e-01 -2.46496135e-03 9.85512369e-01 -4.95971466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22463044 meters Centerline goodness : 0.095830 with order 2 Centerline is valid? [False, False] Translation: X:-31.33, Y:-1.90, Z:-4.96 [[ 9.85197010e-01 -1.13597377e-02 -1.71049138e-01 -3.13300401e+01] [ 1.16927517e-02 9.99931196e-01 9.39542697e-04 -1.90418457e+00] [ 1.71026696e-01 -2.92566976e-03 9.85262051e-01 -4.96260314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28463044 meters Centerline goodness : 0.088862 with order 1 Centerline is valid? [False, False] Translation: X:-31.33, Y:-1.91, Z:-4.96 [[ 9.85147640e-01 -1.54856831e-02 -1.71009708e-01 -3.13278233e+01] [ 1.54214832e-02 9.99879630e-01 -1.70388721e-03 -1.91163639e+00] [ 1.71015509e-01 -9.58642875e-04 9.85267870e-01 -4.96459317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34463044 meters Centerline goodness : 0.142901 with order 2 Centerline is valid? [False, False] Translation: X:-31.33, Y:-1.92, Z:-4.96 [[ 9.85360433e-01 -1.56799661e-02 -1.69761465e-01 -3.13310467e+01] [ 1.57100929e-02 9.99875909e-01 -1.16585004e-03 -1.91608903e+00] [ 1.69758679e-01 -1.51818589e-03 9.85484493e-01 -4.96445996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40463044 meters Centerline goodness : 0.089407 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:-1.92, Z:-4.96 [[ 9.86266171e-01 -1.08054999e-02 -1.64809835e-01 -3.13132627e+01] [ 1.08779648e-02 9.99940726e-01 -4.62901569e-04 -1.92194437e+00] [ 1.64805068e-01 -1.33625142e-03 9.86325253e-01 -4.96266168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46463044 meters Centerline goodness : 0.089554 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:-1.92, Z:-4.96 [[ 9.86314433e-01 -1.07317567e-02 -1.64525585e-01 -3.13126671e+01] [ 1.08080847e-02 9.99941498e-01 -4.31294347e-04 -1.92195846e+00] [ 1.64520588e-01 -1.35281462e-03 9.86372722e-01 -4.96393132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52463044 meters Centerline goodness : 0.089077 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:-1.92, Z:-4.97 [[ 9.86161157e-01 -9.79905225e-03 -1.65499698e-01 -3.13058639e+01] [ 1.00023118e-02 9.99949898e-01 3.94744449e-04 -1.92243785e+00] [ 1.65487538e-01 -2.04466123e-03 9.86209762e-01 -4.96797985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58463044 meters Centerline goodness : 0.088945 with order 1 Centerline is valid? [False, False] Translation: X:-31.30, Y:-1.92, Z:-4.97 [[ 9.86047403e-01 -9.26691664e-03 -1.66206628e-01 -3.13015393e+01] [ 9.57084648e-03 9.99953670e-01 1.02776294e-03 -1.92408826e+00] [ 1.66189403e-01 -2.60416109e-03 9.86090412e-01 -4.97030306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64463044 meters Centerline goodness : 0.088735 with order 1 Centerline is valid? [False, False] Translation: X:-31.30, Y:-1.93, Z:-4.97 [[ 9.85992883e-01 -8.86416570e-03 -1.66551675e-01 -3.12982982e+01] [ 9.27314008e-03 9.99955596e-01 1.67802599e-03 -1.92688863e+00] [ 1.66529405e-01 -3.19897869e-03 9.86031300e-01 -4.97248955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70463044 meters Centerline goodness : 0.087352 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-1.93, Z:-4.97 [[ 9.85765888e-01 -1.75041177e-02 -1.67210108e-01 -3.12750311e+01] [ 1.85541634e-02 9.99816718e-01 4.71952232e-03 -1.92727656e+00] [ 1.67096850e-01 -7.75478777e-03 9.85909989e-01 -4.97274249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76463044 meters Centerline goodness : 0.087611 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-1.93, Z:-4.97 [[ 9.85751097e-01 -1.73106539e-02 -1.67317414e-01 -3.12737752e+01] [ 1.84245760e-02 9.99817208e-01 5.10739676e-03 -1.92917184e+00] [ 1.67198417e-01 -8.11737437e-03 9.85889851e-01 -4.97361331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82463044 meters Centerline goodness : 0.348394 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-1.93, Z:-4.98 [[ 9.85579923e-01 -1.69188931e-02 -1.68362605e-01 -3.12686260e+01] [ 1.81986492e-02 9.99816020e-01 6.06098367e-03 -1.93379400e+00] [ 1.68229084e-01 -9.03755580e-03 9.85706497e-01 -4.97589941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88463044 meters Centerline goodness : 0.215096 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.94, Z:-4.98 [[ 9.85404991e-01 -1.59904041e-02 -1.69473629e-01 -3.12630183e+01] [ 1.74559167e-02 9.99821990e-01 7.16093610e-03 -1.93647238e+00] [ 1.69328955e-01 -1.00147397e-02 9.85508706e-01 -4.97836072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94463044 meters Centerline goodness : 0.399531 with order 2 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.94, Z:-4.98 [[ 9.85269697e-01 -1.63870211e-02 -1.70220707e-01 -3.12590664e+01] [ 1.78904472e-02 9.99813289e-01 7.30201452e-03 -1.94049409e+00] [ 1.70069266e-01 -1.02397782e-02 9.85378908e-01 -4.98020885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00463044 meters Centerline goodness : 0.218066 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.94, Z:-4.98 [[ 9.85294951e-01 -1.66396231e-02 -1.70049939e-01 -3.12592625e+01] [ 1.81654277e-02 9.99807457e-01 7.42067279e-03 -1.94281783e+00] [ 1.69893720e-01 -1.04005813e-02 9.85407505e-01 -4.98032367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06463044000003 meters Centerline goodness : 0.345048 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.95, Z:-4.98 [[ 9.85138907e-01 -1.62094374e-02 -1.70992945e-01 -3.12565439e+01] [ 1.78693381e-02 9.99806928e-01 8.17269053e-03 -1.94532781e+00] [ 1.70827457e-01 -1.11067662e-02 9.85238357e-01 -4.98043230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12463044000003 meters Centerline goodness : 0.147412 with order 3 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.94, Z:-4.98 [[ 9.85191799e-01 -1.62203847e-02 -1.70686903e-01 -3.12579685e+01] [ 1.78472803e-02 9.99808709e-01 8.00127150e-03 -1.94387624e+00] [ 1.70524468e-01 -1.09290840e-02 9.85292830e-01 -4.97979269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18463044000003 meters Centerline goodness : 0.087067 with order 1 Centerline is valid? [False, False] Translation: X:-31.26, Y:-1.94, Z:-4.98 [[ 9.85049614e-01 -1.59193387e-02 -1.71533765e-01 -3.12553370e+01] [ 1.75547488e-02 9.99813727e-01 8.02130809e-03 -1.94207059e+00] [ 1.71374119e-01 -1.09126186e-02 9.85145586e-01 -4.98000310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24463044000004 meters Centerline goodness : 0.213239 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-1.94, Z:-4.98 [[ 9.84898360e-01 -1.55842223e-02 -1.72430720e-01 -3.12527654e+01] [ 1.72570628e-02 9.99817406e-01 8.20663611e-03 -1.94115634e+00] [ 1.72271341e-01 -1.10583502e-02 9.84987461e-01 -4.98012247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30463044000004 meters Centerline goodness : 0.179516 with order 2 Centerline is valid? [False, False] Translation: X:-31.24, Y:-1.94, Z:-4.98 [[ 9.85194965e-01 -1.04356366e-02 -1.71119779e-01 -3.12368871e+01] [ 1.18328735e-02 9.99904445e-01 7.14732113e-03 -1.94326770e+00] [ 1.71028840e-01 -9.06634350e-03 9.85224308e-01 -4.97542826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36463044 meters Centerline goodness : 0.076595 with order 2 Centerline is valid? [False, False] Translation: X:-31.22, Y:-1.95, Z:-4.97 [[ 9.85107535e-01 -4.40265255e-03 -1.71882986e-01 -3.12176861e+01] [ 5.74004135e-03 9.99956993e-01 7.28457664e-03 -1.94572068e+00] [ 1.71843522e-01 -8.16270678e-03 9.85090440e-01 -4.97113339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42463044 meters Centerline goodness : 0.100594 with order 2 Centerline is valid? [False, False] Translation: X:-31.22, Y:-1.94, Z:-4.97 [[ 9.85059283e-01 -4.03709193e-03 -1.72168264e-01 -3.12173436e+01] [ 5.40034653e-03 9.99957662e-01 7.45050474e-03 -1.94442841e+00] [ 1.72130897e-01 -8.26895714e-03 9.85039379e-01 -4.97061534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48463044 meters Centerline goodness : 0.087484 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-1.95, Z:-4.97 [[ 9.85716892e-01 -1.03584214e-02 -1.68091975e-01 -3.11981723e+01] [ 1.24703607e-02 9.99855955e-01 1.15134341e-02 -1.94556782e+00] [ 1.67948501e-01 -1.34451540e-02 9.85704078e-01 -4.97095087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54463044 meters Centerline goodness : 0.086500 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-1.95, Z:-4.97 [[ 9.85670351e-01 -1.01279744e-02 -1.68378687e-01 -3.11966659e+01] [ 1.23266426e-02 9.99851803e-01 1.20177487e-02 -1.94769760e+00] [ 1.68232019e-01 -1.39210824e-02 9.85649122e-01 -4.97153980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60463044 meters Centerline goodness : 0.086815 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-1.95, Z:-4.97 [[ 9.85613498e-01 -1.01583236e-02 -1.68709341e-01 -3.11950018e+01] [ 1.23785268e-02 9.99850008e-01 1.21133966e-02 -1.94869220e+00] [ 1.68560984e-01 -1.40275003e-02 9.85591408e-01 -4.97215541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66463044 meters Centerline goodness : 0.087389 with order 1 Centerline is valid? [False, False] Translation: X:-31.19, Y:-1.95, Z:-4.97 [[ 9.85503313e-01 -1.00461860e-02 -1.69358480e-01 -3.11941770e+01] [ 1.22668032e-02 9.99851901e-01 1.20707091e-02 -1.94753666e+00] [ 1.69212134e-01 -1.39732110e-02 9.85480595e-01 -4.97111107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72463044 meters Centerline goodness : 0.208958 with order 1 Centerline is valid? [False, False] Translation: X:-31.19, Y:-1.95, Z:-4.97 [[ 9.85357290e-01 -9.65136098e-03 -1.70228851e-01 -3.11901018e+01] [ 1.19821231e-02 9.99847940e-01 1.26698793e-02 -1.94971223e+00] [ 1.70080685e-01 -1.45240610e-02 9.85323100e-01 -4.97258077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78463044 meters Centerline goodness : 0.093313 with order 2 Centerline is valid? [False, False] Translation: X:-31.19, Y:-1.95, Z:-4.97 [[ 9.85463630e-01 -9.93845104e-03 -1.69595578e-01 -3.11917523e+01] [ 1.22823450e-02 9.99842934e-01 1.27769500e-02 -1.95176512e+00] [ 1.69441958e-01 -1.46742510e-02 9.85430916e-01 -4.97235785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84463044 meters Centerline goodness : 0.098737 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-1.95, Z:-4.97 [[ 9.84887758e-01 -1.18633239e-02 -1.72787052e-01 -3.11804085e+01] [ 1.40632588e-02 9.99834820e-01 1.15134036e-02 -1.95387704e+00] [ 1.72621924e-01 -1.37693593e-02 9.84891911e-01 -4.97475365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90463044 meters Centerline goodness : 0.092252 with order 2 Centerline is valid? [False, False] Translation: X:-31.17, Y:-1.96, Z:-4.98 [[ 9.84526732e-01 -1.08908361e-02 -1.74895693e-01 -3.11723026e+01] [ 1.33222861e-02 9.99830164e-01 1.27342204e-02 -1.95683036e+00] [ 1.74727303e-01 -1.48671909e-02 9.84504615e-01 -4.97696964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96463044 meters Centerline goodness : 0.086111 with order 2 Centerline is valid? [False, False] Translation: X:-31.17, Y:-1.96, Z:-4.98 [[ 9.84226315e-01 -1.04699336e-02 -1.76603908e-01 -3.11665675e+01] [ 1.30416104e-02 9.99825064e-01 1.34073711e-02 -1.95904787e+00] [ 1.76432640e-01 -1.54990869e-02 9.84190684e-01 -4.97762065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02463044 meters Centerline goodness : 0.199689 with order 1 Centerline is valid? [False, False] Translation: X:-31.16, Y:-1.96, Z:-4.98 [[ 9.83974679e-01 -1.04654623e-02 -1.78000855e-01 -3.11628991e+01] [ 1.30504140e-02 9.99825617e-01 1.33574618e-02 -1.95844901e+00] [ 1.77830023e-01 -1.54663891e-02 9.83939670e-01 -4.97720330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08463044 meters Centerline goodness : 0.086490 with order 2 Centerline is valid? [False, False] Translation: X:-31.14, Y:-1.96, Z:-4.97 [[ 9.83848446e-01 -4.84517299e-03 -1.78937868e-01 -3.11427626e+01] [ 7.26470542e-03 9.99890802e-01 1.28688536e-02 -1.95876499e+00] [ 1.78855976e-01 -1.39609325e-02 9.83776210e-01 -4.97232903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14463044 meters Centerline goodness : 0.261653 with order 3 Centerline is valid? [False, False] Translation: X:-31.12, Y:-1.95, Z:-4.96 [[ 9.83769285e-01 1.65782489e-03 -1.79430335e-01 -3.11215162e+01] [ 4.28291651e-04 9.99932777e-01 1.15869684e-02 -1.95394932e+00] [ 1.79437482e-01 -1.14757521e-02 9.83702443e-01 -4.96314932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20463044 meters Centerline goodness : 0.077743 with order 2 Centerline is valid? [False, False] Translation: X:-31.13, Y:-1.95, Z:-4.96 [[ 9.83732701e-01 5.48038889e-03 -1.79554834e-01 -3.11267200e+01] [-3.15593494e-03 9.99907516e-01 1.32287479e-02 -1.94623662e+00] [ 1.79610727e-01 -1.24468885e-02 9.83659017e-01 -4.95846781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26463044 meters Centerline goodness : 0.082723 with order 2 Centerline is valid? [False, False] Translation: X:-31.11, Y:-1.94, Z:-4.95 [[ 9.83938385e-01 1.34897473e-02 -1.77997980e-01 -3.11065093e+01] [-1.13345628e-02 9.99849695e-01 1.31192967e-02 -1.93970149e+00] [ 1.78148202e-01 -1.08910503e-02 9.83943394e-01 -4.95268960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32463044 meters Centerline goodness : 0.189218 with order 1 Centerline is valid? [False, False] Translation: X:-31.09, Y:-1.93, Z:-4.95 [[ 9.85009150e-01 1.42734903e-02 -1.71910565e-01 -3.10915511e+01] [-1.25451599e-02 9.99859295e-01 1.11359339e-02 -1.93439348e+00] [ 1.72045325e-01 -8.81235127e-03 9.85049617e-01 -4.94625138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38463044 meters Centerline goodness : 0.088469 with order 1 Centerline is valid? [False, False] Translation: X:-31.07, Y:-1.93, Z:-4.93 [[ 9.85865167e-01 1.03337864e-02 -1.67221668e-01 -3.10718556e+01] [-8.43207969e-03 9.99891500e-01 1.20784081e-02 -1.92970121e+00] [ 1.67328340e-01 -1.04976554e-02 9.85845336e-01 -4.93480989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44463044 meters Centerline goodness : 0.224458 with order 2 Centerline is valid? [False, False] Translation: X:-31.06, Y:-1.93, Z:-4.93 [[ 9.86327636e-01 3.52612471e-04 -1.64795843e-01 -3.10573888e+01] [ 1.89335717e-03 9.99907462e-01 1.34715191e-02 -1.92566398e+00] [ 1.64785343e-01 -1.35993490e-02 9.86235696e-01 -4.93151760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50463044 meters Centerline goodness : 0.292298 with order 2 Centerline is valid? [False, False] Translation: X:-31.02, Y:-1.92, Z:-4.93 [[ 9.86935995e-01 -2.04443924e-03 -1.61099850e-01 -3.10243021e+01] [ 4.65049642e-03 9.99864337e-01 1.58012588e-02 -1.92381384e+00] [ 1.61045690e-01 -1.63440253e-02 9.86811612e-01 -4.92589660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56463044000003 meters Centerline goodness : 0.138781 with order 1 Centerline is valid? [False, False] Translation: X:-30.99, Y:-1.92, Z:-4.92 [[ 9.87503005e-01 -3.60766069e-03 -1.57558878e-01 -3.09903232e+01] [ 6.63619844e-03 9.99803120e-01 1.86997745e-02 -1.92093175e+00] [ 1.57460395e-01 -1.95116755e-02 9.87332527e-01 -4.91916313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62463044000003 meters Centerline goodness : 0.076284 with order 1 Centerline is valid? [False, False] Translation: X:-30.99, Y:-1.92, Z:-4.92 [[ 9.87297742e-01 -3.30795431e-03 -1.58846547e-01 -3.09861362e+01] [ 6.33830137e-03 9.99807391e-01 1.85743633e-02 -1.91957684e+00] [ 1.58754508e-01 -1.93452442e-02 9.87128547e-01 -4.91980850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68463044000003 meters Centerline goodness : 0.075023 with order 1 Centerline is valid? [False, False] Translation: X:-30.97, Y:-1.92, Z:-4.92 [[ 9.87101596e-01 1.34818751e-03 -1.60089420e-01 -3.09693630e+01] [ 1.56343658e-03 9.99835680e-01 1.80601362e-02 -1.92328905e+00] [ 1.60087462e-01 -1.80774789e-02 9.86937287e-01 -4.91585841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74463044000004 meters Centerline goodness : 0.104946 with order 1 Centerline is valid? [False, False] Translation: X:-30.96, Y:-1.92, Z:-4.92 [[ 9.86884995e-01 2.63011232e-03 -1.61403499e-01 -3.09644914e+01] [ 4.36244840e-04 9.99820153e-01 1.89597054e-02 -1.92284027e+00] [ 1.61424337e-01 -1.87814602e-02 9.86706360e-01 -4.91677680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80463044000004 meters Centerline goodness : 0.122321 with order 3 Centerline is valid? [False, False] Translation: X:-30.96, Y:-1.92, Z:-4.92 [[ 9.86612137e-01 3.91495215e-03 -1.63037310e-01 -3.09583621e+01] [-7.04433631e-04 9.99804799e-01 1.97450827e-02 -1.92199599e+00] [ 1.63082786e-01 -1.93658893e-02 9.86422307e-01 -4.91812393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86463044 meters Centerline goodness : 0.095688 with order 1 Centerline is valid? [False, False] Translation: X:-30.94, Y:-1.92, Z:-4.92 [[ 9.86564644e-01 -3.67424358e-03 -1.63330044e-01 -3.09391625e+01] [ 7.49921817e-03 9.99711730e-01 2.28082905e-02 -1.91916204e+00] [ 1.63199158e-01 -2.37267007e-02 9.86307801e-01 -4.91618763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92463044 meters Centerline goodness : 0.171095 with order 2 Centerline is valid? [False, False] Translation: X:-30.93, Y:-1.92, Z:-4.92 [[ 9.86287639e-01 -2.47399371e-03 -1.65016883e-01 -3.09326808e+01] [ 6.46572338e-03 9.99699224e-01 2.36570549e-02 -1.91991462e+00] [ 1.64908722e-01 -2.43996144e-02 9.86006984e-01 -4.91781388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98463044 meters Centerline goodness : 0.172936 with order 3 Centerline is valid? [False, False] Translation: X:-30.93, Y:-1.92, Z:-4.92 [[ 9.86125189e-01 -1.49121840e-03 -1.65996653e-01 -3.09301458e+01] [ 5.54790827e-03 9.99697107e-01 2.39773833e-02 -1.91748710e+00] [ 1.65910618e-01 -2.45656358e-02 9.85834771e-01 -4.91745414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04463044 meters Centerline goodness : 0.108687 with order 3 Centerline is valid? [False, False] Translation: X:-30.91, Y:-1.92, Z:-4.91 [[ 9.86238175e-01 5.48643582e-03 -1.65239708e-01 -3.09126001e+01] [-1.59649541e-03 9.99718674e-01 2.36648181e-02 -1.91633330e+00] [ 1.65323057e-01 -2.30753426e-02 9.85969480e-01 -4.91036432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10463044 meters Centerline goodness : 0.117841 with order 3 Centerline is valid? [False, False] Translation: X:-30.91, Y:-1.91, Z:-4.91 [[ 9.86239296e-01 5.55719654e-03 -1.65230650e-01 -3.09146804e+01] [-1.70723044e-03 9.99723941e-01 2.34334530e-02 -1.91452591e+00] [ 1.65315261e-01 -2.28289054e-02 9.85976524e-01 -4.90818483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16463044 meters Centerline goodness : 0.107606 with order 3 Centerline is valid? [False, False] Translation: X:-30.88, Y:-1.91, Z:-4.90 [[ 9.86118346e-01 8.34797157e-04 -1.66041896e-01 -3.08836227e+01] [ 3.16047087e-03 9.99711836e-01 2.37961322e-02 -1.90927182e+00] [ 1.66013914e-01 -2.39905731e-02 9.85831544e-01 -4.89988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22463044 meters Centerline goodness : 0.187640 with order 3 Centerline is valid? [False, False] Translation: X:-30.89, Y:-1.91, Z:-4.90 [[ 9.86276785e-01 -2.88890071e-04 -1.65100028e-01 -3.08903153e+01] [ 4.10223775e-03 9.99732617e-01 2.27566832e-02 -1.90852036e+00] [ 1.65049309e-01 -2.31216680e-02 9.86014257e-01 -4.89558157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28463044 meters Centerline goodness : 0.122708 with order 2 Centerline is valid? [False, False] Translation: X:-30.85, Y:-1.91, Z:-4.89 [[ 9.86521079e-01 -4.18314709e-03 -1.63580753e-01 -3.08542499e+01] [ 8.21994653e-03 9.99677957e-01 2.40086350e-02 -1.90510780e+00] [ 1.63427641e-01 -2.50296495e-02 9.86237762e-01 -4.88832674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34463044 meters Centerline goodness : 0.089386 with order 1 Centerline is valid? [False, False] Translation: X:-30.85, Y:-1.91, Z:-4.89 [[ 9.86470440e-01 -4.29466936e-03 -1.63882968e-01 -3.08537307e+01] [ 8.34389474e-03 9.99676473e-01 2.40276683e-02 -1.90641510e+00] [ 1.63726756e-01 -2.50700068e-02 9.86187124e-01 -4.88772951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40463044 meters Centerline goodness : 0.089184 with order 1 Centerline is valid? [False, False] Translation: X:-30.85, Y:-1.90, Z:-4.89 [[ 9.86405835e-01 -4.00696102e-03 -1.64278645e-01 -3.08535277e+01] [ 8.02489358e-03 9.99684491e-01 2.38016636e-02 -1.90419990e+00] [ 1.64131442e-01 -2.47964185e-02 9.86126770e-01 -4.88668439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46463044 meters Centerline goodness : 0.089554 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-1.90, Z:-4.88 [[ 9.86639539e-01 -4.69349356e-03 -1.62850826e-01 -3.08590860e+01] [ 8.53465992e-03 9.99701435e-01 2.28954362e-02 -1.90288162e+00] [ 1.62694744e-01 -2.39794190e-02 9.86385020e-01 -4.88441344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52463044 meters Centerline goodness : 0.090087 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-1.90, Z:-4.88 [[ 9.86586269e-01 -4.35724282e-03 -1.63182562e-01 -3.08581726e+01] [ 8.21774078e-03 9.99701920e-01 2.29899945e-02 -1.90168320e+00] [ 1.63033747e-01 -2.40226049e-02 9.86327994e-01 -4.88437975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58463044 meters Centerline goodness : 0.089222 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.90, Z:-4.88 [[ 9.86531903e-01 -2.69453207e-03 -1.63546764e-01 -3.08392691e+01] [ 5.98515265e-03 9.99789380e-01 1.96309570e-02 -1.90301576e+00] [ 1.63459422e-01 -2.03454177e-02 9.86340246e-01 -4.88051391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64463044 meters Centerline goodness : 0.194149 with order 3 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.90, Z:-4.88 [[ 9.86601707e-01 -2.74181986e-03 -1.63124354e-01 -3.08407414e+01] [ 6.04517914e-03 9.99786523e-01 1.97576232e-02 -1.90424795e+00] [ 1.63035359e-01 -2.04790207e-02 9.86407665e-01 -4.87990213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70463044 meters Centerline goodness : 0.091064 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.91, Z:-4.88 [[ 9.86434124e-01 -2.38589723e-03 -1.64140263e-01 -3.08371023e+01] [ 5.75910211e-03 9.99781831e-01 2.00779388e-02 -1.90515786e+00] [ 1.64056549e-01 -2.07508645e-02 9.86232655e-01 -4.88071887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76463044 meters Centerline goodness : 0.089437 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.91, Z:-4.88 [[ 9.86399150e-01 -2.07039812e-03 -1.64354590e-01 -3.08356399e+01] [ 5.39825688e-03 9.99789309e-01 1.98039745e-02 -1.90547182e+00] [ 1.64278959e-01 -2.04218519e-02 9.86202500e-01 -4.88070470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82463044 meters Centerline goodness : 0.080578 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.90, Z:-4.88 [[ 9.86442239e-01 -2.15851383e-03 -1.64094637e-01 -3.08367166e+01] [ 5.38352829e-03 9.99800954e-01 1.92112039e-02 -1.90352543e+00] [ 1.64020507e-01 -1.98341511e-02 9.86257512e-01 -4.88004184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88463044 meters Centerline goodness : 0.080131 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.90, Z:-4.88 [[ 9.86624643e-01 -3.10991589e-03 -1.62978960e-01 -3.08420120e+01] [ 6.18639128e-03 9.99812074e-01 1.83724000e-02 -1.90436803e+00] [ 1.62891195e-01 -1.91349142e-02 9.86458470e-01 -4.87698015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94463044 meters Centerline goodness : 0.091344 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.90, Z:-4.88 [[ 9.86629884e-01 -2.98926632e-03 -1.62949490e-01 -3.08421115e+01] [ 6.01759800e-03 9.99818180e-01 1.80940683e-02 -1.90427437e+00] [ 1.62865775e-01 -1.88327130e-02 9.86468483e-01 -4.87635638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00463044 meters Centerline goodness : 0.076816 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.91, Z:-4.88 [[ 9.86485119e-01 -2.70221195e-03 -1.63828595e-01 -3.08397094e+01] [ 5.79545134e-03 9.99813800e-01 1.84059304e-02 -1.90677536e+00] [ 1.63748353e-01 -1.91066371e-02 9.86317096e-01 -4.87604919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06463044000003 meters Centerline goodness : 0.091044 with order 1 Centerline is valid? [False, False] Translation: X:-30.84, Y:-1.91, Z:-4.87 [[ 9.86447541e-01 -2.79727968e-03 -1.64053115e-01 -3.08398076e+01] [ 5.83245118e-03 9.99820572e-01 1.80223908e-02 -1.90715988e+00] [ 1.63973266e-01 -1.87349749e-02 9.86286859e-01 -4.87452156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12463044000003 meters Centerline goodness : 0.090901 with order 1 Centerline is valid? [False, False] Translation: X:-30.85, Y:-1.91, Z:-4.87 [[ 9.86756556e-01 -5.01096915e-03 -1.62130778e-01 -3.08482183e+01] [ 7.73587402e-03 9.99839170e-01 1.61799086e-02 -1.90810069e+00] [ 1.62023625e-01 -1.72198542e-02 9.86636621e-01 -4.87038901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18463044000003 meters Centerline goodness : 0.076374 with order 1 Centerline is valid? [False, False] Translation: X:-30.85, Y:-1.91, Z:-4.87 [[ 9.86703161e-01 -5.01843896e-03 -1.62455186e-01 -3.08479383e+01] [ 7.71541044e-03 9.99842629e-01 1.59746864e-02 -1.90832818e+00] [ 1.62349453e-01 -1.70156821e-02 9.86586601e-01 -4.86934974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24463044000004 meters Centerline goodness : 0.075485 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.86 [[ 9.87139185e-01 -3.92010136e-03 -1.59815086e-01 -3.08316742e+01] [ 5.94119743e-03 9.99908285e-01 1.21706092e-02 -1.91020545e+00] [ 1.59752718e-01 -1.29635783e-02 9.87071940e-01 -4.86458029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30463044000004 meters Centerline goodness : 0.077837 with order 3 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.86 [[ 9.87201798e-01 -3.91934047e-03 -1.59427881e-01 -3.08333799e+01] [ 5.87021977e-03 9.99913528e-01 1.17676403e-02 -1.90890480e+00] [ 1.59367974e-01 -1.25529124e-02 9.87139440e-01 -4.86340815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36463044 meters Centerline goodness : 0.074778 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-1.91, Z:-4.86 [[ 9.87223248e-01 4.52749293e-05 -1.59343201e-01 -3.08198413e+01] [ 1.50877259e-03 9.99952475e-01 9.63183961e-03 -1.91170562e+00] [ 1.59336064e-01 -9.74918864e-03 9.87176262e-01 -4.85734121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42463044 meters Centerline goodness : 0.091068 with order 1 Centerline is valid? [False, False] Translation: X:-30.82, Y:-1.91, Z:-4.86 [[ 9.87254178e-01 4.83418369e-04 -1.59150729e-01 -3.08206068e+01] [ 9.85235820e-04 9.99957661e-01 9.14903806e-03 -1.91032345e+00] [ 1.59148414e-01 -9.18922705e-03 9.87211902e-01 -4.85653046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48463044 meters Centerline goodness : 0.090869 with order 3 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.85 [[ 9.87633001e-01 -2.94666840e-04 -1.56783189e-01 -3.08275678e+01] [ 1.57208847e-03 9.99966573e-01 8.02375227e-03 -1.91155457e+00] [ 1.56775584e-01 -8.17099958e-03 9.87600451e-01 -4.85442720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54463044 meters Centerline goodness : 0.091611 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.85 [[ 9.87605817e-01 -9.58129732e-06 -1.56954615e-01 -3.08272845e+01] [ 1.24968527e-03 9.99968780e-01 7.80235387e-03 -1.91149766e+00] [ 1.56949640e-01 -7.90179394e-03 9.87574996e-01 -4.85399076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60463044 meters Centerline goodness : 0.091799 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.85 [[ 9.87657005e-01 -9.59245065e-05 -1.56632151e-01 -3.08271976e+01] [ 1.28289201e-03 9.99971224e-01 7.47698042e-03 -1.91328513e+00] [ 1.56626927e-01 -7.58563422e-03 9.87628708e-01 -4.85427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66463044 meters Centerline goodness : 0.092554 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.85 [[ 9.87746786e-01 3.82695002e-04 -1.56064538e-01 -3.08278110e+01] [ 7.31288738e-04 9.99974666e-01 7.08049003e-03 -1.91207131e+00] [ 1.56063294e-01 -7.10785951e-03 9.87721482e-01 -4.85461230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72463044 meters Centerline goodness : 0.092563 with order 1 Centerline is valid? [False, False] Translation: X:-30.83, Y:-1.91, Z:-4.85 [[ 9.87917341e-01 -7.30013586e-04 -1.54979979e-01 -3.08322821e+01] [ 1.68987838e-03 9.99980199e-01 6.06182187e-03 -1.91470493e+00] [ 1.54972485e-01 -6.25047626e-03 9.87899013e-01 -4.85249018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78463044 meters Centerline goodness : 0.077519 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:-1.92, Z:-4.86 [[ 9.87482067e-01 1.92849114e-03 -1.57719525e-01 -3.08610101e+01] [-1.54528198e-03 9.99995549e-01 2.55227954e-03 -1.91711990e+00] [ 1.57723745e-01 -2.27660913e-03 9.87480652e-01 -4.85827654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84463044 meters Centerline goodness : 0.091473 with order 1 Centerline is valid? [False, False] Translation: X:-30.87, Y:-1.92, Z:-4.85 [[ 9.87782962e-01 8.34890464e-05 -1.55835851e-01 -3.08687601e+01] [ 1.39913004e-04 9.99998978e-01 1.42260361e-03 -1.91968960e+00] [ 1.55835810e-01 -1.42702707e-03 9.87781941e-01 -4.85467688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90463044 meters Centerline goodness : 0.079800 with order 1 Centerline is valid? [False, False] Translation: X:-30.92, Y:-1.93, Z:-4.86 [[ 9.87271453e-01 -2.25633079e-03 -1.59028259e-01 -3.09226625e+01] [ 2.17277285e-03 9.99997395e-01 -6.99299051e-04 -1.92534071e+00] [ 1.59029423e-01 3.44865707e-04 9.87273784e-01 -4.86321824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96463044 meters Centerline goodness : 0.091523 with order 1 Centerline is valid? [False, False] Translation: X:-30.92, Y:-1.93, Z:-4.86 [[ 9.87055657e-01 -6.30558763e-03 -1.60254076e-01 -3.09201664e+01] [ 5.76221529e-03 9.99975967e-01 -3.85518355e-03 -1.92800731e+00] [ 1.60274534e-01 2.88186225e-03 9.87068270e-01 -4.86230126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02463044 meters Centerline goodness : 0.077711 with order 1 Centerline is valid? [False, False] Translation: X:-30.92, Y:-1.93, Z:-4.86 [[ 9.87033474e-01 -6.21737570e-03 -1.60394096e-01 -3.09205504e+01] [ 5.64021355e-03 9.99975879e-01 -4.05342947e-03 -1.92818825e+00] [ 1.60415428e-01 3.09621361e-03 9.87044732e-01 -4.86132409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08463044 meters Centerline goodness : 0.091036 with order 1 Centerline is valid? [False, False] Translation: X:-30.92, Y:-1.93, Z:-4.86 [[ 9.87096713e-01 -6.66109834e-03 -1.59986591e-01 -3.09215319e+01] [ 5.98962040e-03 9.99971115e-01 -4.67896296e-03 -1.92921669e+00] [ 1.60013136e-01 3.66033001e-03 9.87108099e-01 -4.86052054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14463044 meters Centerline goodness : 0.091655 with order 1 Centerline is valid? [False, False] Translation: X:-30.94, Y:-1.93, Z:-4.86 [[ 9.87238856e-01 -1.38364928e-02 -1.58644232e-01 -3.09416606e+01] [ 1.29976517e-02 9.99895529e-01 -6.32396447e-03 -1.93110277e+00] [ 1.58715159e-01 4.18126098e-03 9.87315560e-01 -4.86226656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20463044 meters Centerline goodness : 0.091156 with order 1 Centerline is valid? [False, False] Translation: X:-30.94, Y:-1.93, Z:-4.86 [[ 9.87189680e-01 -1.41314523e-02 -1.58924001e-01 -3.09413113e+01] [ 1.32561633e-02 9.99890572e-01 -6.56639904e-03 -1.93245457e+00] [ 1.58999403e-01 4.37555886e-03 9.87268983e-01 -4.86129655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26463044 meters Centerline goodness : 0.076287 with order 1 Centerline is valid? [False, False] Translation: X:-30.97, Y:-1.94, Z:-4.86 [[ 9.87807448e-01 -1.08168200e-02 -1.55304351e-01 -3.09728947e+01] [ 9.33459943e-03 9.99903691e-01 -1.02701009e-02 -1.93925672e+00] [ 1.55400484e-01 8.69517822e-03 9.87813284e-01 -4.86497883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32463044 meters Centerline goodness : 0.076474 with order 1 Centerline is valid? [False, False] Translation: X:-30.97, Y:-1.94, Z:-4.86 [[ 9.87887197e-01 -1.10805966e-02 -1.54777605e-01 -3.09743422e+01] [ 9.41513576e-03 9.99889670e-01 -1.14892722e-02 -1.93782377e+00] [ 1.54887836e-01 9.89285277e-03 9.87882528e-01 -4.86414807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38463044 meters Centerline goodness : 0.079911 with order 3 Centerline is valid? [False, False] Translation: X:-30.98, Y:-1.94, Z:-4.86 [[ 9.88202614e-01 -1.22400756e-02 -1.52662286e-01 -3.09821519e+01] [ 1.03810174e-02 9.99862014e-01 -1.29687440e-02 -1.93801297e+00] [ 1.52799959e-01 1.12309569e-02 9.88193320e-01 -4.86078162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44463044 meters Centerline goodness : 0.080237 with order 3 Centerline is valid? [False, False] Translation: X:-30.98, Y:-1.94, Z:-4.86 [[ 9.88295860e-01 -1.29379659e-02 -1.51999677e-01 -3.09848212e+01] [ 1.10231155e-02 9.99849002e-01 -1.34336660e-02 -1.94205332e+00] [ 1.52150529e-01 1.16009265e-02 9.88289247e-01 -4.85933968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50463044 meters Centerline goodness : 0.125574 with order 1 Centerline is valid? [False, False] Translation: X:-31.00, Y:-1.95, Z:-4.86 [[ 9.88379671e-01 -3.06119474e-03 -1.51974519e-01 -3.10013856e+01] [ 7.10727471e-04 9.99879334e-01 -1.55181066e-02 -1.94741728e+00] [ 1.52003685e-01 1.52297686e-02 9.88262584e-01 -4.86187132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56463044000003 meters Centerline goodness : 0.078441 with order 2 Centerline is valid? [False, False] Translation: X:-31.00, Y:-1.95, Z:-4.86 [[ 9.88486963e-01 9.80265895e-04 -1.51302887e-01 -3.10045650e+01] [-2.92978616e-03 9.99915535e-01 -1.26624968e-02 -1.94629156e+00] [ 1.51277695e-01 1.29599981e-02 9.88406342e-01 -4.86002822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62463044000003 meters Centerline goodness : 0.092535 with order 1 Centerline is valid? [False, False] Translation: X:-31.01, Y:-1.95, Z:-4.86 [[ 9.88610230e-01 -7.67535764e-04 -1.50496594e-01 -3.10081959e+01] [-1.36785604e-03 9.99899867e-01 -1.40849393e-02 -1.94842365e+00] [ 1.50492335e-01 1.41303727e-02 9.88510187e-01 -4.85859168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68463044000003 meters Centerline goodness : 0.091217 with order 1 Centerline is valid? [False, False] Translation: X:-31.03, Y:-1.95, Z:-4.86 [[ 9.88254524e-01 -6.96523788e-03 -1.52658056e-01 -3.10253148e+01] [ 4.77075164e-03 9.99880027e-01 -1.47367614e-02 -1.94899306e+00] [ 1.52742387e-01 1.38353774e-02 9.88169189e-01 -4.86198132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74463044000004 meters Centerline goodness : 0.076925 with order 1 Centerline is valid? [False, False] Translation: X:-31.03, Y:-1.95, Z:-4.86 [[ 9.88264878e-01 -7.03134454e-03 -1.52587981e-01 -3.10261680e+01] [ 4.81509601e-03 9.99877558e-01 -1.48890713e-02 -1.94876797e+00] [ 1.52673988e-01 1.39796205e-02 9.88177729e-01 -4.86111341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80463044000004 meters Centerline goodness : 0.077734 with order 2 Centerline is valid? [False, False] Translation: X:-31.04, Y:-1.95, Z:-4.86 [[ 9.87657603e-01 -1.69185703e-02 -1.55711979e-01 -3.10410697e+01] [ 1.44191764e-02 9.99748659e-01 -1.71670083e-02 -1.95150930e+00] [ 1.55963283e-01 1.47098877e-02 9.87653316e-01 -4.86383232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86463044 meters Centerline goodness : 0.076348 with order 3 Centerline is valid? [False, False] Translation: X:-31.04, Y:-1.95, Z:-4.86 [[ 9.87529844e-01 -1.69397753e-02 -1.56517896e-01 -3.10376914e+01] [ 1.44401504e-02 9.99749614e-01 -1.70936003e-02 -1.95484263e+00] [ 1.56768268e-01 1.46202985e-02 9.87527193e-01 -4.86454800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92463044 meters Centerline goodness : 0.091433 with order 1 Centerline is valid? [False, False] Translation: X:-31.04, Y:-1.96, Z:-4.86 [[ 9.87515162e-01 -1.69875100e-02 -1.56605327e-01 -3.10378256e+01] [ 1.44379205e-02 9.99744297e-01 -1.74036277e-02 -1.95554187e+00] [ 1.56860927e-01 1.49252909e-02 9.87507917e-01 -4.86371448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98463044 meters Centerline goodness : 0.091579 with order 1 Centerline is valid? [False, False] Translation: X:-31.04, Y:-1.96, Z:-4.86 [[ 9.87701160e-01 -1.83990117e-02 -1.55267174e-01 -3.10438026e+01] [ 1.56528067e-02 9.99699011e-01 -1.88911693e-02 -1.95661005e+00] [ 1.55568019e-01 1.62284628e-02 9.87691869e-01 -4.86048441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04463044 meters Centerline goodness : 0.077585 with order 3 Centerline is valid? [False, False] Translation: X:-31.05, Y:-1.96, Z:-4.86 [[ 9.87960846e-01 -2.06101836e-02 -1.53325101e-01 -3.10507876e+01] [ 1.76478194e-02 9.99630855e-01 -2.06568973e-02 -1.96030302e+00] [ 1.53694245e-01 1.77023520e-02 9.87959871e-01 -4.85771111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10463044 meters Centerline goodness : 0.078332 with order 1 Centerline is valid? [False, False] Translation: X:-31.07, Y:-1.96, Z:-4.86 [[ 9.87479162e-01 -2.61862271e-02 -1.55560873e-01 -3.10665239e+01] [ 2.33185436e-02 9.99523360e-01 -2.02311142e-02 -1.96275652e+00] [ 1.56016503e-01 1.63503507e-02 9.87619115e-01 -4.86073722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16463044 meters Centerline goodness : 0.116996 with order 3 Centerline is valid? [False, False] Translation: X:-31.08, Y:-1.97, Z:-4.86 [[ 9.87659360e-01 -1.59066973e-02 -1.55807464e-01 -3.10794469e+01] [ 1.26487771e-02 9.99680605e-01 -2.18791425e-02 -1.97033970e+00] [ 1.56105725e-01 1.96383660e-02 9.87545106e-01 -4.86387500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22463044 meters Centerline goodness : 0.092297 with order 1 Centerline is valid? [False, False] Translation: X:-31.08, Y:-1.97, Z:-4.86 [[ 9.87815875e-01 -1.69867268e-02 -1.54697282e-01 -3.10842095e+01] [ 1.35910334e-02 9.99643495e-01 -2.29818671e-02 -1.97331081e+00] [ 1.55032519e-01 2.05993572e-02 9.87694581e-01 -4.86127628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28463044 meters Centerline goodness : 0.092392 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-1.98, Z:-4.86 [[ 9.88185188e-01 -6.59844288e-03 -1.53122486e-01 -3.11009276e+01] [ 2.75700606e-03 9.99676453e-01 -2.52861323e-02 -1.97837297e+00] [ 1.53239792e-01 2.45652218e-02 9.87883655e-01 -4.86388835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34463044 meters Centerline goodness : 0.076339 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-1.98, Z:-4.86 [[ 9.88341859e-01 -7.07739698e-03 -1.52086423e-01 -3.11046611e+01] [ 3.15314198e-03 9.99656228e-01 -2.60285020e-02 -1.97836999e+00] [ 1.52218354e-01 2.52455080e-02 9.88024411e-01 -4.86257469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40463044 meters Centerline goodness : 0.118940 with order 1 Centerline is valid? [False, False] Translation: X:-31.11, Y:-1.98, Z:-4.86 [[ 9.88457794e-01 -8.51733042e-03 -1.51256884e-01 -3.11079060e+01] [ 4.46856496e-03 9.99623086e-01 -2.70872448e-02 -1.98283306e+00] [ 1.51430584e-01 2.60986971e-02 9.88123290e-01 -4.86128213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46463044 meters Centerline goodness : 0.076387 with order 1 Centerline is valid? [False, False] Translation: X:-31.10, Y:-1.99, Z:-4.86 [[ 9.88205538e-01 -8.53243259e-03 -1.52895432e-01 -3.11014616e+01] [ 4.43714264e-03 9.99622713e-01 -2.71061367e-02 -1.98707725e+00] [ 1.53069028e-01 2.61080155e-02 9.87870560e-01 -4.86311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52463044 meters Centerline goodness : 0.078921 with order 3 Centerline is valid? [False, False] Translation: X:-31.10, Y:-1.99, Z:-4.86 [[ 9.88207951e-01 -8.70467778e-03 -1.52870124e-01 -3.11004326e+01] [ 4.55834276e-03 9.99612707e-01 -2.74528198e-02 -1.98782555e+00] [ 1.53049887e-01 2.64322603e-02 9.87864904e-01 -4.86378070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58463044 meters Centerline goodness : 0.090430 with order 1 Centerline is valid? [False, False] Translation: X:-31.12, Y:-1.99, Z:-4.87 [[ 9.88537451e-01 -1.45447218e-02 -1.50273613e-01 -3.11208955e+01] [ 1.04060004e-02 9.99545564e-01 -2.82910021e-02 -1.98708753e+00] [ 1.50616808e-01 2.64029678e-02 9.88239576e-01 -4.86528594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64463044 meters Centerline goodness : 0.092856 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-1.99, Z:-4.87 [[ 9.88470902e-01 -2.46975573e-02 -1.49383089e-01 -3.11389529e+01] [ 2.02214378e-02 9.99302031e-01 -3.14092871e-02 -1.98948797e+00] [ 1.50054557e-01 2.80264255e-02 9.88280400e-01 -4.86827456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70463044 meters Centerline goodness : 0.090276 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-1.99, Z:-4.87 [[ 9.88503792e-01 -2.50793774e-02 -1.49101568e-01 -3.11387626e+01] [ 2.05664567e-02 9.99284767e-01 -3.17328614e-02 -1.99169375e+00] [ 1.49790766e-01 2.83015629e-02 9.88312576e-01 -4.86805587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76463044 meters Centerline goodness : 0.079601 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.00, Z:-4.87 [[ 9.88394403e-01 -1.49752596e-02 -1.51169592e-01 -3.11530048e+01] [ 1.00841746e-02 9.99402166e-01 -3.30699121e-02 -1.99820962e+00] [ 1.51574449e-01 3.11616955e-02 9.87954521e-01 -4.87003172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82463044 meters Centerline goodness : 0.092981 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.00, Z:-4.87 [[ 9.88328966e-01 -1.45781976e-02 -1.51635522e-01 -3.11510824e+01] [ 9.72463427e-03 9.99417881e-01 -3.27006073e-02 -2.00083235e+00] [ 1.52023968e-01 3.08443574e-02 9.87895409e-01 -4.87029087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88463044 meters Centerline goodness : 0.090116 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.00, Z:-4.87 [[ 9.88299910e-01 -1.37350029e-02 -1.51903385e-01 -3.11492623e+01] [ 8.93062516e-03 9.99439449e-01 -3.22650325e-02 -2.00263590e+00] [ 1.52261396e-01 3.05309365e-02 9.87868579e-01 -4.87063869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94463044 meters Centerline goodness : 0.090430 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.00, Z:-4.87 [[ 9.88414504e-01 -1.36055511e-02 -1.51167643e-01 -3.11512912e+01] [ 8.82671481e-03 9.99441211e-01 -3.22390126e-02 -2.00476278e+00] [ 1.51521802e-01 3.05311940e-02 9.87982282e-01 -4.87006863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00463044 meters Centerline goodness : 0.079772 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.01, Z:-4.87 [[ 9.88406844e-01 -1.35514299e-02 -1.51222585e-01 -3.11515627e+01] [ 8.70217922e-03 9.99427888e-01 -3.26828398e-02 -2.00575751e+00] [ 1.51578968e-01 3.09879765e-02 9.87959292e-01 -4.86921666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06463044000003 meters Centerline goodness : 0.090650 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.01, Z:-4.87 [[ 9.88452663e-01 -1.39440727e-02 -1.50887027e-01 -3.11526594e+01] [ 9.07628157e-03 9.99417372e-01 -3.29019259e-02 -2.00779067e+00] [ 1.51257903e-01 3.11525031e-02 9.88003324e-01 -4.86857252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12463044000003 meters Centerline goodness : 0.101829 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.01, Z:-4.87 [[ 9.88467053e-01 -1.41955928e-02 -1.50769261e-01 -3.11532638e+01] [ 9.29685467e-03 9.99407248e-01 -3.31469673e-02 -2.00887925e+00] [ 1.51150433e-01 3.13630051e-02 9.88013112e-01 -4.86798001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18463044000003 meters Centerline goodness : 0.090970 with order 1 Centerline is valid? [False, False] Translation: X:-31.16, Y:-2.01, Z:-4.87 [[ 9.88690691e-01 -1.50624528e-02 -1.49210721e-01 -3.11593299e+01] [ 1.01050430e-02 9.99373232e-01 -3.39268531e-02 -2.01129854e+00] [ 1.49628222e-01 3.20353831e-02 9.88223218e-01 -4.86501238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24463044000004 meters Centerline goodness : 0.241669 with order 3 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.87 [[ 9.88775612e-01 -6.34053751e-03 -1.49273530e-01 -3.11779666e+01] [ 8.62955158e-04 9.99324811e-01 -3.67311434e-02 -2.01642998e+00] [ 1.49405638e-01 3.61900424e-02 9.88113473e-01 -4.86611558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30463044000004 meters Centerline goodness : 0.099459 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.86 [[ 9.88796893e-01 -6.28479078e-03 -1.49134857e-01 -3.11791867e+01] [ 7.99901012e-04 9.99321978e-01 -3.68095697e-02 -2.01756117e+00] [ 1.49265081e-01 3.62778950e-02 9.88131494e-01 -4.86479116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36463044 meters Centerline goodness : 0.091466 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.86 [[ 9.88845515e-01 -6.69874556e-03 -1.48794067e-01 -3.11798938e+01] [ 1.10019257e-03 9.99289377e-01 -3.76766689e-02 -2.01622564e+00] [ 1.48940716e-01 3.70927030e-02 9.88150188e-01 -4.86465535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42463044 meters Centerline goodness : 0.091878 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.86 [[ 9.88998290e-01 -7.63440876e-03 -1.47729815e-01 -3.11836526e+01] [ 1.94073957e-03 9.99251044e-01 -3.86469232e-02 -2.01521520e+00] [ 1.47914218e-01 3.79350359e-02 9.88272390e-01 -4.86353002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48463044 meters Centerline goodness : 0.091546 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.86 [[ 9.88811159e-01 -9.26574372e-03 -1.48884648e-01 -3.11804968e+01] [ 3.43971592e-03 9.99219919e-01 -3.93411025e-02 -2.02120896e+00] [ 1.49133031e-01 3.83888003e-02 9.88071677e-01 -4.86373164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54463044 meters Centerline goodness : 0.090676 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:-2.02, Z:-4.86 [[ 9.88621035e-01 -1.25941667e-02 -1.49899422e-01 -3.11764539e+01] [ 6.39208803e-03 9.99106175e-01 -4.17850645e-02 -2.02451991e+00] [ 1.50291687e-01 4.03514233e-02 9.87817884e-01 -4.86486208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60463044 meters Centerline goodness : 0.095254 with order 1 Centerline is valid? [False, False] Translation: X:-31.17, Y:-2.03, Z:-4.87 [[ 9.88531986e-01 -1.22537188e-02 -1.50513650e-01 -3.11741987e+01] [ 6.10710116e-03 9.99130928e-01 -4.12321713e-02 -2.02625590e+00] [ 1.50888090e-01 3.98401181e-02 9.87747715e-01 -4.86549340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66463044 meters Centerline goodness : 0.090899 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.03, Z:-4.86 [[ 9.88041062e-01 -1.71440757e-02 -1.53234920e-01 -3.11360431e+01] [ 1.11118869e-02 9.99132447e-01 -4.01357717e-02 -2.02713351e+00] [ 1.53790072e-01 3.79530614e-02 9.87374386e-01 -4.86149660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72463044 meters Centerline goodness : 0.091889 with order 1 Centerline is valid? [False, False] Translation: X:-31.14, Y:-2.03, Z:-4.86 [[ 9.88073953e-01 -1.67815187e-02 -1.53062878e-01 -3.11355782e+01] [ 1.08306735e-02 9.99155733e-01 -3.96297540e-02 -2.03026902e+00] [ 1.53598700e-01 3.74993536e-02 9.87421510e-01 -4.86211665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78463044 meters Centerline goodness : 0.091655 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.03, Z:-4.86 [[ 9.88109411e-01 -1.65383958e-02 -1.52860304e-01 -3.11348846e+01] [ 1.06571898e-02 9.99174002e-01 -3.92140104e-02 -2.03496595e+00] [ 1.53382579e-01 3.71186714e-02 9.87469487e-01 -4.86295153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84463044 meters Centerline goodness : 0.090167 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.04, Z:-4.86 [[ 9.88007476e-01 -1.62484373e-02 -1.53548742e-01 -3.11322406e+01] [ 1.04192530e-02 9.99196867e-01 -3.86918692e-02 -2.03894961e+00] [ 1.54054105e-01 3.66279928e-02 9.87383271e-01 -4.86349547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90463044 meters Centerline goodness : 0.093944 with order 1 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.04, Z:-4.86 [[ 9.87980207e-01 -1.57338889e-02 -1.53777614e-01 -3.11307260e+01] [ 1.00286093e-02 9.99234758e-01 -3.78064208e-02 -2.04437152e+00] [ 1.54254779e-01 3.58098199e-02 9.87381952e-01 -4.86425682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96463044 meters Centerline goodness : 0.206583 with order 2 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.05, Z:-4.86 [[ 9.88007717e-01 -1.53410530e-02 -1.53640502e-01 -3.11307120e+01] [ 9.72079361e-03 9.99258128e-01 -3.72652571e-02 -2.04862135e+00] [ 1.54098209e-01 3.53248540e-02 9.87423869e-01 -4.86441278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02463044 meters Centerline goodness : 0.205252 with order 2 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.05, Z:-4.86 [[ 9.87953012e-01 -1.49211549e-02 -1.54033128e-01 -3.11295696e+01] [ 9.34498715e-03 9.99276674e-01 -3.68619006e-02 -2.05015295e+00] [ 1.54471734e-01 3.49783881e-02 9.87377838e-01 -4.86444461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08463044 meters Centerline goodness : 0.207593 with order 2 Centerline is valid? [False, False] Translation: X:-31.13, Y:-2.04, Z:-4.86 [[ 9.88070820e-01 -9.40178528e-03 -1.53712918e-01 -3.11299102e+01] [ 4.28346671e-03 9.99426341e-01 -3.35952467e-02 -2.04003767e+00] [ 1.53940594e-01 3.25360588e-02 9.87544277e-01 -4.86468865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14463044 meters Centerline goodness : 0.091980 with order 1 Centerline is valid? [False, False] Translation: X:-31.15, Y:-2.04, Z:-4.87 [[ 9.88566635e-01 -1.47505304e-02 -1.50061420e-01 -3.11520226e+01] [ 9.73776829e-03 9.99371501e-01 -3.40848892e-02 -2.03694930e+00] [ 1.50469877e-01 3.22339209e-02 9.88088959e-01 -4.86603817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20463044 meters Centerline goodness : 0.093453 with order 1 Centerline is valid? [False, False] Translation: X:-31.20, Y:-2.04, Z:-4.87 [[ 9.88789750e-01 -1.50948701e-02 -1.48549570e-01 -3.12004854e+01] [ 9.74774297e-03 9.99280325e-01 -3.66580552e-02 -2.04447003e+00] [ 1.48996011e-01 3.47990862e-02 9.88225284e-01 -4.87317454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26463044 meters Centerline goodness : 0.094335 with order 1 Centerline is valid? [False, False] Translation: X:-31.22, Y:-2.04, Z:-4.88 [[ 9.88654212e-01 -2.04938599e-02 -1.48804737e-01 -3.12156556e+01] [ 1.53034812e-02 9.99236691e-01 -3.59421728e-02 -2.04447270e+00] [ 1.49427747e-01 3.32571501e-02 9.88213191e-01 -4.87765802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32463044 meters Centerline goodness : 0.195472 with order 2 Centerline is valid? [False, False] Translation: X:-31.21, Y:-2.04, Z:-4.88 [[ 9.88617010e-01 -2.04784514e-02 -1.49053818e-01 -3.12140073e+01] [ 1.52300987e-02 9.99226043e-01 -3.62678890e-02 -2.04238155e+00] [ 1.49681167e-01 3.35849476e-02 9.88163751e-01 -4.87855224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38463044 meters Centerline goodness : 0.094604 with order 1 Centerline is valid? [False, False] Translation: X:-31.21, Y:-2.04, Z:-4.88 [[ 9.88630683e-01 -2.07758222e-02 -1.48921919e-01 -3.12142532e+01] [ 1.54915399e-02 9.99211515e-01 -3.65562649e-02 -2.04272906e+00] [ 1.49563983e-01 3.38336153e-02 9.88173012e-01 -4.87845206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44463044 meters Centerline goodness : 0.228672 with order 3 Centerline is valid? [False, False] Translation: X:-31.21, Y:-2.04, Z:-4.88 [[ 9.88626552e-01 -2.12917344e-02 -1.48876471e-01 -3.12142511e+01] [ 1.59602046e-02 9.99190937e-01 -3.69153437e-02 -2.04297215e+00] [ 1.49542012e-01 3.41193900e-02 9.88166511e-01 -4.87831971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50463044 meters Centerline goodness : 0.223985 with order 3 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.05, Z:-4.88 [[ 9.88559055e-01 -1.72353172e-02 -1.49846384e-01 -3.12443502e+01] [ 1.15684032e-02 9.99187469e-01 -3.86079600e-02 -2.04714473e+00] [ 1.50390050e-01 3.64327650e-02 9.87955205e-01 -4.88469881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56463044000003 meters Centerline goodness : 0.092226 with order 1 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.04, Z:-4.88 [[ 9.88560107e-01 -1.71215894e-02 -1.49852482e-01 -3.12443490e+01] [ 1.13771065e-02 9.99170219e-01 -3.91079850e-02 -2.04457438e+00] [ 1.50397728e-01 3.69557062e-02 9.87934613e-01 -4.88455911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62463044000003 meters Centerline goodness : 0.093155 with order 1 Centerline is valid? [False, False] Translation: X:-31.25, Y:-2.04, Z:-4.88 [[ 9.88624428e-01 -1.78257686e-02 -1.49345179e-01 -3.12463727e+01] [ 1.20151111e-02 9.99138611e-01 -3.97199381e-02 -2.04489779e+00] [ 1.49924573e-01 3.74737022e-02 9.87987016e-01 -4.88354516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68463044000003 meters Centerline goodness : 0.095600 with order 1 Centerline is valid? [False, False] Translation: X:-31.24, Y:-2.04, Z:-4.88 [[ 9.88518678e-01 -1.73843219e-02 -1.50095333e-01 -3.12438665e+01] [ 1.15504509e-02 9.99146770e-01 -3.96524829e-02 -2.04360100e+00] [ 1.50656599e-01 3.74635512e-02 9.87876041e-01 -4.88397606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74463044000004 meters Centerline goodness : 0.180668 with order 2 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.05, Z:-4.89 [[ 9.88610485e-01 -1.16477623e-02 -1.50045455e-01 -3.12787567e+01] [ 5.64695733e-03 9.99169351e-01 -4.03574096e-02 -2.04722855e+00] [ 1.50390893e-01 3.90504580e-02 9.87855071e-01 -4.88843671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80463044000004 meters Centerline goodness : 0.121469 with order 1 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.05, Z:-4.89 [[ 9.88584692e-01 -1.11526606e-02 -1.50252869e-01 -3.12789922e+01] [ 5.12672952e-03 9.99169096e-01 -4.04330882e-02 -2.04522950e+00] [ 1.50578959e-01 3.92012263e-02 9.87820450e-01 -4.88751341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86463044 meters Centerline goodness : 0.120646 with order 1 Centerline is valid? [False, False] Translation: X:-31.27, Y:-2.04, Z:-4.88 [[ 9.89598834e-01 -5.39399737e-03 -1.43753441e-01 -3.12687324e+01] [-6.00009577e-04 9.99133311e-01 -4.16205078e-02 -2.04144744e+00] [ 1.43853353e-01 4.12738595e-02 9.88737924e-01 -4.88293661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92463044 meters Centerline goodness : 0.167558 with order 2 Centerline is valid? [False, False] Translation: X:-31.29, Y:-2.04, Z:-4.88 [[ 9.90027777e-01 -1.16561360e-02 -1.40389229e-01 -3.12925369e+01] [ 5.79295710e-03 9.99096599e-01 -4.21002198e-02 -2.04387496e+00] [ 1.40753127e-01 4.08671183e-02 9.89200908e-01 -4.88376834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98463044 meters Centerline goodness : 0.162079 with order 2 Centerline is valid? [False, False] Translation: X:-31.28, Y:-2.04, Z:-4.89 [[ 9.89753977e-01 -1.03273392e-02 -1.42409310e-01 -3.12847085e+01] [ 4.47663232e-03 9.99134980e-01 -4.13430923e-02 -2.04156696e+00] [ 1.42713087e-01 4.02819759e-02 9.88944052e-01 -4.88645650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04463044 meters Centerline goodness : 0.207678 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-2.04, Z:-4.88 [[ 9.90105122e-01 -1.17073452e-02 -1.39838427e-01 -3.12936224e+01] [ 5.74474210e-03 9.99059974e-01 -4.29670268e-02 -2.03911600e+00] [ 1.40210005e-01 4.17385376e-02 9.89241653e-01 -4.88308315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10463044 meters Centerline goodness : 0.246116 with order 3 Centerline is valid? [False, False] Translation: X:-31.29, Y:-2.04, Z:-4.88 [[ 9.90141420e-01 -1.21990623e-02 -1.39539066e-01 -3.12947737e+01] [ 6.26973173e-03 9.99061707e-01 -4.28531955e-02 -2.04166273e+00] [ 1.39930907e-01 4.15558513e-02 9.89288862e-01 -4.88247335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16463044 meters Centerline goodness : 0.380387 with order 3 Centerline is valid? [False, False] Translation: X:-31.32, Y:-2.04, Z:-4.89 [[ 9.90202938e-01 -7.09264861e-03 -1.39455495e-01 -3.13247532e+01] [ 9.26179681e-04 9.99020793e-01 -4.42334496e-02 -2.04185468e+00] [ 1.39632671e-01 4.36709309e-02 9.89239894e-01 -4.89028436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22463044 meters Centerline goodness : 0.212360 with order 2 Centerline is valid? [False, False] Translation: X:-31.33, Y:-2.04, Z:-4.89 [[ 9.90498708e-01 -9.13749014e-03 -1.37218130e-01 -3.13318519e+01] [ 2.85880337e-03 9.98942660e-01 -4.58845173e-02 -2.04432619e+00] [ 1.37492313e-01 4.50562755e-02 9.89477537e-01 -4.88829063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28463044 meters Centerline goodness : 0.089678 with order 3 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.04, Z:-4.89 [[ 9.89403868e-01 -1.25547460e-02 -1.44645649e-01 -3.13407219e+01] [ 6.20358310e-03 9.99000072e-01 -4.42760849e-02 -2.04431467e+00] [ 1.45056888e-01 4.29096084e-02 9.88492420e-01 -4.89319310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34463044 meters Centerline goodness : 0.103761 with order 3 Centerline is valid? [False, False] Translation: X:-31.34, Y:-2.05, Z:-4.90 [[ 9.89305429e-01 -1.25740790e-02 -1.45315729e-01 -3.13369181e+01] [ 6.20331759e-03 9.99002952e-01 -4.42110865e-02 -2.04614424e+00] [ 1.45726756e-01 4.28368283e-02 9.88397045e-01 -4.89508952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40463044 meters Centerline goodness : 0.101245 with order 2 Centerline is valid? [False, False] Translation: X:-31.38, Y:-2.05, Z:-4.90 [[ 9.90314641e-01 -9.14199108e-03 -1.38540012e-01 -3.13786201e+01] [ 2.79726623e-03 9.98941078e-01 -4.59227384e-02 -2.05244474e+00] [ 1.38813134e-01 4.50904269e-02 9.89291548e-01 -4.90056873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46463044 meters Centerline goodness : 0.227755 with order 3 Centerline is valid? [False, False] Translation: X:-31.37, Y:-2.05, Z:-4.90 [[ 9.90112350e-01 -8.27565868e-03 -1.40032309e-01 -3.13716995e+01] [ 1.91365234e-03 9.98962223e-01 -4.55062094e-02 -2.05412513e+00] [ 1.40263580e-01 4.47882868e-02 9.89100671e-01 -4.90362718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52463044 meters Centerline goodness : 0.114869 with order 3 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.06, Z:-4.91 [[ 9.90020405e-01 -4.75189108e-03 -1.40843944e-01 -3.14162816e+01] [-1.70695398e-03 9.98953663e-01 -4.57019173e-02 -2.05883937e+00] [ 1.40913744e-01 4.54862448e-02 9.88976399e-01 -4.91170281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58463044 meters Centerline goodness : 0.120128 with order 3 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.05, Z:-4.91 [[ 9.90169317e-01 -4.43341563e-03 -1.39803678e-01 -3.14193701e+01] [-2.11000724e-03 9.98910401e-01 -4.66214444e-02 -2.05462827e+00] [ 1.39858040e-01 4.64581105e-02 9.89081075e-01 -4.91047593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64463044 meters Centerline goodness : 0.118778 with order 3 Centerline is valid? [False, False] Translation: X:-31.42, Y:-2.06, Z:-4.91 [[ 9.90301585e-01 -5.23386120e-03 -1.38835793e-01 -3.14231813e+01] [-1.36519867e-03 9.98875357e-01 -4.73936383e-02 -2.05565922e+00] [ 1.38927705e-01 4.71235336e-02 9.89180704e-01 -4.90873797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70463044 meters Centerline goodness : 0.092239 with order 1 Centerline is valid? [False, False] Translation: X:-31.43, Y:-2.06, Z:-4.91 [[ 9.90415875e-01 -6.39805222e-03 -1.37969052e-01 -3.14262645e+01] [-2.18628893e-04 9.98852624e-01 -4.78893249e-02 -2.05933340e+00] [ 1.38117148e-01 4.74605117e-02 9.89278097e-01 -4.90774087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76463044 meters Centerline goodness : 0.124292 with order 3 Centerline is valid? [False, False] Translation: X:-31.46, Y:-2.06, Z:-4.91 [[ 9.89967275e-01 -1.09453673e-02 -1.40872259e-01 -3.14631765e+01] [ 4.66524325e-03 9.98983577e-01 -4.48335539e-02 -2.05998791e+00] [ 1.41219792e-01 4.37265478e-02 9.89012113e-01 -4.91335374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82463044 meters Centerline goodness : 0.216472 with order 3 Centerline is valid? [False, False] Translation: X:-31.47, Y:-2.06, Z:-4.91 [[ 9.90229889e-01 -1.31780209e-02 -1.38820413e-01 -3.14702299e+01] [ 6.79041692e-03 9.98900465e-01 -4.63869633e-02 -2.06495716e+00] [ 1.39279063e-01 4.49911090e-02 9.89230581e-01 -4.91082364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88463044 meters Centerline goodness : 0.092141 with order 1 Centerline is valid? [False, False] Translation: X:-31.50, Y:-2.07, Z:-4.92 [[ 9.90801120e-01 -8.75162990e-03 -1.35042773e-01 -3.15021892e+01] [ 2.06262374e-03 9.98767374e-01 -4.95931206e-02 -2.06849883e+00] [ 1.35310336e-01 4.88583770e-02 9.89597884e-01 -4.91564268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94463044 meters Centerline goodness : 0.091915 with order 1 Centerline is valid? [False, False] Translation: X:-31.52, Y:-2.07, Z:-4.92 [[ 9.91105769e-01 -1.41505831e-02 -1.32322017e-01 -3.15208021e+01] [ 7.63146486e-03 9.98737768e-01 -4.96450488e-02 -2.06982624e+00] [ 1.32857502e-01 4.81936834e-02 9.89962753e-01 -4.91897107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00463044 meters Centerline goodness : 0.140428 with order 2 Centerline is valid? [False, False] Translation: X:-31.53, Y:-2.07, Z:-4.92 [[ 9.90206457e-01 -1.42690642e-02 -1.38879682e-01 -3.15345011e+01] [ 7.86658722e-03 9.98885400e-01 -4.65411089e-02 -2.07304857e+00] [ 1.39388985e-01 4.49927974e-02 9.89215022e-01 -4.92330389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06463044000003 meters Centerline goodness : 0.146041 with order 2 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.08, Z:-4.93 [[ 9.90407598e-01 -9.55265705e-03 -1.37846058e-01 -3.15646001e+01] [ 2.76142313e-03 9.98776534e-01 -4.93741740e-02 -2.07586436e+00] [ 1.38149063e-01 4.85199058e-02 9.89222248e-01 -4.92941632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12463044000003 meters Centerline goodness : 0.169594 with order 3 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.07, Z:-4.93 [[ 9.90571940e-01 -1.00168734e-02 -1.36626844e-01 -3.15689552e+01] [ 3.15179872e-03 9.98725604e-01 -5.03709549e-02 -2.07312346e+00] [ 1.36957287e-01 4.94654342e-02 9.89341130e-01 -4.92760468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18463044000003 meters Centerline goodness : 0.140991 with order 3 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.07, Z:-4.93 [[ 9.90604203e-01 -1.57567380e-02 -1.35849319e-01 -3.15868995e+01] [ 8.97820354e-03 9.98690445e-01 -5.03665209e-02 -2.07416820e+00] [ 1.36465029e-01 4.86736044e-02 9.89448420e-01 -4.93015782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24463044000004 meters Centerline goodness : 0.083157 with order 2 Centerline is valid? [False, False] Translation: X:-31.62, Y:-2.08, Z:-4.94 [[ 9.90763719e-01 -1.16181631e-02 -1.35100967e-01 -3.16160200e+01] [ 4.50455986e-03 9.98592783e-01 -5.28409197e-02 -2.07859270e+00] [ 1.35524765e-01 5.17442957e-02 9.89421834e-01 -4.93697767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30463044000004 meters Centerline goodness : 0.092592 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.08, Z:-4.94 [[ 9.90925866e-01 -7.48088061e-03 -1.34201208e-01 -3.16556721e+01] [ 2.16264678e-04 9.98537375e-01 -5.40653601e-02 -2.08337457e+00] [ 1.34409378e-01 5.35457408e-02 9.89478131e-01 -4.94428607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36463044 meters Centerline goodness : 0.092839 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.08, Z:-4.94 [[ 9.90887467e-01 -7.26218311e-03 -1.34496423e-01 -3.16553600e+01] [-4.26023545e-05 9.98528482e-01 -5.42297755e-02 -2.08268547e+00] [ 1.34692336e-01 5.37413348e-02 9.89429049e-01 -4.94379490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42463044 meters Centerline goodness : 0.091807 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.09, Z:-4.94 [[ 9.90990615e-01 -8.56632933e-03 -1.33657092e-01 -3.16591301e+01] [ 1.23226876e-03 9.98493367e-01 -5.48587143e-02 -2.08620168e+00] [ 1.33925658e-01 5.41997696e-02 9.89508112e-01 -4.94219133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48463044 meters Centerline goodness : 0.093324 with order 1 Centerline is valid? [False, False] Translation: X:-31.70, Y:-2.09, Z:-4.95 [[ 9.90817636e-01 -1.51677365e-02 -1.34351601e-01 -3.16997684e+01] [ 8.32912556e-03 9.98647659e-01 -5.13174388e-02 -2.08940990e+00] [ 1.34948282e-01 4.97271921e-02 9.89604046e-01 -4.95070334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54463044 meters Centerline goodness : 0.092017 with order 1 Centerline is valid? [False, False] Translation: X:-31.70, Y:-2.09, Z:-4.95 [[ 9.90878918e-01 -1.54603971e-02 -1.33865403e-01 -3.16994037e+01] [ 8.54870327e-03 9.98607715e-01 -5.20533446e-02 -2.08942730e+00] [ 1.34483790e-01 5.04341862e-02 9.89631499e-01 -4.95181864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60463044 meters Centerline goodness : 0.093038 with order 1 Centerline is valid? [False, False] Translation: X:-31.72, Y:-2.09, Z:-4.95 [[ 9.90623495e-01 -2.14536356e-02 -1.34925284e-01 -3.17163529e+01] [ 1.46380228e-02 9.98575760e-01 -5.13047740e-02 -2.09224158e+00] [ 1.35833792e-01 4.88486752e-02 9.89526648e-01 -4.95498642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66463044 meters Centerline goodness : 0.124321 with order 3 Centerline is valid? [False, False] Translation: X:-31.71, Y:-2.09, Z:-4.96 [[ 9.90327796e-01 -2.42296680e-02 -1.36615443e-01 -3.17093795e+01] [ 1.69801960e-02 9.98397483e-01 -5.39827657e-02 -2.09310045e+00] [ 1.37704498e-01 5.11408764e-02 9.89152204e-01 -4.95716755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72463044 meters Centerline goodness : 0.092334 with order 1 Centerline is valid? [False, False] Translation: X:-31.74, Y:-2.10, Z:-4.96 [[ 9.90595134e-01 -1.81633013e-02 -1.35614806e-01 -3.17425175e+01] [ 1.08621594e-02 9.98460985e-01 -5.43845154e-02 -2.09877993e+00] [ 1.36393895e-01 5.23999667e-02 9.89267885e-01 -4.96295857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78463044 meters Centerline goodness : 0.341234 with order 3 Centerline is valid? [False, False] Translation: X:-31.75, Y:-2.10, Z:-4.96 [[ 9.90675074e-01 -2.28796783e-02 -1.34310904e-01 -3.17457132e+01] [ 1.50723431e-02 9.98152424e-01 -5.88605354e-02 -2.10009848e+00] [ 1.35409465e-01 5.62872852e-02 9.89189577e-01 -4.96199645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84463044 meters Centerline goodness : 0.091898 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.11, Z:-4.97 [[ 9.90913878e-01 -1.75376142e-02 -1.33349610e-01 -3.17812067e+01] [ 9.61347323e-03 9.98161862e-01 -5.98370975e-02 -2.10619543e+00] [ 1.34153895e-01 5.80114574e-02 9.89261039e-01 -4.96557907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90463044 meters Centerline goodness : 0.090990 with order 3 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.11, Z:-4.97 [[ 9.90934023e-01 -1.74757838e-02 -1.33207953e-01 -3.17807706e+01] [ 9.55092914e-03 9.98158641e-01 -5.99008075e-02 -2.10732095e+00] [ 1.34009483e-01 5.80854885e-02 9.89276268e-01 -4.96598844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96463044 meters Centerline goodness : 0.090939 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.11, Z:-4.97 [[ 9.91168961e-01 -1.35568069e-02 -1.31910212e-01 -3.17839303e+01] [ 6.11871094e-03 9.98376465e-01 -5.66303431e-02 -2.10800132e+00] [ 1.32463778e-01 5.53231179e-02 9.89642713e-01 -4.96598789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02463044 meters Centerline goodness : 0.091178 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.10, Z:-4.97 [[ 9.91261406e-01 -1.14202743e-02 -1.31416900e-01 -3.17836561e+01] [ 4.09882665e-03 9.98430880e-01 -5.58478086e-02 -2.10305139e+00] [ 1.31848489e-01 5.48211222e-02 9.89752808e-01 -4.96690787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08463044 meters Centerline goodness : 0.090760 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.10, Z:-4.97 [[ 9.91290509e-01 -1.15521118e-02 -1.31185656e-01 -3.17839940e+01] [ 4.14727670e-03 9.98389512e-01 -5.65789850e-02 -2.10111291e+00] [ 1.31627990e-01 5.55421476e-02 9.89741957e-01 -4.96708884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14463044 meters Centerline goodness : 0.091398 with order 3 Centerline is valid? [False, False] Translation: X:-31.80, Y:-2.10, Z:-4.97 [[ 9.91315257e-01 -1.77969241e-02 -1.30297087e-01 -3.18024183e+01] [ 1.04794050e-02 9.98340120e-01 -5.66320358e-02 -2.10219208e+00] [ 1.31088685e-01 5.47747652e-02 9.89856293e-01 -4.96991357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20463044 meters Centerline goodness : 0.132064 with order 1 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.11, Z:-4.98 [[ 9.89970197e-01 -2.80903223e-02 -1.38455563e-01 -3.18295063e+01] [ 2.04089997e-02 9.98188904e-01 -5.65896122e-02 -2.10866106e+00] [ 1.39794427e-01 5.31962900e-02 9.88750562e-01 -4.97829940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26463044 meters Centerline goodness : 0.091372 with order 1 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.11, Z:-4.98 [[ 9.89965028e-01 -2.74400954e-02 -1.38622815e-01 -3.18297569e+01] [ 1.98534650e-02 9.98243547e-01 -5.58181001e-02 -2.11112906e+00] [ 1.39910984e-01 5.25058239e-02 9.88770982e-01 -4.97732150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32463044 meters Centerline goodness : 0.089332 with order 1 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.11, Z:-4.98 [[ 9.90095121e-01 -2.33524076e-02 -1.38442469e-01 -3.18303002e+01] [ 1.61460861e-02 9.98466659e-01 -5.29493540e-02 -2.10937865e+00] [ 1.39466684e-01 5.01895931e-02 9.88954017e-01 -4.97681755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38463044 meters Centerline goodness : 0.090834 with order 1 Centerline is valid? [False, False] Translation: X:-31.86, Y:-2.11, Z:-4.98 [[ 9.90041216e-01 -1.95045034e-02 -1.39420104e-01 -3.18561201e+01] [ 1.17652329e-02 9.98354673e-01 -5.61206481e-02 -2.11046048e+00] [ 1.40285318e-01 5.39214446e-02 9.88641749e-01 -4.98319831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44463044 meters Centerline goodness : 0.089563 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.11, Z:-4.98 [[ 9.90281531e-01 -2.70233167e-02 -1.36426649e-01 -3.18796417e+01] [ 1.93796543e-02 9.98183309e-01 -5.70483123e-02 -2.11496753e+00] [ 1.37720438e-01 5.38499887e-02 9.89006198e-01 -4.98362313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50463044 meters Centerline goodness : 0.090809 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.12, Z:-4.98 [[ 9.90184653e-01 -2.92608901e-02 -1.36668042e-01 -3.18801406e+01] [ 2.14041466e-02 9.98051593e-01 -5.86078527e-02 -2.11974957e+00] [ 1.38116675e-01 5.51073335e-02 9.88881674e-01 -4.98233202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56463044000003 meters Centerline goodness : 0.090927 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.12, Z:-4.98 [[ 9.90115471e-01 -2.89426855e-02 -1.37235837e-01 -3.18789622e+01] [ 2.09798599e-02 9.98030475e-01 -5.91186565e-02 -2.11664099e+00] [ 1.38676601e-01 5.56551078e-02 9.88772628e-01 -4.98164753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62463044000003 meters Centerline goodness : 0.092046 with order 1 Centerline is valid? [False, False] Translation: X:-31.89, Y:-2.12, Z:-4.98 [[ 9.90232967e-01 -3.09133610e-02 -1.35952330e-01 -3.18853901e+01] [ 2.28107210e-02 9.97891815e-01 -6.07585172e-02 -2.11882074e+00] [ 1.37543967e-01 5.70639161e-02 9.88850528e-01 -4.97799765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68463044000003 meters Centerline goodness : 0.090667 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.12, Z:-4.98 [[ 9.89815670e-01 -3.43763651e-02 -1.38141975e-01 -3.18793052e+01] [ 2.58021615e-02 9.97655430e-01 -6.33868424e-02 -2.12142571e+00] [ 1.39997100e-01 5.91769284e-02 9.88381962e-01 -4.97812245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74463044000004 meters Centerline goodness : 0.091190 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.12, Z:-4.98 [[ 9.89731823e-01 -3.45051721e-02 -1.38709453e-01 -3.18772005e+01] [ 2.59633413e-02 9.97680440e-01 -6.29257052e-02 -2.12498065e+00] [ 1.40558971e-01 5.86782120e-02 9.88331950e-01 -4.97852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80463044000004 meters Centerline goodness : 0.091665 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.13, Z:-4.98 [[ 9.89745531e-01 -3.52137652e-02 -1.38433288e-01 -3.18783204e+01] [ 2.66918980e-02 9.97660224e-01 -6.29414086e-02 -2.12721265e+00] [ 1.40325789e-01 5.86009307e-02 9.88369670e-01 -4.97779734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86463044 meters Centerline goodness : 0.091700 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.13, Z:-4.98 [[ 9.89720207e-01 -3.58192695e-02 -1.38458992e-01 -3.18780619e+01] [ 2.72405303e-02 9.97618574e-01 -6.33650812e-02 -2.12709398e+00] [ 1.40398953e-01 5.89420049e-02 9.88338997e-01 -4.97761238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92463044 meters Centerline goodness : 0.090889 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.13, Z:-4.98 [[ 9.89720543e-01 -3.64428520e-02 -1.38293763e-01 -3.18784111e+01] [ 2.78715060e-02 9.97597786e-01 -6.34179464e-02 -2.12951414e+00] [ 1.40272683e-01 5.89115889e-02 9.88358740e-01 -4.97741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98463044 meters Centerline goodness : 0.090986 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:-2.13, Z:-4.98 [[ 9.89537320e-01 -3.62949504e-02 -1.39637276e-01 -3.18750561e+01] [ 2.76882328e-02 9.97623484e-01 -6.30931472e-02 -2.12978310e+00] [ 1.41595388e-01 5.85667144e-02 9.88190612e-01 -4.97722365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04463044 meters Centerline goodness : 0.091096 with order 1 Centerline is valid? [False, False] Translation: X:-31.87, Y:-2.13, Z:-4.98 [[ 9.89486958e-01 -3.65991770e-02 -1.39914476e-01 -3.18738571e+01] [ 2.79619463e-02 9.97608599e-01 -6.32077020e-02 -2.13041156e+00] [ 1.41893234e-01 5.86309157e-02 9.88144081e-01 -4.97754254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10463044 meters Centerline goodness : 0.090686 with order 1 Centerline is valid? [False, False] Translation: X:-31.87, Y:-2.13, Z:-4.98 [[ 9.89323871e-01 -3.67731545e-02 -1.41017779e-01 -3.18705841e+01] [ 2.81785041e-02 9.97649124e-01 -6.24675747e-02 -2.13425955e+00] [ 1.42983393e-01 5.78269927e-02 9.88034305e-01 -4.97805809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16463044 meters Centerline goodness : 0.089521 with order 1 Centerline is valid? [False, False] Translation: X:-31.87, Y:-2.14, Z:-4.98 [[ 9.89270957e-01 -3.66757932e-02 -1.41413787e-01 -3.18687740e+01] [ 2.80906023e-02 9.97666098e-01 -6.22356463e-02 -2.13532236e+00] [ 1.43366283e-01 5.75955190e-02 9.87992341e-01 -4.97878047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22463044 meters Centerline goodness : 0.105762 with order 2 Centerline is valid? [False, False] Translation: X:-31.87, Y:-2.13, Z:-4.98 [[ 9.89253815e-01 -3.73106556e-02 -1.41367620e-01 -3.18695163e+01] [ 2.86383459e-02 9.97609375e-01 -6.28918197e-02 -2.13462022e+00] [ 1.43376198e-01 5.81674378e-02 9.87957395e-01 -4.97777063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28463044 meters Centerline goodness : 0.091246 with order 1 Centerline is valid? [False, False] Translation: X:-31.87, Y:-2.14, Z:-4.98 [[ 9.89225972e-01 -3.72575809e-02 -1.41576302e-01 -3.18695207e+01] [ 2.86223653e-02 9.97631435e-01 -6.25482273e-02 -2.13627684e+00] [ 1.43571365e-01 5.78220822e-02 9.87949326e-01 -4.97709334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34463044 meters Centerline goodness : 0.113209 with order 2 Centerline is valid? [False, False] Translation: X:-31.86, Y:-2.14, Z:-4.98 [[ 9.88894303e-01 -3.65234684e-02 -1.44062815e-01 -3.18608002e+01] [ 2.78844728e-02 9.97715204e-01 -6.15372079e-02 -2.13882853e+00] [ 1.45981213e-01 5.68366786e-02 9.87653318e-01 -4.97998423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40463044 meters Centerline goodness : 0.105837 with order 2 Centerline is valid? [False, False] Translation: X:-31.86, Y:-2.14, Z:-4.98 [[ 9.89130418e-01 -3.28585366e-02 -1.43322478e-01 -3.18620169e+01] [ 2.47183629e-02 9.97998184e-01 -5.82119104e-02 -2.13981853e+00] [ 1.44948331e-01 5.40364742e-02 9.87962571e-01 -4.98057114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46463044 meters Centerline goodness : 0.090363 with order 1 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.14, Z:-4.98 [[ 9.89752821e-01 -2.75751476e-02 -1.40103404e-01 -3.18474018e+01] [ 1.94437804e-02 9.98063909e-01 -5.90793861e-02 -2.14136040e+00] [ 1.41461273e-01 5.57498492e-02 9.88372735e-01 -4.97630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52463044 meters Centerline goodness : 0.118576 with order 2 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.14, Z:-4.98 [[ 9.89744021e-01 -2.76180485e-02 -1.40157116e-01 -3.18472058e+01] [ 1.94974880e-02 9.98068438e-01 -5.89850914e-02 -2.14217649e+00] [ 1.41515447e-01 5.56474299e-02 9.88370751e-01 -4.97620677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58463044 meters Centerline goodness : 0.101364 with order 2 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.14, Z:-4.97 [[ 9.89935012e-01 -2.45138132e-02 -1.39383444e-01 -3.18509148e+01] [ 1.68370651e-02 9.98289274e-01 -5.59914168e-02 -2.14353187e+00] [ 1.40517560e-01 5.30810558e-02 9.88654245e-01 -4.97458199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64463044 meters Centerline goodness : 0.097572 with order 2 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.14, Z:-4.97 [[ 9.89891932e-01 -2.44084255e-02 -1.39707524e-01 -3.18497095e+01] [ 1.67102639e-02 9.98290234e-01 -5.60122829e-02 -2.14272802e+00] [ 1.40835829e-01 5.31115573e-02 9.88607319e-01 -4.97475627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70463044 meters Centerline goodness : 0.105433 with order 2 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.14, Z:-4.98 [[ 9.89793641e-01 -2.46660966e-02 -1.40357155e-01 -3.18476819e+01] [ 1.68984598e-02 9.98272731e-01 -5.62671962e-02 -2.14248394e+00] [ 1.41502612e-01 5.33210933e-02 9.88500820e-01 -4.97500805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76463044 meters Centerline goodness : 0.081304 with order 2 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.15, Z:-4.98 [[ 9.89626600e-01 -2.45784453e-02 -1.41545376e-01 -3.18445774e+01] [ 1.68398607e-02 9.98310387e-01 -5.56128602e-02 -2.14601887e+00] [ 1.42673097e-01 5.26523613e-02 9.88368411e-01 -4.97505137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82463044 meters Centerline goodness : 0.090356 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.15, Z:-4.98 [[ 9.89623097e-01 -2.46100130e-02 -1.41564376e-01 -3.18436863e+01] [ 1.68978391e-02 9.98319867e-01 -5.54247706e-02 -2.14765767e+00] [ 1.42690533e-01 5.24575012e-02 9.88376255e-01 -4.97580698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88463044 meters Centerline goodness : 0.086269 with order 2 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.15, Z:-4.98 [[ 9.89602189e-01 -2.44961008e-02 -1.41730199e-01 -3.18437001e+01] [ 1.68849752e-02 9.98362402e-01 -5.46572131e-02 -2.15256788e+00] [ 1.42836990e-01 5.16957868e-02 9.88395235e-01 -4.97536851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94463044 meters Centerline goodness : 0.119163 with order 2 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.15, Z:-4.97 [[ 9.89616913e-01 -2.44000632e-02 -1.41643931e-01 -3.18456178e+01] [ 1.68336851e-02 9.98378788e-01 -5.43730039e-02 -2.15392148e+00] [ 1.42741001e-01 5.14240549e-02 9.88423276e-01 -4.97348420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00463044 meters Centerline goodness : 0.090119 with order 1 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.16, Z:-4.97 [[ 9.89982970e-01 -1.64836253e-02 -1.40221285e-01 -3.18311643e+01] [ 9.17930109e-03 9.98574548e-01 -5.25795849e-02 -2.15941334e+00] [ 1.40888108e-01 5.07657603e-02 9.88723105e-01 -4.97053193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06463044000003 meters Centerline goodness : 0.225333 with order 2 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.16, Z:-4.97 [[ 9.90123142e-01 -1.27441547e-02 -1.39620023e-01 -3.18320523e+01] [ 5.87957329e-03 9.98758365e-01 -4.94687607e-02 -2.15848881e+00] [ 1.40077103e-01 4.81592586e-02 9.88968701e-01 -4.97081098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12463044000003 meters Centerline goodness : 0.091292 with order 3 Centerline is valid? [False, False] Translation: X:-31.81, Y:-2.16, Z:-4.97 [[ 9.90289524e-01 -1.86071405e-02 -1.37769490e-01 -3.18137826e+01] [ 1.25419651e-02 9.98918943e-01 -4.47620769e-02 -2.15540126e+00] [ 1.38453448e-01 4.25995157e-02 9.89452335e-01 -4.96997192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18463044000003 meters Centerline goodness : 0.299619 with order 2 Centerline is valid? [False, False] Translation: X:-31.81, Y:-2.15, Z:-4.97 [[ 9.90330654e-01 -1.48161950e-02 -1.37933591e-01 -3.18128783e+01] [ 9.12476801e-03 9.99084189e-01 -4.18033684e-02 -2.15230727e+00] [ 1.38426637e-01 4.01405452e-02 9.89558893e-01 -4.97023649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24463044000004 meters Centerline goodness : 0.091304 with order 1 Centerline is valid? [False, False] Translation: X:-31.81, Y:-2.15, Z:-4.97 [[ 9.90263434e-01 -1.47561527e-02 -1.38421776e-01 -3.18110695e+01] [ 9.03530582e-03 9.99082346e-01 -4.18668137e-02 -2.15182234e+00] [ 1.38912546e-01 4.02084916e-02 9.89488040e-01 -4.97074159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30463044000004 meters Centerline goodness : 0.091026 with order 1 Centerline is valid? [False, False] Translation: X:-31.81, Y:-2.15, Z:-4.97 [[ 9.90287995e-01 -1.45674746e-02 -1.38265960e-01 -3.18113685e+01] [ 8.89961880e-03 9.99097933e-01 -4.15224986e-02 -2.15309116e+00] [ 1.38746112e-01 3.98887175e-02 9.89524333e-01 -4.97072148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36463044 meters Centerline goodness : 0.101979 with order 2 Centerline is valid? [False, False] Translation: X:-31.79, Y:-2.17, Z:-4.97 [[ 0.98866492 -0.03894427 -0.14500008 -31.78525797] [ 0.03216322 0.99828957 -0.04882076 -2.16580315] [ 0.14665336 0.04360371 0.98822645 -4.97153159] [ 0. 0. 0. 1. ]] SLAMing on 459.42463044 meters Centerline goodness : 0.133770 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.21, Z:-4.98 [[ 0.98633266 -0.07231266 -0.14804988 -31.77896155] [ 0.06644738 0.99681076 -0.04419333 -2.21008159] [ 0.15077345 0.03375179 0.987992 -4.97554584] [ 0. 0. 0. 1. ]] SLAMing on 459.48463044 meters Centerline goodness : 0.089382 with order 2 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.24, Z:-4.97 [[ 0.98471452 -0.09577599 -0.14547948 -31.77926481] [ 0.08973372 0.99482968 -0.04755795 -2.24169987] [ 0.14928221 0.03377659 0.98821757 -4.97489375] [ 0. 0. 0. 1. ]] SLAMing on 459.54463044 meters Centerline goodness : 0.088157 with order 1 Centerline is valid? [False, False] Translation: X:-31.79, Y:-2.29, Z:-4.98 [[ 9.83003402e-01 -1.19308813e-01 -1.39533933e-01 -3.17888529e+01] [ 1.14538869e-01 9.92540708e-01 -4.17587055e-02 -2.28733538e+00] [ 1.43475291e-01 2.50668906e-02 9.89336390e-01 -4.97702222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60463044 meters Centerline goodness : 0.097339 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-2.30, Z:-4.98 [[ 9.84763311e-01 -1.04671895e-01 -1.38870502e-01 -3.17954800e+01] [ 9.97118380e-02 9.94119995e-01 -4.22254142e-02 -2.30079417e+00] [ 1.42473757e-01 2.77350057e-02 9.89409924e-01 -4.97660629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66463044 meters Centerline goodness : 0.098732 with order 2 Centerline is valid? [False, False] Translation: X:-31.80, Y:-2.31, Z:-4.97 [[ 0.98837199 -0.05923714 -0.14004206 -31.80193651] [ 0.05299756 0.99744634 -0.04787535 -2.31036409] [ 0.14252044 0.03989677 0.98898745 -4.97357544] [ 0. 0. 0. 1. ]] SLAMing on 459.72463044 meters Centerline goodness : 0.089208 with order 1 Centerline is valid? [False, False] Translation: X:-31.80, Y:-2.30, Z:-4.97 [[ 9.90077106e-01 -1.71831765e-02 -1.39470654e-01 -3.17986773e+01] [ 1.10729733e-02 9.98949427e-01 -4.44683287e-02 -2.30272691e+00] [ 1.40088237e-01 4.24827193e-02 9.89227226e-01 -4.97143303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78463044 meters Centerline goodness : 0.197450 with order 2 Centerline is valid? [False, False] Translation: X:-31.74, Y:-2.28, Z:-4.96 [[ 9.90239409e-01 3.11194652e-02 -1.35858352e-01 -3.17435530e+01] [-3.81055656e-02 9.98065359e-01 -4.91274364e-02 -2.28121158e+00] [ 1.34066696e-01 5.38248829e-02 9.89509476e-01 -4.95989574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84463044 meters Centerline goodness : 0.131024 with order 3 Centerline is valid? [False, False] Translation: X:-31.70, Y:-2.27, Z:-4.95 [[ 0.98953448 0.05054379 -0.13515483 -31.69763207] [ -0.05729412 0.99727251 -0.04652871 -2.26580383] [ 0.13243446 0.05378534 0.9897314 -4.94988547] [ 0. 0. 0. 1. ]] SLAMing on 459.90463044 meters Centerline goodness : 0.087756 with order 3 Centerline is valid? [False, False] Translation: X:-31.69, Y:-2.24, Z:-4.95 [[ 0.98867651 0.05879757 -0.13806374 -31.68776018] [ -0.0658976 0.99669864 -0.04742705 -2.2358215 ] [ 0.13481935 0.05598808 0.98928716 -4.94645664] [ 0. 0. 0. 1. ]] SLAMing on 459.96463044 meters Centerline goodness : 0.089960 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.21, Z:-4.95 [[ 0.98773463 0.06524259 -0.14185807 -31.67295233] [ -0.07211992 0.99642997 -0.04388662 -2.20630208] [ 0.13848835 0.05357913 0.98891367 -4.94500964] [ 0. 0. 0. 1. ]] SLAMing on 460.02463044 meters Centerline goodness : 0.077501 with order 1 Centerline is valid? [False, False] Translation: X:-31.67, Y:-2.19, Z:-4.94 [[ 0.98752709 0.06358218 -0.14404013 -31.66605474] [ -0.07096044 0.99638655 -0.04667399 -2.18963058] [ 0.14055202 0.05631298 0.98847052 -4.94462981] [ 0. 0. 0. 1. ]] SLAMing on 460.08463044 meters Centerline goodness : 0.085675 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.18, Z:-4.94 [[ 0.9875325 0.0614081 -0.14494348 -31.6642666 ] [ -0.06906963 0.99643572 -0.0484277 -2.18417402] [ 0.14145301 0.05783512 0.98825409 -4.94307127] [ 0. 0. 0. 1. ]] SLAMing on 460.14463044 meters Centerline goodness : 0.079994 with order 1 Centerline is valid? [False, False] Translation: X:-31.65, Y:-2.18, Z:-4.94 [[ 9.89848797e-01 1.57380083e-02 -1.41250395e-01 -3.16474723e+01] [-2.22116355e-02 9.98768133e-01 -4.43718375e-02 -2.17886788e+00] [ 1.40378069e-01 4.70588123e-02 9.88979002e-01 -4.93843571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20463044 meters Centerline goodness : 0.232406 with order 3 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.18, Z:-4.94 [[ 9.89509559e-01 -4.96100729e-03 -1.44382203e-01 -3.16419507e+01] [-1.69908034e-03 9.98941452e-01 -4.59683528e-02 -2.17595858e+00] [ 1.44457417e-01 4.57314415e-02 9.88453686e-01 -4.94103025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26463044 meters Centerline goodness : 0.099691 with order 3 Centerline is valid? [False, False] Translation: X:-31.63, Y:-2.17, Z:-4.94 [[ 9.89480875e-01 -1.44264560e-02 -1.43942613e-01 -3.16285378e+01] [ 8.27924587e-03 9.99031535e-01 -4.32139513e-02 -2.17479287e+00] [ 1.44426634e-01 4.15676421e-02 9.88642038e-01 -4.93650960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32463044 meters Centerline goodness : 0.091450 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:-2.18, Z:-4.93 [[ 9.89893651e-01 -8.15398285e-03 -1.41577090e-01 -3.16106439e+01] [ 1.99245092e-03 9.99046731e-01 -4.36080117e-02 -2.17640944e+00] [ 1.41797708e-01 4.28852085e-02 9.88966263e-01 -4.93450049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38463044 meters Centerline goodness : 0.183988 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.18, Z:-4.93 [[ 9.89995275e-01 -1.37254485e-02 -1.40431364e-01 -3.15896272e+01] [ 8.32048590e-03 9.99204439e-01 -3.90033053e-02 -2.17746668e+00] [ 1.40854980e-01 3.74446307e-02 9.89321876e-01 -4.93430131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44463044 meters Centerline goodness : 0.091980 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.18, Z:-4.94 [[ 9.89966998e-01 -8.54061030e-03 -1.41040421e-01 -3.15856166e+01] [ 3.62950184e-03 9.99379279e-01 -3.50411739e-02 -2.17655833e+00] [ 1.41252147e-01 3.41776993e-02 9.89383503e-01 -4.93665348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50463044 meters Centerline goodness : 0.164939 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.17, Z:-4.93 [[ 9.90235020e-01 8.85106310e-03 -1.39126789e-01 -3.15487143e+01] [-1.36665538e-02 9.99338714e-01 -3.36950936e-02 -2.16943235e+00] [ 1.38736549e-01 3.52674455e-02 9.89701156e-01 -4.92739150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56463044000003 meters Centerline goodness : 0.097753 with order 3 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.16, Z:-4.93 [[ 9.90417933e-01 1.28072315e-02 -1.37507425e-01 -3.15521991e+01] [-1.73068512e-02 9.99351469e-01 -3.15771325e-02 -2.16467535e+00] [ 1.37013831e-01 3.36543789e-02 9.89997269e-01 -4.92699716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62463044000003 meters Centerline goodness : 0.091844 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.16, Z:-4.93 [[ 9.90224126e-01 1.36966550e-02 -1.38811321e-01 -3.15478114e+01] [-1.82456295e-02 9.99335579e-01 -3.15515178e-02 -2.16216933e+00] [ 1.38286941e-01 3.37757741e-02 9.89816104e-01 -4.92815469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68463044000003 meters Centerline goodness : 0.242343 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.16, Z:-4.93 [[ 9.90552294e-01 1.61990510e-02 -1.36175412e-01 -3.15564893e+01] [-2.04651762e-02 9.99340769e-01 -2.99867288e-02 -2.15992763e+00] [ 1.35599885e-01 3.24902768e-02 9.90230808e-01 -4.92541135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74463044000004 meters Centerline goodness : 0.111391 with order 2 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.16, Z:-4.93 [[ 9.90433133e-01 1.70932877e-02 -1.36930742e-01 -3.15545202e+01] [-2.13749789e-02 9.99325523e-01 -2.98598299e-02 -2.15501285e+00] [ 1.36327983e-01 3.25010566e-02 9.90130477e-01 -4.92550649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80463044 meters Centerline goodness : 0.094175 with order 3 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.15, Z:-4.92 [[ 9.90953983e-01 3.48556537e-03 -1.34156827e-01 -3.15432256e+01] [-7.72987397e-03 9.99485483e-01 -3.11290712e-02 -2.15343514e+00] [ 1.33979299e-01 3.18844924e-02 9.90471063e-01 -4.92181678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86463044 meters Centerline goodness : 0.109665 with order 3 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.16, Z:-4.93 [[ 9.90075514e-01 -1.56966198e-03 -1.40527624e-01 -3.15538664e+01] [-2.60201769e-03 9.99561477e-01 -2.94971731e-02 -2.15509579e+00] [ 1.40512300e-01 2.95700841e-02 9.89637259e-01 -4.92574000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92463044 meters Centerline goodness : 0.156482 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.15, Z:-4.93 [[ 9.90019103e-01 -1.30295675e-03 -1.40927205e-01 -3.15522938e+01] [-2.92563004e-03 9.99551775e-01 -2.97941220e-02 -2.15275879e+00] [ 1.40902859e-01 2.99090509e-02 9.89571540e-01 -4.92641779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98463044 meters Centerline goodness : 0.094816 with order 2 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.15, Z:-4.92 [[ 9.90295266e-01 -1.27362487e-03 -1.38973606e-01 -3.15583484e+01] [-2.99650131e-03 9.99529890e-01 -3.05126081e-02 -2.14861827e+00] [ 1.38947135e-01 3.06329260e-02 9.89825903e-01 -4.92474447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04463044 meters Centerline goodness : 0.094979 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.15, Z:-4.92 [[ 9.90404147e-01 -2.28085180e-03 -1.38182576e-01 -3.15621448e+01] [-2.06163268e-03 9.99508709e-01 -3.12744264e-02 -2.14921977e+00] [ 1.38186020e-01 3.12592033e-02 9.89912868e-01 -4.92291901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10463044 meters Centerline goodness : 0.094327 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.15, Z:-4.92 [[ 9.90125348e-01 -1.04594090e-02 -1.39794120e-01 -3.15419753e+01] [ 6.57861586e-03 9.99580819e-01 -2.81941063e-02 -2.14595463e+00] [ 1.40030414e-01 2.69960475e-02 9.89779115e-01 -4.92184203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16463044 meters Centerline goodness : 0.092193 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90248115e-01 -9.86283679e-03 -1.38965448e-01 -3.15444137e+01] [ 5.99804635e-03 9.99584233e-01 -2.82025649e-02 -2.14431427e+00] [ 1.39185828e-01 2.70940155e-02 9.89895560e-01 -4.92132283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22463044 meters Centerline goodness : 0.092448 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90280822e-01 -5.62184474e-03 -1.38968662e-01 -3.15438068e+01] [ 2.16838606e-03 9.99685361e-01 -2.49895531e-02 -2.14276146e+00] [ 1.39065424e-01 2.44453375e-02 9.89981431e-01 -4.92193239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28463044 meters Centerline goodness : 0.092585 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90210000e-01 -4.68385744e-03 -1.39507053e-01 -3.15425174e+01] [ 1.21907991e-03 9.99688930e-01 -2.49109650e-02 -2.14045371e+00] [ 1.39580336e-01 2.44970164e-02 9.89907686e-01 -4.92189022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34463044 meters Centerline goodness : 0.092544 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90235530e-01 -4.67073668e-03 -1.39326163e-01 -3.15434200e+01] [ 1.20421065e-03 9.99687861e-01 -2.49545851e-02 -2.14085520e+00] [ 1.39399230e-01 2.45431387e-02 9.89932063e-01 -4.92139400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40463044 meters Centerline goodness : 0.093143 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90170131e-01 -4.03879366e-03 -1.39809868e-01 -3.15425792e+01] [ 5.60014366e-04 9.99689476e-01 -2.49126194e-02 -2.13832033e+00] [ 1.39867070e-01 2.45894361e-02 9.89864921e-01 -4.92105564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46463044 meters Centerline goodness : 0.093153 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.14, Z:-4.92 [[ 9.90198108e-01 -3.84701605e-03 -1.39617004e-01 -3.15436815e+01] [ 3.39011954e-04 9.99683858e-01 -2.51409983e-02 -2.13626244e+00] [ 1.39669583e-01 2.48472371e-02 9.89886368e-01 -4.92039018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52463044 meters Centerline goodness : 0.092936 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.14, Z:-4.92 [[ 9.90263063e-01 -3.57306062e-03 -1.39162854e-01 -3.15458270e+01] [ 8.49990589e-05 9.99685883e-01 -2.50624843e-02 -2.13593905e+00] [ 1.39208690e-01 2.48066237e-02 9.89952308e-01 -4.91920208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58463044 meters Centerline goodness : 0.093005 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.13, Z:-4.92 [[ 9.90368240e-01 2.59239363e-04 -1.38458234e-01 -3.15470683e+01] [-3.38386231e-03 9.99744875e-01 -2.23323413e-02 -2.13243739e+00] [ 1.38417120e-01 2.25857652e-02 9.90116450e-01 -4.91952040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64463044 meters Centerline goodness : 0.093265 with order 1 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.13, Z:-4.92 [[ 9.90733499e-01 -2.17773929e-03 -1.35802764e-01 -3.15566131e+01] [-1.15579353e-03 9.99700063e-01 -2.44631949e-02 -2.13312547e+00] [ 1.35815306e-01 2.43934666e-02 9.90433825e-01 -4.91612783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70463044 meters Centerline goodness : 0.091740 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.14, Z:-4.92 [[ 9.90522633e-01 -1.75232508e-03 -1.37338425e-01 -3.15517825e+01] [-1.48112420e-03 9.99724197e-01 -2.34379332e-02 -2.13660324e+00] [ 1.37341617e-01 2.34192186e-02 9.90246848e-01 -4.91714719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76463044 meters Centerline goodness : 0.079305 with order 2 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.14, Z:-4.92 [[ 9.90314598e-01 -1.02694608e-03 -1.38837825e-01 -3.15458784e+01] [-2.16125691e-03 9.99737464e-01 -2.28107919e-02 -2.13739642e+00] [ 1.38824800e-01 2.28899245e-02 9.90052386e-01 -4.91938367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82463044 meters Centerline goodness : 0.091814 with order 1 Centerline is valid? [False, False] Translation: X:-31.55, Y:-2.14, Z:-4.92 [[ 9.90295399e-01 -4.99293314e-04 -1.38977597e-01 -3.15461180e+01] [-2.69650909e-03 9.99736276e-01 -2.28058497e-02 -2.13547108e+00] [ 1.38952332e-01 2.29592824e-02 9.90032889e-01 -4.91878900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88463044 meters Centerline goodness : 0.074614 with order 1 Centerline is valid? [False, False] Translation: X:-31.54, Y:-2.13, Z:-4.92 [[ 9.90193829e-01 -1.67379585e-04 -1.39700224e-01 -3.15440270e+01] [-3.09739243e-03 9.99727156e-01 -2.31520945e-02 -2.13234880e+00] [ 1.39665983e-01 2.33577675e-02 9.89923142e-01 -4.91920878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94463044 meters Centerline goodness : 0.093419 with order 1 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.14, Z:-4.92 [[ 9.90358576e-01 -6.79248213e-03 -1.38360953e-01 -3.15655420e+01] [ 3.56319915e-03 9.99715747e-01 -2.35738946e-02 -2.13501385e+00] [ 1.38481749e-01 2.28536010e-02 9.90101267e-01 -4.92050703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00463044 meters Centerline goodness : 0.128802 with order 3 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.13, Z:-4.92 [[ 9.90349010e-01 -6.47863849e-03 -1.38444447e-01 -3.15650161e+01] [ 3.26506752e-03 9.99720230e-01 -2.34265052e-02 -2.13446186e+00] [ 1.38557486e-01 2.27483858e-02 9.90093094e-01 -4.92077369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06463044000003 meters Centerline goodness : 0.262773 with order 1 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.13, Z:-4.92 [[ 9.90407562e-01 -6.62266008e-03 -1.38018118e-01 -3.15660453e+01] [ 3.37910887e-03 9.99712883e-01 -2.37219843e-02 -2.13459652e+00] [ 1.38135594e-01 2.30280544e-02 9.90145578e-01 -4.92077110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12463044000003 meters Centerline goodness : 0.094367 with order 2 Centerline is valid? [False, False] Translation: X:-31.56, Y:-2.13, Z:-4.92 [[ 9.90311934e-01 -5.95698960e-03 -1.38732793e-01 -3.15649925e+01] [ 2.76955377e-03 9.99728002e-01 -2.31570856e-02 -2.13443957e+00] [ 1.38833005e-01 2.25485102e-02 9.90059070e-01 -4.92011121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18463044000003 meters Centerline goodness : 0.091786 with order 1 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.13, Z:-4.92 [[ 9.90347315e-01 -6.33609203e-03 -1.38463171e-01 -3.15656203e+01] [ 3.11567108e-03 9.99719858e-01 -2.34627050e-02 -2.13454953e+00] [ 1.38573044e-01 2.28048212e-02 9.90089618e-01 -4.92005981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24463044000004 meters Centerline goodness : 0.092350 with order 1 Centerline is valid? [False, False] Translation: X:-31.57, Y:-2.13, Z:-4.92 [[ 9.90378333e-01 -6.56610182e-03 -1.38230403e-01 -3.15670042e+01] [ 3.29557939e-03 9.99709507e-01 -2.38755289e-02 -2.13323086e+00] [ 1.38347017e-01 2.31902573e-02 9.90112274e-01 -4.91920020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30463044 meters Centerline goodness : 0.109753 with order 3 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.14, Z:-4.92 [[ 9.90612228e-01 -1.26427397e-02 -1.36116032e-01 -3.15871130e+01] [ 9.47972900e-03 9.99670344e-01 -2.38607929e-02 -2.13551326e+00] [ 1.36372827e-01 2.23464501e-02 9.90405517e-01 -4.92136233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36463044 meters Centerline goodness : 0.093646 with order 1 Centerline is valid? [False, False] Translation: X:-31.59, Y:-2.14, Z:-4.92 [[ 9.90514949e-01 -1.75461961e-02 -1.36280104e-01 -3.15858739e+01] [ 1.39187436e-02 9.99524205e-01 -2.75251049e-02 -2.13798494e+00] [ 1.36698224e-01 2.53671800e-02 9.90287888e-01 -4.92177507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42463044 meters Centerline goodness : 0.117339 with order 2 Centerline is valid? [False, False] Translation: X:-31.60, Y:-2.14, Z:-4.92 [[ 9.90206890e-01 -2.35324804e-02 -1.37610090e-01 -3.16036167e+01] [ 2.00632074e-02 9.99446288e-01 -2.65440123e-02 -2.13963152e+00] [ 1.38158540e-01 2.35231641e-02 9.90130738e-01 -4.92458863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48463044 meters Centerline goodness : 0.093015 with order 1 Centerline is valid? [False, False] Translation: X:-31.62, Y:-2.14, Z:-4.93 [[ 9.90203972e-01 -1.49044083e-02 -1.38830664e-01 -3.16212940e+01] [ 1.09350355e-02 9.99510540e-01 -2.93105105e-02 -2.14176418e+00] [ 1.39199568e-01 2.75052657e-02 9.89882286e-01 -4.92542946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54463044 meters Centerline goodness : 0.092747 with order 1 Centerline is valid? [False, False] Translation: X:-31.62, Y:-2.14, Z:-4.92 [[ 9.90253412e-01 -1.53301168e-02 -1.38431091e-01 -3.16236211e+01] [ 1.12423677e-02 9.99478746e-01 -3.02629488e-02 -2.13816522e+00] [ 1.38822867e-01 2.84116951e-02 9.89909585e-01 -4.92405560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60463044 meters Centerline goodness : 0.092061 with order 1 Centerline is valid? [False, False] Translation: X:-31.64, Y:-2.14, Z:-4.93 [[ 9.90672093e-01 -2.08095626e-02 -1.34669097e-01 -3.16441859e+01] [ 1.67961961e-02 9.99382286e-01 -3.08696324e-02 -2.13677570e+00] [ 1.35228294e-01 2.83197547e-02 9.90409663e-01 -4.92530365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66463044 meters Centerline goodness : 0.092896 with order 1 Centerline is valid? [False, False] Translation: X:-31.66, Y:-2.14, Z:-4.93 [[ 9.89978652e-01 -2.74628832e-02 -1.38520968e-01 -3.16600114e+01] [ 2.35096124e-02 9.99270518e-01 -3.00953360e-02 -2.14362902e+00] [ 1.39246424e-01 2.65371659e-02 9.89902123e-01 -4.92770550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72463044 meters Centerline goodness : 0.092004 with order 1 Centerline is valid? [False, False] Translation: X:-31.68, Y:-2.15, Z:-4.94 [[ 9.89571975e-01 -2.36913816e-02 -1.42077530e-01 -3.16826334e+01] [ 1.93769194e-02 9.99310403e-01 -3.16741689e-02 -2.15114171e+00] [ 1.42729959e-01 2.85908451e-02 9.89348635e-01 -4.93586616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78463044 meters Centerline goodness : 0.093681 with order 1 Centerline is valid? [False, False] Translation: X:-31.72, Y:-2.16, Z:-4.94 [[ 9.89882091e-01 -1.66781478e-02 -1.40908783e-01 -3.17232929e+01] [ 1.23137938e-02 9.99418768e-01 -3.17882950e-02 -2.15562641e+00] [ 1.41357052e-01 2.97315423e-02 9.89512112e-01 -4.93814226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84463044 meters Centerline goodness : 0.092524 with order 1 Centerline is valid? [False, False] Translation: X:-31.74, Y:-2.15, Z:-4.94 [[ 9.89893962e-01 -5.31860644e-03 -1.41709760e-01 -3.17400903e+01] [ 5.89019216e-04 9.99442017e-01 -3.33962331e-02 -2.15345272e+00] [ 1.41808310e-01 3.29752597e-02 9.89344751e-01 -4.93992357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90463044 meters Centerline goodness : 0.093189 with order 1 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.16, Z:-4.94 [[ 9.90367729e-01 -1.13474105e-02 -1.37996368e-01 -3.17613148e+01] [ 6.77787676e-03 9.99414447e-01 -3.35383865e-02 -2.15831531e+00] [ 1.38296138e-01 3.22800133e-02 9.89864728e-01 -4.94199218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96463044 meters Centerline goodness : 0.108656 with order 2 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.15, Z:-4.94 [[ 9.90293329e-01 -9.20826128e-03 -1.38687888e-01 -3.17580643e+01] [ 4.77592783e-03 9.99468164e-01 -3.22580046e-02 -2.15405039e+00] [ 1.38911169e-01 3.12825235e-02 9.89810634e-01 -4.94317467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02463044 meters Centerline goodness : 0.091009 with order 2 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.16, Z:-4.94 [[ 9.90432952e-01 -1.06457651e-02 -1.37583555e-01 -3.17637272e+01] [ 6.10811931e-03 9.99424694e-01 -3.33612392e-02 -2.15595245e+00] [ 1.37859558e-01 3.22016939e-02 9.89928176e-01 -4.94021042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08463044 meters Centerline goodness : 0.076247 with order 2 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.15, Z:-4.94 [[ 9.90316347e-01 -6.21491609e-03 -1.38689972e-01 -3.17603319e+01] [ 2.10391485e-03 9.99554603e-01 -2.97686030e-02 -2.15343821e+00] [ 1.38813209e-01 2.91885423e-02 9.89888338e-01 -4.94092884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14463044 meters Centerline goodness : 0.110286 with order 2 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.15, Z:-4.94 [[ 9.90351869e-01 -1.09010589e-02 -1.38146089e-01 -3.17618252e+01] [ 6.27585871e-03 9.99406475e-01 -3.38719717e-02 -2.15453041e+00] [ 1.38433337e-01 3.26781851e-02 9.89832485e-01 -4.94067521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20463044 meters Centerline goodness : 0.173968 with order 3 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.16, Z:-4.94 [[ 9.90272025e-01 -1.04024539e-02 -1.38755563e-01 -3.17613228e+01] [ 5.83879899e-03 9.99429795e-01 -3.32564903e-02 -2.15544169e+00] [ 1.39022393e-01 3.21228061e-02 9.89768104e-01 -4.93960720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26463044 meters Centerline goodness : 0.097981 with order 1 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.16, Z:-4.94 [[ 9.90111899e-01 -9.99520503e-03 -1.39923274e-01 -3.17579133e+01] [ 5.46052932e-03 9.99448501e-01 -3.27547912e-02 -2.15729527e+00] [ 1.40173497e-01 3.16668534e-02 9.89620433e-01 -4.94002977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32463044 meters Centerline goodness : 0.093055 with order 1 Centerline is valid? [False, False] Translation: X:-31.76, Y:-2.16, Z:-4.94 [[ 9.90202132e-01 -1.00491338e-02 -1.39279406e-01 -3.17596675e+01] [ 5.46073638e-03 9.99430919e-01 -3.32869180e-02 -2.15636221e+00] [ 1.39534650e-01 3.22002091e-02 9.89693502e-01 -4.93978871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38463044 meters Centerline goodness : 0.093857 with order 1 Centerline is valid? [False, False] Translation: X:-31.78, Y:-2.16, Z:-4.94 [[ 9.90343556e-01 -1.50227442e-02 -1.37818568e-01 -3.17773190e+01] [ 1.05766821e-02 9.99401495e-01 -3.29360850e-02 -2.15764597e+00] [ 1.38230874e-01 3.11603764e-02 9.89909721e-01 -4.94097727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44463044 meters Centerline goodness : 0.097319 with order 2 Centerline is valid? [False, False] Translation: X:-31.80, Y:-2.16, Z:-4.95 [[ 9.90301963e-01 -7.91123295e-03 -1.38706287e-01 -3.18041449e+01] [ 3.39076530e-03 9.99456306e-01 -3.27962792e-02 -2.16058614e+00] [ 1.38890333e-01 3.20078992e-02 9.89790367e-01 -4.94771443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50463044 meters Centerline goodness : 0.093845 with order 1 Centerline is valid? [False, False] Translation: X:-31.81, Y:-2.16, Z:-4.94 [[ 9.90692371e-01 -5.36193064e-03 -1.36014249e-01 -3.18136304e+01] [ 1.12313770e-03 9.99511845e-01 -3.12219437e-02 -2.15794784e+00] [ 1.36115263e-01 3.07785787e-02 9.90214782e-01 -4.94437984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56463044000003 meters Centerline goodness : 0.093053 with order 1 Centerline is valid? [False, False] Translation: X:-31.82, Y:-2.16, Z:-4.94 [[ 9.90773004e-01 -5.40255706e-03 -1.35424026e-01 -3.18172508e+01] [ 1.19867947e-03 9.99515414e-01 -3.11046711e-02 -2.15854383e+00] [ 1.35526446e-01 3.06553384e-02 9.90299365e-01 -4.94205060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62463044000003 meters Centerline goodness : 0.094604 with order 1 Centerline is valid? [False, False] Translation: X:-31.83, Y:-2.16, Z:-4.95 [[ 9.90560613e-01 -1.17619299e-02 -1.36569870e-01 -3.18344329e+01] [ 7.63206493e-03 9.99498759e-01 -3.07242838e-02 -2.15956379e+00] [ 1.36862792e-01 2.93919552e-02 9.90153871e-01 -4.94557931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68463044000003 meters Centerline goodness : 0.093677 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.16, Z:-4.94 [[ 9.90589557e-01 -1.16697126e-02 -1.36367689e-01 -3.18357880e+01] [ 7.57415212e-03 9.99505654e-01 -3.05135901e-02 -2.16027634e+00] [ 1.36656361e-01 2.91935741e-02 9.90188252e-01 -4.94452772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74463044000004 meters Centerline goodness : 0.093662 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.16, Z:-4.94 [[ 9.90638220e-01 -1.19762795e-02 -1.35987077e-01 -3.18372664e+01] [ 7.83110913e-03 9.99489443e-01 -3.09762443e-02 -2.16000003e+00] [ 1.36288628e-01 2.96213219e-02 9.90226230e-01 -4.94390719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80463044 meters Centerline goodness : 0.092134 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.16, Z:-4.94 [[ 9.90701048e-01 -1.22761219e-02 -1.35501774e-01 -3.18391529e+01] [ 8.12499705e-03 9.99481826e-01 -3.11458476e-02 -2.16090189e+00] [ 1.35813911e-01 2.97552723e-02 9.90287436e-01 -4.94320857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86463044 meters Centerline goodness : 0.091769 with order 1 Centerline is valid? [False, False] Translation: X:-31.84, Y:-2.16, Z:-4.94 [[ 9.90627151e-01 -1.20033993e-02 -1.36065304e-01 -3.18378826e+01] [ 7.84432882e-03 9.99486684e-01 -3.10617956e-02 -2.16034554e+00] [ 1.36368307e-01 2.97033171e-02 9.90212804e-01 -4.94306241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92463044 meters Centerline goodness : 0.103542 with order 3 Centerline is valid? [False, False] Translation: X:-31.85, Y:-2.16, Z:-4.95 [[ 9.90382613e-01 -1.79367541e-02 -1.37188020e-01 -3.18516881e+01] [ 1.38606135e-02 9.99435299e-01 -3.06099215e-02 -2.16243855e+00] [ 1.37659592e-01 2.84140239e-02 9.90071957e-01 -4.94748862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98463044 meters Centerline goodness : 0.100729 with order 3 Centerline is valid? [False, False] Translation: X:-31.89, Y:-2.16, Z:-4.95 [[ 9.90320730e-01 -1.06461994e-02 -1.38388985e-01 -3.18859304e+01] [ 6.58983026e-03 9.99536047e-01 -2.97365761e-02 -2.16462824e+00] [ 1.38641360e-01 2.85367878e-02 9.89931424e-01 -4.95205586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04463044 meters Centerline goodness : 0.134268 with order 2 Centerline is valid? [False, False] Translation: X:-31.91, Y:-2.17, Z:-4.95 [[ 9.90875914e-01 -4.02777986e-03 -1.34717113e-01 -3.19122375e+01] [-6.01093081e-04 9.99411345e-01 -3.43016373e-02 -2.16632843e+00] [ 1.34775971e-01 3.40696437e-02 9.90290209e-01 -4.95166452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10463044 meters Centerline goodness : 0.077998 with order 2 Centerline is valid? [False, False] Translation: X:-31.90, Y:-2.16, Z:-4.95 [[ 9.90735286e-01 -1.14125493e-02 -1.35326813e-01 -3.18955860e+01] [ 7.29081186e-03 9.99495449e-01 -3.09142467e-02 -2.16208680e+00] [ 1.35611344e-01 2.96411927e-02 9.90318617e-01 -4.94963664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16463044 meters Centerline goodness : 0.152565 with order 1 Centerline is valid? [False, False] Translation: X:-31.95, Y:-2.17, Z:-4.96 [[ 9.90562986e-01 -1.37757873e-02 -1.36364212e-01 -3.19467036e+01] [ 9.32528240e-03 9.99404489e-01 -3.32220897e-02 -2.17319286e+00] [ 1.36740666e-01 3.16369376e-02 9.90101558e-01 -4.95771042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22463044 meters Centerline goodness : 0.117946 with order 3 Centerline is valid? [False, False] Translation: X:-31.94, Y:-2.18, Z:-4.96 [[ 9.90473052e-01 -1.28804360e-02 -1.37102981e-01 -3.19425400e+01] [ 8.59146450e-03 9.99456410e-01 -3.18287770e-02 -2.17738476e+00] [ 1.37438422e-01 3.03476305e-02 9.90045303e-01 -4.95979728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28463044 meters Centerline goodness : 0.146613 with order 1 Centerline is valid? [False, False] Translation: X:-31.97, Y:-2.18, Z:-4.96 [[ 9.90840369e-01 -1.93011115e-02 -1.33651902e-01 -3.19671307e+01] [ 1.51201453e-02 9.99366193e-01 -3.22272100e-02 -2.18318744e+00] [ 1.34189213e-01 2.99111845e-02 9.90504203e-01 -4.96091036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34463044 meters Centerline goodness : 0.096007 with order 3 Centerline is valid? [False, False] Translation: X:-31.98, Y:-2.19, Z:-4.96 [[ 9.90917385e-01 -1.06102963e-02 -1.34052818e-01 -3.19835725e+01] [ 5.97513046e-03 9.99371820e-01 -3.49322789e-02 -2.18750725e+00] [ 1.34339251e-01 3.38140194e-02 9.90358308e-01 -4.96297127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40463044 meters Centerline goodness : 0.099060 with order 3 Centerline is valid? [False, False] Translation: X:-32.02, Y:-2.19, Z:-4.97 [[ 9.91033541e-01 -5.60708151e-03 -1.33495623e-01 -3.20217434e+01] [ 6.57250773e-04 9.99311571e-01 -3.70938293e-02 -2.18808970e+00] [ 1.33611709e-01 3.66734889e-02 9.90354970e-01 -4.96753087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46463044 meters Centerline goodness : 0.093775 with order 1 Centerline is valid? [False, False] Translation: X:-32.02, Y:-2.19, Z:-4.97 [[ 9.91062387e-01 -5.20242417e-03 -1.33297711e-01 -3.20233763e+01] [ 2.20542660e-04 9.99301786e-01 -3.73616334e-02 -2.18512710e+00] [ 1.33399012e-01 3.69983118e-02 9.90371561e-01 -4.96629684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52463044 meters Centerline goodness : 0.097691 with order 3 Centerline is valid? [False, False] Translation: X:-32.03, Y:-2.19, Z:-4.97 [[ 9.91192464e-01 -5.65810599e-03 -1.32308295e-01 -3.20260935e+01] [ 6.80619136e-04 9.99291307e-01 -3.76353695e-02 -2.18608256e+00] [ 1.32427474e-01 3.72138431e-02 9.90493864e-01 -4.96592263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58463044 meters Centerline goodness : 0.083769 with order 1 Centerline is valid? [False, False] Translation: X:-32.04, Y:-2.19, Z:-4.97 [[ 9.90667353e-01 -1.33949246e-02 -1.35642075e-01 -3.20414592e+01] [ 8.33937881e-03 9.99251620e-01 -3.77710953e-02 -2.19368092e+00] [ 1.36046504e-01 3.62874203e-02 9.90037662e-01 -4.96994136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64463044 meters Centerline goodness : 0.092934 with order 1 Centerline is valid? [False, False] Translation: X:-32.07, Y:-2.20, Z:-4.98 [[ 9.90344082e-01 -9.94339969e-03 -1.38274107e-01 -3.20701069e+01] [ 4.45722711e-03 9.99192568e-01 -3.99292587e-02 -2.20000400e+00] [ 1.38559492e-01 3.89273859e-02 9.89588766e-01 -4.97661427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70463044 meters Centerline goodness : 0.099286 with order 3 Centerline is valid? [False, False] Translation: X:-32.11, Y:-2.20, Z:-4.98 [[ 9.90609798e-01 -3.33504373e-03 -1.36678843e-01 -3.21069775e+01] [-2.20477889e-03 9.99182760e-01 -4.03602608e-02 -2.20446122e+00] [ 1.36701747e-01 4.02826164e-02 9.89792879e-01 -4.98129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76463044 meters Centerline goodness : 0.142466 with order 3 Centerline is valid? [False, False] Translation: X:-32.11, Y:-2.20, Z:-4.98 [[ 9.90562772e-01 -2.80952390e-03 -1.37031023e-01 -3.21058363e+01] [-2.77828001e-03 9.99172862e-01 -4.05693591e-02 -2.20191241e+00] [ 1.37031660e-01 4.05672074e-02 9.89735634e-01 -4.98166808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82463044 meters Centerline goodness : 0.131043 with order 3 Centerline is valid? [False, False] Translation: X:-32.11, Y:-2.20, Z:-4.98 [[ 9.90590983e-01 -3.00144831e-03 -1.36822865e-01 -3.21058528e+01] [-2.63131962e-03 9.99156958e-01 -4.09688793e-02 -2.20130145e+00] [ 1.36830484e-01 4.09434271e-02 9.89747975e-01 -4.98221874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88463044 meters Centerline goodness : 0.176447 with order 3 Centerline is valid? [False, False] Translation: X:-32.10, Y:-2.20, Z:-4.98 [[ 9.90482105e-01 -2.85122986e-03 -1.37612024e-01 -3.21032564e+01] [-2.77582047e-03 9.99168311e-01 -4.06814669e-02 -2.20235760e+00] [ 1.37613566e-01 4.06762512e-02 9.89650418e-01 -4.98271498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94463044 meters Centerline goodness : 0.261228 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-2.21, Z:-4.99 [[ 9.90438013e-01 -8.69736006e-03 -1.37684049e-01 -3.21199024e+01] [ 3.24250849e-03 9.99202666e-01 -3.97934382e-02 -2.20515826e+00] [ 1.37920367e-01 3.89664921e-02 9.89676505e-01 -4.98736369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00463044 meters Centerline goodness : 0.242039 with order 1 Centerline is valid? [False, False] Translation: X:-32.12, Y:-2.21, Z:-4.99 [[ 9.90553080e-01 -8.92372228e-03 -1.36839184e-01 -3.21219511e+01] [ 3.51819741e-03 9.99205695e-01 -3.96938413e-02 -2.20755345e+00] [ 1.37084708e-01 3.88374295e-02 9.89797675e-01 -4.98723884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06463044000003 meters Centerline goodness : 0.108354 with order 3 Centerline is valid? [False, False] Translation: X:-32.12, Y:-2.21, Z:-4.99 [[ 9.90575060e-01 -9.16484634e-03 -1.36664023e-01 -3.21220286e+01] [ 3.76282299e-03 9.99203214e-01 -3.97338317e-02 -2.20992667e+00] [ 1.36919286e-01 3.88451002e-02 9.89820270e-01 -4.98735158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12463044000003 meters Centerline goodness : 0.092709 with order 1 Centerline is valid? [False, False] Translation: X:-32.17, Y:-2.22, Z:-5.00 [[ 9.90523641e-01 -7.08044280e-03 -1.37159703e-01 -3.21678769e+01] [ 1.57024932e-03 9.99188802e-01 -4.02401723e-02 -2.21660914e+00] [ 1.37333358e-01 3.96434671e-02 9.89731249e-01 -4.99519870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18463044000003 meters Centerline goodness : 0.242860 with order 1 Centerline is valid? [False, False] Translation: X:-32.22, Y:-2.22, Z:-5.00 [[ 9.90934728e-01 -5.03597204e-03 -1.34249780e-01 -3.22171802e+01] [-5.49547220e-04 9.99136859e-01 -4.15359394e-02 -2.22118727e+00] [ 1.34343077e-01 4.12331814e-02 9.90076645e-01 -5.00268074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24463044000004 meters Centerline goodness : 0.134008 with order 2 Centerline is valid? [False, False] Translation: X:-32.22, Y:-2.23, Z:-5.00 [[ 9.91009546e-01 -7.73712784e-03 -1.33567275e-01 -3.22199385e+01] [ 2.03512426e-03 9.99082702e-01 -4.27739731e-02 -2.22676965e+00] [ 1.33775701e-01 4.21175897e-02 9.90116241e-01 -5.00174835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30463044 meters Centerline goodness : 0.126104 with order 3 Centerline is valid? [False, False] Translation: X:-32.26, Y:-2.23, Z:-5.01 [[ 9.91005078e-01 -1.91227877e-02 -1.32450950e-01 -3.22556682e+01] [ 1.35891407e-02 9.99001597e-01 -4.25575502e-02 -2.23347006e+00] [ 1.33132530e-01 4.03748538e-02 9.90275518e-01 -5.00838452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36463044 meters Centerline goodness : 0.111111 with order 1 Centerline is valid? [False, False] Translation: X:-32.26, Y:-2.24, Z:-5.01 [[ 9.90972178e-01 -2.15844321e-02 -1.32318760e-01 -3.22560133e+01] [ 1.58907404e-02 9.98907952e-01 -4.39361681e-02 -2.23852198e+00] [ 1.33122598e-01 4.14368771e-02 9.90232982e-01 -5.00788843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42463044 meters Centerline goodness : 0.134535 with order 2 Centerline is valid? [False, False] Translation: X:-32.28, Y:-2.24, Z:-5.01 [[ 9.91040170e-01 -1.74259511e-02 -1.32422497e-01 -3.22822963e+01] [ 1.13545645e-02 9.98855326e-01 -4.64662318e-02 -2.24313776e+00] [ 1.33080635e-01 4.45463025e-02 9.90103617e-01 -5.01409924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48463044 meters Centerline goodness : 0.135376 with order 2 Centerline is valid? [False, False] Translation: X:-32.30, Y:-2.24, Z:-5.02 [[ 9.90969988e-01 -8.83180494e-03 -1.33792686e-01 -3.22974155e+01] [ 2.18391161e-03 9.98759140e-01 -4.97535047e-02 -2.24379589e+00] [ 1.34066082e-01 4.90120385e-02 9.89759620e-01 -5.01659380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54463044 meters Centerline goodness : 0.142558 with order 3 Centerline is valid? [False, False] Translation: X:-32.30, Y:-2.24, Z:-5.02 [[ 9.91124990e-01 -9.61217106e-03 -1.32585298e-01 -3.23009508e+01] [ 2.87674323e-03 9.98699662e-01 -5.08990060e-02 -2.24315546e+00] [ 1.32902142e-01 5.00658629e-02 9.89863844e-01 -5.01532598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60463044 meters Centerline goodness : 0.103599 with order 3 Centerline is valid? [False, False] Translation: X:-32.30, Y:-2.25, Z:-5.01 [[ 9.91162286e-01 -1.07985584e-02 -1.32214652e-01 -3.23031367e+01] [ 4.04812778e-03 9.98679225e-01 -5.12193184e-02 -2.24854557e+00] [ 1.32593121e-01 5.02314349e-02 9.89896897e-01 -5.01387270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66463044 meters Centerline goodness : 0.088982 with order 2 Centerline is valid? [False, False] Translation: X:-32.30, Y:-2.25, Z:-5.02 [[ 9.91157668e-01 -1.07664965e-02 -1.32251879e-01 -3.23012528e+01] [ 3.93089626e-03 9.98647721e-01 -5.18389548e-02 -2.24828956e+00] [ 1.32631162e-01 5.08607091e-02 9.89859668e-01 -5.01541800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72463044 meters Centerline goodness : 0.092144 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.25, Z:-5.02 [[ 9.91519846e-01 -1.58702056e-02 -1.28982678e-01 -3.23235292e+01] [ 9.33931622e-03 9.98650800e-01 -5.10818682e-02 -2.25276236e+00] [ 1.29619334e-01 4.94440761e-02 9.90330304e-01 -5.01773286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78463044 meters Centerline goodness : 0.091194 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91492550e-01 -1.53417382e-02 -1.29256161e-01 -3.23223069e+01] [ 8.88650266e-03 9.98691042e-01 -5.03709475e-02 -2.25503408e+00] [ 1.29859748e-01 4.87937840e-02 9.90331062e-01 -5.01804738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84463044 meters Centerline goodness : 0.118277 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91471670e-01 -1.51768915e-02 -1.29435657e-01 -3.23202881e+01] [ 8.74132568e-03 9.98703736e-01 -5.01441535e-02 -2.25767402e+00] [ 1.30028907e-01 4.85850684e-02 9.90319128e-01 -5.01949648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90463044 meters Centerline goodness : 0.091081 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91806140e-01 -1.10918726e-02 -1.27269599e-01 -3.23243736e+01] [ 5.14361652e-03 9.98882998e-01 -4.69712532e-02 -2.25758143e+00] [ 1.27648437e-01 4.59317513e-02 9.90755343e-01 -5.02050127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96463044 meters Centerline goodness : 0.157428 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91789517e-01 -1.09467428e-02 -1.27411628e-01 -3.23224589e+01] [ 4.95997997e-03 9.98872656e-01 -4.72103368e-02 -2.25735042e+00] [ 1.27784791e-01 4.61907580e-02 9.90725724e-01 -5.02222840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02463044 meters Centerline goodness : 0.074523 with order 1 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91621486e-01 -1.03933280e-02 -1.28758715e-01 -3.23165726e+01] [ 4.42303628e-03 9.98905353e-01 -4.65675132e-02 -2.25904288e+00] [ 1.29101761e-01 4.56078422e-02 9.90581981e-01 -5.02478729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08463044 meters Centerline goodness : 0.162853 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.03 [[ 9.91604259e-01 -1.00279433e-02 -1.28920264e-01 -3.23156617e+01] [ 4.06030402e-03 9.98911474e-01 -4.64691328e-02 -2.25794018e+00] [ 1.29245921e-01 4.55555345e-02 9.90565588e-01 -5.02527444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14463044 meters Centerline goodness : 0.128759 with order 3 Centerline is valid? [False, False] Translation: X:-32.32, Y:-2.26, Z:-5.02 [[ 9.91791093e-01 -1.18268184e-02 -1.27320676e-01 -3.23204609e+01] [ 5.80942708e-03 9.98852931e-01 -4.75297055e-02 -2.26255104e+00] [ 1.27736755e-01 4.63998784e-02 9.90722147e-01 -5.02428699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20463044 meters Centerline goodness : 0.091209 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.27, Z:-5.03 [[ 9.91162052e-01 -1.87531039e-02 -1.31324439e-01 -3.23341754e+01] [ 1.27948435e-02 9.98856348e-01 -4.60682987e-02 -2.27159212e+00] [ 1.32038174e-01 4.39808738e-02 9.90268450e-01 -5.02988555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26463044 meters Centerline goodness : 0.091328 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.27, Z:-5.03 [[ 9.91148962e-01 -1.86075531e-02 -1.31443878e-01 -3.23324523e+01] [ 1.27001189e-02 9.98877269e-01 -4.56388860e-02 -2.27474177e+00] [ 1.32145530e-01 4.35655816e-02 9.90272487e-01 -5.03113739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32463044 meters Centerline goodness : 0.080426 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.28, Z:-5.03 [[ 9.91268299e-01 -1.42667839e-02 -1.31086298e-01 -3.23330900e+01] [ 8.85690258e-03 9.99088398e-01 -4.17603636e-02 -2.27524235e+00] [ 1.31562585e-01 4.02347061e-02 9.90491017e-01 -5.03141658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38463044 meters Centerline goodness : 0.213515 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.28, Z:-5.04 [[ 9.91334595e-01 -2.83602052e-03 -1.31330414e-01 -3.23486299e+01] [-2.77636545e-03 9.99091246e-01 -4.25320399e-02 -2.27722861e+00] [ 1.31331688e-01 4.25281038e-02 9.90425842e-01 -5.03520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44463044 meters Centerline goodness : 0.159938 with order 3 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.28, Z:-5.03 [[ 9.91335278e-01 -1.13120830e-02 -1.30867882e-01 -3.23315663e+01] [ 6.15117144e-03 9.99189797e-01 -3.97732778e-02 -2.27546726e+00] [ 1.31211771e-01 3.86236626e-02 9.90601678e-01 -5.03397857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50463044 meters Centerline goodness : 0.160071 with order 3 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.29, Z:-5.03 [[ 9.91250522e-01 -1.35723126e-02 -1.31294310e-01 -3.23298873e+01] [ 8.30352172e-03 9.99141213e-01 -4.05941933e-02 -2.28580520e+00] [ 1.31732513e-01 3.91488101e-02 9.90511946e-01 -5.03459714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56463044000003 meters Centerline goodness : 0.096353 with order 3 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.29, Z:-5.04 [[ 9.91297613e-01 -1.44431812e-02 -1.30845086e-01 -3.23300133e+01] [ 9.18588995e-03 9.99129415e-01 -4.06943551e-02 -2.29268199e+00] [ 1.31318931e-01 3.91382885e-02 9.90567278e-01 -5.03542329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62463044000003 meters Centerline goodness : 0.194425 with order 3 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.30, Z:-5.04 [[ 9.91491700e-01 -1.39834313e-02 -1.29416661e-01 -3.23331670e+01] [ 8.92704068e-03 9.99176978e-01 -3.95685987e-02 -2.29774574e+00] [ 1.29863453e-01 3.80766294e-02 9.90800512e-01 -5.03565401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68463044000003 meters Centerline goodness : 0.096106 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.30, Z:-5.04 [[ 9.91493177e-01 -1.43198798e-02 -1.29368545e-01 -3.23307772e+01] [ 9.28479320e-03 9.99178798e-01 -3.94401215e-02 -2.30266115e+00] [ 1.29827085e-01 3.79034512e-02 9.90811918e-01 -5.03790034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74463044000004 meters Centerline goodness : 0.145420 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.31, Z:-5.04 [[ 9.91279440e-01 -1.99383215e-02 -1.30259493e-01 -3.23460973e+01] [ 1.50984836e-02 9.99162225e-01 -3.80379288e-02 -2.30952483e+00] [ 1.30908777e-01 3.57394960e-02 9.90750009e-01 -5.04266381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80463044 meters Centerline goodness : 0.141076 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.31, Z:-5.04 [[ 9.91298373e-01 -1.93866773e-02 -1.30198663e-01 -3.23458191e+01] [ 1.46714865e-02 9.99204688e-01 -3.70774783e-02 -2.31353537e+00] [ 1.30813924e-01 3.48446360e-02 9.90794413e-01 -5.04279739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86463044 meters Centerline goodness : 0.156937 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-2.32, Z:-5.05 [[ 9.91268811e-01 -1.01597661e-02 -1.31464536e-01 -3.23562873e+01] [ 5.06003365e-03 9.99223751e-01 -3.90677684e-02 -2.32362008e+00] [ 1.31759407e-01 3.80614454e-02 9.90550748e-01 -5.04826090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92463044 meters Centerline goodness : 0.240153 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.32, Z:-5.05 [[ 9.91168372e-01 -9.17800360e-03 -1.32291432e-01 -3.23527148e+01] [ 4.05482700e-03 9.99233170e-01 -3.89439381e-02 -2.32228894e+00] [ 1.32547415e-01 3.80635809e-02 9.90445529e-01 -5.04953860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98463044 meters Centerline goodness : 0.236774 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.31, Z:-5.05 [[ 9.91026124e-01 -2.74510002e-03 -1.33640138e-01 -3.23457302e+01] [-2.00477599e-03 9.99371399e-01 -3.53947540e-02 -2.31455404e+00] [ 1.33653294e-01 3.53450444e-02 9.90397660e-01 -5.05234406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04463044 meters Centerline goodness : 0.148078 with order 1 Centerline is valid? [False, False] Translation: X:-32.34, Y:-2.31, Z:-5.05 [[ 9.91036967e-01 2.77200913e-04 -1.33587622e-01 -3.23446777e+01] [-4.84325557e-03 9.99414970e-01 -3.38564795e-02 -2.30827744e+00] [ 1.33500084e-01 3.42000218e-02 9.90458523e-01 -5.05308128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10463044 meters Centerline goodness : 0.237629 with order 1 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.30, Z:-5.05 [[ 9.91229266e-01 3.62742555e-03 -1.32103685e-01 -3.23500559e+01] [-7.87840102e-03 9.99467309e-01 -3.16706413e-02 -2.30291111e+00] [ 1.31918431e-01 3.24336323e-02 9.90729825e-01 -5.05093915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16463044 meters Centerline goodness : 0.236327 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:-2.30, Z:-5.05 [[ 9.91260373e-01 -4.00198426e-03 -1.31859235e-01 -3.23334131e+01] [ 2.03343626e-04 9.99584909e-01 -2.88091812e-02 -2.29544496e+00] [ 1.31919795e-01 2.85305870e-02 9.90849723e-01 -5.04879597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22463044 meters Centerline goodness : 0.132489 with order 3 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.30, Z:-5.05 [[ 9.90657143e-01 -8.46949653e-03 -1.36112792e-01 -3.23698498e+01] [ 4.99443975e-03 9.99653306e-01 -2.58519625e-02 -2.29590918e+00] [ 1.36284555e-01 2.49306242e-02 9.90355989e-01 -5.05313079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28463044 meters Centerline goodness : 0.207166 with order 2 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90613812e-01 -8.20689644e-03 -1.36443845e-01 -3.23697381e+01] [ 4.70386323e-03 9.99651489e-01 -2.59764327e-02 -2.29344429e+00] [ 1.36609479e-01 2.50907998e-02 9.90307176e-01 -5.05219424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34463044 meters Centerline goodness : 0.145482 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90534462e-01 -7.89427374e-03 -1.37037078e-01 -3.23681132e+01] [ 4.36099437e-03 9.99650751e-01 -2.60644894e-02 -2.29088628e+00] [ 1.37194978e-01 2.52201570e-02 9.90222945e-01 -5.05201795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40463044 meters Centerline goodness : 0.159432 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90454188e-01 -7.86890815e-03 -1.37617519e-01 -3.23665844e+01] [ 4.26374784e-03 9.99640458e-01 -2.64721533e-02 -2.28769510e+00] [ 1.37776346e-01 2.56326887e-02 9.90131629e-01 -5.05171617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46463044 meters Centerline goodness : 0.141478 with order 2 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90428419e-01 -8.70470465e-03 -1.37752588e-01 -3.23664716e+01] [ 5.03797386e-03 9.99624234e-01 -2.69445482e-02 -2.28923237e+00] [ 1.37935370e-01 2.59926523e-02 9.90100104e-01 -5.05095782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52463044 meters Centerline goodness : 0.237577 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90375573e-01 -8.45436881e-03 -1.38147556e-01 -3.23656918e+01] [ 4.77568359e-03 9.99625686e-01 -2.69384703e-02 -2.28704806e+00] [ 1.38323594e-01 2.60194539e-02 9.90045237e-01 -5.05049393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58463044 meters Centerline goodness : 0.236714 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90587520e-01 -1.02902569e-02 -1.36493504e-01 -3.23720251e+01] [ 6.46219640e-03 9.99574065e-01 -2.84592505e-02 -2.28841622e+00] [ 1.36728220e-01 2.73093305e-02 9.90232091e-01 -5.04775390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64463044 meters Centerline goodness : 0.240848 with order 3 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90402048e-01 -8.42327544e-03 -1.37959531e-01 -3.23655357e+01] [ 4.71282157e-03 9.99618906e-01 -2.71998406e-02 -2.28592522e+00] [ 1.38136067e-01 2.62885992e-02 9.90064309e-01 -5.04990227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70463044 meters Centerline goodness : 0.236793 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-2.29, Z:-5.05 [[ 9.90370225e-01 -8.54061719e-03 -1.38180592e-01 -3.23640468e+01] [ 4.80545625e-03 9.99614585e-01 -2.73420794e-02 -2.28651904e+00] [ 1.38360854e-01 2.64147605e-02 9.90029563e-01 -5.05064309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76463044 meters Centerline goodness : 0.236185 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-2.29, Z:-5.05 [[ 9.90296658e-01 -8.33141619e-03 -1.38719559e-01 -3.23635357e+01] [ 4.63089076e-03 9.99625308e-01 -2.69777303e-02 -2.28788317e+00] [ 1.38892344e-01 2.60735610e-02 9.89964184e-01 -5.04922284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82463044 meters Centerline goodness : 0.142478 with order 1 Centerline is valid? [False, False] Translation: X:-32.36, Y:-2.28, Z:-5.05 [[ 9.90162749e-01 -8.04020749e-03 -1.39689247e-01 -3.23594436e+01] [ 4.26340443e-03 9.99617773e-01 -2.73154172e-02 -2.28446762e+00] [ 1.39855475e-01 2.64511569e-02 9.89818560e-01 -5.05047368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88463044 meters Centerline goodness : 0.146686 with order 1 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.29, Z:-5.05 [[ 9.90336921e-01 -1.04688937e-02 -1.38286606e-01 -3.23655298e+01] [ 6.53749948e-03 9.99562287e-01 -2.88530061e-02 -2.28921786e+00] [ 1.38528135e-01 2.76701486e-02 9.89971878e-01 -5.04752211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94463044 meters Centerline goodness : 0.234326 with order 1 Centerline is valid? [False, False] Translation: X:-32.38, Y:-2.29, Z:-5.05 [[ 9.89606518e-01 -1.31257812e-02 -1.43201442e-01 -3.23782041e+01] [ 9.54414521e-03 9.99624923e-01 -2.56695020e-02 -2.28755670e+00] [ 1.43484663e-01 2.40359711e-02 9.89360614e-01 -5.05039476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00463044 meters Centerline goodness : 0.133002 with order 3 Centerline is valid? [False, False] Translation: X:-32.38, Y:-2.29, Z:-5.05 [[ 9.89576162e-01 -1.76419224e-02 -1.42925790e-01 -3.23788188e+01] [ 1.35910698e-02 9.99479160e-01 -2.92692814e-02 -2.29135628e+00] [ 1.43367715e-01 2.70216688e-02 9.89300525e-01 -5.04963720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06463044000003 meters Centerline goodness : 0.235273 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.06 [[ 9.89583542e-01 -8.80944065e-03 -1.43689971e-01 -3.24085929e+01] [ 5.00101901e-03 9.99627122e-01 -2.68441122e-02 -2.29440788e+00] [ 1.43872874e-01 2.58458953e-02 9.89258604e-01 -5.05547717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12463044000003 meters Centerline goodness : 0.096340 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.30, Z:-5.05 [[ 9.89740445e-01 -1.14958028e-02 -1.42413829e-01 -3.24127331e+01] [ 7.39247084e-03 9.99543080e-01 -2.93084088e-02 -2.29619617e+00] [ 1.42685681e-01 2.79549275e-02 9.89373195e-01 -5.05406418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18463044000003 meters Centerline goodness : 0.232986 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89717467e-01 -6.97448034e-03 -1.42865996e-01 -3.24110358e+01] [ 3.33936795e-03 9.99664940e-01 -2.56681981e-02 -2.29447246e+00] [ 1.42997150e-01 2.49271818e-02 9.89409142e-01 -5.05433137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24463044000004 meters Centerline goodness : 0.234782 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89683863e-01 -8.23611336e-03 -1.43031530e-01 -3.24100707e+01] [ 4.43325037e-03 9.99628677e-01 -2.68859512e-02 -2.29454971e+00] [ 1.43199855e-01 2.59744975e-02 9.89352883e-01 -5.05435287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30463044 meters Centerline goodness : 0.234279 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.30, Z:-5.05 [[ 9.89475962e-01 -7.56526983e-03 -1.44499435e-01 -3.24057340e+01] [ 3.81735939e-03 9.99649514e-01 -2.61968703e-02 -2.29563268e+00] [ 1.44646977e-01 2.53695672e-02 9.89158045e-01 -5.05474876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36463044 meters Centerline goodness : 0.233667 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-2.30, Z:-5.06 [[ 9.89346617e-01 -7.22783524e-03 -1.45399554e-01 -3.24021371e+01] [ 3.46406234e-03 9.99652753e-01 -2.61222743e-02 -2.29527759e+00] [ 1.45537872e-01 2.53403105e-02 9.89028107e-01 -5.05574960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42463044 meters Centerline goodness : 0.095613 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.30, Z:-5.05 [[ 9.89457060e-01 -4.32470219e-03 -1.44761951e-01 -3.24063758e+01] [ 9.13306106e-04 9.99720504e-01 -2.36237233e-02 -2.29528386e+00] [ 1.44823656e-01 2.32424478e-02 9.89184461e-01 -5.05283454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48463044 meters Centerline goodness : 0.098439 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89409399e-01 -4.28651366e-03 -1.45088477e-01 -3.24059326e+01] [ 7.76951912e-04 9.99705935e-01 -2.42371392e-02 -2.29180264e+00] [ 1.45149705e-01 2.38677266e-02 9.89121780e-01 -5.05213065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54463044 meters Centerline goodness : 0.097568 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89391752e-01 -4.79055430e-03 -1.45193017e-01 -3.24060278e+01] [ 1.17126825e-03 9.99686699e-01 -2.50026506e-02 -2.29096388e+00] [ 1.45267304e-01 2.45673563e-02 9.89087385e-01 -5.05137892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60463044 meters Centerline goodness : 0.095112 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-2.29, Z:-5.05 [[ 9.89311989e-01 -6.61472914e-04 -1.45812722e-01 -3.24044554e+01] [-2.45800020e-03 9.99771968e-01 -2.12124916e-02 -2.29154484e+00] [ 1.45793504e-01 2.13441800e-02 9.89084769e-01 -5.05099557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66463044 meters Centerline goodness : 0.096966 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89408502e-01 -2.40702339e-03 -1.45137946e-01 -3.24079548e+01] [-9.04111662e-04 9.99740926e-01 -2.27434358e-02 -2.29131115e+00] [ 1.45155088e-01 2.26337696e-02 9.89149995e-01 -5.04883110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72463044 meters Centerline goodness : 0.094591 with order 3 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.29, Z:-5.05 [[ 9.89495837e-01 -2.66046131e-03 -1.44536880e-01 -3.24102837e+01] [-6.30771368e-04 9.99741662e-01 -2.27202887e-02 -2.29200379e+00] [ 1.44559987e-01 2.25728009e-02 9.89238535e-01 -5.04733180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78463044 meters Centerline goodness : 0.238282 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.30, Z:-5.05 [[ 9.89281720e-01 -6.09089650e-03 -1.45892357e-01 -3.24061867e+01] [ 2.43431184e-03 9.99678734e-01 -2.52290084e-02 -2.29552352e+00] [ 1.45999154e-01 2.46034493e-02 9.88978724e-01 -5.04751544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84463044 meters Centerline goodness : 0.238581 with order 1 Centerline is valid? [False, False] Translation: X:-32.40, Y:-2.30, Z:-5.05 [[ 9.89188161e-01 -6.95448262e-03 -1.46486917e-01 -3.24044612e+01] [ 3.25627713e-03 9.99670267e-01 -2.54706617e-02 -2.30076855e+00] [ 1.46615751e-01 2.47182750e-02 9.88884639e-01 -5.04730849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90463044 meters Centerline goodness : 0.237190 with order 1 Centerline is valid? [False, False] Translation: X:-32.41, Y:-2.31, Z:-5.05 [[ 9.89288677e-01 -7.64562493e-03 -1.45771941e-01 -3.24051298e+01] [ 3.97618584e-03 9.99668259e-01 -2.54472356e-02 -2.30694638e+00] [ 1.45918143e-01 2.45950457e-02 9.88990889e-01 -5.04767188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96463044 meters Centerline goodness : 0.202121 with order 3 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.31, Z:-5.05 [[ 9.89118540e-01 -4.31132795e-03 -1.47057564e-01 -3.24336648e+01] [ 1.60654673e-04 9.99601582e-01 -2.82250271e-02 -2.31383148e+00] [ 1.47120661e-01 2.78942721e-02 9.88725149e-01 -5.05311386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02463044 meters Centerline goodness : 0.097165 with order 3 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.31, Z:-5.05 [[ 9.88987090e-01 -2.81745429e-03 -1.47974991e-01 -3.24300230e+01] [-1.30961369e-03 9.99613051e-01 -2.77854730e-02 -2.31178765e+00] [ 1.47996016e-01 2.76732641e-02 9.88600713e-01 -5.05390399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08463044 meters Centerline goodness : 0.098911 with order 2 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.31, Z:-5.05 [[ 9.89026021e-01 1.65973310e-03 -1.47732107e-01 -3.24302608e+01] [-5.50514419e-03 9.99656479e-01 -2.56245442e-02 -2.30558952e+00] [ 1.47638828e-01 2.61566276e-02 9.88695407e-01 -5.05352779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14463044 meters Centerline goodness : 0.120660 with order 1 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.30, Z:-5.05 [[ 9.89027214e-01 5.99276217e-03 -1.47611842e-01 -3.24308170e+01] [-9.48571887e-03 9.99691140e-01 -2.29705342e-02 -2.30071510e+00] [ 1.47428594e-01 2.41186879e-02 9.88778589e-01 -5.05274794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20463044 meters Centerline goodness : 0.233706 with order 1 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.29, Z:-5.05 [[ 9.89152964e-01 9.98152499e-03 -1.46549589e-01 -3.24349542e+01] [-1.31415983e-02 9.99701201e-01 -2.06108280e-02 -2.29359328e+00] [ 1.46300073e-01 2.23131574e-02 9.88988580e-01 -5.05071688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26463044 meters Centerline goodness : 0.232917 with order 1 Centerline is valid? [False, False] Translation: X:-32.42, Y:-2.29, Z:-5.05 [[ 9.89276309e-01 1.50675632e-03 -1.46048328e-01 -3.24183497e+01] [-4.26979743e-03 9.99817757e-01 -1.86070444e-02 -2.28522885e+00] [ 1.45993675e-01 1.90311050e-02 9.89102454e-01 -5.04821784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32463044 meters Centerline goodness : 0.095050 with order 3 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.28, Z:-5.05 [[ 9.89005950e-01 -4.61726539e-03 -1.47803627e-01 -3.24348088e+01] [ 1.91239554e-03 9.99828189e-01 -1.84373117e-02 -2.28286514e+00] [ 1.47863362e-01 1.79519520e-02 9.88844858e-01 -5.05020968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38463044 meters Centerline goodness : 0.128320 with order 3 Centerline is valid? [False, False] Translation: X:-32.44, Y:-2.28, Z:-5.05 [[ 9.89050084e-01 -5.08455857e-03 -1.47492639e-01 -3.24368245e+01] [ 2.35238959e-03 9.99822510e-01 -1.86926277e-02 -2.28286803e+00] [ 1.47561504e-01 1.81409848e-02 9.88886499e-01 -5.04841484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44463044 meters Centerline goodness : 0.097106 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-2.28, Z:-5.05 [[ 9.89126377e-01 -9.75474030e-03 -1.46744181e-01 -3.24397493e+01] [ 6.53536506e-03 9.99727619e-01 -2.24048497e-02 -2.28409533e+00] [ 1.46922765e-01 2.12022010e-02 9.88920709e-01 -5.04652642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50463044 meters Centerline goodness : 0.086406 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:-2.29, Z:-5.05 [[ 9.89002146e-01 -1.02273992e-02 -1.47547133e-01 -3.24367665e+01] [ 6.97687840e-03 9.99721797e-01 -2.25311474e-02 -2.28605607e+00] [ 1.47736520e-01 2.12539347e-02 9.88798357e-01 -5.04709916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56463044000003 meters Centerline goodness : 0.116559 with order 2 Centerline is valid? [False, False] Translation: X:-32.45, Y:-2.29, Z:-5.05 [[ 9.88509095e-01 -1.70324806e-02 -1.50198749e-01 -3.24525852e+01] [ 1.38602401e-02 9.99658755e-01 -2.21419619e-02 -2.29131575e+00] [ 1.50524627e-01 1.98057399e-02 9.88407846e-01 -5.04909090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62463044000003 meters Centerline goodness : 0.236221 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-2.29, Z:-5.05 [[ 9.88445017e-01 -1.68227576e-02 -1.50643429e-01 -3.24507207e+01] [ 1.36687024e-02 9.99665663e-01 -2.19483343e-02 -2.29203911e+00] [ 1.50962295e-01 1.96356215e-02 9.88344488e-01 -5.04964146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68463044000003 meters Centerline goodness : 0.125690 with order 3 Centerline is valid? [False, False] Translation: X:-32.47, Y:-2.30, Z:-5.05 [[ 9.88937953e-01 -1.11536837e-02 -1.47909841e-01 -3.24681841e+01] [ 7.38893035e-03 9.99635204e-01 -2.59781312e-02 -2.30074134e+00] [ 1.48145636e-01 2.45978643e-02 9.88659605e-01 -5.05245812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74463044000004 meters Centerline goodness : 0.237130 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:-2.30, Z:-5.05 [[ 9.88913132e-01 -1.07743476e-02 -1.48103787e-01 -3.24675311e+01] [ 7.00810710e-03 9.99639245e-01 -2.59281122e-02 -2.30030310e+00] [ 1.48329716e-01 2.46027234e-02 9.88631884e-01 -5.05229565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80463044 meters Centerline goodness : 0.076634 with order 1 Centerline is valid? [False, False] Translation: X:-32.46, Y:-2.30, Z:-5.05 [[ 9.88751922e-01 -1.08581326e-02 -1.49170161e-01 -3.24627029e+01] [ 6.96812747e-03 9.99622520e-01 -2.65755860e-02 -2.29950319e+00] [ 1.49402414e-01 2.52372250e-02 9.88454350e-01 -5.05410794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86463044 meters Centerline goodness : 0.219627 with order 3 Centerline is valid? [False, False] Translation: X:-32.46, Y:-2.30, Z:-5.05 [[ 9.88766670e-01 -1.04668910e-02 -1.49100355e-01 -3.24625372e+01] [ 6.62705687e-03 9.99634048e-01 -2.62269504e-02 -2.30029200e+00] [ 1.49320306e-01 2.49442379e-02 9.88474194e-01 -5.05374217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92463044 meters Centerline goodness : 0.217670 with order 3 Centerline is valid? [False, False] Translation: X:-32.46, Y:-2.30, Z:-5.05 [[ 9.88763474e-01 -1.06486991e-02 -1.49108675e-01 -3.24630663e+01] [ 6.81719987e-03 9.99633905e-01 -2.61836036e-02 -2.30281971e+00] [ 1.49332908e-01 2.48728872e-02 9.88474088e-01 -5.05252876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98463044 meters Centerline goodness : 0.236408 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-2.31, Z:-5.05 [[ 9.88737096e-01 -9.13690149e-04 -1.49660017e-01 -3.24785899e+01] [-3.32642545e-03 9.99600176e-01 -2.80788760e-02 -2.30722397e+00] [ 1.49625835e-01 2.82604592e-02 9.88338735e-01 -5.05460085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04463044 meters Centerline goodness : 0.235895 with order 1 Centerline is valid? [False, False] Translation: X:-32.48, Y:-2.30, Z:-5.05 [[ 9.88889442e-01 6.15485022e-04 -1.48651584e-01 -3.24809930e+01] [-4.80444014e-03 9.99601341e-01 -2.78222428e-02 -2.30049630e+00] [ 1.48575199e-01 2.82273098e-02 9.88498169e-01 -5.05416433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10463044 meters Centerline goodness : 0.095665 with order 3 Centerline is valid? [False, False] Translation: X:-32.49, Y:-2.30, Z:-5.05 [[ 9.88999687e-01 -4.38890740e-03 -1.47852485e-01 -3.24852209e+01] [-3.62652766e-04 9.99484760e-01 -3.20948920e-02 -2.30080189e+00] [ 1.47917167e-01 3.17954572e-02 9.88488523e-01 -5.05129340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16463044 meters Centerline goodness : 0.238899 with order 1 Centerline is valid? [False, False] Translation: X:-32.50, Y:-2.31, Z:-5.05 [[ 9.88617550e-01 -1.16691372e-02 -1.49997237e-01 -3.25010182e+01] [ 6.99191946e-03 9.99473871e-01 -3.16716731e-02 -2.30591503e+00] [ 1.50287901e-01 3.02624032e-02 9.88178999e-01 -5.05495646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22463044 meters Centerline goodness : 0.238742 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-2.31, Z:-5.06 [[ 9.88731617e-01 -4.79846414e-03 -1.49622068e-01 -3.25176318e+01] [-6.60524480e-04 9.99336566e-01 -3.64141612e-02 -2.30892195e+00] [ 1.49697536e-01 3.61026615e-02 9.88072490e-01 -5.05725730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28463044 meters Centerline goodness : 0.241044 with order 1 Centerline is valid? [False, False] Translation: X:-32.52, Y:-2.31, Z:-5.06 [[ 9.88693005e-01 -4.59239216e-03 -1.49883464e-01 -3.25179183e+01] [-9.41386312e-04 9.99321149e-01 -3.68287237e-02 -2.30768967e+00] [ 1.49950847e-01 3.65533998e-02 9.88017506e-01 -5.05574152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34463044 meters Centerline goodness : 0.238991 with order 1 Centerline is valid? [False, False] Translation: X:-32.51, Y:-2.31, Z:-5.06 [[ 9.88210404e-01 -6.28780977e-03 -1.52972743e-01 -3.25073814e+01] [ 4.02705618e-04 9.99259590e-01 -3.84721894e-02 -2.30821869e+00] [ 1.53101386e-01 3.79570149e-02 9.87481256e-01 -5.05793381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40463044 meters Centerline goodness : 0.239475 with order 1 Centerline is valid? [False, False] Translation: X:-32.54, Y:-2.31, Z:-5.06 [[ 9.87584135e-01 -9.72924008e-03 -1.56789409e-01 -3.25395174e+01] [ 4.19791699e-03 9.99358325e-01 -3.55712856e-02 -2.31103812e+00] [ 1.57034883e-01 3.44714484e-02 9.86991269e-01 -5.06317753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46463044 meters Centerline goodness : 0.239771 with order 1 Centerline is valid? [False, False] Translation: X:-32.54, Y:-2.31, Z:-5.06 [[ 9.87707948e-01 -9.81371966e-03 -1.56002242e-01 -3.25434123e+01] [ 4.19966170e-03 9.99332986e-01 -3.62759820e-02 -2.30896180e+00] [ 1.56254189e-01 3.51749191e-02 9.87090347e-01 -5.06068667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52463044 meters Centerline goodness : 0.239126 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-2.31, Z:-5.06 [[ 9.87350992e-01 -1.52066928e-02 -1.57818806e-01 -3.25583429e+01] [ 9.58471867e-03 9.99294132e-01 -3.63231577e-02 -2.30617303e+00] [ 1.58259761e-01 3.43510569e-02 9.86799804e-01 -5.06372635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58463044 meters Centerline goodness : 0.242626 with order 1 Centerline is valid? [False, False] Translation: X:-32.58, Y:-2.31, Z:-5.06 [[ 9.87699351e-01 -2.29924477e-02 -1.54665250e-01 -3.25832851e+01] [ 1.74247124e-02 9.99153729e-01 -3.72586130e-02 -2.31340849e+00] [ 1.55391028e-01 3.41053104e-02 9.87264127e-01 -5.06400182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64463044 meters Centerline goodness : 0.242623 with order 1 Centerline is valid? [False, False] Translation: X:-32.60, Y:-2.32, Z:-5.07 [[ 9.87639698e-01 -1.54660553e-02 -1.55976367e-01 -3.25982118e+01] [ 9.27439465e-03 9.99142722e-01 -4.03460880e-02 -2.31946432e+00] [ 1.56466647e-01 3.84008118e-02 9.86936455e-01 -5.06569966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70463044 meters Centerline goodness : 0.240618 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:-2.33, Z:-5.07 [[ 9.88125031e-01 -5.96753336e-03 -1.53536025e-01 -3.26198682e+01] [-5.20167142e-04 9.99109875e-01 -4.21804047e-02 -2.32500595e+00] [ 1.53651072e-01 4.17593781e-02 9.87242373e-01 -5.06670766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76463044 meters Centerline goodness : 0.241532 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:-2.33, Z:-5.07 [[ 9.88277752e-01 -3.10768753e-03 -1.52634947e-01 -3.26230732e+01] [-3.04162058e-03 9.99193542e-01 -4.00376675e-02 -2.32641936e+00] [ 1.52636278e-01 4.00325936e-02 9.87471295e-01 -5.06540445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82463044 meters Centerline goodness : 0.239229 with order 1 Centerline is valid? [False, False] Translation: X:-32.64, Y:-2.32, Z:-5.07 [[ 9.87580577e-01 -6.81675976e-03 -1.56965398e-01 -3.26382534e+01] [ 4.44904058e-04 9.99175649e-01 -4.05934164e-02 -2.32210773e+00] [ 1.57112719e-01 4.00194351e-02 9.86769496e-01 -5.06766174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88463044 meters Centerline goodness : 0.239077 with order 1 Centerline is valid? [False, False] Translation: X:-32.64, Y:-2.33, Z:-5.07 [[ 9.87695483e-01 -8.12188067e-03 -1.56178320e-01 -3.26426930e+01] [ 1.65620184e-03 9.99137755e-01 -4.14849804e-02 -2.32512546e+00] [ 1.56380592e-01 4.07158649e-02 9.86857299e-01 -5.06504893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94463044 meters Centerline goodness : 0.101150 with order 3 Centerline is valid? [False, False] Translation: X:-32.66, Y:-2.33, Z:-5.07 [[ 9.87578924e-01 -1.39317377e-02 -1.56504875e-01 -3.26602033e+01] [ 7.58872412e-03 9.99128116e-01 -4.10538449e-02 -2.32950814e+00] [ 1.56940372e-01 3.93562397e-02 9.86823594e-01 -5.06899971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00463044 meters Centerline goodness : 0.240464 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-2.33, Z:-5.07 [[ 9.87513121e-01 -1.36239267e-02 -1.56946564e-01 -3.26583434e+01] [ 7.26685102e-03 9.99132410e-01 -4.10075623e-02 -2.33040198e+00] [ 1.57369082e-01 3.93549986e-02 9.86755368e-01 -5.06938867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06463044000003 meters Centerline goodness : 0.242073 with order 1 Centerline is valid? [False, False] Translation: X:-32.66, Y:-2.33, Z:-5.07 [[ 9.87618946e-01 -1.29408265e-02 -1.56337306e-01 -3.26608707e+01] [ 6.62405310e-03 9.99142988e-01 -4.08584228e-02 -2.33058831e+00] [ 1.56732065e-01 3.93169658e-02 9.86858265e-01 -5.06774398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12463044000003 meters Centerline goodness : 0.241436 with order 1 Centerline is valid? [False, False] Translation: X:-32.68, Y:-2.33, Z:-5.07 [[ 9.87598445e-01 -4.78919794e-03 -1.56927928e-01 -3.26774278e+01] [-2.17735095e-03 9.99020713e-01 -4.41913459e-02 -2.33401598e+00] [ 1.56985892e-01 4.39849917e-02 9.86620875e-01 -5.06988799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18463044000003 meters Centerline goodness : 0.241539 with order 1 Centerline is valid? [False, False] Translation: X:-32.68, Y:-2.33, Z:-5.07 [[ 9.87672756e-01 -4.64524439e-04 -1.56532143e-01 -3.26775963e+01] [-6.00567226e-03 9.99146868e-01 -4.08591290e-02 -2.33352168e+00] [ 1.56417580e-01 4.12955293e-02 9.86827351e-01 -5.07018113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24463044000004 meters Centerline goodness : 0.094650 with order 3 Centerline is valid? [False, False] Translation: X:-32.68, Y:-2.33, Z:-5.07 [[ 9.87697595e-01 -3.05536847e-04 -1.56375727e-01 -3.26788736e+01] [-6.17182694e-03 9.99142767e-01 -4.09345725e-02 -2.33341565e+00] [ 1.56254184e-01 4.13961028e-02 9.86849022e-01 -5.06906626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30463044 meters Centerline goodness : 0.241399 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87389212e-01 -6.92215938e-03 -1.58160131e-01 -3.27161296e+01] [ 8.91391646e-04 9.99270865e-01 -3.81699337e-02 -2.33555495e+00] [ 1.58309029e-01 3.75475981e-02 9.86675443e-01 -5.07439634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36463044 meters Centerline goodness : 0.240848 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87445540e-01 -7.05854948e-03 -1.57802036e-01 -3.27166212e+01] [ 1.04749501e-03 9.99271737e-01 -3.81431373e-02 -2.33691132e+00] [ 1.57956350e-01 3.74989740e-02 9.86733813e-01 -5.07441341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42463044 meters Centerline goodness : 0.238626 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87532192e-01 -8.17756207e-03 -1.57204638e-01 -3.27203988e+01] [ 2.11963536e-03 9.99250005e-01 -3.86643859e-02 -2.33966864e+00] [ 1.57402915e-01 3.78491092e-02 9.86808881e-01 -5.07188058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48463044 meters Centerline goodness : 0.239934 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87494795e-01 -8.18640891e-03 -1.57438917e-01 -3.27195433e+01] [ 2.11246579e-03 9.99248317e-01 -3.87083860e-02 -2.34034071e+00] [ 1.57637455e-01 3.78917454e-02 9.86769805e-01 -5.07191326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54463044 meters Centerline goodness : 0.239706 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87515815e-01 -8.45241708e-03 -1.57292948e-01 -3.27198229e+01] [ 2.30850605e-03 9.99228636e-01 -3.92020814e-02 -2.33857211e+00] [ 1.57502970e-01 3.83495637e-02 9.86773594e-01 -5.07165481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60463044 meters Centerline goodness : 0.091268 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.33, Z:-5.07 [[ 9.87522706e-01 -8.52037584e-03 -1.57246011e-01 -3.27210799e+01] [ 2.29316163e-03 9.99207393e-01 -3.97407432e-02 -2.33472207e+00] [ 1.57459983e-01 3.88842957e-02 9.86759528e-01 -5.07039993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66463044 meters Centerline goodness : 0.242097 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.34, Z:-5.07 [[ 9.87417139e-01 -1.32417994e-02 -1.57581876e-01 -3.27207407e+01] [ 6.45265339e-03 9.99031841e-01 -4.35171792e-02 -2.33549964e+00] [ 1.58005557e-01 4.19527874e-02 9.86546607e-01 -5.06958245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72463044 meters Centerline goodness : 0.243104 with order 1 Centerline is valid? [False, False] Translation: X:-32.76, Y:-2.34, Z:-5.08 [[ 9.86862290e-01 -2.42992265e-02 -1.59725918e-01 -3.27585877e+01] [ 1.77046218e-02 9.98936120e-01 -4.25813891e-02 -2.34129827e+00] [ 1.60590683e-01 3.91940802e-02 9.86242595e-01 -5.07784104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78463044 meters Centerline goodness : 0.149582 with order 3 Centerline is valid? [False, False] Translation: X:-32.79, Y:-2.35, Z:-5.08 [[ 9.86988203e-01 -2.10199931e-02 -1.59412820e-01 -3.27859104e+01] [ 1.39191244e-02 9.98865973e-01 -4.55304929e-02 -2.34753570e+00] [ 1.60189092e-01 4.27191725e-02 9.86161512e-01 -5.08462506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84463044 meters Centerline goodness : 0.109905 with order 3 Centerline is valid? [False, False] Translation: X:-32.79, Y:-2.35, Z:-5.08 [[ 9.86990019e-01 -2.07653469e-02 -1.59434948e-01 -3.27861269e+01] [ 1.36323815e-02 9.98862039e-01 -4.57032309e-02 -2.34639531e+00] [ 1.60202561e-01 4.29351547e-02 9.86149944e-01 -5.08393350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90463044 meters Centerline goodness : 0.197942 with order 1 Centerline is valid? [False, False] Translation: X:-32.81, Y:-2.35, Z:-5.09 [[ 9.87284045e-01 -1.47644247e-02 -1.58278950e-01 -3.28135524e+01] [ 7.36274188e-03 9.98856038e-01 -4.72483368e-02 -2.35214660e+00] [ 1.58795480e-01 4.54821620e-02 9.86263336e-01 -5.08974526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96463044 meters Centerline goodness : 0.091291 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.36, Z:-5.10 [[ 9.87002950e-01 -1.13101059e-02 -1.60303644e-01 -3.28512048e+01] [ 3.69606265e-03 9.98854083e-01 -4.77164496e-02 -2.35969002e+00] [ 1.60659627e-01 4.65037842e-02 9.85913730e-01 -5.09776618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02463044 meters Centerline goodness : 0.369490 with order 3 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.36, Z:-5.10 [[ 9.86939891e-01 -1.05554297e-02 -1.60742759e-01 -3.28497217e+01] [ 3.06510900e-03 9.98900746e-01 -4.67750352e-02 -2.36314318e+00] [ 1.61059793e-01 4.56714540e-02 9.85887347e-01 -5.09794817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08463044 meters Centerline goodness : 0.085445 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.37, Z:-5.10 [[ 9.87075524e-01 -1.08414075e-02 -1.59888627e-01 -3.28532809e+01] [ 3.39190905e-03 9.98898927e-01 -4.67913201e-02 -2.36658352e+00] [ 1.60219861e-01 4.56442391e-02 9.86025456e-01 -5.09630490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14463044 meters Centerline goodness : 0.244753 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.37, Z:-5.10 [[ 9.87067464e-01 -1.27362425e-02 -1.59798656e-01 -3.28543118e+01] [ 5.18840077e-03 9.98854809e-01 -4.75620738e-02 -2.37489652e+00] [ 1.60221418e-01 4.61178761e-02 9.86003164e-01 -5.09569399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20463044 meters Centerline goodness : 0.243818 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-2.38, Z:-5.10 [[ 9.87148396e-01 -1.43628279e-02 -1.59159522e-01 -3.28563038e+01] [ 6.80451940e-03 9.98827399e-01 -4.79325117e-02 -2.38381917e+00] [ 1.59661338e-01 4.62334980e-02 9.86088597e-01 -5.09547276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26463044 meters Centerline goodness : 0.244275 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-2.39, Z:-5.10 [[ 9.87234431e-01 -1.44294616e-02 -1.58618940e-01 -3.28571592e+01] [ 6.97589751e-03 9.98849392e-01 -4.74471251e-02 -2.38823947e+00] [ 1.59121068e-01 4.57349261e-02 9.86199170e-01 -5.09580287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32463044 meters Centerline goodness : 0.167896 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.39, Z:-5.10 [[ 9.87009546e-01 -1.77535351e-02 -1.59677699e-01 -3.28539071e+01] [ 9.91861199e-03 9.98713398e-01 -4.97309813e-02 -2.39361406e+00] [ 1.60355158e-01 4.75011721e-02 9.85915748e-01 -5.09612222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38463044 meters Centerline goodness : 0.243943 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.40, Z:-5.10 [[ 9.87125092e-01 -1.83505736e-02 -1.58894020e-01 -3.28542878e+01] [ 1.05680637e-02 9.98708952e-01 -4.96864594e-02 -2.39896080e+00] [ 1.59600655e-01 4.73675486e-02 9.86044596e-01 -5.09743753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44463044 meters Centerline goodness : 0.244109 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.40, Z:-5.10 [[ 9.87089511e-01 -1.83280595e-02 -1.59117503e-01 -3.28525547e+01] [ 1.06130393e-02 9.98732488e-01 -4.92014302e-02 -2.40298703e+00] [ 1.59817586e-01 4.68774954e-02 9.86032880e-01 -5.09830276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50463044 meters Centerline goodness : 0.245399 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.86959345e-01 -1.82528564e-02 -1.59931499e-01 -3.28485259e+01] [ 1.06666982e-02 9.98782456e-01 -4.81645914e-02 -2.41109468e+00] [ 1.60615916e-01 4.58305526e-02 9.85952376e-01 -5.10003487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56463044000003 meters Centerline goodness : 0.247465 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.42, Z:-5.10 [[ 9.87089668e-01 -1.83292291e-02 -1.59116392e-01 -3.28500538e+01] [ 1.08744851e-02 9.98807479e-01 -4.75958457e-02 -2.41630555e+00] [ 1.59799038e-01 4.52510587e-02 9.86111864e-01 -5.10026513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62463044000003 meters Centerline goodness : 0.249076 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.42, Z:-5.10 [[ 9.87149858e-01 -1.81563638e-02 -1.58762417e-01 -3.28508460e+01] [ 1.07389984e-02 9.98815710e-01 -4.74536783e-02 -2.41812394e+00] [ 1.59435982e-01 4.51389424e-02 9.86175767e-01 -5.10020580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68463044000003 meters Centerline goodness : 0.142410 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.42, Z:-5.10 [[ 9.87142364e-01 -1.77536092e-02 -1.58854532e-01 -3.28499357e+01] [ 1.03142306e-02 9.98816370e-01 -4.75339387e-02 -2.41692753e+00] [ 1.59510406e-01 4.52843023e-02 9.86157068e-01 -5.10062030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74463044000004 meters Centerline goodness : 0.246541 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.42, Z:-5.10 [[ 9.87097574e-01 -1.75254673e-02 -1.59157901e-01 -3.28485656e+01] [ 1.01030717e-02 9.98828429e-01 -4.73254378e-02 -2.41735450e+00] [ 1.59800837e-01 4.51068412e-02 9.86118180e-01 -5.10087181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80463044 meters Centerline goodness : 0.247977 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.42, Z:-5.10 [[ 9.87031206e-01 -1.73977193e-02 -1.59582949e-01 -3.28461961e+01] [ 1.00209565e-02 9.98848661e-01 -4.69141089e-02 -2.41902012e+00] [ 1.60215413e-01 4.47065157e-02 9.86069140e-01 -5.10191521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86463044 meters Centerline goodness : 0.247469 with order 1 Centerline is valid? [False, False] Translation: X:-32.84, Y:-2.42, Z:-5.10 [[ 9.87001259e-01 -1.71451250e-02 -1.59795368e-01 -3.28446768e+01] [ 9.76831649e-03 9.98854836e-01 -4.68358406e-02 -2.41841029e+00] [ 1.60415383e-01 4.46661019e-02 9.86038460e-01 -5.10271686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92463044 meters Centerline goodness : 0.247596 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.87152711e-01 -1.26588293e-02 -1.59277369e-01 -3.28467054e+01] [ 5.76132774e-03 9.99028416e-01 -4.36924586e-02 -2.41437376e+00] [ 1.59675713e-01 4.22134798e-02 9.86266541e-01 -5.10172181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98463044 meters Centerline goodness : 0.174570 with order 2 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.87088841e-01 -1.24131732e-02 -1.59691993e-01 -3.28450604e+01] [ 5.42368439e-03 9.99011066e-01 -4.41301968e-02 -2.41087096e+00] [ 1.60081864e-01 4.26943058e-02 9.86180000e-01 -5.10209242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04463044 meters Centerline goodness : 0.244891 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.87171897e-01 -1.24776547e-02 -1.59172716e-01 -3.28467584e+01] [ 5.46577305e-03 9.98998259e-01 -4.44140045e-02 -2.40871676e+00] [ 1.59567449e-01 4.29742551e-02 9.86251207e-01 -5.10137700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10463044 meters Centerline goodness : 0.245968 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.87174301e-01 -1.28429191e-02 -1.59128748e-01 -3.28484136e+01] [ 5.78600952e-03 9.98982295e-01 -4.47313827e-02 -2.40770022e+00] [ 1.59541283e-01 4.32369510e-02 9.86243958e-01 -5.09959384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16463044 meters Centerline goodness : 0.243582 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.41, Z:-5.10 [[ 9.87146692e-01 -1.31350466e-02 -1.59276108e-01 -3.28483548e+01] [ 5.97704113e-03 9.98953872e-01 -4.53369271e-02 -2.40540672e+00] [ 1.59704987e-01 4.38021978e-02 9.86192519e-01 -5.09898081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22463044 meters Centerline goodness : 0.157505 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-2.40, Z:-5.10 [[ 9.87100088e-01 -1.08608984e-02 -1.59735587e-01 -3.28463662e+01] [ 3.82765586e-03 9.99012160e-01 -4.42724774e-02 -2.39932253e+00] [ 1.60058633e-01 4.30899534e-02 9.86166563e-01 -5.09938013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28463044 meters Centerline goodness : 0.146568 with order 1 Centerline is valid? [False, False] Translation: X:-32.88, Y:-2.39, Z:-5.10 [[ 9.86679642e-01 -4.34241186e-03 -1.62617425e-01 -3.28797715e+01] [-3.00767195e-03 9.98985827e-01 -4.49251769e-02 -2.39483739e+00] [ 1.62647586e-01 4.48158573e-02 9.85665918e-01 -5.10437176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34463044 meters Centerline goodness : 0.125509 with order 3 Centerline is valid? [False, False] Translation: X:-32.88, Y:-2.38, Z:-5.10 [[ 9.86678696e-01 2.10542342e-03 -1.62667511e-01 -3.28796771e+01] [-9.09451186e-03 9.99066405e-01 -4.22327929e-02 -2.37953866e+00] [ 1.62426727e-01 4.31495786e-02 9.85776685e-01 -5.10317694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40463044 meters Centerline goodness : 0.175739 with order 2 Centerline is valid? [False, False] Translation: X:-32.86, Y:-2.37, Z:-5.10 [[ 9.86750144e-01 -3.69012558e-03 -1.62205226e-01 -3.28647116e+01] [-2.62161302e-03 9.99248179e-01 -3.86808024e-02 -2.36956759e+00] [ 1.62226014e-01 3.85935267e-02 9.85998611e-01 -5.10043679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46463044 meters Centerline goodness : 0.107033 with order 1 Centerline is valid? [False, False] Translation: X:-32.87, Y:-2.36, Z:-5.10 [[ 9.86766814e-01 5.37966162e-04 -1.62144893e-01 -3.28653735e+01] [-6.63277825e-03 9.99291412e-01 -3.70497052e-02 -2.35506975e+00] [ 1.62010068e-01 3.76348907e-02 9.86071170e-01 -5.09929866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52463044 meters Centerline goodness : 0.142978 with order 1 Centerline is valid? [False, False] Translation: X:-32.89, Y:-2.36, Z:-5.10 [[ 9.87282265e-01 -6.52193399e-03 -1.58843300e-01 -3.28895780e+01] [ 5.03183856e-04 9.99281338e-01 -3.79018972e-02 -2.35574624e+00] [ 1.58976339e-01 3.73399435e-02 9.86576025e-01 -5.10047150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58463044 meters Centerline goodness : 0.138943 with order 2 Centerline is valid? [False, False] Translation: X:-32.88, Y:-2.35, Z:-5.10 [[ 9.86476423e-01 -2.03098792e-02 -1.62640021e-01 -3.28839938e+01] [ 1.48697278e-02 9.99290722e-01 -3.45968840e-02 -2.35166816e+00] [ 1.63227322e-01 3.17105975e-02 9.86078739e-01 -5.10242767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64463044 meters Centerline goodness : 0.140286 with order 2 Centerline is valid? [False, False] Translation: X:-32.90, Y:-2.36, Z:-5.10 [[ 9.86752085e-01 -1.46229415e-02 -1.61575035e-01 -3.29037759e+01] [ 8.37836070e-03 9.99193817e-01 -3.92621786e-02 -2.35740643e+00] [ 1.62018904e-01 3.73883026e-02 9.86079099e-01 -5.10355824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70463044 meters Centerline goodness : 0.241387 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-2.36, Z:-5.11 [[ 9.87523236e-01 -7.47371595e-03 -1.57295905e-01 -3.29379126e+01] [ 1.18335972e-03 9.99197124e-01 -4.00463080e-02 -2.35756673e+00] [ 1.57468911e-01 3.93605221e-02 9.86739222e-01 -5.10864176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76463044 meters Centerline goodness : 0.146313 with order 2 Centerline is valid? [False, False] Translation: X:-32.94, Y:-2.36, Z:-5.11 [[ 9.87413183e-01 -7.52825815e-03 -1.57982691e-01 -3.29353939e+01] [ 1.14734969e-03 9.99181216e-01 -4.04423162e-02 -2.35676657e+00] [ 1.58157797e-01 3.97520147e-02 9.86613343e-01 -5.10939037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82463044 meters Centerline goodness : 0.213693 with order 3 Centerline is valid? [False, False] Translation: X:-32.93, Y:-2.36, Z:-5.11 [[ 9.87237233e-01 -7.02005185e-03 -1.59101742e-01 -3.29306819e+01] [ 7.22271383e-04 9.99215087e-01 -3.96066594e-02 -2.36052076e+00] [ 1.59254902e-01 3.89862542e-02 9.86467409e-01 -5.11106324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88463044 meters Centerline goodness : 0.138679 with order 2 Centerline is valid? [False, False] Translation: X:-32.94, Y:-2.36, Z:-5.12 [[ 9.86893068e-01 -7.97393694e-03 -1.61178440e-01 -3.29427386e+01] [ 2.32625260e-03 9.99377639e-01 -3.51983287e-02 -2.35994677e+00] [ 1.61358799e-01 3.43620448e-02 9.86297414e-01 -5.11675399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94463044 meters Centerline goodness : 0.131900 with order 1 Centerline is valid? [False, False] Translation: X:-32.94, Y:-2.35, Z:-5.12 [[ 9.86975449e-01 -4.94018343e-03 -1.60795082e-01 -3.29432885e+01] [-5.04636425e-04 9.99428374e-01 -3.38034173e-02 -2.35458598e+00] [ 1.60870162e-01 3.34442860e-02 9.86408775e-01 -5.11672674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00463044 meters Centerline goodness : 0.162159 with order 2 Centerline is valid? [False, False] Translation: X:-32.95, Y:-2.35, Z:-5.12 [[ 9.87097202e-01 -1.26398212e-03 -1.60117193e-01 -3.29460113e+01] [-3.79379631e-03 9.99503513e-01 -3.12783419e-02 -2.35138087e+00] [ 1.60077232e-01 3.14822158e-02 9.86602326e-01 -5.11563617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06463044000003 meters Centerline goodness : 0.170452 with order 2 Centerline is valid? [False, False] Translation: X:-32.94, Y:-2.35, Z:-5.12 [[ 9.87004696e-01 -5.24449341e-03 -1.60605808e-01 -3.29449364e+01] [-4.03599999e-04 9.99383210e-01 -3.51146314e-02 -2.35071938e+00] [ 1.60690906e-01 3.47231266e-02 9.86393804e-01 -5.11552693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12463044000003 meters Centerline goodness : 0.143956 with order 1 Centerline is valid? [False, False] Translation: X:-32.93, Y:-2.34, Z:-5.11 [[ 9.86930742e-01 -1.11442269e-02 -1.60759189e-01 -3.29290241e+01] [ 6.34156684e-03 9.99519000e-01 -3.03570781e-02 -2.34436451e+00] [ 1.61020170e-01 2.89408684e-02 9.86526701e-01 -5.11212748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18463044000003 meters SLAMing on 474.24463044000004 meters Centerline goodness : 0.161287 with order 2 Centerline is valid? [False, False] Translation: X:-32.99, Y:-2.36, Z:-5.12 [[ 9.87255213e-01 -1.06857014e-02 -1.58785895e-01 -3.29930703e+01] [ 5.87317174e-03 9.99509952e-01 -3.07467201e-02 -2.35725588e+00] [ 1.59036633e-01 2.94222829e-02 9.86834170e-01 -5.11850160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30463044 meters Centerline goodness : 0.140390 with order 1 Centerline is valid? [False, False] Translation: X:-32.99, Y:-2.36, Z:-5.12 [[ 9.87290345e-01 -1.12748593e-02 -1.58526502e-01 -3.29928634e+01] [ 6.35102856e-03 9.99482553e-01 -3.15323683e-02 -2.35625997e+00] [ 1.58799996e-01 3.01247964e-02 9.86851082e-01 -5.11902043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36463044 meters Centerline goodness : 0.161780 with order 1 Centerline is valid? [False, False] Translation: X:-32.99, Y:-2.36, Z:-5.12 [[ 9.87293190e-01 -1.06978334e-02 -1.58548775e-01 -3.29943372e+01] [ 5.80661306e-03 9.99493758e-01 -3.12811507e-02 -2.35558371e+00] [ 1.58803152e-01 2.99630357e-02 9.86855499e-01 -5.11731032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42463044 meters Centerline goodness : 0.168617 with order 1 Centerline is valid? [False, False] Translation: X:-32.99, Y:-2.35, Z:-5.12 [[ 9.87205732e-01 -1.05890354e-02 -1.59099704e-01 -3.29921446e+01] [ 5.62212627e-03 9.99483626e-01 -3.16365907e-02 -2.35325056e+00] [ 1.59352550e-01 3.03373450e-02 9.86755497e-01 -5.11806907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48463044 meters Centerline goodness : 0.143630 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-2.35, Z:-5.12 [[ 9.87451734e-01 -7.75111433e-03 -1.57730764e-01 -3.29966481e+01] [ 3.13984251e-03 9.99560931e-01 -2.94632956e-02 -2.35206810e+00] [ 1.57889883e-01 2.85983326e-02 9.87042512e-01 -5.11676389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54463044 meters Centerline goodness : 0.205076 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-2.35, Z:-5.12 [[ 9.87455980e-01 -7.85831604e-03 -1.57698874e-01 -3.29974265e+01] [ 3.20205244e-03 9.99551984e-01 -2.97586751e-02 -2.35115133e+00] [ 1.57862075e-01 2.88804216e-02 9.87038746e-01 -5.11591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60463044 meters Centerline goodness : 0.164815 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-2.35, Z:-5.12 [[ 9.87349633e-01 -7.61402966e-03 -1.58375280e-01 -3.29956603e+01] [ 2.92107757e-03 9.99550314e-01 -2.98435517e-02 -2.34959385e+00] [ 1.58531291e-01 2.90033933e-02 9.86927876e-01 -5.11583769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66463044 meters Centerline goodness : 0.146121 with order 1 Centerline is valid? [False, False] Translation: X:-33.02, Y:-2.35, Z:-5.12 [[ 9.87726500e-01 -1.35580997e-02 -1.55603791e-01 -3.30165384e+01] [ 8.98694262e-03 9.99508208e-01 -3.00429094e-02 -2.35043194e+00] [ 1.55934591e-01 2.82757754e-02 9.87362590e-01 -5.11792992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72463044 meters Centerline goodness : 0.144035 with order 2 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.35, Z:-5.12 [[ 9.87519934e-01 -1.33358807e-02 -1.56928434e-01 -3.30119485e+01] [ 8.75030105e-03 9.99515325e-01 -2.98755316e-02 -2.35064441e+00] [ 1.57250791e-01 2.81295120e-02 9.87158001e-01 -5.11899666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78463044 meters Centerline goodness : 0.099597 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.35, Z:-5.12 [[ 9.87387013e-01 -1.32880069e-02 -1.57766647e-01 -3.30098049e+01] [ 8.62723974e-03 9.99506935e-01 -3.01903516e-02 -2.34859107e+00] [ 1.58090028e-01 2.84484705e-02 9.87014806e-01 -5.11893579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84463044 meters Centerline goodness : 0.174550 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.35, Z:-5.12 [[ 9.87436885e-01 -1.41428202e-02 -1.57379727e-01 -3.30111818e+01] [ 9.41450069e-03 9.99482797e-01 -3.07490698e-02 -2.34903069e+00] [ 1.57733209e-01 2.88811142e-02 9.87059328e-01 -5.11818352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90463044 meters Centerline goodness : 0.144781 with order 1 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.35, Z:-5.12 [[ 9.87325690e-01 -1.44660974e-02 -1.58046558e-01 -3.30094938e+01] [ 9.84053175e-03 9.99501140e-01 -3.00105939e-02 -2.35442979e+00] [ 1.58401851e-01 2.80749682e-02 9.86975506e-01 -5.11779022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96463044 meters Centerline goodness : 0.173810 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.36, Z:-5.12 [[ 9.87416410e-01 -1.47266830e-02 -1.57454622e-01 -3.30101693e+01] [ 1.00767718e-02 9.99490375e-01 -3.02894134e-02 -2.35502531e+00] [ 1.57820442e-01 2.83216296e-02 9.87061596e-01 -5.11834271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02463044 meters Centerline goodness : 0.167881 with order 3 Centerline is valid? [False, False] Translation: X:-33.01, Y:-2.36, Z:-5.12 [[ 9.87566420e-01 -1.44987468e-02 -1.56532272e-01 -3.30132313e+01] [ 9.85827676e-03 9.99489767e-01 -3.03812492e-02 -2.35505536e+00] [ 1.56892894e-01 2.84603631e-02 9.87205464e-01 -5.11728134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08463044 meters Centerline goodness : 0.156426 with order 3 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.36, Z:-5.12 [[ 9.87576052e-01 -1.37694269e-03 -1.57135754e-01 -3.30298325e+01] [-3.35523090e-03 9.99548879e-01 -2.98459585e-02 -2.35622169e+00] [ 1.57105963e-01 3.00023806e-02 9.87125916e-01 -5.11960487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14463044 meters Centerline goodness : 0.097982 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.87851311e-01 1.76032295e-03 -1.55392049e-01 -3.30350570e+01] [-6.14629736e-03 9.99596019e-01 -2.77492710e-02 -2.35335358e+00] [ 1.55280426e-01 2.83672395e-02 9.87463057e-01 -5.11848731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20463044 meters Centerline goodness : 0.313324 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87799032e-01 1.66950361e-03 -1.55725027e-01 -3.30338597e+01] [-6.11625569e-03 9.99586957e-01 -2.80803767e-02 -2.35232950e+00] [ 1.55613826e-01 2.86902230e-02 9.87401240e-01 -5.11886898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26463044 meters Centerline goodness : 0.176899 with order 3 Centerline is valid? [False, False] Translation: X:-33.05, Y:-2.35, Z:-5.12 [[ 9.87783512e-01 -3.81786756e-03 -1.55785611e-01 -3.30515933e+01] [-4.79652610e-04 9.99620609e-01 -2.75392060e-02 -2.35139532e+00] [ 1.55831648e-01 2.72774966e-02 9.87406925e-01 -5.12192338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32463044 meters Centerline goodness : 0.140904 with order 3 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.87915808e-01 -1.23192146e-02 -1.54501111e-01 -3.30360941e+01] [ 8.56256078e-03 9.99651862e-01 -2.49566925e-02 -2.34659275e+00] [ 1.54754770e-01 2.33321859e-02 9.87677361e-01 -5.11992557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38463044 meters Centerline goodness : 0.313160 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87880163e-01 -1.27167900e-02 -1.54696692e-01 -3.30344838e+01] [ 8.90794154e-03 9.99640474e-01 -2.52897411e-02 -2.34693253e+00] [ 1.54962679e-01 2.36052044e-02 9.87638275e-01 -5.12080599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44463044 meters Centerline goodness : 0.241081 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87880919e-01 -1.29831931e-02 -1.54669734e-01 -3.30346078e+01] [ 9.17110518e-03 9.99636955e-01 -2.53347548e-02 -2.34799021e+00] [ 1.54942508e-01 2.36092284e-02 9.87641344e-01 -5.12046442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50463044 meters Centerline goodness : 0.092755 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.88021606e-01 -1.46806070e-02 -1.53615710e-01 -3.30380801e+01] [ 1.07947844e-02 9.99601069e-01 -2.60993504e-02 -2.35229797e+00] [ 1.53937582e-01 2.41284736e-02 9.87785927e-01 -5.11949820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56463044000003 meters Centerline goodness : 0.121001 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87884821e-01 -1.38424805e-02 -1.54570261e-01 -3.30335254e+01] [ 1.00099396e-02 9.99623539e-01 -2.55456766e-02 -2.35087423e+00] [ 1.54865687e-01 2.36889471e-02 9.87651483e-01 -5.12133900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62463044000003 meters Centerline goodness : 0.092782 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.88020060e-01 -1.49539497e-02 -1.53599286e-01 -3.30376967e+01] [ 1.10211000e-02 9.99590062e-01 -2.64242871e-02 -2.35113783e+00] [ 1.53931467e-01 2.44148927e-02 9.87779842e-01 -5.11952571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68463044000003 meters Centerline goodness : 0.376940 with order 3 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.87950851e-01 -1.48596440e-02 -1.54052939e-01 -3.30357473e+01] [ 1.09796068e-02 9.99601470e-01 -2.60067096e-02 -2.35313120e+00] [ 1.54377994e-01 2.40019102e-02 9.87720276e-01 -5.12006312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74463044000004 meters Centerline goodness : 0.119566 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87919599e-01 -1.48939960e-02 -1.54249909e-01 -3.30341530e+01] [ 1.09433164e-02 9.99590773e-01 -2.64297348e-02 -2.35081454e+00] [ 1.54580430e-01 2.44224475e-02 9.87678305e-01 -5.12109340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80463044 meters Centerline goodness : 0.093614 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.87953185e-01 -1.45423399e-02 -1.54068246e-01 -3.30356458e+01] [ 1.05585579e-02 9.99589221e-01 -2.66440709e-02 -2.34848937e+00] [ 1.54392425e-01 2.46963562e-02 9.87700901e-01 -5.12004940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86463044 meters Centerline goodness : 0.141407 with order 3 Centerline is valid? [False, False] Translation: X:-33.03, Y:-2.35, Z:-5.12 [[ 9.87830147e-01 -1.31881868e-02 -1.54976363e-01 -3.30315575e+01] [ 9.26945208e-03 9.99619446e-01 -2.59815347e-02 -2.34503180e+00] [ 1.55260035e-01 2.42287973e-02 9.87576471e-01 -5.12153080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92463044 meters Centerline goodness : 0.149925 with order 2 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.88066552e-01 -1.41270479e-02 -1.53378343e-01 -3.30381491e+01] [ 1.02186642e-02 9.99603429e-01 -2.62405054e-02 -2.34836256e+00] [ 1.53688219e-01 2.43600439e-02 9.87819072e-01 -5.11872080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98463044 meters Centerline goodness : 0.090576 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-2.35, Z:-5.12 [[ 9.88025915e-01 -1.39575299e-02 -1.53655386e-01 -3.30366121e+01] [ 1.01149591e-02 9.99616952e-01 -2.57611649e-02 -2.35086164e+00] [ 1.53956091e-01 2.38984806e-02 9.87788634e-01 -5.11927071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04463044 meters Centerline goodness : 0.095655 with order 1 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.36, Z:-5.12 [[ 9.87561252e-01 -1.12605413e-02 -1.56831037e-01 -3.30705357e+01] [ 6.96492415e-03 9.99586097e-01 -2.79127867e-02 -2.36203080e+00] [ 1.57080438e-01 2.64732703e-02 9.87230926e-01 -5.12489432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10463044 meters Centerline goodness : 0.150686 with order 1 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.36, Z:-5.12 [[ 9.87620054e-01 -1.06591628e-02 -1.56502429e-01 -3.30716388e+01] [ 6.48909488e-03 9.99610792e-01 -2.71321917e-02 -2.36419268e+00] [ 1.56730724e-01 2.57807375e-02 9.87304833e-01 -5.12446230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16463044 meters Centerline goodness : 0.184271 with order 3 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.37, Z:-5.13 [[ 9.87678901e-01 -1.09239230e-02 -1.56112320e-01 -3.30716070e+01] [ 6.76561612e-03 9.99608659e-01 -2.71432246e-02 -2.36771477e+00] [ 1.56347738e-01 2.57525942e-02 9.87366289e-01 -5.12536617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22463044 meters Centerline goodness : 0.152299 with order 1 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.37, Z:-5.13 [[ 9.87665657e-01 -1.05322289e-02 -1.56222991e-01 -3.30708942e+01] [ 6.44195301e-03 9.99623654e-01 -2.66655335e-02 -2.36935811e+00] [ 1.56445044e-01 2.53302504e-02 9.87361801e-01 -5.12578946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28463044 meters Centerline goodness : 0.108085 with order 3 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.37, Z:-5.13 [[ 9.87762520e-01 -1.07210294e-02 -1.55596475e-01 -3.30720605e+01] [ 6.66147755e-03 9.99624273e-01 -2.65882843e-02 -2.37196516e+00] [ 1.55823067e-01 2.52264083e-02 9.87462809e-01 -5.12599525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34463044 meters Centerline goodness : 0.091657 with order 1 Centerline is valid? [False, False] Translation: X:-33.07, Y:-2.38, Z:-5.13 [[ 9.87733172e-01 -1.11828791e-02 -1.55750201e-01 -3.30708235e+01] [ 7.12583322e-03 9.99621226e-01 -2.65824471e-02 -2.37550215e+00] [ 1.55988475e-01 2.51465149e-02 9.87438731e-01 -5.12670039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40463044 meters Centerline goodness : 0.110741 with order 3 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.39, Z:-5.14 [[ 9.88142679e-01 -1.14560927e-02 -1.53110430e-01 -3.31238750e+01] [ 7.38544904e-03 9.99604666e-01 -2.71286961e-02 -2.38683369e+00] [ 1.53360689e-01 2.56762331e-02 9.87836641e-01 -5.13637154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46463044 meters Centerline goodness : 0.098436 with order 1 Centerline is valid? [False, False] Translation: X:-33.13, Y:-2.39, Z:-5.14 [[ 9.88262021e-01 -1.16040475e-02 -1.52327032e-01 -3.31254788e+01] [ 7.57068772e-03 9.99605910e-01 -2.70316519e-02 -2.38819325e+00] [ 1.52580678e-01 2.55611345e-02 9.87960407e-01 -5.13628358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52463044 meters Centerline goodness : 0.129230 with order 3 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.39, Z:-5.14 [[ 9.88187769e-01 -1.10063129e-02 -1.52852195e-01 -3.31226925e+01] [ 7.01746794e-03 9.99621230e-01 -2.66111193e-02 -2.38745570e+00] [ 1.53087190e-01 2.52241473e-02 9.87890710e-01 -5.13766415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58463044 meters Centerline goodness : 0.070687 with order 1 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.39, Z:-5.14 [[ 9.88232920e-01 -1.10590772e-02 -1.52556196e-01 -3.31227555e+01] [ 7.03321920e-03 9.99613285e-01 -2.69038023e-02 -2.38594261e+00] [ 1.52794732e-01 2.55142620e-02 9.87928536e-01 -5.13822120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64463044 meters Centerline goodness : 0.094288 with order 2 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.38, Z:-5.14 [[ 9.88226612e-01 -1.10795181e-02 -1.52595572e-01 -3.31223413e+01] [ 6.95711107e-03 9.99596967e-01 -2.75227538e-02 -2.38139264e+00] [ 1.52839009e-01 2.61370934e-02 9.87905405e-01 -5.13860768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70463044 meters Centerline goodness : 0.092049 with order 1 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.38, Z:-5.14 [[ 9.88085465e-01 -1.08102737e-02 -1.53526065e-01 -3.31193144e+01] [ 6.60660022e-03 9.99589872e-01 -2.78646784e-02 -2.37789242e+00] [ 1.53764325e-01 2.65183984e-02 9.87751642e-01 -5.13930305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76463044 meters Centerline goodness : 0.092366 with order 1 Centerline is valid? [False, False] Translation: X:-33.12, Y:-2.37, Z:-5.14 [[ 9.88045207e-01 -1.05628914e-02 -1.53802127e-01 -3.31190189e+01] [ 6.27811431e-03 9.99579246e-01 -2.83181147e-02 -2.37227793e+00] [ 1.54036535e-01 2.70139901e-02 9.87695798e-01 -5.13897106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82463044 meters SLAMing on 476.88463044 meters Centerline goodness : 0.191286 with order 3 Centerline is valid? [False, False] Translation: X:-33.18, Y:-2.38, Z:-5.15 [[ 9.88146933e-01 -1.04696902e-02 -1.53153598e-01 -3.31776433e+01] [ 6.07439265e-03 9.99556928e-01 -2.91384528e-02 -2.37678903e+00] [ 1.53390810e-01 2.78627576e-02 9.87772710e-01 -5.14813759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94463044 meters Centerline goodness : 0.095945 with order 3 Centerline is valid? [False, False] Translation: X:-33.20, Y:-2.38, Z:-5.15 [[ 9.88598739e-01 -1.61064784e-02 -1.49710100e-01 -3.31988539e+01] [ 1.19450915e-02 9.99518012e-01 -2.86541317e-02 -2.37974498e+00] [ 1.50099459e-01 2.65391377e-02 9.88314639e-01 -5.15092661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00463044 meters Centerline goodness : 0.143729 with order 3 Centerline is valid? [False, False] Translation: X:-33.25, Y:-2.39, Z:-5.16 [[ 9.88667058e-01 -1.65778884e-02 -1.49206643e-01 -3.32461689e+01] [ 1.22713898e-02 9.99482422e-01 -2.97372095e-02 -2.39292574e+00] [ 1.49622397e-01 2.75692265e-02 9.88358779e-01 -5.15990541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06463044000003 meters Centerline goodness : 0.093266 with order 1 Centerline is valid? [False, False] Translation: X:-33.25, Y:-2.40, Z:-5.16 [[ 9.88650410e-01 -1.65070492e-02 -1.49324762e-01 -3.32450779e+01] [ 1.22605483e-02 9.99495054e-01 -2.93140797e-02 -2.39559761e+00] [ 1.49733250e-01 2.71505735e-02 9.88353581e-01 -5.16041888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12463044000003 meters Centerline goodness : 0.096658 with order 3 Centerline is valid? [False, False] Translation: X:-33.25, Y:-2.40, Z:-5.16 [[ 9.88728697e-01 -1.64585636e-02 -1.48810886e-01 -3.32469106e+01] [ 1.22785363e-02 9.99505017e-01 -2.89647872e-02 -2.39747330e+00] [ 1.49213946e-01 2.68111364e-02 9.88441380e-01 -5.15981617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18463044000003 meters Centerline goodness : 0.093170 with order 1 Centerline is valid? [False, False] Translation: X:-33.27, Y:-2.40, Z:-5.17 [[ 9.89035622e-01 -1.08545272e-02 -1.47277691e-01 -3.32743317e+01] [ 6.42130789e-03 9.99512820e-01 -3.05432329e-02 -2.40332289e+00] [ 1.47537473e-01 2.92626300e-02 9.88623484e-01 -5.16643210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24463044000004 meters Centerline goodness : 0.094598 with order 1 Centerline is valid? [False, False] Translation: X:-33.27, Y:-2.40, Z:-5.17 [[ 9.88959112e-01 -1.05942032e-02 -1.47809461e-01 -3.32728825e+01] [ 6.13215543e-03 9.99512564e-01 -3.06109512e-02 -2.40171426e+00] [ 1.48061712e-01 2.93665886e-02 9.88542024e-01 -5.16655337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30463044 meters Centerline goodness : 0.093497 with order 1 Centerline is valid? [False, False] Translation: X:-33.27, Y:-2.40, Z:-5.17 [[ 9.88895579e-01 -1.03681154e-02 -1.48249911e-01 -3.32718726e+01] [ 5.84226231e-03 9.99504433e-01 -3.09314853e-02 -2.39865086e+00] [ 1.48497144e-01 2.97218941e-02 9.88466088e-01 -5.16652963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36463044 meters Centerline goodness : 0.094151 with order 1 Centerline is valid? [False, False] Translation: X:-33.27, Y:-2.39, Z:-5.17 [[ 9.88883534e-01 -1.00466029e-02 -1.48352358e-01 -3.32726754e+01] [ 5.40757836e-03 9.99484682e-01 -3.16406192e-02 -2.39165553e+00] [ 1.48593791e-01 3.04866604e-02 9.88428272e-01 -5.16551655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42463044 meters Centerline goodness : 0.093385 with order 1 Centerline is valid? [False, False] Translation: X:-33.29, Y:-2.39, Z:-5.17 [[ 9.89257133e-01 -1.59256028e-02 -1.45315863e-01 -3.32927564e+01] [ 1.14135501e-02 9.99428093e-01 -3.18310673e-02 -2.39212143e+00] [ 1.45739685e-01 2.98305405e-02 9.88873138e-01 -5.16779239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48463044 meters Centerline goodness : 0.093094 with order 1 Centerline is valid? [False, False] Translation: X:-33.33, Y:-2.40, Z:-5.18 [[ 9.88791207e-01 -1.31615036e-02 -1.48723652e-01 -3.33255777e+01] [ 8.36382910e-03 9.99425674e-01 -3.28385156e-02 -2.39916832e+00] [ 1.49070440e-01 3.12265363e-02 9.88333399e-01 -5.17559930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54463044 meters Centerline goodness : 0.093026 with order 1 Centerline is valid? [False, False] Translation: X:-33.33, Y:-2.40, Z:-5.18 [[ 9.88817982e-01 -1.38392508e-02 -1.48483915e-01 -3.33254209e+01] [ 9.00658094e-03 9.99409143e-01 -3.31699539e-02 -2.40113442e+00] [ 1.48855229e-01 3.14617145e-02 9.88358377e-01 -5.17606397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60463044 meters Centerline goodness : 0.092629 with order 1 Centerline is valid? [False, False] Translation: X:-33.33, Y:-2.40, Z:-5.18 [[ 9.88789816e-01 -1.34245557e-02 -1.48709386e-01 -3.33253205e+01] [ 8.67639515e-03 9.99433034e-01 -3.25319971e-02 -2.40288739e+00] [ 1.49061800e-01 3.08770460e-02 9.88345682e-01 -5.17549193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66463044 meters Centerline goodness : 0.092524 with order 1 Centerline is valid? [False, False] Translation: X:-33.32, Y:-2.41, Z:-5.18 [[ 9.88758878e-01 -1.56988879e-02 -1.48692389e-01 -3.33249137e+01] [ 1.07601484e-02 9.99365236e-01 -3.39609219e-02 -2.40852891e+00] [ 1.49131153e-01 3.19792108e-02 9.88300172e-01 -5.17574497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72463044 meters Centerline goodness : 0.093684 with order 1 Centerline is valid? [False, False] Translation: X:-33.32, Y:-2.41, Z:-5.18 [[ 9.88709416e-01 -1.48368317e-02 -1.49109218e-01 -3.33236818e+01] [ 9.98514455e-03 9.99397719e-01 -3.32339568e-02 -2.40914444e+00] [ 1.49512499e-01 3.13698489e-02 9.88262083e-01 -5.17594604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78463044 meters Centerline goodness : 0.093396 with order 1 Centerline is valid? [False, False] Translation: X:-33.33, Y:-2.41, Z:-5.18 [[ 9.88821280e-01 -1.46125907e-02 -1.48387832e-01 -3.33261464e+01] [ 9.78738168e-03 9.99400941e-01 -3.31958862e-02 -2.40942311e+00] [ 1.48784017e-01 3.13724703e-02 9.88371936e-01 -5.17523400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84463044 meters Centerline goodness : 0.109965 with order 3 Centerline is valid? [False, False] Translation: X:-33.32, Y:-2.41, Z:-5.18 [[ 9.88670482e-01 -1.32158869e-02 -1.49519291e-01 -3.33219871e+01] [ 8.42858981e-03 9.99432729e-01 -3.26064409e-02 -2.40768930e+00] [ 1.49865396e-01 3.09767889e-02 9.88221029e-01 -5.17635367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90463044 meters Centerline goodness : 0.123274 with order 1 Centerline is valid? [False, False] Translation: X:-33.32, Y:-2.41, Z:-5.18 [[ 9.88658033e-01 -1.28388443e-02 -1.49634412e-01 -3.33211921e+01] [ 8.02947415e-03 9.99432933e-01 -3.27007648e-02 -2.40576993e+00] [ 1.49969400e-01 3.11283882e-02 9.88200487e-01 -5.17689491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96463044 meters Centerline goodness : 0.106209 with order 3 Centerline is valid? [False, False] Translation: X:-33.35, Y:-2.41, Z:-5.18 [[ 9.88825540e-01 -9.62989453e-03 -1.48765981e-01 -3.33528086e+01] [ 4.39368196e-03 9.99360505e-01 -3.54862805e-02 -2.41176165e+00] [ 1.49012575e-01 3.44361101e-02 9.88235502e-01 -5.18236821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02463044 meters Centerline goodness : 0.093504 with order 1 Centerline is valid? [False, False] Translation: X:-33.35, Y:-2.41, Z:-5.18 [[ 9.88699076e-01 -8.94754443e-03 -1.49646512e-01 -3.33501419e+01] [ 3.77588915e-03 9.99386898e-01 -3.48076308e-02 -2.41224175e+00] [ 1.49866207e-01 3.38492238e-02 9.88126687e-01 -5.18272292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08463044 meters Centerline goodness : 0.111979 with order 3 Centerline is valid? [False, False] Translation: X:-33.35, Y:-2.42, Z:-5.18 [[ 9.88772256e-01 -1.08588159e-02 -1.49035268e-01 -3.33526155e+01] [ 5.56814496e-03 9.99340919e-01 -3.58709174e-02 -2.41711400e+00] [ 1.49326558e-01 3.46383180e-02 9.88181039e-01 -5.18179063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14463044 meters Centerline goodness : 0.177232 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.42, Z:-5.18 [[ 9.88847666e-01 -1.63646911e-02 -1.48028683e-01 -3.33719507e+01] [ 1.13713450e-02 9.99339452e-01 -3.45159694e-02 -2.42190230e+00] [ 1.48495747e-01 3.24477505e-02 9.88380573e-01 -5.18421217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20463044 meters Centerline goodness : 0.147951 with order 2 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.18 [[ 9.88936987e-01 -1.88894054e-02 -1.47128603e-01 -3.33739711e+01] [ 1.37208079e-02 9.99255219e-01 -3.60658800e-02 -2.42802412e+00] [ 1.47700287e-01 3.36481594e-02 9.88459623e-01 -5.18422167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26463044 meters Centerline goodness : 0.159777 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.18 [[ 9.88944345e-01 -1.84980377e-02 -1.47128873e-01 -3.33743813e+01] [ 1.34112902e-02 9.99280016e-01 -3.54906532e-02 -2.42997292e+00] [ 1.47679450e-01 3.31250928e-02 9.88480404e-01 -5.18365290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32463044 meters Centerline goodness : 0.092021 with order 3 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88848940e-01 -1.84780695e-02 -1.47771226e-01 -3.33711460e+01] [ 1.33833654e-02 9.99283701e-01 -3.53973314e-02 -2.43162408e+00] [ 1.48319452e-01 3.30249373e-02 9.88387927e-01 -5.18509329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38463044 meters Centerline goodness : 0.090977 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88800626e-01 -1.79895459e-02 -1.48154305e-01 -3.33687158e+01] [ 1.29478353e-02 9.99306071e-01 -3.49246332e-02 -2.43336133e+00] [ 1.48679775e-01 3.26152217e-02 9.88347394e-01 -5.18645723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44463044 meters Centerline goodness : 0.098575 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88788705e-01 -1.75110729e-02 -1.48291127e-01 -3.33675244e+01] [ 1.25046031e-02 9.99322093e-01 -3.46264258e-02 -2.43331576e+00] [ 1.48796946e-01 3.23838971e-02 9.88337368e-01 -5.18732375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50463044 meters Centerline goodness : 0.093182 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88779356e-01 -1.74087099e-02 -1.48365504e-01 -3.33676584e+01] [ 1.23980281e-02 9.99323270e-01 -3.46307900e-02 -2.43273319e+00] [ 1.48867978e-01 3.24027705e-02 9.88326052e-01 -5.18698565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56463044000003 meters Centerline goodness : 0.136007 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88779680e-01 -1.72938263e-02 -1.48376778e-01 -3.33670963e+01] [ 1.22599472e-02 9.99319994e-01 -3.47741726e-02 -2.43080163e+00] [ 1.48877259e-01 3.25649038e-02 9.88319325e-01 -5.18746163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62463044000003 meters Centerline goodness : 0.133720 with order 3 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88768220e-01 -1.75137006e-02 -1.48427350e-01 -3.33665384e+01] [ 1.24181738e-02 9.99303567e-01 -3.51876380e-02 -2.42878510e+00] [ 1.48940246e-01 3.29492215e-02 9.88297097e-01 -5.18785090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68463044000003 meters Centerline goodness : 0.125738 with order 3 Centerline is valid? [False, False] Translation: X:-33.37, Y:-2.43, Z:-5.19 [[ 9.88728704e-01 -1.74813430e-02 -1.48694160e-01 -3.33661162e+01] [ 1.23699891e-02 9.99302650e-01 -3.52306314e-02 -2.42731068e+00] [ 1.49206347e-01 3.29941914e-02 9.88255457e-01 -5.18749248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74463044000004 meters Centerline goodness : 0.092662 with order 1 Centerline is valid? [False, False] Translation: X:-33.36, Y:-2.42, Z:-5.19 [[ 9.88652076e-01 -1.76018354e-02 -1.49188633e-01 -3.33649145e+01] [ 1.24152501e-02 9.99288084e-01 -3.56256472e-02 -2.42426865e+00] [ 1.49709500e-01 3.33691558e-02 9.88166770e-01 -5.18746970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80463044 meters Centerline goodness : 0.092808 with order 1 Centerline is valid? [False, False] Translation: X:-33.41, Y:-2.44, Z:-5.19 [[ 9.88966210e-01 -1.90739127e-02 -1.46908204e-01 -3.34132376e+01] [ 1.36169803e-02 9.99182605e-01 -3.80617843e-02 -2.43597883e+00] [ 1.47514109e-01 3.56413725e-02 9.88417564e-01 -5.19441031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86463044 meters Centerline goodness : 0.092810 with order 1 Centerline is valid? [False, False] Translation: X:-33.45, Y:-2.44, Z:-5.20 [[ 9.88188819e-01 -2.91448685e-02 -1.50444125e-01 -3.34486271e+01] [ 2.37727090e-02 9.99018135e-01 -3.73848225e-02 -2.44266463e+00] [ 1.51385985e-01 3.33667992e-02 9.87911403e-01 -5.20037088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92463044 meters Centerline goodness : 0.159449 with order 3 Centerline is valid? [False, False] Translation: X:-33.48, Y:-2.45, Z:-5.21 [[ 9.88541415e-01 -2.42170757e-02 -1.48994643e-01 -3.34787104e+01] [ 1.86441404e-02 9.99077412e-01 -3.86874878e-02 -2.45014549e+00] [ 1.49794080e-01 3.54663069e-02 9.88080905e-01 -5.20683759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98463044 meters Centerline goodness : 0.217196 with order 2 Centerline is valid? [False, False] Translation: X:-33.50, Y:-2.46, Z:-5.21 [[ 9.88931496e-01 -1.42714168e-02 -1.47684879e-01 -3.34985190e+01] [ 8.46711065e-03 9.99169547e-01 -3.98562988e-02 -2.45700167e+00] [ 1.48131039e-01 3.81646850e-02 9.88231072e-01 -5.20849078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04463044 meters Centerline goodness : 0.128012 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-2.46, Z:-5.21 [[ 9.88906761e-01 -1.36278260e-02 -1.47911124e-01 -3.34975560e+01] [ 7.81215945e-03 9.99175985e-01 -3.98286420e-02 -2.45538683e+00] [ 1.48332020e-01 3.82313080e-02 9.88198350e-01 -5.20889308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10463044 meters Centerline goodness : 0.236111 with order 3 Centerline is valid? [False, False] Translation: X:-33.50, Y:-2.45, Z:-5.21 [[ 9.88872457e-01 -1.31831924e-02 -1.48180521e-01 -3.34965199e+01] [ 7.37061396e-03 9.99184172e-01 -3.97072436e-02 -2.45457943e+00] [ 1.48583099e-01 3.81732181e-02 9.88162875e-01 -5.20923557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16463044 meters Centerline goodness : 0.092355 with order 1 Centerline is valid? [False, False] Translation: X:-33.49, Y:-2.45, Z:-5.21 [[ 9.88822793e-01 -1.13970936e-02 -1.48659310e-01 -3.34934075e+01] [ 5.67686463e-03 9.99229064e-01 -3.88465013e-02 -2.45032612e+00] [ 1.48987440e-01 3.75683871e-02 9.88125174e-01 -5.21084824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22463044 meters Centerline goodness : 0.089096 with order 1 Centerline is valid? [False, False] Translation: X:-33.49, Y:-2.45, Z:-5.21 [[ 9.88785617e-01 -1.11802116e-02 -1.48922818e-01 -3.34926104e+01] [ 5.46377727e-03 9.99234418e-01 -3.87391800e-02 -2.44993420e+00] [ 1.49241918e-01 3.74910629e-02 9.88089708e-01 -5.21089380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28463044 meters Centerline goodness : 0.106688 with order 1 Centerline is valid? [False, False] Translation: X:-33.53, Y:-2.46, Z:-5.22 [[ 9.88322309e-01 -2.40253132e-02 -1.50471915e-01 -3.35277036e+01] [ 1.83072895e-02 9.99060858e-01 -3.92714309e-02 -2.45653415e+00] [ 1.51274109e-01 3.60580983e-02 9.87833973e-01 -5.21599375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34463044 meters Centerline goodness : 0.208806 with order 3 Centerline is valid? [False, False] Translation: X:-33.54, Y:-2.46, Z:-5.22 [[ 9.87465787e-01 -3.12893879e-02 -1.54700655e-01 -3.35417998e+01] [ 2.55110574e-02 9.98905779e-01 -3.91973391e-02 -2.46003470e+00] [ 1.55757839e-01 3.47594541e-02 9.87183507e-01 -5.21916327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40463044 meters Centerline goodness : 0.098608 with order 3 Centerline is valid? [False, False] Translation: X:-33.54, Y:-2.46, Z:-5.22 [[ 9.87297245e-01 -3.51800970e-02 -1.54940348e-01 -3.35411728e+01] [ 2.90079962e-02 9.98699849e-01 -4.19183441e-02 -2.46341971e+00] [ 1.56213593e-01 3.68913566e-02 9.87034113e-01 -5.21861114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46463044 meters Centerline goodness : 0.211446 with order 2 Centerline is valid? [False, False] Translation: X:-33.57, Y:-2.47, Z:-5.22 [[ 9.87829309e-01 -2.83325787e-02 -1.52939600e-01 -3.35656718e+01] [ 2.20011890e-02 9.98835671e-01 -4.29330988e-02 -2.47179723e+00] [ 1.53977933e-01 3.90457203e-02 9.87302501e-01 -5.22387276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52463044 meters Centerline goodness : 0.099388 with order 1 Centerline is valid? [False, False] Translation: X:-33.60, Y:-2.48, Z:-5.23 [[ 9.88062035e-01 -2.35300680e-02 -1.52248979e-01 -3.35956923e+01] [ 1.69551035e-02 9.98872572e-01 -4.43408256e-02 -2.47595433e+00] [ 1.53120672e-01 4.12300892e-02 9.87347021e-01 -5.22996563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58463044 meters Centerline goodness : 0.098629 with order 1 Centerline is valid? [False, False] Translation: X:-33.62, Y:-2.48, Z:-5.24 [[ 9.88505462e-01 -1.76015492e-02 -1.50157043e-01 -3.36224543e+01] [ 1.07760808e-02 9.98876454e-01 -4.61487397e-02 -2.48128170e+00] [ 1.50800624e-01 4.40001769e-02 9.87584506e-01 -5.23615582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64463044 meters Centerline goodness : 0.096309 with order 3 Centerline is valid? [False, False] Translation: X:-33.62, Y:-2.49, Z:-5.23 [[ 9.88445683e-01 -1.89582140e-02 -1.50385233e-01 -3.36232852e+01] [ 1.20197490e-02 9.98826635e-01 -4.69135161e-02 -2.48535116e+00] [ 1.51098173e-01 4.45638697e-02 9.87513749e-01 -5.23477808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70463044 meters Centerline goodness : 0.151760 with order 1 Centerline is valid? [False, False] Translation: X:-33.65, Y:-2.49, Z:-5.24 [[ 9.88234489e-01 -1.48074109e-02 -1.52227908e-01 -3.36530535e+01] [ 7.49376200e-03 9.98794778e-01 -4.85060244e-02 -2.49065052e+00] [ 1.52762688e-01 4.67945665e-02 9.87154410e-01 -5.24087617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76463044 meters Centerline goodness : 0.092014 with order 1 Centerline is valid? [False, False] Translation: X:-33.67, Y:-2.49, Z:-5.24 [[ 9.88596282e-01 -2.03551605e-02 -1.49208108e-01 -3.36736308e+01] [ 1.31443647e-02 9.98704667e-01 -4.91549940e-02 -2.49066390e+00] [ 1.50015392e-01 4.66331985e-02 9.87583276e-01 -5.24174533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82463044 meters Centerline goodness : 0.136562 with order 2 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.50, Z:-5.25 [[ 9.89012534e-01 -1.60300116e-02 -1.46960015e-01 -3.37029202e+01] [ 8.52710842e-03 9.98634391e-01 -5.15426167e-02 -2.49533289e+00] [ 1.47585554e-01 4.97231500e-02 9.87798619e-01 -5.24735619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88463044 meters Centerline goodness : 0.127837 with order 3 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.50, Z:-5.25 [[ 9.88955012e-01 -1.64794148e-02 -1.47297021e-01 -3.37018992e+01] [ 8.90428113e-03 9.98610518e-01 -5.19398385e-02 -2.49599901e+00] [ 1.47948293e-01 5.00545896e-02 9.87727615e-01 -5.24723224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94463044 meters Centerline goodness : 0.133878 with order 3 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.50, Z:-5.25 [[ 9.89024140e-01 -1.83684393e-02 -1.46607811e-01 -3.37046233e+01] [ 1.07030685e-02 9.98542268e-01 -5.29035248e-02 -2.50050391e+00] [ 1.47365851e-01 5.07537097e-02 9.87779007e-01 -5.24597849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00463044 meters Centerline goodness : 0.103011 with order 1 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.50, Z:-5.25 [[ 9.88786246e-01 -2.17407033e-02 -1.47746749e-01 -3.37001459e+01] [ 1.37041173e-02 9.98381473e-01 -5.51962926e-02 -2.50366239e+00] [ 1.48707623e-01 5.25525962e-02 9.87483806e-01 -5.24713434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06463044000003 meters Centerline goodness : 0.095711 with order 1 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.50, Z:-5.25 [[ 9.88686374e-01 -2.13580063e-02 -1.48469150e-01 -3.36963412e+01] [ 1.33472424e-02 9.98411196e-01 -5.47442748e-02 -2.50468127e+00] [ 1.49402491e-01 5.21432649e-02 9.87400616e-01 -5.24876694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12463044000003 meters Centerline goodness : 0.107350 with order 3 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.51, Z:-5.25 [[ 9.88725368e-01 -2.13588071e-02 -1.48209134e-01 -3.36972992e+01] [ 1.33909939e-02 9.98421147e-01 -5.45517612e-02 -2.50602883e+00] [ 1.49140295e-01 5.19520426e-02 9.87450332e-01 -5.24804070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18463044000003 meters Centerline goodness : 0.115240 with order 1 Centerline is valid? [False, False] Translation: X:-33.70, Y:-2.51, Z:-5.25 [[ 9.88696587e-01 -2.16730435e-02 -1.48355446e-01 -3.36954682e+01] [ 1.37007092e-02 9.98417004e-01 -5.45506816e-02 -2.50763599e+00] [ 1.49302879e-01 5.19014978e-02 9.87428420e-01 -5.24917599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24463044000004 meters Centerline goodness : 0.119567 with order 3 Centerline is valid? [False, False] Translation: X:-33.69, Y:-2.51, Z:-5.25 [[ 9.88684434e-01 -2.16144652e-02 -1.48444957e-01 -3.36946986e+01] [ 1.36523572e-02 9.98423278e-01 -5.44478728e-02 -2.50796180e+00] [ 1.49387762e-01 5.18051407e-02 9.87420642e-01 -5.24957439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30463044 meters Centerline goodness : 0.251081 with order 1 Centerline is valid? [False, False] Translation: X:-33.66, Y:-2.51, Z:-5.24 [[ 9.88521663e-01 -2.50988929e-02 -1.48979754e-01 -3.36645433e+01] [ 1.75224445e-02 9.98495836e-01 -5.19521866e-02 -2.50675940e+00] [ 1.50059607e-01 4.87453724e-02 9.87474558e-01 -5.24316323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36463044 meters Centerline goodness : 0.093388 with order 1 Centerline is valid? [False, False] Translation: X:-33.65, Y:-2.51, Z:-5.24 [[ 9.88295546e-01 -1.97327848e-02 -1.51269732e-01 -3.36455734e+01] [ 1.19803136e-02 9.98575716e-01 -5.19905007e-02 -2.50911190e+00] [ 1.52080198e-01 4.95697214e-02 9.87124337e-01 -5.24031474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42463044 meters Centerline goodness : 0.096173 with order 2 Centerline is valid? [False, False] Translation: X:-33.65, Y:-2.51, Z:-5.24 [[ 9.88291719e-01 -1.93383573e-02 -1.51345650e-01 -3.36458693e+01] [ 1.15894977e-02 9.98584234e-01 -5.19154277e-02 -2.50862170e+00] [ 1.52135339e-01 4.95535673e-02 9.87116651e-01 -5.23955132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48463044 meters Centerline goodness : 0.227307 with order 2 Centerline is valid? [False, False] Translation: X:-33.65, Y:-2.51, Z:-5.24 [[ 9.88498815e-01 -1.58336854e-02 -1.50397431e-01 -3.36479797e+01] [ 8.50164723e-03 9.98749334e-01 -4.92695554e-02 -2.50807529e+00] [ 1.50989453e-01 4.74242712e-02 9.87397146e-01 -5.23927216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54463044 meters Centerline goodness : 0.147613 with order 3 Centerline is valid? [False, False] Translation: X:-33.65, Y:-2.51, Z:-5.24 [[ 9.88517483e-01 -1.49914086e-02 -1.50361042e-01 -3.36476821e+01] [ 7.62655324e-03 9.98748040e-01 -4.94387288e-02 -2.50689639e+00] [ 1.50913952e-01 4.77243113e-02 9.87394232e-01 -5.23897818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60463044 meters Centerline goodness : 0.128866 with order 1 Centerline is valid? [False, False] Translation: X:-33.67, Y:-2.51, Z:-5.24 [[ 9.88856522e-01 -3.35648942e-03 -1.48833845e-01 -3.36658678e+01] [-4.22927868e-03 9.98708917e-01 -5.06222608e-02 -2.50943584e+00] [ 1.48811601e-01 5.06876125e-02 9.87565630e-01 -5.24159298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66463044 meters Centerline goodness : 0.093846 with order 1 Centerline is valid? [False, False] Translation: X:-33.67, Y:-2.51, Z:-5.24 [[ 9.89036355e-01 -3.14398599e-03 -1.47638758e-01 -3.36689372e+01] [-4.57460723e-03 9.98641205e-01 -5.19116180e-02 -2.50520456e+00] [ 1.47601357e-01 5.20178668e-02 9.87678076e-01 -5.24053103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72463044 meters Centerline goodness : 0.151598 with order 3 Centerline is valid? [False, False] Translation: X:-33.69, Y:-2.51, Z:-5.24 [[ 9.89211154e-01 -9.53553674e-03 -1.46186066e-01 -3.36890965e+01] [ 2.00413741e-03 9.98666844e-01 -5.15802191e-02 -2.51036913e+00] [ 1.46483022e-01 5.07307511e-02 9.87911492e-01 -5.24339468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78463044 meters Centerline goodness : 0.092274 with order 1 Centerline is valid? [False, False] Translation: X:-33.68, Y:-2.51, Z:-5.25 [[ 9.89008322e-01 -8.84557132e-03 -1.47595037e-01 -3.36827214e+01] [ 1.33532504e-03 9.98702565e-01 -5.09058255e-02 -2.51259215e+00] [ 1.47853833e-01 5.01491977e-02 9.87736960e-01 -5.24596130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84463044 meters Centerline goodness : 0.140589 with order 2 Centerline is valid? [False, False] Translation: X:-33.68, Y:-2.51, Z:-5.25 [[ 9.88991783e-01 -8.78460072e-03 -1.47709455e-01 -3.36817181e+01] [ 1.24110151e-03 9.98693556e-01 -5.10846442e-02 -2.51345281e+00] [ 1.47965239e-01 5.03389709e-02 9.87710624e-01 -5.24661393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90463044 meters Centerline goodness : 0.093181 with order 1 Centerline is valid? [False, False] Translation: X:-33.68, Y:-2.51, Z:-5.25 [[ 9.88951805e-01 -8.43372817e-03 -1.47997295e-01 -3.36815145e+01] [ 8.36718467e-04 9.98681939e-01 -5.13194364e-02 -2.51258256e+00] [ 1.48235040e-01 5.06286172e-02 9.87655363e-01 -5.24603229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96463044 meters Centerline goodness : 0.096969 with order 3 Centerline is valid? [False, False] Translation: X:-33.68, Y:-2.51, Z:-5.25 [[ 9.88851064e-01 -8.07071192e-03 -1.48689059e-01 -3.36786367e+01] [ 3.74895943e-04 9.98661904e-01 -5.17132622e-02 -2.51039439e+00] [ 1.48907461e-01 5.10809715e-02 9.87530912e-01 -5.24704601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02463044 meters Centerline goodness : 0.093345 with order 1 Centerline is valid? [False, False] Translation: X:-33.73, Y:-2.51, Z:-5.25 [[ 9.88830334e-01 -5.36259132e-03 -1.48949028e-01 -3.37273664e+01] [-2.49322457e-03 9.98617554e-01 -5.25049008e-02 -2.51474652e+00] [ 1.49024676e-01 5.22898020e-02 9.87449960e-01 -5.25397764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08463044 meters Centerline goodness : 0.126484 with order 3 Centerline is valid? [False, False] Translation: X:-33.73, Y:-2.51, Z:-5.25 [[ 9.88927353e-01 -5.57659377e-03 -1.48295624e-01 -3.37307842e+01] [-2.34733810e-03 9.98580867e-01 -5.32047168e-02 -2.51362591e+00] [ 1.48381874e-01 5.29636997e-02 9.87510843e-01 -5.25214343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14463044 meters Centerline goodness : 0.092011 with order 1 Centerline is valid? [False, False] Translation: X:-33.73, Y:-2.51, Z:-5.25 [[ 9.88969106e-01 -5.37841274e-03 -1.48024255e-01 -3.37326631e+01] [-2.58875033e-03 9.98560305e-01 -5.35781354e-02 -2.51069388e+00] [ 1.48099310e-01 5.33703185e-02 9.87531368e-01 -5.25080036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20463044 meters Centerline goodness : 0.234524 with order 3 Centerline is valid? [False, False] Translation: X:-33.73, Y:-2.51, Z:-5.25 [[ 9.88978132e-01 -5.60803359e-03 -1.47955413e-01 -3.37332967e+01] [-2.41269253e-03 9.98539355e-01 -5.39753311e-02 -2.51073340e+00] [ 1.48041998e-01 5.37373930e-02 9.87520055e-01 -5.25016708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26463044 meters Centerline goodness : 0.105660 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.51, Z:-5.25 [[ 9.88436933e-01 -1.19012999e-02 -1.51164774e-01 -3.37498377e+01] [ 3.75958208e-03 9.98532132e-01 -5.40319043e-02 -2.51330071e+00] [ 1.51585934e-01 5.28388134e-02 9.87030782e-01 -5.25293149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32463044 meters Centerline goodness : 0.092229 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.51, Z:-5.25 [[ 9.88409469e-01 -1.17539515e-02 -1.51355758e-01 -3.37496772e+01] [ 3.59873381e-03 9.98532140e-01 -5.40427126e-02 -2.51418785e+00] [ 1.51768805e-01 5.28716398e-02 9.87000922e-01 -5.25241009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38463044 meters Centerline goodness : 0.155320 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.51, Z:-5.25 [[ 9.88492171e-01 -1.15707399e-02 -1.50828866e-01 -3.37520100e+01] [ 3.43226461e-03 9.98529224e-01 -5.41073833e-02 -2.51427951e+00] [ 1.51233093e-01 5.29670402e-02 9.87078034e-01 -5.25129426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44463044 meters Centerline goodness : 0.093378 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.51, Z:-5.25 [[ 9.88488608e-01 -1.09365058e-02 -1.50899521e-01 -3.37510753e+01] [ 2.80690287e-03 9.98537940e-01 -5.39824408e-02 -2.51373294e+00] [ 1.51269276e-01 5.29374674e-02 9.87074076e-01 -5.25208576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50463044 meters Centerline goodness : 0.161906 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.51, Z:-5.25 [[ 9.88467578e-01 -1.03975852e-02 -1.51075273e-01 -3.37496307e+01] [ 2.31568191e-03 9.98561218e-01 -5.35736172e-02 -2.51477080e+00] [ 1.51414945e-01 5.26059414e-02 9.87069465e-01 -5.25314284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56463044000003 meters Centerline goodness : 0.096945 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.52, Z:-5.25 [[ 9.88533075e-01 -9.74065534e-03 -1.50690012e-01 -3.37501998e+01] [ 1.77624567e-03 9.98598367e-01 -5.28975002e-02 -2.51744062e+00] [ 1.50994056e-01 5.20232661e-02 9.87164816e-01 -5.25356946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62463044000003 meters Centerline goodness : 0.092894 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.52, Z:-5.25 [[ 9.88567633e-01 -9.59899698e-03 -1.50472234e-01 -3.37505483e+01] [ 1.69831496e-03 9.98617023e-01 -5.25467215e-02 -2.52057062e+00] [ 1.50768531e-01 5.16904388e-02 9.87216769e-01 -5.25376997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68463044000003 meters Centerline goodness : 0.093093 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.53, Z:-5.26 [[ 9.88546650e-01 -9.60603004e-03 -1.50609577e-01 -3.37483538e+01] [ 1.76653444e-03 9.98640342e-01 -5.20993923e-02 -2.52685828e+00] [ 1.50905267e-01 5.12366228e-02 9.87219534e-01 -5.25554452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74463044000004 meters Centerline goodness : 0.096101 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.53, Z:-5.26 [[ 9.88514004e-01 -9.16940096e-03 -1.50850872e-01 -3.37476887e+01] [ 1.43616562e-03 9.98682595e-01 -5.12933816e-02 -2.53061557e+00] [ 1.51122470e-01 5.04875792e-02 9.87224900e-01 -5.25557984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80463044 meters Centerline goodness : 0.106047 with order 3 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.54, Z:-5.26 [[ 9.88466578e-01 -8.65845272e-03 -1.51191450e-01 -3.37460882e+01] [ 1.05219454e-03 9.98732770e-01 -5.03164782e-02 -2.53507693e+00] [ 1.51435519e-01 4.95770743e-02 9.87223074e-01 -5.25623878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86463044 meters Centerline goodness : 0.106302 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.54, Z:-5.26 [[ 9.88596617e-01 -1.05890286e-02 -1.50215181e-01 -3.37495206e+01] [ 2.91028914e-03 9.98681806e-01 -5.12462733e-02 -2.54344611e+00] [ 1.50559816e-01 5.02247228e-02 9.87324272e-01 -5.25533230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92463044 meters Centerline goodness : 0.143704 with order 3 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.55, Z:-5.26 [[ 9.88657050e-01 -1.05996513e-02 -1.49816168e-01 -3.37506845e+01] [ 3.01637978e-03 9.98706628e-01 -5.07540474e-02 -2.54787189e+00] [ 1.50160375e-01 4.97264443e-02 9.87410321e-01 -5.25514767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98463044 meters Centerline goodness : 0.144406 with order 3 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.55, Z:-5.26 [[ 9.88539562e-01 -1.43290528e-02 -1.50280448e-01 -3.37491950e+01] [ 6.34152735e-03 9.98547930e-01 -5.34959498e-02 -2.55375460e+00] [ 1.50828777e-01 5.19298552e-02 9.87195001e-01 -5.25524348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04463044 meters Centerline goodness : 0.159158 with order 3 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.56, Z:-5.26 [[ 9.88538796e-01 -1.38581396e-02 -1.50329642e-01 -3.37480554e+01] [ 6.01945819e-03 9.98604173e-01 -5.24735371e-02 -2.55931396e+00] [ 1.50846994e-01 5.09672242e-02 9.87242385e-01 -5.25620572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10463044 meters Centerline goodness : 0.098671 with order 1 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.57, Z:-5.26 [[ 9.88630037e-01 -1.51980274e-02 -1.49598364e-01 -3.37497792e+01] [ 7.39061459e-03 9.98587922e-01 -5.26074139e-02 -2.56990127e+00] [ 1.50186648e-01 5.09036456e-02 9.87346337e-01 -5.25639236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16463044 meters Centerline goodness : 0.070592 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.58, Z:-5.26 [[ 9.88692355e-01 -1.62301514e-02 -1.49077194e-01 -3.37507499e+01] [ 8.45684429e-03 9.98578298e-01 -5.26295099e-02 -2.57884251e+00] [ 1.49719435e-01 5.07736715e-02 9.87423984e-01 -5.25684843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22463044 meters Centerline goodness : 0.092883 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.59, Z:-5.26 [[ 9.88720430e-01 -1.66794038e-02 -1.48841221e-01 -3.37494616e+01] [ 9.04835034e-03 9.98616465e-01 -5.18004243e-02 -2.59183562e+00] [ 1.49499294e-01 4.98693702e-02 9.87503421e-01 -5.25861581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28463044 meters Centerline goodness : 0.211739 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-2.60, Z:-5.26 [[ 9.88752289e-01 -1.70068474e-02 -1.48592323e-01 -3.37487921e+01] [ 9.44832945e-03 9.98632106e-01 -5.14261187e-02 -2.60085267e+00] [ 1.49263661e-01 4.94437434e-02 9.87560467e-01 -5.25981719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34463044 meters Centerline goodness : 0.091461 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.62, Z:-5.27 [[ 9.88794331e-01 -1.16316614e-02 -1.48830355e-01 -3.37834032e+01] [ 4.01332215e-03 9.98670784e-01 -5.13863600e-02 -2.61928196e+00] [ 1.49230236e-01 5.02132373e-02 9.87526692e-01 -5.26634845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40463044 meters Centerline goodness : 0.090372 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.62, Z:-5.27 [[ 9.88876683e-01 -1.13236871e-02 -1.48306036e-01 -3.37836857e+01] [ 3.83962659e-03 9.98708930e-01 -5.06530311e-02 -2.62442343e+00] [ 1.48688141e-01 4.95201615e-02 9.87643453e-01 -5.26728830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46463044 meters Centerline goodness : 0.131041 with order 3 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.63, Z:-5.27 [[ 9.88856220e-01 -1.09249575e-02 -1.48472292e-01 -3.37822309e+01] [ 3.53393805e-03 9.98745298e-01 -4.99533836e-02 -2.62878448e+00] [ 1.48831742e-01 4.88720222e-02 9.87654108e-01 -5.26836568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52463044 meters Centerline goodness : 0.091023 with order 2 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.64, Z:-5.27 [[ 9.88797385e-01 -1.32006706e-02 -1.48679094e-01 -3.37810181e+01] [ 5.63278228e-03 9.98672158e-01 -5.12073459e-02 -2.63682577e+00] [ 1.49157643e-01 4.97962128e-02 9.87558775e-01 -5.26908928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58463044 meters Centerline goodness : 0.099310 with order 3 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.64, Z:-5.27 [[ 9.88908508e-01 -1.31858301e-02 -1.47939501e-01 -3.37830516e+01] [ 5.79347423e-03 9.98717911e-01 -5.02888589e-02 -2.64354276e+00] [ 1.48412930e-01 4.88739968e-02 9.87717032e-01 -5.26861014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64463044 meters Centerline goodness : 0.089760 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.65, Z:-5.27 [[ 9.88761899e-01 -1.67776911e-02 -1.48554422e-01 -3.37805970e+01] [ 9.04125812e-03 9.98574674e-01 -5.26010991e-02 -2.65148682e+00] [ 1.49225208e-01 5.06668438e-02 9.87504283e-01 -5.26924065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70463044 meters Centerline goodness : 0.109976 with order 2 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.66, Z:-5.27 [[ 9.88696516e-01 -1.62746524e-02 -1.49044741e-01 -3.37784078e+01] [ 8.65064182e-03 9.98627332e-01 -5.16586708e-02 -2.65693171e+00] [ 1.49680879e-01 4.97854151e-02 9.87480150e-01 -5.27006892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76463044 meters Centerline goodness : 0.074226 with order 2 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.66, Z:-5.27 [[ 9.88736296e-01 -1.60910897e-02 -1.48800584e-01 -3.37785197e+01] [ 8.54567058e-03 9.98651380e-01 -5.12093037e-02 -2.66052432e+00] [ 1.49423922e-01 4.93608964e-02 9.87540376e-01 -5.27044731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82463044 meters Centerline goodness : 0.081082 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.66, Z:-5.27 [[ 9.88755938e-01 -1.57281783e-02 -1.48708844e-01 -3.37779985e+01] [ 8.25967225e-03 9.98679407e-01 -5.07071911e-02 -2.66439720e+00] [ 1.49309992e-01 4.89087500e-02 9.87580103e-01 -5.27107558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88463044 meters Centerline goodness : 0.115282 with order 1 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.68, Z:-5.27 [[ 9.88928269e-01 -7.00576650e-03 -1.48228871e-01 -3.37972529e+01] [-7.46001903e-04 9.98637635e-01 -5.21758307e-02 -2.67526987e+00] [ 1.48392461e-01 5.17087330e-02 9.87575761e-01 -5.27272270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94463044 meters Centerline goodness : 0.273524 with order 1 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.68, Z:-5.27 [[ 9.88933716e-01 -6.97623804e-03 -1.48193918e-01 -3.37970841e+01] [-7.40855430e-04 9.98649133e-01 -5.19553778e-02 -2.67731451e+00] [ 1.48356180e-01 5.14902151e-02 9.87592629e-01 -5.27289212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00463044 meters Centerline goodness : 0.089381 with order 1 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.68, Z:-5.27 [[ 9.88982632e-01 -6.85068034e-03 -1.47872994e-01 -3.37980715e+01] [-7.53990785e-04 9.98682498e-01 -5.13098313e-02 -2.68224560e+00] [ 1.48029678e-01 5.08560268e-02 9.87674480e-01 -5.27263902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06463044000003 meters Centerline goodness : 0.072301 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.68, Z:-5.27 [[ 9.89010453e-01 -1.61686221e-02 -1.46958834e-01 -3.37818078e+01] [ 8.97446139e-03 9.98734524e-01 -4.94854564e-02 -2.68080703e+00] [ 1.47572973e-01 4.76227573e-02 9.87903989e-01 -5.26981755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12463044000003 meters Centerline goodness : 0.138198 with order 1 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.69, Z:-5.27 [[ 9.89040100e-01 -1.77158936e-02 -1.46580450e-01 -3.37823138e+01] [ 1.04758773e-02 9.98693367e-01 -5.00181485e-02 -2.68888477e+00] [ 1.47275039e-01 4.79343957e-02 9.87933377e-01 -5.27019596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18463044000003 meters Centerline goodness : 0.235607 with order 3 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.69, Z:-5.27 [[ 9.88961011e-01 -1.72151512e-02 -1.47172542e-01 -3.37801713e+01] [ 1.00780428e-02 9.98742839e-01 -4.91037081e-02 -2.69285987e+00] [ 1.47832850e-01 4.70784417e-02 9.87891223e-01 -5.27070876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24463044000004 meters Centerline goodness : 0.237141 with order 3 Centerline is valid? [False, False] Translation: X:-33.78, Y:-2.70, Z:-5.27 [[ 9.88931430e-01 -1.73754808e-02 -1.47352363e-01 -3.37787650e+01] [ 1.02578597e-02 9.98749705e-01 -4.89265075e-02 -2.69727098e+00] [ 1.48018250e-01 4.68734412e-02 9.87873210e-01 -5.27144728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30463044 meters Centerline goodness : 0.125655 with order 1 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.71, Z:-5.27 [[ 9.89116882e-01 -8.34950793e-03 -1.46894787e-01 -3.37985740e+01] [ 9.81425586e-04 9.98740711e-01 -5.01600431e-02 -2.70521510e+00] [ 1.47128616e-01 4.94699792e-02 9.87879492e-01 -5.27280451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36463044 meters Centerline goodness : 0.236655 with order 3 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.71, Z:-5.27 [[ 9.89050085e-01 -8.42166609e-03 -1.47339757e-01 -3.37969734e+01] [ 9.92759588e-04 9.98727544e-01 -5.04212921e-02 -2.70617647e+00] [ 1.47576905e-01 4.97229103e-02 9.87799924e-01 -5.27317061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42463044 meters Centerline goodness : 0.236425 with order 3 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.71, Z:-5.27 [[ 9.89005388e-01 -8.14715226e-03 -1.47654888e-01 -3.37962296e+01] [ 7.21430593e-04 9.98735152e-01 -5.02749939e-02 -2.70634088e+00] [ 1.47877725e-01 4.96157171e-02 9.87760325e-01 -5.27315872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48463044 meters Centerline goodness : 0.114200 with order 1 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.71, Z:-5.27 [[ 9.89085052e-01 -8.17783283e-03 -1.47118599e-01 -3.37983487e+01] [ 8.00420405e-04 9.98742105e-01 -5.01354837e-02 -2.70858226e+00] [ 1.47343539e-01 4.94705008e-02 9.87847433e-01 -5.27222981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54463044 meters Centerline goodness : 0.099495 with order 2 Centerline is valid? [False, False] Translation: X:-33.80, Y:-2.71, Z:-5.27 [[ 9.89119603e-01 -8.32790941e-03 -1.46877697e-01 -3.37991160e+01] [ 1.00832920e-03 9.98756769e-01 -4.98387290e-02 -2.71193186e+00] [ 1.47110146e-01 4.91483628e-02 9.87898296e-01 -5.27192814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60463044 meters Centerline goodness : 0.257340 with order 1 Centerline is valid? [False, False] Translation: X:-33.82, Y:-2.72, Z:-5.28 [[ 9.89392138e-01 -1.46379822e-02 -1.44530019e-01 -3.38183239e+01] [ 7.58456775e-03 9.98758505e-01 -4.92333534e-02 -2.71838283e+00] [ 1.45071263e-01 4.76148950e-02 9.88274835e-01 -5.27589747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66463044 meters Centerline goodness : 0.254141 with order 1 Centerline is valid? [False, False] Translation: X:-33.82, Y:-2.72, Z:-5.28 [[ 9.89400214e-01 -1.46824145e-02 -1.44470216e-01 -3.38179702e+01] [ 7.73353663e-03 9.98791126e-01 -4.85435871e-02 -2.72455572e+00] [ 1.45008306e-01 4.69117698e-02 9.88317700e-01 -5.27609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72463044 meters Centerline goodness : 0.185083 with order 2 Centerline is valid? [False, False] Translation: X:-33.82, Y:-2.73, Z:-5.28 [[ 9.89350490e-01 -1.53172751e-02 -1.44744564e-01 -3.38164660e+01] [ 8.39109420e-03 9.98795644e-01 -4.83409829e-02 -2.73197233e+00] [ 1.45310692e-01 4.66116099e-02 9.88287489e-01 -5.27668062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78463044 meters Centerline goodness : 0.219823 with order 3 Centerline is valid? [False, False] Translation: X:-33.84, Y:-2.74, Z:-5.28 [[ 9.89050659e-01 -2.42231331e-02 -1.45574839e-01 -3.38374397e+01] [ 1.72174103e-02 9.98640862e-01 -4.91933877e-02 -2.74370558e+00] [ 1.46568601e-01 4.61483308e-02 9.88123462e-01 -5.27858723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84463044 meters Centerline goodness : 0.254145 with order 1 Centerline is valid? [False, False] Translation: X:-33.84, Y:-2.75, Z:-5.28 [[ 9.89035588e-01 -2.40204776e-02 -1.45710748e-01 -3.38355358e+01] [ 1.71510828e-02 9.98689545e-01 -4.82186022e-02 -2.75134209e+00] [ 1.46678035e-01 4.51908165e-02 9.88151478e-01 -5.27962158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90463044 meters Centerline goodness : 0.105483 with order 1 Centerline is valid? [False, False] Translation: X:-33.83, Y:-2.76, Z:-5.28 [[ 9.88880529e-01 -2.73660094e-02 -1.46172503e-01 -3.38325653e+01] [ 2.01439631e-02 9.98512705e-01 -5.06616158e-02 -2.75669676e+00] [ 1.47341507e-01 4.71537920e-02 9.87961032e-01 -5.28096737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96463044 meters Centerline goodness : 0.199580 with order 1 Centerline is valid? [False, False] Translation: X:-33.85, Y:-2.77, Z:-5.28 [[ 9.89051286e-01 -2.05434400e-02 -1.46135281e-01 -3.38478676e+01] [ 1.28448082e-02 9.98488903e-01 -5.34314696e-02 -2.76996866e+00] [ 1.47012122e-01 5.09693841e-02 9.87820610e-01 -5.28468875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02463044 meters Centerline goodness : 0.237271 with order 3 Centerline is valid? [False, False] Translation: X:-33.86, Y:-2.78, Z:-5.29 [[ 9.89137051e-01 -1.34415495e-02 -1.46380392e-01 -3.38636261e+01] [ 5.26271990e-03 9.98410252e-01 -5.61183743e-02 -2.78084607e+00] [ 1.46902002e-01 5.47384043e-02 9.87635312e-01 -5.28812738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08463044 meters Centerline goodness : 0.088701 with order 1 Centerline is valid? [False, False] Translation: X:-33.88, Y:-2.79, Z:-5.29 [[ 9.89138768e-01 -1.95107304e-02 -1.45684003e-01 -3.38802363e+01] [ 1.16121075e-02 9.98425850e-01 -5.48724065e-02 -2.78685277e+00] [ 1.46525276e-01 5.25847262e-02 9.87808276e-01 -5.29278843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14463044 meters Centerline goodness : 0.238958 with order 3 Centerline is valid? [False, False] Translation: X:-33.89, Y:-2.79, Z:-5.29 [[ 9.89291866e-01 -2.10474799e-02 -1.44425091e-01 -3.38856807e+01] [ 1.31151803e-02 9.98363794e-01 -5.56572308e-02 -2.79145383e+00] [ 1.45360226e-01 5.31670846e-02 9.87949222e-01 -5.29049234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20463044 meters Centerline goodness : 0.240759 with order 3 Centerline is valid? [False, False] Translation: X:-33.91, Y:-2.79, Z:-5.29 [[ 9.89320038e-01 -2.72939944e-02 -1.43181352e-01 -3.39054383e+01] [ 1.96207109e-02 9.98308266e-01 -5.47323907e-02 -2.79494890e+00] [ 1.44432993e-01 5.13385309e-02 9.88181899e-01 -5.29390035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26463044 meters Centerline goodness : 0.108390 with order 1 Centerline is valid? [False, False] Translation: X:-33.94, Y:-2.81, Z:-5.30 [[ 9.88917329e-01 -2.87111381e-02 -1.45664637e-01 -3.39429625e+01] [ 2.03798338e-02 9.98087053e-01 -5.83686240e-02 -2.80542722e+00] [ 1.47061818e-01 5.47531227e-02 9.87610711e-01 -5.29942800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32463044 meters Centerline goodness : 0.237720 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-2.82, Z:-5.30 [[ 9.89367470e-01 -2.44162281e-02 -1.43373143e-01 -3.39603919e+01] [ 1.57366782e-02 9.97991443e-01 -6.13631607e-02 -2.81689870e+00] [ 1.44583427e-01 5.84544980e-02 9.87764498e-01 -5.30147488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38463044 meters Centerline goodness : 0.238759 with order 3 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.82, Z:-5.30 [[ 9.88519634e-01 -3.28087896e-02 -1.47487345e-01 -3.39763884e+01] [ 2.38428244e-02 9.97781747e-01 -6.21538843e-02 -2.82224817e+00] [ 1.49199375e-01 5.79238201e-02 9.87109101e-01 -5.30414908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44463044 meters Centerline goodness : 0.239637 with order 3 Centerline is valid? [False, False] Translation: X:-33.97, Y:-2.83, Z:-5.30 [[ 9.88455092e-01 -3.30945120e-02 -1.47855621e-01 -3.39746055e+01] [ 2.41156043e-02 9.97777729e-01 -6.21131285e-02 -2.82558130e+00] [ 1.49582650e-01 5.78304105e-02 9.87056571e-01 -5.30445303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50463044 meters Centerline goodness : 0.109406 with order 1 Centerline is valid? [False, False] Translation: X:-33.99, Y:-2.83, Z:-5.31 [[ 9.88985057e-01 -2.36455228e-02 -1.46114497e-01 -3.39938332e+01] [ 1.45783362e-02 9.97918550e-01 -6.28175122e-02 -2.83317723e+00] [ 1.47295720e-01 5.99954747e-02 9.87271246e-01 -5.30669799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56463044000003 meters Centerline goodness : 0.240346 with order 3 Centerline is valid? [False, False] Translation: X:-33.99, Y:-2.83, Z:-5.31 [[ 9.88992128e-01 -2.37441441e-02 -1.46050630e-01 -3.39936193e+01] [ 1.46097678e-02 9.97887585e-01 -6.33002492e-02 -2.83285805e+00] [ 1.47245121e-01 6.04696823e-02 9.87249863e-01 -5.30636069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62463044000003 meters Centerline goodness : 0.089131 with order 1 Centerline is valid? [False, False] Translation: X:-33.99, Y:-2.83, Z:-5.31 [[ 9.89027355e-01 -2.36275846e-02 -1.45830820e-01 -3.39943262e+01] [ 1.44186132e-02 9.97853077e-01 -6.38853646e-02 -2.83156444e+00] [ 1.47027190e-01 6.10816950e-02 9.87244667e-01 -5.30554105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68463044000003 meters Centerline goodness : 0.237115 with order 3 Centerline is valid? [False, False] Translation: X:-33.99, Y:-2.83, Z:-5.30 [[ 9.89056916e-01 -2.30238064e-02 -1.45726869e-01 -3.39947466e+01] [ 1.38013062e-02 9.97855501e-01 -6.39837707e-02 -2.83052602e+00] [ 1.46887508e-01 6.12723698e-02 9.87253644e-01 -5.30476620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74463044000004 meters Centerline goodness : 0.237252 with order 3 Centerline is valid? [False, False] Translation: X:-34.01, Y:-2.83, Z:-5.31 [[ 9.89254825e-01 -1.47913577e-02 -1.45451389e-01 -3.40100402e+01] [ 5.06434998e-03 9.97738859e-01 -6.70188150e-02 -2.83129532e+00] [ 1.46113802e-01 6.55620693e-02 9.87092889e-01 -5.30799428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80463044 meters Centerline goodness : 0.237045 with order 3 Centerline is valid? [False, False] Translation: X:-34.01, Y:-2.83, Z:-5.31 [[ 9.89158340e-01 -1.47922829e-02 -1.46106010e-01 -3.40080592e+01] [ 4.94779449e-03 9.97706060e-01 -6.75139789e-02 -2.83003621e+00] [ 1.46769537e-01 6.60591128e-02 9.86962460e-01 -5.30792629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86463044 meters Centerline goodness : 0.107048 with order 1 Centerline is valid? [False, False] Translation: X:-34.01, Y:-2.83, Z:-5.31 [[ 9.89136544e-01 -1.52481523e-02 -1.46206671e-01 -3.40070271e+01] [ 5.25552752e-03 9.97637957e-01 -6.84900429e-02 -2.82840076e+00] [ 1.46905672e-01 6.69776112e-02 9.86880298e-01 -5.30811985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92463044 meters Centerline goodness : 0.108131 with order 1 Centerline is valid? [False, False] Translation: X:-34.01, Y:-2.83, Z:-5.31 [[ 9.89087818e-01 -1.53961355e-02 -1.46520468e-01 -3.40056897e+01] [ 5.31306785e-03 9.97605219e-01 -6.89608392e-02 -2.82617095e+00] [ 1.47231314e-01 6.74298527e-02 9.86800970e-01 -5.30819540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98463044 meters Centerline goodness : 0.108789 with order 1 Centerline is valid? [False, False] Translation: X:-34.00, Y:-2.83, Z:-5.31 [[ 9.89003827e-01 -1.56626623e-02 -1.47058190e-01 -3.40039435e+01] [ 5.45837695e-03 9.97564358e-01 -6.95381741e-02 -2.82559010e+00] [ 1.47789161e-01 6.79708213e-02 9.86680461e-01 -5.30800816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04463044 meters Centerline goodness : 0.134759 with order 1 Centerline is valid? [False, False] Translation: X:-34.00, Y:-2.82, Z:-5.31 [[ 9.89022245e-01 -1.64063325e-02 -1.46853094e-01 -3.40036543e+01] [ 6.06718796e-03 9.97487843e-01 -7.05775621e-02 -2.82284954e+00] [ 1.47642094e-01 6.89117936e-02 9.86637206e-01 -5.30826705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10463044 meters Centerline goodness : 0.111205 with order 1 Centerline is valid? [False, False] Translation: X:-34.00, Y:-2.82, Z:-5.31 [[ 9.88993295e-01 -1.64075165e-02 -1.47047804e-01 -3.40024884e+01] [ 6.03381660e-03 9.97478191e-01 -7.07167021e-02 -2.82177325e+00] [ 1.47837263e-01 6.90510847e-02 9.86598242e-01 -5.30834923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16463044 meters Centerline goodness : 0.114465 with order 1 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.81, Z:-5.31 [[ 9.88811661e-01 -2.45019483e-02 -1.47143310e-01 -3.39810153e+01] [ 1.44017173e-02 9.97490562e-01 -6.93193335e-02 -2.81457502e+00] [ 1.48472521e-01 6.64246489e-02 9.86683169e-01 -5.30711691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22463044 meters Centerline goodness : 0.236780 with order 3 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.81, Z:-5.31 [[ 9.88805496e-01 -2.45865715e-02 -1.47170621e-01 -3.39805240e+01] [ 1.43933489e-02 9.97448074e-01 -6.99297577e-02 -2.81176322e+00] [ 1.48514386e-01 6.70286506e-02 9.86636021e-01 -5.30705899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28463044 meters Centerline goodness : 0.108058 with order 1 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.81, Z:-5.31 [[ 9.88961706e-01 -2.13913375e-02 -1.46619080e-01 -3.39822351e+01] [ 1.15291000e-02 9.97633199e-01 -6.77870166e-02 -2.81002011e+00] [ 1.47722117e-01 6.53483775e-02 9.86867654e-01 -5.30616463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34463044 meters Centerline goodness : 0.112156 with order 1 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.81, Z:-5.31 [[ 9.88941753e-01 -2.12656043e-02 -1.46771873e-01 -3.39794537e+01] [ 1.12039060e-02 9.97550797e-01 -6.90425889e-02 -2.80559860e+00] [ 1.47880631e-01 6.66346806e-02 9.86757892e-01 -5.30770238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40463044 meters Centerline goodness : 0.268152 with order 3 Centerline is valid? [False, False] Translation: X:-33.97, Y:-2.80, Z:-5.31 [[ 9.88711869e-01 -1.96630060e-02 -1.48533521e-01 -3.39732944e+01] [ 9.45398623e-03 9.97563004e-01 -6.91279573e-02 -2.80023488e+00] [ 1.49530809e-01 6.69433979e-02 9.86488276e-01 -5.30847135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46463044 meters Centerline goodness : 0.185657 with order 2 Centerline is valid? [False, False] Translation: X:-33.98, Y:-2.80, Z:-5.31 [[ 9.88951991e-01 -1.69784958e-02 -1.47260617e-01 -3.39766660e+01] [ 7.06337403e-03 9.97687922e-01 -6.75937840e-02 -2.79510348e+00] [ 1.48067780e-01 6.58068505e-02 9.86785382e-01 -5.30780965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52463044 meters Centerline goodness : 0.110193 with order 1 Centerline is valid? [False, False] Translation: X:-34.01, Y:-2.79, Z:-5.31 [[ 9.89385559e-01 -1.03683728e-02 -1.44943824e-01 -3.40070980e+01] [ 3.75805695e-04 9.97630472e-01 -6.87989847e-02 -2.79413691e+00] [ 1.45313709e-01 6.80142512e-02 9.87045079e-01 -5.31322635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58463044 meters Centerline goodness : 0.113458 with order 1 Centerline is valid? [False, False] Translation: X:-34.04, Y:-2.79, Z:-5.32 [[ 9.89104396e-01 -6.56772791e-03 -1.47069232e-01 -3.40395364e+01] [-3.99251825e-03 9.97440167e-01 -7.13944913e-02 -2.78891122e+00] [ 1.47161658e-01 7.12037818e-02 9.86546232e-01 -5.31929168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64463044 meters Centerline goodness : 0.332929 with order 3 Centerline is valid? [False, False] Translation: X:-34.04, Y:-2.79, Z:-5.32 [[ 9.89085426e-01 -2.39306233e-03 -1.47323774e-01 -3.40390428e+01] [-7.78221784e-03 9.97624036e-01 -6.84523245e-02 -2.78565667e+00] [ 1.47137548e-01 6.88517022e-02 9.86716770e-01 -5.31862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70463044 meters Centerline goodness : 0.091592 with order 3 Centerline is valid? [False, False] Translation: X:-34.04, Y:-2.78, Z:-5.32 [[ 9.89112246e-01 -2.06562042e-03 -1.47148559e-01 -3.40408231e+01] [-8.21607057e-03 9.97566837e-01 -6.92307864e-02 -2.78070962e+00] [ 1.46933527e-01 6.96860016e-02 9.86688603e-01 -5.31680828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76463044 meters Centerline goodness : 0.097621 with order 1 Centerline is valid? [False, False] Translation: X:-34.04, Y:-2.77, Z:-5.32 [[ 9.89267549e-01 9.30556364e-04 -1.46112461e-01 -3.40439621e+01] [-1.09418965e-02 9.97643730e-01 -6.77293324e-02 -2.77404134e+00] [ 1.45705155e-01 6.86011781e-02 9.86946749e-01 -5.31596561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82463044 meters Centerline goodness : 0.097508 with order 1 Centerline is valid? [False, False] Translation: X:-34.10, Y:-2.77, Z:-5.32 [[ 9.88970150e-01 2.45155502e-03 -1.48094675e-01 -3.40983008e+01] [-1.26984963e-02 9.97584966e-01 -6.82860432e-02 -2.77013835e+00] [ 1.47569614e-01 6.94134380e-02 9.86612884e-01 -5.32218444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88463044 meters Centerline goodness : 0.113368 with order 1 Centerline is valid? [False, False] Translation: X:-34.10, Y:-2.77, Z:-5.32 [[ 9.88951612e-01 2.36193506e-03 -1.48219869e-01 -3.40991719e+01] [-1.27162719e-02 9.97539118e-01 -6.89492915e-02 -2.76722075e+00] [ 1.47692264e-01 7.00723171e-02 9.86547954e-01 -5.32083187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94463044 meters Centerline goodness : 0.208226 with order 2 Centerline is valid? [False, False] Translation: X:-34.10, Y:-2.76, Z:-5.32 [[ 9.88976972e-01 2.54699885e-03 -1.48047496e-01 -3.41006905e+01] [-1.29214177e-02 9.97522208e-01 -6.91554870e-02 -2.76468304e+00] [ 1.47504526e-01 7.03061677e-02 9.86559404e-01 -5.31964765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00463044 meters Centerline goodness : 0.079827 with order 1 Centerline is valid? [False, False] Translation: X:-34.10, Y:-2.76, Z:-5.32 [[ 9.88990118e-01 2.40514055e-03 -1.47962027e-01 -3.41013807e+01] [-1.28187249e-02 9.97501896e-01 -6.94668775e-02 -2.76411066e+00] [ 1.47425325e-01 7.05987399e-02 9.86550349e-01 -5.31906064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06463044000003 meters Centerline goodness : 0.081397 with order 2 Centerline is valid? [False, False] Translation: X:-34.12, Y:-2.77, Z:-5.32 [[ 9.89175148e-01 -3.88397418e-03 -1.46688245e-01 -3.41216148e+01] [-6.34532510e-03 9.97582439e-01 -6.92026983e-02 -2.76591510e+00] [ 1.46602398e-01 6.93843739e-02 9.86759112e-01 -5.32177447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12463044000003 meters Centerline goodness : 0.235958 with order 3 Centerline is valid? [False, False] Translation: X:-34.14, Y:-2.77, Z:-5.33 [[ 9.89436523e-01 -9.34357278e-03 -1.44665354e-01 -3.41370276e+01] [-5.47235805e-04 9.97672886e-01 -6.81800031e-02 -2.77228941e+00] [ 1.44965747e-01 6.75389513e-02 9.87128878e-01 -5.32595756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18463044000003 meters Centerline goodness : 0.090190 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.78, Z:-5.33 [[ 9.89383629e-01 -1.53484303e-02 -1.44514568e-01 -3.41538225e+01] [ 5.68551808e-03 9.97733980e-01 -6.70416281e-02 -2.77598218e+00] [ 1.45216079e-01 6.55082491e-02 9.87228930e-01 -5.33083713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24463044000004 meters Centerline goodness : 0.132426 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.79, Z:-5.33 [[ 9.89297691e-01 -1.79760151e-02 -1.44799661e-01 -3.41541509e+01] [ 8.12224592e-03 9.97627869e-01 -6.83568898e-02 -2.78511548e+00] [ 1.45684962e-01 6.64492148e-02 9.87096953e-01 -5.32993761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30463044 meters Centerline goodness : 0.098988 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.79, Z:-5.33 [[ 9.89321917e-01 -1.84801598e-02 -1.44570493e-01 -3.41549915e+01] [ 8.71447296e-03 9.97654515e-01 -6.78934935e-02 -2.79307973e+00] [ 1.45486087e-01 6.59086655e-02 9.87162523e-01 -5.32948158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36463044 meters Centerline goodness : 0.245829 with order 3 Centerline is valid? [False, False] Translation: X:-34.16, Y:-2.80, Z:-5.33 [[ 9.89338895e-01 -2.03100656e-02 -1.44208360e-01 -3.41560247e+01] [ 1.04940174e-02 9.97595533e-01 -6.85056755e-02 -2.80154420e+00] [ 1.45252971e-01 6.62620043e-02 9.87173197e-01 -5.32938765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42463044 meters Centerline goodness : 0.259005 with order 2 Centerline is valid? [False, False] Translation: X:-34.16, Y:-2.81, Z:-5.33 [[ 9.89328455e-01 -2.48722133e-02 -1.43563859e-01 -3.41565468e+01] [ 1.47186826e-02 9.97342134e-01 -7.13584519e-02 -2.81231833e+00] [ 1.44957128e-01 6.84838761e-02 9.87065038e-01 -5.33022508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48463044 meters Centerline goodness : 0.205514 with order 2 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.82, Z:-5.33 [[ 9.89243465e-01 -2.58443417e-02 -1.43977212e-01 -3.41539083e+01] [ 1.56324304e-02 9.97310034e-01 -7.16123165e-02 -2.82004722e+00] [ 1.45440691e-01 6.85913024e-02 9.86986443e-01 -5.33164388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54463044 meters Centerline goodness : 0.114350 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.83, Z:-5.33 [[ 9.89274225e-01 -2.71574339e-02 -1.43523452e-01 -3.41548825e+01] [ 1.69231612e-02 9.97257222e-01 -7.20530323e-02 -2.82766423e+00] [ 1.45086575e-01 6.88513372e-02 9.87020455e-01 -5.33173273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60463044 meters Centerline goodness : 0.135733 with order 1 Centerline is valid? [False, False] Translation: X:-34.16, Y:-2.83, Z:-5.33 [[ 9.89362927e-01 -2.70957174e-02 -1.42922430e-01 -3.41551272e+01] [ 1.69407737e-02 9.97275430e-01 -7.17964269e-02 -2.83153223e+00] [ 1.44478403e-01 6.86115065e-02 9.87126361e-01 -5.33251212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66463044 meters Centerline goodness : 0.105095 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.83, Z:-5.33 [[ 9.89400478e-01 -2.72511427e-02 -1.42632637e-01 -3.41542771e+01] [ 1.70863034e-02 9.97257431e-01 -7.20116240e-02 -2.83461187e+00] [ 1.44203856e-01 6.88112707e-02 9.87152601e-01 -5.33355888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72463044 meters Centerline goodness : 0.110557 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.84, Z:-5.33 [[ 9.89388529e-01 -2.71482753e-02 -1.42735104e-01 -3.41535366e+01] [ 1.69648173e-02 9.97254266e-01 -7.20841440e-02 -2.83574878e+00] [ 1.44300151e-01 6.88977503e-02 9.87132497e-01 -5.33369818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78463044 meters Centerline goodness : 0.112869 with order 1 Centerline is valid? [False, False] Translation: X:-34.17, Y:-2.84, Z:-5.34 [[ 9.89610820e-01 -1.90245159e-02 -1.42507868e-01 -3.41691125e+01] [ 8.40238284e-03 9.97165309e-01 -7.47712984e-02 -2.84273126e+00] [ 1.43526390e-01 7.27970802e-02 9.86965430e-01 -5.33773195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84463044 meters Centerline goodness : 0.112610 with order 1 Centerline is valid? [False, False] Translation: X:-34.17, Y:-2.85, Z:-5.34 [[ 9.89679917e-01 -1.96208173e-02 -1.41946062e-01 -3.41697227e+01] [ 8.98029052e-03 9.97126713e-01 -7.52174994e-02 -2.84606321e+00] [ 1.43014039e-01 7.31665317e-02 9.87012484e-01 -5.33806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90463044 meters Centerline goodness : 0.241714 with order 3 Centerline is valid? [False, False] Translation: X:-34.17, Y:-2.85, Z:-5.34 [[ 9.89641880e-01 -2.02915585e-02 -1.42116858e-01 -3.41688383e+01] [ 9.68504324e-03 9.97141752e-01 -7.49301380e-02 -2.85224606e+00] [ 1.43231102e-01 7.27775947e-02 9.87009763e-01 -5.33832655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96463044 meters Centerline goodness : 0.242647 with order 3 Centerline is valid? [False, False] Translation: X:-34.17, Y:-2.85, Z:-5.34 [[ 9.89470762e-01 -2.39448779e-02 -1.42738409e-01 -3.41655550e+01] [ 1.28895953e-02 9.96879515e-01 -7.78786915e-02 -2.85444587e+00] [ 1.44157792e-01 7.52188479e-02 9.86691774e-01 -5.33955787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02463044 meters Centerline goodness : 0.102716 with order 1 Centerline is valid? [False, False] Translation: X:-34.16, Y:-2.86, Z:-5.34 [[ 9.89383841e-01 -2.34764676e-02 -1.43417123e-01 -3.41639483e+01] [ 1.24855159e-02 9.96948207e-01 -7.70609147e-02 -2.85754086e+00] [ 1.44788561e-01 7.44521870e-02 9.86657562e-01 -5.33944096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08463044 meters Centerline goodness : 0.221538 with order 3 Centerline is valid? [False, False] Translation: X:-34.13, Y:-2.86, Z:-5.33 [[ 9.89011500e-01 -2.73417517e-02 -1.45288274e-01 -3.41293645e+01] [ 1.64034318e-02 9.96976040e-01 -7.59585640e-02 -2.85766568e+00] [ 1.46925768e-01 7.27406670e-02 9.86469267e-01 -5.33244087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14463044 meters Centerline goodness : 0.238447 with order 3 Centerline is valid? [False, False] Translation: X:-34.13, Y:-2.86, Z:-5.33 [[ 9.88994062e-01 -2.74739611e-02 -1.45382002e-01 -3.41283923e+01] [ 1.64822664e-02 9.96950422e-01 -7.62770725e-02 -2.85883441e+00] [ 1.47034282e-01 7.30413469e-02 9.86430880e-01 -5.33283618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20463044 meters Centerline goodness : 0.138574 with order 1 Centerline is valid? [False, False] Translation: X:-34.13, Y:-2.86, Z:-5.33 [[ 9.89168072e-01 -2.33128852e-02 -1.44924238e-01 -3.41291579e+01] [ 1.28064645e-02 9.97248940e-01 -7.30105912e-02 -2.86005319e+00] [ 1.46227630e-01 7.03637787e-02 9.86745367e-01 -5.33274002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26463044 meters Centerline goodness : 0.235108 with order 3 Centerline is valid? [False, False] Translation: X:-34.13, Y:-2.86, Z:-5.33 [[ 9.89150479e-01 -2.24079275e-02 -1.45186826e-01 -3.41288018e+01] [ 1.18435336e-02 9.97245193e-01 -7.32240059e-02 -2.85938582e+00] [ 1.46427663e-01 7.07100354e-02 9.86690950e-01 -5.33169579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32463044 meters Centerline goodness : 0.108891 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.86, Z:-5.33 [[ 9.89467709e-01 -1.06563845e-02 -1.44360986e-01 -3.41485050e+01] [-8.62015423e-05 9.97243009e-01 -7.42049418e-02 -2.86007750e+00] [ 1.44753740e-01 7.34358379e-02 9.86738837e-01 -5.33315530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38463044 meters Centerline goodness : 0.236359 with order 3 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.86, Z:-5.33 [[ 9.89447633e-01 -9.88507291e-03 -1.44553334e-01 -3.41481842e+01] [-9.46977778e-04 9.97207509e-01 -7.46745407e-02 -2.85617466e+00] [ 1.44887834e-01 7.40234363e-02 9.86675249e-01 -5.33274586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44463044 meters Centerline goodness : 0.114228 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.85, Z:-5.33 [[ 9.89581347e-01 -5.93608587e-03 -1.43852426e-01 -3.41513110e+01] [-4.45425346e-03 9.97409129e-01 -7.17996400e-02 -2.85307043e+00] [ 1.43905932e-01 7.16923396e-02 9.86991029e-01 -5.33135531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50463044 meters Centerline goodness : 0.253847 with order 1 Centerline is valid? [False, False] Translation: X:-34.15, Y:-2.85, Z:-5.33 [[ 9.89576627e-01 -5.97205906e-03 -1.43883405e-01 -3.41524631e+01] [-4.50186887e-03 9.97368477e-01 -7.23591973e-02 -2.85080654e+00] [ 1.43936906e-01 7.22527146e-02 9.86945648e-01 -5.33007179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56463044000003 meters Centerline goodness : 0.116219 with order 1 Centerline is valid? [False, False] Translation: X:-34.17, Y:-2.85, Z:-5.33 [[ 9.89736896e-01 -1.17688147e-02 -1.42416192e-01 -3.41720713e+01] [ 1.46800853e-03 9.97387732e-01 -7.22188186e-02 -2.84839441e+00] [ 1.42894093e-01 7.12685612e-02 9.87168714e-01 -5.33221587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62463044000003 meters Centerline goodness : 0.113750 with order 1 Centerline is valid? [False, False] Translation: X:-34.19, Y:-2.85, Z:-5.34 [[ 9.89947228e-01 -1.75733361e-02 -1.40341242e-01 -3.41910739e+01] [ 7.52899538e-03 9.97391816e-01 -7.17835572e-02 -2.84773919e+00] [ 1.41236682e-01 7.00053049e-02 9.87497573e-01 -5.33592680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68463044000003 meters Centerline goodness : 0.231130 with order 2 Centerline is valid? [False, False] Translation: X:-34.19, Y:-2.85, Z:-5.34 [[ 9.89875204e-01 -1.75163841e-02 -1.40855443e-01 -3.41891456e+01] [ 7.47301634e-03 9.97411321e-01 -7.15179054e-02 -2.84950050e+00] [ 1.41743549e-01 6.97411862e-02 9.87443636e-01 -5.33649143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74463044000004 meters Centerline goodness : 0.222513 with order 2 Centerline is valid? [False, False] Translation: X:-34.21, Y:-2.85, Z:-5.34 [[ 9.89900951e-01 -2.34547381e-02 -1.39806950e-01 -3.42076603e+01] [ 1.36059191e-02 9.97384239e-01 -7.09898465e-02 -2.85041483e+00] [ 1.41106297e-01 6.83707145e-02 9.87630730e-01 -5.34033764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80463044 meters Centerline goodness : 0.114711 with order 1 Centerline is valid? [False, False] Translation: X:-34.23, Y:-2.86, Z:-5.35 [[ 9.90305238e-01 -1.43984106e-02 -1.38160130e-01 -3.42252964e+01] [ 4.45723618e-03 9.97395013e-01 -7.19952902e-02 -2.85973131e+00] [ 1.38836842e-01 7.06815007e-02 9.87789682e-01 -5.34502284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86463044 meters Centerline goodness : 0.118697 with order 2 Centerline is valid? [False, False] Translation: X:-34.22, Y:-2.86, Z:-5.35 [[ 9.90339244e-01 -1.39322643e-02 -1.37964033e-01 -3.42248972e+01] [ 4.08892404e-03 9.97441166e-01 -7.13750669e-02 -2.86310722e+00] [ 1.38605422e-01 7.01214053e-02 9.87862098e-01 -5.34601781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92463044 meters Centerline goodness : 0.114105 with order 1 Centerline is valid? [False, False] Translation: X:-34.26, Y:-2.87, Z:-5.35 [[ 9.90562821e-01 -9.46968964e-03 -1.36731939e-01 -3.42594485e+01] [-4.12497234e-04 9.97399808e-01 -7.20656131e-02 -2.87267067e+00] [ 1.37058849e-01 7.14419185e-02 9.87983261e-01 -5.35306668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98463044 meters Centerline goodness : 0.115072 with order 1 Centerline is valid? [False, False] Translation: X:-34.30, Y:-2.88, Z:-5.36 [[ 9.90549586e-01 -6.02872811e-03 -1.37022521e-01 -3.42966893e+01] [-4.06362851e-03 9.97304900e-01 -7.32558820e-02 -2.88117876e+00] [ 1.37094871e-01 7.31203922e-02 9.87855457e-01 -5.36009705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04463044 meters Centerline goodness : 0.210564 with order 3 Centerline is valid? [False, False] Translation: X:-34.29, Y:-2.89, Z:-5.36 [[ 9.90379124e-01 -5.60432306e-03 -1.38267069e-01 -3.42897306e+01] [-4.50173123e-03 9.97345880e-01 -7.26700091e-02 -2.88764423e+00] [ 1.38307358e-01 7.25933012e-02 9.87725310e-01 -5.36403545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10463044 meters Centerline goodness : 0.094707 with order 1 Centerline is valid? [False, False] Translation: X:-34.31, Y:-2.89, Z:-5.37 [[ 9.90297576e-01 -1.10273164e-02 -1.38524757e-01 -3.43070483e+01] [ 1.12737824e-03 9.97451205e-01 -7.13429879e-02 -2.89036512e+00] [ 1.38958408e-01 7.04946182e-02 9.87785943e-01 -5.36805299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16463044 meters Centerline goodness : 0.236677 with order 3 Centerline is valid? [False, False] Translation: X:-34.31, Y:-2.90, Z:-5.37 [[ 9.90328045e-01 -1.11040753e-02 -1.38300622e-01 -3.43077796e+01] [ 1.26775920e-03 9.97474895e-01 -7.10086387e-02 -2.89781642e+00] [ 1.38739883e-01 7.01465145e-02 9.87841440e-01 -5.36800956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22463044 meters SLAMing on 488.28463044 meters Centerline goodness : 0.240841 with order 3 Centerline is valid? [False, False] Translation: X:-34.34, Y:-2.91, Z:-5.37 [[ 9.90008153e-01 -5.75266489e-03 -1.40892738e-01 -3.43430068e+01] [-4.32206265e-03 9.97460103e-01 -7.10961479e-02 -2.91350142e+00] [ 1.40943878e-01 7.09947133e-02 9.87468771e-01 -5.37468443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34463044 meters Centerline goodness : 0.173889 with order 3 Centerline is valid? [False, False] Translation: X:-34.35, Y:-2.92, Z:-5.37 [[ 9.90106584e-01 -4.97136462e-03 -1.40229235e-01 -3.43457931e+01] [-4.90413166e-03 9.97535597e-01 -6.99905852e-02 -2.91944396e+00] [ 1.40231602e-01 6.99858419e-02 9.87642182e-01 -5.37371346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40463044 meters Centerline goodness : 0.200572 with order 2 Centerline is valid? [False, False] Translation: X:-34.35, Y:-2.93, Z:-5.37 [[ 9.90247686e-01 -5.20065991e-03 -1.39220950e-01 -3.43493154e+01] [-4.55137063e-03 9.97561997e-01 -6.96372559e-02 -2.92500804e+00] [ 1.39243688e-01 6.95917777e-02 9.87809789e-01 -5.37295945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46463044 meters Centerline goodness : 0.248490 with order 1 Centerline is valid? [False, False] Translation: X:-34.35, Y:-2.94, Z:-5.37 [[ 9.90248624e-01 -6.35275604e-03 -1.39166465e-01 -3.43491390e+01] [-3.36486238e-03 9.97577604e-01 -6.94809449e-02 -2.93620390e+00] [ 1.39270744e-01 6.92716861e-02 9.87828474e-01 -5.37370651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52463044 meters Centerline goodness : 0.226919 with order 1 Centerline is valid? [False, False] Translation: X:-34.35, Y:-2.94, Z:-5.37 [[ 9.90281336e-01 -8.14254009e-03 -1.38840102e-01 -3.43498230e+01] [-1.66782273e-03 9.97517652e-01 -7.03971046e-02 -2.94319384e+00] [ 1.39068664e-01 6.99444995e-02 9.87809533e-01 -5.37417154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58463044 meters Centerline goodness : 0.198074 with order 3 Centerline is valid? [False, False] Translation: X:-34.35, Y:-2.95, Z:-5.37 [[ 9.90384892e-01 -9.57199686e-03 -1.38007765e-01 -3.43521051e+01] [-2.28860819e-04 9.97488618e-01 -7.08265817e-02 -2.95131473e+00] [ 1.38339126e-01 7.01771610e-02 9.87895466e-01 -5.37421142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64463044 meters Centerline goodness : 0.172430 with order 2 Centerline is valid? [False, False] Translation: X:-34.37, Y:-2.96, Z:-5.38 [[ 9.90308483e-01 -1.58295160e-02 -1.37980201e-01 -3.43725191e+01] [ 6.33529186e-03 9.97598064e-01 -6.89780212e-02 -2.96158455e+00] [ 1.38740670e-01 6.74353746e-02 9.88030109e-01 -5.37808776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70463044 meters Centerline goodness : 0.114750 with order 2 Centerline is valid? [False, False] Translation: X:-34.37, Y:-2.96, Z:-5.38 [[ 9.90347115e-01 -1.58553698e-02 -1.37699667e-01 -3.43724410e+01] [ 6.42904855e-03 9.97621298e-01 -6.86324462e-02 -2.96472828e+00] [ 1.38460313e-01 6.70846673e-02 9.88093310e-01 -5.37885807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76463044 meters Centerline goodness : 0.227594 with order 1 Centerline is valid? [False, False] Translation: X:-34.37, Y:-2.98, Z:-5.38 [[ 9.90383331e-01 -1.95263495e-02 -1.36965613e-01 -3.43736244e+01] [ 9.88331802e-03 9.97446206e-01 -7.07346143e-02 -2.97588088e+00] [ 1.37997019e-01 6.87007082e-02 9.88047082e-01 -5.37959019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82463044 meters Centerline goodness : 0.215741 with order 2 Centerline is valid? [False, False] Translation: X:-34.41, Y:-2.99, Z:-5.39 [[ 9.90087457e-01 -1.73087254e-02 -1.39381620e-01 -3.44111377e+01] [ 7.36628089e-03 9.97410897e-01 -7.15348906e-02 -2.98913077e+00] [ 1.40258925e-01 6.97990738e-02 9.87651519e-01 -5.38701030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88463044 meters Centerline goodness : 0.234203 with order 1 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.00, Z:-5.39 [[ 9.89658324e-01 -1.50656604e-02 -1.42651419e-01 -3.43900326e+01] [ 4.45838457e-03 9.97219441e-01 -7.43875671e-02 -2.99601147e+00] [ 1.43375466e-01 7.29822801e-02 9.86973689e-01 -5.38563257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94463044 meters Centerline goodness : 0.227782 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.00, Z:-5.39 [[ 9.89704553e-01 -1.00604457e-02 -1.42771445e-01 -3.44298593e+01] [-5.46774365e-04 9.97253478e-01 -7.40621450e-02 -3.00148645e+00] [ 1.43124419e-01 7.33777059e-02 9.86980807e-01 -5.39224168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00463044 meters Centerline goodness : 0.191620 with order 1 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.00, Z:-5.39 [[ 9.89726621e-01 -9.95638067e-03 -1.42625686e-01 -3.44292622e+01] [-6.63690009e-04 9.97241614e-01 -7.42207738e-02 -3.00113581e+00] [ 1.42971240e-01 7.35529349e-02 9.86989965e-01 -5.39333411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06463044000003 meters Centerline goodness : 0.077924 with order 2 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.00, Z:-5.39 [[ 9.89781972e-01 -9.78410573e-03 -1.42253008e-01 -3.44296578e+01] [-7.30270278e-04 9.97282124e-01 -7.36738170e-02 -3.00377870e+00] [ 1.42587215e-01 7.30248990e-02 9.87084723e-01 -5.39387866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12463044000003 meters Centerline goodness : 0.233377 with order 1 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.01, Z:-5.39 [[ 9.89792640e-01 -1.13547145e-02 -1.42061959e-01 -3.44306780e+01] [ 7.54879854e-04 9.97224717e-01 -7.44465827e-02 -3.00932561e+00] [ 1.42513017e-01 7.35794399e-02 9.87054257e-01 -5.39355338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18463044000003 meters Centerline goodness : 0.231439 with order 1 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.02, Z:-5.39 [[ 9.89653440e-01 -1.50304333e-02 -1.42689013e-01 -3.44278580e+01] [ 4.06233132e-03 9.97034439e-01 -7.68493609e-02 -3.01607594e+00] [ 1.43420939e-01 7.54745844e-02 9.86779621e-01 -5.39467125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24463044000004 meters Centerline goodness : 0.241778 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.02, Z:-5.40 [[ 9.89582005e-01 -1.50450315e-02 -1.43182060e-01 -3.44254163e+01] [ 4.12310276e-03 9.97078445e-01 -7.62730214e-02 -3.02201737e+00] [ 1.43911276e-01 7.48880551e-02 9.86752919e-01 -5.39587221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30463044 meters SLAMing on 489.36463044 meters Centerline goodness : 0.215503 with order 2 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.04, Z:-5.40 [[ 9.89202883e-01 -1.35699336e-02 -1.45922970e-01 -3.44656416e+01] [ 2.33309880e-03 9.97035908e-01 -7.69022388e-02 -3.04405292e+00] [ 1.46533999e-01 7.57314636e-02 9.86302455e-01 -5.40069304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42463044 meters Centerline goodness : 0.245654 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.05, Z:-5.40 [[ 9.89228785e-01 -1.38214068e-02 -1.45723638e-01 -3.44654346e+01] [ 2.61382674e-03 9.97041366e-01 -7.68224138e-02 -3.04696680e+00] [ 1.46354289e-01 7.56140468e-02 9.86338146e-01 -5.40149379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48463044 meters SLAMing on 489.54463044 meters Centerline goodness : 0.246235 with order 3 Centerline is valid? [False, False] Translation: X:-34.49, Y:-3.06, Z:-5.40 [[ 9.89412685e-01 -2.09569518e-02 -1.43608301e-01 -3.44930715e+01] [ 9.96280762e-03 9.96992726e-01 -7.68521053e-02 -3.06105938e+00] [ 1.44787017e-01 7.46077060e-02 9.86646041e-01 -5.40162856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60463044 meters Centerline goodness : 0.246108 with order 3 Centerline is valid? [False, False] Translation: X:-34.49, Y:-3.07, Z:-5.40 [[ 9.89298714e-01 -2.48997723e-02 -1.43763887e-01 -3.44924160e+01] [ 1.35088697e-02 9.96729552e-01 -7.96725224e-02 -3.06525412e+00] [ 1.45277542e-01 7.68778363e-02 9.86399632e-01 -5.40162990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66463044 meters Centerline goodness : 0.248872 with order 3 Centerline is valid? [False, False] Translation: X:-34.51, Y:-3.07, Z:-5.40 [[ 9.88921966e-01 -3.19683789e-02 -1.44952983e-01 -3.45107389e+01] [ 2.06325032e-02 9.96657626e-01 -7.90435125e-02 -3.06724037e+00] [ 1.46995389e-01 7.51771229e-02 9.86276207e-01 -5.40499655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72463044 meters Centerline goodness : 0.089151 with order 1 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.07, Z:-5.41 [[ 9.88433703e-01 -4.24708112e-02 -1.45585181e-01 -3.45285634e+01] [ 3.09077589e-02 9.96252077e-01 -8.07868169e-02 -3.06876175e+00] [ 1.48470620e-01 7.53527009e-02 9.86041807e-01 -5.40926442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78463044 meters Centerline goodness : 0.192718 with order 2 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.07, Z:-5.41 [[ 9.88459334e-01 -4.29825110e-02 -1.45260624e-01 -3.45287017e+01] [ 3.14604282e-02 9.96241221e-01 -8.07073175e-02 -3.07274026e+00] [ 1.48183625e-01 7.52059399e-02 9.86096182e-01 -5.40957804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84463044 meters Centerline goodness : 0.196981 with order 2 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.08, Z:-5.41 [[ 0.98819813 -0.04673401 -0.14587798 -34.52604382] [ 0.0347534 0.99589126 -0.08362296 -3.0758876 ] [ 0.14918664 0.07756629 0.98576205 -5.41001585] [ 0. 0. 0. 1. ]] SLAMing on 489.90463044 meters Centerline goodness : 0.251005 with order 3 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.08, Z:-5.41 [[ 0.98806992 -0.04926954 -0.14591211 -34.525959 ] [ 0.03710317 0.99569323 -0.08496084 -3.08294088] [ 0.14946968 0.07853345 0.98564259 -5.40973857] [ 0. 0. 0. 1. ]] SLAMing on 489.96463044 meters Centerline goodness : 0.129360 with order 1 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.09, Z:-5.41 [[ 0.98808958 -0.04945315 -0.14571675 -34.52537039] [ 0.03735916 0.99571474 -0.08459586 -3.0880377 ] [ 0.14927584 0.07814443 0.98570288 -5.41078503] [ 0. 0. 0. 1. ]] SLAMing on 490.02463044 meters Centerline goodness : 0.206302 with order 3 Centerline is valid? [False, False] Translation: X:-34.52, Y:-3.09, Z:-5.41 [[ 0.98804567 -0.04919766 -0.14610044 -34.52346535] [ 0.03710006 0.99574065 -0.08440461 -3.0879154 ] [ 0.14963065 0.07797528 0.98566248 -5.41171651] [ 0. 0. 0. 1. ]] SLAMing on 490.08463044 meters Centerline goodness : 0.129351 with order 1 Centerline is valid? [False, False] Translation: X:-34.50, Y:-3.09, Z:-5.41 [[ 9.88178384e-01 -4.27280997e-02 -1.47233794e-01 -3.45024137e+01] [ 3.04175098e-02 9.95927390e-01 -8.48729006e-02 -3.08941219e+00] [ 1.50260626e-01 7.93910804e-02 9.85453601e-01 -5.40874510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14463044 meters Centerline goodness : 0.129215 with order 1 Centerline is valid? [False, False] Translation: X:-34.49, Y:-3.09, Z:-5.40 [[ 9.88896428e-01 -3.67779358e-02 -1.43983462e-01 -3.44861221e+01] [ 2.45416529e-02 9.96005237e-01 -8.58561358e-02 -3.09039922e+00] [ 1.46565894e-01 8.13692339e-02 9.85848612e-01 -5.40426967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20463044 meters Centerline goodness : 0.186608 with order 2 Centerline is valid? [False, False] Translation: X:-34.48, Y:-3.09, Z:-5.40 [[ 9.88796020e-01 -3.65645710e-02 -1.44725472e-01 -3.44842600e+01] [ 2.42884175e-02 9.96024914e-01 -8.56997251e-02 -3.08960332e+00] [ 1.47283749e-01 8.12243945e-02 9.85753567e-01 -5.40407254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26463044 meters Centerline goodness : 0.249696 with order 3 Centerline is valid? [False, False] Translation: X:-34.46, Y:-3.09, Z:-5.40 [[ 9.88595844e-01 -3.08346381e-02 -1.47402453e-01 -3.44616970e+01] [ 1.82152115e-02 9.96110654e-01 -8.62077183e-02 -3.09009384e+00] [ 1.49487337e-01 8.25396251e-02 9.85312512e-01 -5.40124670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32463044 meters Centerline goodness : 0.132035 with order 1 Centerline is valid? [False, False] Translation: X:-34.46, Y:-3.09, Z:-5.40 [[ 9.88412376e-01 -3.09413394e-02 -1.48605548e-01 -3.44584603e+01] [ 1.81609646e-02 9.96077495e-01 -8.66014080e-02 -3.08625757e+00] [ 1.50702206e-01 8.28990833e-02 9.85097248e-01 -5.40090837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38463044 meters Centerline goodness : 0.234686 with order 3 Centerline is valid? [False, False] Translation: X:-34.45, Y:-3.08, Z:-5.40 [[ 9.88230853e-01 -3.11373630e-02 -1.49767303e-01 -3.44549637e+01] [ 1.82187915e-02 9.96053160e-01 -8.68687403e-02 -3.08452142e+00] [ 1.51881059e-01 8.31177901e-02 9.84897750e-01 -5.40113672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44463044 meters Centerline goodness : 0.130780 with order 1 Centerline is valid? [False, False] Translation: X:-34.45, Y:-3.08, Z:-5.40 [[ 9.88092542e-01 -3.14177618e-02 -1.50618897e-01 -3.44527362e+01] [ 1.84203038e-02 9.96044558e-01 -8.69248550e-02 -3.08418796e+00] [ 1.52754118e-01 8.31153551e-02 9.84762924e-01 -5.40085586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50463044 meters Centerline goodness : 0.105807 with order 1 Centerline is valid? [False, False] Translation: X:-34.46, Y:-3.08, Z:-5.40 [[ 9.88144723e-01 -3.31971555e-02 -1.49893146e-01 -3.44562819e+01] [ 2.00680869e-02 9.95894632e-01 -8.82675104e-02 -3.08389126e+00] [ 1.52208009e-01 8.42130059e-02 9.84754229e-01 -5.39881803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56463044000003 meters Centerline goodness : 0.127245 with order 1 Centerline is valid? [False, False] Translation: X:-34.42, Y:-3.08, Z:-5.39 [[ 9.88226381e-01 -3.48678948e-02 -1.48972647e-01 -3.44175315e+01] [ 2.21486633e-02 9.96031516e-01 -8.62012524e-02 -3.08313166e+00] [ 1.51387108e-01 8.18868067e-02 9.85076898e-01 -5.39245059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62463044000003 meters Centerline goodness : 0.129493 with order 1 Centerline is valid? [False, False] Translation: X:-34.42, Y:-3.08, Z:-5.39 [[ 9.88174373e-01 -3.46476303e-02 -1.49368508e-01 -3.44163005e+01] [ 2.19259073e-02 9.96054638e-01 -8.59907709e-02 -3.08293770e+00] [ 1.51758571e-01 8.16988361e-02 9.85035348e-01 -5.39252300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68463044000003 meters Centerline goodness : 0.127078 with order 1 Centerline is valid? [False, False] Translation: X:-34.40, Y:-3.09, Z:-5.39 [[ 9.89022616e-01 -2.93895853e-02 -1.44812005e-01 -3.44017059e+01] [ 1.67887107e-02 9.96024682e-01 -8.74812675e-02 -3.08612340e+00] [ 1.46807370e-01 8.40897451e-02 9.85584350e-01 -5.38820768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74463044000004 meters Centerline goodness : 0.129084 with order 1 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.09, Z:-5.38 [[ 9.89794117e-01 -1.92062149e-02 -1.41204559e-01 -3.43862270e+01] [ 7.19807947e-03 9.96349452e-01 -8.50644279e-02 -3.08825805e+00] [ 1.42322850e-01 8.31798686e-02 9.86319074e-01 -5.38427509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80463044 meters Centerline goodness : 0.241674 with order 1 Centerline is valid? [False, False] Translation: X:-34.36, Y:-3.09, Z:-5.38 [[ 9.89874557e-01 -1.10506932e-02 -1.41514109e-01 -3.43633987e+01] [-1.04704367e-03 9.96369352e-01 -8.51294196e-02 -3.08505344e+00] [ 1.41941060e-01 8.44156180e-02 9.86269101e-01 -5.38183264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86463044 meters Centerline goodness : 0.131005 with order 1 Centerline is valid? [False, False] Translation: X:-34.35, Y:-3.08, Z:-5.38 [[ 9.90303114e-01 -2.11805575e-03 -1.38907368e-01 -3.43457947e+01] [-9.74011597e-03 9.96364661e-01 -8.46321061e-02 -3.08226271e+00] [ 1.38581648e-01 8.51644120e-02 9.86682396e-01 -5.37854826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92463044 meters Centerline goodness : 0.244936 with order 3 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.07, Z:-5.38 [[ 9.90243783e-01 1.63656061e-03 -1.39336186e-01 -3.43424184e+01] [-1.33289378e-02 9.96458474e-01 -8.30231788e-02 -3.07484361e+00] [ 1.38706851e-01 8.40703900e-02 9.86758622e-01 -5.37936612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98463044 meters Centerline goodness : 0.245865 with order 3 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.07, Z:-5.38 [[ 9.90204100e-01 2.26107212e-03 -1.39609193e-01 -3.43412085e+01] [-1.40803758e-02 9.96388959e-01 -8.37304353e-02 -3.07167264e+00] [ 1.38915738e-01 8.48759703e-02 9.86660269e-01 -5.37912791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04463044 meters Centerline goodness : 0.134043 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.07, Z:-5.38 [[ 9.90195792e-01 4.76267877e-03 -1.39605192e-01 -3.43405242e+01] [-1.64555432e-02 9.96436747e-01 -8.27225789e-02 -3.06551622e+00] [ 1.38713762e-01 8.42088288e-02 9.86745846e-01 -5.37886100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10463044 meters Centerline goodness : 0.132460 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.06, Z:-5.38 [[ 9.90163466e-01 7.15774283e-03 -1.39732166e-01 -3.43382992e+01] [-1.87618167e-02 9.96463486e-01 -8.19055227e-02 -3.05877839e+00] [ 1.38651742e-01 8.37214854e-02 9.86796031e-01 -5.37973563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16463044 meters Centerline goodness : 0.241116 with order 3 Centerline is valid? [False, False] Translation: X:-34.32, Y:-3.05, Z:-5.38 [[ 9.89952755e-01 -5.76602536e-04 -1.41397347e-01 -3.43204961e+01] [-1.09499779e-02 9.96676064e-01 -8.07274466e-02 -3.05035942e+00] [ 1.40973898e-01 8.14646560e-02 9.86655902e-01 -5.37568870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22463044 meters Centerline goodness : 0.235840 with order 3 Centerline is valid? [False, False] Translation: X:-34.32, Y:-3.05, Z:-5.37 [[ 9.89924689e-01 -5.25794843e-04 -1.41593903e-01 -3.43206248e+01] [-1.10357147e-02 9.96664783e-01 -8.08549475e-02 -3.04915886e+00] [ 1.41164170e-01 8.16028987e-02 9.86617273e-01 -5.37498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28463044 meters Centerline goodness : 0.133533 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.05, Z:-5.38 [[ 9.89815206e-01 -6.22564170e-03 -1.42222006e-01 -3.43375449e+01] [-5.24709041e-03 9.96768956e-01 -8.01505799e-02 -3.04708416e+00] [ 1.42261469e-01 8.00805145e-02 9.86584404e-01 -5.37818059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34463044 meters Centerline goodness : 0.240009 with order 3 Centerline is valid? [False, False] Translation: X:-34.35, Y:-3.05, Z:-5.38 [[ 9.89524354e-01 -1.21091232e-02 -1.43857300e-01 -3.43529020e+01] [ 6.82187340e-04 9.96857117e-01 -7.92175623e-02 -3.04852248e+00] [ 1.44364429e-01 7.82895695e-02 9.86422655e-01 -5.38259115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40463044 meters Centerline goodness : 0.237317 with order 3 Centerline is valid? [False, False] Translation: X:-34.35, Y:-3.06, Z:-5.38 [[ 9.89585463e-01 -1.22461155e-02 -1.43424700e-01 -3.43546706e+01] [ 9.29528152e-04 9.96897498e-01 -7.87052328e-02 -3.05508571e+00] [ 1.43943558e-01 7.77522370e-02 9.86526655e-01 -5.38207350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46463044 meters Centerline goodness : 0.238888 with order 3 Centerline is valid? [False, False] Translation: X:-34.36, Y:-3.06, Z:-5.38 [[ 9.89598780e-01 -1.21139044e-02 -1.43344020e-01 -3.43558308e+01] [ 8.39538557e-04 9.96917466e-01 -7.84529173e-02 -3.05894461e+00] [ 1.43852529e-01 7.75165684e-02 9.86558479e-01 -5.38093839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52463044 meters Centerline goodness : 0.242933 with order 3 Centerline is valid? [False, False] Translation: X:-34.36, Y:-3.06, Z:-5.38 [[ 9.89730392e-01 -1.15771937e-02 -1.42477082e-01 -3.43580239e+01] [ 4.10316578e-04 9.96940927e-01 -7.81576607e-02 -3.05991081e+00] [ 1.42946080e-01 7.72965515e-02 9.86707485e-01 -5.38084451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58463044 meters Centerline goodness : 0.198756 with order 2 Centerline is valid? [False, False] Translation: X:-34.36, Y:-3.06, Z:-5.38 [[ 9.89873252e-01 -8.62952528e-03 -1.41691481e-01 -3.43589843e+01] [-2.15111087e-03 9.97124036e-01 -7.57563834e-02 -3.06023076e+00] [ 1.41937723e-01 7.52940117e-02 9.87007849e-01 -5.38174088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64463044 meters Centerline goodness : 0.240245 with order 3 Centerline is valid? [False, False] Translation: X:-34.38, Y:-3.06, Z:-5.39 [[ 9.89738191e-01 -1.45279459e-02 -1.42152218e-01 -3.43757371e+01] [ 3.88809738e-03 9.97187858e-01 -7.48415534e-02 -3.05977847e+00] [ 1.42839760e-01 7.35208419e-02 9.87011392e-01 -5.38609148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70463044 meters Centerline goodness : 0.090406 with order 1 Centerline is valid? [False, False] Translation: X:-34.38, Y:-3.06, Z:-5.39 [[ 9.89794592e-01 -1.48587063e-02 -1.41724678e-01 -3.43765744e+01] [ 4.26804076e-03 9.97193908e-01 -7.47401781e-02 -3.06276121e+00] [ 1.42437528e-01 7.33725374e-02 9.87080555e-01 -5.38625368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76463044 meters Centerline goodness : 0.222785 with order 2 Centerline is valid? [False, False] Translation: X:-34.40, Y:-3.07, Z:-5.39 [[ 9.89909099e-01 -2.12810088e-02 -1.40096732e-01 -3.43969942e+01] [ 1.10044712e-02 9.97218026e-01 -7.37232005e-02 -3.06557923e+00] [ 1.41275890e-01 7.14375765e-02 9.87389384e-01 -5.38992546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82463044 meters Centerline goodness : 0.235380 with order 3 Centerline is valid? [False, False] Translation: X:-34.40, Y:-3.07, Z:-5.39 [[ 9.89910645e-01 -2.10111268e-02 -1.40126540e-01 -3.43963754e+01] [ 1.08318862e-02 9.97272086e-01 -7.30140829e-02 -3.06932909e+00] [ 1.41278395e-01 7.07595831e-02 9.87437844e-01 -5.39028036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88463044 meters Centerline goodness : 0.237355 with order 3 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.07, Z:-5.39 [[ 9.89871248e-01 -2.12845289e-02 -1.40363392e-01 -3.43944205e+01] [ 1.11029341e-02 9.97275589e-01 -7.29254668e-02 -3.07430191e+00] [ 1.41533169e-01 7.06283773e-02 9.87410753e-01 -5.39161618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94463044 meters Centerline goodness : 0.238582 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.08, Z:-5.40 [[ 9.89584571e-01 -1.72204124e-02 -1.42918978e-01 -3.44314256e+01] [ 6.87120981e-03 9.97337973e-01 -7.25930741e-02 -3.08183651e+00] [ 1.43788607e-01 7.08549598e-02 9.87068595e-01 -5.39865987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00463044 meters Centerline goodness : 0.237477 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.08, Z:-5.40 [[ 9.89604816e-01 -1.67090518e-02 -1.42839479e-01 -3.44314606e+01] [ 6.42594873e-03 9.97373022e-01 -7.21509748e-02 -3.08346557e+00] [ 1.43669817e-01 7.04830729e-02 9.87112516e-01 -5.39878285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06463044000003 meters Centerline goodness : 0.237894 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.08, Z:-5.40 [[ 9.89658071e-01 -1.61256307e-02 -1.42537247e-01 -3.44326578e+01] [ 5.90989414e-03 9.97401150e-01 -7.18054288e-02 -3.08466887e+00] [ 1.43324722e-01 7.02204421e-02 9.87181399e-01 -5.39836758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12463044000003 meters Centerline goodness : 0.241939 with order 3 Centerline is valid? [False, False] Translation: X:-34.43, Y:-3.09, Z:-5.40 [[ 9.89658045e-01 -1.59367819e-02 -1.42558663e-01 -3.44318092e+01] [ 5.73402300e-03 9.97410099e-01 -7.16952937e-02 -3.08589584e+00] [ 1.43332042e-01 7.01363896e-02 9.87186311e-01 -5.39916310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18463044000003 meters Centerline goodness : 0.240918 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.10, Z:-5.41 [[ 9.89269593e-01 -1.31797236e-02 -1.45505904e-01 -3.44688371e+01] [ 2.71424797e-03 9.97408858e-01 -7.18902109e-02 -3.09601910e+00] [ 1.46076370e-01 7.07238606e-02 9.86742028e-01 -5.40689003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24463044000004 meters Centerline goodness : 0.217257 with order 2 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.10, Z:-5.41 [[ 9.89307069e-01 -1.34349003e-02 -1.45227502e-01 -3.44692531e+01] [ 3.03504608e-03 9.97429067e-01 -7.15964084e-02 -3.10134550e+00] [ 1.45816022e-01 7.03900607e-02 9.86804402e-01 -5.40708363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30463044 meters Centerline goodness : 0.242435 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.11, Z:-5.41 [[ 9.89354049e-01 -1.39323814e-02 -1.44860121e-01 -3.44703092e+01] [ 3.62610207e-03 9.97457724e-01 -7.11683979e-02 -3.11002355e+00] [ 1.45483391e-01 6.98854651e-02 9.86889358e-01 -5.40713732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36463044 meters Centerline goodness : 0.165175 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.12, Z:-5.41 [[ 9.89353260e-01 -1.36892722e-02 -1.44888684e-01 -3.44686274e+01] [ 3.47916082e-03 9.97506509e-01 -7.04887281e-02 -3.11500195e+00] [ 1.45492345e-01 6.92341619e-02 9.86933943e-01 -5.40873879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42463044 meters Centerline goodness : 0.203230 with order 2 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.13, Z:-5.41 [[ 9.89404778e-01 -1.46706056e-02 -1.44440155e-01 -3.44700443e+01] [ 4.53524518e-03 9.97519061e-01 -7.02506547e-02 -3.12606465e+00] [ 1.45112427e-01 6.88512619e-02 9.87016660e-01 -5.40878031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48463044 meters Centerline goodness : 0.245221 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.13, Z:-5.41 [[ 9.89408144e-01 -1.47027138e-02 -1.44413833e-01 -3.44705576e+01] [ 4.63342933e-03 9.97549159e-01 -6.98155216e-02 -3.13033033e+00] [ 1.45086375e-01 6.84069143e-02 9.87051386e-01 -5.40822907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54463044 meters Centerline goodness : 0.249829 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.14, Z:-5.41 [[ 9.89410503e-01 -1.64277390e-02 -1.44211604e-01 -3.44718249e+01] [ 6.32873586e-03 9.97512130e-01 -7.02103781e-02 -3.14082802e+00] [ 1.45006222e-01 6.85542083e-02 9.87052945e-01 -5.40772468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60463044 meters Centerline goodness : 0.249690 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.15, Z:-5.41 [[ 9.89410288e-01 -2.02434985e-02 -1.43727112e-01 -3.44719363e+01] [ 9.92781013e-03 9.97345801e-01 -7.21303765e-02 -3.15468351e+00] [ 1.44805803e-01 6.99396411e-02 9.86985170e-01 -5.40885742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66463044 meters Centerline goodness : 0.252567 with order 3 Centerline is valid? [False, False] Translation: X:-34.51, Y:-3.17, Z:-5.41 [[ 9.89299882e-01 -1.83854867e-02 -1.44733259e-01 -3.45135505e+01] [ 7.99268651e-03 9.97368047e-01 -7.20631397e-02 -3.16796335e+00] [ 1.45677244e-01 7.01352481e-02 9.86843041e-01 -5.41491158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72463044 meters Centerline goodness : 0.251364 with order 3 Centerline is valid? [False, False] Translation: X:-34.51, Y:-3.17, Z:-5.42 [[ 9.89263760e-01 -1.82245645e-02 -1.45000270e-01 -3.45125619e+01] [ 7.90082972e-03 9.97412332e-01 -7.14578035e-02 -3.17320706e+00] [ 1.45927345e-01 6.95449929e-02 9.86847863e-01 -5.41513908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78463044 meters Centerline goodness : 0.086702 with order 1 Centerline is valid? [False, False] Translation: X:-34.54, Y:-3.18, Z:-5.42 [[ 9.89444945e-01 -1.55476212e-02 -1.44072803e-01 -3.45417955e+01] [ 4.96011071e-03 9.97278684e-01 -7.35569414e-02 -3.18406425e+00] [ 1.44824371e-01 7.20659268e-02 9.86829470e-01 -5.42364354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84463044 meters Centerline goodness : 0.085797 with order 1 Centerline is valid? [False, False] Translation: X:-34.54, Y:-3.19, Z:-5.42 [[ 9.89461325e-01 -1.69907835e-02 -1.43797079e-01 -3.45416300e+01] [ 6.29578484e-03 9.97200671e-01 -7.45062779e-02 -3.19016428e+00] [ 1.44660463e-01 7.28157650e-02 9.86798467e-01 -5.42441784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90463044 meters Centerline goodness : 0.092938 with order 1 Centerline is valid? [False, False] Translation: X:-34.58, Y:-3.20, Z:-5.43 [[ 9.89181038e-01 -1.64564237e-02 -1.45774006e-01 -3.45842197e+01] [ 5.38904009e-03 9.97093758e-01 -7.59933913e-02 -3.19943111e+00] [ 1.46600931e-01 7.43856397e-02 9.86394923e-01 -5.42975939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96463044 meters Centerline goodness : 0.140533 with order 2 Centerline is valid? [False, False] Translation: X:-34.56, Y:-3.20, Z:-5.43 [[ 9.89022787e-01 -2.75594450e-02 -1.45170261e-01 -3.45637280e+01] [ 1.65695026e-02 9.96941395e-01 -7.63760837e-02 -3.20397086e+00] [ 1.46831125e-01 7.31322881e-02 9.86454403e-01 -5.42663802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02463044 meters Centerline goodness : 0.091162 with order 1 Centerline is valid? [False, False] Translation: X:-34.56, Y:-3.21, Z:-5.43 [[ 9.89052571e-01 -2.80110843e-02 -1.44880606e-01 -3.45647692e+01] [ 1.70495712e-02 9.96934943e-01 -7.63546399e-02 -3.20931493e+00] [ 1.46575315e-01 7.30486008e-02 9.86498646e-01 -5.42612283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08463044 meters Centerline goodness : 0.097151 with order 1 Centerline is valid? [False, False] Translation: X:-34.56, Y:-3.21, Z:-5.43 [[ 9.88952011e-01 -2.82718915e-02 -1.45515019e-01 -3.45631898e+01] [ 1.72742390e-02 9.96935748e-01 -7.62936088e-02 -3.21143798e+00] [ 1.47226089e-01 7.29370566e-02 9.86409988e-01 -5.42584869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14463044 meters Centerline goodness : 0.130544 with order 1 Centerline is valid? [False, False] Translation: X:-34.56, Y:-3.21, Z:-5.43 [[ 9.88820016e-01 -2.82891425e-02 -1.46405943e-01 -3.45603489e+01] [ 1.72016765e-02 9.96924992e-01 -7.64503882e-02 -3.21093284e+00] [ 1.48118460e-01 7.30772464e-02 9.86266008e-01 -5.42623801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20463044 meters Centerline goodness : 0.112885 with order 1 Centerline is valid? [False, False] Translation: X:-34.54, Y:-3.21, Z:-5.42 [[ 9.88755132e-01 -2.17668249e-02 -1.47950985e-01 -3.45391176e+01] [ 1.04911465e-02 9.97009044e-01 -7.65695905e-02 -3.21334375e+00] [ 1.49175147e-01 7.41564001e-02 9.86026168e-01 -5.42215860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26463044 meters Centerline goodness : 0.256008 with order 3 Centerline is valid? [False, False] Translation: X:-34.54, Y:-3.21, Z:-5.42 [[ 9.88879759e-01 -2.27719399e-02 -1.46963471e-01 -3.45444678e+01] [ 1.14208478e-02 9.96917286e-01 -7.76240187e-02 -3.21028260e+00] [ 1.48278074e-01 7.50823735e-02 9.86091400e-01 -5.41888380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32463044 meters Centerline goodness : 0.239539 with order 3 Centerline is valid? [False, False] Translation: X:-34.55, Y:-3.21, Z:-5.42 [[ 9.88875287e-01 -2.29455207e-02 -1.46966559e-01 -3.45456546e+01] [ 1.15688602e-02 9.96901718e-01 -7.78018420e-02 -3.20891758e+00] [ 1.48296419e-01 7.52360833e-02 9.86076926e-01 -5.41720473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38463044 meters Centerline goodness : 0.133761 with order 1 Centerline is valid? [False, False] Translation: X:-34.55, Y:-3.21, Z:-5.42 [[ 9.88893657e-01 -2.30921898e-02 -1.46819909e-01 -3.45464218e+01] [ 1.17021902e-02 9.96886742e-01 -7.79735957e-02 -3.20759334e+00] [ 1.48163401e-01 7.53894798e-02 9.86085206e-01 -5.41647636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44463044 meters Centerline goodness : 0.255987 with order 3 Centerline is valid? [False, False] Translation: X:-34.55, Y:-3.21, Z:-5.42 [[ 9.88892135e-01 -2.34657291e-02 -1.46770924e-01 -3.45473513e+01] [ 1.20395120e-02 9.96860292e-01 -7.82598790e-02 -3.20697696e+00] [ 1.48146532e-01 7.56235286e-02 9.86069819e-01 -5.41529217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50463044 meters Centerline goodness : 0.189596 with order 3 Centerline is valid? [False, False] Translation: X:-34.53, Y:-3.20, Z:-5.41 [[ 9.88686979e-01 -3.04760278e-02 -1.46864797e-01 -3.45277757e+01] [ 1.94967846e-02 9.96945664e-01 -7.56255209e-02 -3.20299466e+00] [ 1.48720988e-01 7.19065765e-02 9.86261381e-01 -5.41154596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56463044000003 meters Centerline goodness : 0.257655 with order 3 Centerline is valid? [False, False] Translation: X:-34.51, Y:-3.20, Z:-5.41 [[ 9.89274260e-01 -2.34986283e-02 -1.44167447e-01 -3.45103190e+01] [ 1.25516214e-02 9.96999974e-01 -7.63774075e-02 -3.20099667e+00] [ 1.45529705e-01 7.37486681e-02 9.86601358e-01 -5.40776890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62463044000003 meters Centerline goodness : 0.088563 with order 1 Centerline is valid? [False, False] Translation: X:-34.51, Y:-3.20, Z:-5.41 [[ 9.89359099e-01 -1.99666789e-02 -1.44117681e-01 -3.45095687e+01] [ 9.41032884e-03 9.97246290e-01 -7.35614254e-02 -3.19836856e+00] [ 1.45189600e-01 7.14224708e-02 9.86822583e-01 -5.40850573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68463044000003 meters Centerline goodness : 0.254056 with order 3 Centerline is valid? [False, False] Translation: X:-34.47, Y:-3.19, Z:-5.40 [[ 9.88951389e-01 -2.01758758e-02 -1.46860768e-01 -3.44650007e+01] [ 9.56893084e-03 9.97316996e-01 -7.25757912e-02 -3.18959373e+00] [ 1.47931020e-01 7.03686289e-02 9.86491089e-01 -5.40187657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74463044000004 meters Centerline goodness : 0.086724 with order 1 Centerline is valid? [False, False] Translation: X:-34.46, Y:-3.18, Z:-5.40 [[ 9.88851557e-01 -2.02033231e-02 -1.47527703e-01 -3.44631705e+01] [ 9.46557601e-03 9.97277709e-01 -7.31271077e-02 -3.18440860e+00] [ 1.48603500e-01 7.09154196e-02 9.86350852e-01 -5.40161781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80463044 meters Centerline goodness : 0.131213 with order 1 Centerline is valid? [False, False] Translation: X:-34.46, Y:-3.18, Z:-5.40 [[ 9.88758301e-01 -1.91317905e-02 -1.48293615e-01 -3.44602917e+01] [ 8.37192874e-03 9.97308122e-01 -7.28451861e-02 -3.17773900e+00] [ 1.49288086e-01 7.07847789e-02 9.86256854e-01 -5.40189883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86463044 meters Centerline goodness : 0.088617 with order 1 Centerline is valid? [False, False] Translation: X:-34.44, Y:-3.17, Z:-5.40 [[ 9.89416541e-01 -2.42258266e-02 -1.43066478e-01 -3.44429016e+01] [ 1.43216587e-02 9.97454266e-01 -6.98561127e-02 -3.16944116e+00] [ 1.44394591e-01 6.70678441e-02 9.87244704e-01 -5.39943575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92463044 meters Centerline goodness : 0.198730 with order 3 Centerline is valid? [False, False] Translation: X:-34.44, Y:-3.17, Z:-5.40 [[ 9.89365485e-01 -2.46968951e-02 -1.43338764e-01 -3.44417076e+01] [ 1.46919555e-02 9.97407632e-01 -7.04426190e-02 -3.16714553e+00] [ 1.44706891e-01 6.75875692e-02 9.87163531e-01 -5.39970183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98463044 meters Centerline goodness : 0.232675 with order 3 Centerline is valid? [False, False] Translation: X:-34.44, Y:-3.17, Z:-5.40 [[ 9.89210608e-01 -2.48130376e-02 -1.44383814e-01 -3.44385007e+01] [ 1.47434235e-02 9.97409979e-01 -7.03986143e-02 -3.16618233e+00] [ 1.45756660e-01 6.75103444e-02 9.87014361e-01 -5.40002118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04463044 meters Centerline goodness : 0.128113 with order 1 Centerline is valid? [False, False] Translation: X:-34.44, Y:-3.16, Z:-5.40 [[ 9.89298401e-01 -2.51876545e-02 -1.43715889e-01 -3.44401837e+01] [ 1.50872094e-02 9.97366300e-01 -7.09425083e-02 -3.16394806e+00] [ 1.45124259e-01 6.80150383e-02 9.87072897e-01 -5.39959683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10463044 meters Centerline goodness : 0.128349 with order 1 Centerline is valid? [False, False] Translation: X:-34.42, Y:-3.16, Z:-5.40 [[ 9.89177461e-01 -1.80867317e-02 -1.45605017e-01 -3.44179254e+01] [ 7.79407427e-03 9.97449325e-01 -7.09513716e-02 -3.16185264e+00] [ 1.46516905e-01 6.90486413e-02 9.86795360e-01 -5.39595571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16463044 meters Centerline goodness : 0.086453 with order 1 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.15, Z:-5.39 [[ 9.88490657e-01 -2.28765902e-02 -1.49542246e-01 -3.43932860e+01] [ 1.27149072e-02 9.97566092e-01 -6.85581771e-02 -3.14887408e+00] [ 1.50746651e-01 6.58677018e-02 9.86375635e-01 -5.39306987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22463044 meters Centerline goodness : 0.127673 with order 1 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.14, Z:-5.39 [[ 9.88481258e-01 -2.34172617e-02 -1.49520679e-01 -3.43941542e+01] [ 1.31168173e-02 9.97495159e-01 -6.95079584e-02 -3.14421976e+00] [ 1.50773840e-01 6.67460788e-02 9.86312430e-01 -5.39184898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28463044 meters Centerline goodness : 0.128048 with order 1 Centerline is valid? [False, False] Translation: X:-34.39, Y:-3.14, Z:-5.39 [[ 9.88532507e-01 -2.06043742e-02 -1.49595933e-01 -3.43941124e+01] [ 1.05948196e-02 9.97669658e-01 -6.74018016e-02 -3.13962116e+00] [ 1.50636095e-01 6.50439300e-02 9.86447188e-01 -5.39126551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34463044 meters Centerline goodness : 0.129130 with order 1 Centerline is valid? [False, False] Translation: X:-34.37, Y:-3.13, Z:-5.39 [[ 9.88258952e-01 -2.80218091e-02 -1.50196612e-01 -3.43737146e+01] [ 1.83086439e-02 9.97673623e-01 -6.56668513e-02 -3.12942454e+00] [ 1.51687302e-01 6.21459574e-02 9.86472930e-01 -5.38782095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40463044 meters Centerline goodness : 0.127951 with order 1 Centerline is valid? [False, False] Translation: X:-34.38, Y:-3.12, Z:-5.39 [[ 9.88400331e-01 -2.48579866e-02 -1.49822784e-01 -3.43753623e+01] [ 1.54660703e-02 9.97860130e-01 -6.35292209e-02 -3.12339672e+00] [ 1.51081391e-01 6.04751332e-02 9.86669738e-01 -5.38676214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46463044 meters Centerline goodness : 0.212941 with order 1 Centerline is valid? [False, False] Translation: X:-34.35, Y:-3.12, Z:-5.38 [[ 9.88786538e-01 -1.81367861e-02 -1.48230361e-01 -3.43548394e+01] [ 8.67232551e-03 9.97896259e-01 -6.42483240e-02 -3.11627912e+00] [ 1.49083781e-01 6.22423759e-02 9.86863675e-01 -5.38241103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52463044 meters Centerline goodness : 0.128618 with order 1 Centerline is valid? [False, False] Translation: X:-34.36, Y:-3.10, Z:-5.38 [[ 9.88748523e-01 -1.77812055e-02 -1.48526721e-01 -3.43556104e+01] [ 8.17995861e-03 9.97851368e-01 -6.50056651e-02 -3.10473167e+00] [ 1.49363470e-01 6.30593130e-02 9.86769516e-01 -5.38023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58463044 meters Centerline goodness : 0.128622 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.10, Z:-5.38 [[ 9.88452568e-01 -2.53831614e-02 -1.49389481e-01 -3.43354519e+01] [ 1.60987852e-02 9.97881576e-01 -6.30332442e-02 -3.09588839e+00] [ 1.50672993e-01 5.99003829e-02 9.86767244e-01 -5.37676517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64463044 meters Centerline goodness : 0.131783 with order 1 Centerline is valid? [False, False] Translation: X:-34.33, Y:-3.09, Z:-5.38 [[ 9.88353929e-01 -2.41796732e-02 -1.50239321e-01 -3.43336246e+01] [ 1.49254778e-02 9.97938267e-01 -6.24215182e-02 -3.08790757e+00] [ 1.51438900e-01 5.94521591e-02 9.86677100e-01 -5.37588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70463044 meters Centerline goodness : 0.129980 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.08, Z:-5.37 [[ 9.88555867e-01 -2.19912883e-02 -1.49243698e-01 -3.43377185e+01] [ 1.30143890e-02 9.98061369e-01 -6.08615624e-02 -3.08299438e+00] [ 1.50292794e-01 5.82227390e-02 9.86925625e-01 -5.37404158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76463044 meters Centerline goodness : 0.131427 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:-3.08, Z:-5.37 [[ 9.88550980e-01 -2.25406125e-02 -1.49194104e-01 -3.43382230e+01] [ 1.34184802e-02 9.97994051e-01 -6.18693714e-02 -3.07699297e+00] [ 1.50289402e-01 5.91590696e-02 9.86870458e-01 -5.37322474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82463044 meters Centerline goodness : 0.244553 with order 3 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.06, Z:-5.37 [[ 9.87818018e-01 -2.52122476e-02 -1.53557503e-01 -3.42971885e+01] [ 1.59912796e-02 9.98010216e-01 -6.09908756e-02 -3.06444315e+00] [ 1.54789674e-01 5.77923048e-02 9.86255650e-01 -5.36710174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88463044 meters Centerline goodness : 0.127921 with order 1 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.06, Z:-5.37 [[ 9.87836766e-01 -2.16588413e-02 -1.53978632e-01 -3.42964767e+01] [ 1.28021930e-02 9.98218224e-01 -5.82793412e-02 -3.05915730e+00] [ 1.54966539e-01 5.55992118e-02 9.86353942e-01 -5.36645462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94463044 meters Centerline goodness : 0.089630 with order 1 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.05, Z:-5.36 [[ 9.87926532e-01 -2.21454598e-02 -1.53332140e-01 -3.42998058e+01] [ 1.31338790e-02 9.98139686e-01 -5.95371248e-02 -3.04756587e+00] [ 1.54365371e-01 5.68044595e-02 9.86379534e-01 -5.36423140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00463044 meters Centerline goodness : 0.125737 with order 1 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.04, Z:-5.36 [[ 9.87922427e-01 -2.24728610e-02 -1.53310952e-01 -3.42999402e+01] [ 1.33569011e-02 9.98094940e-01 -6.02335748e-02 -3.04224493e+00] [ 1.54372506e-01 5.74583402e-02 9.86340544e-01 -5.36379162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06463044000003 meters Centerline goodness : 0.189017 with order 2 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.04, Z:-5.36 [[ 9.87844864e-01 -2.25743332e-02 -1.53795072e-01 -3.42987286e+01] [ 1.33559054e-02 9.98066004e-01 -6.07113860e-02 -3.03663899e+00] [ 1.54868152e-01 5.79193584e-02 9.86235876e-01 -5.36339839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12463044000003 meters Centerline goodness : 0.108698 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.03, Z:-5.36 [[ 9.87626573e-01 -2.16757312e-02 -1.55318751e-01 -3.42935692e+01] [ 1.23625653e-02 9.98080792e-01 -6.06786556e-02 -3.02816965e+00] [ 1.56335916e-01 5.80077145e-02 9.85999080e-01 -5.36401996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18463044000003 meters Centerline goodness : 0.127982 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87556777e-01 -2.17111292e-02 -1.55756987e-01 -3.42927904e+01] [ 1.22981823e-02 9.98053148e-01 -6.11446575e-02 -3.02370627e+00] [ 1.56781271e-01 5.84682931e-02 9.85901157e-01 -5.36342276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24463044000004 meters Centerline goodness : 0.125116 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87601913e-01 -2.20597603e-02 -1.55421451e-01 -3.42943883e+01] [ 1.25785934e-02 9.98013963e-01 -6.17244644e-02 -3.01999972e+00] [ 1.56474405e-01 5.90042159e-02 9.85917980e-01 -5.36236267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30463044 meters Centerline goodness : 0.217624 with order 3 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87606485e-01 -2.21836165e-02 -1.55374767e-01 -3.42942130e+01] [ 1.26862273e-02 9.98004659e-01 -6.18527224e-02 -3.01940125e+00] [ 1.56436859e-01 5.91150302e-02 9.85917300e-01 -5.36243852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36463044 meters Centerline goodness : 0.127994 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87520153e-01 -2.21072821e-02 -1.55933367e-01 -3.42915614e+01] [ 1.26146372e-02 9.98020871e-01 -6.16052912e-02 -3.02061435e+00] [ 1.56986680e-01 5.88694238e-02 9.85844599e-01 -5.36351766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42463044 meters Centerline goodness : 0.127256 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87596457e-01 -2.21375960e-02 -1.55445054e-01 -3.42931718e+01] [ 1.26976193e-02 9.98028705e-01 -6.14611546e-02 -3.02193493e+00] [ 1.56499228e-01 5.87250365e-02 9.85930708e-01 -5.36314905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48463044 meters Centerline goodness : 0.128341 with order 1 Centerline is valid? [False, False] Translation: X:-34.30, Y:-3.02, Z:-5.36 [[ 9.87701838e-01 -2.18239205e-02 -1.54818588e-01 -3.42953844e+01] [ 1.24840395e-02 9.98056899e-01 -6.10456780e-02 -3.02268618e+00] [ 1.55850016e-01 5.83621670e-02 9.86055085e-01 -5.36245190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54463044 meters Centerline goodness : 0.129840 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.36 [[ 9.87690849e-01 -2.19202629e-02 -1.54875076e-01 -3.42937980e+01] [ 1.25637943e-02 9.98050394e-01 -6.11356109e-02 -3.02317835e+00] [ 1.55913239e-01 5.84372649e-02 9.86040642e-01 -5.36384417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60463044 meters Centerline goodness : 0.130832 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.37 [[ 9.87739878e-01 -1.77318715e-02 -1.55098402e-01 -3.42916181e+01] [ 8.89764183e-03 9.98307657e-01 -5.74687253e-02 -3.02315456e+00] [ 1.55854950e-01 5.53841417e-02 9.86226055e-01 -5.36542399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66463044 meters Centerline goodness : 0.114872 with order 2 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.37 [[ 9.87668367e-01 -1.77396718e-02 -1.55552243e-01 -3.42893499e+01] [ 8.83374123e-03 9.98291467e-01 -5.77590912e-02 -3.02113916e+00] [ 1.56311104e-01 5.56727190e-02 9.86137611e-01 -5.36637604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72463044 meters Centerline goodness : 0.126714 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.37 [[ 9.87608598e-01 -1.76048258e-02 -1.55946554e-01 -3.42880096e+01] [ 8.69538324e-03 9.98300118e-01 -5.76304138e-02 -3.02116639e+00] [ 1.56696036e-01 5.55602771e-02 9.86082861e-01 -5.36660278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78463044 meters SLAMing on 495.84463044 meters Centerline goodness : 0.125897 with order 1 Centerline is valid? [False, False] Translation: X:-34.29, Y:-3.02, Z:-5.37 [[ 9.87726452e-01 -1.87874554e-02 -1.55059627e-01 -3.42903218e+01] [ 9.87698036e-03 9.98265602e-01 -5.80364849e-02 -3.02427751e+00] [ 1.55881050e-01 5.57926504e-02 9.86198904e-01 -5.36643882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90463044 meters Centerline goodness : 0.124901 with order 1 Centerline is valid? [False, False] Translation: X:-34.27, Y:-3.02, Z:-5.36 [[ 9.87559800e-01 -2.81724877e-02 -1.54699555e-01 -3.42703910e+01] [ 1.96350415e-02 9.98212855e-01 -5.64407682e-02 -3.02396288e+00] [ 1.56013161e-01 5.27011016e-02 9.86348056e-01 -5.36398274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96463044 meters Centerline goodness : 0.088260 with order 2 Centerline is valid? [False, False] Translation: X:-34.27, Y:-3.02, Z:-5.36 [[ 9.87787482e-01 -2.51247063e-02 -1.53768135e-01 -3.42742914e+01] [ 1.70194595e-02 9.98406562e-01 -5.38021909e-02 -3.02409972e+00] [ 1.54874879e-01 5.05280802e-02 9.86641113e-01 -5.36265520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02463044 meters Centerline goodness : 0.123826 with order 1 Centerline is valid? [False, False] Translation: X:-34.28, Y:-3.02, Z:-5.36 [[ 9.87874560e-01 -2.50327380e-02 -1.53222767e-01 -3.42756292e+01] [ 1.68903889e-02 9.98386497e-01 -5.42136278e-02 -3.02148430e+00] [ 1.54332657e-01 5.09682716e-02 9.86703434e-01 -5.36247426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08463044 meters Centerline goodness : 0.126819 with order 1 Centerline is valid? [False, False] Translation: X:-34.26, Y:-3.02, Z:-5.36 [[ 9.88539784e-01 -1.30046193e-02 -1.50399388e-01 -3.42596427e+01] [ 5.36462821e-03 9.98679511e-01 -5.10926178e-02 -3.01675215e+00] [ 1.50865227e-01 4.97002486e-02 9.87304192e-01 -5.35817987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14463044 meters Centerline goodness : 0.125790 with order 1 Centerline is valid? [False, False] Translation: X:-34.26, Y:-3.01, Z:-5.36 [[ 9.88716493e-01 -9.40964326e-03 -1.49503029e-01 -3.42600265e+01] [ 2.11917114e-03 9.98803909e-01 -4.88493717e-02 -3.01102596e+00] [ 1.49783864e-01 4.79813569e-02 9.87553838e-01 -5.35964069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20463044 meters Centerline goodness : 0.128098 with order 1 Centerline is valid? [False, False] Translation: X:-34.26, Y:-3.01, Z:-5.36 [[ 9.88777142e-01 -5.22772249e-03 -1.49306510e-01 -3.42589434e+01] [-1.65104711e-03 9.98944198e-01 -4.59103941e-02 -3.00683910e+00] [ 1.49388878e-01 4.56416604e-02 9.87724558e-01 -5.36103640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26463044 meters Centerline goodness : 0.087327 with order 1 Centerline is valid? [False, False] Translation: X:-34.22, Y:-3.00, Z:-5.36 [[ 9.88739442e-01 -3.19350028e-03 -1.49613227e-01 -3.42183395e+01] [-3.07418302e-03 9.99127842e-01 -4.16425818e-02 -2.99969183e+00] [ 1.49615726e-01 4.16336015e-02 9.87867287e-01 -5.35518655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32463044 meters Centerline goodness : 0.128473 with order 1 Centerline is valid? [False, False] Translation: X:-34.22, Y:-3.00, Z:-5.36 [[ 9.88720882e-01 -3.09921117e-03 -1.49737815e-01 -3.42176014e+01] [-3.19516269e-03 9.99121846e-01 -4.17771133e-02 -2.99827301e+00] [ 1.49735798e-01 4.17843410e-02 9.87842730e-01 -5.35556690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38463044 meters Centerline goodness : 0.128222 with order 1 Centerline is valid? [False, False] Translation: X:-34.20, Y:-2.99, Z:-5.35 [[ 9.88696360e-01 -1.05018390e-02 -1.49563426e-01 -3.41981114e+01] [ 4.68605970e-03 9.99221005e-01 -3.91844992e-02 -2.99324336e+00] [ 1.49858426e-01 3.80407086e-02 9.87975383e-01 -5.35446432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44463044 meters Centerline goodness : 0.086989 with order 1 Centerline is valid? [False, False] Translation: X:-34.18, Y:-2.99, Z:-5.35 [[ 9.88755331e-01 -1.77478865e-02 -1.48485378e-01 -3.41801055e+01] [ 1.25628294e-02 9.99280545e-01 -3.57850256e-02 -2.99131622e+00] [ 1.49013658e-01 3.35172384e-02 9.88266930e-01 -5.35190382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50463044 meters Centerline goodness : 0.127032 with order 1 Centerline is valid? [False, False] Translation: X:-34.18, Y:-2.99, Z:-5.35 [[ 9.88778848e-01 -1.80169312e-02 -1.48296256e-01 -3.41800233e+01] [ 1.28385495e-02 9.99276407e-01 -3.58027111e-02 -2.99240578e+00] [ 1.48834005e-01 3.34970546e-02 9.88294686e-01 -5.35224176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56463044000003 meters Centerline goodness : 0.236450 with order 3 Centerline is valid? [False, False] Translation: X:-34.16, Y:-2.99, Z:-5.35 [[ 9.88458958e-01 -2.80877840e-02 -1.48862232e-01 -3.41571892e+01] [ 2.31563226e-02 9.99127441e-01 -3.47583209e-02 -2.99293428e+00] [ 1.49708625e-01 3.09100718e-02 9.88246880e-01 -5.35152254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62463044000003 meters Centerline goodness : 0.105964 with order 1 Centerline is valid? [False, False] Translation: X:-34.16, Y:-3.00, Z:-5.35 [[ 9.88477408e-01 -2.83564712e-02 -1.48688685e-01 -3.41577796e+01] [ 2.34792966e-02 9.99130412e-01 -3.44549314e-02 -2.99665793e+00] [ 1.49536408e-01 3.05668155e-02 9.88283630e-01 -5.35115452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68463044000003 meters Centerline goodness : 0.212886 with order 3 Centerline is valid? [False, False] Translation: X:-34.16, Y:-3.00, Z:-5.35 [[ 9.88524436e-01 -2.87387041e-02 -1.48302142e-01 -3.41583616e+01] [ 2.39174558e-02 9.99129066e-01 -3.41915831e-02 -3.00101573e+00] [ 1.49155603e-01 3.02522054e-02 9.88350854e-01 -5.35126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74463044000004 meters Centerline goodness : 0.108195 with order 1 Centerline is valid? [False, False] Translation: X:-34.14, Y:-3.01, Z:-5.35 [[ 9.88449579e-01 -2.44242462e-02 -1.49569002e-01 -3.41410164e+01] [ 1.93428433e-02 9.99188322e-01 -3.53348370e-02 -3.00781176e+00] [ 1.50310627e-01 3.20336150e-02 9.88119711e-01 -5.34805917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80463044 meters Centerline goodness : 0.108149 with order 1 Centerline is valid? [False, False] Translation: X:-34.14, Y:-3.01, Z:-5.35 [[ 9.88524353e-01 -2.01893496e-02 -1.49706360e-01 -3.41399221e+01] [ 1.56563009e-02 9.99384374e-01 -3.13967008e-02 -3.01065344e+00] [ 1.50248076e-01 2.86925556e-02 9.88231882e-01 -5.34882242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86463044 meters Centerline goodness : 0.106122 with order 1 Centerline is valid? [False, False] Translation: X:-34.14, Y:-3.01, Z:-5.35 [[ 9.88618009e-01 -1.63374238e-02 -1.49557751e-01 -3.41396052e+01] [ 1.22824390e-02 9.99532550e-01 -2.79968537e-02 -3.01349419e+00] [ 1.49945237e-01 2.58412598e-02 9.88356543e-01 -5.34929018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92463044 meters Centerline goodness : 0.105956 with order 1 Centerline is valid? [False, False] Translation: X:-34.12, Y:-3.02, Z:-5.35 [[ 9.88580497e-01 -1.04195383e-02 -1.50333080e-01 -3.41217047e+01] [ 6.22168439e-03 9.99578211e-01 -2.83670606e-02 -3.01842310e+00] [ 1.50565243e-01 2.71077978e-02 9.88228352e-01 -5.34538635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98463044 meters Centerline goodness : 0.128872 with order 1 Centerline is valid? [False, False] Translation: X:-34.12, Y:-3.02, Z:-5.35 [[ 9.88611822e-01 -9.62433091e-03 -1.50180019e-01 -3.41209502e+01] [ 5.54741603e-03 9.99605248e-01 -2.75422166e-02 -3.02121577e+00] [ 1.50385811e-01 2.63954499e-02 9.88274956e-01 -5.34660174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04463044 meters Centerline goodness : 0.240344 with order 3 Centerline is valid? [False, False] Translation: X:-34.10, Y:-3.02, Z:-5.35 [[ 9.88734040e-01 -1.75060966e-02 -1.48655761e-01 -3.41004589e+01] [ 1.38871095e-02 9.99582226e-01 -2.53479924e-02 -3.02279180e+00] [ 1.49037401e-01 2.29980241e-02 9.88564082e-01 -5.34569525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10463044 meters Centerline goodness : 0.097534 with order 1 Centerline is valid? [False, False] Translation: X:-34.08, Y:-3.03, Z:-5.34 [[ 9.88587947e-01 -1.14928439e-02 -1.50205808e-01 -3.40821302e+01] [ 7.79411060e-03 9.99652297e-01 -2.51899981e-02 -3.02915871e+00] [ 1.50443086e-01 2.37318079e-02 9.88333789e-01 -5.34145828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16463044 meters Centerline goodness : 0.104416 with order 1 Centerline is valid? [False, False] Translation: X:-34.08, Y:-3.03, Z:-5.34 [[ 9.88625446e-01 -1.14488396e-02 -1.49962164e-01 -3.40799305e+01] [ 7.78851142e-03 9.99657786e-01 -2.49729726e-02 -3.03434714e+00] [ 1.50196756e-01 2.35209342e-02 9.88376295e-01 -5.34409899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22463044 meters Centerline goodness : 0.102624 with order 1 Centerline is valid? [False, False] Translation: X:-34.04, Y:-3.04, Z:-5.34 [[ 9.88378625e-01 -1.35392205e-02 -1.51408000e-01 -3.40446173e+01] [ 1.03392987e-02 9.99706662e-01 -2.19017956e-02 -3.03808707e+00] [ 1.51660119e-01 2.00818141e-02 9.88228682e-01 -5.33808691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28463044 meters Centerline goodness : 0.103277 with order 1 Centerline is valid? [False, False] Translation: X:-34.05, Y:-3.05, Z:-5.34 [[ 9.88493954e-01 -1.47340918e-02 -1.50541053e-01 -3.40469827e+01] [ 1.15070380e-02 9.99685432e-01 -2.22850805e-02 -3.04682432e+00] [ 1.50822048e-01 2.02963857e-02 9.88352552e-01 -5.33776488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34463044 meters Centerline goodness : 0.104520 with order 1 Centerline is valid? [False, False] Translation: X:-34.03, Y:-3.06, Z:-5.33 [[ 9.88491526e-01 -9.29375519e-03 -1.50990491e-01 -3.40305315e+01] [ 5.95227739e-03 9.99727607e-01 -2.25673011e-02 -3.05508456e+00] [ 1.51159097e-01 2.14088486e-02 9.88277587e-01 -5.33342936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40463044 meters Centerline goodness : 0.104356 with order 1 Centerline is valid? [False, False] Translation: X:-34.03, Y:-3.06, Z:-5.33 [[ 9.88428296e-01 -8.51460208e-03 -1.51449676e-01 -3.40282297e+01] [ 5.30355013e-03 9.99752768e-01 -2.15934300e-02 -3.05875356e+00] [ 1.51596092e-01 2.05403363e-02 9.88229082e-01 -5.33440930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46463044 meters Centerline goodness : 0.135883 with order 1 Centerline is valid? [False, False] Translation: X:-34.01, Y:-3.07, Z:-5.33 [[ 9.88234812e-01 -4.43118156e-03 -1.52880087e-01 -3.40141260e+01] [ 9.26330057e-04 9.99735286e-01 -2.29891088e-02 -3.06699640e+00] [ 1.52941486e-01 2.25770202e-02 9.87977317e-01 -5.33034638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52463044 meters Centerline goodness : 0.087300 with order 1 Centerline is valid? [False, False] Translation: X:-34.00, Y:-3.07, Z:-5.33 [[ 9.88590071e-01 1.44005841e-03 -1.50624030e-01 -3.39968478e+01] [-5.12078484e-03 9.99697606e-01 -2.40515015e-02 -3.07283783e+00] [ 1.50543847e-01 2.45483889e-02 9.88298501e-01 -5.32641941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58463044 meters Centerline goodness : 0.132170 with order 1 Centerline is valid? [False, False] Translation: X:-34.00, Y:-3.08, Z:-5.33 [[ 9.88589108e-01 1.80625946e-03 -1.50626402e-01 -3.39965735e+01] [-5.40185864e-03 9.99710059e-01 -2.34652279e-02 -3.07694858e+00] [ 1.50540345e-01 2.40111313e-02 9.88312233e-01 -5.32642128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64463044 meters Centerline goodness : 0.105395 with order 1 Centerline is valid? [False, False] Translation: X:-33.98, Y:-3.08, Z:-5.32 [[ 9.88713220e-01 -8.21331712e-03 -1.49595154e-01 -3.39777683e+01] [ 4.85723878e-03 9.99728566e-01 -2.27859757e-02 -3.07952828e+00] [ 1.49741698e-01 2.18021760e-02 9.88484744e-01 -5.32412739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70463044 meters Centerline goodness : 0.094941 with order 1 Centerline is valid? [False, False] Translation: X:-33.98, Y:-3.09, Z:-5.32 [[ 9.88760424e-01 -9.16332564e-03 -1.49227534e-01 -3.39782747e+01] [ 5.84689436e-03 9.99726413e-01 -2.26475693e-02 -3.09001717e+00] [ 1.49394235e-01 2.15205026e-02 9.88543489e-01 -5.32443063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76463044 meters Centerline goodness : 0.247579 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.10, Z:-5.32 [[ 9.88367680e-01 -4.67662261e-03 -1.52011377e-01 -3.39610734e+01] [ 1.23435918e-03 9.99740850e-01 -2.27312587e-02 -3.10071490e+00] [ 1.52078289e-01 2.22792048e-02 9.88117316e-01 -5.32081026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82463044 meters Centerline goodness : 0.248046 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.11, Z:-5.32 [[ 9.88439791e-01 -5.17222073e-03 -1.51525669e-01 -3.39618318e+01] [ 1.77046587e-03 9.99743554e-01 -2.25763426e-02 -3.10980189e+00] [ 1.51603581e-01 2.20470843e-02 9.88195467e-01 -5.32116764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88463044 meters Centerline goodness : 0.245499 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.12, Z:-5.32 [[ 9.88463030e-01 -4.72468867e-03 -1.51388624e-01 -3.39616693e+01] [ 1.38949585e-03 9.99754161e-01 -2.21288878e-02 -3.11526145e+00] [ 1.51455959e-01 2.16632336e-02 9.88226592e-01 -5.32102569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94463044 meters Centerline goodness : 0.087114 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.12, Z:-5.32 [[ 9.88390583e-01 -4.66708870e-03 -1.51862680e-01 -3.39593906e+01] [ 1.32895262e-03 9.99755426e-01 -2.20753578e-02 -3.12342950e+00] [ 1.51928566e-01 2.16172574e-02 9.88155051e-01 -5.32160301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00463044 meters Centerline goodness : 0.155846 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.13, Z:-5.32 [[ 9.88457756e-01 -4.48056279e-03 -1.51430475e-01 -3.39601986e+01] [ 1.19474080e-03 9.99762018e-01 -2.17825751e-02 -3.12622304e+00] [ 1.51492036e-01 2.13502351e-02 9.88227874e-01 -5.32172654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06463044000003 meters Centerline goodness : 0.340853 with order 2 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.13, Z:-5.32 [[ 9.88512889e-01 -7.66229351e-03 -1.50942235e-01 -3.39610033e+01] [ 3.95069815e-03 9.99682786e-01 -2.48740645e-02 -3.12852207e+00] [ 1.51084946e-01 2.39920062e-02 9.88229590e-01 -5.32166416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12463044000003 meters Centerline goodness : 0.133704 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.13, Z:-5.32 [[ 9.88498926e-01 -6.99338912e-03 -1.51066095e-01 -3.39603317e+01] [ 3.33953370e-03 9.99696031e-01 -2.44273069e-02 -3.13072696e+00] [ 1.51191005e-01 2.36418763e-02 9.88221808e-01 -5.32178273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18463044000003 meters Centerline goodness : 0.133743 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.13, Z:-5.32 [[ 9.88514482e-01 -6.90847232e-03 -1.50968183e-01 -3.39601934e+01] [ 3.27189398e-03 9.99698785e-01 -2.43235146e-02 -3.13254490e+00] [ 1.51090748e-01 2.35501945e-02 9.88239330e-01 -5.32205489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24463044000004 meters Centerline goodness : 0.275900 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.14, Z:-5.32 [[ 9.88587044e-01 -8.32515724e-03 -1.50420574e-01 -3.39613575e+01] [ 4.58582502e-03 9.99672189e-01 -2.51889810e-02 -3.13871512e+00] [ 1.50580966e-01 2.42116978e-02 9.88301152e-01 -5.32202607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30463044 meters Centerline goodness : 0.251993 with order 3 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.15, Z:-5.32 [[ 9.88641302e-01 -9.44307624e-03 -1.49997345e-01 -3.39632481e+01] [ 5.74249437e-03 9.99668829e-01 -2.50849897e-02 -3.14956242e+00] [ 1.50184550e-01 2.39386980e-02 9.88368120e-01 -5.32115107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36463044 meters Centerline goodness : 0.252619 with order 3 Centerline is valid? [False, False] Translation: X:-33.97, Y:-3.16, Z:-5.32 [[ 9.88750836e-01 -1.16157535e-02 -1.49120282e-01 -3.39655930e+01] [ 7.79001029e-03 9.99626003e-01 -2.62139392e-02 -3.15884351e+00] [ 1.49369006e-01 2.47574057e-02 9.88471533e-01 -5.32084882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42463044 meters Centerline goodness : 0.134191 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.17, Z:-5.32 [[ 9.88585150e-01 -1.34194945e-02 -1.50064382e-01 -3.39619896e+01] [ 9.54262039e-03 9.99602600e-01 -2.65250740e-02 -3.17272639e+00] [ 1.50360699e-01 2.47902868e-02 9.88320344e-01 -5.32185153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48463044 meters Centerline goodness : 0.227706 with order 2 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.18, Z:-5.32 [[ 9.88556886e-01 -1.43956973e-02 -1.50160072e-01 -3.39606903e+01] [ 1.05496954e-02 9.99596373e-01 -2.63779358e-02 -3.18298559e+00] [ 1.50479192e-01 2.44919470e-02 9.88309748e-01 -5.32267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54463044 meters Centerline goodness : 0.134229 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.19, Z:-5.32 [[ 9.88702730e-01 -1.56534157e-02 -1.49070060e-01 -3.39637241e+01] [ 1.18275608e-02 9.99578393e-01 -2.65168900e-02 -3.19365186e+00] [ 1.49422291e-01 2.44541863e-02 9.88471027e-01 -5.32224686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60463044 meters Centerline goodness : 0.144347 with order 1 Centerline is valid? [False, False] Translation: X:-33.97, Y:-3.21, Z:-5.32 [[ 9.88830851e-01 -1.80941997e-02 -1.47939675e-01 -3.39667832e+01] [ 1.41960100e-02 9.99524743e-01 -2.73635029e-02 -3.21046344e+00] [ 1.48364486e-01 2.49577227e-02 9.88617768e-01 -5.32175087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66463044 meters Centerline goodness : 0.089943 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.22, Z:-5.32 [[ 9.88520009e-01 -1.39047060e-02 -1.50448830e-01 -3.39512654e+01] [ 9.86044423e-03 9.99570579e-01 -2.75940239e-02 -3.22418064e+00] [ 1.50767911e-01 2.57937524e-02 9.88232624e-01 -5.31805754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72463044 meters Centerline goodness : 0.220857 with order 3 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.24, Z:-5.32 [[ 9.88641977e-01 -1.47284315e-02 -1.49566425e-01 -3.39529961e+01] [ 1.08006912e-02 9.99576021e-01 -2.70392917e-02 -3.24014501e+00] [ 1.49901259e-01 2.51167581e-02 9.88381890e-01 -5.31851621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78463044 meters Centerline goodness : 0.103649 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.25, Z:-5.32 [[ 9.88511965e-01 -1.78685310e-02 -1.50082677e-01 -3.39504335e+01] [ 1.36650638e-02 9.99486219e-01 -2.89924963e-02 -3.24931646e+00] [ 1.50523621e-01 2.66085402e-02 9.88248261e-01 -5.31933256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84463044 meters Centerline goodness : 0.218470 with order 3 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.26, Z:-5.32 [[ 9.88498755e-01 -1.93016015e-02 -1.49992199e-01 -3.39497443e+01] [ 1.50813099e-02 9.99459123e-01 -2.92235571e-02 -3.26103661e+00] [ 1.50475133e-01 2.66253710e-02 9.88255192e-01 -5.31965619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90463044 meters Centerline goodness : 0.279004 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.27, Z:-5.32 [[ 9.88517571e-01 -2.22152250e-02 -1.49464029e-01 -3.39509909e+01] [ 1.78156508e-02 9.99369531e-01 -3.07106348e-02 -3.27331919e+00] [ 1.50052040e-01 2.76952032e-02 9.88290120e-01 -5.31965179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96463044 meters Centerline goodness : 0.138317 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.28, Z:-5.32 [[ 9.88402722e-01 -2.29610737e-02 -1.50109456e-01 -3.39482113e+01] [ 1.85729901e-02 9.99360067e-01 -3.05696010e-02 -3.28300563e+00] [ 1.50715307e-01 2.74270954e-02 9.88196666e-01 -5.32054957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02463044 meters Centerline goodness : 0.274516 with order 3 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.30, Z:-5.32 [[ 9.88505508e-01 -2.51460614e-02 -1.49078957e-01 -3.39522447e+01] [ 2.07287207e-02 9.99300962e-01 -3.11112231e-02 -3.29753683e+00] [ 1.49757070e-01 2.76633993e-02 9.88335751e-01 -5.31917163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08463044 meters Centerline goodness : 0.286168 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.30, Z:-5.32 [[ 9.88452123e-01 -2.88220702e-02 -1.48767231e-01 -3.39523504e+01] [ 2.40588334e-02 9.99141722e-01 -3.37193069e-02 -3.30476471e+00] [ 1.49611408e-01 2.97507544e-02 9.88297182e-01 -5.31918312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14463044 meters Centerline goodness : 0.284374 with order 1 Centerline is valid? [False, False] Translation: X:-33.95, Y:-3.32, Z:-5.32 [[ 9.88385089e-01 -3.04127573e-02 -1.48895873e-01 -3.39506166e+01] [ 2.56268629e-02 9.99094693e-01 -3.39567186e-02 -3.31658037e+00] [ 1.49793793e-01 2.97465802e-02 9.88269680e-01 -5.32025855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20463044 meters Centerline goodness : 0.156934 with order 2 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.33, Z:-5.33 [[ 9.88949466e-01 -2.58618715e-02 -1.45979854e-01 -3.39648734e+01] [ 2.07577100e-02 9.99122396e-01 -3.63806968e-02 -3.32949679e+00] [ 1.46792615e-01 3.29484632e-02 9.88618393e-01 -5.32592600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26463044 meters Centerline goodness : 0.288110 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.34, Z:-5.33 [[ 9.89008761e-01 -2.54856219e-02 -1.45643929e-01 -3.39632999e+01] [ 2.05329034e-02 9.99161966e-01 -3.54085659e-02 -3.33744687e+00] [ 1.46424284e-01 3.20288892e-02 9.88703231e-01 -5.32807738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32463044 meters Centerline goodness : 0.255956 with order 2 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.34, Z:-5.33 [[ 9.88888009e-01 -2.83616611e-02 -1.45931909e-01 -3.39602259e+01] [ 2.31384348e-02 9.99033719e-01 -3.73662972e-02 -3.34292991e+00] [ 1.46850668e-01 3.35744473e-02 9.88588710e-01 -5.32992851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38463044 meters Centerline goodness : 0.141600 with order 1 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.35, Z:-5.33 [[ 9.88782431e-01 -3.01312485e-02 -1.46292212e-01 -3.39584072e+01] [ 2.48595761e-02 9.98978662e-01 -3.77310736e-02 -3.35432953e+00] [ 1.47279683e-01 3.36710603e-02 9.88521601e-01 -5.33040731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44463044 meters Centerline goodness : 0.167422 with order 2 Centerline is valid? [False, False] Translation: X:-33.96, Y:-3.36, Z:-5.33 [[ 9.88844815e-01 -3.02816575e-02 -1.45838790e-01 -3.39575707e+01] [ 2.50730676e-02 9.98984961e-01 -3.74217827e-02 -3.35986248e+00] [ 1.46823952e-01 3.33477099e-02 9.88600353e-01 -5.33206393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50463044 meters Centerline goodness : 0.185660 with order 3 Centerline is valid? [False, False] Translation: X:-33.94, Y:-3.37, Z:-5.33 [[ 9.88641184e-01 -2.60797411e-02 -1.48015053e-01 -3.39382176e+01] [ 2.05569420e-02 9.99038602e-01 -3.87205793e-02 -3.36947484e+00] [ 1.48882575e-01 3.52380225e-02 9.88226827e-01 -5.32923508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56463044000003 meters Centerline goodness : 0.131983 with order 1 Centerline is valid? [False, False] Translation: X:-33.94, Y:-3.38, Z:-5.33 [[ 9.88669702e-01 -2.56086335e-02 -1.47906787e-01 -3.39373028e+01] [ 2.02365813e-02 9.99083720e-01 -3.77120892e-02 -3.37589251e+00] [ 1.48737018e-01 3.42916722e-02 9.88282035e-01 -5.33007956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62463044000003 meters Centerline goodness : 0.245116 with order 2 Centerline is valid? [False, False] Translation: X:-33.92, Y:-3.38, Z:-5.33 [[ 9.88837059e-01 -1.98091089e-02 -1.47678262e-01 -3.39197803e+01] [ 1.42157694e-02 9.99144512e-01 -3.88349834e-02 -3.38372502e+00] [ 1.48321212e-01 3.63021106e-02 9.88272723e-01 -5.32583532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68463044000003 meters Centerline goodness : 0.178298 with order 2 Centerline is valid? [False, False] Translation: X:-33.92, Y:-3.39, Z:-5.33 [[ 9.88986632e-01 -1.97642152e-02 -1.46679301e-01 -3.39212614e+01] [ 1.42499884e-02 9.99155066e-01 -3.85498680e-02 -3.38634156e+00] [ 1.47317274e-01 3.60351258e-02 9.88432643e-01 -5.32637608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74463044000004 meters Centerline goodness : 0.258397 with order 3 Centerline is valid? [False, False] Translation: X:-33.92, Y:-3.39, Z:-5.33 [[ 9.89125872e-01 -1.97294008e-02 -1.45742099e-01 -3.39207069e+01] [ 1.43095051e-02 9.99169809e-01 -3.81435427e-02 -3.39157501e+00] [ 1.46373655e-01 3.56432677e-02 9.88587027e-01 -5.32865706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80463044 meters Centerline goodness : 0.123649 with order 1 Centerline is valid? [False, False] Translation: X:-33.92, Y:-3.39, Z:-5.33 [[ 9.89305830e-01 -1.98039158e-02 -1.44505290e-01 -3.39223482e+01] [ 1.44710898e-02 9.99178178e-01 -3.78623303e-02 -3.39474639e+00] [ 1.45136355e-01 3.53662751e-02 9.88779381e-01 -5.32960431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86463044 meters Centerline goodness : 0.255919 with order 3 Centerline is valid? [False, False] Translation: X:-33.92, Y:-3.40, Z:-5.33 [[ 9.89420897e-01 -1.96639625e-02 -1.43734535e-01 -3.39226291e+01] [ 1.43886038e-02 9.99187394e-01 -3.76499510e-02 -3.39579621e+00] [ 1.44358083e-01 3.51835090e-02 9.88899825e-01 -5.33074469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92463044 meters Centerline goodness : 0.098773 with order 1 Centerline is valid? [False, False] Translation: X:-33.90, Y:-3.39, Z:-5.33 [[ 9.89571417e-01 -1.26220692e-02 -1.43489005e-01 -3.38990727e+01] [ 7.15587265e-03 9.99231153e-01 -3.85473276e-02 -3.39474549e+00] [ 1.43865231e-01 3.71185445e-02 9.88900910e-01 -5.32964280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98463044 meters Centerline goodness : 0.208341 with order 2 Centerline is valid? [False, False] Translation: X:-33.90, Y:-3.39, Z:-5.33 [[ 9.89727533e-01 -1.12844098e-02 -1.42520432e-01 -3.38964704e+01] [ 5.96338558e-03 9.99271034e-01 -3.77072737e-02 -3.39026764e+00] [ 1.42842044e-01 3.64700227e-02 9.89073348e-01 -5.33352970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04463044 meters Centerline goodness : 0.262004 with order 2 Centerline is valid? [False, False] Translation: X:-33.87, Y:-3.39, Z:-5.33 [[ 9.89680547e-01 -1.98955542e-02 -1.41903427e-01 -3.38730399e+01] [ 1.48333215e-02 9.99218330e-01 -3.66428975e-02 -3.38791919e+00] [ 1.42521536e-01 3.41598637e-02 9.89202060e-01 -5.33267416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10463044 meters Centerline goodness : 0.216196 with order 3 Centerline is valid? [False, False] Translation: X:-33.87, Y:-3.39, Z:-5.33 [[ 9.89733193e-01 -2.01490904e-02 -1.41499900e-01 -3.38724700e+01] [ 1.50848962e-02 9.99209843e-01 -3.67713828e-02 -3.38845795e+00] [ 1.42129002e-01 3.42593467e-02 9.89255095e-01 -5.33395386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16463044 meters Centerline goodness : 0.090185 with order 1 Centerline is valid? [False, False] Translation: X:-33.85, Y:-3.39, Z:-5.33 [[ 9.89913651e-01 -2.96941673e-02 -1.38525160e-01 -3.38527815e+01] [ 2.49308475e-02 9.99040923e-01 -3.59956422e-02 -3.38729726e+00] [ 1.39461164e-01 3.21790279e-02 9.89704549e-01 -5.33310350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22463044 meters Centerline goodness : 0.091317 with order 1 Centerline is valid? [False, False] Translation: X:-33.85, Y:-3.39, Z:-5.34 [[ 9.90134824e-01 -2.99076598e-02 -1.36888865e-01 -3.38538878e+01] [ 2.51869776e-02 9.99031131e-01 -3.60889800e-02 -3.38791429e+00] [ 1.37835575e-01 3.22851391e-02 9.89928798e-01 -5.33551058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28463044 meters Centerline goodness : 0.145244 with order 3 Centerline is valid? [False, False] Translation: X:-33.83, Y:-3.39, Z:-5.34 [[ 9.90405313e-01 -2.36949202e-02 -1.36146487e-01 -3.38324647e+01] [ 1.88301404e-02 9.99141188e-01 -3.69095061e-02 -3.39149733e+00] [ 1.36904131e-01 3.39917134e-02 9.90000920e-01 -5.33536547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34463044 meters Centerline goodness : 0.145322 with order 3 Centerline is valid? [False, False] Translation: X:-33.83, Y:-3.39, Z:-5.34 [[ 9.90648118e-01 -2.34469309e-02 -1.34411861e-01 -3.38335757e+01] [ 1.86860294e-02 9.99156262e-01 -3.65731710e-02 -3.39259566e+00] [ 1.35155981e-01 3.37195190e-02 9.90250400e-01 -5.33819942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40463044 meters Centerline goodness : 0.119613 with order 1 Centerline is valid? [False, False] Translation: X:-33.83, Y:-3.40, Z:-5.34 [[ 9.90932166e-01 -2.41243602e-02 -1.32179641e-01 -3.38343858e+01] [ 1.93893734e-02 9.99127395e-01 -3.69932560e-02 -3.39548377e+00] [ 1.32956739e-01 3.40949269e-02 9.90535230e-01 -5.34251363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46463044 meters Centerline goodness : 0.083800 with order 1 Centerline is valid? [False, False] Translation: X:-33.84, Y:-3.40, Z:-5.35 [[ 9.91401102e-01 -2.72469845e-02 -1.27990064e-01 -3.38374880e+01] [ 2.24316348e-02 9.98990712e-01 -3.89150284e-02 -3.40180006e+00] [ 1.28921202e-01 3.57093757e-02 9.91011687e-01 -5.34906419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52463044 meters Centerline goodness : 0.094011 with order 1 Centerline is valid? [False, False] Translation: X:-33.84, Y:-3.41, Z:-5.35 [[ 9.91689908e-01 -3.05870274e-02 -1.24962233e-01 -3.38395451e+01] [ 2.56123057e-02 9.98821577e-01 -4.12245987e-02 -3.40724479e+00] [ 1.26075913e-01 3.76814476e-02 9.91304682e-01 -5.35392778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58463044 meters Centerline goodness : 0.157935 with order 3 Centerline is valid? [False, False] Translation: X:-33.84, Y:-3.42, Z:-5.36 [[ 9.92120811e-01 -3.49730546e-02 -1.20304537e-01 -3.38421928e+01] [ 2.98534110e-02 9.98581045e-01 -4.40984119e-02 -3.41838615e+00] [ 1.21676086e-01 4.01594514e-02 9.91757102e-01 -5.36223982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64463044 meters Centerline goodness : 0.129932 with order 3 Centerline is valid? [False, False] Translation: X:-33.84, Y:-3.43, Z:-5.37 [[ 9.92392171e-01 -3.40367769e-02 -1.18318543e-01 -3.38405672e+01] [ 2.91720098e-02 9.98665894e-01 -4.26078112e-02 -3.42543292e+00] [ 1.19610926e-01 3.88320686e-02 9.92061136e-01 -5.36880648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70463044 meters Centerline goodness : 0.191363 with order 3 Centerline is valid? [False, False] Translation: X:-33.84, Y:-3.43, Z:-5.38 [[ 9.92644349e-01 -3.27119984e-02 -1.16563805e-01 -3.38385096e+01] [ 2.81183546e-02 9.98770050e-01 -4.08380491e-02 -3.43158389e+00] [ 1.17756332e-01 3.72600763e-02 9.92343254e-01 -5.37523670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76463044 meters Centerline goodness : 0.152154 with order 2 Centerline is valid? [False, False] Translation: X:-33.86, Y:-3.44, Z:-5.39 [[ 9.94066055e-01 -2.68013308e-02 -1.05424697e-01 -3.38568396e+01] [ 2.26095440e-02 9.98913236e-01 -4.07572805e-02 -3.44021667e+00] [ 1.06402474e-01 3.81318247e-02 9.93591706e-01 -5.39410518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82463044 meters Centerline goodness : 0.141404 with order 1 Centerline is valid? [False, False] Translation: X:-33.85, Y:-3.45, Z:-5.40 [[ 9.94339174e-01 -2.54184945e-02 -1.03167378e-01 -3.38543387e+01] [ 2.14877542e-02 9.99006782e-01 -3.90349425e-02 -3.44505219e+00] [ 1.04057120e-01 3.65971372e-02 9.93897764e-01 -5.40240469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88463044 meters Centerline goodness : 0.152951 with order 3 Centerline is valid? [False, False] Translation: X:-33.83, Y:-3.45, Z:-5.41 [[ 9.95426908e-01 -2.00186638e-02 -9.34051573e-02 -3.38269501e+01] [ 1.62942674e-02 9.99047994e-01 -4.04672909e-02 -3.44815141e+00] [ 9.41263362e-02 3.87602617e-02 9.94805446e-01 -5.41271456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94463044 meters SLAMing on 501.00463044 meters Centerline goodness : 0.207656 with order 2 Centerline is valid? [False, False] Translation: X:-33.80, Y:-3.45, Z:-5.43 [[ 9.96644672e-01 -1.23976804e-02 -8.09054714e-02 -3.37957995e+01] [ 9.11513357e-03 9.99125078e-01 -4.08165733e-02 -3.44876490e+00] [ 8.13407163e-02 3.99421561e-02 9.95885692e-01 -5.43008915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06463044000003 meters Centerline goodness : 0.186128 with order 1 Centerline is valid? [False, False] Translation: X:-33.77, Y:-3.44, Z:-5.44 [[ 9.97424979e-01 -3.06146677e-03 -7.16522009e-02 -3.37721882e+01] [ 2.20198784e-04 9.99214480e-01 -3.96279545e-02 -3.44296231e+00] [ 7.17172363e-02 3.95101340e-02 9.96642156e-01 -5.44047335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12463044000003 meters Centerline goodness : 0.232689 with order 2 Centerline is valid? [False, False] Translation: X:-33.75, Y:-3.44, Z:-5.45 [[ 9.97684238e-01 -4.35767142e-03 -6.78761501e-02 -3.37457293e+01] [ 2.07643350e-03 9.99431751e-01 -3.36431898e-02 -3.44071766e+00] [ 6.79841855e-02 3.34243398e-02 9.97126353e-01 -5.44703415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18463044000003 meters Centerline goodness : 0.265972 with order 2 Centerline is valid? [False, False] Translation: X:-33.77, Y:-3.43, Z:-5.47 [[ 9.98631047e-01 -1.78438420e-04 -5.23067802e-02 -3.37650851e+01] [-1.51938747e-03 9.99473262e-01 -3.24174405e-02 -3.43196217e+00] [ 5.22850128e-02 3.24525368e-02 9.98104759e-01 -5.47139844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24463044000004 meters Centerline goodness : 0.208615 with order 1 Centerline is valid? [False, False] Translation: X:-33.74, Y:-3.43, Z:-5.48 [[ 9.98854660e-01 -2.50538509e-03 -4.77816966e-02 -3.37392740e+01] [ 1.21008553e-03 9.99631497e-01 -2.71183815e-02 -3.42897125e+00] [ 4.78320309e-02 2.70295018e-02 9.98489611e-01 -5.47686074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30463044 meters Centerline goodness : 0.207787 with order 1 Centerline is valid? [False, False] Translation: X:-33.71, Y:-3.42, Z:-5.49 [[ 9.99025077e-01 -6.60288134e-03 -4.36497246e-02 -3.37110284e+01] [ 5.62580385e-03 9.99731698e-01 -2.24695725e-02 -3.42256903e+00] [ 4.37863772e-02 2.22021016e-02 9.98794183e-01 -5.48898158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36463044 meters Centerline goodness : 0.170194 with order 1 Centerline is valid? [False, False] Translation: X:-33.69, Y:-3.42, Z:-5.50 [[ 9.99091255e-01 -1.29582233e-02 -4.06047818e-02 -3.36853081e+01] [ 1.21800120e-02 9.99738488e-01 -1.93546439e-02 -3.42131774e+00] [ 4.08449650e-02 1.88424887e-02 9.98987812e-01 -5.49559735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42463044 meters Centerline goodness : 0.155272 with order 1 Centerline is valid? [False, False] Translation: X:-33.64, Y:-3.42, Z:-5.50 [[ 9.99329613e-01 -1.22914559e-02 -3.44854241e-02 -3.36408218e+01] [ 1.17160381e-02 9.99789576e-01 -1.68385829e-02 -3.41611751e+00] [ 3.46851383e-02 1.64232620e-02 9.99263337e-01 -5.50164007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48463044 meters Centerline goodness : 0.145317 with order 1 Centerline is valid? [False, False] Translation: X:-33.61, Y:-3.41, Z:-5.51 [[ 9.99453875e-01 -5.37456553e-03 -3.26046984e-02 -3.36136636e+01] [ 4.78150411e-03 9.99822200e-01 -1.82402278e-02 -3.40977048e+00] [ 3.26969346e-02 1.80743668e-02 9.99301870e-01 -5.50816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54463044 meters Centerline goodness : 0.158503 with order 1 Centerline is valid? [False, False] Translation: X:-33.61, Y:-3.40, Z:-5.52 [[ 9.99518230e-01 -3.34888207e-03 -3.08560050e-02 -3.36092571e+01] [ 2.81890168e-03 9.99848036e-01 -1.72034436e-02 -3.40252950e+00] [ 3.09089283e-02 1.71081754e-02 9.99375779e-01 -5.51881743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60463044 meters Centerline goodness : 0.180518 with order 1 Centerline is valid? [False, False] Translation: X:-33.58, Y:-3.39, Z:-5.53 [[ 9.99591366e-01 -8.44013852e-03 -2.73105395e-02 -3.35793776e+01] [ 8.06268824e-03 9.99870864e-01 -1.39014112e-02 -3.39174027e+00] [ 2.74243426e-02 1.36755342e-02 9.99530332e-01 -5.53141622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66463044 meters Centerline goodness : 0.156659 with order 1 Centerline is valid? [False, False] Translation: X:-33.55, Y:-3.39, Z:-5.54 [[ 9.99566747e-01 -1.62795416e-02 -2.45213226e-02 -3.35522795e+01] [ 1.59859942e-02 9.99798757e-01 -1.21199531e-02 -3.38588835e+00] [ 2.47136951e-02 1.17227043e-02 9.99625836e-01 -5.53995282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72463044 meters Centerline goodness : 0.209969 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-3.38, Z:-5.55 [[ 9.99544120e-01 -2.31174284e-02 -1.94200227e-02 -3.35039479e+01] [ 2.28411515e-02 9.99636404e-01 -1.43297616e-02 -3.37709332e+00] [ 1.97442289e-02 1.38796533e-02 9.99708718e-01 -5.55069876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78463044 meters Centerline goodness : 0.209022 with order 1 Centerline is valid? [False, False] Translation: X:-33.50, Y:-3.37, Z:-5.57 [[ 9.99525924e-01 -2.49888089e-02 -1.79857322e-02 -3.34958040e+01] [ 2.46976991e-02 9.99563214e-01 -1.62297352e-02 -3.37435072e+00] [ 1.83834380e-02 1.57778349e-02 9.99706511e-01 -5.56528227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84463044 meters Centerline goodness : 0.210348 with order 1 Centerline is valid? [False, False] Translation: X:-33.47, Y:-3.37, Z:-5.58 [[ 9.99623871e-01 -2.05460766e-02 -1.81652317e-02 -3.34659348e+01] [ 2.02092028e-02 9.99623894e-01 -1.85380304e-02 -3.37192704e+00] [ 1.85392835e-02 1.81639529e-02 9.99663126e-01 -5.57531471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90463044 meters Centerline goodness : 0.206855 with order 1 Centerline is valid? [False, False] Translation: X:-33.44, Y:-3.37, Z:-5.59 [[ 9.99737368e-01 -1.59135460e-02 -1.64910433e-02 -3.34355478e+01] [ 1.55754420e-02 9.99669919e-01 -2.04318124e-02 -3.37034849e+00] [ 1.68107425e-02 2.01695911e-02 9.99655234e-01 -5.58953986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96463044 meters Centerline goodness : 0.207315 with order 1 Centerline is valid? [False, False] Translation: X:-33.43, Y:-3.37, Z:-5.59 [[ 9.99754648e-01 -1.54336840e-02 -1.58885329e-02 -3.34334488e+01] [ 1.51166773e-02 9.99688041e-01 -1.98823257e-02 -3.37102819e+00] [ 1.61904339e-02 1.96372657e-02 9.99676071e-01 -5.59451866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02463044 meters Centerline goodness : 0.205188 with order 1 Centerline is valid? [False, False] Translation: X:-33.42, Y:-3.37, Z:-5.61 [[ 9.99809849e-01 -1.21129456e-02 -1.52820961e-02 -3.34237586e+01] [ 1.18545274e-02 9.99787100e-01 -1.68886171e-02 -3.36792642e+00] [ 1.54834135e-02 1.67042437e-02 9.99740582e-01 -5.60907181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08463044 meters Centerline goodness : 0.205452 with order 1 Centerline is valid? [False, False] Translation: X:-33.41, Y:-3.36, Z:-5.62 [[ 9.99837334e-01 -9.17148945e-03 -1.55302596e-02 -3.34148706e+01] [ 8.94668550e-03 9.99855084e-01 -1.44833490e-02 -3.36445241e+00] [ 1.56608429e-02 1.43420487e-02 9.99774496e-01 -5.61978715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14463044 meters Centerline goodness : 0.211750 with order 1 Centerline is valid? [False, False] Translation: X:-33.40, Y:-3.36, Z:-5.63 [[ 9.99860421e-01 -5.36376448e-03 -1.58230355e-02 -3.34040421e+01] [ 5.18023007e-03 9.99919097e-01 -1.16174621e-02 -3.35661025e+00] [ 1.58840687e-02 1.15338736e-02 9.99807314e-01 -5.63238824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20463044 meters Centerline goodness : 0.201581 with order 1 Centerline is valid? [False, False] Translation: X:-33.37, Y:-3.34, Z:-5.65 [[ 9.99813439e-01 -7.84802228e-03 -1.76492340e-02 -3.33683599e+01] [ 7.71984457e-03 9.99943417e-01 -7.31895044e-03 -3.33983597e+00] [ 1.77056747e-02 7.18133567e-03 9.99817452e-01 -5.64612650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26463044 meters Centerline goodness : 0.200176 with order 1 Centerline is valid? [False, False] Translation: X:-33.36, Y:-3.33, Z:-5.66 [[ 9.99837180e-01 -6.93172772e-03 -1.66602670e-02 -3.33613951e+01] [ 6.80425862e-03 9.99947238e-01 -7.69562954e-03 -3.32611077e+00] [ 1.67127320e-02 7.58101577e-03 9.99831592e-01 -5.65794301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32463044 meters Centerline goodness : 0.198648 with order 1 Centerline is valid? [False, False] Translation: X:-33.35, Y:-3.30, Z:-5.68 [[ 9.99830713e-01 -9.04909271e-03 -1.60205953e-02 -3.33464561e+01] [ 8.88430936e-03 9.99907205e-01 -1.03271840e-02 -3.30338210e+00] [ 1.61125603e-02 1.01831039e-02 9.99818328e-01 -5.67565336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38463044 meters Centerline goodness : 0.198009 with order 1 Centerline is valid? [False, False] Translation: X:-33.34, Y:-3.29, Z:-5.69 [[ 9.99797151e-01 -1.08770021e-02 -1.69513323e-02 -3.33359136e+01] [ 1.06534215e-02 9.99855798e-01 -1.32245149e-02 -3.28847267e+00] [ 1.70927310e-02 1.30412426e-02 9.99768856e-01 -5.68545261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44463044 meters Centerline goodness : 0.197002 with order 1 Centerline is valid? [False, False] Translation: X:-33.31, Y:-3.27, Z:-5.69 [[ 9.99660397e-01 -2.09615683e-02 -1.54823787e-02 -3.33087810e+01] [ 2.07602176e-02 9.99699266e-01 -1.30533607e-02 -3.26692424e+00] [ 1.57513415e-02 1.27275102e-02 9.99794932e-01 -5.69361018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50463044 meters Centerline goodness : 0.071311 with order 1 Centerline is valid? [False, False] Translation: X:-33.28, Y:-3.25, Z:-5.70 [[ 9.99679317e-01 -2.13278584e-02 -1.36523187e-02 -3.32842930e+01] [ 2.10457807e-02 9.99568687e-01 -2.04820692e-02 -3.25404995e+00] [ 1.40832690e-02 2.01881772e-02 9.99697004e-01 -5.69888780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56463044000003 meters Centerline goodness : 0.203203 with order 1 Centerline is valid? [False, False] Translation: X:-33.27, Y:-3.24, Z:-5.71 [[ 9.99560211e-01 -2.60345302e-02 -1.41981628e-02 -3.32736456e+01] [ 2.56665562e-02 9.99344994e-01 -2.55109797e-02 -3.24426455e+00] [ 1.48530293e-02 2.51353423e-02 9.99573710e-01 -5.71015599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62463044000003 meters Centerline goodness : 0.104438 with order 3 Centerline is valid? [False, False] Translation: X:-33.26, Y:-3.23, Z:-5.73 [[ 9.99428605e-01 -3.10745609e-02 -1.32979691e-02 -3.32609960e+01] [ 3.06549870e-02 9.99059344e-01 -3.06708111e-02 -3.23033719e+00] [ 1.42385423e-02 3.02456369e-02 9.99441076e-01 -5.72784109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68463044000003 meters Centerline goodness : 0.112671 with order 3 Centerline is valid? [False, False] Translation: X:-33.23, Y:-3.22, Z:-5.74 [[ 9.99582877e-01 -2.66735862e-02 -1.10721088e-02 -3.32297631e+01] [ 2.62843396e-02 9.99078649e-01 -3.39261990e-02 -3.21902572e+00] [ 1.19668409e-02 3.36210246e-02 9.99363008e-01 -5.73969851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74463044000004 meters Centerline goodness : 0.275712 with order 2 Centerline is valid? [False, False] Translation: X:-33.18, Y:-3.22, Z:-5.74 [[ 9.99510401e-01 -2.90092636e-02 -1.17226714e-02 -3.31847787e+01] [ 2.86151919e-02 9.99062316e-01 -3.24909066e-02 -3.21608893e+00] [ 1.26542165e-02 3.21395526e-02 9.99403282e-01 -5.73885635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80463044 meters Centerline goodness : 0.287066 with order 2 Centerline is valid? [False, False] Translation: X:-33.16, Y:-3.21, Z:-5.74 [[ 9.99651321e-01 -2.42871718e-02 -1.03619623e-02 -3.31572315e+01] [ 2.39035956e-02 9.99078028e-01 -3.56610847e-02 -3.21115244e+00] [ 1.12185157e-02 3.54009623e-02 9.99310220e-01 -5.74446132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86463044 meters Centerline goodness : 0.305379 with order 2 Centerline is valid? [False, False] Translation: X:-33.12, Y:-3.20, Z:-5.76 [[ 9.99813029e-01 -1.67916294e-02 -9.58891688e-03 -3.31236167e+01] [ 1.64417529e-02 9.99235502e-01 -3.54694326e-02 -3.20203086e+00] [ 1.01771757e-02 3.53051423e-02 9.99324758e-01 -5.75757356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92463044 meters Centerline goodness : 0.323116 with order 2 Centerline is valid? [False, False] Translation: X:-33.11, Y:-3.20, Z:-5.77 [[ 9.99849671e-01 -1.43523259e-02 -9.72857562e-03 -3.31121151e+01] [ 1.40201007e-02 9.99343791e-01 -3.33979680e-02 -3.19772971e+00] [ 1.02015302e-02 3.32565517e-02 9.99394782e-01 -5.77135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98463044 meters Centerline goodness : 0.104406 with order 1 Centerline is valid? [False, False] Translation: X:-33.04, Y:-3.19, Z:-5.77 [[ 9.99908293e-01 -8.72575486e-03 -1.03569536e-02 -3.30374079e+01] [ 8.38232468e-03 9.99428358e-01 -3.27519957e-02 -3.18853640e+00] [ 1.06368190e-02 3.26621768e-02 9.99409846e-01 -5.77100046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04463044 meters Centerline goodness : 0.100505 with order 1 Centerline is valid? [False, False] Translation: X:-33.03, Y:-3.18, Z:-5.78 [[ 9.99924992e-01 -6.09567699e-03 -1.06232716e-02 -3.30264854e+01] [ 5.76414691e-03 9.99503882e-01 -3.09639321e-02 -3.18102340e+00] [ 1.08067473e-02 3.09003755e-02 9.99464047e-01 -5.78265884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10463044 meters Centerline goodness : 0.100791 with order 1 Centerline is valid? [False, False] Translation: X:-33.00, Y:-3.17, Z:-5.79 [[ 9.99883124e-01 -1.07264522e-02 -1.08940691e-02 -3.29967311e+01] [ 1.04461274e-02 9.99620988e-01 -2.54707609e-02 -3.17241074e+00] [ 1.11631511e-02 2.53539832e-02 9.99616206e-01 -5.78795743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16463044 meters Centerline goodness : 0.290814 with order 3 Centerline is valid? [False, False] Translation: X:-32.98, Y:-3.15, Z:-5.80 [[ 9.99895052e-01 -1.00225438e-02 -1.04610341e-02 -3.29842851e+01] [ 9.75024960e-03 9.99620512e-01 -2.57636110e-02 -3.15311894e+00] [ 1.07152812e-02 2.56589095e-02 9.99613327e-01 -5.80336461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22463044 meters Centerline goodness : 0.101728 with order 1 Centerline is valid? [False, False] Translation: X:-32.96, Y:-3.14, Z:-5.81 [[ 9.99799143e-01 -1.76825282e-02 -9.43408735e-03 -3.29556563e+01] [ 1.74642138e-02 9.99588813e-01 -2.27421494e-02 -3.14149047e+00] [ 9.83234688e-03 2.25728226e-02 9.99696850e-01 -5.80978883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28463044 meters Centerline goodness : 0.290173 with order 3 Centerline is valid? [False, False] Translation: X:-32.94, Y:-3.12, Z:-5.83 [[ 9.99925691e-01 -9.06380260e-03 -8.15225619e-03 -3.29386634e+01] [ 8.95812422e-03 9.99876567e-01 -1.29075028e-02 -3.12211056e+00] [ 8.26824098e-03 1.28335147e-02 9.99883462e-01 -5.82742870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34463044 meters Centerline goodness : 0.150959 with order 1 Centerline is valid? [False, False] Translation: X:-32.92, Y:-3.10, Z:-5.84 [[ 9.99913325e-01 -1.04203825e-02 -8.04720661e-03 -3.29240388e+01] [ 1.02888981e-02 9.99815650e-01 -1.62112433e-02 -3.09740440e+00] [ 8.21465047e-03 1.61270413e-02 9.99836206e-01 -5.84397990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40463044 meters Centerline goodness : 0.217591 with order 3 Centerline is valid? [False, False] Translation: X:-32.91, Y:-3.08, Z:-5.86 [[ 9.99891953e-01 -1.06569496e-02 -1.01248516e-02 -3.29070052e+01] [ 1.04817384e-02 9.99797069e-01 -1.72033180e-02 -3.08132958e+00] [ 1.03061318e-02 1.70953332e-02 9.99800747e-01 -5.85522009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46463044 meters Centerline goodness : 0.314902 with order 1 Centerline is valid? [False, False] Translation: X:-32.90, Y:-3.07, Z:-5.86 [[ 9.99886824e-01 -1.02548493e-02 -1.10080796e-02 -3.28957515e+01] [ 1.00523857e-02 9.99782140e-01 -1.82926658e-02 -3.06686929e+00] [ 1.11932699e-02 1.81799381e-02 9.99772074e-01 -5.86462765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52463044 meters Centerline goodness : 0.236308 with order 1 Centerline is valid? [False, False] Translation: X:-32.89, Y:-3.04, Z:-5.88 [[ 9.99897615e-01 -1.04922149e-02 -9.73002007e-03 -3.28861625e+01] [ 1.03009133e-02 9.99756655e-01 -1.95069468e-02 -3.04497819e+00] [ 9.93232340e-03 1.94047215e-02 9.99762375e-01 -5.87829430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58463044 meters Centerline goodness : 0.071102 with order 1 Centerline is valid? [False, False] Translation: X:-32.88, Y:-3.03, Z:-5.89 [[ 9.99902101e-01 -9.48997761e-03 -1.02824533e-02 -3.28751416e+01] [ 9.29086247e-03 9.99771681e-01 -1.92422921e-02 -3.03255228e+00] [ 1.04627145e-02 1.91448755e-02 9.99761974e-01 -5.88796471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64463044 meters Centerline goodness : 0.071320 with order 1 Centerline is valid? [False, False] Translation: X:-32.86, Y:-3.01, Z:-5.90 [[ 9.99933954e-01 -6.08629812e-03 -9.74909311e-03 -3.28613605e+01] [ 5.91925921e-03 9.99836742e-01 -1.70719684e-02 -3.01089237e+00] [ 9.85140658e-03 1.70131334e-02 9.99806733e-01 -5.90298521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70463044 meters Centerline goodness : 0.086556 with order 1 Centerline is valid? [False, False] Translation: X:-32.85, Y:-3.00, Z:-5.92 [[ 9.99945748e-01 -2.18707718e-03 -1.01841755e-02 -3.28467268e+01] [ 2.03874664e-03 9.99892029e-01 -1.45524796e-02 -2.99813101e+00] [ 1.02149033e-02 1.45309271e-02 9.99842242e-01 -5.91542718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76463044 meters Centerline goodness : 0.074535 with order 1 Centerline is valid? [False, False] Translation: X:-32.82, Y:-2.98, Z:-5.93 [[ 9.99932215e-01 5.18742761e-03 -1.04238087e-02 -3.28245551e+01] [-5.29213417e-03 9.99935568e-01 -1.00425926e-02 -2.97642942e+00] [ 1.03710418e-02 1.00970760e-02 9.99895240e-01 -5.93445085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82463044 meters Centerline goodness : 0.084650 with order 1 Centerline is valid? [False, False] Translation: X:-32.81, Y:-2.96, Z:-5.95 [[ 9.99891489e-01 9.96672894e-03 -1.08478285e-02 -3.28081646e+01] [-1.00443705e-02 9.99924159e-01 -7.12654454e-03 -2.96270655e+00] [ 1.07759775e-02 7.23473084e-03 9.99915765e-01 -5.94730577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88463044 meters Centerline goodness : 0.132207 with order 3 Centerline is valid? [False, False] Translation: X:-32.79, Y:-2.95, Z:-5.96 [[ 9.99832102e-01 1.44477596e-02 -1.12707783e-02 -3.27936272e+01] [-1.45005608e-02 9.99884201e-01 -4.61722062e-03 -2.94957058e+00] [ 1.12027646e-02 4.77987800e-03 9.99925823e-01 -5.95834598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94463044 meters Centerline goodness : 0.129116 with order 3 Centerline is valid? [False, False] Translation: X:-32.78, Y:-2.94, Z:-5.97 [[ 9.99742915e-01 1.93555108e-02 -1.18097005e-02 -3.27789965e+01] [-1.93761505e-02 9.99810927e-01 -1.63576987e-03 -2.93650527e+00] [ 1.17758065e-02 1.86417587e-03 9.99928925e-01 -5.96886783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00463044 meters Centerline goodness : 0.128126 with order 3 Centerline is valid? [False, False] Translation: X:-32.76, Y:-2.92, Z:-5.98 [[ 9.99627389e-01 2.41216421e-02 -1.27761550e-02 -3.27624008e+01] [-2.41083953e-02 9.99708642e-01 1.18985709e-03 -2.92303453e+00] [ 1.28011339e-02 -8.81401140e-04 9.99917674e-01 -5.97957877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06463044000003 meters Centerline goodness : 0.361973 with order 1 Centerline is valid? [False, False] Translation: X:-32.74, Y:-2.91, Z:-5.99 [[ 9.99521065e-01 2.74550731e-02 -1.42779233e-02 -3.27440768e+01] [-2.74136989e-02 9.99619412e-01 3.08549109e-03 -2.91132712e+00] [ 1.43572017e-02 -2.69260265e-03 9.99893305e-01 -5.99059373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12463044000003 meters Centerline goodness : 0.333085 with order 1 Centerline is valid? [False, False] Translation: X:-32.72, Y:-2.89, Z:-6.00 [[ 9.99354943e-01 3.15012994e-02 -1.72442909e-02 -3.27163624e+01] [-3.14406409e-02 9.99498482e-01 3.77754392e-03 -2.89233017e+00] [ 1.73546402e-02 -3.23293564e-03 9.99844170e-01 -6.00203050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18463044000003 meters Centerline goodness : 0.310044 with order 1 Centerline is valid? [False, False] Translation: X:-32.67, Y:-2.88, Z:-6.00 [[ 9.99478466e-01 2.96923687e-02 -1.26948655e-02 -3.26738119e+01] [-2.96172239e-02 9.99542902e-01 6.06693032e-03 -2.88171766e+00] [ 1.28692042e-02 -5.68777954e-03 9.99901011e-01 -6.00429334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24463044000004 meters Centerline goodness : 0.378814 with order 1 Centerline is valid? [False, False] Translation: X:-32.60, Y:-2.86, Z:-6.00 [[ 9.99434809e-01 3.17909109e-02 -1.09270208e-02 -3.26038523e+01] [-3.17339555e-02 9.99482050e-01 5.34684182e-03 -2.86410142e+00] [ 1.10913421e-02 -4.99706224e-03 9.99926003e-01 -6.00114306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30463044 meters Centerline goodness : 0.393644 with order 1 Centerline is valid? [False, False] Translation: X:-32.56, Y:-2.86, Z:-6.00 [[ 9.99591678e-01 2.78586917e-02 -6.35376155e-03 -3.25633032e+01] [-2.78156806e-02 9.99590210e-01 6.76019031e-03 -2.85837834e+00] [ 6.53948790e-03 -6.58069577e-03 9.99956964e-01 -6.00405435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36463044 meters Centerline goodness : 0.373480 with order 1 Centerline is valid? [False, False] Translation: X:-32.54, Y:-2.86, Z:-6.02 [[ 9.99917534e-01 1.27844012e-02 -1.21838497e-03 -3.25372224e+01] [-1.27782425e-02 9.99906176e-01 4.93523249e-03 -2.86176030e+00] [ 1.28136465e-03 -4.91925668e-03 9.99987079e-01 -6.01529451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42463044 meters Centerline goodness : 0.406614 with order 1 Centerline is valid? [False, False] Translation: X:-32.53, Y:-2.86, Z:-6.02 [[ 9.99902991e-01 1.39021179e-02 -8.60136855e-04 -3.25311666e+01] [-1.38971102e-02 9.99887876e-01 5.57718965e-03 -2.86480294e+00] [ 9.37575161e-04 -5.56469520e-03 9.99984077e-01 -6.02015222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48463044 meters Centerline goodness : 0.428308 with order 1 Centerline is valid? [False, False] Translation: X:-32.49, Y:-2.86, Z:-6.02 [[ 9.99854313e-01 1.61697233e-02 5.46742451e-03 -3.24895139e+01] [-1.62332610e-02 9.99798793e-01 1.17836490e-02 -2.86303307e+00] [-5.27578609e-03 -1.18706864e-02 9.99915623e-01 -6.02163776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54463044 meters Centerline goodness : 0.412516 with order 1 Centerline is valid? [False, False] Translation: X:-32.46, Y:-2.86, Z:-6.03 [[ 9.99853922e-01 1.69329566e-02 2.32595620e-03 -3.24643149e+01] [-1.69549822e-02 9.99808218e-01 9.80083173e-03 -2.86122920e+00] [-2.15955307e-03 -9.83883658e-03 9.99949266e-01 -6.02715530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60463044 meters Centerline goodness : 0.424535 with order 1 Centerline is valid? [False, False] Translation: X:-32.45, Y:-2.86, Z:-6.04 [[ 9.99881680e-01 1.53668063e-02 6.97479041e-04 -3.24464859e+01] [-1.53719831e-02 9.99848634e-01 8.14934140e-03 -2.86338766e+00] [-5.72144116e-04 -8.15909881e-03 9.99966550e-01 -6.03800220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66463044 meters Centerline goodness : 0.411488 with order 1 Centerline is valid? [False, False] Translation: X:-32.43, Y:-2.87, Z:-6.05 [[ 9.99886137e-01 1.50819338e-02 -4.98631909e-04 -3.24259827e+01] [-1.50779750e-02 9.99860634e-01 7.16706157e-03 -2.86504387e+00] [ 6.06655565e-04 -7.15872714e-03 9.99974192e-01 -6.04986459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72463044 meters Centerline goodness : 0.392639 with order 3 Centerline is valid? [False, False] Translation: X:-32.40, Y:-2.87, Z:-6.05 [[ 9.99826433e-01 1.83418364e-02 -3.26828445e-03 -3.24044849e+01] [-1.83172933e-02 9.99804932e-01 7.38749814e-03 -2.86564415e+00] [ 3.40314720e-03 -7.32634978e-03 9.99967371e-01 -6.05132089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78463044 meters Centerline goodness : 0.378180 with order 3 Centerline is valid? [False, False] Translation: X:-32.37, Y:-2.86, Z:-6.06 [[ 9.99740689e-01 2.15266359e-02 -7.42694568e-03 -3.23665058e+01] [-2.14857492e-02 9.99753796e-01 5.54173822e-03 -2.86358477e+00] [ 7.54441211e-03 -5.38072769e-03 9.99957064e-01 -6.05711732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84463044 meters Centerline goodness : 0.363636 with order 3 Centerline is valid? [False, False] Translation: X:-32.35, Y:-2.86, Z:-6.07 [[ 9.99754804e-01 2.05479600e-02 -8.25303648e-03 -3.23523989e+01] [-2.05150645e-02 9.99781337e-01 4.05095218e-03 -2.86173590e+00] [ 8.33447065e-03 -3.88064733e-03 9.99957738e-01 -6.06523741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90463044 meters Centerline goodness : 0.298902 with order 2 Centerline is valid? [False, False] Translation: X:-32.29, Y:-2.86, Z:-6.07 [[ 9.99834860e-01 1.75412796e-02 -4.74942874e-03 -3.22948679e+01] [-1.75228533e-02 9.99838881e-01 3.89390853e-03 -2.86018291e+00] [ 4.81696765e-03 -3.81004194e-03 9.99981140e-01 -6.06698498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96463044 meters Centerline goodness : 0.338247 with order 3 Centerline is valid? [False, False] Translation: X:-32.28, Y:-2.86, Z:-6.07 [[ 9.99880664e-01 1.44634033e-02 -5.42840179e-03 -3.22841755e+01] [-1.44615228e-02 9.99895352e-01 3.85512724e-04 -2.85785069e+00] [ 5.43340955e-03 -3.06963762e-04 9.99985192e-01 -6.07176085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02463044 meters Centerline goodness : 0.293542 with order 1 Centerline is valid? [False, False] Translation: X:-32.24, Y:-2.86, Z:-6.08 [[ 9.99942449e-01 1.07266971e-02 1.90089388e-04 -3.22417338e+01] [-1.07272148e-02 9.99938046e-01 2.97178277e-03 -2.86006825e+00] [-1.58200197e-04 -2.97365087e-03 9.99995566e-01 -6.07926157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08463044 meters Centerline goodness : 0.297679 with order 1 Centerline is valid? [False, False] Translation: X:-32.23, Y:-2.86, Z:-6.09 [[ 9.99933600e-01 1.15235319e-02 6.21189685e-05 -3.22259704e+01] [-1.15236546e-02 9.99930208e-01 2.60459795e-03 -2.85743044e+00] [-3.21004657e-05 -2.60514084e-03 9.99996606e-01 -6.08684290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14463044 meters Centerline goodness : 0.319898 with order 2 Centerline is valid? [False, False] Translation: X:-32.19, Y:-2.86, Z:-6.09 [[ 9.99872516e-01 1.55383435e-02 -3.67588822e-03 -3.21872880e+01] [-1.55344087e-02 9.99878732e-01 1.09657402e-03 -2.85547658e+00] [ 3.69248139e-03 -1.03933148e-03 9.99992643e-01 -6.09189095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20463044 meters Centerline goodness : 0.270778 with order 2 Centerline is valid? [False, False] Translation: X:-32.16, Y:-2.86, Z:-6.09 [[ 9.99825984e-01 1.74738135e-02 -6.53205492e-03 -3.21627058e+01] [-1.74741001e-02 9.99847316e-01 1.31982241e-05 -2.85727846e+00] [ 6.53128820e-03 1.00945854e-04 9.99978666e-01 -6.09237912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26463044 meters Centerline goodness : 0.232136 with order 2 Centerline is valid? [False, False] Translation: X:-32.10, Y:-2.86, Z:-6.09 [[ 9.99725224e-01 1.73288480e-02 -1.57857044e-02 -3.21045584e+01] [-1.73270255e-02 9.99849844e-01 2.52223729e-04 -2.85694248e+00] [ 1.57877049e-02 2.13648791e-05 9.99875366e-01 -6.08572416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32463044 meters Centerline goodness : 0.227637 with order 2 Centerline is valid? [False, False] Translation: X:-32.07, Y:-2.86, Z:-6.09 [[ 9.99594712e-01 2.01417518e-02 -2.01176829e-02 -3.20704998e+01] [-2.01725208e-02 9.99795632e-01 -1.32767222e-03 -2.85618567e+00] [ 2.00868299e-02 1.73295851e-03 9.99796737e-01 -6.08641153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 32938.92 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%| | 0/16846 [00:00